WO2025005347A1 - Procédé de commande et dispositif de commande de véhicule logistique intelligent - Google Patents

Procédé de commande et dispositif de commande de véhicule logistique intelligent Download PDF

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Publication number
WO2025005347A1
WO2025005347A1 PCT/KR2023/015618 KR2023015618W WO2025005347A1 WO 2025005347 A1 WO2025005347 A1 WO 2025005347A1 KR 2023015618 W KR2023015618 W KR 2023015618W WO 2025005347 A1 WO2025005347 A1 WO 2025005347A1
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WIPO (PCT)
Prior art keywords
logistics vehicle
information
smart logistics
mission
route
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PCT/KR2023/015618
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English (en)
Korean (ko)
Inventor
이범준
박경동
안계운
윤상원
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Hyundai Motor Co
Kia Corp
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Hyundai Motor Co
Kia Corp
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Priority to CN202380099174.5A priority Critical patent/CN121263811A/zh
Publication of WO2025005347A1 publication Critical patent/WO2025005347A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/08355—Routing methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
    • G06Q10/06393—Score-carding, benchmarking or key performance indicator [KPI] analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0838—Historical data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories

Definitions

  • the present invention relates to a smart logistics vehicle control method and control device that provide information on a driving route according to the mission performance of a smart logistics vehicle.
  • smart logistics vehicles are being introduced not only in general logistics warehouses or factories, but also in operational boundaries (e.g. smart factories) that manufacture products with different specifications using various parts, for flexible and efficient supply and transport of parts, etc.
  • Smart logistics vehicles are a general term for autonomous mobile robots (AMR) and automated guided vehicles (AGV), and these smart logistics vehicles can move and perform tasks under the control of a control system.
  • AMR autonomous mobile robots
  • AGV automated guided vehicles
  • a virtual lane may be formed in a certain section or area on the operational boundary, along which a smart logistics vehicle may move. Then, the control system may create a driving route for each smart logistics vehicle according to the mission execution based on the virtual lane formed on the operational boundary, and transmit the created driving route to the smart logistics vehicle. However, since the virtual lane formed on the operational boundary is not divided by the mission of the smart logistics vehicle, there may be a section where the driving routes intersect or overlap when creating a driving route for the smart logistics vehicle.
  • smart logistics vehicles perform missions while moving along the driving path provided by the control system. If a section occurs where the driving paths intersect or overlap, the smart logistics vehicle may collide, causing the operation of the smart logistics vehicle to stop or the smart logistics vehicle may perform evasive driving such as reducing its driving speed to avoid collision.
  • the present invention has been proposed to solve such problems, and provides a smart logistics vehicle control method and control device that provide information on the driving path according to the mission execution of a smart logistics vehicle so that the driving paths of different smart logistics vehicles having different missions to be performed do not intersect or overlap.
  • a smart logistics vehicle control method may include: a step of confirming a mission situation of a smart logistics vehicle; a step of determining a driving path so that the smart logistics vehicle moves along a virtual lane corresponding to the confirmed mission situation based on map information in which different path selection-based scores are assigned to at least some virtual lanes within an operation boundary according to each mission situation; and a step of transmitting path information corresponding to the determined driving path to the smart logistics vehicle.
  • a control device for achieving the above purpose may include a map management unit that provides map information in which different route selection-based scores are assigned to at least some virtual lanes within an operation boundary according to a mission situation; and a route selection unit that confirms a mission situation of a smart logistics vehicle, and determines a driving route so that the smart logistics vehicle moves along a virtual lane corresponding to the confirmed mission situation based on the route selection-based score corresponding to the confirmed mission situation based on the map information provided by the map management unit, and transmits route information corresponding to the determined driving route to the smart logistics vehicle.
  • the smart logistics vehicle control method and control device of the present invention determine a driving path so that the smart logistics vehicle moves along a virtual lane corresponding to the identified mission situation based on a path selection base score corresponding to the identified mission situation, thereby preventing the driving paths from intersecting or overlapping, thereby improving the mobility of the smart logistics vehicle.
  • 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 smart logistics vehicle configuration that can be applied to embodiments of the present invention.
  • FIG. 4 is a perspective view showing an example of the exterior of a smart logistics vehicle that can be applied to embodiments of the present invention.
  • FIG. 6 is a diagram schematically illustrating an operational boundary equipped with a control device according to one embodiment of the present invention.
  • Figures 7 to 10 are drawings for explaining the driving path determination of a smart logistics vehicle according to one embodiment of the present invention.
  • FIG. 11 is a drawing for explaining a smart logistics vehicle that drives based on route information according to one embodiment of the present invention.
  • FIG. 12 is a drawing for explaining a smart logistics vehicle control method according to one embodiment of the present invention.
  • 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.
  • one processor may be in charge of calculations for multiple control devices.
  • Figure 1 is a block diagram showing an example of an operational boundary configuration that can be applied to embodiments.
  • the operational boundary (100) may include a smart logistics vehicle (110), a production device (120), a monitoring device (130), and a control device (140).
  • the operation boundary (100) may be equipped with multiple smart logistics vehicles (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.
  • the smart logistics vehicle (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).
  • 'AMR' autonomous mobile robot
  • 'AGV' automated guided vehicle
  • 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.
  • 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.
  • the installation or modification of guide devices must be physically performed.
  • 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.
  • FIGS. 3 and 4 A more detailed configuration of a smart logistics vehicle (110) will be described later with reference to FIGS. 3 and 4, and the driving control process of the AMR will be described later with reference to FIG. 5.
  • 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 smart logistics vehicle (110), when the production process is performed by a person.
  • a device e.g., a robot arm, a conveyor belt, etc.
  • 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 smart logistics vehicle (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.
  • 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.
  • PLC Process Control Deformation Controller
  • 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).
  • 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.
  • the control device (140) can perform dispatching of smart logistics vehicles (110), route setting, mission assignment, process management by product, material management, etc.
  • 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 smart logistics robots (110) within the operation boundary (100) from each of a plurality of local control devices.
  • 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).
  • ACS local control device
  • 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).
  • MES manufacturing execution system
  • APS automated scheduler
  • devices for mutual communication between each component such as beacons, repeaters, and APs (Access Points), chargers for charging smart logistics vehicles (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 smart logistics vehicles (110), can of course be appropriately placed within the operation boundary (100).
  • 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.
  • 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), and a map management unit (148).
  • the firmware management unit (141) obtains the latest firmware of the smart logistics vehicle (110) through the communication unit (146) and transmits it to the smart logistics vehicle (110) to perform a firmware update, thereby maintaining the firmware of the smart full-flow vehicle (110) up to date.
  • the traffic control unit (142) controls traffic lights and barriers based on the route of the smart logistics vehicle (110), and can also re-evaluate the route of the smart logistics vehicle (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 smart logistics vehicles (110) based on missions.
  • the inventory management department (145) manages the location and quantity of each material, and this information can be useful for more efficient process operation, such as sending a smart logistics vehicle (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 smart logistics vehicle (110), a production device (120), and a monitoring device (130), as well as external entities, such as a firmware update server.
  • internal components of the operation boundary (100) such as a smart logistics vehicle (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 train status, etc. of individual smart logistics vehicles (110).
  • the route is a concept including a waypoint-based global route and a real-time local route.
  • 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.
  • the power train status can include load, temperature, RPM, etc. of the drivetrain.
  • vehicle monitoring unit (147) can also check the mission, operation mode, firmware version, etc. currently assigned to each smart logistics vehicle (110).
  • the map management unit (148) obtains map data in the form of a grid map obtained when an AMR among smart logistics vehicles (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 one or more preset actions are performed when a smart logistics vehicle (110) enters, can be set, but this is only an example and is not necessarily limited thereto.
  • the map management unit (148) can also distribute the corresponding map to the remaining smart logistics vehicles (110) other than the smart logistics vehicle (110) that obtained the initial grid map through actual driving, through the communication unit (146).
  • FIG. 3 is a block diagram showing an example of a smart logistics vehicle configuration that can be applied to embodiments of the present invention.
  • a smart logistics vehicle (110) may include a driving unit (111), a sensing unit (112), a loading unit (113), a communication unit (114), and a control unit (115).
  • a driving unit (111) may include a driving unit (111), a sensing unit (112), a loading unit (113), a communication unit (114), and a control unit (115).
  • a sensing unit (112) may include a driving unit (111), a sensing unit (112), a loading unit (113), a communication unit (114), and a control unit (115).
  • the driving unit (111) may include a driving source, wheels, suspension, etc. involved in the movement, steering, and stopping of the smart logistics vehicle (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 vehicle body without receiving the driving force.
  • 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 vehicle 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 smart logistics vehicle (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.
  • a 2D laser scanner e.g., LiDAR
  • a 3D vision (stereo) camera e.g., a 3D vision (stereo) camera
  • a multi-axis gyro sensor e.g., 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).
  • 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.
  • EKF Extended Kalman Filter
  • 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.
  • 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).
  • 2D laser scanners are used for mapping, navigation, object recognition, etc.
  • 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.
  • 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 smart logistics vehicles (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. 4 is a perspective view showing an example of the exterior of a smart logistics vehicle that can be applied to embodiments of the present invention.
  • an example of an AMR is illustrated as a smart logistics vehicle (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)'.
  • DD 'differential drive
  • two or more non-driving wheels may be arranged on the lower part of the body.
  • 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).
  • the AMR shape of Fig. 4 described above is exemplary, and it is obvious that the AGV may have a similar shape or the AMR may have a different shape.
  • Fig. 5 is a flowchart showing an example of a driving process of a smart logistics vehicle (110) that can be applied to embodiments of the present invention.
  • the smart logistics vehicle (110) is an AMR capable of positioning and local route setting.
  • a real-world grid map can be obtained through lidar, etc. (S501).
  • the grid map editing and matching process can be performed in the map management unit (148) of the control device (140) (S502).
  • 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.
  • 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.
  • 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.
  • control device (140) can share the topology map with all AMRs within the factory through the communication unit (146) (S503).
  • AMR can determine the current location on the map (localization) through sensor data of the sensing unit (112) and the acquired map (S504). 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.
  • a destination can be set for the AMR (Yes in S505), and the AMR can perform local path planning between waypoints based on the cost of the topology map (S506).
  • the AMR starts driving (S507), and if an obstacle is detected by the sensing unit (112) during driving (Yes in S508), local path search can be performed to bypass the detected obstacle and perform an evasion maneuver (S509).
  • the control device (140) can update the mission of the AMR.
  • the AMR can also compensate for position errors during movement using the aforementioned odometry technique until it reaches its destination (S510).
  • the AMR can perform mission-based maneuvers (S512). 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 unit (113).
  • the purpose is to provide information on driving routes according to mission performance of smart logistics vehicles so that driving routes for different smart logistics vehicles having different missions to perform do not intersect or overlap.
  • a control device (140) may include a map management unit (148) that provides map information in which different route selection-based scores are assigned to at least some virtual lanes within an operation boundary (100) according to mission situations, and a route selection unit (149) that verifies the mission situation of a smart logistics vehicle (110), determines a driving path so that the smart logistics vehicle (110) moves along a virtual lane corresponding to the confirmed mission situation based on the route selection-based score corresponding to the confirmed mission situation based on the map information provided by the map management unit (148), and transmits route information corresponding to the determined driving path to the smart logistics vehicle (110).
  • the control device (140) may further include a communication unit (146) that collects external information or transmits information generated within the control device (140) to the outside.
  • control device (140) each component included in the control device (140) will be described in detail.
  • a virtual lane can be formed along which a smart logistics vehicle (110) can move when performing a mission.
  • the map management unit (148) can assign a route selection-based score to at least some virtual lanes among the multiple virtual lanes formed in the operation boundary (100).
  • the route selection-based score can mean a cost assigned to each unit section or unit cell within the operation boundary according to a mission situation.
  • a cost is assigned to a virtual lane so that a smart logistics vehicle (110) moves along a virtual lane with a lower cost among a virtual lane with a high cost and a virtual lane with a low cost.
  • a driving route is formed based on this virtual lane, points or sections that intersect or overlap may occur on the driving route.
  • a smart logistics vehicle (110) moves along this driving route, there is a problem that a collision may occur between smart logistics vehicles (110) at points or sections that intersect or overlap, or that evasive driving must be performed to prevent the collision.
  • the map management unit (148) can provide map information in which different path selection-based scores are assigned to at least some virtual lanes within the operation boundary (100) according to each mission situation.
  • the mission situation of the smart logistics vehicle (110) can include at least one of information on a mission to be performed by the smart logistics vehicle (110), information on a loading status of the smart logistics vehicle (110), and information on the type of the smart logistics vehicle (110).
  • the information on the mission to be performed can include at least one of a supply mission, a retrieval mission, and a charging mission to be performed by the smart logistics vehicle (110), and the information on the loading status of the smart logistics vehicle (110) can include at least one of information on whether a loaded item is loaded in the smart logistics vehicle (110) and information on a loaded item loaded in the smart logistics vehicle (110).
  • the type information of the smart logistics vehicle (110) can include information on the intended use of the smart logistics vehicle (110) (e.g., performing a logistics task, performing a parking task, performing a cleaning task, etc.).
  • the map management unit (148) can provide map information in which virtual lanes that can be moved according to the mission situation of the smart logistics vehicle (110) are distinguished for at least some virtual lanes.
  • the map management unit (148) can provide map information in which a low route selection-based score is given to one virtual lane in the case of a supply mission and a high route selection-based score is given to one virtual lane in the case of a recovery mission, so that the virtual lane is used only for the supply mission.
  • the route selection-based score can be given as a fixed value for each virtual lane, or can be given as a value that periodically changes depending on the mission situation.
  • the map management unit (148) may preset map information in which different route selection-based scores are assigned to at least some virtual lanes within the operation boundary (100) according to mission situations and provide preset map information, or the map management unit (148) may generate map information in which different route selection-based scores are assigned to at least some virtual lanes within the operation boundary (100) according to mission situations and provide the generated map information.
  • the route selection unit (149) can check the mission status of the smart logistics vehicle (110) and determine the driving route of the smart logistics vehicle (110) based on the mission status confirmed based on the map information provided by the map management unit (148).
  • the path selection unit (149) can collect process information of the operation boundary (100).
  • the process information can include at least one of process status information and logistics request information of the operation boundary (100), and the path selection unit (149) can collect process information provided from a production device (120) provided in the operation boundary (100).
  • the control device (140) collects process information provided from the production device (120) through the communication unit (146), and provides the process information collected by the communication unit (146) to the path selection unit (149), so that the path selection unit (149) can collect the provided process information again.
  • this is an example, and it is of course not limited thereto.
  • the route selection unit (149) can determine the mission situation for the smart logistics vehicle (110) based on the collected process information and can check the determined mission situation. For example, the route selection unit (149) can determine the mission situation, such as the supply mission and the recovery mission to be performed by the smart logistics vehicle (110), based on the collected process information.
  • the route selection unit (149) can check the mission situation and determine the driving route to move along the virtual lane corresponding to the confirmed mission situation based on the route selection base score corresponding to the confirmed mission situation based on the map information provided by the map management unit (148). Determining the driving route will be described with reference to FIGS. 7 to 10.
  • Figures 7 to 10 are drawings for explaining the driving path determination of a smart logistics vehicle according to one embodiment of the present invention.
  • the map management unit (148) can provide map information in which a route selection-based score is assigned to each of the multiple virtual lanes (L1, L2) according to a mission situation.
  • the first virtual lane (L1) can be assigned a route selection-based score of 3 for a supply mission, a route selection-based score of 6 for a retrieval mission, and a route selection-based score of 5 for a simple movement mission.
  • the second virtual lane (L2) can be assigned a route selection-based score of 5 for a supply mission, a route selection-based score of 2 for a retrieval mission, and a route selection-based score of 6 for a simple movement mission.
  • the route selection unit (149) can determine and confirm a mission situation so that, if a material supply from process A to process B is required based on the collected process information, the smart logistics vehicle (110) can perform a supply mission from process A to process B.
  • the route selection unit (149) can determine a driving route to move along a virtual lane corresponding to the confirmed mission situation based on a route selection-based score corresponding to the confirmed mission situation based on the map information provided by the map management unit (148). For example, if the mission situation is a supply mission from process A to process B, the route selection unit (149) can determine a route selection-based score assigned to correspond to the supply mission for each of a plurality of virtual lanes (L1, L2) based on the map information.
  • L1, L2 virtual lanes
  • the route selection-based score for the supply mission assigned to the first virtual lane (L1) is 3, and the route selection-based score for the supply mission assigned to the second virtual lane (L2) is 5.
  • the route selection unit (149) can determine a driving route so that the smart logistics vehicle (110) moves along the first virtual lane (L1) with a low score based on two route selection base scores.
  • the route selection unit (149) can select a starting point and a destination within the operation boundary (100) corresponding to the confirmed mission situation, and determine a driving route connecting the selected starting point and destination based on map information.
  • a plurality of virtual lanes may be formed within the operation boundary (100), and each of the plurality of virtual lanes may be assigned a route selection-based score based on a mission situation, particularly a supply mission and a recovery mission, by the map management unit (148).
  • a supply purpose virtual lane may mean a virtual lane to which a low route selection-based score is assigned based on a supply mission
  • a recovery purpose virtual lane may mean a virtual lane to which a low route selection-based score is assigned based on a recovery mission.
  • the map management unit (148) may provide map information set in this manner to the route selection unit (149).
  • the path selection unit (149) can select a starting point and a destination within the operation boundary (100) corresponding to the confirmed mission situation. For example, if a plurality of processes (Process A, Process B, and Process C) can be formed within the operation boundary (100), and the confirmed mission situation is a parts supply mission due to a parts request from Process C, the path selection unit (149) can select one of the plurality of supply ports (SP1, SP2, SP3) provided within the operation boundary (100) as the starting point (e.g., SP2), and select Process C as the destination.
  • SP1, SP2, SP3 the plurality of supply ports
  • the route selection unit (149) can determine a driving route connecting the starting point and the destination to move along a virtual lane corresponding to the confirmed mission situation based on a route selection base score corresponding to the confirmed mission situation based on map information. For example, the route selection unit (149) can determine a driving route connecting the starting point, the supply port (SP2), and the destination, the C process, along a supply purpose virtual lane to which a low route selection base score is assigned according to the parts supply mission for the first smart logistics vehicle (110-1) that performs the parts supply mission.
  • the path selection unit (149) may select process C as the starting point and select one recovery port (e.g., CP3) among multiple recovery ports (CP1, CP2, CP3) provided within the operation boundary (100) as the destination.
  • the path selection unit (149) may determine a driving path connecting process C as the starting point and the recovery port (CP3) as the destination for the second smart logistics vehicle (110-2) to perform the recovery mission so as to move along a recovery purpose virtual lane with a low route selection base score according to the recovery mission, which is the confirmed mission situation, based on map information.
  • the route selection unit (149) can determine a driving route connecting the departure point and the destination by further considering the status information of each of the selected departure point and destination. For example, the route selection unit (149) can determine a driving route connecting the departure point and the destination by further considering the status information of each of the plurality of supply ports (SP1, SP2, SP3), the status information of each of the plurality of recovery ports (CP1, CP2, CP3), and the status information of each of the plurality of processes (Process A, Process B, Process C).
  • the driving path of the first smart logistics vehicle (110-1) and the driving path of the second smart logistics vehicle (110-2) can be prevented from overlapping or intersecting.
  • the route selection unit (149) may determine the driving route based on map information that further reflects information on whether at least some virtual lanes are activated depending on the mission situation.
  • a plurality of virtual lanes may be formed around an arbitrary process area (e.g., B process) existing within an operation boundary (100), and a route selection-based score may be assigned to each of the plurality of virtual lanes by the map management unit (148) according to a mission situation, specifically, a supply mission and a recovery mission.
  • a plurality of virtual lanes formed around B process according to an embodiment are recovery-purpose virtual lanes in which a route selection-based score corresponding to a recovery mission is assigned lower than a route selection-based score corresponding to a supply mission.
  • the map management unit (148) can provide map information in which different route selection-based scores are assigned to at least some virtual lanes within the operation boundary (100) according to the mission situation. At this time, activation may be set for at least some virtual lanes according to the mission situation in order to shorten the driving route or travel time.
  • the map management unit (148) can update the map information so that information on whether to activate at least some virtual lanes according to the mission situation is further reflected in the existing map information, and provide the updated map information.
  • the route selection unit (149) can determine the driving route according to the mission situation based on the updated map information.
  • the route selection unit (149) can determine an initial driving route including the activated virtual lane (L3) to move along the virtual lane corresponding to the mission situation based on the route selection-based score corresponding to the mission situation, which is the recovery mission from the B process of the smart logistics vehicle (110) to the recovery port (CP2), based on the initial map information.
  • the smart logistics vehicle (110) can be driven based on the initial driving route determined by the route selection unit (149), but in order to shorten the mission execution time, the map management unit (148) can collect more information on whether other virtual lanes that are not in use and that correspond to the confirmed mission situation are activated.
  • the map management unit (148) can update the map information so that information on the virtual lane L4 that corresponds to the recovery mission confirmed by the route selection unit (149) and that can be temporarily activated is more reflected, and provide the updated map information to the route selection unit (149).
  • the path selection unit (149) can determine a changed driving path that is different from the initial driving path from process B to the recovery port (CP2) based on the map information in which information on the temporary activation of the virtual lane L4 is updated.
  • the path selection unit (149) can determine a changed driving path that is shorter than the initial driving path based on the map information that further reflects information on whether at least some virtual lanes are activated.
  • whether to activate the virtual lane is set in order to shorten the driving path or travel time, but this is exemplary and is not necessarily limited thereto.
  • whether to activate the virtual lane may be set in order to prevent overlapping or intersection when determining the driving path by considering the mission situation, and whether to activate may be set according to whether driving is possible by determining the current status of the virtual lane based on the process information provided from the production device (120).
  • the route selection-based score corresponding to the mission situation for the two adjacent virtual lanes can be fixedly applied. For example, for a mission situation of moving back and forth between process A and process B, the route selection unit (149) can first determine a driving route that includes the virtual lane L5 while corresponding to the mission situation that has process A as the starting point and process B as the destination. Then, the route selection unit (149) can determine a driving route that includes the virtual lane L5 while corresponding to the mission situation that has process B as the starting point and process A as the destination.
  • the map management unit (148) can fixedly apply a route selection-based score corresponding to the mission situation for the two adjacent virtual lanes. Accordingly, when determining a driving route, the route selection unit (149) can include only the virtual lane L5 as the driving route when moving from Process A to Process B, and can include only the virtual lane L6 as the driving route when moving from Process B to Process A.
  • the map management unit (148) can fixedly assign a route selection-based score to at least some virtual lanes according to the mission situation of the smart logistics vehicle (110), and the route selection unit (149) can determine a driving route based on this so that the virtual lanes for each mission situation of the smart logistics vehicle (110) are distinguished.
  • the route selection unit (149) can transmit route information corresponding to the determined driving route to the smart logistics vehicle (110) performing the confirmed mission situation.
  • the route selection unit (149) can select a plurality of waypoints corresponding to the driving route based on the determined driving route, and transmit route information including information on the plurality of selected waypoints to the smart logistics vehicle (110).
  • the route selection unit (149) can transmit the route information to the communication unit (146) and transmit it to the smart logistics vehicle (110) through the communication unit (146).
  • the smart logistics vehicle (110) performing the mission situation determined by the route selection unit (149) can receive route information corresponding to the driving route determined by the route selection unit (149) through the communication unit (114).
  • the smart logistics vehicle (110) can determine a route selection-based score assigned to at least one virtual lane formed between waypoints based on the route information and move between waypoints. This will be described in detail with reference to FIG. 11.
  • FIG. 11 is a drawing for explaining a smart logistics vehicle that drives based on route information according to one embodiment of the present invention.
  • the path selection unit (149) can select a plurality of waypoints (WP1, WP2, WP3, WP4) corresponding to the determined driving path, and the plurality of waypoints (WP1, WP2, WP3, WP4) can exist on one virtual lane.
  • WP1, WP2, WP3, WP4 can exist on multiple virtual lanes.
  • the route selection unit (149) can transmit route information including information on a plurality of selected waypoints to the smart logistics vehicle (110), and the smart logistics vehicle (110) can drive according to a mission situation based on the route information including information on a plurality of waypoints. However, when the smart logistics vehicle (110) drives, the smart logistics vehicle (110) can drive while updating the status of the virtual lane in which it is currently driving in real time through a separately provided sensing unit (112).
  • the smart logistics vehicle (110) can drive to form a local route in the section between the waypoints rather than the global route through real-time sensing of the sensing unit (112).
  • the smart logistics vehicle (110) can directly determine the route selection-based score assigned to at least one virtual lane and move between waypoints along the virtual lane having the route selection-based score corresponding to the current mission situation.
  • FIG. 12 is a drawing for explaining a smart logistics vehicle control method according to one embodiment of the present invention.
  • the map management unit (148) can generate map information in which different route selection-based scores are assigned to at least some virtual lanes within the operation boundary (100) according to mission situations (S1210). Then, the map management unit (148) can provide the generated map information to the route selection unit (149) (S1220). However, step S1210 may be omitted according to embodiments, and if omitted, the map management unit (148) may provide preset map information to the route selection unit (149).
  • the path selection unit (149) can receive and collect process information of the operation boundary (100) from the production device (120) (S1230).
  • the path selection unit (149) can check the mission status of the smart logistics vehicle (110) based on the collected process information (S1240), and can determine a driving path along a virtual lane corresponding to the confirmed mission situation based on a path selection-based score corresponding to the confirmed mission situation based on the map information provided from the map management unit (148) (S1250).
  • the process of determining the driving path has been specifically described with reference to FIGS. 6 and 7 to 10, so further description will be omitted.
  • the route selection unit (149) can generate route information corresponding to the determined driving route and transmit the generated route information to the communication unit (114) of the smart logistics vehicle (110) (S1260-1).
  • the communication unit (114) of the smart logistics vehicle (110) can transmit the route information received from the route selection unit (149) to the control unit (115) (S1260-2), and the control unit (115) can control the driving of the smart logistics vehicle (110) according to the mission situation based on the received route information (S1270).
  • the smart logistics vehicle control method and control device of the present invention determine a driving path so that the smart logistics vehicle moves along a virtual lane corresponding to the identified mission situation based on a path selection base score corresponding to the identified mission situation, thereby preventing the driving paths from intersecting or overlapping, thereby improving the mobility of the smart logistics vehicle.
  • 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 that store data that can be read by a computer system. 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.

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Abstract

L'invention concerne un procédé de commande et un dispositif de commande de véhicule logistique intelligent, le procédé consistant à : identifier une situation de mission d'un véhicule logistique intelligent ; sur la base d'informations cartographiques dans lesquelles différents scores fondés sur la sélection d'itinéraire sont attribués à au moins certaines voies virtuelles dans une limite d'opération pour chaque situation de mission, déterminer un itinéraire de conduite de telle sorte que le véhicule logistique intelligent se déplace le long d'une voie virtuelle correspondant à la situation de mission identifiée sur la base d'un score fondé sur la sélection d'itinéraire correspondant à la situation de mission identifiée ; et transmettre des informations d'itinéraire correspondant à l'itinéraire de conduite déterminé au véhicule logistique intelligent.
PCT/KR2023/015618 2023-06-26 2023-10-11 Procédé de commande et dispositif de commande de véhicule logistique intelligent Ceased WO2025005347A1 (fr)

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