KR102185612B1 - Automatic sweeping robot for warehouse based on qr code - Google Patents

Abstract

The present invention relates to an unmanned cleaning robot for a QR code-based warehouse. The unmanned cleaning robot comprises: a main body; a QR code recognition device mounted in the main body and recognizing a QR code installed on a floor of a warehouse; a driving unit moving the main body in accordance with driving information having recognition information of the QR code recognition device; and a warehouse cleaning device installed in the main body and cleaning the warehouse. The unmanned cleaning robot can guarantee quick and continuous logistics work.

Description

QR code-based unmanned cleaning robot for warehouse {AUTOMATIC SWEEPING ROBOT FOR WAREHOUSE BASED ON QR CODE}

The present invention is a QR code-based unmanned cleaning robot for warehouses, more specifically, a QR code-based warehouse that allows an unmanned transport vehicle to continue to perform logistics work while cleaning the distribution warehouse, thereby ensuring the speed and continuity of the logistics work. It relates to a robot for unmanned cleaning.

Recently, an unmanned transport vehicle has been introduced into the logistics system, and logistics are automatically transported without direct human intervention. In other words, unmanned vehicles are blowing a wind of change in the logistics field. Reflecting this trend, logistics automation using unmanned vehicles is spreading like a fashion abroad, mainly in the US and China, and logistics innovation using unmanned vehicles is being sought mainly in the online distribution center in Korea.

Meanwhile, in order to transport the logistics while the unmanned transport vehicle automatically runs in the distribution warehouse, the unmanned transport vehicle recognizes a QR code installed on the floor (refer to Korean Patent Registration No. 10-1968217).

Under such a QR code recognition method, if the floor is dirty due to the accumulation of dust on the floor, the QR code recognition rate of the unmanned transport vehicle decreases, and as a result, it may cause a lot of obstacles to the logistics operation using the unmanned transport vehicle.

In addition, when the unmanned transport vehicle stops the logistics operation to clean the logistics warehouse, there is a problem that the speed and continuity of the logistics operation are poor.

In order to solve this problem, there is a need for a QR code-based unmanned cleaning robot for warehouses that guarantees the speed and continuity of the logistics operation by allowing the unmanned transport vehicle to continue to perform the logistics operation while cleaning the distribution warehouse.

The problem to be solved by the present invention is that the unmanned cleaning robot performs floor cleaning while recognizing the QR code for the unmanned transport vehicle, and uses the identification information of the QR code, the driving information received through communication with the unmanned transport vehicle and the warehouse management server. Therefore, it is to provide a QR code-based unmanned cleaning robot for warehouses that cleans the floor without interfering with the logistics work of unmanned vehicles.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

A QR code-based unmanned cleaning robot for a warehouse according to an embodiment of the present invention for solving the above problem is a QR code recognition device that is mounted on the main body and the main body and recognizes a QR code installed on the floor of the warehouse, and QR code recognition And a driving unit for moving the main body according to driving information including recognition information of the device, and a warehouse cleaning device installed in the main body and cleaning the warehouse.

According to the present invention, it is possible to provide an unmanned cleaning robot for a warehouse based on a QR code that guarantees the speed and continuity of the logistics operation by allowing the unmanned transport vehicle to continue to perform the logistics operation while cleaning the distribution warehouse.

1 is a simplified perspective view of an unmanned cleaning robot for a warehouse based on a QR code according to an embodiment of the present invention.
2 is a simplified cross-sectional view of a QR code-based unmanned cleaning robot for a warehouse according to an embodiment of the present invention.
3 is a view showing a dust bin and an empty sensor constituting an unmanned cleaning robot for a warehouse based on a QR code according to an embodiment of the present invention.
4 is a view comparing the height of the unmanned cleaning robot for a warehouse based on a QR code according to an embodiment of the present invention and the height of the lower portion of the storage box for the unmanned transport vehicle.
5 is a view showing the floor of the warehouse in which the QR code is installed.
6 is a diagram showing communication between a QR code-based unmanned cleaning robot for a warehouse, an unmanned transport vehicle, and a warehouse management server according to an embodiment of the present invention.

The present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, only these embodiments are intended to complete the disclosure of the present invention, and those skilled in the art to which the present invention pertains. It is provided to fully inform the person of the scope of the invention.

In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used herein, “comprises” and/or “comprising” do not exclude the presence or addition of one or more other elements, steps, and actions to the mentioned elements, steps, and actions.

1 to 6, a QR code-based unmanned cleaning robot for a warehouse according to an embodiment of the present invention will be described. 1 is a simplified perspective view of an unmanned cleaning robot for a warehouse based on a QR code according to an embodiment of the present invention. 2 is a simplified cross-sectional view of a QR code-based unmanned cleaning robot for a warehouse according to an embodiment of the present invention. 3 is a view showing a dust bin and an empty sensor constituting an unmanned cleaning robot for a warehouse based on a QR code according to an embodiment of the present invention. 4 is a view comparing the height of the unmanned cleaning robot for a warehouse based on a QR code according to an embodiment of the present invention and the height of the lower portion of the storage box for the unmanned transport vehicle.

5 is a view showing the floor of the warehouse in which the QR code is installed. 6 is a diagram showing communication between a QR code-based unmanned cleaning robot for a warehouse, an unmanned transport vehicle, and a warehouse management server according to an embodiment of the present invention.

1 to 6, the QR code-based unmanned cleaning robot 100 for a warehouse according to an embodiment of the present invention is an unmanned cleaning robot 100 that cleans the floor 120 of a warehouse such as a distribution warehouse. I can.

This unmanned cleaning robot 100 includes a main body 10, a QR code recognition device 70, a driving unit 50, a warehouse cleaning device, a communication unit 30, a control unit 60, and an obstacle detection sensor 20. It may include.

The main body 10 is a body of the unmanned cleaning robot 100 and various configurations to be described later may be installed.

The body 10 may have a cylindrical shape having a predetermined height, but is not limited thereto and may have any number of various shapes.

In addition, as shown in FIG. 4, the sum of the height L of the main body 10 and the height of the driving unit 50 may be lower than the height H of the lower empty space of the unmanned transport vehicle storage box 130. have.

In particular, the length of the sum of the height L of the main body 10 and the height of the driving unit 50, that is, the total height of the unmanned cleaning robot, is the height of the lower empty space of the unmanned transport vehicle storage box 130 used in the warehouse ( Can be lower than H).

Accordingly, the unmanned cleaning robot 100 can easily enter the lower portion of the storage box 130 located in the warehouse to clean the floor 120. That is, since the floor 120 can be cleaned without removing the storage box 130, the unmanned transportation vehicle 140 can continue to perform the logistics operation even during cleaning.

On the other hand, an automated guided vehicle (AGV) 140 is a transport vehicle that transports goods while autonomously moving within a distribution warehouse, and includes an unmanned transport robot and an unmanned forklift.

This unmanned transport vehicle 140 may drive while recognizing the QR code 110 installed on the floor 120 of the distribution warehouse, and at the same time serve to move the object to a predetermined place.

The QR code recognition device 70 is mounted on the main body 10 and is a device that recognizes the QR code 110 installed on the floor 120 of the warehouse.

The unmanned cleaning robot 100 cleans the floor 120 while driving the warehouse by itself, not by the operator's driving. For this purpose, the unmanned cleaning robot 100 recognizes the QR code 110 installed on the floor 120 of the warehouse. A QR code recognition device 70 may be provided.

That is, the QR code recognition device 70 may guide the driving path of the unmanned cleaning robot 100 while recognizing the QR code 110 installed on the floor 120.

Such a QR code recognition device 70 may be installed under the main body 10, but is not limited thereto. If the QR code 110 of the floor 120 can be recognized, the QR code recognition device 70 may be installed at any position in the main body 10. I can.

The driving unit 50 is a unit that moves the main body 10 according to driving information including recognition information of the QR code recognition device 70.

Here, the driving information may include recognition information of the QR code recognition device 70, location information provided by the unmanned transport vehicle 140, and location information of the unmanned transport vehicle 140 provided by the warehouse management server 150. have.

The driving unit 50 may be installed under the body 10, and wheels, caterpillars, and the like may be applied. However, the installation location and type of the driving unit 50 may be various.

On the other hand, the warehouse management server 150 is a server that manages the logistics work of the unmanned transport vehicle 140 and the cleaning work of the unmanned cleaning robot 100, the existing warehouse management system (WMS; Warehouse Management System) or AGV operating system ( It may be a server applied to RCS (Robot Control System).

In other words, it is not necessary to build a separate system for the operation of the unmanned cleaning robot 100 of the present invention, and a conventional distribution system can be used, and the unmanned cleaning robot 100 of the present invention can be easily applied to the existing distribution system. .

The warehouse cleaning device is installed in the main body 10 and is a device for cleaning the warehouse, especially the floor 120.

The unmanned cleaning robot 100 according to the present invention runs in the warehouse while recognizing the QR code 110 of the floor 120 through the QR code recognition device 70, and in this driving process, the warehouse cleaning device The floor 120 can be cleaned.

Therefore, it is possible to clean the floor 120 while the unmanned transport vehicle 140 is transporting goods in the distribution warehouse, and the logistics operation and cleaning operation can be performed simultaneously, thereby ensuring the speed and continuity of the logistics operation. have.

On the other hand, conventionally, in order to clean the distribution warehouse, the distribution operation was stopped and the operator or a cleaning robot had to clean the warehouse, so the distribution operation had to be stopped.

Such a warehouse cleaning device may include a dry cleaning device, a wet cleaning device, and a combination of dry and wet types.

2 is a view showing a form of a warehouse cleaning device, a dry cleaning device is disclosed.

Such a warehouse cleaning apparatus may include a brush 90, a suction motor (not shown), a suction passage 80, and a dust bin 40. The floor 120 is swept through the brush 90 so that the dust (D) enters the suction passage (80), and the suction motor can suck the dust (D) entering the suction passage (80) into the dust bin (40). have.

The dust bin 40 may be detachable, and accordingly, when used, it may be mounted on the main body 10, and when dust accumulates in the dust bin 40 and empty the dust bin 40, it may be separated from the main body 10 .

In the case of the present invention, the warehouse cleaning apparatus may further include an emptying sensor in order to determine when to empty the dust bin 40.

The emptying sensor is a sensor that checks whether the amount of dust accommodated in the dust bin 40 is greater than or equal to a reference value.

As a form of such an emptying sensor, the emptying sensor may include a light-emitting part 85 and a light-receiving part 87, which correspond to each other and may be installed while facing the outside of the dust bin 40.

While the unmanned cleaning robot 100 performs cleaning, the inflowed dust accumulates in the dust bin 40, and later fills up to the position of the emptying sensor. Accordingly, since the light emitted from the light-emitting unit 85 is not transmitted to the light-receiving unit 87, a phenomenon in which the reception sensitivity is rapidly lowered occurs, and the timing of emptying of the dust container 40 can be determined.

However, the form and operation method of the emptying sensor may vary, and are not limited to the above-described form and operation method.

After the emptying sensor detects the emptying point of the dust bin 40, it can transmit this point to the communication unit 30 to be described later, and the communication unit 30 receives the point that the amount of dust is higher than the reference value from the emptying sensor. It can be provided to the management server 150.

After that, the warehouse management server 150 may instruct the worker to empty the dust bin 40.

Alternatively, the evacuation sensor may communicate this point to the driving unit 50 after determining the emptying point of the dust bin 40, and the driving unit 50 operates when receiving a point that the amount of dust is higher than the reference value from the emptying sensor. Can be stopped.

At the same time, a notification device may be installed in the main body 10, and when the unmanned cleaning robot 100 stops when the dust bin 40 is empty, the notification device may notify the worker with light or sound.

The communication unit 30 is installed in the main body 10 and is a unit that receives and transmits various types of information while communicating with the outside.

First, the communication unit 30 may receive the location information of the unmanned transport vehicle 140 carrying the object.

By receiving the location information of the unmanned transport vehicle 140 by the communication unit 30, it is possible to grasp at which point the unmanned transport vehicle 140 performs the work, and the driving unit 50 of the unmanned cleaning robot 100 In consideration of the recognition information provided by the QR code recognition device 70 and the location information provided by the communication unit 30, the main body 10 may be moved.

That is, the unmanned cleaning robot 100 can perform the cleaning operation without interfering with the logistics work of the unmanned transport vehicle 140 through the location information of the unmanned transport vehicle 140 provided by the communication unit 30.

On the other hand, as shown in Figure 6, the communication unit 30 can receive the location information of the unmanned transport vehicle 140 while directly communicating with the unmanned transport vehicle 140 (Fig. 6A).

Alternatively, first, the unmanned transport vehicle 140 provides its location information to the warehouse management server 150 (FIG. 6C), and then the warehouse management server 150 stores the location information of the unmanned transport vehicle 140. It can be provided to the communication unit 30 (FIG. 6B).

The control unit 60 is installed in the main body 10 and is a unit that controls the overall matters of the unmanned cleaning robot 100.

Particularly, the control unit 60 may set the cleaning work path in consideration of the work plan after receiving the work plan of the unmanned transport vehicle 140 carrying the object from the communication unit 30.

In the case of the present invention, it is intended that the unmanned transport vehicle 140 can perform a cleaning operation for the warehouse while continuing the logistics operation. The control unit 60 obtains the work plan of the unmanned transport vehicle 140 from the warehouse management server 150 through the communication unit 30, and establishes a cleaning work path that does not interfere with the operation of the unmanned transport vehicle 140. Can be set.

The obstacle detection sensor 20 is installed on the main body 10 and is a sensor that detects an obstacle in the warehouse so that the unmanned cleaning robot 100 can avoid the obstacle.

In particular, the obstacle detection sensor 20 can detect the unmanned transport vehicle 140 that transports objects, and through this, the unmanned cleaning robot 100 does not interfere with the operation of the unmanned transport vehicle 140 and is Cleaning can be performed without being disturbed by the transport vehicle 140.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those of ordinary skill in the art to which the present invention pertains can be implemented in other specific forms without changing the technical spirit or essential features. You can understand. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting.

10: main body 20: obstacle detection sensor
30: communication unit 40: dust bin
50: driving unit 60: control unit
70: QR code recognition device 80: suction passage
85: light emitting unit 87: light receiving unit
90: brush 100: unmanned cleaning robot
110: QR code 120: floor
130: storage box 140: unmanned transport vehicle
150: warehouse management server

Claims (8)

main body;
A QR code recognition device mounted on the main body and configured to recognize a QR code installed on the floor of the warehouse;
A driving unit for moving the main body according to driving information including identification information of the QR code recognition device; And
It is installed in the main body and includes a warehouse cleaning device for cleaning the warehouse,
A communication unit installed in the main body and communicating with the outside; And
Further comprising a notification device installed in the main body,
The warehouse cleaning device,
Dust bin; And
It includes an emptying sensor to check whether the amount of dust accommodated in the dust bin is more than a reference value,
When the communication unit receives a point that the amount of dust is greater than or equal to the reference value from the emptying sensor, the communication unit provides it to the warehouse management server, and the warehouse management server instructs the worker to empty the dust bin,
When the driving unit receives that the amount of dust is greater than or equal to the reference value from the emptying sensor, the operation stops, and when the operation stops, the notification device notifies the operator that it is time to empty the dust bin,
The emptying sensor includes a light-emitting part and a light-receiving part, and the light-emitting part and the light-receiving part correspond to each other and are installed facing the outside of the dust bin,
When dust in the dust bin accumulates and fills up to the position of the emptying sensor, the light emitted from the light-emitting part is not transmitted to the light-receiving part, so the reception sensitivity is rapidly lowered. The QR code-based unmanned cleaning robot for warehouses. The method of claim 1,
It is installed in the main body, further comprising a communication unit for receiving the location information of the unmanned transport vehicle,
The driving unit is a QR code-based unmanned cleaning robot for a warehouse that moves the main body in consideration of the recognition information and location information. The method of claim 2,
The communication unit is a QR code-based unmanned cleaning robot for a warehouse that receives the location information from the unmanned transport vehicle. The method of claim 2,
The communication unit is a QR code-based unmanned cleaning robot for a warehouse that receives the location information from the warehouse management server. The method of claim 1,
A communication unit installed in the main body and communicating with the outside; And
After receiving the work plan of the unmanned transport vehicle that transports the goods from the communication unit, QR code-based unmanned cleaning robot for a warehouse further comprising a control unit for setting a cleaning work path in consideration of the work plan. delete delete The method of claim 1,
The overall height is lower than the height of the empty space under the storage box for the unmanned transport vehicle being used in the warehouse, QR code-based unmanned cleaning robot for a warehouse.

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