KR101379009B1 - Automated variable wall system including robot system for automatic assemble and disassemble of indoor partition walls, and wall assemble method and disassemble method - Google Patents

Abstract

An automated variable wall system with a robot system installing and disassembling a wall, and a method for installing and disassembling a wall are disclosed. The system includes: a cartridge storing space in which a cartridge is installing to store a wall; a installing space which is a space for installing a wall and which has a grid-shaped rail installed on a ceiling thereof; a robot system which lifts a wall stored in a cartridge storing space by running on the rail and then installs the wall, and lifts and disassembles the wall installed in the installing space and then stores the wall in the cartridge of the cartridge storing space; a carrier space which is located between the storing space and the installing space and has a carrier rail and a robot carrier for moving the robot system to an entry point of the cartridge storing space and an entry point of the installing space; and an external server receives a layout of the installed wall from a user, determines an installation order for installing a wall in a installation space according to the layout based on wall information of the wall stored in the cartridge storing space and a condition of the wall of the installation space or determines a disassembling order for disassembling a wall installed in the installation space, and transfers the determined order through wireless communications with a robot system to perform the installing and disassembling of the wall through the robot system.

Description

Automated variable wall system including robot system for automatic assemble and disassemble of indoor partition walls, and wall assemble method and disassemble method }

The present invention relates to an automated variable wall system, including a robotic system that performs wall installation and dismantling, and a method of wall installation and dismantling.

In general, the interior space is simply divided into several spaces for each use. This is appropriate in some limited cases, such as at home, but not in many cases. In office-like spaces, limited partitioning is not appropriate because each divided space can change as much as the internal department changes or uses. For this reason, most offices change space through major construction or relocation if there is a change in the purpose of space use.

However, changing the indoor space is less efficient because it takes not only too much effort and manpower but also takes a lot of time. To solve this, the change of space should be more free and flexible.

To this end, a number of techniques for reconfiguring by moving a wall, which is a unit for dividing a space in the conventional internal space, have been disclosed. That's the cubicle in the office. The partitions can divide the space and, through proper placement, reorganize the space according to the purpose of use. However, the partitioning method has limitations because it is inconvenient to be placed by a person, and it does not sufficiently play a role such as sound insulation or fixing in comparison with a general wall.

In addition, technologies such as ceiling rail method or ceiling-floor rail method such as HUFCOR, KWIK, etc. have been proposed, but many problems such as a lot of manpower or time to install and dismantle the internal walls are also required. There is this.

Therefore, a technology requiring less manpower while being able to freely install and dismantle the walls of the internal space in real time is required.

SUMMARY OF THE INVENTION The present invention has been made in an effort to provide an automated variable wall system including a robot system for performing wall installation and dismantling, which can automatically change a wall layout in real time, and a method for installing and dismantling a wall.

Robot system according to one aspect of the invention,

Wheels for traveling on rails; A position detection sensor for detecting a position; A rotating screw for adjusting the height of the wall used for dividing the interior space, where the wall has a structure that can be height-adjusted in a rack and pinion manner; A screw plate having the rotating screw installed therein and adjusting a height of the rotating screw; A motor for driving the wheel, the rotating screw and the screw plate, respectively; And control the wheel, the position sensor, the rotating screw and the screw plate by a control from an external server through wireless communication, lift the wall to the installation position to install the wall, and also install the wall. It includes a control unit for disassembling to move to the cartridge storage space for accommodating the wall to control the operation of accommodating the wall.

Here, the wheel is characterized in that the two wheels are formed in two pairs for the running of the rail is installed in a grid form on the ceiling of the installation space where the wall is installed.

In addition, the position detection sensor is characterized in that the position of the rail to contact the metal rod indicating the position of the rail when the robot system running.

In addition, the robot system is located between the cartridge receiving space and the installation space is characterized in that for controlling the drive of the robot carrier for guiding the robot system to the entrance of the cartridge storage space or the entrance of the installation space.

The control unit may further include: an RFID reader for reading RFID tags respectively attached to wall cartridges of the cartridge storage space; A position sensing module for determining a position of the robot system through the position sensing sensor; A driving control module controlling the driving of the wheel; A height adjustment module for adjusting the height of the screw plate; Rotation control module for adjusting the rotation of the rotating screw; And a control server for controlling the robot system by controlling the RFID reader, the position sensing module, the driving control module, the height adjusting module, and the rotation adjusting module.

Variable wall system according to another feature of the present invention,

A plurality of walls used to divide the interior space; A cartridge storage space in which a plurality of cartridges for storing the walls are installed, respectively; A space for installing the wall, and an installation space in which a rail of a grid shape is installed on a ceiling; A robot system that travels through a rail and picks up a wall stored in the cartridge storage space and installs it in the installation space, and lifts and disassembles a wall installed in the installation space and stores it in the cartridge of the cartridge storage space; Located between the cartridge receiving space and the installation space, a carrier rail and a robot carrier for moving by the control of the robot system to move the robot system to the entry position of the cartridge storage space and the entry position of the installation space An installed carrier space; And receiving a layout from which the wall is installed by the user, and determining an installation order for installing the wall in the installation space according to the layout based on the wall information stored in the cartridge storage space and the wall installation state of the installation space. Or an external server determining a dismantling order for dismantling the wall installed in the installation space and transmitting the dismantled order through wireless communication with the robot system to perform wall installation and dismantling through the robot system.

Here, the plurality of walls is characterized by consisting of a wall having a length of the base length and a length longer than the thickness of the wall to the base length.

In addition, each of the plurality of walls has a structure capable of height adjustment in a rack and pinion manner, characterized in that the height adjustment is performed by the control of the robot system.

In addition, the robot system is characterized in that the wall is coupled to the lower end in the state in which the upper end is supported on the rail of the installation space to adjust the height to lift the wall or install on the floor.

In addition, the robot system, a wheel for driving the rail; A position detection sensor for detecting a position; Rotating screw for adjusting the height of the wall; A screw plate having the rotating screw installed therein and adjusting a height of the rotating screw; A motor for driving the wheel, the rotating screw and the screw plate, respectively; And control the wheel, the position sensor, the rotating screw, and the screw plate by controlling from the external server through wireless communication to lift the wall and move to the installation space to install the wall. And a control unit which lifts and disassembles the installed wall, moves to the cartridge storage space, and controls an operation of storing the wall in the cartridge.

Further, metal rods are respectively provided at the centers of the segments of the rails in the grid form of the installation space, and the metal rods are contacted by the position monitoring sensor while the robot system runs on the rails. The location is characterized by.

In addition, a metal rod is installed at each of a cartridge center of the cartridge storage space and a center of the robot carrier, and the metal rod is moved by the position monitoring sensor when the robot system enters the cartridge or the robot carrier. The contact is characterized in that the position of the cartridge center or the position of the robot carrier center.

In addition, a charging station for charging the power of the robot system is installed at one end of the cartridge in the cartridge storage space.

In addition, the robot carrier is provided with a wheel for driving the carrier rail, characterized in that the robot system is driven by receiving power from the robot system when entering.

The external server may further include an interface module configured to provide a user interface for receiving an input of an installation layout of a wall to be installed in the installation space or viewing an existing or ongoing wall installation situation from a user; A database module for storing wall installation information or current layout information from the robot system, new layout information input by the user, information on walls currently stored in the cartridge storage space, and location information of each segment of the rail; A wireless communication module performing wireless communication with the robot system; And a control module for controlling the interface module, the database module, and the wireless communication module to control the entire variable wall system including the robot system.

Wall installation method according to another feature of the present invention,

Receiving, by the external server, a layout for installing a wall; Determining whether the external server has a wall already installed in the installation space; If it is determined that there is a wall already installed in the installation space, the external server determines a wall to be disassembled by comparing with the layout; The external server controlling the robot system to dismantle the wall identified above; And after disassembling all the determined walls or determining that there are no walls already installed in the installation space, the external server controls the robot system to install the walls in the installation space according to the layout. It includes.

Here, the step of installing the wall, the robot system is a robot carrier-where the robot carrier is located between the cartridge storage space and the installation space to move the robot system to the entrance of the cartridge storage space or the entrance of the installation space Entering the cartridge containing the wall to be installed using the guide box; Lifting the robot system by reducing the height of the wall; Moving the robot system to the rail inlet of the installation space where a wall is to be installed using the robot carrier; Moving, by the robot system, a rail of the installation space to a segment of a rail to install a wall; And installing the wall between the floor and the rail by increasing the height of the wall by the robotic system.

In addition, the rail segments of the installation space is formed in the form of a grid consisting of a plurality of rows and a plurality of columns, the robot system is characterized in that to install the wall by checking the position of the rail segment by the serial number of the row and column. do.

In addition, in the step of lifting up by reducing the height of the wall and installing the wall between the floor and the rail by increasing the height of the wall, the robot system is a rack installed on the wall by rotating the rotating screw installed in itself It is characterized by adjusting the height of the wall through the gear structure of the pinion method.

Wall dismantling method according to another feature of the present invention,

Identifying a state of a wall installed in the installation space; Determining a wall disassembly order based on the state of the wall identified; And controlling, by the external server, the robot system to disassemble the wall installed in the installation space in the wall dismantling order and to store the wall in the cartridge storage space.

The storing of the cartridge in the cartridge storage space may include: the robot system being a robot carrier, wherein the robot carrier is positioned between the cartridge storage space and the installation space, such that the robot system is located at the entrance of the cartridge storage space or at the installation space. Moving to a rail inlet of the installation space in which the wall to be dismantled is installed by guiding to an inlet; Moving, by the robot system, a rail of the installation space to a segment of a rail to dismantle the wall; Lifting the robot system by reducing the height of the wall; Driving the rails into the robot carrier while the robot system lifts a wall; The robot system using the robot carrier to enter a cartridge to receive a wall; And storing the wall in the cartridge by the robot system increasing the height of the wall.

Further, in the step of lifting up by reducing the height of the wall and storing the wall in the cartridge by increasing the height of the wall, the robot system rotates the rotating screw installed on the rack and the pinion installed on the wall. It is characterized by adjusting the height of the wall through the gear structure of the method.

According to the present invention, the layout of the wall can be automatically changed using the robot system.

As a result, the layout of the wall can be changed in real time.

In addition, the layout of the wall can be freely changed.

1 is a view schematically showing the concept of the interior space to which the automated variable wall system according to an embodiment of the present invention is applied.
2 is a view showing an example of the connection between the wall and the wall.
FIG. 3 is a view illustrating an example in which an end portion of a wall is flattened for connection between a wall and a wall in an automated variable wall system according to an exemplary embodiment of the present invention.
4 is a view showing an example of the rack and pinion method used for height adjustment of the wall in the automated variable wall system according to an embodiment of the present invention.
5 is a view showing the type of the wall in the automated variable wall system according to an embodiment of the present invention.
FIG. 6 is a diagram schematically illustrating a rail system for driving a robot system in an automated variable wall system according to an exemplary embodiment of the present invention.
7 is a view showing a cross-shaped portion of the connection portion of the rail in the wall system according to an embodiment of the present invention.
8 is a view schematically showing the configuration of a robot system in a wall system according to an embodiment of the present invention.
9 is a view showing a motor used for a rotating part inside the robot system in the wall system according to the embodiment of the present invention.
FIG. 10 is a perspective view of the robot system shown in FIG. 8 viewed from below. FIG.
11 is a view showing the structure of the upper end of the wall according to an embodiment of the present invention.
12 is a view showing a state in which the wall fixing portion of the robot system according to an embodiment of the present invention is coupled to the upper end of the wall.
FIG. 13 is a diagram illustrating an example of a rail installed on a ceiling of an installation space in a grid form in an automated variable wall system according to an exemplary embodiment of the present invention.
14 is a diagram schematically showing a rail system installed in an interior space to which a variable wall system according to an exemplary embodiment of the present invention is applied.
15 is an enlarged perspective view of the robot carrier shown in FIG. 14.
16 is a view showing a charging station capable of charging a battery of a robot system formed in a cartridge storage space in a variable wall system according to an embodiment of the present invention.
FIG. 17 is a diagram illustrating a configuration showing a position of a rail illustrated in FIG. 13.
FIG. 18 is an enlarged view of a position sensor of the robot system of FIG. 8.
19 is a view showing the configuration of an automated variable wall system according to an embodiment of the present invention.
20 is a flowchart of a wall installation method according to an embodiment of the present invention.
FIG. 21 is a view illustrating a state in which a wall is accommodated in a cartridge in an automated variable wall system according to an exemplary embodiment of the present invention.
22 is a view showing a state in which the wall is installed in the installation space in the automated variable wall system according to an embodiment of the present invention.
23 is a flowchart of a wall dismantling method according to an embodiment of the present invention.
24 is a flowchart of a wall installation process according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise. Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have.

First, a space to which an automated variable wall system according to an embodiment of the present invention is applied will be described.

1 is a view schematically showing the concept of the interior space to which the automated variable wall system according to an embodiment of the present invention is applied.

Referring to FIG. 1, an interior space to which an automated variable wall system according to an exemplary embodiment of the present invention is applied includes a cartridge storage space 10, an installation space 20, and a carrier space 30.

The cartridge storage space 10 is a space in which walls to be installed in the installation space 20 are accommodated.

The installation space 20 is a space in which walls stored in the cartridge storage space 10 are transported through the carrier space 30 so as to form an indoor space according to a user's intention. Here, the rail of the grid shape is installed on the ceiling of the installation space 20, the walls stored in the cartridge storage space 10 is a carrier space (described later) by a robot system (described later) according to an embodiment of the present invention. It is transferred to the rail of the installation space 20 through 30 and installed.

The carrier space 30 is provided with a carrier for moving the robot system to set a position for the robot system moving the cartridge storage space 10 and the installation space 20 to enter the rail of the installation space 20. Space.

Here, specific details of the robot system (described later) moving between the cartridge storage space 10, the installation space 20, and the carrier space 30 will be described later.

First, a wall which is a component forming a wall in the installation space 20 according to an embodiment of the present invention will be described.

Each wall must be connected to the other walls without gaps. This is because soundproofing, the most important issue in these walls, must be implemented. Therefore, if there is no gap in the bonding side will be soundproof. For this reason, each wall must be in close contact with components with completely different floors, ceilings and sides.

There are three forms of connection between the wall and the wall as shown in FIG. That is, there are a straight shape formed by two walls, a T shape formed by three walls, and a cross shape formed by four walls. When the wall touches the outer wall of the space, it is omitted since the wall forms the same shape as the straight line formed by the wall.

In the above, the shape of the wall end portion for connecting the T-shaped cross and the cross hair may exist in various ways. However, in the embodiment of the present invention, the end of the wall is formed flat as shown in FIG. 3 so that the connecting portion is perfectly matched during the straight connection, the T-shaped connection and the cross connection.

In this case, the length of the wall must be two kinds for the T-shaped or cross-shaped connection. There is one wall of basic length, and one wall having a length equal to the connection point of the walls, that is, the length of the wall thickness. For example, if the basic length of the wall is called L, and the thickness of the wall is called d, two types of L-length walls and L + d-length walls are required.

At this time, no matter how the wall is installed, as many L + d length walls as the number of connection points are required. And on average, there is one connection point per two walls, so the L-length and L + d-length walls need a 2: 1 ratio. Therefore, as a whole, the required number does not need to install all walls in the entire grid, so a ratio of 4: 2: 1 to a place where the entire wall can be installed and the number of L-length and L + d-length walls is suitable. . That is, it is expected to occupy about half of the total space if the movable wall, ie the movable wall is installed as much as possible by use.

As a method of connecting the walls at the connection point of the walls, a method of attaching them using magnets or attaching a thin sponge or rubber packing to the contact surface may be used.

On the other hand, all individual walls must be adjustable in height. This is because it is secured to the ceiling and the floor to perform sound insulation and to be firmly fixed in the space.

Height adjustment of the wall according to an embodiment of the present invention can be made by the rack and pinion method commonly used as shown in Figure 4, by rotating the pinion gear is possible to slide the bottom of the wall attached to the rack Adjust the height of the wall by adjusting the height of the vertically expandable component. Here, the pinion gear is rotated by the robot system (described later), which will be described later in detail.

On the other hand, there are various types of wall in order to perform a flexible function for a suitable purpose. In the embodiment of the present invention, as shown in FIG. 5, it is classified into four walls. Referring to FIG. 5, the left wall is classified into a basic wall and a wall with a door, a half glass wall, and an entire glass wall. In the case of the basic wall, the length is classified into two pieces of L and L + d, and all other types of wall have a length of L. The reason is that it is not used much when it is not a basic wall, so it can be used in all cases with only L-length unit. The upper and lower ends of each type of wall are made of rubber or flexible and airtight material.The upper part is fixed to the upper frame of the rail mounted on the ceiling and the lower part is tightly fixed to the floor to secure sound insulation, air tightness and fixability. .

Next, a description will be given of a rail system that is installed on the ceiling of the installation space 20 for the robot system for transporting the wall in accordance with an embodiment of the present invention to travel the installation space 20.

The rail system for driving the robotic system does not contain components fixed to the ceiling and moving. It is installed freely without any power source in the installation space 20. As shown in FIG. 6, the rail system provides a rail 200 for traveling of the robot system 100 for wall installation and dismantling while being a frame for wall installation. 6 illustrates a state in which the robot system 100 is lifted to transport the wall 300 by shortly adjusting the height of the wall 300.

Basically, the rail 200 is divided into a linear rail unit and a cross-shaped portion where the rail and the rail meet. First, in the case of a linear rail unit, it can be considered as a cross section. The most important issue in the design process of the rail 200 is to optimize the movement of the robot system 100.

First, the rail 200 must not completely divide the space because the robot system 100 must have access to the wall 300 located below the rail 200. The action that the robot system 100 fixes the wall 300 to the rail and the action that the robot system 100 moves on the rail 200 should be independent of each other. Therefore, the robot system 100 can freely approach the wall 300 through the center hole while the robot system 100 moves on the rail 200.

Referring to FIG. 6, the rail 200 takes the form of surrounding the robot system 100. In this case, the load is evenly distributed on the rail 200 so that the robot system 100 can freely access the wall 300. And the robot system 100 is to move along the track of the upper end of the rail 200, at this time is rolled using the wheel. This will be explained later.

7 is a view showing a cross-shaped portion of the connection portion of the rail in the wall system according to an embodiment of the present invention.

Referring to FIG. 7, the cross-shaped portion of the rail 200 corresponds to all connection portions of the rail 200. The robot system 100 should move without moving in the cross section, and there should be no gap with the wall installed for soundproof function.

To prevent the robot system 100 from being caught in the grooves of the intersecting rail portions when moving the cross-shaped portion of the rail 200, the wheels of the robot system 100 are made large enough or track wheels are used. In addition, the robot system 100 has two pairs of wheels to move regardless of this gap. This will be explained later.

The rail 200 is constructed of a metal material such as aluminum or light steel, or a synthetic material having a structural strength and fire resistance equivalent thereto and installed on a ceiling. Therefore, it cannot be separated from the ceiling and is attached to the ceiling during the initial installation process. Therefore, the rail 200 is bored at regular intervals in the side of the rail 200 in order to know the movement of the robot system 100 and the position of the robot system 100.

In addition, for the rail 200 and to make the robot system 100 accessible to the robot system 100 from the outside in the event that the robot system 100 fails or has a problem inside the rail 200, When the separated members are connected at regular intervals by connecting materials such as bolts and nuts, specific segments can be separated from the entire rail grid if necessary and then rejoined.

On the other hand, the rail 200 according to the embodiment of the present invention is installed in a grid form on the ceiling of the installation space 20 as shown in FIG. Referring to FIG. 13, it can be seen that the rails 200 are installed on the ceiling in a horizontal and vertical 3x3 grid form, and some of the rails 200 are already installed with the walls 300 by the robot system 100. . At this time, the space between the walls 300 is to insert another wall 300 in the form of a T or cross.

Next, the robot system 100 according to an embodiment of the present invention will be described in detail.

The robot system 100 according to the embodiment of the present invention should be able to move the wall 300 and fix it in the correct position. Therefore, the robot 100 has the highest weight and the most complicated system in the whole wall system.

8 is a view schematically showing the configuration of a robot system 100 according to an embodiment of the present invention.

As shown in FIG. 8, the robot system 100 according to the embodiment of the present invention includes wheels 110 and 111, a driving unit 120, a rotating screw 130 and 131, a screw plate 140, and a wall fixing part. 150, the body 160, the battery 170, the wireless communication device and the microcomputer 180, the position sensor 190, 191, 192, and the like, and the respective functions are tightly integrated with each other.

First, the wheels 110 and 111 and the driving unit 120 of the robot system 100 will be described.

The robotic system 100 has at least two pairs of wheels 110, 111 for safety. Only one pair of the wheels can be moved by the drive unit 120 composed of a motor and a gearbox in the manner of front wheel driving or rear wheel driving.

The two pairs of wheels all run straight and do not need to drive independently. If the robot system 100 has only one pair of wheels, it is difficult to properly cross the cross-crossing portion of the rail 200. Thus, one or more pairs of wheels are required to keep the robot system 100 from falling off the rail 200.

Therefore, in the embodiment of the present invention, the robot system 100 includes two pairs of wheels 110 and 111, two wheels on each side.

Next, a mechanism for fixing the wall 300 to the floor in the robot system 100 will be described.

The robotic system 100 has two functions associated with the wall 300. First, the robot system 100 moves the wall 300 and then fixes the wall 300 in the vertical direction between the rail 200 and the floor. This can be done by using a screw to drive the rack and pinion system. The rotating part approaches the upper part of the wall through the vertical movement and rotates to adjust the height of the wall. Therefore, the wall fixing part inside the robot system 100 should be able to perform two independent functions. First, the wall in the state that the height adjustment function of the screw plate 140 itself and the nut grooves of the wall is engaged with the rotating screw (130, 131) to reach the height adjustment nut grooves of the wall. There must be a rotation function to push or pull the vertically expandable vertically expandable component in the lower part.

Thus, two robots are required inside the robot system 100 for the rotating part to perform these two functions. One is a motor for rotating the rotating part 141 to adjust the height of the screw plate 140, as shown in Figure 9, the other is a motor for rotating the rotating screw (130, 131) .

Here, the reason why the two rotating screws 130 and 131 are two is that the stability is lowered when operating as one.

FIG. 10 is a perspective view of the robot system 100 shown in FIG. 8 viewed from below. In FIG. 10, since only two rotating screws 130 have the same structure, only one rotating screw 130 is illustrated.

Referring to FIG. 10, a hexagonal screw 135 is formed at the lower end of the rotating screw 130. Accordingly, the rotation screw 130 rotates the nut groove of the wall 300 by the rotational movement of the motor, thereby increasing the height of the vertically expandable component that is slidable at the bottom of the wall 300 through the rack and pinion method. By increasing the height of the wall 300, the wall 300 is fixed to the floor and the rail 200 is installed. On the contrary, when dismantling the wall 300, the rotation screw 130 is engaged with the nut groove of the wall 300 and then rotated in the opposite direction to rack the height of the vertically expandable component that can be slid in the lower end of the wall 300. And the pinion method to reduce the wall 300 to separate from the floor.

Next, the wall fixing portion 150 of the robot system 100 will be described.

11 is a view showing the structure of the upper end 310 of the wall 300 according to an embodiment of the present invention, Figure 12 is a wall fixing portion 150 of the robot system 100 according to an embodiment of the present invention It is a figure which shows the state couple | bonded with the upper end part 310 of the wall 300. As shown in FIG.

11 and 12, the wall fixing portion 150 of the robot system 100 has a lower end portion of the body 160 of the robot system 100 protruding outward from the lower end portion of the body system 160. It is configured to extend in parallel.

Between the end of the wall fixing portion 150 and the lower end of the body 160, a '-' shaped groove is formed so that a portion of the upper end 310 of the rail 200 and the wall 300 is inserted.

Referring to FIG. 12, the robot system 100 may adjust the height of the wall 300 by rotating the rotating screws 130 and 131 in a state in which the robot system 100 is coupled to the wall 300 through the wall fixing part 150. .

Next, the battery 170 of the robot system 100 will be described.

The robot system 100 includes a battery 170 in which electricity is charged, and the battery 170 may be charged by an external power source through the charging terminals 171 and 172.

Next, the robot system 100 includes a communication device for wireless communication with the outside and a microcomputer 180 which is a control means for overall control of the robot system 100. This configuration will be described later in detail.

Next, the robot system 100 includes position detection sensors 190, 191, and 192 for detecting its own position in the installation space 20 and the carrier space 30. The position monitoring sensor 190, 191, 192 will also be described in detail later.

Next, a mechanism in which the robot system 100 according to the embodiment of the present invention performs the switching of the rail 200 for traveling in the horizontal or vertical direction will be described.

FIG. 14 is a view schematically illustrating a rail system installed in an interior space to which a variable wall system according to an exemplary embodiment of the present invention is applied, and FIG. 15 is an enlarged perspective view of the robot carrier illustrated in FIG. 14.

Referring to FIG. 14, the robot system 100 uses a moving method using a carrier rail 400 installed in a carrier space 30 to change a vertical direction and a horizontal direction in a rail 100 in a grid form. . This is a separate rail system on which the robot system 100 can be mounted and is present in the carrier space 30 that is outside of the installation space 20.

The robot system 100 is moved in the horizontal direction and the vertical direction and the other rail 200 by the carrier rail 400, and the process is performed by using the power of the robot system 100.

The cartridge storage space 10 and the installation space 20 'L for moving the robot system 100 from the grid-shaped rail 200 in the installation space 20 for wall installation to the rails 200 in a specific row or column. It is provided with a robot carrier 410 capable of carrying a carrier rail 400 and a robot system 100 in the shape of a child and moving along the carrier rail 400.

When the robot system 100 moves from the rail 200 to the robot carrier 410 when a horizontal or vertical direction change is required on the rail 200 in the installation space 200, the robot carrier 410 is a robot system. After burning 100, the robot system 100 is moved to a rail 200 of a specific row or column.

Of course, the robot carrier 410 moves the robot system 100 to the cartridge 500 corresponding to the robot system 100 even when the robot system 100 intends to move to the cartridge 500 installed to accommodate the wall in the cartridge storage space 10. Can be moved to).

Meanwhile, referring to FIG. 15, the robot carrier 410 includes two pairs of wheels 420 on which the robot carrier 410 may travel along the carrier rail 400, and the robot system 100 is a robot. When mounted in the carrier 410, the robot carrier 410 may be moved by receiving power from the robot system 100 to drive two pairs of wheels. Of course, the robot system 100 may move to a desired position by controlling the driving of the robot carrier 410 through wired or wireless communication. The robot carrier 410 has a terminal capable of receiving power from the battery 170 through the charging terminals 171 and 172 of the robot system 100.

Next, the charging mechanism of the robot system 100 according to the embodiment of the present invention will be described.

Since the robot system 100 is driven using the rechargeable battery 170, a configuration capable of charging the battery 170 should be provided. To this end, referring to FIG. 16, one end of the cartridge 500 of the cartridge storage space 10 is provided with a charging station 600 capable of charging the battery 170 of the robot system 100.

The robot system 100 checks the remaining battery capacity of the battery 170 and when the battery capacity of a predetermined level or less is detected, the charging station 600 through the robot carrier 410 and the carrier rail 400. The battery 170 may be automatically charged by moving to.

Next, the position detection mechanism of the robot system 100 according to the embodiment of the present invention will be described.

FIG. 17 is a diagram illustrating a configuration of a position of the rail 200 illustrated in FIG. 13, and FIG. 18 is an enlarged view of the position detection sensor 190 of the robot system 100 illustrated in FIG. 8.

In order for the robot system 100 to accurately move to a predetermined position, a sensor for detecting the position is required for each position. This is because the robot system 100 should be able to detect the position itself. As such, the position sensing mechanism is required in both the cartridge storage space 10 and the installation space 20.

Referring to FIG. 17, a metal rod 210 that crosses the frame is installed at the center of each segment on which the wall is placed on the upper portion of the frame of the rail 200 installed on the ceiling of the installation space 20.

Referring to FIG. 18, the central portion of the main body of the robot system 100 includes a position sensing sensor 190 in the form of a vertical metal protrusion that can be flexibly tilted back and forth like an antenna, so that the protrusion 190 of the rail 200 is moved while driving. When contacted with the metal rod 210, the magnetic pole is detected by the robot system 100 through a change in electrical resistance or a mechanical on / off switch conversion mechanism, and the microcomputer 180 mounted on the robot system 100 is detected. ) Will recognize the location of the rail frame.

Next, a metal rod (not shown) that performs the same role as the metal rod 210 of the rail 200 is also installed in the cartridge 500 installed in the cartridge storage space 10, and the robot system is similarly installed. When the 100 enters the cartridge 500, the metal rod is recognized and stopped at the position.

Therefore, the metal rod indicating the position should be present for each cartridge 500 in the case of the cartridge storage space 10, and one for each segment on which the wall is placed in the case of the rail 200 of the installation space 20. . Through this position recognition mechanism, the robot system 100 can accurately perform the installation and dismantling of the wall.

Meanwhile, the position recognition mechanism as described above may also be applied to the robot carrier 410. For example, a metal rod (not shown) across the robot carrier 410 is installed at the center portion of the robot carrier 410, and the metal is passed when the robot system 100 passes through the robot carrier 410. When the protruding position detection sensor 190 of the robot system 100 touches the rod, the robot system 100 may stop at the center portion of the robot carrier 410 by detecting the position of the center portion of the robot carrier 410. Will be.

Next, a system structure for controlling an automated variable wall system according to an embodiment of the present invention will be described.

19 is a view showing the configuration of an automated variable wall system according to an embodiment of the present invention.

Referring to FIG. 19, an automated variable wall system according to an embodiment of the present invention includes an integrated controller 700 and a robot controller 800. Here, the integrated control unit 700 may exist independently of the robot control unit 800 and may be installed in any one of the cartridge receiving space 10, the installation space 20, or the carrier space 30.

The integrated control unit 700 includes an interface module 710, a database module 720, a wireless communication module 730, and a control server 740.

The interface module 710 provides a user interface for receiving input of a wall installation layout in the installation space 20 from a user or viewing existing or ongoing wall installation situations.

The database module 720 includes wall installation related information or current layout information from the robot system 100, new layout information input by the user, information about walls currently stored in the wall cartridge 500, and the rail 200. It stores necessary information such as location information of each segment based on rows and columns of the image.

The wireless communication module 730 exchanges information with the robot system 100 using a wireless communication technology such as Bluetooth, Zigbee, or Wi-Fi.

The control server 740 controls the interface module 710, the database module 720, and the wireless communication module 730 to manage the entire wall automation installation system including the robot system 100.

On the other hand, the robot controller 800 is RFID reader 810, position sensing module 820, driving module 830, driving control module 840, height adjustment module 850, rotation control module 860, data storage Module 870, wireless communication module 880, and control server 890. Here, the robot controller 800 may be considered to correspond to the microcomputer 180. In addition to the above-described configuration, the microcomputer 180 may further include a CPU, RAM, ROM, and input / output unit (I / O). Since such a configuration is well known, the description thereof is omitted here.

The RFID reader 810 identifies the wall cartridge 500 by reading an RFID tag attached to the wall cartridge 500. At this time, the information related to the RFID tag attached to the wall cartridge 500 is basically stored in the database module 720 of the integrated control unit 700, the data of the robot control unit 100 when operating the robot system 100 It is also stored in the storage module 870. Such information includes the position of the wall cartridge 500, for example, a serial number, and the type of the wall 300 that is stored when the wall is stored in the wall cartridge 500.

The position detection module 820 detects a position in the cartridge 500, a position in the robot carrier 410, and a position of the rail 200 through the position detection sensor 190.

The driving module 830 drives the wheels 110 and 111 using a motor on the rails 200 in the cartridge storage space 10 and the installation space 20, and the robot carrier 410 in the robot carrier 410. The wheels 420 are driven by driving a motor therein.

The driving control module 840 controls the driving of the robot system 100 by controlling the driving module 830 according to the position detected by the position detecting module 820.

The height adjustment module 850 lowers the two rotating screws 130 and 131 to the pinion heads of the wall 300 or vice versa to lift the rotated rotating screws 130 and 131 into the robot system 100. Adjust the height of the screw plate 140 for.

The rotation control module 860 detects a torque applied to the rotation screws 130 and 131 for fixing the floor of the wall 300 mounted on the robot system 100 to determine a time point when the rotation stops.

The data storage module 870 temporarily stores necessary information or information corresponding to a result of the work performed through the entire process of installing, dismantling, and storing the wall.

The wireless communication module 880 is responsible for exchanging necessary information with the control server 740 of the integrated control unit 700 through wireless communication based on Bluetooth, Zigbee, or Wi-Fi.

The control server 890 includes an RFID reader 810, a position sensing module 820, a driving module 830, a driving control module 840, a height adjusting module 850, a rotation adjusting module 860, and a data storage module ( 870 and the wireless communication module 880 to control the robot system 100 itself.

Next, the operation method of the installation and dismantling of the wall in the automated variable wall system according to an embodiment of the present invention will be described.

The design of the variable wall system according to the embodiment of the present invention follows the criteria of convenience and simplicity. If the wall system is complicated, it becomes inconvenient to use and inefficient, resulting in a design that is not preferred by the user.

First, when the user inputs the layout of the desired walls on the CAD through the integrated control unit 700, the robot control unit 800 is based on the most optimal wall installation process and path calculated in advance by the control of the integrated control unit 700. As a result, the entire wall layout configuration is completed by moving each wall one by one from the cartridge storage space 10 to the correct position of the installation space 20.

This process proceeds in the order of installing the wall forming the inner wall first. The installation process is divided into two steps. The robot system 100 is divided into a process of bringing a wall and an installation process, which will be described later in detail.

On the other hand, the order of dismantling the wall is the reverse of the order of installing the wall.

As described above, in order to perform the process of installing or dismantling the wall in the installation space 20, the robot system 100 performs three kinds of movements. First, the rail 200 travel using the wheels 110 and 111, second, the vertical movement of the screw plate 140, and third, the rotation of the rotary screw 130, 131. Each movement is performed by a separate motor and gearbox and can move independently. This is because the movement of the wheels 110 and 111, the vertical movement of the screw plate 140, and the rotation of the rotating screws 130 and 131 all occur on different axes.

Next, the optimal installation path design based on the layout input of the user for the automatic wall installation according to an embodiment of the present invention will be described.

As shown in FIG. 14, with respect to the rail 200 attached to the ceiling of the installation space 20 in the form of a grid, the rails 200 in the longitudinal direction and the vertical direction of the wall cartridge 500 are H1 and H2. ,… , Hn are numbered, and the rails 200 in the same direction as the major axis direction of the wall cartridge 500 are located at positions V1, V2,... Close to the wall cartridge 500. Are numbered Vm.

In addition, the cartridge 500 itself is also C1, C2,... It is numbered Ck.

The basic principle of wall installation is to install the walls in the grid of the rail 200 in order from the most extreme segment of the last row Hn in the row direction H1, ..., Hn to the most forward segment of the foremost row H1. In addition, in the grid of the rail 200, the walls are installed in order from the most end segment of the most end row Vm in the column direction V1, ..., Hm to the most forward segment V1.

In the example of Fig. 14, since the rows include H1, H2, and H3, and the columns include V1, V2, and V3, in the case of a row, walls are installed in order from the H3-3 segment to the H1-1 segment, and in the case of a column, V3. Walls are installed in order from -3 segment to V1-1 segment.

Similarly, the basic principle of wall dismantling is to move the walls in order from the foremost segment of the foremost row H1 in the row direction H1, ..., Hn to the most segment of the last row Hn in the grid of the rail 200. Dismantling and dismantling the walls in turn from the foremost segment of the foremost column V1 in the column direction V1,..., Hm to the farthest segment of the last column Vm in the grid of the rail 200. .

On the other hand, maintenance in the variable wall system according to an embodiment of the present invention includes detecting when the robot system 100 is broken while driving and reinstalling after repair. When the robot system 100 stops on any part of the rail 200, the robot system 100 transmits its position information wirelessly to the integrated control unit 700 together with an alarm sound from the robot system 100 itself, and the user may use the interface module. Recognized through 710 or directly to the position of the robot system 100 stopped through the portion of the lower portion of the ceiling mounting rail 200 is stopped.

When the position of the robot system 100 is confirmed, loosen the screws or bolts that fix the rail frame segment corresponding to the position to the ceiling, separate the segment from the rail 200, and collect the robot system 100 thereon. After fixing the failed part, the robot system 100 is again placed on the rail 200, and then maintenance is performed by reassembling the separated rail frame on the ceiling.

Hereinafter, a wall installation method according to an embodiment of the present invention with reference to the drawings.

20 is a flowchart of a wall installation method according to an embodiment of the present invention.

Referring to FIG. 20, in order to install a wall, a user first designates a layout in the installation space 20 to install a current wall and a type of a wall for each part through the interface module 710 (S100).

Based on the layout input by the user, the control server 740 of the integrated control module 700 compares the layout changed first with the current wall installation state and then determines walls to be left and walls to be newly installed. That is, the control server 740 determines whether the wall is installed in the installation space 20 (S110). If at least one wall exists, the control server 740 compares the current wall installation state with the layout input in step S100 (S120), and dismantles to install the wall according to the input layout. The walls to be determined are determined (S130). At this time, if there are walls to be dismantled between the walls to be dismantled on the same rail 200, the dismantlement of the walls or the walls is performed once again due to the blockage of the passage through which the robot system 100 passes. The plan will be in the direction of reinstallation.

Then, in order to dismantle the walls determined to be dismantled, the control server 740 first determines the dismantling order based on the basic principle of dismantling the walls to be dismantled (S140), and then controls the robot control unit 800. Wireless transmission to the server 890.

Therefore, the robot system 100 disassembles the walls to be dismantled according to a given order, and transfers the walls to the wall cartridge 500 (S150). 21 is a view showing a state where the wall is accommodated in the cartridge 500. At this time, the information on which wall is stored in which cartridge 500 is read by the RFID reader 810 mounted on the robot and then stored in the data storage unit 870 of the robot controller 800 itself. Wirelessly transmitted to the control server 740 of 700 and stored in the database module 720.

Thereafter, the control server 740 of the integrated control unit 700 is dismantled in the step (S150) and considering the walls remaining in the installation space 20, the wall to be installed again according to the layout input in the step (S110). Determining the installation order based on the basic principle of wall installation or if there is no wall installed in the installation space 20 in the step (S110) wall to be installed according to the layout input in the step (S110) After determining the installation order based on the basic principle on the wall installation (S160), and transmits them wirelessly to the control server 890 of the robot controller 800.

Therefore, the robot system 100 checks the cartridge number and the type of the walls in the cartridge storage space 10 through the RFID reader 810 in the cartridge storage space 10, and then transfers them to a predetermined installation position to perform the installation work. (S170). While the installation proceeds according to the given order, the control server 890 of the robot controller 800 stores information on which wall is installed at which position in the data storage module 870 of the robot controller 800 itself. Wirelessly transmitted to the integrated control unit 700 and stored in the database module 720. 22 is a view showing a state where a wall is installed in the installation space 20.

On the other hand, the wall dismantling method according to an embodiment of the present invention corresponds to the reverse order of the wall installation method, as an example, referring to Figure 23, the assumption that all the walls are installed in the installation space 20 to dismantle In the above may be composed of the steps (S130, S140, S150). That is, the walls installed in the installation space 20 to be dismantled are determined (S200), the dismantling order for dismantling the determined walls is determined (S210), and the robot system 100 disassembles the walls to be dismantled. Dismantled according to the given order is transported to the wall cartridge 500 and received (S220). At this time, the information on which wall is stored in which cartridge 500 is read by the RFID reader 810 mounted on the robot and then stored in the data storage unit 870 of the robot controller 800 itself. Wirelessly transmitted to the control server 740 of 700 and stored in the database module 720.

Hereinafter, the wall installation process in the above-described step (S170) will be described in more detail.

24 is a flowchart of a wall installation process according to an embodiment of the present invention.

Referring to FIG. 24, first, the robot system 100 enters the robot carrier 410 under the control of the integrated controller 700, and then drives a carrier traveling along the rail 400 on the robot carrier 410. By operating the motor (S171), the cartridges 500 in the cartridge storage space 10 and the walls stored on each cartridge 500 are scanned while scanning (S172) through the RFID reader 810. After stopping in front of the cartridge 500 enters the cartridge 500 (S173).

Next, when the robot system 100 engages the rotating screws 130 and 131 with the pinion heads on both sides of the wall, the robot system 100 reduces the height of the wall reaching the floor, and lifts the wall to form the wall hanging on the robot (S174). ).

Thereafter, after the robot system 100 enters the robot carrier 410 again with the wall suspended (S175), the robot system 100 controls the robot carrier 410 to move to the entrance of the installation space 20 where the installation position is located. (S176). At this time, the position corresponding to the inlet of each rail 200 is the position detection module 820 of the robot carrier 410 rail 400 through the position detection sensor 190 of the metal projection shape attached to the robot system 100 The magnetic pole touching the horizontal metal rod installed in the corresponding position is detected and discriminated. Thereafter, when complete alignment is made between the entrance of the rail 200 and the robot carrier 410, the robot system 100 moves to the installation position on the rail 200 (S177).

Next, when the robot system 100 reaches a position where a specific wall is to be installed, the height adjusting module 850 operates a motor that drives the screw plate 140 inside the robot system 100 to both ends of the wall being bited. Lower the rotating screws 130 and 131 to the nuts corresponding to the heads of the existing pinions so that the ends of the rotating screws 130 and 131 engage with the nuts of the pinions in the wall. 860 rotates the rotary screw (130, 131) to push the extra wall frame concealed inward in the sliding form at the bottom of the wall toward the floor while firmly fixing the wall between the floor and the ceiling rail frame (S178). At this time, the rotation control module 860 is to determine the fixing time of the wall by stopping the rotation when a predetermined torque or more in accordance with the torque sensing mechanism mounted on each of the rotating screw (130, 131).

Subsequently, the robot system 100 repeatedly performs the operations of steps S171 to S178 to install all the walls in the installation space 20 according to the layout input in the step S100.

Since the disassembly process (S150) of the wall corresponds to the reverse order of the above-described installation process (S170), a person of ordinary skill in the art will readily understand when referring to the above description, and thus a detailed description thereof will be omitted.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

Claims (22)

Wheels for traveling on rails;
A position detection sensor for detecting a position;
A rotating screw for adjusting the height of the wall used for dividing the interior space, where the wall has a structure that can be height-adjusted in a rack and pinion manner;
A screw plate having the rotating screw installed therein and adjusting a height of the rotating screw;
A motor for driving the wheel, the rotating screw and the screw plate, respectively; And
By control from an external server via wireless communication, the wheel, the position sensor, the rotating screw and the screw plate are controlled to lift the wall to the installation position to install the wall, and also to lift the installed wall Control unit for disassembling to move to the cartridge storage space for storing the wall to accommodate the wall
Robot system comprising a. The method of claim 1,
The wheel system is a robot system, characterized in that the two wheels are formed in two pairs for traveling of the rail is installed in a grid form on the ceiling of the installation space where the wall is installed. 3. The method of claim 2,
The position sensor detects the position of the rail by contacting a metal rod indicating the position of the rail when the robot system travels. 3. The method of claim 2,
The robot system is located between the cartridge receiving space and the installation space robot system, characterized in that for controlling the drive of the robot carrier for guiding the robot system to the entrance of the cartridge storage space or the entrance of the installation space. The method of claim 1,
The control unit,
An RFID reader for reading RFID tags respectively attached to wall cartridges of the cartridge storage space;
A position sensing module for determining a position of the robot system through the position sensing sensor;
A driving control module controlling the driving of the wheel;
A height adjustment module for adjusting the height of the screw plate;
Rotation control module for adjusting the rotation of the rotating screw; And
Control server for controlling the robot system by controlling the RFID reader, the position sensing module, the driving control module, the height adjustment module and the rotation control module.
Robot system comprising a. A plurality of walls used to divide the interior space;
A cartridge storage space in which a plurality of cartridges for storing the walls are installed, respectively;
A space for installing the wall, and an installation space in which a rail of a grid shape is installed on a ceiling;
A robot system that travels through a rail and picks up a wall stored in the cartridge storage space and installs it in the installation space, and lifts and disassembles a wall installed in the installation space and stores it in the cartridge of the cartridge storage space;
Located between the cartridge receiving space and the installation space, a carrier rail and a robot carrier for moving by the control of the robot system to move the robot system to the entry position of the cartridge storage space and the entry position of the installation space An installed carrier space; And
Determine the installation order for installing the wall in the installation space according to the layout based on the wall information stored in the cartridge storage space and the wall installation state of the installation space received from the user by inputting the layout in which the wall is installed; or An external server that determines the dismantling order for dismantling the wall installed in the installation space and transmits it through wireless communication with the robot system to perform wall installation and dismantling through the robot system.
Variable wall system comprising a. The method according to claim 6,
And wherein the plurality of walls comprises a wall having a base length and a wall having a length longer than the base length by a thickness length of the wall. The method according to claim 6,
Each of the plurality of walls has a structure capable of height adjustment in a rack and pinion manner, the height of the variable wall system is controlled by the control of the robot system. 9. The method of claim 8,
The robot system is a variable wall system, characterized in that the upper wall is supported on the rail of the installation space by coupling the wall to the lower end to adjust the height to lift the wall or install it on the floor. The method according to claim 6,
The robot system,
Wheels for driving the rails;
A position detection sensor for detecting a position;
Rotating screw for adjusting the height of the wall;
A screw plate having the rotating screw installed therein and adjusting a height of the rotating screw;
A motor for driving the wheel, the rotating screw and the screw plate, respectively; And
By controlling from the external server via wireless communication, the wheel, the position sensor, the rotating screw and the screw plate are controlled to lift the wall and move to the installation space to install the wall. A control unit which lifts and disassembles the wall to move to the cartridge storage space and controls the operation of storing the wall in the cartridge.
Variable wall system comprising a. 11. The method of claim 10,
Metal rods are respectively provided at the centers of the segments of the rails in the grid form of the installation space, and the metal rods are contacted by the position monitoring sensor while the robot system is running on the rails so that the positions of the segments of the rails are adjusted. Variable wall system, characterized in that it is identified. 11. The method of claim 10,
A metal rod is provided at each of the cartridge center of the cartridge storage space and the center of the robot carrier, and the metal rod is contacted by the position monitoring sensor when the robot system enters the cartridge or the robot carrier. A variable wall system, characterized in that the position of the cartridge center or the position of the robot carrier center. The method according to claim 6,
Variable wall system, characterized in that the charging station for charging the power of the robot system is installed at one end of the cartridge in the cartridge storage space. The method according to claim 6,
The robot carrier has a wheel for driving the carrier rail, the variable wall system, characterized in that driven by the power supplied from the robot system when entering the robot system. The method according to claim 6,
The external server comprises:
An interface module for providing a user interface for receiving an input of an installation layout of a wall to be installed in the installation space or viewing an existing or ongoing wall installation situation from a user;
A database module for storing wall installation information or current layout information from the robot system, new layout information input by the user, information on walls currently stored in the cartridge storage space, and location information of each segment of the rail;
A wireless communication module performing wireless communication with the robot system; And
A control module that controls the interface module, the database module, and the wireless communication module to control the entire variable wall system including the robot system.
Variable wall system comprising a. A variable wall system according to claim 6, wherein the wall is installed in the installation space.
Receiving, by the external server, a layout for installing a wall;
Determining whether the external server has a wall already installed in the installation space;
If it is determined that there is a wall already installed in the installation space, the external server determines a wall to be disassembled by comparing with the layout;
The external server controlling the robot system to dismantle the wall identified above; And
After disassembling all of the determined walls or determining that there are no walls already installed in the installation space, the external server controls the robot system to install the walls in the installation space according to the layout.
Wall installation method comprising a. 17. The method of claim 16,
Installing the wall,
The robot system is housed by a robot carrier, wherein the robot carrier is located between the cartridge storage space and the installation space to guide the robot system to the entrance of the cartridge storage space or to the entrance of the installation space. Entering the cartridge;
Lifting the robot system by reducing the height of the wall;
Moving the robot system to the rail inlet of the installation space where a wall is to be installed using the robot carrier;
Moving, by the robot system, a rail of the installation space to a segment of a rail to install a wall; And
The robot system increases the height of the wall to install the wall between the floor and the rail
Wall installation method comprising a. 18. The method of claim 17,
The rail segments of the installation space are formed in the form of a grid consisting of a plurality of rows and a plurality of columns, and the robot system checks the position of the rail segments by serial numbers of rows and columns and installs a wall. How to install. 18. The method of claim 17,
In the step of lifting and lowering the height of the wall and installing the wall between the floor and the rail by increasing the height of the wall, the robot system rotates the rotating screw installed in the rack and the pinion installed on the wall. Wall mounting method characterized in that the height of the wall is adjusted through the gear structure of the method. A variable wall system according to claim 6, wherein the wall is installed in the installation space.
Identifying a state of a wall installed in the installation space;
Determining a wall disassembly order based on the state of the wall identified; And
Controlling the robot system by the external server to dismantle the wall installed in the installation space according to the wall dismantling order and to store the wall in the cartridge storage space;
Wall dismantling method comprising a. 21. The method of claim 20,
Storing in the cartridge storage space,
The wall is to be dismantled using the robot carrier, wherein the robot carrier is located between the cartridge storage space and the installation space to guide the robot system to the entrance of the cartridge storage space or the entrance of the installation space. Moving to a rail inlet of the installation space;
Moving, by the robot system, a rail of the installation space to a segment of a rail to dismantle the wall;
Lifting the robot system by reducing the height of the wall;
Driving the rails into the robot carrier while the robot system lifts a wall;
The robot system using the robot carrier to enter a cartridge to receive a wall; And
Storing the wall in the cartridge by the robot system increasing the height of the wall
Wall dismantling method comprising a. 22. The method of claim 21,
In the step of lifting and lowering the height of the wall and storing the wall in the cartridge by increasing the height of the wall, the robot system rotates the rotating screw installed in the rack and the pinion type of the wall. Wall dismantling method characterized in that by adjusting the height of the wall through the gear structure.

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