US 11,815,909 B2
System for and method of controlling driving of automated guided vehicle
Yonggu Kim, Yongin-si (KR); Byung-In Kim, Pohang-si (KR); Minsu Kwon, Yongin-si (KR); and Inhye Bang, Pohang-si (KR)
Assigned to Samsung Display Co., Ltd., Yongin-si (KR); and Postech Research and Business Development Foundation, Pohang-si (KR)
Filed by Samsung Display Co., Ltd., Yongin-si (KR); and Postech Research And Business Development Foundation, Pohang-si (KR)
Filed on Sep. 1, 2021, as Appl. No. 17/446,693.
Claims priority of application No. 10-2021-0006810 (KR), filed on Jan. 18, 2021.
Prior Publication US 2022/0229444 A1, Jul. 21, 2022
Int. Cl. G05D 1/02 (2020.01); G07C 5/00 (2006.01); G06Q 10/0631 (2023.01); G06Q 50/04 (2012.01); B60W 60/00 (2020.01); G06Q 50/28 (2012.01)
CPC G05D 1/0287 (2013.01) [G06Q 10/06313 (2013.01); G07C 5/008 (2013.01); B60W 60/0025 (2020.02); G05D 2201/0216 (2013.01); G06Q 50/04 (2013.01); G06Q 50/28 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of controlling driving of a first automated guided vehicle and a second automated guided vehicle each operating in a workplace, the method comprising:
obtaining a current position and a current state of each of the first automated guided vehicle and the second automated guided vehicle;
determining whether or not the current state of the first automated guided vehicle is a state of moving to a first task position to perform a first task and whether or not the current state of the second automated guided vehicle is a state of moving to a second task position to perform a second task;
determining a first task exchange condition based on the current position of the second automated guided vehicle, the current position of the first automated guided vehicle, the first task position, and the second task position, wherein the first task exchange condition is deemed to be satisfied in response to determining an ordering of the current position of the second automated guided vehicle, the current position of the first automated guided vehicle, the first task position, and the second task position, to be in a first direction;
determining a second task exchange condition based on a first estimation time taken for the first automated guided vehicle to complete the first task and a second estimation time taken for the second automated guided vehicle to move to the first task position, wherein the second task exchange condition is deemed to be satisfied in response to the first estimation time being greater than the second estimation time;
in response to the first task exchange condition and the second task exchange condition being satisfied, exchanging the first task of the first automated guided vehicle with the second task of the second automated guided vehicle; and
transmitting a signal to the first automated guided vehicle, wherein in response to the signal the first automated guided vehicle moves to the second task position for executing the second task.