CN107646096A - Logistics conveyer system - Google Patents
Logistics conveyer system Download PDFInfo
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- CN107646096A CN107646096A CN201680013059.1A CN201680013059A CN107646096A CN 107646096 A CN107646096 A CN 107646096A CN 201680013059 A CN201680013059 A CN 201680013059A CN 107646096 A CN107646096 A CN 107646096A
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- 230000005540 biological transmission Effects 0.000 claims description 27
- 230000004044 response Effects 0.000 claims description 18
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000007726 management method Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 240000000528 Ricinus communis Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
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- Aviation & Aerospace Engineering (AREA)
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- Tourism & Hospitality (AREA)
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- General Business, Economics & Management (AREA)
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- Theoretical Computer Science (AREA)
- Operations Research (AREA)
- Marketing (AREA)
- Entrepreneurship & Innovation (AREA)
- Development Economics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Handcart (AREA)
- Manipulator (AREA)
Abstract
Logistics conveyer system according to an embodiment of the invention can include：Waggon, the article to be conveyed are loaded onto on the waggon；Mobile robot, the mobile robot are attached to the waggon and are configured to move the waggon；And management server, the management server is configured to manage the positional information on the mobile robot, the positional information for the waggon for having the mobile robot on the positional information of the mobile robot waggon to be coupled and on connection, and the management positional information are sent to the mobile robot.The logistics conveyer system has the advantage that, the position for the article that be loaded on the waggon can accurately be verified, can quick check to be loaded into the position of the article on the waggon, and can reduce conveying the article to be loaded shared by time.
Description
Technical field
The present invention relates to a kind of logistics conveyer system, more particularly to such logistics conveyer system, wherein, mobile robot
Waggon is connected to based on the positional information that management server provides and waggon that movement is connected.
Background technology
In various industrial sites, the various parts or product of production or the product of completion need to move in working space
To particular place.Waggon for operation is used for moving parts either product or the product of completion.Most types of
In waggon, multiple castors are arranged on the bottom of loading stage in favor of mobile and change direction, the hand for hand push waggon
Handle is arranged on the side of loading stage.
Now, the type or purposes of the article to have been transported according to waggon has been developed and there are various structures.Korea Spro
State patent application publication 10-2009-00894784 discloses a kind of waggon, and it is readily able to the front from user to waggon
Extend and be easy to the left side of waggon and the right extension, enabling once convey large numbers of items.
But it is this manually move waggon the problem of be, the position for the article to be loaded can be mistakenly checked,
This is due to the position that waggon must directly be moved to the article to be loaded by worker.In addition, the problem of waggon has exists
In time of delivery increase, this be due to worker must direct movable transport roller way, due to needing the labour of more workers, therefore defeated
Cost is sent also to increase.
The content of the invention
The purpose of the present invention is accurately to verify the position for the article that load to waggon.
To load the position of the article to waggon it is another object of the present invention to quick check and reduce conveying will
Time shared by the article of loading.
A further object of the present invention is connection waggon and mobile robot, for quickly and accurately mobile conveying
Car.
Solution to problem
Logistics conveyer system according to an embodiment of the invention can include：Waggon, the article to be conveyed are loaded to it
On；Mobile robot, it is attached to waggon and is configured to movable transport roller way；And management server, it is configured to manage
On the positional information of mobile robot, send to mobile robot and believe on the position of the mobile robot waggon to be coupled
Breath and the information on coupling the waggon position to be moved to for having mobile robot, and management position information.
Mobile robot can include：Connection unit, it is attached to waggon；Information transmission/receiving unit, it is configured to
The information on the mobile robot position to be moved to is received from management server, and there will be mobile robot on connection
The information of waggon send to management server；Control unit, it is configured to based on receiving from information transmission/receiving unit
The positional information of mobile robot moves mobile unit and controller control unit and information transmission/receiving unit；And move
Moving cell, it is configured to move mobile robot in response to the command signal from control unit.
Connection unit can include magnet and mobile unit is attached into waggon.
Mobile robot can further comprise lifting unit, and it is configured in response to the command signal from control unit
To lift the waggon that the connection unit has coupled.
Lifting unit can be lifted by the rotation of screw.
Lifting unit can include support member, and it is configured to support waggon and risen in response to the driving of screw
Waggon drops.
Mobile robot can include power supply unit, and it is configured to storage energy and supplied energy to the connection unit
The waggon coupled.
Waggon can be loaded to conveying housing thereon including article, and waggon connection unit is attached to mobile machine
People, by waggon mobile unit come movable transport roller way.
Each waggon mobile unit can include spring.When waggon is by mobile robot lifting, waggon movement
The wheel of unit can decline.
Waggon connection unit can have magnet and may be coupled to mobile robot.
Waggon can further comprise display unit, for showing the letter on to load the article to waggon
Breath.
Mobile robot according to another embodiment of the present invention can include：Connection unit, its be attached to be mounted with it is defeated
The waggon of the article sent；Information transmission/receiving unit, it is configured to the information for the waggon for having connection unit on connection
Send to management server, and the information on the mobile robot position to be moved to is received from management server；Control
Unit, it is configured to move mobile unit based on the positional information of the mobile robot received from information transmission/receiving unit,
And controller control unit and information transmission/receiving unit；And mobile unit, it is configured in response to from control unit
Command signal moves mobile robot.
Connection unit can include magnet and may be coupled to waggon.
Mobile robot can further comprise lifting unit, and it is configured in response to the command signal from control unit
There is the waggon of connection unit to lift connection.
Lifting unit can be lifted by the rotation of screw.
Lifting unit can include support member, and it is configured to support waggon and risen in response to the driving of screw
Waggon drops.
Mobile robot can further comprise power supply unit, and it is configured to storage energy and supplied energy to connection
The waggon that unit has coupled.
Waggon according to an embodiment of the invention can include：The conveying housing of article is mounted with thereon；Waggon joins
Order member, it is attached to mobile robot；And waggon mobile unit, it is configured to movable transport roller way.
Each waggon mobile unit can include spring.When waggon is by mobile robot lifting, waggon movement
The wheel of unit can decline.
Waggon connection unit can include magnet and be attached to mobile robot.
Waggon can further comprise display unit, for showing on to load to the letter of the article of waggon
Breath.
Waggon can further comprise energy acceptance unit, and energy is supplied from mobile robot to the energy acceptance unit
Amount.
The beneficial effect of invention
Present invention has the advantage that it can accurately verify the position for the article that load to waggon.
Present invention has the advantage that can quick check to load the position of the article to waggon, and can
Reduce the time shared by the conveying article to be loaded.
The present invention, which has the advantage that, can quickly and accurately couple waggon and the mobile machine for movable transport roller way
People.
Brief description of the drawings
Fig. 1 is the structural map for schematically illustrating logistics conveyer system according to an embodiment of the invention.
Fig. 2 is the exemplary view for schematically illustrating the waggon according to an embodiment of the invention for being attached to mobile robot.
Fig. 3 is the side view for schematically illustrating the waggon for being attached to mobile robot according to an embodiment of the invention.
Fig. 4 is the block diagram for schematically illustrating mobile robot according to an embodiment of the invention.
Fig. 5 is the block diagram for schematically illustrating waggon according to an embodiment of the invention.
Fig. 6 is the side view for schematically illustrating waggon according to an embodiment of the invention.
Embodiment
Based on the Figure of description of the present invention, from the details of the middle purpose of the present invention described further below and technical construction and
Action effect will become more fully understood from.
The each functional unit described in this specification is only an example of embodiments of the present invention.Therefore, exist
In the other embodiment of the present invention, other functional units can be used, this is without departing from the spirit and scope of the present invention.This
Outside, each functional unit can use hardware or software element individually to implement, but can also use and be used to implement identical work(
The combination of the various hardware and software element of energy is implemented.
Fig. 1 is the structural map for schematically illustrating logistics conveyer system according to an embodiment of the invention.With reference to figure 1, according to
The logistics conveyer system of embodiments of the invention includes：Waggon 200, the article to be conveyed are loaded on the waggon；Move
Mobile robot 100, it is attached to waggon 200 and is configured to movable transport roller way 200.Logistics conveyer system further comprises pipe
Manage server 300, its be configured to management on mobile robot 100 position information, to mobile robot 100 send on
Mobile robot 100 has the conveying of mobile robot 100 by the information of the position for the waggon 200 being connected to and on connection
The information for the position that car 200 will be moved into, and manage these information.
Fig. 2 is the exemplary view for schematically illustrating the waggon for being attached to mobile robot according to an embodiment of the invention,
Fig. 3 is the side view for schematically illustrating the waggon for being attached to mobile robot according to an embodiment of the invention.With reference to the He of figure 2
Fig. 3, mobile robot 100 according to an embodiment of the invention include：Connection unit 110, it is attached to waggon 200；Information
Transmission/receiving unit 130 (referring to Fig. 4), it is configured to receive from management server 300 and will moved on mobile robot 100
The information for the position arrived, and the information of the waggon coupled on connection unit 110 is sent to management server 300；
Control unit 150, its be configured to the positional information based on the mobile robot 100 received from information transmission/receiving unit 130 come
Mobile mobile unit 120, and controller control unit 110 and information transmission/receiving unit 130；And mobile unit 120, its
It is configured to move mobile robot 100 in response to the command signal from control unit 150.It is according to an embodiment of the invention
Mobile robot 100 is attached to waggon 200 so that waggon 200 is artificially moved by worker, and waggon 200 is moved
To destination.
Information transmission/receiving unit 130 of mobile robot 100 is received on to be moved by mobile from management server 300
Mobile robot 100 couples and the information of the identity (ID) of mobile waggon 200, and the letter of the movement on waggon 200
Breath.When the mobile message of id information and waggon 200 that the waggon 200 to be moved is received from management server 300, letter
Breath transmission/receiving unit 130 sends the ID of waggon 200 and mobile message to control unit 150.Have received that conveying
The ID of car 200 and the control unit 150 of mobile message are based on mobile message by controlling mobile unit 120 to move moving machine
Device people 100.
When mobile robot 100 is moved to the requirement position to be moved of waggon 200, control unit 150 is verified defeated
Send car 200 id information and by the id information of verification with from being moved of receiving of information transmission/receiving unit 130
The id information of waggon 200 is matched.As verify result, if it find that the id information of waggon 200 with from information
The id information of what transmission/receiving unit 130 received the waggon 200 to be moved is consistent, and control unit 150 will be used for waggon
200 connection order signal is sent to connection unit 110 so that connection unit 110 is attached to waggon 200.For passing through control
The method that unit 150 processed verifies the id information of waggon 200 can include various methods, such as by using mobile robot
The 100 QR code scanner scannings included mark the QR code in waggon 200 to verify the id information of waggon 200
Method, or ID letter of the image recognition apparatus identification mark included by using mobile robot 100 in waggon 200
Cease to verify the method for the id information of waggon 200.
Coupled position information based on mark in waggon 200, mobile robot 100 can be precisely placed it
The position of waggon 200 will be coupled.Mark coupled position information in waggon 200 can be shown in foregoing QR code or
In image recognition apparatus so that mobile robot 100 identifies coupled position information, and mobile robot 100 and waggon 200
Them are placed on by the exact position of connection.In some embodiments it is possible to using be included in mobile robot 100 and conveying
GPS in car 200 verifies mobile robot 100 and waggon 200 by the exact position of connection.
In this case, the connection unit 110 of mobile robot 100 can include magnet 111 so that mobile robot
100 are attached to waggon 200.In addition, with connection unit 110, waggon 200 can also include magnet 211.Cause
This, is when the connection unit 110 of mobile robot 100 is close to waggon 200, the magnet 211 and mobile robot of waggon 200
100 magnet 111 is attracted one another by magnetic.As a result, mobile robot 100 and waggon 200 can pass through mobile robot
100 magnet 111 and the magnet 211 of waggon 200 are quickly and accurately coupled.
Packaged type can be made in connection unit 110.Connection unit 110 is unsecured to mobile robot 100, but can
Removably mount within mobile robot 100.After the connection unit 110 of mobile robot 100 is attached to waggon 200,
Mobile robot 100 moves so that connection unit 110 is placed on the particular locations of mobile robot 100.Work as connection unit
110 when being movably coupled to waggon 200, and the magnet 111 of connection unit 110 can effectively identify the magnet of waggon 200
211 magnetic.Therefore, mobile robot 100 and waggon 200 can quickly and accurately couple.
The connection unit 110 of mobile robot 100 can include coupling ring 112.When the connection unit of mobile robot 100
When 110 magnet 111 is attached to the magnet 211 of waggon 200, the coupling ring 112 of connection unit 110 is moved to waggon connection
Unit 210 and close-coupled are to waggon connection unit 210.
Mobile robot 100 can further comprise lifting unit 140, and it is configured in response to from lifting unit 140
Command signal lift the waggon 200 that connection unit 110 has been attached to.Lifting unit 140 can be with connection unit 110
Separation can be integrated to connection unit 110.Lifting unit 140 is arranged to make the effectively mobile conveying of mobile robot 100
Car 200.Control unit 150 can include screw and can be lifted by the rotation of screw.
Lifting unit 140 can include support member 141, and it is configured to support waggon 200 and in response to screw
Driving carry out lifting conveying vehicle 200.When connection unit 110 is attached to waggon 200, control unit 150 believes increase instruction
Number send to lifting unit 140.When control unit 150 sends increase instruction signal to lifting unit 140, lifting unit
140 screw rise, until the support member 141 of lifting unit 140 contacts waggon 200.When in mobile robot 100
When waggon 200 through being attached to is moved to the destination connection of release mobile robot 100 and waggon 200 afterwards, control
Unit 150 is sent command signal is declined to lifting unit 140.When control unit 150 is sent command signal is declined to lifting
During unit 140, the screw of lifting unit 140 declines.Support member 141 can have annulus or quadrangle.Support member 141
Concrete form is not limited to, depending on those skilled in the art there can be various forms.
Mobile robot 100 can further comprise power supply unit 160 (referring to Fig. 4), its be configured to storage energy and
Supply energy to the waggon 200 being attached to connection unit 110.When connection unit 110 is attached to waggon 200,
Control unit 150 can send power supply command signal to power supply unit 160 so that power supply unit 160 is supplied energy to defeated
Send car 200.In this case, power supply unit 160 can be integrated to connection unit 110.If power supply unit 160 is arranged to contact
For generating energy in the side of connection unit 110, when connection unit 110 is attached to waggon 200, connection unit is arranged on
The power supply unit 160 of 110 sides is supplied energy to waggon 200.Drive can be supplied from power supply unit 160 to waggon 200
Energy needed for dynamic waggon 200.
Waggon 200 includes：Housing 240 is conveyed, article is loaded to thereon；Waggon connection unit 210, mobile machine
People 100 is attached to it；And waggon mobile unit 220, it is configured to movable transport roller way 200.Wheel is arranged in each conveying
The side of car mobile unit 220 so that waggon 200 is artificially moved by worker.Each waggon mobile unit 220 is equipped with
Spring.Therefore, when waggon 200 is lifted by mobile robot 100, the length between the wheel of waggon mobile unit 220
Corresponding to the length between the wheel of the mobile unit 120 of mobile robot 100.When waggon 200 is by mobile robot 100
When lifting unit 140 raises, waggon 200 also increases high as the height of lifting unit 140.If waggon movement is single
Member 220 is equipped with spring, flexible spring extend as the height by the elevated waggon 200 of lifting unit 140
It is high.The wheel of waggon mobile unit 220 and the wheel of the mobile unit 120 of mobile robot 100 movement mobile robot 100
With waggon 200.
Waggon connection unit 210 equipped with magnet 211 and can be by magnetic attachment to mobile robot 100 connection
The magnet 111 of unit 110.In addition, waggon connection unit 210 can be made movably.In this case, when waggon joins
When the magnet 211 of order member 210 is attached to the magnet 111 of connection unit 110, waggon connection unit 210 is towards mobile machine
The connection unit 110 of people 100 moves and close-coupled is to connection unit 110.
Waggon 200 can include display unit 230 (referring to Fig. 5), and it is configured to display on to load to conveying
The information of the product of car 200.Waggon 200 is used for mobile load to the article on waggon 200.In embodiments of the invention
In, waggon 200 is not artificially to be moved by worker, but is attached to mobile robot 100 and is moved.Mobile robot
100 from management server 300 receive on article by the information of the position being loaded onto or on article by from being unloaded
The information of position, and based on the information of reception come movable transport roller way 200.When waggon 200 is moved to by mobile robot 100
During the position that article will be loaded, the release of mobile robot 100 couples with waggon 200.Waggon 200 can take from management
Business device 300 receives the information on the article to be loaded and by the presentation of information of reception on display unit 230.Work as worker
Load or during the corresponding article of unloading, the Item Information being shown on display unit 230 can aid in that he or she accurate
Know corresponding article in ground.
Display unit 230 can be liquid crystal display (L), Field Emission Display (F), plasma display device
Or Organic Light Emitting Diode (OL) (PDP).In certain embodiments, display unit 230 can be tablet personal computer.
Energy can be supplied from mobile robot 100 to waggon 200.Waggon 200 can include energy acceptance unit
260 (referring to Fig. 5) from mobile robot 100 to be energized.Power receiving unit 260 can be arranged to and waggon
Connection unit 210 separates or is integrated to waggon connection unit 210, may be provided at the side of waggon 200.Power receives single
Member 260 needs to form contact with the power supply unit 160 of mobile robot 100.Therefore, when waggon connection unit 210 is attached to
During mobile robot 100, power receiving unit 260 must be necessarily arranged at the opening position corresponding to power supply unit 160.Can be from power
Receiving unit 260 supplies the energy needed to waggon 200.Can be supplied from energy acceptance unit 260 to waggon 200 to make
Energy, it is such as single for the energy that the article to be loaded is shown on display unit 230, or driving waggon connection
The energy that member 210 needs.The energy to be used in waggon 200 can not be only to be supplied from mobile robot 100.At some
In embodiment, waggon 200 can include being used for the charhing unit for filling external energy, or can supply energy from charger
Amount.
Fig. 4 is the block diagram for schematically illustrating mobile robot according to an embodiment of the invention.With reference to figure 4, according to this hair
The mobile robot 100 of bright embodiment includes：Connection unit 110, it is attached to the waggon for being mounted with the article to be conveyed
200；Information transmission/receiving unit 130, it is configured to the information transmission of the waggon 200 on being attached to connection unit 110
To management server 300, and receive from management server 300 information for the position that will be moved on mobile robot 100；
Connection unit 110, it is configured to based on from the position on mobile robot 100 that information transmission/receiving unit 130 receives
Confidence is ceased to move mobile unit 120；Control unit 150, it is configured to control information transmission/receiving unit 130；It is and mobile
Unit 120, it is configured to move mobile robot 100 in response to the command signal 150 from control unit.In the situation
Under, connection unit 110 can include magnet 111 and can be attached to waggon 200.
In addition, mobile robot 100 can further comprise lifting unit 140, it is used in response to from control unit
Command signal 150 lift the waggon 200 that connection unit 110 has been coupled to.Lifting unit 140 can be filled by spiral
The rotation put is lifted.In addition, lifting unit 140 can include support member 141, for support waggon 200 and in response to
The driving of screw carrys out lifting conveying vehicle 200.Mobile robot 100 can further comprise power supply unit 160, and it is used to deposit
Energy storage capacity and supply energy to the waggon 200 being had been coupled to connection unit 110.Except classification, mobile robot 100
Illustrate including the logistics conveyer system identical information with being described referring to figs. 1 to Fig. 3, thus eliminate this specifically
It is bright.
Fig. 5 is the block diagram for schematically illustrating waggon according to an embodiment of the invention, and Fig. 6 is schematically illustrated according to this
The side view of the waggon of the embodiment of invention.With reference to figure 5 and Fig. 6, waggon 200 according to an embodiment of the invention includes：
Housing 230 is conveyed, article is loaded in thereon；Waggon connection unit 210, mobile robot 100 are attached to it；And conveying
Car mobile unit 220, waggon 200 are moved by it.In this case, waggon mobile unit 220 is equipped with spring.Therefore,
When waggon 200 is lifted by mobile robot 100, the wheel of waggon mobile unit 220 can be lifted.
In addition, waggon connection unit 210 includes magnet 211 and may be coupled to mobile robot 100.Waggon 200
Display unit 230 can be included, for showing the information on the article on waggon 200 to be loaded into.The energy of waggon 200
Enough include energy acceptance unit 260, for supplying energy from mobile robot 100 to the energy acceptance unit.Waggon couples
Unit 210, waggon mobile unit 220, display unit 230 and power receiving unit 260 can be in control units 250
Driven under control.Except classification, waggon 200 is illustrated including the logistics conveyer system with being described referring to figs. 1 to Fig. 3
Identical information, thus eliminate this and illustrate.
As described above, the invention belongs to it will be appreciated by those skilled in the art that the present invention can be embodied as other
Detailed form, technical spirit and essential feature without changing the present invention.It is therefore to be understood that previous embodiment right and wrong
Restricted, but be schematical in terms of all.The scope of the present invention is limited rather than by having by subsidiary claim
Body embodiment limit, the present invention should be considered as covering be obtained from appended claims and its equivalent structure all modifications or
Person's modification.
Claims (22)
1. a kind of logistics conveyer system, the logistics conveyer system includes：
Waggon, the article to be conveyed are loaded onto on the waggon；
Mobile robot, the mobile robot are attached to the waggon and are configured to move the waggon；And
Management server, the management server is configured to manage the positional information on the mobile robot, to the shifting
Mobile robot transmission has described on the positional information of the mobile robot waggon to be coupled and on connection
The information of the waggon position to be moved to of mobile robot, and the management positional information.
2. logistics conveyer system according to claim 1, wherein, the mobile robot includes：
Connection unit, the connection unit are attached to the waggon；
Information transmission/receiving unit, described information transmission/receiving unit are configured to receive on described from the management server
The information of the mobile robot position to be moved to, and have the connection unit on connection to management server transmission
The waggon information；
Control unit, described control unit are configured to based on the mobile machine received from described information transmission/receiving unit
The positional information of people moves mobile unit, and the control connection unit and described information transmission/receiving unit；And
Mobile unit, the mobile unit are configured to move the movement in response to the command signal from described control unit
Robot.
3. logistics conveyer system according to claim 2, wherein, the connection unit includes magnet and by the movement
Element connection is to the waggon.
4. logistics conveyer system according to claim 2, wherein, the mobile robot further comprises lifting unit,
The lifting unit is configured to have the connection single to lift to have coupled in response to the command signal from described control unit
The waggon of member.
5. logistics conveyer system according to claim 4, wherein, the rotation quilt that the lifting unit passes through a screw
Lifting.
6. logistics conveyer system according to claim 4, wherein, the lifting unit includes support member, the support member
It is configured to support the waggon and lifts the waggon in response to the driving of the screw.
7. logistics conveyer system according to claim 1, wherein, the mobile robot includes power supply unit, the confession
Electric unit is configured to storage energy and supplied energy to having coupled the waggon that has the connection unit.
8. logistics conveyer system according to claim 1, wherein, the waggon includes：
Housing is conveyed, article is loaded onto on the conveying housing；
Waggon connection unit, the waggon connection unit are attached to the mobile robot；And
Waggon mobile unit, the waggon is moved by the waggon mobile unit.
9. logistics conveyer system according to claim 8, wherein：Each waggon mobile unit includes spring, when
When the waggon is by the mobile robot lifting, the wheel of the waggon mobile unit declines.
10. logistics conveyer system according to claim 8, wherein, the waggon connection unit has magnet and joined
It is connected to the mobile robot.
11. logistics conveyer system according to claim 8, wherein, the waggon further comprises display unit, uses
In display on the information for the article that be loaded on the waggon.
12. a kind of mobile robot, the mobile robot includes：
Connection unit, the connection unit are attached to waggon, and the article to be conveyed is loaded onto on the waggon；
Information transmission/receiving unit, described information transmission/receiving unit are configured to send on coupling to management server
The information of the waggon of connection unit is stated, and to be moved from management server reception on the mobile robot
The information for the position arrived；
Control unit, described control unit are configured to based on the mobile machine received from described information transmission/receiving unit
The positional information of people moves mobile unit, and the control connection unit and described information transmission/receiving unit；And
Mobile unit, the mobile unit are configured to move the movement in response to the command signal from described control unit
Robot.
13. mobile robot according to claim 12, wherein, the connection unit includes magnet and is attached to institute
State waggon.
14. mobile robot according to claim 12, the mobile robot further comprises lifting unit, the liter
Drop unit is configured to have the described defeated of the connection unit in response to the command signal from described control unit to lift connection
Send car.
15. mobile robot according to claim 14, wherein, the lifting unit is risen by the rotation of screw
Drop.
16. mobile robot according to claim 14, wherein, the lifting unit includes support member, the support member
It is configured to support the waggon and lifts the waggon in response to the driving of the screw.
17. mobile robot according to claim 12, the mobile robot further comprises power supply unit, the confession
Electric unit is configured to storage energy and supplied energy to having coupled the waggon that has the connection unit.
18. a kind of waggon, the waggon includes：
Housing is conveyed, article is loaded onto on the conveying housing；
Waggon connection unit, the waggon connection unit are attached to mobile robot；And
Waggon mobile unit, the waggon mobile unit are configured to move the waggon.
19. waggon according to claim 18, wherein：Each waggon mobile unit includes spring, works as institute
When stating waggon by the mobile robot lifting, the wheel of the waggon mobile unit declines.
20. waggon according to claim 18, wherein, the waggon connection unit includes magnet and is attached to
The mobile robot.
21. waggon according to claim 18, the waggon further comprises display unit, for show on
The information for the article being loaded on the waggon.
22. waggon according to claim 18, the waggon further comprises energy acceptance unit, from the movement
Robot supplies energy to the energy acceptance unit.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2015-0029269 | 2015-03-02 | ||
| KR1020150029269A KR101642728B1 (en) | 2015-03-02 | 2015-03-02 | Logistics transport system |
| PCT/KR2016/001997 WO2016140481A1 (en) | 2015-03-02 | 2016-02-29 | Logistics transport system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107646096A true CN107646096A (en) | 2018-01-30 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680013059.1A Pending CN107646096A (en) | 2015-03-02 | 2016-02-29 | Logistics conveyer system |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR101642728B1 (en) |
| CN (1) | CN107646096A (en) |
| WO (1) | WO2016140481A1 (en) |
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|---|---|---|---|---|
| GB2555350B (en) * | 2015-07-17 | 2018-12-12 | Walmart Apollo Llc | Shopping facility assistance systems, devices and methods to drive movable item containers |
| EP3502027A1 (en) * | 2017-12-22 | 2019-06-26 | KONE Corporation | Management of power supply of an elevator system |
| CN109308595B (en) * | 2018-09-29 | 2021-08-10 | 炬星科技（深圳）有限公司 | Circulation box tracking system, method and device based on walking robot |
| KR102104473B1 (en) * | 2019-08-28 | 2020-04-24 | 주식회사 서진파워테크 | An Apparatus for Receiving an Article Delivered by a Drone and a Method for the Same |
| IT201900019442A1 (en) * | 2019-10-21 | 2021-04-21 | Comau Spa | "Autonomous mobile system, usable in an industrial plant as a reconfigurable operator system" |
| KR102208994B1 (en) | 2019-11-11 | 2021-01-28 | 주식회사 모션디바이스 | Driving apparatus maintaining ground contact of drive-wheel |
| KR102212917B1 (en) | 2020-05-15 | 2021-02-05 | 주식회사 모션디바이스 | Carrying apparatus of loading article |
| KR102617062B1 (en) * | 2021-10-13 | 2023-12-27 | 주식회사 소프트퍼즐 | Frozen seafood transport monitoring system |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2016140481A1 (en) | 2016-09-09 |
| KR101642728B1 (en) | 2016-07-27 |
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