Method and device for virtually controlling logistics robot

Abstract

Disclosed are a method and a device for virtually controlling a logistics robot, the method comprising the steps of: collecting logistics robot information and load information; configuring a first virtual area corresponding to an actual occupied space of a logistics robot; determining whether an operation control condition of the logistics robot is satisfied, on the basis of a positional relationship between the first virtual area and a second virtual area configured to correspond to an actual occupied space of another object; and outputting a control signal for controlling an operation of the logistics robot.

Description

Method and device for virtual control of logistics robots

[0001] The present invention relates to a virtual control method and device for a logistics robot for effectively detecting the surroundings of a logistics robot moving within an operation boundary and controlling the logistics robot based on the detection results.

[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, as multiple logistics robots move along their respective paths, collisions can occur. Collisions can occur not only between logistics robots but also with surrounding equipment. Collisions between logistics robots can result in damage to the robot itself, as well as delays in the process, resulting in significant losses for the entire process.

[0006] In addition, even if a collision does not occur, situations may arise where the movement of the logistics robot is hindered, such as when the path of the logistics robot is obstructed by surrounding objects, and in this case, damage such as process delays may occur.

[0007] In order to prevent such damage, a method needs to be proposed that can prevent interference in advance by controlling the movement of the logistics robot through sensing the surroundings of the logistics robot.

[0008]

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

[0010] The purpose of the present invention is to provide a virtual control method and device for a logistics robot that detects the surroundings of the logistics robot based on a virtual area and controls the movement of the logistics robot based on the detection result so that the process can be operated efficiently.

[0011]

[0012] 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.

[0013]

[0014] According to one embodiment of the present invention for realizing the above-described task, a virtual control method of a logistics robot comprises the steps of: collecting logistics robot information about a logistics robot and load information about at least one load loaded on the logistics robot; setting a first virtual area corresponding to an actual occupied space of the logistics robot based on the logistics robot information and the load information; determining whether an operation control condition of the logistics robot is satisfied based on a positional relationship between the first virtual area and a second virtual area set to correspond to an actual occupied space of an object other than the logistics robot for which the first virtual area is set; and outputting a control signal for operation control of the logistics robot when the operation control condition is satisfied.

[0015] For example, the first virtual area may be set to be at least partially extended beyond the actual occupied space of the logistics robot.

[0016] For example, the first virtual area is a virtual area on a plane corresponding to the actual occupied space of the logistics robot, and the motion control condition may include a first motion control condition determined based on a positional relationship between the first virtual area and the second virtual area, and a second motion control condition determined based on a three-dimensional shape of the logistics robot for which the first virtual area is set and another object for which the second virtual area is set when the first motion control condition is satisfied.

[0017] For example, the three-dimensional shape of the logistics robot may include the three-dimensional shape of the load loaded on the logistics robot.

[0018] For example, the three-dimensional shape of the load may be included in the load information.

[0019] For example, whether the above motion control condition is satisfied can be determined regardless of whether a communication connection exists between the logistics robot and the other object.

[0020] For example, the virtual area may be set by considering at least one of the type, speed, loading status, location information, and path information of the logistics robot included in the logistics robot information.

[0021] For example, the above motion control condition may be determined to be satisfied based on at least one of the degree of mutual overlap and proximity according to the positional relationship between the first virtual area and the second virtual area.

[0022] For example, the control signal may cause at least one of the speed and movement direction of the logistics robot to be adjusted.

[0023] For example, the step of outputting the control signal may include a step of outputting the control signal while further considering a preset priority between the logistics robot and the other object.

[0024]

[0025] According to one embodiment of the present invention for realizing the above-described task, a virtual control device for a logistics robot includes: a collection unit that collects logistics robot information about a logistics robot and load information about at least one load loaded on the logistics robot; a setting unit that sets a first virtual area corresponding to an actual occupied space of the logistics robot based on the logistics robot information and the load information; a determination unit that determines whether an operation control condition of the logistics robot is satisfied based on a positional relationship between the first virtual area and a second virtual area set to correspond to an actual occupied space of an object other than the logistics robot for which the first virtual area is set; and an output unit that outputs a control signal for operation control of the logistics robot when the operation control condition is satisfied.

[0026] For example, the first virtual area may be set to be at least partially extended beyond the actual occupied space of the logistics robot.

[0027] For example, the first virtual area is a virtual area on a plane corresponding to the actual occupied space of the logistics robot, and the motion control condition may include a first motion control condition determined based on a positional relationship between the first virtual area and the second virtual area, and a second motion control condition determined based on a three-dimensional shape of the logistics robot for which the first virtual area is set and another object for which the second virtual area is set when the first motion control condition is satisfied.

[0028] For example, the three-dimensional shape of the logistics robot may include the three-dimensional shape of the load loaded on the logistics robot.

[0029] For example, the three-dimensional shape of the load may be included in the load information.

[0030] For example, whether the above motion control condition is satisfied can be determined regardless of whether a communication connection exists between the logistics robot and the other object.

[0031] For example, the virtual area may be set by considering at least one of the type, speed, loading status, location information, and path information of the logistics robot included in the logistics robot information.

[0032] For example, the above motion control condition may be determined to be satisfied based on at least one of the degree of mutual overlap and proximity according to the positional relationship between the first virtual area and the second virtual area.

[0033] For example, the control signal may cause at least one of the speed and movement direction of the logistics robot to be adjusted.

[0034] For example, the output unit may output the control signal while further considering the preset priority between the logistics robot and the other object.

[0035] According to various embodiments of the present invention as described above, the surrounding detection performance of a logistics robot can be improved by utilizing a virtual area.

[0036] In addition, by controlling the operation of the logistics robot based on the results of the above-mentioned surrounding detection, it is possible to prevent interference with the operation of the logistics robot, thereby preventing process delays.

[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 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 sequence diagram for explaining a virtual control process according to one embodiment of the present invention.

[0043] FIG. 5 is a diagram showing an example of determining whether a first motion control condition is satisfied that can be applied to embodiments of the present invention.

[0044] FIG. 6 is a diagram showing an example of determining whether a second motion control condition is satisfied that can be applied to embodiments of the present invention.

[0045] 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.

[0046] 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.

[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 components 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. 3.

[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. 3, 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), and a work schedule management unit (149).

[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 vehicle 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) may obtain map data 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 data. By editing the map data, a zone, a virtual lane, an intersection, a no-entry zone, etc., in which the logistics robot (110) performs one or more preset actions upon entry 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 initially obtained the grid map through actual driving, through the communication unit (146).

[0084] The work schedule management unit (149) can manage and monitor the mission of the logistics robot (110) based on the process information of the operation boundary (100) received from the equipment (120) and the monitoring device (130) through the communication unit (146). In addition, the work schedule management unit (149) can select a specific logistics robot (110) and assign a mission, and set the global route of the logistics robot (110) according to the assigned mission.

[0085] Next, a logistics robot is described with reference to Fig. 3.

[0086]

[0087] FIG. 3 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.

[0088] 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). Each component is described below.

[0089] 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 power from the driving source, and non-driving wheels that rotate by the movement of the vehicle body without receiving driving power. 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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).

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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).

[0098] Hereinafter, with reference to FIG. 4, a process of controlling the operation of a logistics robot through a virtual control device according to one embodiment of the present invention will be described in detail.

[0099]

[0100] Figure 4 is a sequence diagram illustrating a virtual control process according to one embodiment of the present invention. Figure 4 mainly illustrates components related to the description of one embodiment of the present invention, and it is obvious that an actual virtual control device or virtual control method may be implemented with more or fewer components.

[0101] First, virtual control according to one embodiment of the present invention may be performed by a virtual control device (150) including a collection unit (151), a setting unit (152), a judgment unit (153), and an output unit (154). The virtual control device (150) may be provided within the operation boundary (100), but may also be provided outside the operation boundary (100). Hereinafter, the virtual control process performed through each configuration will be described in detail.

[0102] The collection unit (151) receives and collects logistics robot information about the logistics robot (110) and load information about at least one load loaded on the logistics robot, and can further receive and collect facility information (S402).

[0103] Logistics robot information, load information, and facility information can be obtained from the aforementioned control device (140). In this case, the control device (140) can receive logistics robot information from the logistics robot (110) and retransmit the received logistics robot information to the collection unit (151) (S401). In addition, the load information and facility information can be stored in the production / logistics management unit (144) of the control device (140) and then provided to the collection unit (151).

[0104] Additionally, the collection unit (151) may receive surveillance information from a surveillance device (130) (S403). The surveillance information may include the operating status of equipment (120) within the operational boundary (100) detected by a camera, proximity sensor, etc. (S403).

[0105] The setting unit (152) can receive information collected from the collection unit (151) (S404), and can set a first virtual area corresponding to the actual occupied space of the logistics robot (110) based on the logistics robot information and the load information. In addition, the setting unit (152) can also set a second virtual area corresponding to the actual occupied space of an object other than the logistics robot for which the first virtual area is set (S405).

[0106] Here, other objects than the logistics robot (110) for which the first virtual area is set may include other logistics robots (110), equipment (120), etc. For example, if the other object is a logistics robot (110), a second virtual area may be set based on logistics robot information and load information in the same manner as the first virtual area, and if the other object is equipment (120), the second virtual area may be set based on equipment information and surveillance information, but this is not necessarily limited to the first virtual area, and the second virtual area may be set in other ways.

[0107] Meanwhile, the first virtual area may be set to be at least partially expanded beyond the actual occupied space of the logistics robot (110), and may be set by considering at least one of the type, speed, and loading status of the logistics robot (110) included in the logistics robot information. Meanwhile, the logistics robot information may further include location information and route information of the logistics robot.

[0108] For example, different first virtual areas can be set depending on the type of logistics robot (110), and the extent to which the first virtual area expands beyond the actual occupied space can be determined in proportion to the speed or acceleration of the logistics robot (110), or can be determined differently depending on the loading status of the logistics robot (110).

[0109] The first virtual area and the second virtual area set in this way are transmitted to the judgment unit (153) (S406), and the judgment unit (153) can determine whether the operation control conditions of the logistics robot (110) are satisfied based on the positional relationship between each virtual area (S407).

[0110] More specifically, the motion control condition of the logistics robot (110) may include a first motion control condition and a second motion control condition, and may be satisfied when both the first motion control condition and the second motion control condition are satisfied.

[0111] Here, the first motion control condition can be determined based on the positional relationship between the first virtual area and the second virtual area, in which case the first virtual area and the second virtual area may be implemented as a plane. In addition, the second motion control condition can be determined based on the three-dimensional shape of the logistics robot (110) in which the first virtual area is set and another object in which the second virtual area is set, and can be determined when the first motion control condition is satisfied.

[0112] More specific details regarding the determination of whether the motion control conditions are satisfied will be described below with reference to FIGS. 5 and 6.

[0113]

[0114] First, FIG. 5 is a drawing showing an example of determining whether a first motion control condition is satisfied that can be applied to embodiments of the present invention.

[0115] Figure 5 shows a top-down view of multiple logistics robots (110-1, 110-2) and their virtual areas (V-1, V-2).

[0116] Referring to FIG. 5, a surrounding detection situation of a logistics robot (110-1) with respect to another logistics robot (110-2) is shown. In this case, a first virtual area (V-1) is set for the logistics robot (110-1), and a second virtual area (V-2) may be set for a logistics robot (110-2), which is another object other than the logistics robot (110-1) for which the first virtual area (V-1) is set.

[0117] In this case, the first virtual area (V-1) and the second virtual area (V-2) can be implemented as planes that are at least partially extended beyond the actual occupied space of each logistics robot (110-1, 110-2).

[0118] The judgment unit (153) can determine whether the first collision condition is satisfied based on the positional relationship between the virtual areas (V-1, V-2) as described above. For example, as shown in FIG. 5, the judgment unit (153) can determine whether the first motion control condition is satisfied based on the degree of overlap between the first virtual area (V-1) for a logistics robot (110-1) and the second virtual area (V-2) for another logistics robot (110-2).

[0119] More specifically, the judgment unit (153) can determine that the first motion control condition is satisfied when the degree of overlap exceeds a preset value, and in this case, the degree of overlap can be defined as the proportion of the area of ​​the first virtual area (V-1) for one logistics robot (110-1) occupied by the second virtual area (V-2) for another logistics robot (110-2).

[0120] However, in contrast, the judgment unit (153) may determine that the first motion control condition is satisfied when the virtual area (V-1) for a certain logistics robot (110-1) and the virtual area (V-2) for another logistics robot (110-2) approach within a certain distance even if they do not overlap. In other words, the first motion control condition may be determined based on the proximity between the first virtual area (V-1) and the second virtual area (V-2).

[0121] As a result of the above judgment, if the first motion control condition is satisfied, it can be determined whether the second motion control condition is satisfied, and this will be explained with reference to FIG. 6.

[0122]

[0123] FIG. 6 is a diagram showing an example of determining whether a second motion control condition is satisfied that can be applied to embodiments of the present invention.

[0124] FIG. 6 shows a side view of multiple logistics robots (110-1, 110-2) and their virtual areas (V-1, V-2) shown in FIG. 5.

[0125] Referring to FIG. 6, when the first motion control condition is satisfied, the judgment unit (153) determines whether the second motion control condition is satisfied, and the second motion control condition can be determined by considering the three-dimensional shape of a logistics robot (110-1) in which a first virtual area (V-1) is set and another logistics robot (110-2) in which a second virtual area (V-2) is set.

[0126] In this case, the three-dimensional shape may include the three-dimensional shape of a load loaded on a logistics robot (110-1) in which a first virtual area (V-1) is set. In addition, if a load is also loaded on a logistics robot (110-2) in which a second virtual area (V-2) is set, the three-dimensional shape of the load may be reflected in its three-dimensional shape.

[0127] In this case, the three-dimensional shape of the load may be included in the collected load information, and the load information may include, for example, information about the shape such as the height, width, and length of the load, and information such as the center of gravity.

[0128] Meanwhile, the first virtual area (V-1) implemented as a plane can be set to be extended beyond the actual occupied area of ​​the logistics robot (110-1), and in this case, even when the virtual areas (V-1, V-2) are close to or overlap each other, there may be cases where there is no risk of collision occurring in reality.

[0129] In particular, the shape of the load (L) is diverse and it can be assumed that the load (L) has an irregular shape, so by additionally determining the second motion control condition, it is possible to more precisely determine the necessity of controlling the motion (particularly, movement) of the logistics robot (110-1) due to another object.

[0130] That is, by performing a two-dimensional evaluation of the necessity of motion control by determining whether the first motion control condition is satisfied, and additionally performing a three-dimensional evaluation of the necessity of motion control by determining whether the second motion control condition is satisfied, it is possible to prevent disruption of process progress due to controlling the motion of the logistics robot (110-1) to be controlled in cases where there is a low risk that another object, such as another logistics robot (110-2), will interfere with the motion of the logistics robot (110-1) to be controlled. That is, in this case, it is possible not to perform additional motion control so that the logistics robot (110-1) to be controlled operates according to the original control goal.

[0131]

[0132] Meanwhile, returning to FIG. 4, the judgment unit (153) can determine whether the first motion control condition and the second motion control condition are satisfied regardless of whether communication is connected between a plurality of logistics robots (110). In the case of virtual control according to one embodiment of the present invention, motion control is performed based on logistics robot information and load information about the logistics robot (110) regardless of whether communication is connected between the logistics robot (110) and another object, so even when communication between the logistics robot (110) and another object, which is the control target, is impossible, the surroundings of the logistics robot (110) which is the control target can be detected, and the motion of the logistics robot (110) can be controlled based on the result.

[0133] In particular, even when communication between the logistics robots (110) is impossible due to the other object being a logistics robot (110) other than the logistics robot (110) in which the first virtual area is set, or the two logistics robots (110) being of different types, it is possible to predict whether there will be a collision between the logistics robots (110).

[0134] Thereafter, the judgment unit (153) can transmit the judgment result on whether the motion control condition is satisfied to the output unit (154) (S408), so that the output unit (154) can output a control signal corresponding to the judgment result on whether the motion control condition is satisfied (S409).

[0135] In this case, the control signal may be configured to adjust at least one of the speed and movement direction of the logistics robot (110), and may also be output based on the priority between the logistics robot (110) and other objects.

[0136] For example, if the other object is another logistics robot (110), a control signal may be output based on the priority between the logistics robot (110) for which the first virtual area is set and the other logistics robot (110), and if the priority of the other logistics robot (110) is higher, a control signal may be output to cause the logistics robot (110) for which the first virtual area is set to move in a direction different from the existing direction of movement or to stop so as not to interfere with the operation of the other logistics robot (110).

[0137] Meanwhile, the output control signal can be transmitted to the control device (140) and then transmitted to the logistics robot (110) (S409), and the control device (140) that has received the control signal can control the operation of the logistics robot (110) according to the control signal (S410). Alternatively, the control signal can be directly transmitted to the logistics robot (110), and the operation of the logistics robot (110) can be controlled accordingly.

[0138]

[0139] According to various embodiments of the present invention as described above, the surrounding detection performance of a logistics robot can be improved by utilizing a virtual area.

[0140] In addition, by controlling the operation of the logistics robot based on the results of the above-mentioned surrounding detection, it is possible to prevent interference with the operation of the logistics robot, thereby preventing process delays.

[0141]

[0142] 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.

[0143] [Explanation of symbols]

[0144] 110: Logistics Robot

[0145] 140: Control device

[0146] 150: Virtual Control Unit

[0147] 151: Collection Department

[0148] 152: Settings

[0149] 153: Judgment

[0150] 154: Output section

Claims

1. A step of collecting logistics robot information for a logistics robot and load information for at least one load loaded on the logistics robot; A step of setting a first virtual area corresponding to the actual occupied space of the logistics robot based on the logistics robot information and the load information; A step of determining whether the motion control conditions of the logistics robot are satisfied based on the positional relationship between the first virtual area and the second virtual area set to correspond to the actual occupied space of an object other than the logistics robot where the first virtual area is set; and A virtual control method for a logistics robot, comprising the step of outputting a control signal for motion control of the logistics robot when the above motion control condition is satisfied.

2. In claim 1, The above first virtual area is, A virtual control method for a logistics robot, characterized in that the actual occupied space of the logistics robot is set to be expanded at least by a portion.

3. In claim 1, The above first virtual area is, A virtual area on a plane corresponding to the actual occupied space of the above logistics robot, The above motion control conditions are: A virtual control method for a logistics robot, characterized in that it includes a first motion control condition determined based on the positional relationship between the first virtual area and the second virtual area, and a second motion control condition determined based on the three-dimensional shape of the logistics robot to which the first virtual area is set and another object to which the second virtual area is set when the first motion control condition is satisfied.

4. In claim 3, The three-dimensional shape of the above logistics robot is A virtual control method for a logistics robot, characterized in that it includes a three-dimensional shape of a load loaded on the logistics robot.

5. In claim 4, A virtual control method for a logistics robot, characterized in that the three-dimensional shape of the above-mentioned load is included in the above-mentioned load information.

6. In claim 1, Whether the above motion control conditions are satisfied or not, A virtual control method for a logistics robot, characterized in that it is determined regardless of whether there is a communication connection between the logistics robot and the other object.

7. In claim 1, The above virtual area is, A virtual control method for a logistics robot, characterized in that it is set by considering at least one of the type, speed, loading status, location information, and route information of the logistics robot included in the above logistics robot information.

8. In claim 1, The above motion control conditions are: A virtual control method for a logistics robot, characterized in that satisfaction is determined based on at least one of the degree of mutual overlap and proximity according to the positional relationship between the first virtual area and the second virtual area.

9. In claim 1, The above control signal is, A virtual control method for a logistics robot, characterized in that at least one of the speed and movement direction of the logistics robot is controlled.

10. In claim 1, The step of outputting the above control signal is: A virtual control method for a logistics robot, characterized in that it includes a step of outputting the control signal while further considering the preset priority between the logistics robot and the other object.

11. A collection unit that collects logistics robot information for a logistics robot and load information for at least one load loaded on the logistics robot; A setting unit for setting a first virtual area corresponding to the actual occupied space of the logistics robot based on the logistics robot information and the load information; A judgment unit that determines whether the motion control conditions of the logistics robot are satisfied based on the positional relationship between the first virtual area and the second virtual area set to correspond to the actual occupied space of an object other than the logistics robot where the first virtual area is set; and A virtual control device for a logistics robot including an output unit that outputs a control signal for controlling the operation of the logistics robot when the above operation control condition is satisfied.

12. In claim 11, The above first virtual area is, A virtual control device for a logistics robot, characterized in that it is set to expand at least a portion of the actual occupied space of the logistics robot.

13. In claim 11, The above first virtual area is, A virtual area on a plane corresponding to the actual occupied space of the above logistics robot, The above motion control conditions are: A virtual control device for a logistics robot, characterized in that it includes a first motion control condition determined based on the positional relationship between the first virtual area and the second virtual area, and a second motion control condition determined based on the three-dimensional shape of the logistics robot to which the first virtual area is set and another object to which the second virtual area is set when the first motion control condition is satisfied.

14. In claim 13, The three-dimensional shape of the above logistics robot is A virtual control device for a logistics robot, characterized by including a three-dimensional shape of a load loaded on the logistics robot.

15. In claim 14, A virtual control device for a logistics robot, characterized in that the three-dimensional shape of the above-mentioned load is included in the above-mentioned load information.

16. In claim 11, Whether the above motion control conditions are satisfied or not, A virtual control device for a logistics robot, characterized in that it is determined regardless of whether there is a communication connection between the logistics robot and the other object.

17. In claim 11, The above virtual area is, A virtual control device for a logistics robot, characterized in that it is set by considering at least one of the type, speed, loading status, location information, and route information of the logistics robot included in the above logistics robot information.

18. In claim 11, The above motion control conditions are: A virtual control device for a logistics robot, characterized in that satisfaction is determined based on at least one of the degree of mutual overlap and proximity according to the positional relationship between the first virtual area and the second virtual area.

19. In claim 11, The above control signal is, A virtual control device for a logistics robot, characterized in that at least one of the speed and movement direction of the logistics robot is controlled.

20. In claim 11, The above output section, A virtual control device for a logistics robot, characterized in that it outputs the control signal while further considering the preset priority between the logistics robot and the other object.

Images