Method and device for controlling logistics robot

Abstract

A method and device for controlling a logistics robot are presented. The method for controlling a logistics robot comprises the steps of: setting an area rule for a plurality of waypoints where a preset turning condition is satisfied; and transmitting the plurality of waypoints and the area rule to the logistics robot such that the logistics robot moves according to the plurality of waypoints and the area rule within an operation boundary.

Description

Method and device for controlling logistics robots

[0001] The present invention relates to a method and device for controlling a logistics robot that enables the logistics robot to move efficiently within an operational boundary.

[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] Meanwhile, when a logistics robot moves along the above-mentioned path and a large angle of change in direction is required, such as when entering an intersection, the logistics robot decelerates, rotates, and accelerates to change direction, and the movement of the logistics robot may be delayed during this process.

[0006] Therefore, a method needs to be proposed to reduce the delay time caused by the change of direction of the logistics robot, thereby enabling the logistics robot to move efficiently.

[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] The purpose of the present invention is to provide a method and device for controlling a logistics robot, which can improve the movement efficiency of the logistics robot by enabling the logistics robot to move while reducing the time required for changing direction based on an area rule set at a waypoint.

[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]

[0013] According to one embodiment of the present invention for realizing the above-described task, a method for controlling a logistics robot comprises the steps of: designating a plurality of way points in an area in which a logistics robot can move within a preset operational boundary; and setting an area rule for a way point that satisfies a preset turning condition among the plurality of way points based on a relative positional relationship between the plurality of way points; and transmitting the plurality of way points and the area rule to the logistics robot so that the logistics robot moves within the operational boundary according to the plurality of way points and the area rule, wherein the area rule is set so that the logistics robot passes through a turning area that is set to include a way point that satisfies the turning condition while being separated from a way point that satisfies the turning condition.

[0014] For example, the turning area may be defined as an area within a certain radius from a waypoint that satisfies the turning condition.

[0015] For example, the step of designating an area within the above-mentioned operational boundary in which the logistics robot cannot move may be further included, and the area rule may be set so that the logistics robot passes through the turning area while driving in a curve at a distance greater than a preset turning distance from the outer edge of the non-moving area.

[0016] For example, the above area rule may be set so that the logistics robot moves along a curve while moving a preset distance from a waypoint that satisfies the turning condition, and the distance may be set to be less than or equal to the distance from the waypoint that satisfies the turning condition to the next waypoint.

[0017] For example, the above area rule can be set to be applied when the logistics robot enters within a preset entry distance from a waypoint where the turning condition is satisfied.

[0018] For example, the above area rule can be set so that the logistics robot passes through the turning area while occupying it to a preset extent or less.

[0019] For example, the above area rule can be set so that the logistics robot moves in contact with the boundary of the turning area.

[0020] For example, the above turning condition may be satisfied for a way point located in the middle of the three way points in the arrangement when the minimum angle formed by three consecutive way points among the plurality of way points is less than or equal to a preset value.

[0021] For example, the above area rule may vary depending on logistics robot information including at least one of whether the logistics robot is loading a load, its type, the work being performed, and its speed.

[0022] For example, the above area rule may vary depending on load information including at least one of shape, weight, volume, and type of the load loaded on the logistics robot.

[0023]

[0024] According to one embodiment of the present invention for realizing the above-described task, a control device for a logistics robot includes: a map management unit that designates a plurality of way points in an area in which a logistics robot can move within a preset operating boundary, and sets an area rule for a way point that satisfies a preset turning condition based on a relative positional relationship between the plurality of way points among the plurality of way points; and a communication unit that transmits the plurality of way points and the area rule to the logistics robot so that the logistics robot moves within the operating boundary according to the plurality of way points and the area rule, wherein the area rule is set so that the logistics robot passes through a turning area that is set to include a way point that satisfies the turning condition while being separated from a way point that satisfies the turning condition.

[0025] For example, the turning area may be defined as an area within a certain radius from a waypoint that satisfies the turning condition.

[0026] For example, the map management unit may designate an area within the operational boundary in which the logistics robot cannot move, and the area rule may be set so that the logistics robot passes through the turning area by driving in a curve at a distance greater than a preset turning distance from the outer edge of the inaccessible area.

[0027] For example, the above area rule may be set so that the logistics robot moves along a curve while moving a preset distance from a waypoint that satisfies the turning condition, and the distance may be set to be less than or equal to the distance from the waypoint that satisfies the turning condition to the next waypoint.

[0028] For example, the above area rule can be set to be applied when the logistics robot enters within a preset entry distance from a waypoint where the turning condition is satisfied.

[0029] For example, the above area rule can be set so that the logistics robot passes through the turning area while occupying it to a preset extent or less.

[0030] For example, the above area rule can be set so that the logistics robot moves in contact with the boundary of the turning area.

[0031] For example, the above turning condition may be satisfied for a way point located in the middle of the three way points in the arrangement when the minimum angle formed by three consecutive way points among the plurality of way points is less than or equal to a preset value.

[0032] For example, the above area rule may vary depending on logistics robot information including at least one of whether the logistics robot is loading a load, its type, the work being performed, and its speed.

[0033] For example, the above area rule may vary depending on load information including at least one of shape, weight, volume, and type of the load loaded on the logistics robot.

[0034] According to various embodiments of the present invention as described above, the time required for deceleration, rotation, and acceleration can be shortened in the process of a logistics robot changing direction to pass through a section that is not a straight section.

[0035] This will allow for improved movement efficiency of a single logistics robot, and further, by improving the movement efficiency of each single logistics robot, it will be possible to alleviate traffic confusion caused by movement between multiple logistics robots within the operational boundary.

[0036] Additionally, the cycle time of transportation processes using logistics robots can be shortened by improving the movement efficiency of logistics robots and alleviating traffic congestion.

[0037]

[0038] 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.

[0039] 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.

[0040] FIG. 2 is a block diagram showing an example of a control device configuration that can be applied to embodiments of the present invention.

[0041] FIG. 3 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.

[0042] FIG. 4 is a drawing for explaining an area rule according to one embodiment of the present invention.

[0043] Figure 5 is a sequence diagram of logistics robot control according to one embodiment of the present invention.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0054] 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.

[0055] The controller may include a communication device that communicates with other controllers or sensors to control the function in charge, a memory that stores operating system or logic commands and input / output information, and one or more processors that perform judgments, calculations, decisions, etc. necessary for controlling the function in charge.

[0056]

[0057] 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.

[0058] 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).

[0059] 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.

[0060] 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).

[0061] 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.

[0062] 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.

[0063]

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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).

[0069] 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).

[0070] 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).

[0071] 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.

[0072]

[0073] 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.

[0074] 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), a map management unit (148), a task creation unit (140a), and an optimal route calculation unit (140b).

[0075] 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.

[0076] 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.

[0077] The process management department (143) can define the process for each product and manage missions such as process progress and progress location.

[0078] The production / logistics management department (144) can dispatch logistics robots (110) based on missions.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] In addition, the monitoring unit (147) can also check the mission, operation mode, firmware version, etc. currently assigned to each logistics robot (110).

[0083] 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).

[0084] The task generation unit (140a) can generate a task to be performed by the logistics robot (110) based on the status of the process being performed through the facility (120), the status of the supply of logistics, and the monitoring information within the operation boundary (100) obtained through the monitoring device (130).

[0085]

[0086] Meanwhile, one embodiment of the present invention proposes to enable a logistics robot (110) to move while reducing the time required for changing direction based on an area rule set at a waypoint, thereby improving the movement efficiency of the logistics robot (110).

[0087] To this end, the map management unit (148) according to one embodiment of the present invention can designate a plurality of waypoints in an area where the logistics robot (110) can move within the operation boundary (100). Here, the waypoints can be defined as coordinates on the map, and a movement path of the logistics robot (110) can be formed through a combination of waypoints.

[0088] Additionally, the map management unit (148) can set area rules for way points that satisfy preset turning conditions among a plurality of designated way points.

[0089] In this case, the turning condition can be determined whether or not it is satisfied based on the relative positional relationship between multiple way points. For example, if the minimum angle formed by three consecutive way points among multiple way points is less than or equal to a preset value, the turning condition can be satisfied for a way point located in the middle of the three way points among the three way points.

[0090] The area rule may be set so that the logistics robot (110) passes through a turning area that is set to include a waypoint that satisfies the turning condition, while being separated from the waypoint that satisfies the turning condition. In other words, it may mean an area that includes a waypoint on the map and is extended based on the waypoint.

[0091] More specifically, such a turning area can be implemented in various forms, for example, the turning area can be implemented as an area within a certain radius from a waypoint that satisfies a preset condition.

[0092] In addition, the map management unit (148) can designate an area within the operation boundary (100) where the logistics robot (110) cannot move, and in this case, the area rule can be set so that the logistics robot (110) passes through the turning area by driving in a curve while being separated from the outer edge of the turning area by a preset turning distance or more.

[0093] Furthermore, the area rule can be set so that the logistics robot (110) drives in a curve while moving a preset departure distance from a waypoint that satisfies the turning condition, and in this case, the departure distance can be set to be less than or equal to the distance from the waypoint that satisfies the turning condition to the next waypoint. That is, in this case, the logistics robot (110) does not drive in a curve only within the turning area, but maintains the curved driving until a certain point before reaching the next waypoint, thereby enabling the logistics robot (110) to turn gently without making a sharp change in direction.

[0094] Additionally, the area rule can be set to be applied when the logistics robot (110) enters within a preset entry distance from a waypoint that satisfies the turning condition. In this case, the entry distance may be greater than or equal to the radius of the turning area.

[0095] In particular, the map management unit (148) can set an area rule so that the logistics robot (110) moves while occupying the turning area to a preset degree or less when passing through the turning area while being separated from a waypoint where the turning condition is satisfied. In this case, the preset degree of occupation of the turning area may include the occupation time or the degree of overlap between the movement path of the logistics robot (110) and the turning area. Furthermore, the map management unit (148) can set an area rule so that the logistics robot (110) moves while contacting the boundary of the turning area, in which case the logistics robot (110) moves while occupying the turning area to a minimum, thereby being able to move to the next waypoint at the shortest distance.

[0096] Meanwhile, the area rules may vary depending on the driving status of the logistics robot (110). In particular, the area rules may vary depending on logistics robot information about the logistics robot (110) and information on the load loaded on the logistics robot (110).

[0097] In this case, the logistics robot information may include at least one of whether the logistics robot (110) is loaded, its type, the work performed, and its speed, and the load information may include at least one of whether the load is loaded, its weight, its volume, and its type.

[0098] The reason why the area rules are variable in this way is because the extent to which the logistics robot (110) can safely change direction may vary depending on the driving status of the logistics robot (110). Accordingly, the shape of the turning area of ​​the area rules, the entry distance, the exit distance, the turning distance, etc. may vary depending on the logistics robot information and the load information.

[0099] For example, when a logistics robot (110) is loaded with a load, a greater centripetal force is applied compared to when there is no load, so rather than turning while maintaining the maximum speed, the area rule can be set to move while occupying a little more of the turning area even if it involves some degree of deceleration.

[0100] Meanwhile, such waypoint and area rules can be transmitted to the logistics robot (110) through the communication unit (146), and for example, the waypoint and area rules can be transmitted in the form of path information in which each is reflected.

[0101] In this case, the optimal path calculation unit (140b) can calculate an optimal path according to waypoints and area rules and reflect this in the path information. In addition to waypoints and area rules, the optimal path can be calculated by taking into consideration the work that the logistics robot (110) must perform and the location of the facility (120) that must pass through accordingly.

[0102] In this way, the logistics robot (110) that has received the optimal path can move according to the area rules set for each waypoint in the process of moving along the global path according to the waypoint.

[0103] Below, a logistics robot that can be applied to embodiments of the present invention will be described.

[0104]

[0105] FIG. 3 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.

[0106] 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). In particular, the logistics robot (110) applied to the embodiments of the present invention may be an AMR. Each component is described below.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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).

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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).

[0116] In particular, in a logistics robot (110) applicable to embodiments of the present invention, the control unit (115) can obtain a waypoint and an area rule set thereon from a control device (140), and control the driving unit (111) so that the logistics robot (110) satisfies the area rule set at the waypoint and moves along a path according to the waypoint.

[0117] Hereinafter, with reference to FIG. 4, the area rules according to one embodiment of the present invention will be described in more detail.

[0118]

[0119] FIG. 4 is a drawing for explaining an area rule according to one embodiment of the present invention.

[0120] Referring to FIG. 4, a process in which a logistics robot (110) moves along multiple waypoints (#1-#3) is shown.

[0121] First, since the section in which the logistics robot (110) moves from waypoint (#1) to waypoint (#2) is a straight section, the optimal path calculation unit (149) may not set separate area rules for waypoints (#1, #2).

[0122] In contrast, since the section in which the logistics robot (110) moves from waypoint (#2) to waypoint (#3) is not a straight section, a change of direction is required for the logistics robot (110) to pass through the section. In this case, when the logistics robot (110) passes waypoint (#2) and moves to waypoint (#3), a change of direction of approximately 90 degrees is required, and for the change of direction, the logistics robot (110) can decelerate when reaching waypoint (#2), turn at waypoint (#2), and then accelerate again while moving toward waypoint (#3).

[0123] When a logistics robot (110) moves in this manner, it can prevent overturning due to a sudden change in direction, but movement may be delayed during the process of deceleration, rotation, and then acceleration.

[0124] Accordingly, the map management unit (148) can set an area rule for a way point located in the middle of the three way points (#1-#3) in terms of arrangement, if the minimum angle formed by three consecutive way points (#1-#3) among the plurality of way points is less than or equal to a preset value. In this case, the preset value for the minimum angle may be, for example, 90 degrees, and according to FIG. 4, the way point (#2) that satisfies the preset condition becomes the way point that satisfies the preset condition.

[0125] The area rule can be set so that the logistics robot (110) passes through the turning area (Z1) away from the waypoint (#2) in order to minimize movement delay due to the change of direction of the logistics robot (110). Here, the turning area (Z1) is set as an area including the waypoint (#2) that satisfies the preset conditions.

[0126] In this case, the turning area (Z1) can be set as an area within a certain radius (r1) from the waypoint (#2), and the radius (r1) of the turning area (Z1) can be varied according to load information for the logistics robot (110). For example, the greater the weight or volume of the load loaded on the logistics robot (110), the smaller the radius (r1) of the turning area (Z1), thereby reducing the risk of overturning even if the logistics robot (110) moves relatively slowly. However, the radius (r1) of the turning area (Z1) can be limited depending on the location of other equipment (120) or other logistics robots (110) within the operating boundary (100).

[0127] Meanwhile, the area rule can be set so that the logistics robot (110) passes within the turning area (Z1) at a distance of a preset turning distance (r2) or more from not only the waypoint (#2) but also the outer perimeter of the non-movable area (Z2). This allows the logistics robot (110) to efficiently move to the next waypoint (#3) without directly passing through the waypoint (#2), while preventing the logistics robot (110) from leaving the operable range or colliding with other objects such as equipment (120).

[0128] Furthermore, the area rule may be set to cause the logistics robot (110) to drive in a curve while moving a preset distance from a waypoint that satisfies the turning condition. In this case, the distance may be set to be shorter than the distance to the next waypoint (#3). According to such an area rule, instead of immediately driving in a straight line after leaving the turning area (Z1), the logistics robot (110) can maintain the turning driving for a certain period of time and then switch to straight driving. Through the curved driving, the logistics robot (110) can minimize the repetition of changing directions after straight driving.

[0129] Meanwhile, the area rule can be set so that the logistics robot (110) moves while occupying the turning area (Z1) to a preset degree or less. The preset degree of occupation of the turning area can include the occupancy time or the degree of overlap between the movement path of the logistics robot (110) and the turning area (Z1), and the higher the preset degree, the more abrupt direction changes of the logistics robot (110) can be reduced. The preset degree of occupation of the turning area can also be changed based on load information for the logistics robot (110). For example, the preset degree can increase as the weight or volume of the load loaded on the logistics robot (110) increases, and through this, the risk of tipping over can be reduced even if the logistics robot (110) moves relatively slowly. However, the preset degree of occupation of the turning area (Z1) can be limited depending on the location of other equipment (120) or other logistics robots (110) within the operating boundary (100).

[0130] Meanwhile, the area rule can be set to be applied when the logistics robot (110) enters within a preset entry distance (d1) from a waypoint (#2). In this case, the logistics robot (110) can drive in a straight line before entering within the preset entry distance (d1), and can drive in a turn by changing direction after entering the entry distance (d1). This allows the logistics robot (110) to start turning at a location away from the waypoint (#2) that requires a large direction change to pass through, thereby enabling the logistics robot (110) to move without making abrupt direction changes.

[0131] This entry distance (d1) may vary depending on the logistics robot information and the load information. For example, the entry distance (d1) may increase as the weight or volume of the load loaded on the logistics robot (110) increases. This allows the logistics robot (110) to initiate a direction change earlier, allowing the direction change to be performed more smoothly over a longer period of time. However, the entry distance (d) may be limited depending on the location of other equipment (120) or other logistics robots (110) within the operating boundary (100).

[0132] Meanwhile, although not shown in FIG. 4, more waypoints may be designated in the operation boundary (100) or the map, and after passing the waypoint (#3), the area rules may be reapplied depending on whether the conditions are satisfied.

[0133] Below, the entire control process, including the operation of the aforementioned control device (140), will be described with reference to FIG. 5.

[0134]

[0135] Figure 5 is a sequence diagram of logistics robot control according to one embodiment of the present invention.

[0136] Referring to FIG. 5, first, the map management unit (148) can set a map by designating a plurality of way points in an area where a logistics robot can move within an operation boundary (100) and setting area rules for way points that satisfy a turning condition among the plurality of way points (S501).

[0137] The map set in this way can be transmitted to the optimal path calculation unit (140b) in the form of map information (S502), and the optimal path calculation unit (140b) can be used to calculate the optimal path.

[0138] Meanwhile, since the movement path of the logistics robot (110) must be determined by considering what task the logistics robot (110) performs, the calculation of the optimal path reflects not only the map information as above, but also the task performed by the logistics robot (110).

[0139] More specifically, the task generation unit (140a) collects information for assigning tasks to the logistics robot (110), such as process status information, process surrounding monitoring information, and parts supply information, from the equipment (120) and the monitoring device (130) (S503-S504), and can generate tasks to be performed by the logistics robot (110) based on the collected information.

[0140] The task creation unit (140a) can transmit the departure and destination information of the logistics robot (110) based on the created task to the optimal route creation unit (140b), and can additionally transmit the waypoint information.

[0141] The optimal path generation unit (140b) can select the entire path along which the logistics robot (110) will move based on map information including waypoints and area rules received from the map management unit (148) and information on the starting point and destination according to the work performed by the logistics robot (110) received from the work generation unit (140a) (S508).

[0142] The selected entire route information is transmitted to the logistics robot (110) through the communication unit (146) (S509), and the logistics robot (110) that receives the information follows the entire route and drives (S510).

[0143] Meanwhile, the logistics robot (110) transmits driving situation information to the optimal path calculation unit (140b) through the communication unit (146) while driving along the entire path (S511), and the optimal path calculation unit (140b) can confirm the current location of the logistics robot (110) through the received driving situation information.

[0144] When the logistics robot (110) is scheduled to move to a waypoint where the turning condition is satisfied, the optimal path calculation unit (140b) determines an area rule based on the current logistics robot information and load information (S512), and transmits the determined area rule back to the logistics robot (110) through the communication unit (146) so that the logistics robot (110) can turn and drive according to the determined area rule.

[0145]

[0146] According to various embodiments of the present invention as described above, the time required for deceleration, rotation, and acceleration can be shortened in the process of a logistics robot changing direction to pass through a section that is not a straight section.

[0147] This will allow for improved movement efficiency of a single logistics robot, and further, by improving the movement efficiency of each single logistics robot, it will be possible to alleviate traffic confusion caused by movement between multiple logistics robots within the operational boundary.

[0148] Additionally, the cycle time of transportation processes using logistics robots can be shortened by improving the movement efficiency of logistics robots and alleviating traffic congestion.

[0149] [Explanation of symbols]

[0150] 100: Operational Boundary

[0151] 110: Logistics Robot

[0152] 120: Equipment

[0153] 130: Surveillance device

[0154] 140: Control device

Claims

1. A step of designating a plurality of waypoints in an area where a logistics robot can move within a preset operational boundary, and setting area rules for waypoints that satisfy preset turning conditions based on the relative positional relationship between the plurality of waypoints among the plurality of waypoints; and Including a step of transmitting the plurality of way points and the area rules to the logistics robot so that the logistics robot moves according to the plurality of way points and the area rules within the operation boundary, The above area rules are, A control method for a logistics robot, characterized in that the logistics robot is set to pass through a turning area that is set to include a waypoint where the turning condition is satisfied, while being separated from a waypoint where the turning condition is satisfied.

2. In claim 1, The above turning area is, A control method for a logistics robot, characterized in that the area is defined as a certain radius from a waypoint satisfying the above turning condition.

3. In claim 1, Further comprising a step of designating an area within the above operational boundary in which the logistics robot cannot move, The above area rules are, A control method for a logistics robot, characterized in that the logistics robot is set to pass through the turning area while driving in a curve at a turning distance set from the outer edge of the non-movable area.

4. In claim 3, The above area rules are, The above logistics robot is set to drive along a curve while moving a preset distance from a waypoint that satisfies the above turning condition, The above distance is, A control method for a logistics robot, characterized in that the distance from a waypoint where the above turning condition is satisfied is set to less than or equal to the distance to the next waypoint.

5. In claim 1, The above area rules are, A control method for a logistics robot, characterized in that it is set to be applied when the logistics robot enters within a preset entry distance from a waypoint where the turning condition is satisfied.

6. In claim 1, The above area rules are, A control method for a logistics robot, characterized in that the logistics robot is set to pass through the turning area while occupying it to a preset extent or less.

7. In claim 1, The above area rules are, A control method for a logistics robot, characterized in that the logistics robot is set to move while contacting the boundary of the turning area.

8. In claim 1, The above turning conditions are, A control method for a logistics robot, characterized in that when the minimum angle formed by three consecutive way points in the arrangement among the plurality of way points is less than or equal to a preset value, the method is satisfied for a way point located in the middle of the three way points in the arrangement.

9. In claim 1, The above area rules are, A control method for a logistics robot, characterized in that it varies according to logistics robot information including at least one of whether the logistics robot is loading a load, its type, the work being performed, and its speed.

10. In claim 1, The above area rules are, A control method for a logistics robot, characterized in that it varies according to load information including at least one of shape, weight, volume, and type of the load loaded on the logistics robot.

11. A map management unit that designates a plurality of waypoints in an area where a logistics robot can move within a preset operational boundary, and sets area rules for waypoints that satisfy preset turning conditions based on the relative positional relationship between the plurality of waypoints among the plurality of waypoints; and Including a communication unit that transmits the plurality of way points and the area rules to the logistics robot so that the logistics robot moves according to the plurality of way points and the area rules within the operation boundary, The above area rules are, A control device for a logistics robot, characterized in that the logistics robot is set to pass through a turning area set to include a waypoint where the turning condition is satisfied, while being spaced apart from a waypoint where the turning condition is satisfied.

12. In claim 11, The above turning area is, A control device for a logistics robot, characterized in that the area is defined as a certain radius from a waypoint that satisfies the above turning condition.

13. In claim 11, The above map management department, Designate an area within the above operational boundary where the logistics robot cannot move, The above area rules are, A control device for a logistics robot, characterized in that the logistics robot is set to pass through the turning area while driving in a curve at a turning distance set from the outer edge of the non-movable area.

14. In claim 13, The above area rules are, The above logistics robot is set to drive along a curve while moving a preset distance from a waypoint that satisfies the above turning condition, The above distance is, A control device for a logistics robot, characterized in that the distance from a waypoint where the above turning condition is satisfied is set to less than or equal to the distance to the next waypoint.

15. In claim 11, The above area rules are, A control device for a logistics robot, characterized in that it is set to be applied when the logistics robot enters within a preset entry distance from a waypoint where the turning condition is satisfied.

16. In claim 11, The above area rules are, A control device for a logistics robot, characterized in that the logistics robot is set to pass through the turning area while occupying it to a preset degree or less.

17. In claim 11, The above area rules are, A control device for a logistics robot, characterized in that the logistics robot is set to move while contacting the boundary of the turning area.

18. In claim 11, The above turning conditions are, A control device for a logistics robot, characterized in that when the minimum angle formed by three consecutive way points in the arrangement among the above plurality of way points is less than or equal to a preset value, the control device is satisfied with respect to a way point located in the middle of the three way points in the arrangement.

19. In claim 11, The above area rules are, A control device for a logistics robot, characterized in that it varies according to logistics robot information including at least one of whether the logistics robot is loading a load, its type, the work being performed, and its speed.

20. In claim 11, The above area rules are, A control device for a logistics robot, characterized in that it varies according to load information including at least one of shape, weight, volume, and type of the load loaded on the logistics robot.

Images