KR102669094B1 - Trailor type position-based auto tracking transfer robot and group of position-based auto tracking robots - Google Patents

Abstract

The trailer-type location-based tracking transfer robot includes a driving part including a driving wheel and a driving motor that drives the driving wheel, a loading trailer part on which the load is loaded for transport of the load, and the loading trailer part is the driving part. A connection part that connects the loading trailer part to the driving part so that it can be towed by, a positioning module that measures the distance to the moving target object, and a positioning module that receives data from the positioning module to determine the location of the moving target object. and a control module that sets a tracking path of the driving part to follow the target object and controls driving of the driving motor.

Description

Trailer-type location-based tracking transport robot and location-based tracking robot group {TRAILOR TYPE POSITION-BASED AUTO TRACKING TRANSFER ROBOT AND GROUP OF POSITION-BASED AUTO TRACKING ROBOTS}

The present invention relates to a location-based tracking transfer robot and a group of location-based tracking robots. In particular, it relates to a trailer-type location-based tracking transfer robot configured by separating the driving part and the loading part on which the load is loaded, and a group of location-based tracking robots including the same. will be.

For example, transportation of goods is frequently required within facilities such as workshops in factories and logistics warehouses. To transport such goods, conventionally, a worker uses manpower to transport the goods by moving a transport cart loaded with the goods, or a worker drives a transport vehicle loaded with the goods to transport the goods. has been transported.

However, this conventional transportation method requires worker labor, which has been a factor in deteriorating the working environment. In addition, since the worker's attention is continuously required during the transfer of goods, the worker's opportunity to take a break, move around, or do other simple tasks such as talking on the phone is virtually blocked.

Additionally, conventional transport bogies and transport vehicles have a structure in which driving wheels and auxiliary wheels are installed on a body in which a loading part is provided. Therefore, depending on the application field, if there is a request for different driving force size, different load volume and weight, etc., each transport bogie and transport vehicle must be manufactured and provided according to the request, increasing the cost burden. There was a problem. In addition, due to the structure in which the driving wheels and auxiliary wheels are installed together on the body where the loading part is provided, there was a problem in that the turning radius was large when the transport bogie and transport vehicle were moving.

Korean Patent No. 10-2169922 (registered on October 20, 2020)

The present invention was devised to solve the above-described problems, and an object of the present invention is to provide a transportation means that can reduce the labor intensity of workers and lower the degree of attention required from workers.

In addition, another object of the present invention is a transportation means that enables optimal combination of driving parts and loading parts according to the requirements of different driving forces, volume and weight of the load, etc. depending on the application field, and is easy to respond to customer needs. is to provide.

In addition, another object of the present invention is to provide a transport means that can minimize the turning radius of a moving transport bogie and transport vehicle.

In order to achieve the above object, according to the first aspect of the present invention, a driving part including a drive wheel and a drive motor for driving the drive wheel, a loading trailer part on which the load is loaded for transport of the load, A connection part connecting the loading trailer part to the driving part so that the loading trailer part is towed by the driving part, a positioning module that measures the distance to the moving target object, and a moving unit that receives data from the positioning module It provides a trailer-type location-based tracking transfer robot, including a control module that determines the location of the target object, sets a tracking path of the driving part to follow the target object, and controls driving of the driving motor.

In one or more embodiments, the connection unit may connect the driving part and the loading trailer part to enable relative horizontal rotation about a vertical axis.

In one or more embodiments, the connection part may include a connection pin extending long along the vertical axis.

In one or more embodiments, the driving part includes only a pair of driving wheels arranged to be spaced apart from each other along a second direction that is a width direction orthogonal to a first direction that is a straight traveling direction, and the control module is configured to The drive can be controlled so that the pair of drive wheels rotate at the same or different speeds.

In one or more embodiments, the driving part may include a pair of driving wheels arranged to be spaced apart from each other along a second direction, a width direction orthogonal to a first direction, which is a straight traveling direction, and the pair of driving wheels from the pair of driving wheels. It may further include a pair of auxiliary wheels arranged to be spaced apart from each other along the first direction, and the pair of auxiliary wheels may be arranged to be spaced apart from each other along the second direction.

In one or more embodiments, the loading trailer part may include a pair of auxiliary wheels arranged to be spaced apart from each other along a second direction, a width direction orthogonal to a first direction, which is a straight traveling direction.

In one or more embodiments, the transfer robot further includes a sensor module, and when the sensor module senses a moving object in the tracking path of the driving part, the control module can stop the driving wheel.

In one or more embodiments, the sensor module may include an ultrasonic sensor.

In one or more embodiments, the transfer robot further includes an imaging module, and when the imaging module captures an obstacle in the tracking path of the driving part, the control module corrects the preset first tracking path to remove the obstacle. A new secondary follow path that detours can be set.

In one or more embodiments, the transfer robot may further include a steering angle measurement sensor that measures the steering angle of the driving part.

In one or more embodiments, the target object may be a terminal that a person carries, moves with the person, and can wirelessly communicate with the positioning module.

In one or more embodiments, the terminal may be any one of a dedicated terminal, a smartphone, and a smartwatch for wireless communication with the positioning module.

In one or more embodiments, the transfer robot may be equipped with an emergency switch to stop the drive motor in an emergency situation.

In one or more embodiments, the positioning module may include at least two positioning nodes installed in at least two locations of the driving part or the loading trailer part.

According to a second aspect of the present invention, a location-based tracking robot group including a plurality of robots is provided, wherein the plurality of robots includes at least one front tracking robot that places the target object in front and follows the target object. It includes at least two types of robots: at least one rear tracking robot that follows the target object at the rear, and at least one side tracking robot that follows the target object on the side, and each of the plurality of robots includes a driving wheel and the A driving part including a drive motor that drives the drive wheel, a positioning module that measures the distance to the moving target object, and a positioning module that receives data from the positioning module to determine the location of the moving target object. and a control module that sets a tracking path of the driving part to follow and controls driving of the driving motor, and at least one of the plurality of robots may be the trailer-type location-based tracking transfer robot.

According to a second aspect of the present invention, a location-based device including a master robot that follows a moving target object and at least one slave robot that forms a preset swarm formation with the master robot based on the position of the master robot. A group of follower robots is provided, wherein the master robot includes a master robot drive part including a master robot drive wheel and a master robot drive motor that drives the master robot drive wheel, and a distance between the target object and the slave robot. A positioning module that measures the distance, receives data from the positioning module, determines the location of the target object and the slave robot, and based on the determined location of the target object, the master robot follows the target object. and a master robot control module that sets a tracking path for the master robot driving part and controls the driving of the master robot driving motor, and the slave robot includes a slave robot driving wheel and a slave robot driving the slave robot driving wheel. A slave robot driving part including a driving motor, and a slave robot control module that controls the driving of the slave robot driving motor so that the slave robot forms the preset swarm formation based on the determined position of the slave robot, , at least one of the master robot and the at least one slave robot may be the trailer-type location-based tracking transfer robot.

According to the above configuration, the present invention allows the transfer robot to automatically follow the worker based on the location without the input of labor such as the worker pushing and pulling the transport cart or driving the transport vehicle, thereby meeting the requirements for transporting heavy objects. It can provide the advantage of lowering the worker's labor intensity. In addition, the level of attention required from workers can be lowered, providing the advantage of increasing work efficiency by allowing workers to move around or do simple tasks such as talking on the phone while taking breaks.

In addition, the present invention can maximize the advantages of the present invention described above by going further than a single tracking transport robot and configuring a target object to be followed by multiple robots. For example, in addition to a single transfer robot, multiple transfer robots can be configured to follow the target object directly or indirectly, and along with the transfer robot, a personal laptop or inventory status record book that can be used to record the inventory status of goods is provided. Other types of robots, such as transport robots or robots that transport various tools, can also be configured to directly follow the worker at the same time.

In addition, the present invention separates the driving part and the loading part, so that the driving part and the loading part can be optimally combined and operated according to the requirements of the size of the driving force and the volume and weight of the load depending on the application field, thereby reducing the cost. An increase in burden can be prevented.

In addition, the present invention can minimize the turning radius of the moving transfer robot by separating the driving part and the loading part and configuring the driving part and the loading part to be connected to each other so that they can rotate relative to each other.

The technical effects that can be achieved through the present invention are not limited to the effects described above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the invention described below.

The following drawings attached to this specification illustrate preferred embodiments of the present invention, and serve to further understand the technical idea of the present invention together with the detailed description of the invention described later, so the present invention includes the matters described in such drawings. It should not be interpreted as limited to only .
Figure 1 is a perspective view schematically showing the overall configuration of a transfer robot according to an embodiment of the present invention.
Figure 2 is a side view of the transfer robot of Figure 1.
FIG. 3 is a bottom view of the transfer robot of FIG. 1, and FIG. 4 is a bottom view showing the driving part of the transfer robot of FIG. 3 rotated with respect to the loading trailer part.
Figure 5 is a diagram schematically showing the control module of the transfer robot of Figure 1.
Figure 6 is a perspective view schematically showing the overall configuration of a transfer robot according to an embodiment of the present invention.
Figure 7 is a diagram schematically showing an example of the arrangement of a positioning module, a sensor module, and an imaging module of a transfer robot according to an embodiment of the present invention.
Figure 8 is a conceptual diagram schematically showing the configuration of a transfer robot according to an embodiment of the present invention.
Figure 9 is a conceptual diagram schematically showing the configuration of a transfer robot according to an embodiment of the present invention.
Figure 10 is a conceptual diagram schematically showing the arrangement of a group of transfer robots according to an embodiment of the present invention.
Figure 11 is a conceptual diagram schematically showing the arrangement of a group of transfer robots according to an embodiment of the present invention.

The present invention can make various changes and have various embodiments, and specific embodiments will be described in detail below.

However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

In the present invention, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Figure 1 is a perspective view schematically showing the overall configuration of the transfer robot according to an embodiment of the present invention, Figure 2 is a side view of the transfer robot of Figure 1, Figure 3 is a bottom view of the transfer robot of Figure 1, and Figure 4 is a bottom view showing the driving part 100 of the transfer robot in FIG. 3 rotated with respect to the loading trailer part 200, and FIG. 5 is a diagram schematically showing the control module 900 of the transfer robot in FIG. 1. am.

The transfer robot 10 may include a driving part 100, a loading trailer part 200, a connection part 300, a positioning module 400, and a control module 900.

The driving part 100 may include a driving wheel 103 and a driving motor that drives the driving wheel 103. Here, the driving part 100 refers to a wheel driven by power, and is distinguished from the auxiliary wheels 203 and 105 described later that are passively rotated according to the rotation of the driving wheel 103. In one or more embodiments, as shown in FIG. 3, the drive part 100 and the load trailer part 200 are aligned (i.e., the drive part 100 rotates relative to the load trailer part 200). In the basic position (not shown), the driving part 100 may include a pair of driving wheels 103 arranged to be spaced apart from each other along the second direction (width direction, d2). Here, the second direction d2 is a direction perpendicular to the first direction (straight driving direction, longitudinal direction, d1) on the horizontal plane. Additionally, the driving part 100 may include a body portion 101 and a driving shaft. The body portion 101 is a component that forms the basic body of the driving part 100, and each component of the driving part 100 may be installed in the body portion 101. The drive shaft connects the drive motor and the drive wheel 103 to transmit the rotational drive of the drive motor to the drive wheel 103. In the basic position where the driving part 100 and the loading trailer part 200 are aligned, the driving shaft may be positioned to extend along the second direction d2. Additionally, the driving part 100 may include a battery to supply power to the driving motor. As a drive motor, a brushless motor (Brushless Direct Current Motor, BLDC motor) can be used, which has low power consumption and is easy to finely control the rotation speed.

In order to transport the load, the load may be loaded on the loading trailer part 200. The loading trailer part 200 may include a body portion 201 and an auxiliary wheel 203. The body portion 201 is a component that forms the basic body of the loading trailer part 200, and a load can be loaded on its upper surface. Typically, the body portion 201 may have a flat shape, but the present invention is not limited thereto. In one or more embodiments, the loading trailer part 200 may include a pair of auxiliary wheels 203 arranged to be spaced apart from each other along the second direction d2. In the basic position where the driving part 100 and the loading trailer part 200 are aligned, a pair of auxiliary wheels 203 mutually interact along the first direction d1 from the aforementioned pair of driving wheels 103. Can be placed spaced apart. For example, a pair of auxiliary wheels 203 of the loading trailer part 200 may be arranged rearward and spaced apart from a pair of driving wheels 103. Additionally, the loading trailer part 200 may include a rotating shaft and a shaft support. The rotating shaft is a component that connects a pair of auxiliary wheels 203. The pair of rotating shafts may be positioned to extend along the second direction d2. The shaft support may be formed to extend downward from the lower surface of the body portion 201 to rotatably support the rotating shaft. By separating the driving part 100 and the loading trailer part 200 into separate components, the driving part 100 and the loading trailer part are designed to meet the requirements of different driving forces, volume and weight of the load, depending on the application field. Cost burden can be reduced by operating in an optimal combination of (200).

The connection part 300 may connect the loading trailer part 200 to the driving part 100 so that the loading trailer part 200 can be towed by the driving part 100 . The connection part 300 may connect the driving part 100 and the loading trailer part 200 to be rotatable about a vertical axis. Accordingly, the driving part 100 and the loading trailer part 200 can be rotated horizontally relative to each other. In one or more embodiments, the connection part 300 may include a connection pin extending long along the vertical axis, and the driving part 100 and the loading trailer part 200 may be connected via the connection pin. Figure 4 shows a state in which the driving part 100 is horizontally rotated relative to the loading trailer part 200. Since the driving part 100 and the loading trailer part 200 are connected to be able to rotate relative to each other, the steering angle of the driving part 100 can be measured and when combined with the differential driving method, the turning radius of the transfer robot 10 can be minimized. It becomes possible.

The positioning module 400 can measure the distance to the moving target object 10. The positioning module 400 may include at least two positioning nodes installed at at least two locations on the driving part 100 or the loading trailer part 200. The positioning module 400 may include, for example, a UWB positioning sensor based on the IEEE 802.15.4a UWB standard. The manufacturing cost of the transfer robot 10 can be reduced by using a low-cost RF distance sensor. The target object 10 may be a terminal capable of wireless communication with the positioning module 400. For example, the terminal may be any one of a dedicated terminal, a smartphone, a smart watch, etc. for wireless communication with the positioning module 400. The terminal may function as a target node. The positioning module 400 can measure the distance through wireless communication between the at least two positioning nodes and the target node. The target object 10 can be carried by a person and move with the person. By using tags of the ID granting method, the positioning module 400 can follow the target object 10 that is to be followed without missing it.

The control module 900 may receive data from the positioning module 400 and determine the location of the moving target object 10. For example, to determine the location of the target object 10 using the measured distance between the three positioning nodes and the target node, refer to 'Patent Document 1'. Additionally, the control module 900 may set a tracking path for the driving part 100 to follow the target object 10 and control the driving of the driving motor. Therefore, the transfer robot 10 can automatically follow the worker based on the location without the worker inputting labor, such as pushing and pulling the transport cart or driving the transport vehicle, thereby reducing the worker's labor intensity. You can. In addition, the level of attention required from workers can be lowered, allowing workers to move around or do simple tasks such as talking on the phone while taking breaks, thereby increasing work efficiency. The control module 900 controls the drive so that the pair of drive wheels 103 rotate at the same speed so that the transfer robot 10 travels straight, or the pair of drive wheels 103 rotate at different speeds. By controlling the drive to rotate, the transfer robot 10 can turn left or right.

In one or more embodiments, the transfer robot 10 may include a steering angle measurement sensor that measures the steering angle of the driving part 100.

Figure 6 is a perspective view schematically showing the overall configuration of a transfer robot according to an embodiment of the present invention.

In one or more embodiments, positioning module 400 may be installed on load trailer part 200. Figure 6 shows that the positioning module 400 can be installed so that the positioning node is located at a predetermined height above the front left and right sides of the upper surface of the loading trailer part 200.

Figure 7 is a diagram schematically showing the arrangement of the positioning module 400, sensor module 500, and imaging module 600 of the transfer robot according to an embodiment of the present invention.

In one or more embodiments, the transfer robot may include a sensor module 500. When the sensor module 500 senses a moving object in the tracking path of the driving part 100, the sensor module 500 transmits it to the control module 900, and in response, the control module 900 controls the driving wheel ( 103) can be stopped. The sensor module 500 can improve the safety of the transfer robot by recognizing sudden changes in situations during the tracking process. Unlike fixed obstacles, the movement of a moving object is unpredictable, so when a moving object is sensed by the sensor module 500, the control module 900 stops the driving wheel 103, and then the moving object moves further. If no abnormality is sensed, the control module 900 resets the path so that the transfer robot follows the target object 10 again. The sensor module 500 may include an ultrasonic sensor.

In one or more embodiments, the transfer robot may include an imaging module 600. The imaging module 600 can capture the surrounding environment while moving. The imaging module 600 is installed on one side of the transfer robot, photographs the surroundings of the transfer robot, and can provide the captured image to the control module 900. When the imaging module 600 captures an image of an obstacle in the tracking path of the driving part 100, the control module 900 may correct the preset first tracking path and set a new second tracking path that bypasses the obstacle. Accordingly, the transfer robot can continuously and actively follow the target object 10 by reflecting the surrounding environment. The imaging module 600 may include a camera. By using a low-cost, general-purpose camera as the imaging module 600, the manufacturing cost of the transfer robot can be reduced while improving safety through obstacle avoidance.

In one or more embodiments, the transfer robot may be equipped with an emergency switch 700 to stop the drive motor in an emergency situation. For example, the emergency switch 700 may be provided on the front upper surface of the loading trailer part 200 so that workers can easily access it.

By analyzing image information from ultrasonic sensors for short distances and cameras for medium distances, the safety of following driving can be improved by recognizing obstacles and enabling driving to avoid them. In addition, an emergency switch (700) is installed to prepare for emergency situations. A safety device can be built.

Additionally, the transfer robot may be equipped with a power switch 800 that can turn the power on/off.

It should be noted that the installation positions of the positioning module 400, sensor module 500, imaging module 600, emergency switch 700, and power switch 800 in FIG. 7 are merely examples. These components may have various embodiments, such as being installed anywhere on the driving part 100 and the loading trailer part 200 as needed.

Figure 8 is a conceptual diagram schematically showing the configuration of a transfer robot according to an embodiment of the present invention.

Unlike the embodiment of FIG. 6 in which the positioning module 400 is installed on the loading trailer part 200, the positioning module 400 may be installed on the driving part 100 in one or more embodiments.

Figure 9 is a conceptual diagram schematically showing the configuration of a transfer robot according to an embodiment of the present invention.

In the embodiments of FIGS. 1 to 8, an embodiment in which the driving part 100 includes only a pair of driving wheels 103 has been described. However, unlike this, the driving part 100 includes the pair of driving wheels described above ( In addition to 103), it may further include a pair of auxiliary wheels 105. The pair of auxiliary wheels 105 may be arranged to be spaced apart from the pair of driving wheels 103 along the first direction d1. For example, the driving part 100 may further include a pair of auxiliary wheels 105 in front of the pair of driving wheels 103. A pair of auxiliary wheels 105 may be arranged to be spaced apart from each other along the second direction d2.

Figure 10 is a conceptual diagram schematically showing the arrangement of a group of transfer robots according to an embodiment of the present invention.

The present invention can provide a location-based tracking robot group including a plurality of robots. At least one of the plurality of robots may be the trailer-type location-based tracking transfer robot described above.

Each of the plurality of robots includes a driving part including a drive wheel and a drive motor that drives the drive wheel, a positioning module that measures the distance to the moving target object 10, and a target that receives data from the positioning module and moves. It may include a control module that determines the location of the object 10, sets a tracking path for the driving part to follow the target object 10, and controls the operation of the driving motor.

The plurality of robots may include two or more types of at least one forward following robot 21, at least one rear following robot 23, and at least one side following robot 25. The front following robot 21 can be controlled to follow the person in front. For the purpose of transporting ordinary goods, the forward-following driving mode may be suitable. The rear following robot 25 can be controlled to run in front of the person while maintaining a certain distance from the person. For example, in a sales facility such as a supermarket, a person will be able to walk behind the transfer robot and pick up the necessary products from the shelf and place them in the loading box. Additionally, it may be effective to have items such as valuables or dangerous items that a person must keep an eye on run ahead of the person. The side tracking robot 23 may be configured so that the transfer robot always walks sideways while maintaining a constant distance from the pedestrian. If a robot follows backwards in close proximity to a person, it may cause psychological discomfort to the person as it blocks the walking path, and depending on the height of the load, it may also block the person's field of vision. Therefore, in this case, lateral tracking may be appropriate for the person's psychological comfort or to secure the person's field of vision.

In this way, the present invention can maximize the convenience of users or workers by setting the tracking arrangement of each robot differently to suit the situation or purpose. This means that in a technical document disclosing robots that perform conventional general forward tracking (or robots that perform only one of forward tracking, rear tracking, and side tracking), increasing the number of robots While this is no different from simply increasing the size of a single robot (for example, increasing a transfer robot with a load weight of 5 kg to five is no different from replacing a transfer robot with a load weight of 25 kg), this technology of the present invention is not at all different from increasing the size of a single robot. By providing users with different convenience functions, it will be possible to increase user satisfaction.

For example, for workers displaying goods in a shopping center, the above-described transport robot loads goods, follows people, and carries a personal laptop or inventory record book that can be used to record the inventory status of goods. User convenience can be maximized by having the robot follow the rear ahead of the human, and by configuring the robot that carries various supplies or tools for repairing shelves, etc. to follow the human side and run side by side.

Figure 11 is a conceptual diagram schematically showing the arrangement of a group of transfer robots according to an embodiment of the present invention.

The present invention can go further than a single tracking transfer robot that follows a target object, and can provide a swarm robot that follows the target object (10). However, there are some things to keep in mind about the tracking method. In one embodiment of the present invention, the swarm robot is divided into a master robot 27 and a slave robot 29, and the master robot 27 is controlled to follow the target object 10, but the slave robot 29 is Instead of being controlled to directly follow the target object 10, it is controlled to follow the master robot 27. When all swarm robots are controlled to directly follow the target object 10, there may be a risk of collisions between robots during the tracking process of each robot. Therefore, in one embodiment of the present invention, the master robot 27, which is the standard for the swarm formation, is controlled to follow the target object 10, but the slave robot 29 is controlled to form a preset swarm based on the master robot 27. By controlling it to maintain its formation, such risks can be excluded. In other words, instead of following the target object 10 directly, the slave robot 29 can be said to indirectly follow the target object 10 through the master robot 27.

The swarm robot includes a master robot 27 that follows the moving target object 10, and at least one slave robot that forms a preset swarm formation with the master robot 27 based on the position of the master robot 27. (29) may be included.

The master robot 27 measures the distance between the master robot drive part including the master robot drive wheel and the master robot drive motor that drives the master robot drive wheel, the target object 10, and the distance between the slave robot 29 and the target object 10. A positioning module that receives data from the positioning module determines the location of the target object 10 and the position of the slave robot 29, and based on the location of the determined target object 10, the master robot 27 is the target. It may include a master robot control module that sets a tracking path for the master robot driving part to follow the object 10 and controls the driving of the master robot driving motor.

In one or more embodiments, to locate the slave robot 29, the slave robot 29 may include at least one node. The positioning module measures the distance between the master robot 27 (nodes) and the slave robot 29 (nodes), and uses this to determine the location of the slave robot 29 by using the positioning module 400. This is no different from measuring the distance between (the nodes of) the master robot 27 and (the nodes of) the target object 10 and using this to find out the location of the target object 10. As described above, for example, finding the location of the slave robot 29 using the measured distance between the nodes of the three master robots 27 and the nodes of the slave robot 29 can be found in 'Patent Document 1'. You can refer to it.

The slave robot 29 is a slave robot drive part including a slave robot drive wheel and a slave robot drive motor that drives the slave robot drive wheel, and the slave robot 29 is based on the determined position of the slave robot 29. It may include a slave robot control module that controls the driving of the slave robot 29 drive motor to form a preset swarm formation.

At least one of the master robot 27 and the at least one slave robot 29 may be the trailer-type location-based tracking transfer robot described above.

Above, the present invention has been described in more detail through drawings and examples. However, since the configurations described in the drawings or examples described in this specification are only one embodiment of the present invention and do not represent the entire technical idea of the present invention, at the time of filing this application, various equivalents and It should be understood that variations may exist.

10: target object, 20: transfer robot
21: forward following robot, 23: side following robot,
25: rear follower robot, 27: master robot,
29: slave robot,
100: driving part, 101: body part,
103: driving wheel 105: auxiliary wheel,
200: loading trailer part, 201: body part,
203: auxiliary wheel, 300: connection part,
400: Positioning module, 500: Sensor module,
600: imaging module, 700: emergency switch,
800: power switch, 900: control module

Claims (16)

A drive part including a drive wheel and a drive motor that drives the drive wheel,
A loading trailer part on which the load to be transported is loaded,
A connection part connecting the loaded trailer part to the driving part so that the loaded trailer part is towed by the driving part,
A positioning module that measures the distance to a moving target object,
It includes a control module that receives data from the positioning module, determines the location of the moving target object, sets a tracking path for the driving part to follow the target object, and controls driving of the driving motor,
The driving part includes a pair of driving wheels arranged to be spaced apart from each other along a second direction, a width direction orthogonal to a first direction, which is a straight traveling direction,
The loading trailer part includes a pair of auxiliary wheels arranged to be spaced apart from each other along the second direction,
The driving part and the loading trailer part are separate parts,
The connection unit connects the driving part and the loading trailer part, which are separated from each other, to enable relative horizontal rotation about a vertical axis.
Trailer-type location-based tracking transport robot.
delete According to paragraph 1,
The connection part includes a connection pin formed to extend long along the vertical axis,
Trailer-type location-based tracking transport robot.
According to paragraph 1,
The control module is,
Driving is controlled so that the pair of driving wheels rotate at the same speed, thereby driving straight ahead,
Turning left or right by controlling the driving of the pair of driving wheels so that they rotate at different speeds,
Trailer-type location-based tracking transport robot.
According to paragraph 1,
The driving part is,
Further comprising a pair of auxiliary wheels arranged to be spaced apart from the pair of driving wheels along the first direction,
The pair of auxiliary wheels are arranged to be spaced apart from each other along the second direction,
Trailer-type location-based tracking transport robot.
delete delete delete delete According to paragraph 1,
Further comprising a steering angle measurement sensor that measures the steering angle of the driving part,
Trailer-type location-based tracking transport robot.
delete delete According to paragraph 1,
Equipped with an emergency switch to stop the drive motor in an emergency situation,
Trailer-type location-based tracking transport robot.
According to paragraph 1,
The positioning module is
Comprising at least two positioning nodes installed at at least two locations on the driving part or the loading trailer part,
Trailer-type location-based tracking transport robot.
Contains multiple robots,
The plurality of robots are,
At least one forward tracking robot that follows the target object in front,
At least one rear follower robot that follows the target object at the rear, and
At least one lateral tracking robot that places the target object on the side and follows it
Includes at least two types of robots,
Each of the plurality of robots,
A drive part including a drive wheel and a drive motor that drives the drive wheel,
A positioning module that measures the distance to a moving target object,
It includes a control module that receives data from the positioning module, determines the location of the moving target object, sets a tracking path for the driving part to follow the target object, and controls driving of the driving motor,
At least one of the plurality of robots is a trailer-type location-based tracking transfer robot according to any one of claims 1, 3 to 5, 10, 13, and 14,
A group of location-based tracking robots. delete

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