KR20240055298A - Unmanned moving object control device, method and program for performing task scheduling of an idle unmanned moving object - Google Patents

Abstract

The present disclosure provides a method for performing task scheduling of an idle unmanned mobile device, comprising: receiving each service type information, each task scheduling information, and each task performance information from the unmanned objects; Classifying unmanned mobile devices by task scheduling according to service type, based on each service type information and each task scheduling information; Based on each task performance information, determining whether there is an idle unmanned movable not performing a task among the unmanned movables for each task scheduling according to the classified service type; If there is an idle unmanned mobile object, moving the idle unmanned mobile object to a destination requiring service provision; and when the movement of the idle unmanned mobile device to the destination is completed, transmitting preset job scheduling information for each destination to the idle unmanned mobile device so that it can perform necessary work at the destination. may include.

Description

Unmanned moving vehicle control device, method and program for performing task scheduling of an idle unmanned moving vehicle {UNMANNED MOVING OBJECT CONTROL DEVICE, METHOD AND PROGRAM FOR PERFORMING TASK SCHEDULING OF AN IDLE UNMANNED MOVING OBJECT}

This disclosure relates to unmanned vehicles. More specifically, the present disclosure relates to an unmanned vehicle control device, a method, and a program for performing job scheduling of an idle unmanned vehicle.

In the era of the 4th Industrial Revolution, the introduction of unmanned service vehicles is increasing in various spaces such as hospitals, airports, complex shopping malls, and large marts.

Conventionally, unmanned vehicles provide customized services in various spaces such as hospitals, airports, complex shopping malls, and large marts.

However, conventional unmanned vehicles have limitations in quickly and efficiently providing customized services according to service types in places that require various types of services, such as complex shopping malls or large marts.

Therefore, in recent years, research on improved unmanned mobile vehicle control devices has been continuously conducted to quickly and efficiently perform the necessary tasks according to the service type in places that require various types of services, such as complex shopping malls or large marts.

Japanese Patent Publication JP 33532476 (2021.11.25)

The purpose of the embodiments disclosed in this disclosure is to provide the ability to quickly and efficiently perform necessary tasks according to the service type in a location that requires various service types.

The problems to be solved by the present disclosure are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

A method for performing task scheduling of an idle unmanned mobile device according to an aspect of the present disclosure for achieving the above-described technical problem includes receiving each service type information, each task scheduling information, and each task performance information from the unmanned objects. receiving step; Classifying unmanned mobile devices by task scheduling according to service type based on each service type information and each task scheduling information; Based on the respective task performance information, determining whether there is an idle unmanned mobile device not performing a task among the unmanned mobile devices for each task scheduling according to the classified service type; If the idle unmanned mobile device exists, moving the idle unmanned mobile device to a destination requiring service provision; and when the movement of the idle unmanned mobile device to the destination is completed, transmitting preset job scheduling information for each destination to the idle unmanned mobile device to perform necessary tasks at the destination. may include.

In addition, in the receiving step, each service type information including logistics transfer service type information and loading/unloading service type information is received from the unmanned mobile units, and scheduling information and loading for the logistics transfer task are received from the unmanned mobile units. /Receives each task scheduling information including scheduling information for unloading tasks, and receives each task performance information including performance information for logistics transfer tasks and performance information for loading/unloading tasks from the unmanned mobile objects. It can be characterized as receiving.

In addition, the determination step determines whether there is an idle unmanned mobile object that is not performing the logistics transport task among the unmanned mobile objects according to the logistics transport service type, based on the performance information on the logistics transport task, and performs the loading/unloading task. Based on the performance information, it may be characterized as determining whether there is an idle unmanned mobile device that is not performing a loading/unloading task among the unmanned mobile devices according to the loading/unloading service type.

In addition, in the transmission step, if the task required at the destination is a logistics transport task, scheduling information for a logistics transport task for each preset destination is transmitted to the idle unmanned mobile object to perform the logistics transport task at the destination, and the destination If the required task is a loading/unloading task, scheduling information for the loading/unloading task for each preset destination may be transmitted to the idle unmanned mobile object so that the loading/unloading task is performed at the destination.

In addition, the unmanned mobile device control device according to another aspect of the present disclosure includes a communication unit that communicates with the unmanned mobile devices to receive each service type information, each task scheduling information, and each task performance information from the unmanned objects. ; and a processor that controls operations related to task scheduling of an idle unmanned mobile device among the unmanned mobile devices. It includes, wherein the processor receives each service type information, each task scheduling information, and each task performance information from the unmanned mobile devices through the communication unit, and receives each service type information and each task Based on scheduling information, unmanned mobile devices are classified by task scheduling according to service type, and based on each task performance information, among unmanned mobile devices by task scheduling according to the classified service type, idle unmanned devices that are not performing tasks are classified. Determine whether there is a moving object, and if there is an idle unmanned moving object, move the idle unmanned moving object to a destination that requires service provision, and when movement of the idle unmanned moving object to the destination is completed, perform necessary work at the destination, Job scheduling information for each preset destination may be transmitted to the idle unmanned mobile device.

In addition, the processor receives each service type information including logistics transfer service type information and loading/unloading service type information from the unmanned mobile units, and schedules information and loading/unloading service type information for the logistics transfer task from the unmanned mobile units. Receives each task scheduling information including scheduling information for the unloading task, and receives each task performance information including performance information for the logistics transfer task and performance information for the loading/unloading task from the unmanned mobile objects. It can be characterized as:

In addition, based on the performance information on the logistics transfer task, the processor determines whether there is an idle unmanned mobile object that is not performing the logistics transport task among the unmanned mobile objects according to the logistics transport service type, and performs the loading/unloading task. Based on the performance information, it may be characterized in that it is determined whether there is an idle unmanned mobile device that is not performing a loading/unloading task among the unmanned mobile devices according to the loading/unloading service type.

In addition, if the task required at the destination is a logistics transport task, the processor transmits scheduling information for a logistics transport task for each preset destination to the idle unmanned mobile object to perform the logistics transport task at the destination. If the required task is a loading/unloading task, scheduling information for the loading/unloading task for each preset destination may be transmitted to the idle unmanned mobile object so that the loading/unloading task is performed at the destination.

In addition, a computer program according to another aspect of the present disclosure is a computer program stored in a computer-readable storage medium, and when the computer program is executed on one or more processors, it performs a method for performing task scheduling of an idle unmanned mobile device. To perform the following operations, the operations include: receiving each service type information, each task scheduling information, and each task performance information from unmanned mobile objects; Classifying unmanned mobile devices by task scheduling according to service type, based on each service type information and each task scheduling information; Based on the respective task performance information, determining whether there is an idle unmanned mobile device not performing a task among the unmanned mobile devices for each task scheduling according to the classified service type; If the idle unmanned mobile device is present, moving the idle unmanned mobile device to a destination requiring service provision; and when movement of the idle unmanned mobile device to the destination is completed, transmitting preset job scheduling information for each destination to the idle unmanned mobile device to perform necessary work at the destination. It may be characterized as including.

In addition, a computing device according to another aspect of the present disclosure is a computing device for providing a method of generating a collision avoidance path between unmanned moving objects, comprising: a processor including one or more cores; and a memory storing instructions executable by the processor, wherein when the instructions are executed by the processor, the processor receives each service type information and each task scheduling information from the unmanned mobile devices. Receives each task performance information, classifies the unmanned mobile device by task scheduling according to the service type based on each service type information and each task scheduling information, and based on each task performance information, Task scheduling according to the classified service type determines whether there is an idle unmanned mobile device that is not performing work among the unmanned mobile devices, and if there is an idle unmanned mobile device, the idle unmanned mobile device is moved to a destination that requires service provision, and the destination When the movement of the idle unmanned mobile device is completed, preset job scheduling information for each destination may be transmitted to the idle unmanned mobile device so that necessary work can be performed at the destination.

In addition to this, a computer-readable recording medium recording a computer program for executing a method for implementing the present disclosure may be further provided.

According to the means for solving the above-described problem of the present disclosure, it is possible to quickly and efficiently perform the necessary work according to the service type in a place that requires various service types.

The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned may be clearly understood by those skilled in the art from the description below.

1 is a diagram showing the configuration of an unmanned mobile device control device according to the present disclosure.
2 to 6 are flowcharts showing a method for performing task scheduling of an idle unmanned mobile device according to the present disclosure.
7 to 10 are diagrams illustrating an example of a process for performing task scheduling of an idle unmanned mobile device according to the present disclosure.

Like reference numerals refer to like elements throughout this disclosure. This disclosure does not describe all elements of the embodiments, and general content or overlapping content between embodiments in the technical field to which this disclosure pertains is omitted. The term “unit, module, member, block” used in the specification may be implemented as software or hardware, and depending on the embodiment, a plurality of ‘units, modules, members, and blocks’ may be implemented as a single component, or It is also possible for one 'part, module, member, or block' to include multiple components.

Throughout the specification, when a part is said to be “connected” to another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary.

Throughout the specification, when a member is said to be located “on” another member, this includes not only cases where a member is in contact with another member, but also cases where another member exists between the two members.

Terms such as first and second are used to distinguish one component from another component, and the components are not limited by the above-mentioned terms.

Singular expressions include plural expressions unless the context clearly makes an exception.

The identification code for each step is used for convenience of explanation. The identification code does not explain the order of each step, and each step may be performed differently from the specified order unless a specific order is clearly stated in the context. there is.

Hereinafter, the operating principle and embodiments of the present disclosure will be described with reference to the attached drawings.

In this specification, the unmanned mobile vehicle control device according to the present disclosure includes various devices that can perform calculation processing and provide results to the user. For example, the unmanned mobile vehicle control device according to the present disclosure may include both a computer and a server, or may be in any one form.

Here, the computer may include, for example, a laptop equipped with a web browser, a desktop, a laptop, a tablet PC, a slate PC, a single board computer, etc.

A server device is a server that processes information by communicating with external devices and may include an application server, computing server, database server, file server, mail server, proxy server, and web server.

Portable terminals are, for example, wireless communication devices that ensure portability and mobility, such as PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), and PDA ( Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), WiBro (Wireless Broadband Internet) terminal, smart phone All types of handheld wireless communication devices, such as watches, rings, bracelets, anklets, necklaces, glasses, contact lenses, or head-mounted-device (HMD), etc. It can be included.

The unmanned mobile vehicle control device according to the present disclosure receives each service type information, each job scheduling information, and each job performance information from the unmanned mobile vehicles, and based on each service type information and each job scheduling information, provides a service Classifies unmanned mobile devices by job scheduling according to type, and based on each task performance information, determines whether there is an idle unmanned mobile device that is not performing a task among the unmanned mobile devices by job scheduling according to the classified service type. If there is a mobile unit, the idle unmanned mobile unit is moved to a destination that requires service provision, and when the movement of the idle unmanned mobile unit to the destination is completed, the task scheduling information at the preset destination is transmitted to the idle unmanned mobile unit to perform the necessary work at the destination. You can.

Such an unmanned mobile vehicle control device can quickly and efficiently perform necessary tasks according to the service type in a location that requires various service types.

Below, we will look at the unmanned mobile vehicle control device in detail.

1 is a diagram showing the configuration of an unmanned mobile vehicle control device and a plurality of unmanned mobile vehicles according to the present disclosure.

Referring to FIG. 1, the unmanned mobile vehicle control device 1000 may include a first communication unit 1010 and a first control unit 1020. The first communication unit 1010 may be electrically connected to the first control unit 1020 and may communicate with the unmanned mobile devices 100. The first communication unit 1010 may receive each service type information, each task scheduling information, and each task performance information from the unmanned mobile objects 100. At this time, the first communication unit 1010 includes, in addition to the Wi-Fi module and the Wireless broadband module, GSM (global system for mobile communication), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), and UMTS. It may include a wireless communication module that supports various wireless communication methods such as (universal mobile telecommunications system), Time Division Multiple Access (TDMA), Long Term Evolution (LTE), 4G, 5G, and 6G.

The first control unit 1020 includes a memory 1021 that stores data for an algorithm for controlling the operation of components in the device or a program that reproduces the algorithm, and performs the above-described operations using the data stored in the memory 1021. It may be implemented with at least one processor 1022 that performs. Here, the memory 1021 and the processor 1022 may each be implemented as separate chips. Additionally, the memory 1021 and the processor 1022 may be implemented as a single chip.

The memory 1021 can store data supporting various functions of the device and a program for the operation of the control unit, can store input/output data, and can store a plurality of application programs (application programs or applications) running on the device. (application)), data and commands for operation of the device can be stored. At least some of these applications may be downloaded from an external server via wireless communication.

The memory 1021 is a flash memory type, a hard disk type, a solid state disk type, an SDD type (Silicon Disk Drive type), and a multimedia card micro type. micro type), card-type memory (e.g. SD or XD memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), EEPROM (electrically erasable) It may include at least one type of storage medium among programmable read-only memory (PROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, and optical disk. Additionally, the memory 1021 is separate from the device, but may be a database connected wired or wirelessly.

The memory 1021 may store data related to task scheduling of an idle unmanned mobile device, and the processor 1022 may control operations related to task scheduling of an idle unmanned mobile device. Unmanned vehicles (100: 100a, 100b, 100c, 100d, 100e, …) may be vehicles that recognize the external environment, judge the situation, and perform missions on their own without human assistance. For example, the unmanned mobile objects 100: 100a, 100b, 100c, 100d, 100e, ... may be mobile robots. The unmanned mobile devices (100: 100a, 100b, 100c, 100d, 100e, ...) include a second communication unit 110, a second control unit 120, a driving unit 130, a camera 140, and a sensor unit 150. can do.

The second communication unit 110 may communicate with the first communication unit 1010 of the unmanned mobile vehicle control device 1000. The second communication unit 110 sends each service type information, each task scheduling information, and each task performance information of the unmanned mobile devices (100: 100a, 100b, 100c, 100d, 100e, ...) to the first communication unit 1010. It can be transmitted to the first control unit 1020 through . Here, the second control unit 120 includes a memory in which each service type information, each task scheduling information, and each task performance information are stored, and a driving unit ( 130) may include a processor that controls.

At this time, the driver 130 may drive the unmanned mobile devices 100 to travel to the destination based on the destination movement path information output through the processor 122. For example, the driving unit 130 includes a battery, an electronic component supplied with power from the battery, a wheel, or a drive supplied with power from the battery to provide the power necessary for driving the unmanned mobile devices 100. It may include mechanical driving parts such as belts.

Additionally, the camera 140 may be provided as a video camera using an image sensor. The camera 140 can process image frames such as still images or videos acquired through an image sensor. Meanwhile, when there are a plurality of cameras 140, they may be arranged to form a matrix structure. A plurality of image information having various angles or focuses can be input through the video cameras forming this matrix structure. Additionally, video cameras may be arranged in a stereo structure to acquire left and right images to implement a three-dimensional stereoscopic image. Additionally, the camera 140 may be provided as an AI camera. The AI camera can finely adjust images recognized through a wide-angle sensor that mimics the human retina using a brain neural network algorithm. AI cameras can adjust shutter speed, light exposure, saturation, color depth, dynamic range, contrast, etc. Additionally, AI cameras can output captured images as high-quality images. The sensor unit 150 may include at least one of an ultrasonic sensor, a radar sensor, and a lidar sensor. The sensor unit 150 can acquire LiDAR data through a LiDAR sensor.

The processor 1022 receives each service type information, each task scheduling information, and each task performance information from the unmanned mobile objects 100 (100a, 100b, 100c, 100d, 100e, ...) through the first communication unit 1010. can be received.

Here, the processor 1022 receives each service type information including logistics transfer service type information and loading/unloading service type information from the unmanned mobile objects (100: 100a, 100b, 100c, 100d, 100e, ...). You can. At this time, the processor 1022 may further receive each service type information including delivery service type information from the unmanned mobile objects 100 (100a, 100b, 100c, 100d, 100e, ...).

In addition, the processor 1022 provides each task scheduling information including scheduling information for the logistics transfer task and scheduling information for the loading/unloading task from the unmanned mobile objects (100: 100a, 100b, 100c, 100d, 100e, ...). can be received. At this time, the processor 1022 may further receive task scheduling information including scheduling information for the delivery task from the unmanned mobile objects 100 (100a, 100b, 100c, 100d, 100e, ...).

In addition, the processor 1022 receives each task performance information including performance information on the logistics transfer task and performance information on the loading/unloading task from the unmanned mobile objects (100: 100a, 100b, 100c, 100d, 100e, ...). can be received. At this time, the processor 1022 may further receive task performance information including performance information on the delivery task from the unmanned mobile objects 100 (100a, 100b, 100c, 100d, 100e, ...).

The processor 1022 may classify unmanned mobile objects by task scheduling according to service type, based on each service type information and each task scheduling information. Based on each task performance information, the processor 1022 may determine whether there is an idle unmanned movable that is not performing a task among the unmanned movables for each task scheduling according to the classified service type.

If there is an idle unmanned mobile object, the processor 1022 can move the idle unmanned mobile object to a destination that requires service provision. When the movement of the idle unmanned mobile device to the destination is completed, the processor 1022 may transmit preset job scheduling information for each destination to the idle unmanned mobile device so that it can perform necessary tasks at the destination.

2 to 6 are flowcharts showing a method for performing task scheduling of an idle unmanned mobile device according to the present disclosure. 7 to 10 are diagrams illustrating an example of a process for performing task scheduling of an idle unmanned mobile device according to the present disclosure.

2 to 6, the method for performing task scheduling of an idle unmanned mobile device includes a reception step (S210), a classification step (S220), a determination step (S230), a movement step (S240), and a transmission step (S250). ) may include.

In the receiving step, each service type information, each task scheduling information, and each task performance information are received from the unmanned mobile devices 100 (100a, 100b, 100c, 100d, 100e, ...) through the processor 1022. (S210).

Here, the processor 1022 receives each service type information including logistics transfer service type information and loading/unloading service type information from the unmanned mobile objects (100: 100a, 100b, 100c, 100d, 100e, ...). You can. At this time, the processor 1022 may further receive each service type information including delivery service type information from the unmanned mobile objects 100 (100a, 100b, 100c, 100d, 100e, ...). For example, the logistics transfer service type information may be information on an unmanned mobile unit assigned the task of logistics transfer service, and the loading/unloading service type information may be information on an unmanned mobile unit assigned the task of a loading/unloading service, or the delivery service. The type information may be information on an unmanned mobile device assigned the task of delivery service.

In addition, the processor 1022 provides each task scheduling information including scheduling information for the logistics transfer task and scheduling information for the loading/unloading task from the unmanned mobile objects (100: 100a, 100b, 100c, 100d, 100e, ...). can be received. At this time, the processor 1022 may further receive task scheduling information including scheduling information for the delivery task from the unmanned mobile objects 100 (100a, 100b, 100c, 100d, 100e, ...). For example, scheduling information for logistics transfer work may be information that requires the transport work of the relevant product to be completed during a preset time, and scheduling information for loading/unloading work may be information for loading/unloading the relevant item during a preset time. may be information that must be completed, and scheduling information about the delivery task may be information that requires the delivery task of the corresponding item to be completed during a preset time.

In addition, the processor 1022 receives each task performance information including performance information on the logistics transfer task and performance information on the loading/unloading task from the unmanned mobile objects (100: 100a, 100b, 100c, 100d, 100e, ...). can be received. At this time, the processor 1022 may further receive task performance information including performance information on the delivery task from the unmanned mobile objects 100 (100a, 100b, 100c, 100d, 100e, ...). For example, performance information on logistics transfer work may be information for confirming whether the transport work of the corresponding product is being performed during a preset time, and performance information on loading/unloading work may be information on whether the corresponding product is being transported during a preset time. This may be information for checking whether loading/unloading of goods is being performed, and performance information on delivery work may be information for checking whether delivery of the goods is being performed during a preset time. there is.

In the classification step, the processor 1022 may classify unmanned mobile objects by task scheduling according to service type based on each service type information and each task scheduling information (S220). Here, the processor 1022 is an unmanned mobile device assigned the task of a logistics transport service that must complete the transport task of the corresponding object during a preset time, and a loading/unloading task that must complete the loading/unloading task of the object within a preset time. It can be classified into unmanned mobile vehicles that are given a service mission, and unmanned mobile vehicles that are given a delivery service mission that must complete the delivery task of the product within a preset time.

In the determination step, the processor 1022 may determine, based on each task performance information, whether there is an idle unmanned movable that is not performing a task among the unmanned movables for each task scheduling according to the classified service type (S230 ). As an example, the processor 1022 is not performing a product transfer task among the unmanned moving objects tasked with the logistics transport service to complete the transport task of the product within a preset time based on performance information on the logistics transport task. It is possible to determine whether there is an idle unmanned mobile device. As another example, the processor 1022 is configured to load/unload among unmanned mobile devices tasked with a loading/unloading service to complete the loading/unloading of the object within a preset time, based on performance information on the loading/unloading. It can be determined whether there is an idle unmanned vehicle that is not performing an unloading operation. As another example, the processor 1022 is an unmanned mobile vehicle that is not performing a delivery task and is assigned the task of a delivery service to complete the delivery task of the product within a preset time based on performance information about the delivery task. It is also possible to determine whether there is an idle unmanned vehicle.

In the movement step, if there is an idle unmanned mobile object, the idle unmanned mobile object can be moved to a destination that requires service provision through the processor 1022 (S240). The processor 1022 may transmit a signal for moving to the destination to the second control unit 120 through the first communication unit 1010 and the second communication unit 110, and the second control unit 120 may transmit a signal for moving to the destination. The driving unit 130 can be controlled to receive a signal and move the idle unmanned mobile object to a destination that requires service in response to the signal for moving to the destination.

For example, as shown in FIGS. 3 and 7, the processor 1022 generates unmanned mobile objects 100: 100a, 100b, 100c, 100d, etc. based on map information (A) of a complex shopping mall or large mart. Each location information is received from 100e,...), and an idle unmanned mobile device 100a close to the destination P1 can be selected based on each location information (S241).

Afterwards, the processor 1022 may move the idle unmanned mobile object 100a close to the destination P1 to the destination P1 where logistics transport service is required (S242). Meanwhile, although not shown, the processor 1022 may move an idle unmanned mobile device close to the destination to a destination that requires provision of a loading/unloading service, or may move an idle unmanned mobile device close to the destination to a destination that requires provision of a delivery service. It may be possible.

For another example, as shown in FIGS. 4 and 8, the processor 1022 controls unmanned mobile objects 100: 100a, 100b, 100c, 100d, etc. based on map information (A) of a complex shopping mall or large mart. Each location information is received from 100e, …), each task completion time information is received from unmanned mobile objects (100: 100a, 100b, 100c, 100d, 100e, …), and based on each location information, An unmanned mobile object (100a) that is close to the destination (P1) and whose estimated task completion time has reached a preset reference time based on the expected time completion time for each task can be judged to be an idle unmanned mobile object and selected (S243). .

Afterwards, the processor 1022 moves the unmanned mobile object 100a, which is close to the destination (P1) and has completed the task while the expected task completion time has reached a preset reference time, to the destination (P1) that requires provision of logistics transport services. It can be moved to (S244). Meanwhile, although not shown, the processor 1022 may move an unmanned mobile object that has completed a task close to the destination and the expected task completion time has reached a preset reference time to a destination that requires provision of loading/unloading services. , the unmanned mobile object that has completed the task while being close to the destination and the expected task completion time has reached a preset reference time may be moved to the destination where delivery service is required.

For another example, as shown in FIGS. 5 and 9, the processor 1022 detects unmanned mobile objects 100 (100a, 100b, 100c, 100d) based on map information (A) of a complex shopping mall or large mart. , 100e, …), and receive each battery status information from the unmanned mobile objects (100: 100a, 100b, 100c, 100d, 100e, …), and based on each battery status information An idle unmanned mobile device 100e capable of performing a task whose battery state satisfies a preset level can be selected (S245). At this time, the processor 1022 may select an idle unmanned mobile object 100e capable of performing a logistics transport task whose battery state satisfies a preset activity level. Meanwhile, the processor 1022 may select an idle unmanned mobile object capable of performing a loading/unloading task for items whose battery state satisfies a preset activity level, or a delivery task for items whose battery state satisfies a preset activity level. You can also select an idle unmanned vehicle that can perform the task.

Afterwards, the processor 1022 may move the idle unmanned mobile object 100e capable of performing the corresponding task whose battery state satisfies a preset level to the destination P1 where logistics transport service is required (S246). Meanwhile, although not shown, the processor 1022 may move an idle unmanned mobile object 100e capable of performing a task whose battery state satisfies a preset level to a destination requiring provision of loading/unloading services, and where the battery state is at a preset level. An idle unmanned mobile object 100e capable of performing a task that satisfies a preset level may be moved to a destination that requires provision of a delivery service.

For another example, as shown in FIGS. 6 and 10, the processor 1022 controls unmanned mobile objects 100: 100a, 100b, 100c, and 100d based on map information (A) of a complex shopping mall or large mart. , 100e, ...), and the expected work time information required at the destination (P1) can be received from the corresponding unmanned mobile object (100b) performing at the destination (P1) (S247).

Afterwards, the processor 1022 may select an idle unmanned mobile device 100a that can be deployed for cooperative work based on information on the expected work time required at the destination P1 (S248).

Afterwards, the processor 1022 can move the idle unmanned mobile object 100a, which can be deployed for cooperative work, to the destination P1 where logistics transport service is required (S249). Meanwhile, although not shown, the processor 1022 may move an idle unmanned mobile object that can be deployed for cooperative work to a destination that requires provision of loading/unloading services, and may also provide a delivery service by using an idle unmanned mobile device that can be deployed for cooperative work. You can also move it to the required destination.

Meanwhile, D1 to D4 shown in FIGS. 7 to 10 may be docking stations for charging unmanned mobile devices (100: 100a, 100b, 100c, 100d, 100e, ...). Additionally, S shown in FIGS. 7 to 10 may be display stands for displaying products.

In the transmission step, when movement of the idle unmanned mobile device to the destination is completed through the processor 1022, preset task scheduling information for each destination may be transmitted to the idle unmanned mobile device to perform necessary tasks at the destination (S250).

As an example, if the task required at the destination is a logistics transport task, the processor 1022 may transmit scheduling information for a preset logistics transport task for each destination to an idle unmanned mobile object so that the logistics transport task can be performed at the destination. Here, scheduling information about logistics transfer work for each destination may be information that requires the transfer work of the corresponding product to be completed at the destination during a preset time. At this time, the idle unmanned mobile object may complete the transfer of the object by receiving information that the transport of the object must be completed at the destination for a preset time.

For example, as shown in FIG. 7 , the processor 1022 may transmit scheduling information for logistics transfer tasks for each destination to the idle unmanned mobile device 100a close to the destination P1. For another example, as shown in FIG. 8, the processor 1022 performs the task when the scheduling information for the logistics transfer task for each destination is close to the destination (P1) and the expected task completion time reaches a preset reference time. It can be transmitted to the completed unmanned mobile device 100a. For another example, as shown in FIG. 9, the processor 1022 transmits scheduling information for a logistics transfer task for each destination to an idle unmanned mobile device 100e capable of performing the task whose battery state satisfies a preset level. You can. For another example, as shown in FIG. 10 , the processor 1022 may transmit scheduling information for logistics transfer work for each destination to an idle unmanned mobile device 100a that can be deployed for cooperative work.

As another example, if the task required at the destination is a loading/unloading task, the processor 1022 may transmit scheduling information for a preset loading/unloading task for each destination to an idle unmanned mobile object to perform the loading/unloading task at the destination. there is. Here, scheduling information about loading/unloading work for each destination may be information that requires the loading/unloading work of the corresponding object to be completed at the destination during a preset time. At this time, the idle unmanned mobile object may complete the loading/unloading of the product by receiving information that the loading/unloading of the product must be completed at the destination during a preset time.

For example, the processor 1022 may transmit scheduling information about loading/unloading operations for each destination to the corresponding idle unmanned mobile device close to the destination. For another example, scheduling information about loading/unloading work for each destination can be transmitted to the unmanned mobile device that is close to the destination and has completed the work while the expected work completion time has reached a preset reference time. As another example, the processor 1022 may transmit scheduling information about loading/unloading tasks for each destination to the corresponding idle unmanned mobile vehicle capable of performing the corresponding task whose battery state satisfies a preset level. As another example, the processor 1022 may transmit scheduling information about loading/unloading tasks for each destination to the corresponding idle unmanned mobile device that can be deployed for cooperative work.

As another example, if the task required at the destination is a delivery task, the processor 1022 may transmit scheduling information for a preset delivery task for each destination to an idle unmanned mobile object so that the delivery task can be performed at the destination. Here, the scheduling information about the delivery task for each destination may be information that requires the delivery task of the corresponding product to be completed at the destination during a preset time. At this time, the idle unmanned mobile object may complete the delivery of the product by receiving information that the delivery of the product must be completed at the destination during a preset time.

For example, the processor 1022 may transmit scheduling information about a delivery task for each destination to the corresponding idle unmanned mobile object close to the destination. For another example, scheduling information about a delivery task for each destination can be transmitted to the unmanned mobile object that is close to the destination and has completed the task while the expected task completion time has reached a preset reference time. For another example, the processor 1022 may transmit scheduling information about a delivery task for each destination to a corresponding idle unmanned mobile device capable of performing the task whose battery state satisfies a preset level. As another example, the processor 1022 may transmit scheduling information about delivery tasks for each destination to the corresponding idle unmanned mobile device that can be deployed for cooperative work.

Meanwhile, the present disclosure may be provided as a computer program stored in a computer-readable storage medium. When the computer program is executed on one or more processors, it may perform the following operations to perform a method for performing task scheduling of an idle unmanned mobile device.

The operations include receiving each service type information, each task scheduling information, and each task performance information from unmanned mobile devices; Classifying unmanned mobile devices by task scheduling according to service type, based on each service type information and each task scheduling information; may include.

In addition, the operations may include, based on the respective task performance information, determining whether there is an idle unmanned mobile device not performing a task among the unmanned mobile devices for each task scheduling according to the classified service type; If the idle unmanned mobile device is present, moving the idle unmanned mobile device to a destination requiring service provision; may include.

In addition, the operations include: transmitting task scheduling information at a preset destination to the idle unmanned mobile object, so that when movement of the idle unmanned mobile object to the destination is completed, a necessary task is performed at the destination; may include.

Meanwhile, the present disclosure may be provided as a computing device for providing a method for performing task scheduling of an idle unmanned mobile device. A computing device may include a processor including one or more cores; and a memory that stores instructions executable by the processor.

When the instructions are executed by the processor, the processor receives each service type information, each task scheduling information, and each task performance information from the unmanned mobile devices, and receives each service type information and each task scheduling information. Based on this, unmanned mobile devices can be classified by task scheduling according to service type.

In addition, based on the respective task performance information, the processor determines whether there is an idle unmanned mobile device that is not performing a task among the unmanned mobile devices for each task scheduling according to the classified service type, and if there is an idle unmanned mobile device, The idle unmanned mobile object can be moved to a destination that requires service provision.

Additionally, when the movement of the idle unmanned mobile object to the destination is completed, the processor may transmit task scheduling information at a preset destination to the idle unmanned mobile object so that it can perform necessary tasks at the destination.

Meanwhile, for convenience of explanation, the present disclosure is illustrated and described as performing task scheduling of an idle unmanned mobile device on one floor; however, task scheduling of an idle unmanned mobile device may also be performed on two or more floors.

At least one component may be added or deleted in response to the performance of the components shown in FIG. 1. Additionally, it will be easily understood by those skilled in the art that the mutual positions of the components may be changed in response to the performance or structure of the system.

2 to 6 describe sequential execution of a plurality of steps, but this is merely an illustrative explanation of the technical idea of this embodiment, and those skilled in the art in the technical field to which this embodiment belongs will understand this embodiment. As long as it does not deviate from the essential characteristics of the example, various modifications and variations can be applied by changing the order shown in FIGS. 2 to 6 or executing one or more of the plurality of steps in parallel. Therefore, FIGS. 2 to 6 is not limited to time series order.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media storing instructions that can be decoded by a computer. For example, there may be Read Only Memory (ROM), Random Access Memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, etc.

As described above, the disclosed embodiments have been described with reference to the attached drawings. A person skilled in the art to which this disclosure pertains will understand that the present disclosure may be practiced in forms different from the disclosed embodiments without changing the technical idea or essential features of the present disclosure. The disclosed embodiments are illustrative and should not be construed as limiting.

1000: Unmanned vehicle control device 1010: First communication unit
1020: Control unit 1021: Memory
1022: Processor

Claims (10)

In a method for performing task scheduling of an idle unmanned mobile device,
Receiving each service type information, each task scheduling information, and each task performance information from the unmanned mobile devices;
Classifying unmanned mobile devices by task scheduling according to service type based on each service type information and each task scheduling information;
Based on the respective task performance information, determining whether there is an idle unmanned mobile device not performing a task among the unmanned mobile devices for each task scheduling according to the classified service type;
If the idle unmanned mobile device exists, moving the idle unmanned mobile device to a destination requiring service provision; and
When movement of the idle unmanned mobile device to the destination is completed, transmitting preset job scheduling information for each destination to the idle unmanned mobile device to perform necessary work at the destination; Method, including. According to paragraph 1,
The receiving step is,
Receiving each service type information including logistics transfer service type information and loading/unloading service type information from the unmanned mobile devices,
Receiving respective task scheduling information including scheduling information for logistics transfer tasks and scheduling information for loading/unloading tasks from the unmanned mobile objects,
A method, characterized in that receiving each task performance information including performance information on logistics transfer tasks and performance information on loading/unloading tasks from the unmanned mobile objects. According to paragraph 2,
The judgment step is,
Based on the performance information on the logistics transfer work, determine whether there is an idle unmanned mobile unit that is not performing the logistics transfer task among the unmanned mobile units according to the logistics transfer service type,
A method characterized in that, based on the performance information on the loading/unloading operation, it is determined whether there is an idle unmanned moving object that is not performing a loading/unloading operation among the unmanned moving objects according to the loading/unloading service type. According to paragraph 3,
The transmission step is,
If the task required at the destination is a logistics transfer task, transmitting scheduling information for the logistics transport task for each preset destination to the idle unmanned mobile object to perform the logistics transport task at the destination,
If the task required at the destination is a loading/unloading task, scheduling information for a preset loading/unloading task for each destination is transmitted to the idle unmanned moving object so that the loading/unloading task is performed at the destination. a communication unit that communicates with the unmanned mobile objects to receive each service type information, each task scheduling information, and each task performance information from the unmanned mobile objects; and
a processor that controls operations related to task scheduling of an idle unmanned mobile device among the unmanned mobile devices; Including,
The processor,
Receiving each service type information, each task scheduling information, and each task performance information from the unmanned mobile devices through the communication unit,
Based on each service type information and each task scheduling information, classify unmanned mobile devices by task scheduling according to service type,
Based on the respective task performance information, it is determined whether there is an idle unmanned mobile device that is not performing a task among the unmanned mobile devices for each task scheduling according to the classified service type,
If the idle unmanned mobile device is present, move the idle unmanned mobile device to a destination that requires service provision,
When movement of the idle unmanned mobile device to the destination is completed, preset job scheduling information for each destination is transmitted to the idle unmanned mobile device to perform necessary tasks at the destination. According to clause 5,
The processor,
Receiving each service type information including logistics transfer service type information and loading/unloading service type information from the unmanned mobile devices,
Receiving respective task scheduling information including scheduling information for logistics transfer tasks and scheduling information for loading/unloading tasks from the unmanned mobile objects,
An unmanned mobile vehicle control device, characterized in that it receives each task performance information including performance information on logistics transfer tasks and performance information on loading/unloading tasks from the unmanned mobile objects. According to clause 6,
The processor,
Based on the performance information on the logistics transfer work, determine whether there is an idle unmanned mobile unit that is not performing the logistics transfer task among the unmanned mobile units according to the logistics transfer service type,
An unmanned mobile vehicle control device characterized in that it determines whether there is an idle unmanned mobile unit that is not performing a loading/unloading job among the unmanned mobile units according to the loading/unloading service type, based on the performance information on the loading/unloading operation. In clause 7,
The processor,
If the task required at the destination is a logistics transfer task, transmitting scheduling information for the logistics transport task for each preset destination to the idle unmanned mobile object to perform the logistics transport task at the destination,
If the task required at the destination is a loading/unloading task, scheduling information for a preset loading/unloading task for each destination is transmitted to the idle unmanned mobile device to perform the loading/unloading task at the destination. controller. A computer program stored in a computer-readable storage medium, wherein the computer program, when executed on one or more processors, performs the following operations for performing a method for performing task scheduling of an idle unmanned vehicle, the operations being:
An operation of receiving each service type information, each task scheduling information, and each task performance information from unmanned mobile devices;
Classifying unmanned mobile devices by task scheduling according to service type, based on each service type information and each task scheduling information;
Based on the respective task performance information, determining whether there is an idle unmanned mobile device not performing a task among the unmanned mobile devices for each task scheduling according to the classified service type;
If the idle unmanned mobile device is present, moving the idle unmanned mobile device to a destination requiring service provision; and
When movement of the idle unmanned mobile device to the destination is completed, transmitting preset job scheduling information for each destination to the idle unmanned mobile device to perform necessary tasks at the destination; A computer program stored on a computer-readable storage medium, comprising: A computing device for providing a method for performing task scheduling of an idle unmanned mobile device, comprising:
A processor including one or more cores; and
Includes a memory that stores instructions executable by the processor,
When the instructions are executed by the processor, the processor:
Receiving each service type information, each task scheduling information, and each task performance information from unmanned mobile devices,
Based on each service type information and each task scheduling information, unmanned mobile devices are classified by task scheduling according to service type,
Based on the respective task performance information, determine whether there is an idle unmanned mobile device that is not performing a task among the unmanned mobile devices for each task scheduling according to the classified service type,
If the idle unmanned mobile device is present, the idle unmanned mobile device is moved to a destination that requires service provision,
When the movement of the idle unmanned mobile device to the destination is completed, the computing device transmits preset job scheduling information for each destination to the idle unmanned mobile device to perform necessary tasks at the destination.

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