KR102631530B1 - Apparatus for managing robot and control method thereof - Google Patents

Abstract

The present invention relates to a robot management device, which detects temperature, humidity, and dust around a robot and in a resting space where the robot waits, and around the robot at work or when the robot is installed and working or moving. A sensor unit that detects obstacles approaching inside the frame; a robot driving unit that moves the robot along the traveling axis of the frame or controls joint angles; an end effector driving unit that drives an end effector attached to the robot; and a control unit that controls the robot driving unit and the end effector driving unit based on information detected through the sensor unit to make the robot work or wait in the rest space.

Description

Robot management device and its control method {APPARATUS FOR MANAGING ROBOT AND CONTROL METHOD THEREOF}

The present invention relates to a robot management device and a control method thereof, and more specifically, to control the operation of a robot for automatically charging an electric vehicle, to manage the robot to maintain its state stably, and to control the robot and external pedestrians. It relates to a robot management device and its control method that warns to prevent accidents with objects.

Recently, the demand for more eco-friendly vehicles has increased due to global warming and depletion of fossil fuels, and accordingly, automobile manufacturers in each country are developing a quieter driving environment while not emitting air pollutants such as _CO2 during driving. The company also develops and produces electric vehicles that are economically advantageous.

The electric vehicle refers to a vehicle that uses a battery and an electric motor.

At this time, the charging method between the electric vehicle (EV) and EVSE (Electric Vehicle Supply Equipment) can be largely divided into a charging method using AC (Alternating Current) and a charging method using DC (Directing Current).

For example, the charging method using AC is a method of charging using a generator or commercial AC power (e.g. 220VAC), and the charging method using DC is a method of charging by converting to AC power using a DC/AC converter.

To charge the electric vehicle, the charging cable (or plug) of the EVSE (i.e., electric vehicle charging facility) is connected (or fastened) to the charging port (or charging gun inlet) of the electric vehicle (electric vehicle) in the form of a charging gun.

However, because the EVSE (i.e., electric vehicle charging facility) uses high-voltage (or ultra-high-voltage) electricity, there is always a risk of electric leakage. For example, if it is raining (or snowing) or water (e.g. snow, rain, dew, etc.) is falling or spraying water (e.g. snow, rain, dew, etc.) while charging the electric vehicle and the user has to hold (or touch) the charging connector (or charging gun), the user may be at risk of electrical leakage. There is a problem with the safety of the device.

Accordingly, research into charging electric vehicles using robots is actively underway.

The background technology of the present invention is disclosed in Republic of Korea Patent No. 10-1860797 (registered on May 17, 2018, auto handle device).

The background technology is a method in which an automatic handle device catches charging guns mounted on a plurality of kiosks installed at an electric vehicle charging station and inserts (fastens) the charging guns into the inlets of electric vehicles parked in front of each kiosk to charge the electric vehicles. However, in the above background technology, because the traveling axis for moving the robot is installed on the floor, there is a safety problem in that the user cannot pass through the robot's movement area or work area, and due to backlash of the transfer part during robot work, There is a problem that the position of the robot may be distorted.

Therefore, even while the electric vehicle is being charged by the robot, users can pass safely in other areas (i.e., areas where charging is not being performed directly) and the robot can be safely protected from the risk of electric leakage. In addition, there is a need for a device that can stably maintain and manage the state of the robot even when the robot is not performing charging tasks.

According to one aspect of the present invention, the present invention was created to solve the above problems, and controls the operation of a robot for automatically charging an electric vehicle, manages the robot to maintain its state stably, and further The purpose is to provide a robot management device and a control method that warns to prevent accidents between the robot and external pedestrians or objects.

A robot management device according to an aspect of the present invention detects temperature, humidity, and dust around a robot and in a resting space where the robot is waiting, and around the robot while working or when the robot is installed and working. A sensor unit that detects obstacles approaching inside the moving frame; a robot driving unit that moves the robot along the traveling axis of the frame or controls joint angles; an end effector driving unit that drives an end effector attached to the robot; and a control unit that controls the robot driving unit and the end effector driving unit based on information detected through the sensor unit to make the robot work or wait in the rest space.

In the present invention, when the robot is equipped with a plurality of end effectors performing different functions, the end effector driver selects and drives one of the plurality of end effectors, or operates the plurality of end effectors simultaneously. It is characterized in that all are driven.

In the present invention, it further includes a resting space management unit for managing the resting space, wherein the resting space management unit includes an air conditioning unit that adjusts the temperature and humidity inside the resting space to be optimized for the robot. A cleaner who removes dust or foreign substances attached to the robot entering the resting space; An inspection unit that tests and checks the actuator operation of the robot; and an end effector mounting unit that changes or replaces the type of end effector attached or mounted on the robot. It is characterized by including at least one of.

In the present invention, when the robot is moved along the driving axis, when an error occurs as a result of testing and inspecting the actuator operation of the robot and repair is required, when an obstacle approaches while working using the robot, and It may further include an alarm output unit that outputs an alarm in at least one of the cases where a risk of electric leakage occurs during work using the robot.

In the present invention, the robot is mounted to move along a traveling axis formed on the upper part of the frame, and is characterized by an end effector attached or mounted that performs at least one function in place of a human hand.

In the present invention, when the robot enters the resting space, the control unit performs cleaning of the robot, tests and checks the actuator operation of the robot, and detects an abnormality as a result of testing and checking the actuator operation. If there is none, the robot is kept in a standby state in the resting space, and if the actuator operation is tested and checked and is not normal, an alarm is output and a robot repair request message is output to the designated manager.

In the present invention, when the robot is in a standby state in a resting space and the entry of an electric vehicle into the frame is detected, the control unit recognizes electric vehicle information for engaging the charging gun of the electric vehicle through the sensor unit. , mount or change the corresponding end effector based on the recognized electric vehicle information, move the robot to a charging position based on the recognized electric vehicle information, and when the robot moves to a charging position, the end effector After controlling to open the charging port cover, charging is performed by fastening the end effector to the charging port of the electric vehicle.

In the present invention, the control unit refers to a database (DB) storing the charging port location, shape, and charging port opening method for each vehicle type in order to recognize electric vehicle information for fastening the charging gun of the electric vehicle, and refers to the inside of the frame. It is characterized by recognizing the location, shape, and charging port opening method corresponding to the type of electric vehicle entered.

In the present invention, when the controller is in a state of charging an electric vehicle using the robot, if moisture is generated around the end effector of the robot or the charging port of the electric car or a risk of electric leakage occurs, an alarm is generated. In addition to the output box, it is characterized by driving an end effector with a moisture removal function among the end effectors mounted on the robot.

In the present invention, when charging of the electric vehicle using the robot is completed or stopped, the control unit separates or detaches the end effector fastened to the electric vehicle charging port, and uses the end effector to cover the charging port of the electric vehicle. After closing, the robot is moved to a resting space and an alarm is output for the user's safety.

In the present invention, the resting space is located at a height that is a specified distance from the ground, and is implemented so that the robot can move through an elevator or elevating device when moving to the resting space.

In the present invention, when two or more robots are installed in one frame, a rest space on the second or higher floor is further included to secure additional rest space, and when the robot moves to the second floor of the rest space, an elevator or lifting device is used. It is characterized in that it can be moved to the second floor through .

The control method of the robot management device according to another aspect of the present invention is that the control unit detects the temperature, humidity, and dust in the surroundings of the robot and the resting space where the robot waits through the sensor unit, and detects the surroundings of the robot while working. or detecting an obstacle approaching inside the frame where the robot is installed and working or moving; The control unit moving the robot along a traveling axis of the frame or controlling joint angles through a robot driving unit; The control unit driving an end effector attached to the robot through an end effector driving unit; and allowing the control unit to work or wait in the rest space based on information detected through the sensor unit.

In the present invention, when the robot enters the resting space, the control unit performs cleaning of the robot, and when the cleaning is completed, tests and checks the actuator operation of the robot, and tests the actuator operation. If there are no abnormalities as a result of the inspection, the robot is kept in a standby state in the resting space, and if the actuator operation is tested and inspected and is not normal, an alarm is output and a robot repair request message is output to the designated manager. It is characterized by

In the present invention, when the robot is in a standby state in a resting space and the entry of an electric vehicle into the frame is detected, the control unit recognizes electric vehicle information to engage the charging gun of the electric vehicle, and the recognition The corresponding end effector is mounted or changed based on the electric vehicle information, the robot is moved to a charging position based on the recognized electric vehicle information, and when the robot moves to the charging position, the end effector is controlled. After opening the charging port cover, charging is performed by fastening the end effector to the charging port of the electric vehicle.

In the present invention, in order to recognize electric vehicle information for fastening the charging gun of the electric vehicle, the control unit refers to a database (DB) storing the charging port location, shape, and charging port opening method for each vehicle type, and uses It is characterized by recognizing the location, shape, and charging port opening method corresponding to the type of electric vehicle entered.

In the present invention, when charging an electric vehicle using the robot, if moisture is generated or a risk of electric leakage occurs around the end effector of the robot or the charging port of the electric vehicle, the control unit issues an alarm. In addition to the output box, it is characterized by driving an end effector with a moisture removal function among the end effectors mounted on the robot.

In the present invention, when charging of the electric vehicle using the robot is completed or stopped, the control unit separates or detaches the end effector fastened to the electric vehicle charging port, and uses the end effector to cover the charging port of the electric vehicle. After closing, the robot is moved to a resting space and an alarm is output for the user's safety.

According to one aspect of the present invention, the present invention controls the operation of a robot for automatically charging an electric vehicle, manages the robot to maintain a stable state, and prevents accidents between the robot and external pedestrians or objects. By providing warnings, it prevents robot malfunctions, improves stability, and improves user safety and convenience.

1 is an exemplary diagram showing the schematic configuration of a robot management device according to an embodiment of the present invention.
Figure 2 is a flowchart for explaining a control method of a robot management device according to the first embodiment of the present invention.
Figure 3 is a flowchart for explaining a control method of a robot management device according to a second embodiment of the present invention.
Figure 4 is a flowchart for explaining a control method of a robot management device according to a third embodiment of the present invention.
Figure 5 is a flowchart for explaining a control method of a robot management device according to a fourth embodiment of the present invention.
Figure 6 is a flowchart for explaining a control method of a robot management device according to a fifth embodiment of the present invention.

Hereinafter, an embodiment of the robot management device and its control method according to the present invention will be described with reference to the attached drawings.

In this process, the thickness of lines or sizes of components shown in the drawing may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is an exemplary diagram showing the schematic configuration of a robot management device according to an embodiment of the present invention.

As shown in FIG. 1, the robot management device according to this embodiment includes a sensor unit 110, a robot driver 120, an end effector driver 130, a resting space management unit 140, and an alarm output unit 150. and a control unit 160.

In this embodiment, the robot (including an articulated robot) 10 is mounted to move along a traveling axis 30 formed on the upper part of a frame 50 formed in a Π shape. An end effector 20 is attached (mounted) to the end (i.e., the part corresponding to the hand) of the robot 10.

At this time, in this embodiment, the end effector 20 is a concept including a gripper. Specifically, the gripper is a pincer-shaped device used when grasping an object with the fingers or the entire hand. It refers to a robot hand, and the end effector refers to a means for attaching various tools, including the gripper, to the position of the robot hand and using it instead of the hand.

A protection means 40 is installed on the upper part of the traveling shaft 30 to prevent lines (eg, power lines, signal lines) from being twisted or cut when the robot 10 moves.

On one side of the frame 50, a rest space 60 is formed for waiting, protecting, and inspecting the robot 10 when the robot 10 is not performing work (e.g., charging work). .

A door (not shown) may be formed on the front of the rest space 60.

The resting space 60 is equipped with an air conditioning unit (not shown), and the interior of the resting space 60 is optimized for the robot 10 by the control unit 160 (e.g., temperature, humidity, dust, etc.). Control to maintain blocking, insect prevention, etc.).

Although not shown in the drawing, the resting space 60 includes an air conditioning unit (not shown) as well as cleaning to remove and disinfect dust or foreign substances (e.g., oil, moisture, insects, etc.) attached to the robot 10. and a disinfection unit (not shown), an inspection unit (not shown) for testing and checking the operation of the actuator (e.g., motor, hydraulics, etc.) of the robot 10, and a unit attached to (mounted on) the robot 10. It may include an end effector mounting unit (not shown) that can be mounted by changing the type of the end effector (i.e., changing it to a different type of end effector) or exchanging it (i.e., exchanging it with the same type of end effector).

Here, the resting space is located at a height that is a specified distance from the ground, and when the robot moves to the resting space, it is implemented to be able to move through an elevator (not shown) or a lifting and lowering device (not shown), and also has one frame (50 ), if two or more robots are installed in the rest space, an additional rest space of two or more floors is included to secure additional rest space (60), and when the robot moves to the second floor of the rest space, an elevator (not shown) or a lifting and lowering device is used. It can be implemented to allow movement to the second floor through (not shown).

The sensor unit 110 includes a plurality of sensors (not shown) to detect temperature, humidity, and dust in the surroundings of the robot 10 and the resting space 60.

In addition, the sensor unit 110 includes a plurality of sensors (e.g. cameras, vision sensors, ultrasonic waves, infrared waves, lasers, etc.) to recognize vehicles, pedestrians (users), and obstacles entering the inside of the frame 50. Includes.

The robot driving unit 120 moves the robot 10 along the traveling axis 30 and controls the joint angles of the robot 10.

The end effector driver 130 drives the end effector 20 attached to the end of the robot 10.

In addition, the end effector driving unit 130 is equipped with a plurality of end effectors 20 (e.g., charging gun end effector, button push end effector, dust/moisture removal end effector, etc.) at the end of the robot 10 (e.g., When a plurality of end effectors are mounted by rotary means (or a plurality of end effectors are mounted facing different directions), one of the plurality of end effectors 20 can be selected and driven, or the plurality of end effectors 20 can be selected and driven. All effectors 20 may be driven simultaneously.

The resting space management unit 140 uses an air conditioning unit (not shown) of the resting space 60 to optimize the temperature and humidity for the robot, and uses a cleaning and disinfection unit (not shown) to control the temperature and humidity of the resting space 60 to optimize the temperature and humidity for the robot. Remove attached dust or foreign substances (e.g., oil, moisture, insects, etc.), perform disinfection, and test the operation of the actuator (e.g., motor, hydraulics, etc.) of the robot 10 using an inspection unit (not shown). Inspect, and also change (i.e., change to a different type of end effector) or exchange (i.e., end of the same type) the type of end effector attached (mounted) to the robot 10 using the end effector mounting unit (not shown). Replace with effector) and install.

When moving the robot 10 along the traveling axis 30, the alarm output unit 150 tests and inspects the operation of the actuator (e.g. motor, hydraulics, etc.) of the robot 10 and detects an abnormality ( When a repair is required due to a malfunction, when an obstacle (e.g., user, pedestrian, vehicle, etc.) approaches while working (e.g., charging work) using the robot 10, and when using the robot 10 An alarm is output when a risk of electric leakage occurs during work (e.g. charging work) (e.g. a situation in which snow, rain, moisture, etc. come in contact with or is generated).

The alarm is output by combining sound and light depending on the situation.

The control unit 160 operates the robot driving unit 120, the end effector driving unit 130, and the idle space management unit 140 according to the status of the robot 10 (e.g., working state, idle space standby state, etc.). , and controls the alarm output unit 150.

Hereinafter, more detailed operations of the control unit 160 will be described with reference to FIGS. 2 to 6.

Figure 2 is a flowchart for explaining a control method of a robot management device according to the first embodiment of the present invention.

Referring to FIG. 2, the control unit 160 controls and maintains the temperature and humidity of the resting space 60 to be optimized for the robot 10 through the resting space management unit 140 (S101).

At this time, when the robot 10 enters the resting space 60 (example in S102), the control unit 160 cleans the robot 10 (e.g., dust) through the resting space management unit 140. , removal of moisture, etc.) and disinfection (S103).

When cleaning and disinfection of the robot 10 are completed, the control unit 160 tests and checks the operation of the actuators (e.g., motors, hydraulics, etc.) of the robot 10 (S104).

As a result of testing and checking the operation of the actuator of the robot 10, if there is no abnormality (i.e., normal) (example of S105), the control unit 160 controls the robot 10 in a standby state and enters the idle state. The space 60 continues to be maintained in an optimized state (S106).

Meanwhile, if an abnormality occurs (i.e., is not normal) as a result of testing and checking the operation of the actuator of the robot 10 (No in S105), the control unit 160 outputs an alarm and sends a designated manager (not shown). Output (send) a robot repair request message to (S107).

Figure 3 is a flowchart for explaining a control method of a robot management device according to a second embodiment of the present invention.

Referring to FIG. 3, when the robot 10 is in a standby state in the resting space 60 (S201) and the entry of an electric vehicle into the frame 50 is detected (example in S202), the control unit ( 160) recognizes information about the electric vehicle (in particular, information for fastening the charging gun) through the sensor unit 110 (S203).

For example, the information on the electric vehicle (especially information for fastening the charging gun) includes the location and shape of the charging port (i.e., the inlet for inserting or fastening the charging gun) for each vehicle type and the method of opening the charging port (i.e., the method of opening the charging port cover). ) is stored, the location, shape, and charging port opening method of the charging port corresponding to the type of electric vehicle that has entered the inside of the frame 50 are recognized.

As described above, when the location, shape, and charging port opening method of the charging port corresponding to the type of electric vehicle that has entered the frame 50 are recognized, the control unit 160 controls the end effector 20 based on the recognized electric vehicle information. ) (i.e., installing an end effector that was detached for testing or inspection) or changing it (i.e., changing an already installed end effector to a different type of end effector or a normal end effector depending on the type of electric vehicle). ) (S204).

For example, the end effector 20 is a charging gun end effector (i.e., an end effector equipped with a charging gun) corresponding to the type of electric vehicle, a button push end effector (i.e., an end effector that can press a button to open the charging port cover) ), a dust/moisture removal end effector (i.e., an end effector equipped with means to remove dust or moisture (moisture) on the charging port cover), etc.

When the end effector 20 is mounted or changed on the robot 10 as described above, the control unit 160 controls the robot 10 based on information on the recognized electric vehicle (in particular, information for fastening the charging gun). ) is moved to a charging position and an alarm is output for the user's safety (S205).

When the robot 10 moves to a charging position, the control unit 160 controls the end effector 20 (e.g., button push end effector) to open the charging port cover, and then controls the end effector 20 (20). Charging is performed by fastening (e.g. charging gun end effector) to the charging port of the electric vehicle (S206).

Figure 4 is a flowchart for explaining a control method of a robot management device according to a third embodiment of the present invention.

Referring to FIG. 4, when the electric vehicle is in a state of charging using the robot 10 (S301), the approach of an obstacle (e.g., user, pedestrian, vehicle, etc.) around the robot 10 is detected. In this case (example in S302), the control unit 160 outputs a designated alarm (S303) to prevent a collision accident between the robot 10 and an obstacle.

Figure 5 is a flowchart for explaining a control method of a robot management device according to a fourth embodiment of the present invention.

Referring to FIG. 5, when the electric vehicle is in a state of charging using the robot 10 (S401), there is a risk of electric leakage around the end effector 20 of the robot 10 or the charging port of the electric vehicle (e.g., When a situation in which snow, rain, moisture, etc. comes in contact with (or occurs) occurs (example of S402), the control unit 160 outputs a designated alarm, and a specific end effector mounted on the robot 10 Operate (e.g. end effector with moisture removal function) (S403).

Accordingly, the robot 10 itself and the user can be protected from the risk of electric leakage.

Figure 6 is a flowchart for explaining a control method of a robot management device according to a fifth embodiment of the present invention.

Referring to FIG. 6, when charging of the electric vehicle using the robot 10 is completed or stopped (example of S501), the control unit 160 controls the end effector 20 (e.g., charging) connected to the electric vehicle charging port. Separate (detach) the gun end effector (S502).

When the end effector 20 (e.g., charging gun end effector) is separated (detached) from the electric vehicle charging port, the control unit 160 uses the specific end effector 20 (e.g., button push end effector) to control the electric vehicle. Close the charging port cover (S503).

After closing the charging port cover of the electric vehicle, the control unit 160 moves the robot 10 to the resting space 60 and outputs an alarm for the user's safety (S504).

As described above, this embodiment controls the operation of the robot for automatically charging an electric vehicle, manages the robot to maintain its state stably, and prevents collision accidents between the robot and external pedestrians or objects. By warning, it has the effect of preventing robot malfunctions, improving stability, and improving user safety and convenience.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and various modifications and equivalent embodiments can be made by those skilled in the art. You will understand the point. Therefore, the scope of technical protection of the present invention should be determined by the scope of the patent claims below. Implementations described herein may also be implemented as, for example, a method or process, device, software program, data stream, or signal. Although discussed only in the context of a single form of implementation (eg, only as a method), implementations of the features discussed may also be implemented in other forms (eg, devices or programs). The device may be implemented with appropriate hardware, software, firmware, etc. The method may be implemented in a device such as a processor, which generally refers to a processing device that includes a computer, microprocessor, integrated circuit, or programmable logic device. Processors also include communication devices such as computers, cell phones, portable/personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

110: sensor unit
120: Robot driving unit
130: End effector driving unit
140: Rest area management department
150: Alarm output unit
160: control unit

Claims (18)

A sensor that detects temperature, humidity, and dust around the robot and in the resting space where the robot waits, and detects obstacles approaching around the robot at work or inside the frame where the robot is installed, working, or moving. wealth;
a robot driving unit that moves the robot along the traveling axis of the frame or controls joint angles;
an end effector driving unit that drives an end effector attached to the robot; and
A control unit that controls the robot driving unit and the end effector driving unit based on the information detected through the sensor unit to make the robot work or wait in the resting space,
The resting space is located at a height that is a specified distance from the ground, and the robot is implemented to be able to move through an elevator or elevating device when moving to the resting space.
The method of claim 1, wherein the end effector driver,
When the robot is equipped with a plurality of end effectors that perform different functions, one of the plurality of end effectors is selected and driven, or
A robot management device characterized in that it drives all of the plurality of end effectors simultaneously.
According to clause 1,
It further includes a resting space management unit for managing the resting space,
The resting space management department,
an air conditioning unit that adjusts the temperature and humidity inside the resting space to optimize the robot;
A cleaner who removes dust or foreign substances attached to the robot entering the resting space;
An inspection unit that tests and checks the actuator operation of the robot; and
An end effector mounting unit that changes or replaces the type of end effector attached or mounted on the robot. A robot management device comprising at least one of the following:
According to clause 1,
When moving the robot along the driving axis,
If an abnormality occurs as a result of testing and inspecting the actuator operation of the robot and repair is required,
If an obstacle approaches while working using the robot, and
A robot management device further comprising an alarm output unit that outputs an alarm in at least one of the cases where a risk of electric leakage occurs during work using the robot.
The method of claim 1, wherein the robot:
A robot management device that is mounted to move along a traveling axis formed on the upper part of a frame and has an end effector attached or mounted that performs at least one function in place of a human hand.
The method of claim 1, wherein the control unit:
When the robot enters the resting space, cleaning of the robot is performed,
Test and check the actuator operation of the robot,
If there is no abnormality as a result of testing and checking the operation of the actuator, the robot is maintained in a standby state in the rest space,
A robot management device that outputs an alarm and outputs a robot repair request message to a designated manager if the actuator operation is not normal as a result of testing and checking.
The method of claim 1, wherein the control unit:
When the robot is in a standby state in a resting space and the entry of an electric vehicle into the frame is detected, the robot recognizes electric vehicle information to connect the charging gun of the electric vehicle through the sensor unit,
Install or change the corresponding end effector based on the recognized electric vehicle information,
Move the robot to a charging position based on the recognized electric vehicle information,
When the robot moves to a charging position, the end effector is controlled to open the charging port cover, and then the end effector is connected to the charging port of the electric vehicle to perform charging.
The method of claim 7, wherein the control unit:
In order to recognize electric vehicle information to connect the charging gun of the electric vehicle,
By referring to a database (DB) in which the position, shape, and charging port opening method of each vehicle type are stored, the position, shape, and charging port opening method of the charging port corresponding to the type of electric vehicle entering the frame are recognized. robot management device.
The method of claim 1, wherein the control unit:
When charging an electric vehicle using the robot, if moisture occurs around the end effector of the robot or the charging port of the electric vehicle, or a risk of electric leakage occurs,
A robot management device that outputs an alarm and drives an end effector with a moisture removal function among the end effectors mounted on the robot.
The method of claim 1, wherein the control unit:
When charging of the electric vehicle using the robot is completed or stopped,
Separate or detach the end effector fastened to the electric vehicle charging port,
After closing the charging port cover of the electric vehicle using the end effector,
A robot management device that outputs an alarm for user safety while moving the robot to a resting space.
delete According to clause 1,
When two or more robots are installed in one frame, an additional rest space of two or more floors is included to secure additional rest space.
A robot management device characterized in that it is implemented to be able to move to the second floor through an elevator or elevating device when the robot moves to the second floor of the resting space.
The control unit detects the temperature, humidity, and dust around the robot and the resting space where the robot waits through the sensor unit, and approaches the surroundings of the robot at work or the inside of the frame where the robot is installed, working, or moving. detecting an obstacle;
The control unit moving the robot along a traveling axis of the frame or controlling joint angles through a robot driving unit;
The control unit driving an end effector attached to the robot through an end effector driving unit; and
A step where the control unit causes the robot to work or wait in the rest space based on information detected through the sensor unit,
When charging an electric vehicle using the robot, if moisture occurs around the end effector of the robot or the charging port of the electric vehicle, or a risk of electric leakage occurs,
The control unit,
A control method for a robot management device, comprising outputting an alarm and driving an end effector with a moisture removal function among the end effectors mounted on the robot.
The method of claim 13, when the robot enters the resting space,
The control unit,
Perform cleaning of the robot,
When the cleaning is completed, the actuator operation of the robot is tested and checked,
If there is no abnormality as a result of testing and checking the operation of the actuator, the robot is maintained in a standby state in the rest space,
A control method of a robot management device, characterized in that if the actuator operation is not normal as a result of testing and checking, an alarm is output and a robot repair request message is output to a designated manager.
The method of claim 13, wherein when the robot is in a standby state in a resting space and the entry of an electric vehicle into the frame is detected,
The control unit,
Recognizes electric vehicle information to connect the charging gun of the electric vehicle,
Install or change the corresponding end effector based on the recognized electric vehicle information,
Move the robot to a charging position based on the recognized electric vehicle information,
When the robot moves to a charging position, the end effector is controlled to open the charging port cover, and then the end effector is connected to the charging port of the electric vehicle to perform a charging operation. .
The method of claim 15, in order to recognize electric vehicle information for connecting the charging gun of the electric vehicle,
The control unit,
By referring to a database (DB) in which the position, shape, and charging port opening method of each vehicle type are stored, the position, shape, and charging port opening method of the charging port corresponding to the type of electric vehicle that has entered the inside of the frame are recognized. Control method of a robot management device.
delete According to claim 13, when charging of the electric vehicle using the robot is completed or stopped,
The control unit,
Separate or detach the end effector fastened to the electric vehicle charging port,
After closing the charging port cover of the electric vehicle using the end effector,
A control method for a robot management device, characterized in that an alarm is output for the safety of the user while moving the robot to a resting space.

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