KR20240149611A - Method and control apparatus controlling logistics robot - Google Patents

Abstract

A method for controlling a logistics robot operating within a preset operational boundary comprises the steps of: setting an area rule including a movement direction for at least one area that can be variably set within the operational boundary; and setting a movement path of the logistics robot between a starting point and a destination based on the area rule.

Description

METHOD AND CONTROL APPARATUS CONTROLLING LOGISTICS ROBOT

The present invention relates to a method and a control device for controlling a logistics robot that performs path planning based on a directional movement area.

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, for the flexible and efficient supply and transport of parts, etc.

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

In a smart factory, logistics robots can move along an optimal path based on path planning to perform missions assigned by a control device.

There may be multiple logistics robots installed in a smart factory, and if the movement paths of multiple logistics robots overlap, the logistics robots may fall into a deadlock. For example, if one logistics robot goes down and another goes up in a narrow passage in a smart factory, the two logistics robots may fall into a deadlock. Therefore, path planning that considers the movement direction of logistics robots in a smart factory is necessary.

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 acknowledgment that they correspond to prior art already known to those skilled in the art.

Accordingly, the present invention aims to solve the technical problem of preventing deadlock in a logistics robot by performing path planning for the logistics robot based on a directional movement area.

In addition, the present invention aims to solve the technical problem of improving the accuracy and flexibility of the movement path according to the path planning by designating a way point through which a logistics robot will pass through a global path planning and performing local path planning between the designated way points.

In addition, the present invention aims to solve a technical problem of preventing collisions of logistics robots by applying an offset to the driving reference line of each of a plurality of moving areas and performing path planning according to the driving reference line to which the offset is applied.

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

As a means for solving the above technical problem, a method for controlling a logistics robot operating within a preset operating boundary according to one embodiment of the present invention may include a step of setting an area rule including a movement direction for at least one area that can be variably set within the operating boundary; and a step of setting a movement path of the logistics robot between a starting point and a destination of the logistics robot based on the area rule.

In addition, as a means for solving the above technical problem, a control device for controlling a logistics robot operating within a preset operating boundary according to one embodiment of the present invention may include a map management unit for setting an area rule including a movement direction for at least one area that can be variably set within the operating boundary; and a movement path setting unit for setting a movement path of the logistics robot between a starting point and a destination based on the area rule.

According to the present invention, by performing path planning for a logistics robot based on a directional movement area, a deadlock of the logistics robot can be prevented.

In addition, according to the present invention, by designating way points through which a logistics robot will pass through global path planning and performing local path planning between the designated way points, the accuracy and flexibility of the movement path according to path planning can be improved.

Additionally, according to the present invention, collision of logistics robots can be prevented by applying an offset to the driving reference line of each of a plurality of moving areas and performing path planning according to the driving reference line to which the offset is applied.

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 those skilled in the art to which the present invention belongs from the description below.

FIG. 1 is a block diagram showing an example of an operational boundary configuration that can be applied to embodiments of the present invention.
FIG. 2 is a block diagram showing an example of a control device configuration that can be applied to embodiments of the present invention.
FIG. 3 is a block diagram showing an example of a configuration of a work schedule management unit included in a control device that can be applied to embodiments of the present invention.
FIG. 4 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.
FIG. 5 is a perspective view showing an example of the exterior of a logistics robot that can be applied to embodiments of the present invention.
Figure 6 is a flowchart showing an example of a driving process of a logistics robot that can be applied to embodiments of the present invention.
FIG. 7 is a sequence diagram for explaining a process of setting a movement path of a logistics robot in a logistics system according to one embodiment of the present invention.
FIG. 8 is a drawing for explaining a process in which a control device according to one embodiment of the present invention performs global path planning.
FIG. 9 is a drawing for explaining a process in which a logistics robot performs local path planning according to one embodiment of the present invention.
FIG. 10 is a drawing for explaining a process in which a control device according to one embodiment of the present invention applies an offset to a driving reference line of a moving area.
FIG. 11 and FIG. 12 are drawings for explaining a process in which a logistics robot according to one embodiment of the present invention moves along a driving reference line of a moving area to which an offset is applied.

Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing symbols, identical or similar components will be given the same reference numerals and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not have distinct meanings or roles in themselves. In addition, when describing embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by the terms. The terms are used only to distinguish one component from another.

When it is said that a component is "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 in between. On the other hand, when it is said that a component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this specification, it should be understood that the terms “comprises” or “has” and the like are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, 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.

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

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.

Figure 1 is a block diagram showing an example of an operational boundary configuration that can be applied to embodiments.

Referring to FIG. 1, the operational boundary (100) may include a logistics robot (110), a production device (120), a monitoring device (130), and a control device (140).

The operation boundary (100) may be equipped with multiple logistics robots (110), multiple production devices (120), and multiple detection devices (130) depending on the production process and target production speed of the product. The operation boundary (100) may be implemented as a smart factory, but is not necessarily limited thereto. Hereinafter, each component will be described.

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).

AGVs generally perform required actions (movement, direction change, stop, etc.) within the operation boundary (100) by recognizing and following guide devices placed on the floor for guiding the AGV. Here, the guide devices may mean optically recognizable markers (spots, 2D codes, etc.), tags that can be recognized in a close range without contact (e.g., NFC tags, RFID tags, etc.), magnetic strips, wires, etc., but this is only an example and is not necessarily limited thereto. The guide devices may be placed continuously on the floor or may be placed discontinuously and spaced apart from each other. Since AGVs basically perform operations by recognizing and following guide devices, they require that guide devices be installed in advance before operation. Therefore, when moving the AGV to a new path or modifying an existing path, the installation or modification of guide devices must be physically performed. In addition, since AGVs do not deviate from the path set by the guide devices, when an obstacle is detected on or around the path, it is common for the AGV to stop until the detected obstacle disappears or until separate control is received. In the operation of the 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' from the current location, 'change the heading direction by 90 degrees when the third marker is recognized', etc. can be transmitted to the AGV as individual command units or mission units (e.g., recovery, supply, charging, patrol, etc.) including multiple commands.

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

A more detailed configuration of the logistics robot (110) will be described later with reference to FIGS. 4 and 5, and the driving control process of the AMR will be described later with reference to FIG. 6.

Next, the production device (120) may refer to a device (e.g., a robot arm, a conveyor belt, etc.) that performs a production process of a product in the operation boundary (100), and in a broader sense, may refer to a device positioned 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 positioned to assist in the performance of a mission may refer 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., but is not necessarily limited thereto.

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

The monitoring device (130) can perform a function of obtaining information for judging the situation within the operating boundary (100) and transmitting it to the control device (140). For example, the monitoring device (130) can include a camera, a proximity sensor, etc., but is not necessarily limited thereto.

The control device (140) can perform communication 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.

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 path, 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 as a unit 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 an intersection/overlapping area, driving acceleration/deceleration control, and avoidance path regeneration, through traffic distribution control between heterogeneous types based on information acquired through a plurality of local control devices (ACS).

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 with an automated scheduler (APS: Advanced Planning & Scheduling).

In addition to the configuration (110, 120, 130, 140) of the operation boundary (100) described above, devices for mutual communication between each component, such as beacons, repeaters, and APs (Access Points), chargers for charging logistics robots (110), loading spaces for storing or loading parts, spaces for storing finished products or intermediate products, traffic lights, circuit breakers, and waiting spaces for idle logistics robots (110), can of course be appropriately placed within the operation boundary (100).

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

FIG. 2 is a block diagram showing an example of a control device configuration that can be applied to embodiments of the present invention. Each component illustrated in FIG. 2 mainly shows components related to embodiments of the present invention, and in the implementation of an actual control device (140), more or fewer components may be included.

Referring to FIG. 2, the control device (140) may include a firmware management unit (141), a traffic control unit (142), a process management unit (143), a production/logistics management unit (144), an inventory management unit (145), a communication unit (146), a vehicle monitoring unit (147), a map management unit (148), and a work schedule management unit (149).

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.

The traffic control unit (142) controls traffic lights and barriers based on the route of the logistics robot (110), and can also re-evaluate the route of the logistics robot (110) depending on traffic.

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

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

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.

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

The vehicle monitoring unit (147) can monitor the location, route, battery status, communication status, power lane status, etc. of individual logistics robots (110). Here, the route is a concept including a global route based on waypoints and a real-time local route. In addition, the battery status can include voltage, current, temperature, peak voltage and current, state of charge (SOC: State Of Charge), state of endurance (SOH: State Of Health), etc. The communication status can include information about the currently activated communication protocol (such as Wi-Fi), connected AP, distance to AP, channel in use, etc. In addition, the power lane status can include load, temperature, RPM, etc. of the drivetrain.

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

The map management unit (148) obtains map data in the form of a grid map obtained when an AMR among logistics robots (110) drives within the operating boundary (100), and can provide a tool for 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, can be set, but this is only an example and is not necessarily limited thereto. In addition, the map management unit (148) can also distribute the corresponding map to the remaining logistics robots (110) other than the logistics robot (110) that obtained the initial grid map through actual driving, through the communication unit (146).

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 production device (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 path of the logistics robot (110) according to the assigned mission.

A more specific configuration and operation method of the work schedule management unit (149) are described with reference to FIG. 3.

FIG. 3 is a block diagram showing an example of a configuration of a work schedule management unit included in a control device that can be applied to embodiments of the present invention.

Referring to FIG. 3, the work schedule management unit (149) may include a mission group management unit (149a), an operation mission management unit (149b), a priority calculation unit (149c), a control operation status management unit (149d), and a movement path setting unit (149e).

The mission group management unit (149a) can group missions of logistics robots (110) based on process information and manage the grouped missions.

The operation mission management unit (149b) can create a list of missions of the logistics robot (110) currently in progress and monitor the created list.

The priority calculation unit (149c) can set priorities for the missions of the logistics robot (110) and change and monitor the set priorities.

The control operation status management unit (149d) can monitor and compare the operation status of the logistics robot (110) and the production facility control status of the PLC based on data from the mission group management unit (149a), the operation mission management unit (149b), and the priority calculation unit (149c).

The movement path setting unit (149e) can set an optimal global path for the logistics robot (110) according to the mission set in the mission group management unit (149a) based on at least one of the virtual lanes or zones.

Next, a logistics robot is described with reference to FIGS. 4 and 5.

FIG. 4 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.

Referring to FIG. 4, 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.

The driving unit (111) may include a driving source, wheels, suspension, etc. that are involved in the movement, steering, and stopping of the logistics robot (110). The driving source may be an electric motor that receives power from a built-in battery (not shown). The wheels may include one or more driving wheels that receive driving force from the driving source, and non-driving wheels that rotate by the movement of the body without receiving the driving force. Depending on the implementation, when a plurality of driving wheels are provided, the driving source may be matched to each driving wheel so that the rotation of each driving wheel may be independently controlled. In this case, by making the rotation directions of different driving wheels different, the body may be rotated without a separate steering means so that steering may be performed. 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.

The sensing unit (112) is intended to detect 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.

The 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 to estimate displacement by analyzing the amount of position change with respect to time using data acquired through the encoder and the gyro sensor. However, the displacement estimated based on the encoder data may have an error from the actual displacement due to wheel slip or wear (wheel-related diameter change). Therefore, when performing odometry, the control unit (115) can perform noise and error correction on the information collected from the wheel and the 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, described later, is not possible.

A 2D laser scanner can scan the surrounding environment by projecting a laser beam onto the surrounding area through a rotating reflector and detecting the reflected signal. At this time, the intensity of the reflected signal and the time difference between the irradiation and reception can be analyzed to output the detection result in the form of a point cloud.

The 3D vision camera can calculate the distance to an object based on the parallax between two cameras spaced apart by a certain distance, that is, the pixel distance between the images captured by each camera. At this time, a texture projector that projects infrared light of a certain pattern can also be provided so that detection is possible even for flat objects of the same color (e.g., a white wall).

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 thereto.

The loading unit (113) is a means for loading the transport target item, 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. In the case of a forklift, similar to a forklift, it may also support telescopic and tilting functions.

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

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 judgment, route planning, load unit control, etc. based on information obtained from the control device (140) through the communication unit (114).

FIG. 5 is a perspective view showing an example of the exterior of a logistics robot that can be applied to embodiments of the present invention.

Referring to FIG. 5, an example of an AMR is illustrated as a logistics robot (110). The body may have a track-shaped planar shape having a long axis extending along a single axis direction as a whole. One driving wheel (111-1) may be arranged in the center of the body in a single-axis direction, may be arranged on one side in a two-axis direction, and another driving wheel (not shown) may be arranged on the other side to face one driving wheel (111-1) in a two-axis direction. This arrangement of the driving wheels may be referred to as a 'differential drive (DD)'. Although not illustrated in FIG. 4, two or more non-driving wheels may be arranged on the lower part of the body. In this case, if two driving wheels rotate in the same direction at the same speed, they can move forward or backward along a single-axis direction, and if they rotate in opposite directions at the same speed, they can extend along a three-axis direction and rotate based on a rotation axis passing through the plane center (C) of the body. In addition, a sensor unit (112) may be placed on the front of the body, and a loading unit (113) may be placed on the upper surface. The loading unit (113) may be configured to be able to rise and fall along three axes, and a rack or tray, etc. may be fixed to the upper surface through a guide (113-1).

However, the AMR shape of Fig. 5 described above is exemplary, and it is obvious that the AGV may have a similar shape or the AMR may have a different shape.

Next, the driving process of the logistics robot (110) will be described with reference to Fig. 6.

Fig. 6 is a flowchart showing an example of a driving process of a logistics robot (110) that can be applied to embodiments of the present invention. In Fig. 6, it is assumed for convenience that the logistics robot (110) is an AMR capable of positioning and local path planning.

Referring to Fig. 6, first, while the AMR drives within the operating boundary (100), a real-world grid map can be obtained through lidar, etc. (S601).

When the AMR transmits the acquired grid map to the control device (140), the grid map editing and matching process can be performed in the map management unit (148) of the control device (140) (S602). Here, the editing process can include the process of setting the aforementioned various zones in the aforementioned grid map, the process of assigning a cost to each grid, etc. Here, the assignment of the cost can be performed in a direction in which the cost is assigned higher the closer the AMR is to an obstacle or a no-entry area so that the AMR does not move around an obstacle or into an area that it should not enter. This is because the AMR selects a set of cells with the lowest cost among waypoints as the path when setting a local path.

Additionally, the map matching process may mean a process of matching coordinates between a CAD map used in the design of the operational boundary (100), a real-world grid map (lidar map), and a topology map that has undergone an editing process.

Afterwards, the control device (140) can share the topology map with all AMRs within the factory through the communication unit (146) (S603).

Subsequent steps may be applied to individual AMRs.

AMR can determine the current location on the map (localization) through sensor data of the sensing unit (112) and the acquired map (S604). For example, AMR can determine the current location by comparing the surrounding terrain acquired through lidar and the map based on feature points.

The control device (140) can select a specific AMR and assign a mission, and the mission can be assigned one or more waypoints, which are generally determined through global path planning. The waypoints can be defined as coordinates on a map, and can be accompanied by information about the direction (i.e., heading) that the AMR should face at the coordinates. Based on the assignment of the mission, a destination can be set for the AMR (Yes in S605), and the AMR can perform local path planning between waypoints based on the cost of the topology map (S606).

Once the path is determined, the AMR starts driving (S507), and if an obstacle is detected by the sensing unit (112) during driving (Yes in S608), local path search can be performed to bypass the detected obstacle and perform an evasive maneuver (S609). In some cases, depending on the evasive maneuver or the failure of the evasive maneuver, the control device (140) can update the mission of the AMR.

Additionally, the AMR can also compensate for positional errors during movement using the aforementioned odometry technique until it reaches its destination (S610).

After reaching the destination (S611), the AMR can perform mission-based maneuvers (S612). For example, the AMR can determine whether conditions for entering a specific process area are clear, retrieve an empty pallet at the destination, or drop a load loaded on the loading section (113).

In the above, the configuration and operation method of the logistics robot (110), production device (120), monitoring device (130), and control device (140) included in the operating boundary (100) that can be applied to embodiments of the present invention have been described.

Hereinafter, a method of operating a logistics system in which a control device controls a logistics robot operating within a preset operational boundary, sets area rules for a variably settable movement area (e.g., a virtual lane) within the operational boundary, and performs path planning between the departure point and the destination of the logistics robot based on the set area rules is described.

Fig. 7 is a sequence diagram for explaining a process of setting a movement path of a logistics robot operating within a preset operating boundary according to one embodiment of the present invention. In Fig. 7, it is assumed for convenience that the logistics robot (110) is an AMR capable of positioning and local path planning.

Referring to FIG. 7, the map management unit (148) of the control device (140) can variably set at least one of the size or location of at least one movement area on the map of the preset operation boundary, and set area rules including a movement direction and an offset of a driving reference line for each of the movement areas that can be variably set (S701). At this time, the movement area may be designated on a CAD map used for designing the operation boundary, but is not necessarily limited thereto. The movement direction of the movement area may be set to any one of a first longitudinal direction of the movement area, a second longitudinal direction opposite to the first longitudinal direction, and bidirectional directions including the first and second longitudinal directions.

The driving reference line of the moving area can be adjusted based on the offset value with respect to the center line of each of the plurality of moving areas. More specifically, the driving reference line can be shifted to one side of the center line or to the other side of the center line depending on the offset value. For example, the driving reference line is set to the center line of the moving area when the offset value is '0', shifted to one side (e.g., left) of the center line of the moving area when the offset value is positive, and shifted to the other side (e.g., right) of the center line of the moving area when the offset value is negative.

The map management unit (148) of the control device (140) can generate movement area information including information on the location, size, possible movement direction, and offset of the driving reference line of each of the plurality of movement areas specified on the map (S702). At this time, the map management unit (148) can transmit the movement area information to the movement path setting unit (149e) of the work schedule management unit (149) of the control device (140).

The production device (120) and the monitoring device (130) can transmit process information of the operation boundary to the communication unit (146) of the control device (140). More specifically, the production device (120) can transmit operation information of the production robot and logistics discharge information of the production facility to the control device (140) (S703), and the monitoring device (130) can transmit peripheral sensor information of the production facility to the control device (140) (S704).

The work schedule management unit (149) of the control device (140) can select a specific logistics robot (110) within the operation boundary and assign a mission based on the process information of the operation boundary received through the communication unit (146) in S703 and S704 (S705).

The movement path setting unit (149e) of the control device (140) determines the destination of the logistics robot (110) according to the mission assigned to the logistics robot (110), and can set a global path between the starting point (current location) and the destination of the logistics robot (110) based on the movement area information received in S702 (S706).

More specifically, the movement path setting unit (149e) selects at least one movement area according to a possible movement direction among a plurality of movement areas through a preset algorithm (e.g., A* algorithm) between the departure point and the destination of the logistics robot (110) based on the movement area information and according to the set area rules, and can set a global path within the selected at least one movement area. At this time, the movement path setting unit (149e) can set a global path by considering the number of logistics robots in each movement area.

In addition, the movement path setting unit (149e) can set a global path based on the driving reference line of at least one movement area selected according to the possible movement direction among the plurality of movement areas based on the movement area information for the offset of the driving reference line. At this time, the driving reference line of each of the plurality of movement areas can be in a state where the offset is applied.

Meanwhile, the global path according to the present embodiment can be specified by the coordinates of at least one way point. More specifically, the movement path setting unit (149e) can specify a way point along the driving reference line of the movement area. Here, the way point is defined as a point that the logistics robot (110) will pass through, and can include an intersection between the driving reference lines of the movement area.

Thereafter, the communication unit (146) of the control device (140) can transmit a global path designated by the coordinates of at least one way point to the communication unit (114) of the logistics robot (110) (S707).

The communication unit (114) of the logistics robot (110) receives a global path designated by the coordinates of the waypoint, and the control unit (115) of the logistics robot (110) can control the vehicle to move along the global path by causing the vehicle to pass through the coordinates of the waypoint.

In addition, the control unit (115) of the logistics robot (110) can set a local path to avoid obstacles in the surroundings detected through the sensing unit (112) between waypoints and control the vehicle to move according to the set local path (S708).

The communication unit (114) of the logistics robot (110) can transmit a local path including the current location of the logistics robot (110), i.e., the actual driving path, to the communication unit (146) of the control device (140) (S709).

The work schedule management unit (149) of the control device (140) can monitor the mission performance of the logistics robot (110) based on the local path including the current location of the logistics robot (110) (S710). For example, if the work schedule management unit (149) monitors that the logistics robot (110) has failed to perform an evasive maneuver, it can update the mission of the logistics robot (110).

FIG. 8 is a drawing for explaining a process in which a control device according to one embodiment of the present invention performs global path planning.

Referring to FIG. 8, an example of a map of an operational boundary in which multiple movement areas (801-806) are designated is illustrated. The movement areas (801, 802) may have a bidirectional movement direction, and the movement areas (803, 804, 805, 806) may have a unidirectional movement direction. More specifically, the movement directions of the movement areas (803, 805) may be set to a first longitudinal direction (downward), and the movement directions of the movement areas (804, 806) may be set to a second longitudinal direction (upward). The logistics robot (A) corresponds to a target for which the control device (140) sets a global path, and the logistics robots (B, C) correspond to targets occupying respective movement areas (805, 804).

The control device (140) can set a global path by considering the possible movement directions of each of the plurality of movement areas (801-806) between the starting point (S) and the destination (E) of the logistics robot (A). For example, the control device (140) can set a global path by using the movement area (801), the movement area (803), and the movement area (802), or can set a global path by using the movement area (801), the movement area (805), and the movement area (802).

At this time, if the control device (140) determines that another logistics robot (B) in the vicinity has occupied the movement area (805) based on the result of collecting the current locations of the logistics robots (A, B, C) within the operation boundary, the control device can set an optimal global path for the logistics robot (A) by using the movement area (801), the movement area (803), and the movement area (802).

Thereafter, the control device (140) can designate waypoints at intervals of a preset distance (e.g., 25 m) along the driving reference line of the movement area. The control device (140) can transmit the coordinates of the designated waypoints to the logistics robot (A).

As examined in Fig. 8, the control device (140) can efficiently secure the movement paths of the logistics robots within the operation boundary by setting the global path of the logistics robots based on the movement area having a direction. For example, the control device (140) can prevent the logistics robots within the operation boundary from colliding or becoming stuck by dividing the passage through which the logistics robots (A, C) move into a movement area (803) and a movement area (804) having different possible movement directions.

FIG. 9 is a drawing for explaining a process in which a logistics robot performs local path planning according to one embodiment of the present invention.

Referring to FIG. 9, the logistics robot (A) can receive the coordinates of the waypoints illustrated in FIG. 8 from the control device (140). The logistics robot (A) can set a local path to pass through the coordinates of the waypoints and avoid surrounding obstacles between the coordinates of the waypoints. Accordingly, the logistics robot (A) can comply with the global path according to the global path planning of the control device (140) and prevent collisions with surrounding obstacles by setting a local path according to the local path planning. Accordingly, the accuracy and flexibility of the path planning can be improved.

FIG. 10 is a drawing for explaining a process in which a control device according to one embodiment of the present invention applies an offset to a driving reference line of a moving area.

Referring to FIG. 10, an example of a map of an operational boundary in which movement areas (1001, 1002) are designated is illustrated. The movement direction of the movement area (1001) may be set to the first longitudinal direction (downward), and the movement direction of the movement area (1002) may be set to the second longitudinal direction (upward).

The control device (140) can adjust the driving reference line of the moving area (1001) based on the center line of the moving area (1001) according to the value of the first offset (Offset 1). For example, the driving reference line of the moving area (1001) shifts to the left of the center line of the moving area (1001) when the value of the first offset (Offset 1) is positive, and can move away from the center line as the value of the first offset (Offset 1) increases.

The control device (140) can adjust the driving reference line of the moving area (1002) based on the center line of the moving area (1002) according to the value of the second offset (Offset 2). For example, the driving reference line of the moving area (1002) shifts to the right of the center line of the moving area (1002) when the value of the second offset (Offset 2) is negative, and can move away from the center line as the value of the second offset (Offset 2) decreases.

The control device (140) can designate a waypoint according to the driving reference line of each movement area (1001, 1002) to which the offset is applied.

FIG. 11 and FIG. 12 are drawings for explaining a process in which a logistics robot according to one embodiment of the present invention moves along a driving reference line of a movement area to which an offset is applied.

Referring to FIG. 11 and FIG. 12, the logistics robot (D) can receive coordinates of way points for the movement area (1001) of FIG. 10 from the control device (140), and the logistics robot (E) can receive coordinates of way points for the movement area (1002) of FIG. 10 from the control device (140).

Referring to FIG. 11, the logistics robots (D, E) may be in a state of loading each load (1101, 1102). The logistics robot (D) may move along a driving reference line located to the left of the center line of the movement area (1001) of FIG. 10, and the logistics robot (E) may move along a driving reference line located to the right of the center line of the movement area (1002) of FIG. 10. That is, in the present embodiment, by applying an offset to the driving reference lines of the movement areas, the loads (1101, 1102) may be prevented from colliding with each other when the logistics robots (D, E) cross-drive.

Referring to Fig. 12, the logistics robots (D, E) may be in a state of loading each load (1201, 1202). The logistics robot (E) may set a local path to avoid an obstacle located in front. At this time, in the present embodiment, by applying an offset to the driving reference line of the moving area, even if an avoidance maneuver due to an obstacle around the logistics robot (E) is performed, the loads (1201, 1202) may be prevented from colliding with each other.

Meanwhile, the above-described present invention can be implemented as a computer-readable code on a medium in which a program is recorded. The computer-readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer-readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc. Therefore, the above detailed description should not be construed as limiting in all aspects but should be considered as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

100: Operational Boundary 110: Logistics Robots
120: Production device 130: Monitoring device
140: Control device

Claims (19)

A method for controlling a logistics robot operating within a preset operating boundary,
A step of setting an area rule including a movement direction for at least one movement area that can be variably set within the above operation boundary; and
A method for controlling a logistics robot, comprising the step of setting a movement path of the logistics robot between a departure point and a destination point of the logistics robot based on the above area rules.
In the first paragraph,
A method for controlling a logistics robot, further comprising the step of variably setting at least one of the size or position of the at least one movement area within the above operating boundary.
In the first paragraph,
The above possible directions of movement are:
A method for controlling a logistics robot, wherein the direction is set to one of a first direction, a second direction opposite to the first direction, and a bidirectional direction including the first and second directions.
In the first paragraph,
The above area rules are,
Including at least one driving reference line of the above moving area,
The above driving reference line is,
A method for controlling a logistics robot, wherein the offset value is adjusted based on the center line of each of the at least one movement area.
In the fourth paragraph,
The above driving reference line is,
A method for controlling a logistics robot, wherein the robot shifts to one side of the center line or to the other side of the center line depending on the value of the offset.
In the first paragraph,
The steps for setting the above movement path are:
A method for controlling a logistics robot, comprising the step of setting the movement path by the coordinates of a waypoint to be passed by the logistics robot.
In Article 6,
A method for controlling a logistics robot, further comprising the step of transmitting coordinates of the waypoint from a control device to the logistics robot.
In Article 7,
A method for controlling a logistics robot, further comprising the step of setting a local movement path for the logistics robot to avoid obstacles between the waypoints.
In Article 6,
The above waypoints are,
Designated along the driving reference line of at least one of the above movement areas,
A method for controlling a logistics robot, comprising: an intersection between the above driving reference lines;
In the first paragraph,
The steps for setting the above movement path are:
A method for controlling a logistics robot, comprising a step of setting the movement path by considering the number of the logistics robots per at least one movement area.
In a control device that controls a logistics robot operating within a preset operating boundary,
A map management unit that sets area rules including a movement direction for at least one movement area that can be variably set within the above operation boundary; and
A control device including a movement path setting unit that sets a movement path of the logistics robot between the departure point and the destination of the logistics robot based on the above area rules.
In Article 11,
The above map management department,
A control device that variably sets at least one of the size or position of at least one movement area within the above operating boundary.
In Article 11,
The above possible directions of movement are:
A control device, which is set to one of a first direction, a second direction opposite to the first direction, and a bidirectional direction including the first and second directions.
In Article 11,
The above area rules are,
Including at least one driving reference line of the above moving area,
The above driving reference line is,
A control device, which is adjusted according to the value of the offset based on the center line of each of the at least one movement area.
In Article 14,
The above driving reference line is,
A control device that shifts to one side of the center line or to the other side of the center line depending on the value of the offset.
In Article 11,
The above movement path setting section,
A control device that sets the movement path by the coordinates of the waypoint through which the logistics robot will pass.
In Article 16,
A control device further comprising a communication unit that transmits the coordinates of the waypoint from the control device to the logistics robot.
In Article 16,
The above waypoints are,
Designated along the driving reference line of at least one of the above movement areas,
A control device including an intersection between the above driving reference lines.
In Article 11,
The above movement path setting section,
A control device that sets the movement path by considering the number of logistics robots per at least one movement area.