Smart logistics vehicle control method and control device

Abstract

Introduced are a smart logistics vehicle control method and control device, the smart logistics vehicle control method comprising the steps of: controlling a smart logistics vehicle to perform a mission on the basis of pre-shared map data; receiving information about a map matching rate, determined on the basis of the map data, from the smart logistics vehicle while performing the mission; and transmitting location initialization information so that the smart logistics vehicle performs repositioning on the basis of the received information about the map matching rate.

Description

Smart logistics vehicle control method and control device

[0001] The present invention relates to a smart logistics vehicle control method and control device for controlling the movement and operation of a smart logistics vehicle.

[0002]

[0003] Recently, smart logistics vehicles are being introduced not only in general logistics warehouses and factories, but also in smart factories that manufacture products with different specifications using various parts, for the flexible and efficient supply and transport of parts.

[0004] Smart logistics vehicles are a general term for autonomous mobile robots (AMRs) and automated guided vehicles (AGVs). These smart logistics vehicles can move and perform tasks under the control of a control system.

[0005] Smart logistics vehicles can move and perform tasks based on previously input map information, and can move and perform tasks while recognizing the surrounding environment.

[0006] However, since the previously input map information and the surrounding environment information recognized during the movement and operation of the smart logistics vehicle may differ, the smart logistics vehicle may misrecognize its location as a different location or move to a location other than the location indicated on the input map information, which may hinder the smooth operation and operation of the smart logistics vehicle. In this way, the smart logistics vehicle may not be able to move and operate according to the control system's control, which may cause problems such as poor process execution.

[0007] Therefore, there is a need to propose a method to detect map misrecognition of smart logistics vehicles and, if misrecognition occurs, to effectively correct the current location of the smart logistics vehicles.

[0008]

[0009] The matters described as background technology above are only intended to enhance understanding of the background of the present invention, and should not be taken as an admission that they correspond to prior art already known to those skilled in the art.

[0010]

[0011] The present invention has been proposed to solve such problems, and provides a smart logistics vehicle control method and control device that detects whether a smart logistics vehicle has misrecognized a map and corrects the location of the smart logistics vehicle if misrecognition occurs.

[0012]

[0013] The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0014]

[0015] A smart logistics vehicle control method according to the present invention for achieving the above object may include a step of controlling a smart logistics vehicle to perform a mission based on pre-shared map data; a step of receiving information on a map matching rate determined based on the map data from the smart logistics vehicle while performing the mission; and a step of transmitting location initialization information so that the smart logistics vehicle performs re-positioning based on the received information on the map matching rate.

[0016]

[0017] In addition, a smart logistics vehicle control device according to the present invention for achieving the above purpose may include a communication unit for communicating with at least one smart logistics vehicle; and a map management unit for controlling the at least one smart logistics vehicle to perform a mission based on pre-shared map data, receiving information on a map matching rate determined based on the map data from the at least one smart logistics vehicle during the mission, and transmitting location initialization information so that the at least one smart logistics vehicle performs re-positioning based on the received information on the map matching rate.

[0018]

[0019] According to the smart logistics vehicle control method and control device of the present invention, when the map matching rate is low based on information about the map matching rate, the smart logistics vehicle performs re-positioning, thereby effectively correcting the current location of the smart logistics vehicle when the smart logistics vehicle misrecognizes its own location.

[0020]

[0021] The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention belongs from the description below.

[0022]

[0023] FIG. 1 is a block diagram showing an example of a smart factory configuration that can be applied to embodiments of the present invention.

[0024] FIG. 2 is a block diagram showing an example of a control device configuration that can be applied to embodiments of the present invention.

[0025] FIG. 3 is a block diagram showing an example of a smart logistics vehicle configuration that can be applied to embodiments of the present invention.

[0026] FIG. 4 is a perspective view showing an example of the exterior of a smart logistics vehicle that can be applied to embodiments of the present invention.

[0027] Figure 5 is a flowchart showing an example of a driving process of a smart logistics vehicle that can be applied to embodiments of the present invention.

[0028] FIG. 6 is a diagram schematically illustrating a control system equipped with a smart logistics vehicle control device according to one embodiment of the present invention.

[0029] FIG. 7 is a drawing for explaining the repositioning performance of a smart logistics vehicle according to one embodiment of the present invention.

[0030] FIG. 8 is a drawing for explaining a smart logistics vehicle control method according to one embodiment of the present invention.

[0031]

[0032] In describing the embodiments disclosed in this specification, detailed descriptions of related known technologies will be omitted if it is determined that such detailed descriptions may obscure the gist of the embodiments disclosed in this specification. In addition, the attached drawings are provided solely to facilitate understanding of the embodiments disclosed in this specification, and the technical concepts disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included within the spirit and technical scope of the present invention.

[0033] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0034] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0035] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0036] In this specification, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0037] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components are given the same reference numbers and redundant descriptions thereof will be omitted.

[0038] In describing the embodiments disclosed in this specification, detailed descriptions of related known technologies will be omitted if it is determined that such detailed descriptions may obscure the gist of the embodiments disclosed in this specification. In addition, the attached drawings are provided solely to facilitate understanding of the embodiments disclosed in this specification, and the technical concepts disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included within the spirit and technical scope of the present invention.

[0039] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0040] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0041] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0042] In this specification, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0043] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components are given the same reference numbers and redundant descriptions thereof will be omitted.

[0044] In addition, the term "Unit" or "Control Unit" included in the internal configuration names of smart logistics vehicles or control devices is merely a term widely used to name a control device (Controller) that controls a specific function, and does not mean a generic function unit. For example, each control device may include a modem / transceiver that communicates with other control devices or sensors to control the function it is responsible for, a memory that stores an operating system or logic commands and input / output information, and one or more processors that perform judgments, calculations, and decisions necessary for controlling the function it is responsible for. Depending on the implementation, one processor may be responsible for calculations for multiple control devices.

[0045]

[0046] First, the configuration of a smart factory in which smart logistics vehicles according to an embodiment are deployed and operated is described with reference to Fig. 1.

[0047] Figure 1 is a block diagram showing an example of a smart factory configuration that can be applied to embodiments.

[0048] Referring to FIG. 1, a smart factory (100) may include a smart logistics vehicle (110), a production device (120), a monitoring device (130), and a control device (140).

[0049] A smart factory (100) may be equipped with multiple smart logistics vehicles (110), multiple production devices (120), and multiple detection devices (130) depending on the production process and target production speed of the product. Each component is described below.

[0050] First, the smart logistics vehicle (110) may include an autonomous mobile robot (hereinafter, referred to as "AMR" for convenience) and an automated guided vehicle (hereinafter, referred to as "AGV" for convenience). Depending on the operating policy of the smart logistics vehicle (110) in the smart factory (100), only one type of AGV or AMR may be operated, or both AGV and AMR may be operated together within a single smart factory (100).

[0051] AGVs generally perform required actions (movement, direction change, stop, etc.) within a smart factory (100) by recognizing and following guidance devices placed on the floor for guidance of the AGV. Here, guidance devices may refer to optically recognizable markers (spots, 2D codes, etc.), tags that can be recognized contactlessly at close range (e.g., NFC tags, RFID tags, etc.), magnetic strips, wires, etc., but these are examples and are not necessarily limited thereto. Guidance devices may be placed continuously on the floor or may be placed discontinuously and spaced apart from each other. Since AGVs fundamentally perform operations by recognizing and following guidance devices, guidance devices must be installed in advance before operation. Therefore, when moving the AGV to a new path or modifying an existing path, the guidance devices must be physically installed or modified. In addition, since AGVs do not deviate from the path set by the guidance devices, if an obstacle is detected on or around the path, the AGV typically stops until the detected obstacle disappears or separate control is applied. In the operation of AGV, the control device (140) must control the AGV based on the guidance equipment, so commands such as 'drive until the third marker is recognized' or 'change the heading direction by 90 degrees when the third marker is recognized' from the current location can be transmitted to the AGV as individual command units or mission units (e.g., recovery, supply, charging, patrol, etc.) including multiple commands.

[0052] AMR can determine its current location by sensing its surroundings (i.e., positioning), and its ability to perform path planning using positioning and a map is what most distinguishes it from AGVs. Therefore, if a map with compatible coordinates is shared between the AMR and the control device (140), the control device (140) can control the AMR by instructing the AMR on a path based on the coordinates. In addition, if an obstacle is detected while driving, the AMR can set an avoidance path on its own, avoid the obstacle, and then return to the original path. The function of the control device (140) setting the path of the AMR to one or more transit coordinates can be referred to as global path planning, and the function of the AMR setting a movement path or an avoidance path between transit coordinates according to the global path planning can be referred to as local path planning.

[0053] A more detailed configuration of a smart logistics vehicle (110) will be described later with reference to FIGS. 3 and 4, and the driving control process of the AMR will be described later with reference to FIG. 5.

[0054] Next, the production device (120) may refer to a device (e.g., a robot arm, a conveyor belt, etc.) that performs a production process of a product in a smart factory (100), and in a broader sense, may refer to a device arranged to assist in performing a mission, such as entry and exit of a smart logistics vehicle (110), when the production process is performed by a person. The device arranged to assist in performing a mission may be, but is not necessarily limited to, a device that detects the status of a designated location where a pallet carried by a smart logistics vehicle (110) can be put down or collected within an area where a specific production process is performed, a device that determines the progress of the process, a means for blocking entry and exit within an area, etc.

[0055] For example, the production device (120) is controlled through a PLC (Programmable Logic Controller) and can communicate with a control device (140) in relation to the process progress.

[0056] The monitoring device (130) can perform a function of acquiring information for determining the situation within the smart factory (100) and transmitting the information to the control device (140). For example, the monitoring device (130) may include a camera, a proximity sensor, etc., but is not necessarily limited thereto.

[0057] The control device (140) can communicate with the aforementioned components (110, 120, 130) to obtain information necessary for the operation of the smart factory (100) or control each component. For example, the control device (140) can perform dispatching of smart logistics vehicles (110), route setting, mission assignment, process management by product, material management, etc.

[0058] In implementation, the control device (140) may include a local control device (ACS: AMR / AGV Control System) that controls surrounding process facilities based on the location of the AGV / AMR and performs mission-based control of the AGV / AMR, and an integrated control device (MoRIMS: Mobile Robot Integrated Monitoring System) that integrates and controls two or more local control devices. The integrated control device may perform status and route, logistics flow setting, and traffic control of all smart logistics robots (110) within the smart factory (100) from each of a plurality of local control devices. For example, when the local control device (ACS) is equipped in units of smart logistics robots of the same manufacturer or the same model, the integrated control device may perform integrated control for collision prevention, such as bottleneck level analysis of intersection / overlapping areas, driving acceleration / deceleration control, and regeneration of avoidance paths, through traffic distribution control between heterogeneous types based on information acquired through a plurality of local control devices (ACS).

[0059] In addition, the integrated control device can have a manufacturing execution system (MES) as its upper control subject, and the manufacturing execution system (MES) can be linked to an automated scheduler (APS: Advanced Planning & Scheduling).

[0060] In addition to the configuration (110, 120, 130, 140) of the smart factory (100) described above, it goes without saying that devices for mutual communication between components such as beacons, repeaters, APs (Access Points), chargers for charging smart logistics vehicles (110), loading spaces for storing or loading parts, spaces for storing finished or intermediate products, traffic lights, circuit breakers, waiting spaces for idle smart logistics vehicles (110), etc. can be appropriately placed within the smart factory (100).

[0061] Below, the configuration of a control device (140) that can be applied to embodiments of the present invention is described with reference to FIG. 2.

[0062] FIG. 2 is a block diagram illustrating an example of a control device configuration applicable to embodiments of the present invention. Each component illustrated in FIG. 2 primarily represents components related to embodiments of the present invention, and in the actual implementation of the control device (140), more or fewer components may be included.

[0063] Referring to FIG. 2, the control device (140) may include a firmware management unit (141), a traffic control unit (142), a process management unit (143), a production / logistics management unit (144), an inventory management unit (145), a communication unit (146), a vehicle monitoring unit (147), and a map management unit (148).

[0064] The firmware management unit (141) obtains the latest firmware of the smart logistics vehicle (110) through the communication unit (146) and transmits it to the smart logistics vehicle (110) to perform a firmware update, thereby maintaining the firmware of the smart full-flow vehicle (110) up to date.

[0065] The traffic control unit (142) controls traffic lights and barriers based on the route of the smart logistics vehicle (110), and can also recalculate the route of the smart logistics vehicle (110) according to traffic.

[0066] The process management department (143) can define the process for each product and manage missions such as process progress and progress location.

[0067] The production / logistics management department (144) can dispatch smart logistics vehicles (110) based on missions.

[0068] The inventory management department (145) manages the location and quantity of each material, and this information can be useful for more efficient process operation, such as sending a smart logistics vehicle (110) to the destination earlier than the time when actual assembly / consumption of materials is detected for pallet pickup or retrieval.

[0069] The communication unit (146) can communicate with internal components of the smart factory (100), such as a smart logistics vehicle (110), a production device (120), and a monitoring device (130), as well as external entities, such as a firmware update server.

[0070] The vehicle monitoring unit (147) can monitor the location, route, battery status, communication status, power train status, etc. of individual smart logistics vehicles (110). Here, the route is a concept that includes a waypoint-based global route and a real-time local route. In addition, the battery status may include voltage, current, temperature, peak voltage and current, state of charge (SOC), state of health (SOH), etc. The communication status may include information on the currently activated communication protocol (such as Wi-Fi), connected AP, distance to the AP, channel in use, etc. In addition, the power train status may include load, temperature, RPM, etc. of the drivetrain.

[0071] In addition, the vehicle monitoring unit (147) can also check the mission, operation mode, firmware version, etc. currently assigned to each smart logistics vehicle (110).

[0072] The map management unit (148) may obtain map data in the form of a grid map obtained when an AMR among smart logistics vehicles (110) drives inside a smart factory (100), and may provide a tool that allows a factory manager to edit the obtained map data. By editing the map data, a zone, a virtual lane, an intersection, a no-entry zone, etc., in which one or more preset actions are performed when a smart logistics vehicle (110) enters, may be set, but this is merely an example and is not necessarily limited thereto. In addition, the map management unit (148) may distribute the corresponding map to the remaining smart logistics vehicles (110) other than the smart logistics vehicle (110) that initially obtained the grid map through actual driving, through the communication unit (146).

[0073] Next, a smart logistics vehicle will be described with reference to FIGS. 3 and 4.

[0074] FIG. 3 is a block diagram showing an example of a smart logistics vehicle configuration that can be applied to embodiments of the present invention.

[0075] Referring to FIG. 3, a smart logistics vehicle (110) may include a driving unit (111), a sensing unit (112), a loading unit (113), a communication unit (114), and a control unit (115). Each component is described below.

[0076] The driving unit (111) may include a driving source, wheels, suspension, etc. involved in the movement, steering, and stopping of the smart logistics vehicle (110). The driving source may be an electric motor that receives power from a built-in battery (not shown). The wheels may include one or more driving wheels that receive driving force from the driving source, and non-driven wheels that rotate by the movement of the vehicle body without receiving driving force. Depending on the implementation, when multiple driving wheels are provided, the driving source may be matched to each driving wheel so that the rotation of each driving wheel can be independently controlled. In this case, by making the rotation directions of different driving wheels different, the vehicle body can be rotated and steering can be performed without a separate steering means. At least some of the non-driven wheels may be configured as caster-type wheels, but this is exemplary and is not necessarily limited thereto.

[0077] The sensing unit (112) is for detecting the surrounding environment of the smart logistics vehicle (110) or its own operating status, and may include at least one of a 2D laser scanner (e.g., LiDAR), a 3D vision (stereo) camera, a multi-axis gyro sensor, an acceleration sensor, a wheel encoder, and a proximity sensor.

[0078] An encoder can output information that can determine how much the wheel has rotated by using light emitted from a light-emitting element (e.g., a photodiode). For example, the encoder can count the number of slits arranged along the circumference of the wheel or a disk rotating with the wheel per unit time. The control unit (115) can perform odometry, which estimates displacement by analyzing the amount of position change over time using data acquired through the encoder and gyro sensor. However, the displacement estimated based on the encoder data may have an error from the actual displacement due to wheel slip or wear (change in diameter along with the wheel). Therefore, when performing odometry, the control unit (115) can perform noise and error correction on the information collected from the wheel and gyro sensor using a predetermined algorithm (e.g., EKF: Extended Kalman Filter) to output a result that tends to be close to the actual value. This odometry can be particularly useful when localization using a 2D laser scanner, as described later, is not possible.

[0079] 2D laser scanners scan their surroundings by projecting laser light onto a rotating reflector and detecting the reflected signal. By analyzing the intensity of the reflected signal and the time difference between the projection and reception, they can output detection results in the form of a point cloud.

[0080] A 3D vision camera can calculate the distance to an object based on the parallax between two cameras spaced a certain distance apart, i.e., the pixel distance between the images captured by each camera. A texture projector that projects infrared light in a predetermined pattern may also be included to enable detection of objects of the same color, such as flat surfaces (e.g., white walls).

[0081] Typically, 2D laser scanners are used for mapping, navigation, object recognition, etc., and 3D cameras can be used for navigation, especially for obstacle avoidance, but these are examples and are not necessarily limited to this.

[0082] The loading section (113) is a means for loading items to be transported, and may be a top plate on the upper part of the vehicle body itself, a table placed on the top plate, a lift, a turntable rotating along a vertical axis, a forklift, a conveyor, or a combination thereof. Similar to a forklift, a forklift may also support telescopic and tilting functions.

[0083] The communication unit (114) can communicate with other components within the smart factory (100), such as the production device (120) and the control device (140), and can also support communication between smart logistics vehicles (110), and can also communicate with the charger when performing a charging mission.

[0084] The control unit (115) is a subject that performs overall control of each of the aforementioned components (111, 112, 113, 114), and can perform current mission, current location, destination determination, route planning, load control, etc. based on information obtained from the control device (140) through the communication unit (114).

[0085] FIG. 4 is a perspective view showing an example of the exterior of a smart logistics vehicle that can be applied to embodiments of the present invention.

[0086] Referring to FIG. 4, an example of an AMR is illustrated as a smart logistics vehicle (110). The body may have a track-shaped planar shape with a long axis extending along a single axis direction as a whole. One drive wheel (111-1) may be arranged in the center of the body in the single-axis direction, may be arranged on one side in the double-axis direction, and another drive wheel (not shown) may be arranged on the other side to face one drive wheel (111-1) in the double-axis direction. This arrangement of drive wheels may be referred to as a 'differential drive (DD)'. Although not illustrated in FIG. 4, two or more non-drive wheels may be arranged on the lower part of the body. In this case, if two drive wheels rotate in the same direction at the same speed, forward or backward movement is possible along a single axis direction, and if they rotate in opposite directions at the same speed, they may extend along a three-axis direction and rotate around a rotation axis passing through the plane center (C) of the body. In addition, a sensor unit (112) may be placed on the front of the body, and a loading unit (113) may be placed on the upper surface. The loading unit (113) may be configured to be able to be raised and lowered along three axes, and a rack or tray may be fixed to the upper surface through a guide (113-1).

[0087] However, the AMR shape of the above-described Fig. 4 is exemplary, and it is obvious that the AGV may have a similar shape or the AMR may have a different shape.

[0088] Next, the driving process of the smart logistics vehicle (110) will be described with reference to Fig. 5.

[0089] FIG. 5 is a flowchart illustrating an example of a driving process of a smart logistics vehicle (110) applicable to embodiments of the present invention. In FIG. 5, for convenience, it is assumed that the smart logistics vehicle (110) is an AMR capable of positioning and local route setting.

[0090] Referring to Fig. 5, first, while the AMR drives inside the smart factory (100), it can obtain a real-world grid map using lidar, etc. (S501).

[0091]

[0092] *When the AMR transmits the acquired grid map to the control device (140), the grid map editing and matching process can be performed in the map management unit (148) of the control device (140) (S502). Here, the editing process can include the process of setting the aforementioned various zones in the aforementioned grid map, the process of assigning a cost to each grid, etc. Here, the cost assignment can be performed in a direction in which the cost is assigned higher the closer the AMR is to an obstacle or a no-entry area so that the AMR does not move around an obstacle or into an area that it should not enter. This is because the AMR selects the set of cells with the lowest cost among waypoints as the route when setting a local route.

[0093] Additionally, the map matching process may mean a process of matching coordinates between a CAD map used in the design of a smart factory (100), a real-world grid map (lidar map), and a topology map that has gone through an editing process.

[0094] Afterwards, the control device (140) can share the topology map with all AMRs in the factory through the communication unit (146) (S503).

[0095] Subsequent steps may be applied to individual AMRs.

[0096] The AMR can determine (localize) its current location on the map using sensor data from the sensing unit (112) and the acquired map (S504). For example, the AMR can determine its current location by comparing the surrounding terrain acquired via lidar with the map based on feature points.

[0097] The control device (140) can select a specific AMR and assign a mission, and the mission can be assigned one or more waypoints, which are generally determined through global path planning. The waypoints can be defined as coordinates on a map and can be accompanied by information about the direction (i.e., heading) that the AMR should head in from the coordinates. Based on this mission assignment, a destination can be set for the AMR (Yes in S505), and the AMR can perform local path planning between waypoints based on the cost of the topology map (S506).

[0098] Once the path is determined, the AMR begins driving (S507). If an obstacle is detected by the sensing unit (112) during driving (Yes in S508), the AMR may perform an evasive maneuver by performing a local route search to bypass the detected obstacle (S509). In some cases, depending on the evasive maneuver or the failure of the evasive maneuver, the control device (140) may update the mission of the AMR.

[0099] Additionally, the AMR can also compensate for position errors during movement using the aforementioned odometry technique until it reaches its destination (S510).

[0100] After reaching the destination (S511), the AMR can perform mission-based maneuvers (S512). For example, the AMR can determine whether conditions for entering a specific process area are cleared, retrieve empty pallets at the destination, or drop off loads loaded on the loading section (113).

[0101]

[0102] In one embodiment of the present invention, the purpose is to enable movement and operation of a smart logistics vehicle to be performed according to a pre-determined control command.

[0103] Hereinafter, a smart logistics vehicle control system according to an embodiment of the present invention will be described with reference to FIG. 6.

[0104] FIG. 6 is a diagram schematically illustrating a control system equipped with a smart logistics vehicle control device according to one embodiment of the present invention.

[0105] Referring to FIG. 6, a smart logistics vehicle control device (140) according to an embodiment of the present invention may include a communication unit (146) that communicates with at least one smart logistics vehicle (110-1, 110-2, 110-3), and a map management unit (148) that controls at least one smart logistics vehicle (110-1, 110-2, 110-3) to perform a mission based on pre-shared map data, receives map matching rate information determined based on map data from at least one smart logistics vehicle (110-1, 110-2, 110-3) during the mission execution, and transmits location initialization request information so that at least one smart logistics vehicle (110-1, 110-2, 110-3) performs re-positioning based on the received map matching rate information. At least one smart logistics vehicle (110-1, 110-2, 110-3) may each include a sensing unit (112-1), a communication unit (114-1), and a control unit (115-1).

[0106] In Fig. 6, a control system equipped with a single smart logistics vehicle control device (140) and multiple smart logistics vehicles (110-1, 110-2, 110-3) is illustrated. However, for convenience of explanation, only the first smart logistics vehicle (110-1) will be described below. However, it should be understood that the same applies to each of the multiple smart logistics vehicles (110-1, 110-2, 110-3). In addition, the smart logistics vehicle control device (140) may be identified with the control device (140) equipped in the above-described smart factory (100).

[0107] The smart logistics vehicle control device (140) can control the first smart logistics vehicle (110-1) to perform a mission based on pre-shared map data. At this time, the pre-shared map data may include point cloud data mapped based on the location of the first smart logistics vehicle (110-1) when the first smart logistics vehicle (110-1) performed a previous mission. If multiple smart logistics vehicles (110-1, 110-2, 110-3) are provided, the map data may refer to data provided to correspond to each of the multiple smart logistics vehicles (110-1, 110-2, 110-3). In addition, the map data may collect data sensed by the sensing unit (112-1) provided in the first smart logistics vehicle (110-1) when the first smart logistics vehicle (110-1) performed a previous mission, and include point cloud data mapped based on the collected data according to the location of the first smart logistics vehicle (110-1). However, this is an example and is not necessarily limited to this.

[0108] Below, specific functions of at least one smart logistics vehicle and control device (140) will be described.

[0109] First, the communication unit (146) can communicate with the communication unit (114-1) of the first smart logistics vehicle (110-1), and through this, can receive and confirm information including the location of the first smart logistics vehicle (110-1), whether work is being performed, etc. Then, the received information can be transmitted to the map management unit (148), or a command generated by the map management unit (148) can be received and transmitted to the communication unit (114-1) of the first smart logistics vehicle (110-1).

[0110] The communication unit (146) can collect location information of the first smart logistics vehicle (110-1) to control the first smart logistics vehicle (110-1) to perform a mission based on pre-shared map data, and the communication unit (146) can provide the collected location information of the first smart logistics vehicle (110-1) to the map management unit (148).

[0111] The map management unit (148) can pre-select map data corresponding to the location of the first smart logistics vehicle (110-1) based on the provided location information. The map management unit (148) can transmit the selected map data to the first smart logistics vehicle (110-1) through the communication unit (146) to control the first smart logistics vehicle (110-1) to perform a mission based on the map data. In particular, the map management unit (148) can generate a control command for the first smart logistics vehicle (110-1) based on the selected map data, and transmit the generated control command to the first smart logistics vehicle (110-1) through the communication unit (146) to cause the first smart logistics vehicle (110-1) to perform a mission according to the generated control command.

[0112] In addition, the map management unit (148) can receive information on the map matching rate determined based on the map data from the first smart logistics vehicle (110-1) while the first smart logistics vehicle (110-1) is performing its mission. Specifically, while the first smart logistics vehicle (110-1) is performing its mission, the first smart logistics vehicle (110-1) can collect surrounding sensing data through the sensing unit (112-1). At this time, the surrounding sensing data can include point cloud data mapped by sensing the surroundings from the first smart logistics vehicle (110-1) while performing its mission. In collecting the surrounding sensing data, the first smart logistics vehicle (110-1) can periodically collect the surrounding sensing data through the sensing unit (112-1) when it reaches a specific location while performing its mission or at a preset reference time. However, this is merely exemplary and is not necessarily limited thereto.

[0113] The sensing unit (112-1) of the first smart logistics vehicle (110-1) transmits the collected surrounding sensing data to the control unit (115-1) via the communication unit (114-1), and the control unit (115-1) can determine the map matching rate based on the pre-shared map data and the surrounding sensing data collected by the sensing unit (112-1). In particular, the control unit (115-1) can determine the map matching rate by comparing the point cloud data of the map data with the point cloud data included in the surrounding sensing data. However, this is exemplary and is not necessarily limited thereto. For example, the control unit (115-1) can generate driving map data corresponding to the map data based on the surrounding sensing data collected for comparison with the map data, and can also determine the map matching rate by comparing the generated driving map data with the map data.

[0114] The control unit (115-1) can transmit information about the determined map matching rate to the communication unit (146) of the control device (140) through the communication unit (114-1), and the map management unit (148) can receive information about the map matching rate transmitted from the communication unit (146).

[0115] Meanwhile, the control unit (115-1) of the first smart logistics vehicle (110-1) can determine the map matching rate and generate a warning notification if the determined map matching rate is lower than a preset standard matching rate. At this time, the comparison between the map matching rate and the preset standard matching rate, which determines whether to generate a warning notification, may be performed in the control unit (115-1) of the first smart logistics vehicle (110-1) or in the map management unit (148) of the control device (140). For example, if the comparison is performed in the control unit (115-1), a warning notification based on the determination result can be immediately generated and included in the information about the map matching rate and transmitted to the control device (140). As another example, when a comparative judgment is performed in the map management unit (148), the judgment result is transmitted to the first smart logistics vehicle (110-1), and the first smart logistics vehicle (110-1) can generate a warning notification based on the judgment result received and transmit it back to the control device (140). However, this is merely an example and, of course, is not limited thereto.

[0116] In addition, the generated warning notification can be transmitted to the control device (140), and when transmitting information on the above-described map matching rate, the warning notification can be included and transmitted to the communication unit (146) of the control device (140). In this case, the map management unit (148) can receive information on the map matching rate including the warning notification for the first smart logistics vehicle (110-1).

[0117] Thereafter, the map management unit (148) may generate and transmit location initialization information so that the first smart logistics vehicle (110-1) performs re-positioning based on the information about the map matching rate received from the first smart logistics vehicle (110-1). At this time, the map management unit (148) does not unconditionally transmit the location initialization information so that the first smart logistics vehicle (110-1) performs re-positioning, but may determine a prerequisite based on the information about the map matching rate and, based on the determination result, decide whether or not to allow the first smart logistics vehicle (110-1) to perform re-positioning.

[0118] As described above, the first smart logistics vehicle (110-1) can perform a mission according to a control command generated based on pre-shared map data from the control device (140). At this time, the first smart logistics vehicle (110-1) can sense its surroundings and recognize its own location while performing the mission through the surrounding sensing. However, the surrounding environment may be different from the pre-shared map data, and as a result, the first smart logistics vehicle (110-1) may recognize its own location as a different location or move to a completely different location from the location it should have moved to. In this case, a problem may occur in which the first smart logistics vehicle (110-1) cannot perform the mission according to the control command generated based on the pre-shared map data.

[0119] To solve this, the first smart logistics vehicle (110-1) determines the map matching rate, and the map management unit (148) can transmit location initialization information so that the first smart logistics vehicle (110-1) can perform re-positioning based on information about the map matching rate received from the first smart logistics vehicle (110-1).

[0120] This specifically describes the process of performing repositioning of a smart logistics vehicle with reference to FIG. 7.

[0121]

[0122] FIG. 7 is a drawing for explaining the repositioning performance of a smart logistics vehicle according to one embodiment of the present invention.

[0123] For the convenience of explanation, it is assumed that Fig. 7 is a simplified diagram illustrating only a certain area within a smart factory (100). In addition, Fig. 7 assumes that among a plurality of smart logistics vehicles (110-1, 110-2, 110-3) equipped in a smart logistics vehicle control system according to an embodiment of the present invention, the map matching rate of the first smart logistics vehicle (110-1) is determined to be below a preset standard matching rate.

[0124] Referring to FIG. 7, for example, the first smart logistics vehicle (110-1) may misrecognize that it is currently located at location A, even though its actual current location is location B, based on the determined map matching rate, or it may need to move to location B, but it may actually be located at location A.

[0125] Accordingly, in order for the first smart logistics vehicle (110-1) to normally perform the mission according to the control command generated based on the pre-shared map data, it is necessary to perform re-positioning of the first smart logistics vehicle (110-1) to correct the misjudged position of the first smart logistics vehicle (110-1). However, subsequent re-positioning may be performed differently depending on the current position of the first smart logistics vehicle (110-1).

[0126] Accordingly, the map management unit (148) can collect information on the map matching rate determined from each of the plurality of smart logistics vehicles (110-1, 110-2, 110-3), and check whether there is a smart logistics vehicle that has determined the map matching rate to be lower than a preset standard matching rate based on the collected information on the map matching rate. For example, if the map matching rate determined from the first smart logistics vehicle (110-1) among the plurality of smart logistics vehicles (110-1, 110-2, 110-3) is lower than the standard matching rate, the map management unit (148) can confirm the first smart logistics vehicle (110-1) as a smart logistics vehicle that has determined the map matching rate to be lower than the preset standard matching rate. In this case, the map management unit (148) can request the location initialization information generation unit (150) provided separately for the location initialization information for the first smart logistics vehicle (110-1).

[0127] Meanwhile, the map management unit (148) can control the first smart logistics vehicle (110-1) to stop the mission being performed based on the control command generated based on the pre-shared map data when the map matching rate is determined to be below the preset standard matching rate. As a result, the map management unit (148) can determine that the first smart logistics vehicle (110-1) is stopped at the collected current location. However, this is merely an example and should not be construed as being limited thereto.

[0128] Referring to FIG. 6, the location initialization information generation unit (150) may be equipped to communicate with the control device (140), and may operate only when requested by the map management unit (148). However, this is merely exemplary, and the present invention is not necessarily limited thereto. For example, the location initialization information generation unit (150) may be equipped as a component included in the control device (140), and its operating conditions may be set in various ways.

[0129] When location initialization information is requested from the map management unit (148), the location initialization information generation unit (150) can determine the current location of the first smart logistics vehicle (110-1) whose map matching rate is determined to be lower than or equal to a preset standard matching rate. For example, the location initialization information generation unit (150) can determine the current location of the first smart logistics vehicle (110-1) based on at least one of the surrounding recognition information of at least one other smart logistics vehicle located around the first smart logistics vehicle (110-1) whose map matching rate is determined to be lower than or equal to the standard matching rate and the signal information of each of a plurality of communication devices located around the first smart logistics vehicle (110-1).

[0130] Specifically, a plurality of smart logistics vehicles (110-1, 110-2, 110-3) may be provided within a smart factory (100), and at least one other smart logistics vehicle may pass around a first smart logistics vehicle (110-1) whose map matching rate is determined to be lower than a reference matching rate to perform a mission. At least one other smart logistics vehicle may also pass around while recognizing the surroundings, and the location initialization information generation unit (150) may collect surrounding recognition information from at least one other smart logistics vehicle and determine the current location of the first smart logistics vehicle (110-1) based on the collected surrounding recognition information.

[0131] In addition, a plurality of communication devices (AP, not shown) may be provided within the smart factory (100), and when a first smart logistics vehicle (110-1) exists for which a map matching rate is determined to be lower than a reference matching rate, the current location of the first smart logistics vehicle (110-1) may be determined from a plurality of communication devices located around the first smart logistics vehicle (110-1). Each of the plurality of communication devices may generate a signal having a certain boundary, and the location initialization information generation unit (150) may collect signal information generated from each of the plurality of communication devices and determine the current location of the first smart logistics vehicle (110-1) based on the collected signal information.

[0132] However, this is merely an example, and various other methods can be applied to determine the current location of a smart logistics vehicle whose map matching rate falls below the standard. For example, vehicle-to-vehicle (V2V) communication can be used to determine the current location of a smart logistics vehicle whose map matching rate falls below the standard.

[0133] The location initialization information generation unit (150) can generate location initialization information for the first smart logistics vehicle (110-1) based on the determined current location. The location initialization information can include at least one of the speed, new location information, heading direction information, and rotation angle information of the first smart logistics vehicle (110-1).

[0134] At this time, the new location information may be information generated based on the current location information of the first smart logistics vehicle (110-1) determined through the above-described method, but this is exemplary and is not necessarily limited thereto. For example, the new location information may be information selected and entered by an administrator who manages the smart factory (100) outside the control system, and the administrator may select and enter the new location information through at least one map among a LiDAR map acquired based on a LiDAR sensor, a CAD map for the smart factory (100), and a topology map for the smart factory (100).

[0135] Additionally, the heading direction information may be information about the target heading direction to which the first smart logistics vehicle (110-1) should be re-positioned, and the rotation angle information may be information about the rotation angle required to align the current heading direction to the target heading direction. However, this is merely exemplary, and the position initialization request information is not limited to the above-described information and may include less or more information.

[0136] In addition, the location initialization information generation unit (150) can transmit the generated location initialization information to the map management unit (148). The map management unit (148) can transmit the provided location initialization information to the first smart logistics vehicle (110-1) so that the first smart logistics vehicle (110-1) can perform re-positioning. At this time, the re-positioning can be performed based on new location information among the location initialization information.

[0137] For example, referring to FIG. 7, if it is determined that the first smart logistics vehicle (110-1) is currently located at location A and re-positioning to location B is required, the location initialization information generation unit (150) may generate location initialization request information including at least one of new location information including a speed for the first smart logistics vehicle (110-1) to move from location A to location B, coordinate information for location B, heading direction information for moving from location A to location B, and rotation angle information required to adjust the heading direction of the current first smart logistics vehicle (110-1) to move from location A to location B.

[0138] The location initialization information generation unit (150) can transmit the generated location initialization information to the map management unit (148), and the map management unit (148) can transmit the generated location initialization information to the first smart logistics vehicle (110-1) located at location A, and the first smart logistics vehicle (110-1) can perform re-positioning from location A to location B based on the received location initialization information. However, this is merely exemplary and the present invention is not limited thereto. For example, the location initialization information generation unit (150) can generate location initialization information to perform re-positioning based on a specific area (Zone 1 or Zone 3) that includes a specific location rather than a specific location (point A or point B) of the first smart logistics vehicle (110-1). In addition, the first smart logistics vehicle (110-1) can be manually operated to perform re-positioning by taking into consideration at least one of the status of the first smart logistics vehicle (110-1) and the situation of the smart factory (100).

[0139]

[0140] Returning to FIG. 6 again, the first smart logistics vehicle (110-1) can perform re-positioning based on the location initialization information generated and transmitted from the map management unit (148). Then, the first smart logistics vehicle (110-1) that performed re-positioning based on the location initialization information can transmit information about the location corrected due to the re-positioning to the control device (140), and the control device (140) can control the first smart logistics vehicle (110-1) to continue performing the mission that was interrupted due to the determination of a decrease in the map matching rate at the corrected location.

[0141]

[0142] Hereinafter, based on the configuration of the smart logistics vehicle control device described above in FIGS. 6 and 7, a smart logistics vehicle control method according to an embodiment will be described with reference to FIG. 8. According to the above-described FIGS. 6 and 7, even if a control system is equipped with a plurality of smart logistics vehicles (110-1, 110-2, 110-3), the function of the smart logistics vehicle control device (140) can be equally applied to each of the plurality of smart logistics vehicles (110-1, 110-2, 110-3). Therefore, for the convenience of explanation, the following description will describe each function with respect to the smart logistics vehicle control device (140) and one smart logistics vehicle (110).

[0143] FIG. 8 is a drawing for explaining a smart logistics vehicle control method according to one embodiment of the present invention.

[0144] Referring to FIG. 8, the smart logistics vehicle control device (140) can collect location information of the smart logistics vehicle (110) from the communication unit (114) of the smart logistics vehicle (110) through the communication unit (146) (S801). In addition, the communication unit (146) can transmit the collected location information to the map management unit (148) (S802).

[0145] The map management unit (148) can pre-select map data corresponding to the collected location information based on the collected location information (S803). Then, the map management unit (148) can transmit information on the selected map data to the communication unit (146) (S804), and the control device (140) can transmit a control command to the communication unit (114) of the smart logistics vehicle (110) through the communication unit (146) so that the smart logistics vehicle (110) performs a mission based on the map data (S805-1). Then, the communication unit (114) can transmit the received control command to the control unit (115) (S805-2) so that the control unit (115) can control the smart logistics vehicle (110) based on the control command.

[0146] While a smart logistics vehicle (110) is performing a mission based on map data, the sensing unit (112) can collect surrounding sensing data and provide it to the control unit (115) (S806). In addition, the control unit (115) can determine a map matching rate based on the pre-shared map data and the collected surrounding sensing data (S807).

[0147] The control unit (115) can transmit information about the determined map matching rate to the communication unit (114) (S808-1), and the communication unit (114) can transmit information about the map matching rate determined by the control unit (115) to the communication unit (146) of the control device (140) (S808-2). At this time, the control unit (115) may determine both the map matching rate and whether the map matching rate is below a preset standard matching rate, or the control unit (115) may determine only the map matching rate and the map management unit (148) may determine whether the map matching rate is below a preset standard matching rate.

[0148] The map management unit (148) can receive information on the map matching rate from the communication unit (146) (S809), and the map management unit (148) can check whether there is a smart logistics vehicle (110) that has determined the map matching rate to be lower than a preset standard matching rate (S810).

[0149] If there is a smart logistics vehicle (110) whose map matching rate is determined to be lower than the preset standard matching rate, the map management unit (148) can request location initialization information for the corresponding smart logistics vehicle from the location initialization information generation unit (150) (S811).

[0150] In addition, the location initialization information generation unit (150) can determine the current location of the smart logistics vehicle and generate location initialization information based on the determined current location (S812). A detailed description thereof has been described above with reference to FIGS. 6 and 7, and thus will be omitted. Thereafter, the location initialization information generation unit (150) can transmit the generated location initialization information to the map management unit (148) (S813-1).

[0151] The map management unit (148) transmits location initialization information to the communication unit (114) of the smart logistics vehicle (110) (S813-2), and the communication unit (114) can transmit the received information back to the control unit (115) (S813-3). In addition, the control unit (115) can perform re-positioning based on the location initialization information (S814).

[0152] Afterwards, the control unit (115) can determine the position of the smart logistics vehicle (110) that has been modified after performing re-positioning, and transmit information about the determined modified position to the control device (140) through the communication unit (114) (S815-1, S815-2).

[0153]

[0154] According to the smart logistics vehicle control method and control system according to the embodiment of the present invention described above, when the map matching rate is low based on information about the map matching rate, the smart logistics vehicle performs re-positioning, thereby effectively correcting the current location of the smart logistics vehicle when the smart logistics vehicle misrecognizes its own location.

[0155]

[0156] Although the present invention has been illustrated and described with respect to specific embodiments thereof, it will be apparent to those skilled in the art that the present invention may be variously improved and modified without departing from the technical spirit of the invention as defined by the claims below.

[0157] The present invention described above can be implemented as computer-readable code on a medium having a program recorded thereon. Computer-readable media include all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include hard disk drives (HDDs), solid-state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices. Therefore, the above detailed description should not be construed as limiting in any respect, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

[0158]

[0159] [Explanation of symbols]

[0160] 100: Smart Factory

[0161] 110: Smart Logistics Vehicle

[0162] 120: Production device

[0163] 130: Surveillance device

[0164] 140: Control device

Claims

1. A step of controlling a smart logistics vehicle to perform a mission based on pre-shared map data; A step of receiving information on the map matching rate determined based on the map data from the smart logistics vehicle during the execution of the above mission; and A smart logistics vehicle control method, comprising: a step of transmitting position initialization information so that the smart logistics vehicle performs re-positioning based on information on the received map matching rate.

2. In claim 1, The above map data is A smart logistics vehicle control method characterized in that it includes point cloud data mapped based on the location of the smart logistics vehicle when the smart logistics vehicle performs a previous mission.

3. In claim 1, The above controlling steps are Step of collecting location information of smart logistics vehicles; A step of sharing map data corresponding to the collected location information; and A smart logistics vehicle control method, characterized by including a step of controlling the smart logistics vehicle to perform a mission based on the shared map data.

4. In claim 1, The above receiving step is A smart logistics vehicle control method, characterized by comprising: a step of receiving information on a map matching rate determined based on the surrounding sensing data collected during the execution of the mission from the smart logistics vehicle and the map data.

5. In claim 4, The above surrounding sensing data is A smart logistics vehicle control method characterized by including point cloud data mapped by sensing the surroundings of the smart logistics vehicle during the execution of the above mission.

6. In claim 4, The above surrounding sensing data is A smart logistics vehicle control method characterized in that the smart logistics vehicle collects data periodically when the smart logistics vehicle reaches a specific location while performing the mission or at preset standard times.

7. In claim 1, The above receiving step is A smart logistics vehicle control method, characterized in that it comprises a step of receiving information about the map matching rate including a warning notification generated from the smart logistics vehicle when the determined map matching rate is lower than or equal to a preset standard matching rate.

8. In claim 1, The above location initialization information is A smart logistics vehicle control method characterized in that it includes at least one of information among speed, new location information, heading direction information, and rotation angle information of the smart logistics vehicle.

9. In claim 1, The above steps are conveyed A smart logistics vehicle control method, characterized by comprising: a step of transmitting the position initialization information so that a smart logistics vehicle, which determines that the map matching rate is lower than a preset standard matching rate based on the information on the received map matching rate, performs re-positioning.

10. In claim 9, The above steps are conveyed A step of determining the current location of a smart logistics vehicle when a smart logistics vehicle is identified that determines the above map matching rate to be lower than the above standard matching rate; A step of generating location initialization information of the smart logistics vehicle based on the determined current location; and A smart logistics vehicle control method, characterized in that it comprises a step of transmitting the generated position initialization information so that the smart logistics vehicle performs re-positioning.

11. In claim 10, The above judging steps are A smart logistics vehicle control method, characterized in that it comprises a step of determining the current location of the smart logistics vehicle based on at least one of surrounding recognition information of at least one other smart logistics vehicle located around the smart logistics vehicle and signal information of each of a plurality of communication devices located around the smart logistics vehicle.

12. In claim 1, After the above-mentioned step A smart logistics vehicle control method further comprising a step of collecting modified location information of the smart logistics vehicle that has performed re-positioning based on the location initialization information.

13. A communication unit communicating with at least one smart logistics vehicle; and A smart logistics vehicle control device comprising: a map management unit for controlling at least one smart logistics vehicle to perform a mission based on pre-shared map data, receiving information on a map matching rate determined based on the map data from the at least one smart logistics vehicle during the mission, and transmitting location initialization information so that the at least one smart logistics vehicle performs re-positioning based on the received information on the map matching rate.

14. In claim 13, The above map management department A smart logistics vehicle control device characterized in that it collects location information of at least one smart logistics vehicle through the communication unit, shares map data corresponding to the collected location information, and controls the at least one smart logistics vehicle to perform a mission based on the shared map data.

15. In claim 13, The above map management department A smart logistics vehicle control device characterized in that it receives, through the communication unit, information on the map matching rate determined based on the surrounding sensing data collected during the execution of the mission from at least one smart logistics vehicle and the map data.

16. In claim 15, At least one of the above smart logistics vehicles A smart logistics vehicle control device characterized by collecting surrounding sensing data periodically when reaching a specific location or at preset standard times during the above mission.

17. In claim 13, The above map management department A smart logistics vehicle control device characterized in that it receives information about the map matching rate including a warning notification generated when the determined map matching rate from at least one smart logistics vehicle is below a preset standard matching rate through the communication unit.

18. In claim 13, The above map management department A smart logistics vehicle control device characterized in that it determines whether there is a smart logistics vehicle among the at least one smart logistics vehicle that determines the map matching rate to be lower than a preset standard matching rate based on the information about the received map matching rate, and transmits the position initialization information so that the smart logistics vehicle that determines the map matching rate to be lower than the standard matching rate performs re-positioning.

19. In claim 18, The above map management department A smart logistics vehicle control device characterized in that, when a smart logistics vehicle among the at least one smart logistics vehicle is identified that determines the map matching rate to be lower than the reference matching rate, location initialization information generated based on the current location of the corresponding smart logistics vehicle is provided, and the provided location initialization information is transmitted so that the smart logistics vehicle performs re-positioning.

20. In claim 13, The above map management department A smart logistics vehicle control device characterized in that, after transmitting the above location initialization information, it collects the corrected location information of at least one smart logistics vehicle that has performed re-positioning based on the above location initialization information.

Images