KR20220115247A - Autonomous mobile robot and its control method - Google Patents

Abstract

Disclosed are an autonomous mobile robot (AMR) and a control method thereof. According to an embodiment of the present invention, the AMR used for transporting parts in a factory comprises: a communication unit for receiving a task command for transporting parts through a wireless communication network; a LIDAR for propagating a laser signal and analyzing the reflected signal to detect the coordinates of nearby obstacles; a driving unit for generating a driving force for movement through at least one motor; a storage unit for standardizing and storing movement paths for transporting the parts and size information for the ID of each of the parts to be mounted; and a control unit which generates the movement paths including one or more way points (WPs) from a starting point to the final destination based on the coordinate system of a factory map, generates a virtual destination if an obstacle located at the WPs is identified through the LIDAR during movement, and controls avoidance movement to a safe area. Therefore, the parts can be supplied in the right place at the right time.

Description

Autonomous driving robot and its control method {AUTONOMOUS MOBILE ROBOT AND ITS CONTROL METHOD}

The present invention relates to an autonomous driving robot and a control method thereof, and more particularly, to an autonomous driving robot for movement in a narrow space such as an elevator, and a control method thereof.

In general, in a smart factory-based vehicle factory, the automation process is modularized into a plurality of workshops, and parts of various parts are assembled respectively. In addition, an autonomous mobile robot (AMR) is being operated for flexible parts transfer to each workshop.

In this automated process, interruption of supply of parts during operation causes line stoppage and adversely affects yield, so it is very important to supply parts at the right time and place through smooth operation of AMR.

6 shows various examples that occur when a conventional autonomous driving robot (AMR) moves.

Referring to FIG. 6(A), the conventional AMR sets a departure point and a destination for parts transfer and moves to the destination along the movement path. At this time, the AMR moves along the waypoint (Way Point, WP) set in the movement route while detecting the surroundings through the sensor. In addition, it is possible to avoid obstacles existing in the link section between WP1 and WP2 during movement.

However, referring to FIG. 6(B) , the AMR indicates that when there is an obstacle on the WP1 or the final destination that must be passed on the movement path (ie, the state in which the obstacle occupies the WP/final destination) around the corresponding destination There is a disadvantage of not being able to reach the destination or being delayed by showing abnormal behavior such as avoiding or stopping. For this reason, there is a problem in that an alarm is generated in a situation in which the movement of the AMR is impossible, and the operation is not possible, so that an error cancellation and reset of the movement route are required through the intervention of a human (operator).

In addition, referring to FIG. 6(C), in a building-type factory that requires inter-floor movement, if an obstacle occupies the WP2 set in a narrow space in the elevator when transferring parts, the AMR stops boarding and it is difficult to transfer parts. There is a problem. .

Matters described in this background section are prepared to promote understanding of the background of the invention, and may include matters that are not already known to those of ordinary skill in the art to which this technology belongs.

An embodiment of the present invention is to provide an autonomous driving robot that avoids moving to a safe area by creating a virtual destination when an obstacle located at the destination is identified through LiDAR when moving in a narrow space and a control method thereof.

According to one aspect of the present invention, an autonomous mobile robot (AMR) operated for transferring parts in a factory includes: a communication unit for receiving a work command for transferring parts through a wireless communication network; LiDAR that propagates the laser signal and analyzes the reflected signal to detect the location coordinates of the surrounding obstacles; a driving unit for generating a driving force for movement through at least one motor; a storage unit for standardizing and storing the movement path for transferring the parts and size information for each part ID to be mounted; And on the basis of the coordinate system of the factory map (MAP), a movement route including one or more waypoints (Way Point, WP) is generated from the starting point to the final destination, and obstacles located at the waypoint destination are checked through the lidar when moving. and a control unit for controlling the avoidance movement to a safe area by creating a virtual destination when it is done.

In addition, the AMR may include at least one of a laser, a camera, and a position measurement sensor, and may further include an auxiliary sensor unit that assists in detecting a surrounding environment for autonomous driving and generates position information suitable for the coordinate system of the factory map.

In addition, the driving unit may include a first motor for driving the driving wheel in a forward direction or a reverse direction and a second motor for rotating the driving wheel in a left and right direction.

In addition, the size information for each part ID may include the entire specification of the corresponding part or packaging, container, and pallet for accommodating the part.

In addition, the control unit sets a virtual safe area (SA) in the vicinity of the main body that matches the size information of the part by inquiring into the storage unit the size information of the part matched with the part ID received as the work command. can

In addition, the control unit may control the driving unit to move along the movement path in consideration of the safety area.

In addition, the control unit determines that if there is an obstacle in the transit destination (WP) set inside the elevator, it is impossible to move, and based on the central boarding position calculation point, the virtual destination and the avoidance movement path considering the safety area (SA) can create

In addition, the control unit simulates in advance whether obstacle avoidance using the avoidance movement path is possible based on the coordinate system of the factory map.

In addition, the control unit may control the movement to the virtual destination inside the elevator if it is possible to safely move to avoid obstacles in the avoidance movement path.

On the other hand, according to an aspect of the present invention, the autonomous driving robot (Autonomous mobile robot, AMR) control method operated for the transport of parts in a factory, a) upon receiving a work command, based on the coordinate system of the factory map (MAP) Generating a movement route including one or more transit destinations (Way Point, WP) to the final destination; b) checking the location information when the via destination (WP) is inside the elevator and waiting at the waiting point of the elevator; c) searching for a narrow space inside the elevator using a lidar when the elevator door is opened; and d) when an obstacle located in the via destination (WP) is identified, creating a virtual destination and moving to avoid moving to a safe area in the narrow space.

In addition, in step a), setting a virtual safe area (SA) suitable for the size information of the part around the main body in consideration of the size information of the part matched with the part ID received as the work command. may include steps.

In addition, step b) may include collecting elevator operation information by connecting a controller (PLC) of the elevator and wireless communication.

In addition, in step d), if the obstacle is present in the transit destination (WP) set inside the elevator, it is determined that movement is impossible, and the virtual destination considering the safety area (SA) based on the central boarding position calculation point and its It may include the step of generating an avoidance movement path according to the.

In addition, the step d) may include: simulating in advance whether obstacle avoidance is possible using an avoidance movement path according to a virtual destination based on the coordinate system of the factory map; waiting for the arrival of the next elevator if it is determined that movement is impossible due to contact prediction as a result of the simulation; Alternatively, if it is determined that the obstacle can be avoided using the avoidance movement path, moving into the elevator along a safe movement path; may include.

In addition, after step d), e) when moving through the narrow space of the passage, if there is an obstacle in the via destination set in the movement route, the method may further include the step of setting an avoidance movement route according to the creation of a virtual destination and moving it. have.

In addition, in step e), when there is a moving obstacle in the narrow space, setting an avoidance route according to the active variable destination creation in consideration of the position coordinates, direction and speed of the moving obstacle through the lidar and moving may include steps.

According to an embodiment of the present invention, even if there is an obstacle in the destination on the moving path for moving parts, the AMR itself can set the avoidance moving path according to the virtual destination creation and continue to move, so that it is possible to supply the parts at the right time.

In addition, it is possible to prevent the impossible situation by avoiding movement control according to the variable destination setting of the AMR, thereby improving the stable operation and the operation efficiency according to the reduction of the task of clearing the error and resetting the movement route.

In addition, by generating an active avoidance movement path by AMR itself in a narrow space of an elevator and a narrow passage, it can be expected to have the effect of flexibility of movement, prevention of collision with other moving objects, and reduction of traffic problems.

1 schematically shows a vehicle factory system to which an autonomous driving robot according to an embodiment of the present invention is applied.
2 is a block diagram schematically showing the configuration of an autonomous driving robot (AMR) according to an embodiment of the present invention.
3 is a flowchart schematically illustrating a method for controlling an autonomous driving robot according to an embodiment of the present invention.
4 illustrates a method for generating a virtual destination in a narrow space according to an embodiment of the present invention.
5 shows a method for controlling an autonomous driving robot when moving in a narrow space of a narrow passage according to an embodiment of the present invention.
6 shows various examples occurring when a conventional autonomous driving robot (AMR) moves.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated. In addition, terms such as “…unit”, “…group”, and “module” described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software. have.

Throughout the specification, terms such as first, second, A, B, (a), (b), etc. may be used to describe various elements, but the elements should not be limited by the terms. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms.

Throughout the specification, when an element is referred to as 'connected' or 'connected' to another element, it may be directly connected to or connected to the other element, but another element may exist in between. It should be understood that there may be On the other hand, when it is mentioned that a certain element is 'directly connected' or 'directly connected' to another element, it should be understood that there is no other element in the middle.

Throughout the specification, terms used are merely used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise.

Throughout the specification, terms related to 'comprising', 'having', etc. are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification is present, but one or more other features. It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise herein, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be construed as being consistent with the contextual meaning of the related art, and shall not be construed in an ideal or overly formal sense unless explicitly defined herein.

Now, an autonomous driving robot and a control method thereof according to an embodiment of the present invention will be described in detail with reference to the drawings.

1 schematically shows a vehicle factory system to which an autonomous driving robot according to an embodiment of the present invention is applied.

Referring to FIG. 1 , a vehicle factory system according to an embodiment of the present invention operates an autonomous mobile robot (AMR) 10 that transfers parts in an automated vehicle factory and a plurality of AMRs 10 and operates a workshop It includes a control server 20 for allocating work commands necessary for the transfer of individual parts.

The vehicle factory assumes a building-type smart factory in which a parts warehouse and a production line are arranged on a plurality of floors.

The AMR 10 picks up parts and moves from the origin (parts warehouse) to the destination (workshop), and avoids obstacles while detecting the surroundings through sensors during movement.

The control server 20 is composed of a Manufacturing Execution System (MES) or a central computing system to manage the operation state of the entire process in the smart factory and the operation state of the AMR 10 .

Referring to FIG. 1 , an AMR operation method of a vehicle factory system according to an embodiment of the present invention will be described as follows.

When the control server 20 receives a part transfer request from the workshop terminal (S1), it selects the AMR 10 required for the part transfer and assigns a target part ID and a work command according to the destination designation (S2).

At this time, the AMR 10 sets one or more waypoints (Way Point, WP) from the starting point (eg, B1/ parts warehouse) to the final destination (eg, 1F/① workshop) when the parts according to the work command are loaded. and calculates a movement route using the stored factory map (MAP) and moves by itself (S3). Hereinafter, in an embodiment of the present invention, the destination includes the final destination set in the movement route and the transit destination (WP), and has the meaning of collectively calling them. Here, the WP may mean a reference coordinate that must be passed during autonomous driving of the AMR 10 on the coordinate system-based movement path of the vehicle factory map (MAP). For example, the WP may be set at a corner, an intersection, an elevator, and the like, which is a turning point of a movement route.

The AMR 10 goes up to the first floor (1F) through the elevator and moves to the final destination (① workshop) and requests the worker to receive the parts (S4).

The AMR 10 may move to the next destination and deliver parts if there are more remaining delivery destinations, and when delivery is complete, return to the parts warehouse to wait/charge the next operation (S5).

On the other hand, as described above, the conventional AMR has a problem in that, if there is an obstacle at the destination during movement, the corresponding continuous avoidance operation is performed to avoid or stop around the destination. existed.

In order to solve this problem, the AMR 10 according to an embodiment of the present invention generates a virtual destination when an obstacle located at the destination is identified through LiDAR when moving in a narrow space and moves to avoid moving to a safe area. aim to do

2 is a block diagram schematically showing the configuration of an autonomous driving robot (AMR) according to an embodiment of the present invention.

Referring to FIG. 2 , the AMR 10 according to an embodiment of the present invention includes a communication unit 11 , a lidar 12 , an auxiliary sensor unit 13 , a driving unit 14 , a storage unit 15 , and a control unit 16 . ) is included. In addition, the AMR 10 may further include a chargeable/dischargeable battery, a display (HMI) for displaying an operating state, and an elevating actuator for picking up parts.

The communication unit 11 is connected to the control server 20 through a wireless communication network to transmit and receive data. In addition, the communication unit 11 may transmit/receive status data to and from a workshop terminal and an elevator controller (Programmable Logic Controller, PLC). The wireless communication network may include at least one of mobile communication (LTE/5G) and wireless LAN (WiFi).

The lidar 12 propagates the laser signal around the AMR 10 and analyzes the reflected signal to detect the position coordinates of the surrounding obstacle.

The lidar 12 may detect the location of an obstacle in a narrow space of an elevator or a narrow passageway and a movable area (area) of the AMR 10 by avoiding it.

The auxiliary sensor unit 13 includes at least one of a laser, a camera, and a position measurement sensor, and generates position information suitable for the detection of the surrounding environment for autonomous driving and the factory map (MAP) coordinate system. The position measuring sensor may generate a factory map (MAP) and its coordinate system generated by a SLAM (Simultaneous Localization And Mapping) method. In addition, it is possible to measure its own real-time location information by using at least one of high-precision DGPS, triangulation using a plurality of APs, and path planning.

The driving unit 14 generates a driving force for moving the AMR 10 through at least one motor.

The driving unit 14 includes a first motor for driving the driving wheels of the AMR 10 in a forward direction or a reverse direction, and a second motor for rotating the driving wheels in a moving direction (steering angle) left and right.

The storage unit 15 stores various programs and data for movement control of the AMR 10 according to an embodiment of the present invention, and stores information generated according to its operation.

The storage unit 15 may standardize and store the movement path for the component transfer of the AMR 10 and size information for each mounted component ID (code). Here, the size information may include overall specifications such as packaging, containers (carriers), and pallets for accommodating the corresponding parts.

The control unit 16 is configured as a central processing unit that controls the overall operation of each unit for controlling the AMR 10 according to an embodiment of the present invention.

When the control unit 16 receives a work command through the communication unit 11 , the control unit 16 checks the workshop ID and the part ID.

The control unit 16 generates a movement path including a plurality of WPs from the parts warehouse, which is the starting point, to the workshop, which is the final destination, based on the coordinate system of the factory map (MAP), and stores it in the storage unit 15 . At this time, the control unit 16 inquires the storage unit 15 for part size information matched with the part ID received as the work command, and a virtual safe area (SA) that matches the part size information around the body. ) can be set.

Then, the control unit 16 controls the driving unit 14 to move along the movement path in consideration of the safety area.

At this time, when an obstacle located at the destination is identified through the lidar 12 when moving the narrow space of the AMR 10, the control unit 16 creates a virtual destination and performs a control algorithm to avoid moving to a safe area. do it with

For such a control algorithm, the control unit 16 may be implemented as one or more processors operating according to a set program, and the set program is programmed to perform each step of the autonomous driving robot control method according to an embodiment of the present invention. can

However, the configuration of each part including the control unit 16 may be integrated into one AMR 10 as a detailed configuration for each function. The subject of the step will be described as the AMR 10 .

3 is a flowchart schematically illustrating a method for controlling an autonomous driving robot according to an embodiment of the present invention.

4 illustrates a method for generating a virtual destination in a narrow space according to an embodiment of the present invention.

3 and 4 , the autonomous driving robot control method according to an embodiment of the present invention will be described assuming the scenario embodied in steps S3 to S4 of FIG. 1 .

When the AMR 10 receives a work command from the control server 20, it generates a movement route including one or more WPs from the origin (eg, B1/ parts warehouse) to the final destination (eg, 1F/① workshop), and the It moves to the next WP according to the movement path (S31).

The AMR 10 waits at the elevator waiting point by checking the location information when the next WP is inside the elevator (S32). At this time, the AMR 10 may collect operation information by connecting communication with the elevator controller (PLC).

The AMR 10 searches for a narrow space inside the elevator using the lidar 12 when the elevator door is opened (S33). At this time, the AMR 10 compares the overlap of the obstacle position coordinates and the WP determined by propagating the laser signal inside the elevator through the lidar 12 .

If the obstacle exists in the WP set inside the elevator (S34; Yes), the AMR 10 determines that it is impossible to move inside the elevator, and the virtual WP considering the safety area SA based on the central boarding position calculation point and the Then, an avoidance movement path is generated (S35).

At this time, the AMR 10 simulates in advance whether obstacle avoidance is possible using the avoidance movement path based on the coordinate system of the factory map. and waits for the next elevator to arrive (S37).

On the other hand, if a safe movement capable of avoiding an obstacle is possible using the avoidance movement path (S36; Yes), the AMR 10 moves into the elevator along the safe movement path (S38).

In addition, in the step S34, if the obstacle does not exist in the WP set inside the elevator (S34; No), it is safe, so it can move into the elevator (S38).

After that, although omitted in FIG. 3, the AMR 10 comes out of the elevator after performing the steps of the elevator controller (PLC) delivering the destination moving floor F1, confirming the arrival state of the destination moving floor, and confirming the door open. A further step of moving to the final destination may be performed.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and various other modifications are possible.

For example, FIG. 5 shows a method for controlling an autonomous driving robot when moving in a narrow space of a narrow passage according to an embodiment of the present invention.

Referring to FIG. 5 , the AMR 10 according to an embodiment of the present invention creates a virtual WP when an obstacle exists in the existing WP set in the movement path when moving the narrow space of the narrow passage between the structures as well as the elevator. You can move along the path.

In addition, when a moving obstacle such as a person (moving object) exists in a narrow space, the AMR 10 takes into account the position coordinates, direction, and speed of the moving obstacle through the lidar 12 to avoid moving by generating an active variable WP. can

As such, according to an embodiment of the present invention, even if an obstacle exists in the destination on the set movement path, the AMR itself can set the avoidance movement path according to the creation of the virtual destination and continue to move, thereby supplying parts to the right place at the right time.

In addition, it is possible to prevent the impossible situation by avoiding movement control according to the variable destination setting of the AMR, thereby improving the stable operation and the operation efficiency according to the reduction of the task of clearing the error and resetting the movement route.

In addition, by creating an active avoidance movement path by AMR itself in a narrow space of an elevator and a narrow passage, it can be expected to have the effect of flexibility in behavior, prevention of collision with other moving objects, and reduction of traffic problems.

The embodiment of the present invention is not implemented only through the apparatus and/or method described above, but a program for realizing a function corresponding to the configuration of the embodiment of the present invention, a recording medium in which the program is recorded, etc. Also, such an implementation can be easily implemented by an expert in the technical field to which the present invention pertains from the description of the above-described embodiment.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improved forms of the present invention are also provided by those skilled in the art using the basic concept of the present invention as defined in the following claims. is within the scope of the right.

10: Autonomous Driving Robot (AMR)
11: Ministry of Communications
12: Lidar
13: auxiliary sensor unit
14: drive unit
15: storage
16: control unit
20: control server

Claims (16)

In an autonomous mobile robot (AMR) operated for transferring parts in a factory,
a communication unit for receiving a work command for transferring parts through a wireless communication network;
Lidar that propagates the laser signal and analyzes the reflected signal to detect the location coordinates of the surrounding obstacles;
a driving unit for generating a driving force for movement through at least one motor;
a storage unit for standardizing and storing the movement path for the part transfer and size information for each part ID to be mounted; and
Based on the coordinate system of the factory map (MAP), a movement route including one or more waypoints (Way Point, WP) is generated from the starting point to the final destination, and when an obstacle located at the route destination is identified through the lidar during movement, a control unit for controlling the avoidance movement to a safe area by creating a virtual destination;
self-driving robots, including According to claim 1,
An autonomous driving robot comprising at least one of a laser, a camera, and a position measuring sensor, and further comprising an auxiliary sensor unit that assists in detecting a surrounding environment for autonomous driving and generates position information suitable for the coordinate system of the factory map. According to claim 1,
the driving unit
An autonomous driving robot comprising: a first motor for driving a driving wheel in a forward direction or a reverse direction; and a second motor for rotating the driving wheel in a left and right direction. According to claim 1,
The size information for each part ID is
An autonomous robot that includes the full dimensions of the part or the packaging, container and pallet that accommodates the part. 5. The method according to any one of claims 1 to 4,
the control unit
An autonomous driving robot that inquires the storage unit for size information of a part matched with the part ID received as the work command, and sets a virtual safe area (SA) in the vicinity of the main body that matches the size information of the part. 6. The method of claim 5,
the control unit
An autonomous driving robot that controls the driving unit to move along the movement path in consideration of the safety area. 6. The method of claim 5,
the control unit
When an obstacle exists in the transit destination (WP) set inside the elevator, it is determined that movement is impossible and based on the central boarding position calculation point, an autonomous driving robot that creates a virtual destination and an avoidance movement path in consideration of the safety area (SA) . 8. The method of claim 7,
the control unit
Based on the coordinate system of the factory map, it is simulated in advance whether obstacle avoidance using the avoidance movement path is possible, and if safe movement is impossible due to contact prediction, the autonomous driving robot waits after determining that movement is impossible. 9. The method of claim 8,
the control unit
An autonomous driving robot that controls movement to the virtual destination inside the elevator when a safe movement capable of avoiding obstacles is possible in the avoidance movement path. In a method for controlling an autonomous mobile robot (AMR) operated for transferring parts in a factory,
a) generating a movement route including one or more waypoints (Way Point, WP) from a starting point to a final destination based on a coordinate system of a factory map (MAP) when receiving a work command;
b) when the via destination (WP) is inside the elevator, checking the location information and waiting at the waiting point of the elevator;
c) searching for a narrow space inside the elevator using a lidar when the elevator door is opened; and
d) generating a virtual destination when an obstacle located in the via destination (WP) is identified and moving to avoid moving to a safe area in the narrow space;
A method of controlling an autonomous driving robot comprising a. 11. The method of claim 10,
Step a) is,
and setting a virtual safe area (SA) suitable for the size information of the part around the main body in consideration of the size information of the part matched with the part ID received as the work command. Way. 11. The method of claim 10,
Step b) is,
and collecting elevator operation information by connecting a controller (PLC) of the elevator and wireless communication. 12. The method of claim 11,
Step d) is,
Determining that movement is impossible if the obstacle exists in the transit destination (WP) set inside the elevator, and generating a virtual destination in consideration of the safety area (SA) and an avoidance movement route accordingly based on the central boarding position calculation point A method of controlling an autonomous driving robot comprising a. 14. The method according to any one of claims 10 to 13,
Step d) is,
simulating in advance whether obstacle avoidance is possible using an avoidance movement path according to a virtual destination based on the coordinate system of the factory map;
waiting for the arrival of the next elevator if it is determined that movement is impossible due to contact prediction as a result of the simulation; or
If it is determined that the obstacle can be avoided using the avoidance movement path, moving into the elevator along a safe movement path;
A method of controlling an autonomous driving robot comprising a. 11. The method of claim 10,
e) When moving through a narrow space of the passage, if there is an obstacle in the passing destination set in the movement path, setting an avoidance movement path according to the creation of the virtual destination and moving the autonomous driving robot control method further comprising the step of moving. 16. The method of claim 15,
Step e) is,
Controlling an autonomous driving robot comprising the step of setting and moving an avoidance route according to the creation of an active variable destination in consideration of the positional coordinates, direction, and speed of the moving obstacle through the lidar when there is a moving obstacle in the narrow space Way.

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