Method and device for virtually controlling logistics processes

Abstract

Introduced are a method and device for virtually controlling logistics processes, the method comprising the steps of: collecting operation information about an operation target; generating a virtual map on which an object corresponding to the operation target is displayed; setting a trigger zone on the virtual map; determining a positional relationship between an area occupied by the object on the virtual map and the trigger zone; and outputting a signal corresponding to the result of the determination.

Description

Method and device for virtual control of logistics processes

[0001] The present invention relates to a virtual control method and device for a logistics process that performs control over a plurality of operational targets operating within an operational boundary through a virtual environment.

[0002] Logistics robots 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, to ensure flexible and efficient supply and transport of parts.

[0003] Logistics robots are a general term for autonomous mobile robots (AMRs) and automated guided vehicles (AGVs), and these logistics robots can move and perform tasks under the control of a control device.

[0004] In a smart factory, logistics robots can move along optimal paths based on path planning to perform missions assigned by control devices.

[0005] Smart factories may house multiple logistics robots, and collisions between them can occur if their paths overlap. For example, if one logistics robot moves down a narrow passageway in a smart factory while another moves up, the two robots could collide and become stuck. Furthermore, logistics robots may collide with equipment within the smart factory while moving. Even if no collision occurs, situations can arise where logistics robots and equipment interfere with each other's operations.

[0006] As such, various situations may arise during the operation of a smart factory, and therefore, it is necessary to propose measures that enable appropriate responses to various situations and prompt and rapid responses.

[0007]

[0008] 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.

[0009] Accordingly, the present invention has as its technical task a method and device for virtual control of a logistics process that configures a virtual environment based on information about operational targets operating within an operational boundary and facilitates control of operational targets through judgment of conditions set in the virtual environment.

[0010]

[0011] The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

[0012] In order to solve the above-described problem, a virtual control method for a logistics process according to an embodiment of the present invention comprises the steps of: collecting operation information on a plurality of operation targets that are arranged and operate within a preset operation boundary; generating a virtual map on which a plurality of objects corresponding to at least some of the plurality of operation targets are displayed based on the collected operation information; setting a trigger zone on the virtual map, which changes based on an event operation performed by each of the plurality of objects, for each of the plurality of objects; determining, based on the operation information, whether an event occurrence condition for each of the plurality of objects is satisfied, controlling an object among the plurality of objects that satisfies the event occurrence condition to perform an event operation corresponding to the event occurrence condition on the virtual map, and determining a positional relationship between an area occupied by each of the plurality of objects on the virtual map and the trigger zone according to the event operation of the plurality of objects; and outputting a signal corresponding to a result of the determination.

[0013] For example, the plurality of operation targets may include at least one of a plurality of facilities arranged within a preset operation boundary and a logistics robot moving through at least one of the plurality of facilities within the preset operation boundary.

[0014] For example, the operation information may include facility information for the plurality of facilities, and the facility information may include at least one of volume information, location information, type information, and operation range information for the plurality of operation targets.

[0015] For example, the operation information includes an operation signal for the plurality of facilities, and the operation signal may be generated in response to at least one of operation start, operation end, and abnormality of the plurality of facilities.

[0016] For example, the above operation signal can be generated through a PLC (Programmable Logic Controller).

[0017] For example, the motion information includes logistics robot information for the at least one logistics robot, and the logistics robot information may include at least one of movement path information, current location information, motion status information, volume information, and loading status information of the logistics robot.

[0018] For example, the outputting step may include a step of determining the positional relationship based on whether an area occupied by a specific object among the plurality of objects on the virtual map deviates from a trigger zone for the specific object.

[0019] For example, the outputting step may include a step of determining the positional relationship based on at least one of the proximity and overlap between an area occupied by a specific object among the plurality of objects on the virtual map and a trigger zone for an object other than the specific object.

[0020] For example, the signal may include at least one of an alarm signal and a control signal that controls the operation of the operating target.

[0021] For example, the trigger zone may include a plurality of different areas, and the determining step may include a step of determining a positional relationship between an area occupied by each of the plurality of objects on the virtual map and the plurality of areas of the trigger zone.

[0022]

[0023] According to an embodiment of the present invention for solving the above-described problem, a virtual control device for a logistics process includes: a collection unit that collects operation information on a plurality of operation targets that are arranged and operate within a preset operation boundary; a setting unit that generates a virtual map on which a plurality of objects corresponding to at least some of the plurality of operation targets are displayed based on the operation information, and sets a trigger zone that changes based on an event operation performed by each of the plurality of objects on the virtual map; a determination unit that determines, based on the operation information, whether an event occurrence condition is satisfied for each of the plurality of objects, and controls an object among the plurality of objects that satisfies the event occurrence condition to perform an event operation corresponding to the event occurrence condition on the virtual map, and determines a positional relationship between an area occupied by each of the plurality of objects on the virtual map and the trigger zone according to the event operation of the plurality of objects; and an output unit that outputs a signal corresponding to a result of the determination.

[0024] For example, the plurality of operation targets may include at least one of a plurality of facilities arranged within a preset operation boundary and a logistics robot moving through at least one of the plurality of facilities within the preset operation boundary.

[0025] For example, the operation information may include facility information for the plurality of facilities, and the facility information may include at least one of volume information, location information, type information, and operation range information for the plurality of operation targets.

[0026] For example, the operation information includes an operation signal for the plurality of facilities, and the operation signal may be generated in response to at least one of operation start, operation end, and abnormality of the plurality of facilities.

[0027] For example, the above operation signal can be generated through a PLC (Programmable Logic Controller).

[0028] For example, the motion information includes logistics robot information for the at least one logistics robot, and the logistics robot information may include at least one of movement path information, current location information, motion status information, volume information, and loading status information of the logistics robot.

[0029] For example, the judgment unit may determine the positional relationship based on whether an area occupied by a specific object among the plurality of objects on the virtual map deviates from a trigger zone for the specific object.

[0030] For example, the judgment unit may determine the positional relationship based on at least one of the proximity and overlap between an area occupied by a specific object among the plurality of objects on the virtual map and a trigger zone for an object other than the specific object.

[0031] For example, the signal may include at least one of an alarm signal and a control signal that controls the operation of the operating target.

[0032] For example, the trigger zone may include a plurality of different areas, and the judgment unit may determine a positional relationship between an area occupied by each of the plurality of objects on the virtual map and the plurality of areas of the trigger zone.

[0033] According to the embodiments of the present invention as described above, a virtual environment can be configured based on information about operational targets operating within an operational boundary, and control of the operational targets can be facilitated through judgment on conditions set in the virtual environment.

[0034] Additionally, through such control, it is possible to prevent delays in the overall process performed through each operation target within the operation boundary.

[0035]

[0036] 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.

[0037] FIG. 1 is a block diagram showing an example of an operational boundary configuration of a logistics system that can be applied to embodiments of the present invention.

[0038] FIG. 2 is a block diagram showing an example of a control device configuration that can be applied to embodiments of the present invention.

[0039] FIG. 3 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.

[0040] FIG. 4 is a sequence diagram of collision prediction according to one embodiment of the present invention.

[0041] Specific structural and functional descriptions of the embodiments of the present invention disclosed in this specification or application are merely illustrative for the purpose of explaining the embodiments according to the present invention, and the embodiments according to the present invention may be implemented in various forms and should not be construed as limited to the embodiments described in this specification or application.

[0042] Since embodiments of the present invention can be modified in various ways and take various forms, specific embodiments are illustrated in the drawings and described in detail in this specification or application. However, this is not intended to limit embodiments of the present invention to specific disclosed forms, and it should be understood that all modifications, equivalents, and alternatives fall within the spirit and technical scope of the present invention.

[0043] In the description of the following embodiments, the term "pre-set" means that when a parameter is used in a process or algorithm, the value of the parameter is predetermined. Depending on the embodiment, the value of the parameter may be set when the process or algorithm starts or may be set during the execution of the process or algorithm.

[0044] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be construed in an idealized or overly formal sense unless explicitly defined herein.

[0045] 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.

[0046] The suffixes "module" and "part" used for components in the following description are given or used interchangeably only for the convenience of writing specifications, and do not have distinct meanings or roles in themselves.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0051] 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.

[0052]

[0053] First, the configuration of the operational boundary in which the logistics robot according to the embodiment is deployed and operated is explained with reference to Fig. 1.

[0054] Referring to FIG. 1, the operating boundary (100) may include a logistics robot (110), equipment (120), a monitoring device (130), and a control device (140).

[0055] The operational boundary (100) may be equipped with multiple logistics robots (110), multiple facilities (120), and multiple detection devices (130) depending on the production process and target production speed of the product. The operational boundary (100) may be implemented as a smart factory, and the multiple facilities may be implemented as production devices, but this is not necessarily limited to this. Each component is described below.

[0056] First, the logistics robot (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 operation policy of the logistics robot (110) in the operation boundary (100), only one type of AGV or AMR may be operated, or both AGV and AMR may be operated together within the operation boundary (100).

[0057] AGVs generally perform required actions (movement, direction change, stop, etc.) within the operating boundary (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, they require guidance devices to 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.

[0058] 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.

[0059]

[0060] Next, the equipment (120) may refer to, for example, a device (robot arm, conveyor belt, etc.) that performs a production process of a product within an operation boundary (100), and in a broader sense, may refer to a device arranged to assist in the performance of a mission, such as entry and exit of a logistics robot (110), when the production process is performed by a person. A device arranged to assist in the performance of 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 logistics robot (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.

[0061] For example, the facility (120) is controlled through a PLC (Programmable Logic Controller) and can communicate with a control device (140) in relation to the process progress.

[0062] The monitoring device (130) can perform a function of acquiring information for determining the situation within the operating boundary (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.

[0063] The control device (140) can communicate with the aforementioned components (110, 120, 130) to obtain information necessary for the operation of the operation boundary (100) or control each component. For example, the control device (140) can perform dispatching of the logistics robot (110), route setting, mission assignment, process management by product, material management, etc.

[0064] 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 logistics robots (110) within the operation boundary (100) from each of a plurality of local control devices. For example, when the local control device (ACS) is equipped in units of 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).

[0065] 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).

[0066] In addition to the configuration (110, 120, 130, 140) of the operation boundary (100) described above, it goes without saying that devices for mutual communication between each component, such as beacons, repeaters, APs (Access Points), chargers for charging logistics robots (110), loading spaces for storing or loading parts, spaces for storing finished or intermediate products, traffic lights, circuit breakers, waiting spaces for idle logistics robots (110), etc., can be appropriately placed within the operation boundary (100).

[0067] 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.

[0068]

[0069] 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.

[0070] 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 monitoring unit (147), and a map management unit (148).

[0071] The firmware management unit (141) can obtain the latest firmware of the logistics robot (110) through the communication unit (146) and transmit it to the logistics robot (110) to perform a firmware update, thereby keeping the firmware of the logistics robot (110) up to date.

[0072] The traffic control unit (142) controls traffic lights and barriers based on the route of the logistics robot (110), and can also recalculate the route of the logistics robot (110) according to traffic.

[0073] The process management department (143) can define the process for each product and manage missions such as process progress and progress location.

[0074] The production / logistics management department (144) can dispatch logistics robots (110) based on missions.

[0075] The inventory management unit (145) manages the location and quantity of each material, and this information can be useful for more efficient process operation, such as sending the logistics robot (110) to the destination earlier than the time when actual assembly / consumption of materials is detected for pallet pickup or retrieval.

[0076] The communication unit (146) can communicate with internal components of the operation boundary (100), such as a logistics robot (110), equipment (120), and a monitoring device (130), as well as external entities, such as a firmware update server.

[0077] The monitoring unit (147) can monitor the location, route, battery status, communication status, power train status, etc. of individual logistics robots (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 the load, temperature, RPM, etc. of the drive system.

[0078] In addition, the monitoring unit (147) can also check the mission, operation mode, firmware version, etc. currently assigned to each logistics robot (110).

[0079] The map management unit (148) obtains map information in the form of a grid map obtained when an AMR among logistics robots (110) drives within the operation boundary (100), and may provide a tool that allows a factory manager to edit the obtained map information. By editing the map information, a zone, a virtual lane, an intersection, a no-entry zone, etc., in which one or more preset actions are performed when the logistics robot (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 logistics robots (110) other than the logistics robot (110) that obtained the initial grid map through actual driving, through the communication unit (146).

[0080] Below, a logistics robot that can be applied to embodiments of the present invention will be described.

[0081]

[0082] FIG. 3 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.

[0083] Referring to FIG. 3, the logistics robot (110) may include a driving unit (111), a sensing unit (112), a loading unit (113), a communication unit (114), and a control unit (115), and each component is described below.

[0084] The driving unit (111) may include a driving source, wheels, suspension, etc. involved in the movement, steering, and stopping of the logistics robot (110). The driving source may be an electric motor supplied with 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-driving 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-driving wheels may be configured as caster-type wheels, but this is exemplary and is not necessarily limited thereto.

[0085] The sensing unit (112) is for detecting the surrounding environment of the logistics robot (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.

[0086] 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, there may be an error between the estimated displacement based on the encoder data and 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.

[0087] 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.

[0088] 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).

[0089] 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.

[0090] 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.

[0091] The communication unit (114) can communicate with other components within the operation boundary (100), such as equipment (120) and control devices (140), and can also support communication between logistics robots (110), and can also communicate with a charger when performing a charging mission.

[0092]

[0093] FIG. 4 is a sequence diagram of collision prediction according to one embodiment of the present invention.

[0094] Referring to FIG. 4, a virtual control device (200) according to one embodiment of the present invention may include a collection unit (210), a setting unit (220), a judgment unit (230), and an output unit (240), and may interact with a logistics robot (110), equipment (120), and a control device (140). The virtual control device (200) may be implemented within the operation boundary (100) or outside the operation boundary (100). However, FIG. 4 mainly illustrates components related to the description of one embodiment of the present invention, and it goes without saying that an actual collision prediction device may be implemented by including more or fewer components than this. Hereinafter, each component and the detailed functions performed by each component will be described in detail.

[0095]

[0096] First, the setting unit (220) can generate and distribute a virtual map in which a plurality of objects corresponding to at least some of the plurality of operation targets that are positioned and operated within a preset operation boundary (100) are displayed (S401). In this case, the virtual map can be generated based on operation information regarding the plurality of operation targets and can be implemented as a 3D map with three-axis coordinates. In addition, objects corresponding to each of the plurality of operation targets can also be visually expressed on the virtual map.

[0097] Additionally, the setting unit (220) can set a trigger zone for each of a plurality of objects on the virtual map (S402). Here, the trigger zone can be changed based on the event operations performed by the plurality of objects, and can be set to indicate a range within which each of the plurality of objects can operate normally.

[0098] Meanwhile, the collection unit (210) can collect operation information for multiple operation targets. In this case, the multiple operation targets may include at least one of multiple facilities (120) arranged within a preset operation boundary (100) and a logistics robot (110) moving via at least one of the multiple facilities (120). The operation information may include facility information for the multiple facilities (120) and logistics robot information for at least one logistics robot (110).

[0099] More specifically, the logistics robot information may include at least one of movement path information, current location information, operation status information, and loading status information of the logistics robot (110). Such logistics robot information may be collected from the control device (140) (S403). In this case, the control device (140) may transmit the information collected from the logistics robot (110) to the collection unit (210). However, the logistics robot information does not necessarily have to be collected in this manner, and the collection unit (210) may also collect the logistics robot information directly from the logistics robot (110).

[0100] Meanwhile, the facility information may include at least one of volume information, location information, type information, and operating range information for multiple facilities (120). In addition, the facility information may include an operation signal for the facility (120), and in this case, the operation signal may be generated in response to at least one of operation start, operation end, and abnormality of the facility (120), and may be generated, for example, through a PLC (Programmable Logic Controller).

[0101] Such facility information can be transmitted from the facility (120) to the collection unit (210) (S404). However, this is not necessarily limited to this, and the collection unit (210) can also obtain facility information from a control device (140) that controls multiple facilities (120).

[0102] Additionally, the motion information may additionally include monitoring information from a detection device (130). The monitoring information may include, for example, detection results for a logistics robot (110) and equipment (120) collected through sensors such as cameras within the operation boundary (100). The collection unit (210) may obtain such monitoring information from the monitoring device (130).

[0103]

[0104] Meanwhile, the judgment unit (230) can configure event actions of objects on the virtual map using the collected motion information and the configured virtual map as described above (S407). More specifically, the judgment unit (230) can determine whether an event occurrence condition is satisfied for each of a plurality of objects based on the motion information, and control an object that satisfies the event occurrence condition to perform an event action corresponding to the event occurrence condition on the virtual map.

[0105] More specifically, the event occurrence conditions can be set differently for each of multiple objects, and each object can perform different event actions.

[0106] For example, the different event occurrence conditions may include a first condition that is satisfied when an operation signal corresponding to the start of operation of a specific facility (120) is input, a second condition that is satisfied when an operation signal corresponding to the end of operation of a specific facility (120) is input, etc. In this case, the event operation may correspond to the operation of a task that the facility (120) corresponding to the object performs within the operation boundary (100), and when the specific facility (120) is a facility (120) that performs a task of lifting an item in front of it through a robot arm, and the first condition is satisfied, the determination unit (230) may control the object corresponding to the specific facility (120) to perform an event operation corresponding to the task of lifting an item in front of it through a robot arm on a virtual map.

[0107] When an event action like the above is performed, the characteristics of the object performing the event action on the virtual map may change. For example, the shape or position of the object on the virtual map may change. In this case, the area occupied by the object on the virtual map may change.

[0108] The judgment unit (230) can determine an output signal based on the positional relationship between the area occupied by the object on the virtual map and the set trigger zone according to the above event operation (S408).

[0109] More specifically, the judgment unit (230) can judge the positional relationship and determine the output signal based on whether the area occupied by a specific object among a plurality of objects on the virtual map deviates from the trigger zone for the specific object. For example, for a specific facility (120), the range in which the specific facility (120) can safely operate can be set as the trigger zone, and in this case, it can be judged whether the area occupied by an object corresponding to the specific facility (120) on the virtual map deviates from the trigger zone upon occurrence of an event operation, thereby making it possible to judge whether the specific facility (120) is actually operating within the range in which it can safely operate.

[0110] In addition, for a specific logistics robot (110), a range in which the logistics robot (110) can safely interact with the facility (120) may be set as a trigger zone, and in this case, it is possible to determine whether an area occupied by an object corresponding to the specific logistics robot (110) on a virtual map leaves the trigger zone upon occurrence of an event operation, thereby determining whether the logistics robot (110) is operating within a range in which it can safely interact without colliding with the facility (120).

[0111] Meanwhile, the judgment unit (230) may determine the positional relationship based on at least one of the proximity and overlap between the area occupied by a specific object among multiple objects on the virtual map and the trigger zone for another object other than the specific object.

[0112] For example, in the relationship between a specific object corresponding to a logistics robot (110) and an object for a facility (120), a trigger zone may be set as an interlock area that initiates or stops the operation of the facility (120) when the logistics robot (110) enters or exits. In this case, a specific object corresponding to the logistics robot (110) can determine whether the interlock condition for controlling the facility (120) is satisfied based on the proximity or overlap between the trigger zones of other objects corresponding to the facility (120).

[0113] Additionally, in this case, the trigger zone can be set as a safe range for collision avoidance, and when the area occupied by a specific object on the virtual map invades (i.e. overlaps) or is close to the trigger zone of another object, it can be determined whether or not action is needed to avoid collision between the operation targets corresponding to the specific object and the other object.

[0114] The judgment result is transmitted to the output unit (240), and the output unit (240) outputs an output signal determined based on the event action and trigger zone in the judgment unit (230).

[0115] In this case, the signal output from the output unit (240) may include an alarm signal and a control signal. In the case of the alarm signal, it may be implemented as an interlock condition satisfaction signal, a collision avoidance request signal, etc. and transmitted to the control device (140). The control device (140) may perform follow-up actions corresponding to the corresponding notification signal or notify the user, etc. of the same.

[0116] In addition, the control signal is a signal for controlling the operating target, and can be transmitted to multiple facilities (120) or logistics robots (110) depending on the target of control (S410). For example, the control signal may include a signal for causing the facility (120) or logistics robot (110) to perform operations such as deceleration, stop, or detour to avoid collision, a signal for causing the facility (120) to perform a specific operation depending on the satisfaction of an interlock condition, etc.

[0117] Meanwhile, the output unit (240) can visualize a virtual map and output it in real time, and for this purpose, can include a display device or be connected to a display device or the like. On the virtual map output through the output unit (240), the coordinates of each object, event actions, occupied areas, trigger zones, etc. can be expressed.

[0118]

[0119] Meanwhile, in one embodiment, the setting unit (220) may set the trigger zone to include a plurality of different areas, in which case the judgment unit (230) may output different signals depending on whether the area occupied by a specific object on the virtual map overlaps with or is close to any area of ​​the trigger zone.

[0120] For example, the plurality of areas may include a first area and a second area, and when an area occupied by an object corresponding to a specific logistics robot (110) on the virtual map overlaps with a first area of ​​a trigger zone for another object, a notification signal may be output to indicate that the logistics robot (110) is in proximity to another operating target. Conversely, when an area occupied by an object corresponding to a specific logistics robot (110) on the virtual map overlaps with a second area of ​​a trigger zone for another object, a control signal may be output to control the speed and movement direction of the logistics robot (110) so that the logistics robot (110) does not collide with another operating target.

[0121]

[0122] In order to perform the above functions, the collision prediction device (200) may be implemented by including a communication device that communicates with a controller or sensor, a memory that stores an operating system or logic commands and input / output information, and one or more processors that perform judgments, calculations, decisions, etc. necessary for controlling the responsible function.

[0123]

[0124] According to the embodiments of the present invention as described above, a virtual environment can be configured based on information about operational targets operating within an operational boundary, and control of the operational targets can be facilitated through judgment on conditions set in the virtual environment.

[0125]

[0126] *In addition, through this type of control, it is possible to prevent delays in the overall process performed through each operation target within the operation boundary.

[0127]

[0128] Although the present invention has been illustrated and described with respect to specific embodiments thereof as described above, 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 present invention as defined by the following claims.

[0129] [Explanation of symbols]

[0130] 100: Operational Boundary

[0131] 110: Logistics Robot

[0132] 120: Equipment

[0133] 130: Surveillance device

[0134] 140: Control device

[0135] 200: Collision Prediction Device

Claims

1. A step of collecting operation information on multiple operation targets placed and operating within a preset operation boundary; A step of generating a virtual map in which a plurality of objects corresponding to at least some of the plurality of operation targets are displayed based on the collected motion information; A step of setting a trigger zone that changes based on an event operation performed by each of the plurality of objects on the virtual map; Based on the above operation information, a step of determining whether an event occurrence condition is satisfied for each of the plurality of objects, controlling an object among the plurality of objects that satisfies the event occurrence condition to perform an event operation corresponding to the event occurrence condition on the virtual map, and determining a positional relationship between an area occupied by each of the plurality of objects on the virtual map and the trigger zone according to the event operation of the plurality of objects; and A virtual control method for a logistics process, comprising a step of outputting a signal corresponding to the result of the above judgment.

2. In claim 1, The above multiple operational targets are: A virtual control method for a logistics process, characterized by including a plurality of facilities arranged within a preset operational boundary and at least one logistics robot moving via at least one of the plurality of facilities within the preset operational boundary.

3. In claim 2, The above operation information is, Contains facility information for the above multiple facilities, The above equipment information is: A virtual control method for a logistics process, characterized in that it includes at least one of volume information, location information, type information, and operating range information for the plurality of facilities.

4. In claim 2, The above operation information is, Contains operation signals for the above multiple facilities, The above operation signal is, A virtual control method for a logistics process, characterized in that it occurs in response to at least one of the start of operation, the end of operation, and the presence of an abnormality of the above-mentioned plurality of facilities.

5. In claim 4, The above operation signal is, A virtual control method for a logistics process characterized by being generated through a PLC (Programmable Logic Controller).

6. In claim 2, The above operation information is, Contains logistics robot information for at least one logistics robot, The above logistics robot information is, A virtual control method for a logistics process, characterized in that it includes at least one of movement path information, current location information, operation status information, volume information, and loading status information of the logistics robot.

7. In claim 1, The above output step is, A virtual control method for a logistics process, characterized in that it includes a step of determining the positional relationship based on whether an area occupied by a specific object among the plurality of objects on the virtual map deviates from a trigger zone for the specific object.

8. In claim 1, The above output step is, A virtual control method for a logistics process, characterized in that it includes a step of determining the positional relationship based on at least one of the proximity and overlap between an area occupied by a specific object among the plurality of objects on the virtual map and a trigger zone for an object other than the specific object.

9. In claim 1, The above signal is, A virtual control method for a logistics process, characterized in that it includes at least one of an alarm signal and a control signal for controlling the operation of the operation target.

10. In claim 1, The above trigger zone is, Contains multiple different areas, The above judging step is, A virtual control method for a logistics process, characterized by including a step of determining a positional relationship between an area occupied by each of the plurality of objects on the virtual map and a plurality of areas of the trigger zone.

11. A collection unit that collects operation information on multiple operation targets positioned and operating within a preset operation boundary; A setting unit that generates a virtual map on which a plurality of objects corresponding to at least some of the plurality of operation targets are displayed based on the above operation information, and sets a trigger zone that changes based on an event operation performed by each of the plurality of objects on the virtual map; A determination unit that determines whether an event occurrence condition is satisfied for each of the plurality of objects based on the above operation information, controls an object among the plurality of objects that satisfies the event occurrence condition to perform an event operation corresponding to the event occurrence condition on the virtual map, and determines the positional relationship between the area each of the plurality of objects occupies on the virtual map and the trigger zone according to the event operation of the plurality of objects; and A virtual control device for a logistics process including an output section that outputs a signal corresponding to the result of the above judgment.

12. In claim 11, The above multiple operational targets are: A virtual control device for a logistics process, characterized by including a plurality of facilities arranged within a preset operational boundary and at least one logistics robot moving via at least one of the plurality of facilities within the preset operational boundary.

13. In claim 12, The above operation information is, Contains facility information for the above multiple facilities, The above equipment information is: A virtual control device for a logistics process, characterized in that it includes at least one of volume information, location information, type information, and operating range information for the plurality of facilities.

14. In claim 12, The above operation information is, Contains operation signals for the above multiple facilities, The above operation signal is, A virtual control device for a logistics process, characterized in that it occurs in response to at least one of the start of operation, the end of operation, and the presence of an abnormality of the above-mentioned plurality of facilities.

15. In claim 14, The above operation signal is, A virtual control device for a logistics process characterized by being generated through a PLC (Programmable Logic Controller).

16. In claim 12, The above operation information is, Contains logistics robot information for at least one logistics robot, The above logistics robot information is, A virtual control device for a logistics process, characterized in that it includes at least one of movement path information, current location information, operation status information, volume information, and loading status information of the logistics robot.

17. In claim 11, The above judgment committee, A virtual control device for a logistics process, characterized in that the positional relationship is determined based on whether an area occupied by a specific object among the plurality of objects on the virtual map deviates from a trigger zone for the specific object.

18. In claim 11, The above judgment committee, A virtual control device for a logistics process, characterized in that the positional relationship is determined based on at least one of the proximity and overlap between an area occupied by a specific object among the plurality of objects on the virtual map and a trigger zone for an object other than the specific object.

19. In claim 11, The above signal is, A virtual control device for a logistics process, characterized in that it includes at least one of an alarm signal and a control signal for controlling the operation of the operation target.

20. In claim 1, The above trigger zone is, Contains multiple different areas, The above judgment committee, A virtual control device for a logistics process, characterized in that it determines the positional relationship between the area occupied by each of the plurality of objects on the virtual map and the plurality of areas of the trigger zone.

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