Electronic device for adjusting layout of track and operation method thereof

Abstract

Disclosed are an electronic device for adjusting a layout of a track and an operation method thereof. According to one embodiment of the present invention, a method for operating an electronic device comprises the steps of: obtaining a layout of a track on which moving objects move; determining whether an area in which interference between the moving objects can occur is present on the basis of layout information about the layout and moving object information about the moving objects; and updating the layout to avoid the interference when the area is present.

Description

Electronic device for adjusting the layout of a track and its operating method

[0001] An electronic device for adjusting the layout of a track and a method of operating the same are disclosed.

[0002] Unmanned transport vehicles, such as automated guided vehicles (AGVs) and autonomous mobile robots (AMRs), are being used in a variety of industries. Examples include overhead hoist transport (OHTs) used within semiconductor wafer manufacturing facilities (fabs) and robots used to automate product transport in logistics warehouses.

[0003] In automated systems, multiple unmanned transport vehicles (UAVs) may be deployed within a confined space. As these vehicles operate within a confined space, their paths may overlap, potentially leading to problems such as sudden stops by sensors and physical collisions. Furthermore, deadlocks may occur, rendering the vehicles unable to move due to overlapping paths. Sudden stops, physical collisions, and deadlocks can drastically reduce the efficiency of automated systems, and therefore, prevention is essential.

[0004] The background technology described above is possessed or acquired during the process of deriving the present disclosure, and cannot necessarily be said to be a publicly known technology disclosed to the general public prior to the filing of the present disclosure.

[0005] The present disclosure provides a device and method capable of determining whether interference will occur between moving objects at the stage of designing the layout of a track.

[0006] The present disclosure provides a device and method capable of updating a layout to avoid occurrence of interference between moving objects at the stage of designing the layout of a track.

[0007] However, technical challenges are not limited to the technical challenges described above, and other technical challenges may exist.

[0008] According to one embodiment, a method of operating an electronic device may include the steps of obtaining a layout of a track along which mobile objects move, determining whether an area where interference may occur between the mobile objects exists based on layout information about the layout and mobile object information about the mobile objects, and, if the area exists, updating the layout to avoid the interference.

[0009] According to one embodiment, the step of updating the layout may include updating the layout so that the number of areas where the interference may occur and / or the size of the areas are smaller than those in the layout, or so as to add nodes and / or segments, wherein the nodes may be points where the moving object may stop, and the segments may be sections connecting nodes.

[0010] According to one embodiment, the mobile information may include at least one of size information of the mobile, steering method information of the mobile, rotation center information of the mobile, rotation center axis information of the mobile, and transportation method of the mobile.

[0011] According to one embodiment, the step of determining whether there is an area where interference may occur between the moving objects may determine whether there is an area where interference may occur based on the moving object information and the object information.

[0012] According to one embodiment, the step of determining whether the area exists may include the step of generating trajectories for nodes where the mobile objects can stop and segments connecting the nodes based on the layout information and the mobile object information, and the step of determining whether the area exists based on whether there is an area among the trajectories generated for the nodes and the segments that overlaps with trajectories of other nodes and / or other segments.

[0013] According to one embodiment, the step of updating the layout may include calculating a first cost consumed by updating the layout, and determining whether to update the layout based on the first cost.

[0014] According to one embodiment, the step of updating the layout may include calculating a second cost consumed in avoiding the interference by controlling the mobiles in the layout, comparing the second cost with the first cost, and determining whether to update the layout if the first cost is less than the second cost.

[0015] In one embodiment, the step of updating the layout may include, when an update to the layout is determined, adjusting nodes and / or segments connecting nodes at which the mobiles can stop to avoid the obstruction, or updating the layout by adding nodes and / or segments to avoid the obstruction.

[0016] According to one embodiment, the step of updating the layout may include comparing a cost consumed by adjusting the node and / or the segment and a cost consumed by adding the node and / or the segment, and updating the layout according to a method in which a lower cost is consumed.

[0017] According to one embodiment, the step of obtaining the layout may obtain a layout whose design has been completed or a layout under design from the electronic device, or obtain a layout whose design has been completed or a layout under design from an external electronic device that communicates with the electronic device.

[0018] According to one embodiment, an operating method of an electronic device may include the steps of: obtaining a layout of a track on which mobile objects move; determining whether an area in which interference may occur between mobile objects exists based on layout information about the layout and mobile object information about the mobile objects; calculating, if the area exists, a first cost consumed for updating the layout to avoid the interference and a second cost consumed for avoiding the interference through control of the mobile objects without updating the layout; and comparing the first cost and the second cost and updating the layout if the first cost is less.

[0019] In one embodiment, the step of updating the layout may include the step of displaying the first cost and the second cost, and the step of updating the layout based on a user's selection of either the first cost or the second cost.

[0020] According to one embodiment, a computer-readable recording medium can store one or more computer programs including instructions for executing any one of the methods described above.

[0021] According to one embodiment, an electronic device includes a processor that controls the electronic device, and the processor can obtain a layout of a track along which mobile objects move, determine whether an area where interference may occur between the mobile objects exists based on layout information about the layout and mobile object information about the mobile objects, and, if the area exists, update the layout to avoid the interference.

[0022] According to one embodiment of the present disclosure, it is possible to determine whether interference will occur between moving objects at the stage of designing a track, so that it is possible to predict in advance whether a problem will occur even without actually installing the track and operating moving objects.

[0023] According to one embodiment of the present disclosure, a device and method are provided that can minimize additional control load for track changes or interference occurrences after track installation by updating the layout to avoid interference occurrences between moving objects.

[0024] FIG. 1 is a drawing for explaining an automation system using mobile bodies according to one embodiment of the present disclosure.

[0025] FIG. 2 is a drawing for explaining an electronic device that provides a design for a layout of a track according to one embodiment of the present disclosure.

[0026] Figures 3 to 5 are drawings for explaining interference between moving objects.

[0027] FIG. 6 is a flowchart for explaining an operation method of an electronic device according to one embodiment of the present disclosure.

[0028] FIG. 7 and FIG. 8 are drawings for explaining a steering method of a mobile body according to one embodiment of the present disclosure.

[0029] FIGS. 9 to 13 are drawings for explaining a trajectory during rotational movement of a moving body according to one embodiment of the present disclosure.

[0030] FIG. 14 and FIG. 15 are drawings for explaining calculation of a trajectory of a moving object according to one embodiment of the present disclosure.

[0031] FIGS. 16 and 17 are drawings illustrating trajectories generated for a layout according to one embodiment of the present disclosure.

[0032] FIG. 18 and FIG. 19 are diagrams illustrating a method for determining an area where interference may occur according to one embodiment of the present disclosure.

[0033] FIG. 20 is a drawing for explaining an update of a layout according to one embodiment of the present disclosure.

[0034] Hereinafter, embodiments will be described in detail with reference to the attached drawings. However, the scope of the patent application is not limited or restricted by these embodiments. The same reference numerals in each drawing represent the same components.

[0035] The embodiments described below may be modified in various ways. The embodiments described below are not intended to be limiting in their specific form, and should be understood to encompass all modifications, equivalents, and alternatives thereof.

[0036] While terms like "first" and "second" may be used to describe various components, these terms should be understood only to distinguish one component from another. For example, a "first" component may be referred to as a "second" component, and similarly, a "second" component may also be referred to as a "first" component.

[0037] The terms used in the examples are used only to describe specific embodiments and are not intended to limit the embodiments. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" can include any one of the items listed together in the corresponding phrase among the phrases, or all possible combinations thereof. In this specification, it should be understood that the terms "comprise" or "have" and the like specify that a feature, number, step, operation, component, part, or combination thereof described in the specification is present, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0038] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the embodiments pertain. 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 interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0039] In addition, when describing with reference to the attached drawings, identical components will be assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted. When describing embodiments, if a detailed description of a related known technology is judged to unnecessarily obscure the gist of the embodiment, the detailed description will be omitted.

[0040] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0041]

[0042] FIG. 1 is a drawing for explaining an automation system using mobile bodies according to one embodiment of the present disclosure.

[0043] Referring to FIG. 1, an automated system (100) that processes work using a plurality of moving bodies (131, 133, 135) is illustrated.

[0044] Referring to FIG. 1, the server (110) may include a processor (111) and a memory (113). Only components related to the present embodiments are illustrated in the server (110) illustrated in FIG. 1. Therefore, it will be apparent to those skilled in the art that the server (110) may further include other general-purpose components in addition to the components illustrated in FIG. 1.

[0045] The processor (111) may perform an overall function for controlling the server (110). The processor (111) may control the server (110) overall by executing programs and / or commands stored in the memory (113). The processor (111) may be implemented as a central processing unit (CPU), a graphics processing unit (GPU), an application processor (AP), etc., provided in the server (110), but is not limited thereto.

[0046] Memory (113) may be hardware that stores data processed and data to be processed within the server (110). In addition, memory (113) may store applications, drivers, etc. to be driven by the server (110). Memory (113) may include volatile memory such as dynamic random access memory (DRAM) and / or nonvolatile memory.

[0047] The server (110) may be configured using a server or the like, but the present invention is not necessarily limited thereto. Furthermore, depending on the operating environment, the server (110) may not be implemented as a separate device but may be configured in combination with one or more mobile devices.

[0048] Referring to FIG. 1, a plurality of mobiles (131, 133, 135) and a server (110) can communicate via a network (120). The plurality of mobiles (131, 133, 135) and the server (110) can transmit and receive various data and / or commands via the network (120). For example, the server (110) can receive battery status from the plurality of mobiles (131, 133, 135). For example, the server (110) can receive operation-related data from the plurality of mobiles (131, 133, 135). For example, the server (110) can transmit control commands to the plurality of mobiles (131, 133, 135). The network (120) can include a wired network and a wireless network. For example, the network (120) may include various communication networks such as a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), Bluetooth, and wireless fidelity (Wi-Fi). However, the above-described network (120) is merely an example and the present disclosure is not limited thereto.

[0049] Referring to FIG. 1, a schematic workspace (160) is illustrated in which a plurality of moving objects (131, 133, 135) perform a plurality of tasks (141, 143, 145). The workspace (160) may include a plurality of moving objects (131, 133, 135), a plurality of tasks (141, 145, 147), and a plurality of charging stations (170, 180). The workspace (160) may include a plurality of intersections (151, 152, 153, 154, 155, 156, 157).

[0050] The plurality of mobile objects (131, 133, 135) may be automated guided vehicles (AGVs) and autonomous mobile robots (AMRs). While the present disclosure describes the mobile objects as being unmanned guided vehicles or autonomous mobile robots that perform the task of transporting objects, the present disclosure is not limited thereto. For example, the mobile objects may be robots, autonomous vehicles, and drones that perform specific tasks.

[0051] The plurality of tasks (141, 145, 147) may have various meanings, such as objects requiring transport work or locations where specific tasks are performed. The plurality of tasks (141, 143, 145) may be assigned to the plurality of moving objects (131, 133, 135). For example, the task (141) may be assigned to the moving object (131). The plurality of moving objects (131, 133, 135) may be assigned the plurality of tasks (141, 145, 147) through various methods (i.e., various task assignment policies).

[0052] Multiple intersections (151, 152, 153, 154, 155, 156, 157) may indicate points where a segment splits or merges into at least two.

[0053] A node may include multiple intersections (151, 152, 153, 154, 155, 156, 157) and points where multiple tasks can occur. Furthermore, a node may include a feature point set by a user even if it is not a point where multiple intersections (151, 152, 153, 154, 155, 156, 157) and multiple tasks can occur. A node may be a point where multiple moving objects (131, 133, 135) can stop.

[0054] Referring to FIG. 1, a workspace (160) may include a track along which a plurality of moving objects (131, 133, 135) move. The track may include a plurality of segments. A segment may include a track between two nodes. In other words, a segment may include a track along which a moving object can move between a starting node and an arrival node.

[0055] The plurality of segments may be paths along which the plurality of moving objects (131, 133, 135) move. In the work space (160), the plurality of segments are shown as being unidirectional, but this is merely an example, and it is obvious to those skilled in the art that they may also be bidirectional. The track may be a guide rail along which the plurality of moving objects (131, 133, 135) can move, but the present disclosure is not limited thereto. For example, the track may refer to a road surface (e.g., a road, a corridor, etc.) or space without a separate rail installed along which the plurality of moving objects (131, 133, 135) can freely pass.

[0056] A plurality of mobile objects (131, 133, 135) can move by using batteries. In order to maintain a state in which the plurality of mobile objects (131, 133, 135) can perform tasks, a plurality of charging stations (170, 180) may need to be placed on one side of the work space (160). When the plurality of mobile objects (131, 133, 135) are assigned a charging task, they can visit the plurality of charging stations (170, 180) to charge their batteries. Assignment of charging tasks to the plurality of mobile objects (131, 133, 135) can be performed by the server (110) via the network (120). The server (110) can utilize a charging policy to assign charging tasks while minimizing impact on the tasks.

[0057] Multiple moving objects (131, 133, 135) may be assigned different tasks and may move along different paths to perform different tasks. The movement paths of the multiple moving objects may overlap. If moving objects simultaneously pass through overlapping paths, collisions or sudden stops may occur between the moving objects. In other words, interference may occur. Collisions and / or sudden stops between moving objects may drastically reduce the efficiency of the automated system and should therefore be prevented.

[0058] The tracks along which the multiple moving objects (131, 133, 135) move may need to be designed specifically for each industrial site. Due to the varying requirements, spatial constraints, and hardware limitations of the multiple moving objects (131, 133, 135) within each industrial site, the tracks may need to be designed specifically for each industrial site. This makes it difficult to comprehensively control the multiple moving objects (131, 133, 135), and it may be difficult to address issues that cause inefficiencies in the automated system, such as irregular situations (e.g., deadlocks, collisions between disconnected segments, etc.).

[0059] Therefore, in the past, atypical situations were addressed by adding operational constraints (e.g., allowing only one vehicle to enter a specific segment) while actually operating multiple mobile units (131, 133, 135) in industrial settings without separate prior preparation. Ultimately, in the early stages of the automated system, the expected efficiency was not achieved due to the repeated addition of operational constraints in response to the occurrence of atypical situations, and in extreme cases, significant design changes to the track were required.

[0060] In the present disclosure, a method for designing a track in which the occurrence of atypical situations is minimized is disclosed by checking the above-described atypical situations from the design stage of the track and changing the layout of the track accordingly.

[0061]

[0062] FIG. 2 is a drawing for explaining an electronic device that provides a design for a layout of a track according to one embodiment of the present disclosure.

[0063] Referring to FIG. 2, an electronic device (200) including a processor (210) and a memory (220) is illustrated.

[0064] The processor (210) may perform an overall function for controlling the electronic device (200). The processor (210) may control the electronic device (200) overall by executing programs and / or commands stored in the memory (220). The processor (210) may be implemented as a central processing unit (CPU), a graphics processing unit (GPU), an application processor (AP), etc., provided in the electronic device (200), but is not limited thereto.

[0065] The memory (220) may be hardware that stores data processed and data to be processed within the electronic device (200). In addition, the memory (220) may store applications, drivers, etc. to be driven by the electronic device (200). The memory (220) may include volatile memory such as dynamic random access memory (DRAM) and / or nonvolatile memory. For example, the memory (220) may store a program that provides a design for the layout of a track.

[0066] An electronic device (200) can provide a design for a track layout through a user interface. A user can design a track layout using the electronic device (200). To design the layout, the user can input a user command to cause the electronic device (200) to place nodes at specific locations through an input module (not shown). Upon receiving a user command to place nodes, the electronic device (200) can place nodes, which are points at which a mobile object can stop. To design the layout, the user can input a user command to cause the electronic device (200) to place segments at specific locations through the input module. Upon receiving a user command to place segments, the electronic device (200) can place segments, which are paths along which a mobile object can move.

[0067] During the layout design process, the electronic device (200) can identify areas where interference between mobile devices may occur and inform the user of these areas. Once the user identifies areas where interference between mobile devices may occur, the user can modify nodes and / or segments associated with the areas. Upon identifying areas where interference between mobile devices may occur during the layout design process, the electronic device (200) can update the layout to reduce interference between mobile devices in these areas. The method for updating the layout will be described later with reference to FIGS. 6 through 20 .

[0068] Once the layout design is complete, the electronic device (200) can perform a simulation to virtually operate moving objects in an automated system with a track arranged with a layout including input nodes and segments. The electronic device (200) can perform the simulation based on information such as the layout, material flow, and moving object specifications. The electronic device (200) can provide the results of the simulation. The electronic device (200) can provide the simulation results in various ways.

[0069] Below, we will explain interference between moving objects that may occur within an automated system.

[0070]

[0071] Figures 3 to 5 are drawings for explaining interference between moving objects that may occur in an automated system.

[0072] Figures 3 through 5 illustrate exemplary interferences between moving objects that may occur in an automated system. The interferences described below are merely examples and the present disclosure is not limited thereto.

[0073] Referring to FIG. 3, a first moving object (310) on a segment (330) and a second moving object (320) on a segment (340) are illustrated. The segment (330) may be a track between a node (301) and a node (305). The segment (340) may be a track between a node (305) and a node (307). In other words, the segments (330) and (340) may be connected via the node (305). It will be assumed that the moving path of the first moving object (310) passes through the node (305) and moves to the node (309), and it will be assumed that the moving path of the second moving object (320) passes through the node (305) and moves to the node (303).

[0074] If the first mobile body (310) and the second mobile body (320) do not include a sensor module or a ZCU (zone control unit), the first mobile body (310) and the second mobile body (320) may collide near the node (305). Alternatively, if the first mobile body (310) and the second mobile body (320) include a sensor module or a ZCU, the first mobile body (310) and the second mobile body (320) may come to a sudden stop near the node (305).

[0075] Referring to FIG. 4, a first moving body (410) on a segment (430) and a second moving body (420) on a segment (440) are illustrated.

[0076] Segment (430) may be a track between node (401) and node (403). Segment (440) may be a track between node (405) and node (407). Segment (430) and segment (440) may not share a node. In other words, segment (430) and segment (440) may be unconnected. Let us assume that the direction of movement of the first moving object (410) is from node (401) to node (403), and let us assume that the direction of movement of the second moving object (420) is from node (405) to node (407).

[0077] If the first moving body (410) and the second moving body (420) do not include a sensor module or a ZCU, the first moving body (410) and the second moving body (420) may collide near the middle of the segment. Alternatively, if the first moving body (410) and the second moving body (420) include a sensor module or a ZCU, the first moving body (410) and the second moving body (420) may come to an abrupt stop near the middle of the segment.

[0078] In other words, collisions or sudden stops between moving objects (410, 420) may occur not only between segments that share nodes as shown in FIG. 3, but also between segments (430, 440) that do not share nodes.

[0079] Referring to FIG. 5, a first mobile body (510) and a second mobile body (520) are illustrated. It will be assumed that the first mobile body (510) is assigned the task of loading an object (540) at node (505) and unloading it at node (503). It will be assumed that the second mobile body (520) is assigned the task of loading an object (530) at node (501) and unloading it at node (507).

[0080] When a first moving object (510) moves to node (505) past node (509) and a second moving object (520) loads an object (530) at node (501) and moves toward node (507), a deadlock may occur between the first moving object (510) and the second moving object (520). In other words, since the first moving object (510) must move to node (505) and the second moving object (520) must move to node (507), the paths that each moving object wants to take are blocked, and thus neither moving object (510, 520) may be able to move. In other words, interference may occur between the moving objects (510) and (520).

[0081] Deadlocks can include unresolvable deadlocks and solvable deadlocks. An unresolvable deadlock may be a state in which the moving objects cannot escape the deadlock no matter how they move. For example, if there are moving objects behind, to the left, and to the right of the moving object (510), preventing the moving object (510) from moving in any direction, the moving objects (510) and (520) may be in an unresolvable deadlock. A solvable deadlock may be a state in which the deadlock can be resolved by one of the deadlocked moving objects moving along a path other than its original path. For example, if a segment (550) exists and the moving path of the moving object (510) is modified so that it reaches node (505) through the segment (550), the deadlock can be resolved.

[0082] The deadlock described above in FIG. 5 cannot be prevented by just the sensor modules or ZCUs included in the mobile bodies (510, 520), and a server (e.g., server (110) of FIG. 1) that controls the mobile bodies (510, 520) may be required.

[0083] Below we will explain how to update the layout.

[0084]

[0085] FIG. 6 is a flowchart for explaining an operation method of an electronic device according to one embodiment of the present disclosure.

[0086] In the following embodiments, the steps may be performed sequentially, but are not necessarily sequential. For example, the order of the steps may be changed, and at least two steps may be performed in parallel. Steps (610) to (630) may be performed by at least one component of the electronic device.

[0087] At step (610), the electronic device can obtain a layout of a track along which the mobile bodies move.

[0088] The track layout acquired by the electronic device may be a layout under design or a layout that has been completed. In other words, the electronic device can determine whether there are areas where interference, as described below, may occur, not only in the completed design but also in the layout under design. The electronic device may acquire the track layout from the electronic device's storage device (e.g., memory) or from an external device that communicates with the electronic device. For example, the external device may be a server of a client company that requested the track design.

[0089] In step (620), the electronic device can determine whether there is an area where interference may occur between the moving objects based on layout information about the layout and moving object information about the moving objects.

[0090] Layout information may include information about the layout, information about nodes, information about segments, and connection information.

[0091] Information about a node may include coordinates of the node. The coordinates of the node may be represented as (x, y). Information about a node may further include rotation information at the node. The rotation information may include information about a rotational angle of a mobile object with respect to a specific node. For example, the rotation information may include information about a rotational angle at which a mobile object can rotate from 0 to 180 degrees at node 1. Information about a node may further include information about a heading direction of the mobile object when the mobile object stops at a specific node. The above-described information about a node is merely an example, and it will be apparent to those skilled in the art that information about a node may include various information related to the node.

[0092] Information about a segment may include information about the shape of the segment. Information about the shape of the segment may include shape-related information, such as whether the segment is straight or curved, or information about the curvature of the segment. Information about the segment may further include information about the capacity of the segment. Information about the capacity of the segment may include information about the number of vehicles the segment can accommodate. Information about the segment may further include information about the driving direction of the vehicles moving in a specific segment (e.g., forward driving, side driving, rear driving, etc.). That is, information about the segment may further include information about the driving angle of the vehicles moving in a specific segment (e.g., 0 to 90 degrees, etc.). In one embodiment, information about the segment may further include information about the driving direction (i.e., driving angle) of each of a plurality of parts of the specific segment. For example, information about the segment may further include information about the driving direction (i.e., driving angle) of each part in a segment having a curved shape divided into a plurality of parts.

[0093] Connection information may be information about the connection relationships between nodes and segments. For example, connection information may include information such as, "Segment 1 is connected to Segment 2 and Segment 3," "Segment 1 is connected to Node 1 and Node 2," "Segment 2 is connected to Node 2 and Node 3," and "Segment 3 is connected to Node 2 and Node 3."

[0094] Therefore, since the layout information includes information about nodes, information about segments, and connection information, the layout of the track can be identified based on the layout information.

[0095] The information about the mobile bodies may include at least one of the size information of the mobile bodies, the steering method information of the mobile bodies, the rotation center information of the mobile bodies, the rotation center axis information of the mobile bodies, and the information about the transportation method of the mobile bodies. The size information of the mobile bodies may include the length, width, and height of the mobile bodies. According to one embodiment, in order to prevent errors due to errors, the length, width, and height of the mobile bodies included in the size information of the mobile bodies may be set to be longer than the actual mobile bodies, including a margin. The steering method information of the mobile bodies will be described later with reference to FIGS. 7 and 8. The rotation center information of the mobile bodies and the rotation center axis information of the mobile bodies will be described later with reference to FIGS. 9 to 13. The information about the transportation method of the mobile bodies may include how the mobile bodies transport objects. For example, the information about the transportation method may include a method of transporting objects by loading them on top of the mobile bodies, such as Amazon's Kiva. For example, information about the transport method may include how a mobile vehicle transports items by loading them inside or underneath the vehicle, such as an OHT in a semiconductor manufacturing plant. For example, information about the transport method may include how items are loaded at the rear of the vehicle and transported (e.g., towing) or how items are loaded at the front of the vehicle and transported (e.g., a forklift). The aforementioned transport method of the mobile vehicle may affect the trajectory of the mobile vehicle.

[0096] According to one embodiment, the electronic device may further include information about the objects carried by the mobile device, in addition to layout information and mobile device information. The information about the objects may include the length, width, and height of the objects that the mobile device can carry. The objects carried by the mobile device may affect the trajectory of the mobile device.

[0097] The method by which an electronic device determines an area where interference may occur between moving objects using the above-described information will be described later in FIGS. 14 to 19.

[0098] At step (630), the electronic device may update the layout to avoid interference if an area exists.

[0099] Electronic devices can update their layouts to reduce areas where interference may occur, or to leave areas where interference may occur intact but prevent interference. The method for updating the layout is described later in Figure 20.

[0100] Below, we will explain the steering method of a mobile device.

[0101]

[0102] FIG. 7 and FIG. 8 are drawings for explaining a steering method of a mobile body according to one embodiment of the present disclosure.

[0103] Mobile devices used in automated systems can have various steering methods.

[0104] Referring to FIG. 7, a moving body for explaining Ackerman steering is illustrated. In Ackerman steering, a moving body (700) can adjust its direction by adjusting the angle of the wheels located at the front (i.e., front wheels). In Ackerman steering, the front and rear wheels of the moving body (700) can rotate around a center of rotation (710). In Ackerman steering, the moving body (700) may not be able to perform a zero turn.

[0105] Referring to FIG. 8, a moving body (800) is illustrated to illustrate four-wheel steering. In four-wheel steering, the moving body (800) can adjust its direction by adjusting the angles of the front and rear wheels. In four-wheel steering, all wheels can rotate around a center of rotation (810). In four-wheel steering, the moving body (800) can rotate in place.

[0106] In addition to the Ackermann steering and four-wheel steering described in FIGS. 7 and 8, the vehicle may have steering methods such as differential drive steering and mecanum wheel-based steering.

[0107] In differential steering, each wheel of a vehicle has a separate motor, and the difference in rotational speed between the wheels adjusts the vehicle's direction. Differential steering can present challenges in controlling the vehicle to accurately follow its trajectory. Differential steering can also allow the vehicle to turn in place.

[0108] In Mecanum wheel-based steering, each wheel has a separate motor, and direction can be adjusted based on the difference in rotational speed between the wheels. In Mecanum wheel-based steering, a vehicle can move in all directions and perform all types of maneuvers, including turning in place, arcing, and straight-line driving.

[0109] Below, we will explain the occupied area (i.e., trajectory) according to the movement of moving objects.

[0110]

[0111] FIGS. 9 to 14 are drawings for explaining a trajectory during rotational movement of a moving body according to one embodiment of the present disclosure.

[0112] The rotational center axis described below may vary depending on the steering method and the arrangement of the motors involved in steering. Different rotational centers may result in different types of vehicles using the same steering method. For the purposes of explanation, the following description will focus on a vehicle with Ackermann steering and describe the trajectory of rotational motion. However, it will be apparent to those skilled in the art that the following description can be equally applied to vehicles with other steering methods.

[0113] Hereinafter, the squares (900, 1000, 1100, 1200, 1300) represent occupied areas corresponding to the moving object, and the vertices of the squares (900, 1000, 1100, 1200, 1300) may correspond to the wheel positions of the moving object. Therefore, it is obvious to those skilled in the art that the trajectory drawn by the actual moving object may be larger than the trajectories (930, 1030, 1130, 1230, 1330) below.

[0114] Referring to FIG. 9, a trajectory (930) generated according to the rotational movement of the square (900) is illustrated when the rotational center axis (920) is located at the front of the square (900). The square (900) can rotate around the rotational center (910).

[0115] Referring to FIG. 10, a trajectory (1030) generated according to the rotational movement of the square (1000) is illustrated when the rotational center axis (1020) is located at the rear of the square (1000). The square (1000) can rotate around the rotational center (1010).

[0116] Referring to FIG. 11, a trajectory (1130) generated according to the rotational movement of a square (1100) is illustrated when the rotational center axis (1120) is located at the center of the square (1100). The square (1100) can rotate around the rotational center (1110).

[0117] In other words, if the position of the rotation center axis changes, the trajectory of the moving object may also change. The trajectories (930, 1030, 1130) of FIGS. 9 to 11 may include two arcs and straight lines. However, this is merely an example and the present disclosure is not limited thereto, and the trajectories (930, 1030, 1130) may include a different number of arcs and straight lines depending on the steering method.

[0118] Referring to FIG. 12, a trajectory (1230) generated according to the rotational movement of a square (1200) is illustrated when the rotational center axis (1220) is located at the rear of the square (1200). The square (1200) can rotate around the rotational center (1210).

[0119] Referring to FIG. 13, a trajectory (1330) generated according to the rotational movement of a square (1300) is illustrated when the rotational center axis (1320) is located in front of the square (1300). The square (1300) can rotate around the rotational center (1310).

[0120] The trajectories (1230, 1330) of FIGS. 12 and 13 may include three arcs and five straight lines. However, this is merely an example and the present disclosure is not limited thereto, and the trajectories (1230, 1330) may include a different number of arcs and straight lines depending on the steering method.

[0121] Below, we will explain the width of the above-described trajectories.

[0122]

[0123] FIG. 14 and FIG. 15 are drawings for explaining calculation of a trajectory of a moving object according to one embodiment of the present disclosure.

[0124] Below, the squares (1400, 1500) represent occupied areas corresponding to the moving object, and the vertices of the squares (1400, 1500) may correspond to the wheel positions of the moving object. Therefore, it is obvious to those skilled in the art that the trajectory drawn by the actual moving object may be larger than the trajectories (1410, 1510) below.

[0125] Referring to FIG. 14, a trajectory (1410) generated by moving a straight segment (1420) of a rectangle (1400) is illustrated. The trajectory (1410) includes four vertices and can be expressed by the coordinates of each vertex. Even if the rectangle (1400) moves along the same segment (1420), the trajectory (1410) may vary depending on the heading direction (1430) of the rectangle (1400). Similarly, even if the segment (1420) can move in both directions, the trajectory (1410) may vary depending on the heading direction of the rectangle (1400). The electronic device may calculate the area of ​​the trajectory based on the four vertices.

[0126] Referring to FIG. 15, a trajectory (1510) generated as an arc-shaped segment (1520) moves is illustrated. The trajectory (1510) may include trajectories that exist at the outermost portions among trajectories generated as a rectangle (1500) and vertices of the rectangle (1500) move along the segment (1520). The vertices of the rectangle (1500) may be rotated about a rotation center axis (1530). At this time, the rotation radii of the vertices may be different. For example, the rotation radii of the vertices corresponding to the front left wheel of the moving body, the front right wheel of the moving body, the rear left wheel of the moving body, and the rear right side of the moving body may be different. The electronic device may calculate the area of ​​the trajectory (1510) based on the rotation radii of the vertices.

[0127]

[0128] FIGS. 16 and 17 are drawings illustrating trajectories generated for a layout according to one embodiment of the present disclosure.

[0129] Referring to FIG. 16, a layout (1600) is illustrated. The layout (1600) may be at least a portion of the overall layout of the track along which the moving objects move. The layout (1600) is provided for convenience of explanation, and the present disclosure is not limited thereto.

[0130] The electronic device can generate trajectories (1620, 1630, 1640) to determine an area where interference may occur based on predetermined motions of the mobile bodies. The predetermined motions can include at least one of a translation motion of the mobile body (1610), a rotation motion of the mobile body (1610), and a stationary motion of the mobile body (1610). The translation motion of the mobile body (1610) can be a movement along segments of the mobile body (1610). The translation motion of the mobile body (1610) can include a linear movement and a rotational movement along a segment. The rotational motion of the mobile body (1610) can be a rotation at a node of the mobile body (1610). The stationary motion of the mobile body (1610) can be a stationary motion at a node.

[0131] The electronic device can generate trajectories (1620, 1630, 1640) for predetermined motions of the mobile objects for nodes where the mobile objects can stop and segments where the mobile objects can pass in the layout (1600). The electronic device can generate trajectories (1620, 1630, 1640) for at least one of a moving motion of the mobile object (1610), a rotating motion of the mobile object (1610), and a stopping motion of the mobile object (1610) for the nodes and segments.

[0132] The electronic device can generate a trajectory (1620) and a trajectory (1630) as the mobile body (1610) moves along the segments. In one embodiment, the width of the trajectory (1620) and the width of the trajectory (1630) can be different. The width of the trajectory (1620) can correspond to the width of the mobile body (1610). The width of the trajectory (1630) can correspond to the length of the mobile body (1610). In other words, when the heading direction (1650) of the mobile body (1610) is fixed and the width and length of the mobile body are different, the width of the trajectory (1630) according to the left-right movement of the mobile body (1610) and the width of the trajectory (1620) according to the forward-backward movement of the mobile body can be different. In one embodiment, the width of the trajectory (1620) and the width of the trajectory (1630) can be the same. When the heading direction (1650) of the moving body (1610) changes according to the movement direction of the moving body, the width of the trajectory (1630) according to the left-right movement of the moving body (1610) and the width of the trajectory (1620) according to the forward-backward movement of the moving body (1610) may be the same.

[0133] The electronic device can generate a trajectory (1640) as the mobile body (1610) rotates at nodes. In FIG. 6, for convenience of explanation, the trajectory (1640) is assumed to have the mobile body (1610) rotate around its center point. However, the trajectory (1640) may be determined differently depending on the location of the rotational axis of the mobile body (1610). For example, if the location of the rotational axis of the mobile body (1610) is not the center point of the mobile body (1610), the size of the trajectory (1640) may be larger.

[0134] The electronic device can generate trajectories (1610, 1620, 1630) based on at least one of size information of the mobile body (1610), rotation information of the mobile body (1610), and driving direction information of the mobile body (1610). However, this is merely an example, and the electronic device can generate trajectories (1610, 1620, 1630) using more information. For example, the electronic device can generate trajectories (1610, 1620, 1630) using steering method information (e.g., Ackermann steering, four-wheel steering, differential drive (DD), and steering drive (SD), etc.).

[0135] The size information of the mobile body (1610) may include the length, width, and height of the mobile body (1610). According to one embodiment, in order to prevent errors due to errors, the length, width, and height of the mobile body included in the size information of the mobile body may be set to be longer than the actual mobile body, including a margin. The rotation information of the mobile body (1610) may include the position and rotation radius of the rotation axis of the mobile body (1610). The driving direction information of the mobile body (1610) may include the heading direction (1650) of the mobile body (1610) and the direction in which the mobile body moves.

[0136] The electronic device can determine whether the generated trajectories for the entire layout overlap with trajectories of other nodes and / or other segments. The presence of such overlapping areas will be described later in FIGS. 18 and 19.

[0137] Referring to FIG. 17, a layout (1700) is illustrated. The layout (1700) may be at least a portion of the overall layout of the track along which the moving objects move. The layout (1700) is provided for convenience of explanation, and the present disclosure is not limited thereto.

[0138] If the size of the object (1720) is smaller than that of the moving object (1710), the same trajectories as in FIG. 16 can be generated, so the description of the case where the size of the object (1720) is smaller than that of the moving object (1710) will be omitted. In the following description, it will be assumed that the size of the object (1720) is larger than that of the moving object (1710).

[0139] The electronic device can further generate trajectories (1730, 1740, 1750) for the mobile device (1710) carrying the object (1720). The electronic device can further generate trajectories (1730, 1740, 1750) for the mobile device (1710) carrying the object (1720) to determine an area where interference may occur based on predetermined movements of the mobile device (1710). The method for generating trajectories (1730, 1740, 1750) based on the predetermined movements can be applied in the same manner as described above in FIG. 16, and thus, a description thereof will be omitted.

[0140] The electronic device can generate trajectories (1730, 1740, 1750) based on size information of the mobile body (1710), rotation information of the mobile body (1710), driving direction information of the mobile body (1710), and size information of the object (1720). The size information of the object (1720) can include the length, width, and height of the object (1720).

[0141] In an automated system, the size of an object (1720) that can be loaded by a mobile body (1710) may be predetermined. For example, when the automated system is used in a semiconductor wafer manufacturing facility, the size of a wafer lot loaded by the mobile body (1710) may be predetermined. Accordingly, the electronic device may calculate trajectories (1720, 1730, 1740) in advance according to predetermined movements of the mobile body (1710) loaded with the object (1720).

[0142] Additionally, according to one embodiment, the trajectories (1730, 1740, 1750) may be determined differently depending on the transport method of the mobile body (1710). For example, a transport method in which an object is loaded on the top, inside, and / or bottom of the mobile body may have an occupied area (i.e., a trajectory) similar to the trajectories (1730, 1740, 1750) of FIG. 17. However, a trajectory of a transport method in which an object is loaded on the front or rear of the mobile body may be larger than the trajectories (1730, 1740, 1750) of FIG. 17.

[0143] Below, we will explain how to determine areas where interference may occur based on the above-described trajectories.

[0144]

[0145] FIG. 18 and FIG. 19 are diagrams illustrating a method for determining an area where interference may occur according to one embodiment of the present disclosure.

[0146] Referring to FIG. 18, a trajectory (1800) corresponding to a segment (1820) and a trajectory (1810) corresponding to a segment (1830) are illustrated. The trajectory (1800) may be a trajectory generated according to the movement of a moving object or a trajectory generated according to the movement of a moving object loaded with an object. The trajectory (1810) may be a trajectory generated according to the movement of a moving object or a trajectory generated according to the movement of a moving object loaded with an object.

[0147] The electronic device can determine whether there is an overlapping area between the trajectories (1800, 1810). An overlapping area is an area where interference (e.g., collision, sudden stop, and deadlock) may occur if moving objects pass through it simultaneously, and may be an area where interference may occur.

[0148] If the electronic device can distinguish the trajectories (1800, 1810) by drawing a line between them, the electronic device can determine that the trajectories (1800, 1810) do not overlap. That is, the electronic device can determine that an overlapping area does not exist. Conversely, if the electronic device cannot distinguish the trajectories (1800, 1810) by drawing a line between them, the electronic device can determine that the trajectories (1800, 1810) overlap. That is, the electronic device can determine that an overlapping area exists. For example, referring to FIG. 18, since a line cannot be drawn to separate the trajectories (1800, 1810), the electronic device can determine that there is an overlapping area (i.e., an area where interference may occur) between the trajectories (1800, 1810).

[0149] Referring to FIG. 19, a trajectory (1920) corresponding to a segment (1910) and a trajectory (1950) corresponding to a segment (1940) are illustrated. The trajectory (1920) may be a trajectory generated as a moving object (1900) or a moving object loaded with an object (1900) moves along a segment (1910). The trajectory (1950) may be a trajectory generated as a moving object (1930) or a moving object loaded with an object (1930) moves along a segment (1940).

[0150] The electronic device can determine whether one of the mobile objects (1900, 1930) overlaps with the relative trajectory by moving it slightly. For example, referring to FIG. 19, the electronic device can determine whether there is an overlapping area overlapping the trajectory (1950) by moving the mobile object (1930) slightly.

[0151] Below, we will explain how to update the layout when it is determined that an overlapping area exists.

[0152]

[0153] FIG. 20 is a drawing for explaining an update of a layout according to one embodiment of the present disclosure.

[0154] Referring to FIG. 20, a layout (2000) is illustrated. The layout (2000) may be at least a portion of the overall layout of the track along which the moving objects move. The layout (2000) is provided for convenience of explanation, and the present disclosure is not limited thereto.

[0155] An electronic device can determine that an overlap area exists in the layout (2000) according to the method described above with reference to FIGS. 18 and 19. The electronic device can determine whether to prevent interference in the overlap area by updating the layout (2000) before updating the layout (2000) based on the presence of the overlap area, or to prevent interference in the overlap area by controlling the moving objects. The electronic device can calculate a cost (hereinafter, “first cost”) for preventing interference in the overlap area by updating the layout (2000) and a cost (hereinafter, “second cost”) for preventing interference in the overlap area by controlling the moving objects. The first cost and the second cost may be costs for various items.

[0156] For example, the first cost may include at least some of the following items: the time it takes for a mobile device to pass through the overlap area and the amount of work performed by the mobile device entering the overlap area as the layout (2000) is updated. Similarly, the second cost may include at least some of the following items: the time it takes for a mobile device to pass through the overlap area and the amount of work performed by the mobile device entering the overlap area as the mobile device is controlled. That is, the electronic device may calculate the cost based on at least some of the items related to the performance of the automated system.

[0157] Electronic devices can calculate costs using a variety of methods. For example, electronic devices can calculate costs using artificial intelligence models. However, this is merely an example and the present disclosure is not limited thereto.

[0158] The electronic device may compare a first cost and a second cost. If the first cost is lower than the second cost, the electronic device may update the layout (2000) to prevent interference in the overlap area. If the second cost is lower than the first cost, the electronic device may not update the layout (2000). In one embodiment, the electronic device may recommend to the user through a user interface that the layout (2000) not be updated if the second cost is lower than the first cost. The user may update the layout (2000) despite the electronic device's recommendation, or may not update the layout (2000) according to the electronic device's recommendation. In one embodiment, the electronic device may obtain a user's selection of whether to update the layout (2000) to prevent interference or to control the moving objects without updating the layout (2000). The electronic device may provide the user with each calculated cost for reference in making a selection. For example, the electronic device may display each cost on a screen via a user interface (UI) that provides a design for the layout (2000). By presenting the costs via the UI, the electronic device may provide the user with a choice of either updating the layout (2000) to prevent interference or controlling the mobile devices without updating the layout (2000). The electronic device may update the layout (2000) based on the user's choice of either option.

[0159] The electronic device can update the layout (2000) in two ways.

[0160] In a first manner, the electronic device can update the layout (2000) to avoid interference by adjusting the positions of nodes and / or segments associated with the overlap area in the layout (2000). In other words, the electronic device can update the layout (2000) to adjust the positions of nodes and / or segments associated with the overlap area so as to reduce the size of the overlap area and / or the number of overlap areas.

[0161] In a second approach, the electronic device can update the layout (2000) by adding nodes and / or segments to avoid interference. In other words, the electronic device can update the layout (2000) to add avoidance space by adding nodes and / or segments without changing the overlapping area. For example, the electronic device can add nodes and / or segments to the layout (2000) to enable a mobile object to avoid another mobile object.

[0162] The electronic device can calculate the cost (hereinafter, referred to as the third cost) of preventing interference by updating the layout (2000) to avoid interference by adjusting the positions of nodes and / or segments associated with the overlapping area. The electronic device can calculate the cost (hereinafter, referred to as the fourth cost) of preventing interference by updating the layout (2000) to avoid interference by adding nodes and / or segments.

[0163] The third and fourth costs described above may include various items. For example, the third costs may include at least some of the following items: the time it takes for a vehicle entering an overlap area to pass through the overlap area, the amount of work performed by vehicles entering the overlap area, and the impact on other nodes and / or segments as the positions of nodes and / or segments change. Similarly, the fourth cost may include at least some of the following items: the time it takes for a vehicle entering an overlap area to pass through the overlap area, the amount of work performed by vehicles entering the overlap area, and the impact on other nodes and / or segments as the positions of nodes and / or segments change. That is, the electronic device may calculate the cost based on at least some of the items related to the performance of the automated system.

[0164] Electronic devices can calculate costs using a variety of methods. For example, electronic devices can calculate costs using artificial intelligence models. However, this is merely an example and the present disclosure is not limited thereto.

[0165] The electronic device can compare the third cost and the fourth cost. The electronic device can update the layout based on the smaller cost between the third cost and the fourth cost. For example, assuming that the time it takes for a mobile device (2010) to move a segment (2020) is 7 seconds by changing the positions of nodes and / or segments, and that the time it takes for a mobile device (2010) to wait in an avoidance space (2030) and then move a segment (2020) by adding nodes and / or segments is 15 seconds, the electronic device can update the layout (2000) by changing the positions of nodes and / or segments with a smaller cost.

[0166] In one embodiment, the electronic device may prompt the user to select whether to update the layout (2000) by changing the positions of nodes and / or segments or to update the layout (2000) by adding nodes and / or segments. The electronic device may provide the user with the calculated respective costs for reference in making the selection.

[0167] In conclusion, according to various embodiments of the present disclosure, it is possible to proactively prepare for potential interference situations between moving objects from the track layout design stage. According to various embodiments of the present disclosure, interference between moving objects can be prevented by modifying the layout design based on trajectories representing the spatial occupancy of moving objects. According to various embodiments of the present disclosure, by eliminating areas where interference may occur from the track layout design stage, the computational load can be reduced when controlling moving objects in an actual automated system. According to various embodiments of the present disclosure, by eliminating areas where interference may occur from the track layout design stage, interference can be permanently eliminated in an actual automated system.

[0168]

[0169] Meanwhile, the method according to the present invention can be written as a program that can be executed on a computer and implemented in various recording media such as a magnetic storage medium, an optical reading medium, and a digital storage medium.

[0170] Implementations of the various technologies described herein may be implemented as digital electronic circuitry, or as computer hardware, firmware, software, or combinations thereof. Implementations may be implemented as a computer program product, i.e., a computer program tangibly embodied in an information carrier, e.g., a machine-readable storage medium (computer-readable medium) or a radio signal, for processing by the operation of a data processing device, e.g., a programmable processor, a computer, or multiple computers, or for controlling the operation thereof. A computer program, such as the computer program(s) described above, may be written in any form of programming language, including compiled or interpreted languages, and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program may be deployed to be processed on one computer or multiple computers at a single site, or to be distributed across multiple sites and interconnected by a communications network.

[0171] Processors suitable for processing a computer program include, for example, both general-purpose and special-purpose microprocessors, and any one or more processors of any type of digital computer. Typically, a processor will receive instructions and data from read-only memory or random-access memory, or both. Components of a computer may include at least one processor for executing instructions and one or more memory devices for storing instructions and data. Typically, a computer may include, or be coupled to receive data from, transmit data to, or both, one or more mass storage devices, such as magnetic, magneto-optical, or optical disks, for storing data. Information carriers suitable for embodying computer program instructions and data include, for example, semiconductor memory devices, magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as compact disk read only memory (CD-ROM), digital video disks (DVD), magneto-optical media such as floptical disks, read only memory (ROM), random access memory (RAM), flash memory, erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), etc. The processor and memory may be supplemented by, or included in, special purpose logic circuitry.

[0172] Additionally, the computer-readable medium may be any available medium that can be accessed by a computer, and may include both computer storage media and transmission media.

[0173] While this specification contains details of a number of specific implementations, these should not be construed as limitations on the scope of any invention or what may be claimed, but rather as descriptions of features that may be unique to particular embodiments of particular inventions. Certain features described herein in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented in multiple embodiments, either individually or in any suitable subcombination. Furthermore, although features may operate in a particular combination and may initially be described as being claimed as such, one or more features from a claimed combination may in some cases be excluded from that combination, and the claimed combination may be modified into a subcombination or variation of a subcombination.

[0174] Likewise, while operations are depicted in the drawings in a particular order, this should not be construed as requiring that those operations be performed in the particular or sequential order depicted to achieve desired results, or that all depicted operations be performed. In certain instances, multitasking and parallel processing may be advantageous. Furthermore, the separation of the various device components of the embodiments described above should not be construed as requiring such separation in all embodiments, and it should be understood that the program components and devices described may generally be integrated together in a single software product or packaged into multiple software products.

[0175] Meanwhile, the embodiments of the present invention disclosed in this specification and drawings are merely specific examples presented to aid understanding and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical concepts of the present invention are possible in addition to the embodiments disclosed herein.

Claims

1. In the method of operating an electronic device, A step of obtaining the layout of the track on which the moving objects move; A step of determining whether there is an area where interference may occur between the mobile objects based on layout information for the layout and mobile object information for the mobile objects; and If the above area exists, a step of updating the layout to avoid the above interference. including, How it works.

2. In paragraph 1, The steps to update the above layout are: The number of areas and / or the size of areas where the above interference may occur are smaller than in the above layout, or the layout is updated to add nodes and / or segments, The above node is a point where a moving object can stop, The above segment is a section connecting nodes, How it works.

3. In paragraph 1, The above mobile information is, Including at least one of the size information of the mobile body, the steering method information of the mobile body, the rotation center information of the mobile body, the rotation center axis information of the mobile body, and the transportation method of the mobile body. How it works.

4. In paragraph 1, The step of determining whether there is an area where interference may occur between the above-mentioned moving objects is as follows: Based on the above mobile information and information about the object, it is determined whether there is an area where the above interference may occur. How it works.

5. In paragraph 1, The step of determining whether the above area exists is: A step of generating a trajectory for nodes where the mobile objects can stop and segments connecting the nodes based on the layout information and the mobile object information; and A step of determining whether an area exists based on whether an area overlaps with a trajectory of another node and / or another segment among the trajectories generated for the above nodes and segments. including, How it works.

6. In paragraph 1, The steps to update the above layout are: Calculating the first cost consumed by updating the above layout, and determining whether to update the layout based on the first cost. How it works.

7. In paragraph 6, The steps to update the above layout are: Calculating a second cost consumed to avoid the interference by controlling the moving objects in the above layout, comparing the second cost with the first cost, and determining whether to update the layout if the first cost is less than the second cost. How it works.

8. In paragraph 6, The steps to update the above layout are: When an update to the above layout is determined, the layout is updated by adjusting nodes and / or segments connecting nodes where the mobiles can stop to avoid the interference, or by adding nodes and / or segments to avoid the interference. How it works.

9. In paragraph 8, The steps to update the above layout are: By comparing the cost consumed by adjusting the above nodes and / or the above segments and the cost consumed by adding the above nodes and / or the above segments, the layout is updated according to the method that consumes less cost. How it works.

10. In paragraph 1, The steps for obtaining the above layout are: Obtaining a layout whose design is completed or is being designed from the electronic device, or obtaining a layout whose design is completed or is being designed from an external electronic device communicating with the electronic device. How it works.

11. In the method of operating an electronic device, A step of obtaining the layout of the track on which the moving objects move; A step of determining whether there is an area where interference may occur between the moving objects based on layout information for the layout and moving object information for the moving objects; If the above area exists, calculating a first cost consumed in updating the layout to avoid the interference and a second cost consumed in avoiding the interference through control of the moving objects without updating the layout; and A step of comparing the first cost and the second cost and updating the layout if the first cost is less. including, How it works.

12. In paragraph 11, The steps to update the above layout are: A step of displaying the first cost and the second cost; and A step of updating the layout based on a user's selection of either the first cost or the second cost. including, How it works.

13. A computer-readable recording medium storing one or more computer programs including commands for executing the method of any one of claims 1 to 12.

14. In electronic devices, comprising a processor controlling the electronic device; The above processor, Obtaining a layout of a track on which mobile objects move, determining whether an area where interference may occur between the mobile objects exists based on layout information about the layout and mobile object information about the mobile objects, and updating the layout to avoid the interference if the area exists. Electronic devices.

Images