KR20170047844A - System for sorting product using sorting apparatus and method thereof - Google Patents

System for sorting product using sorting apparatus and method thereof Download PDF

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Publication number
KR20170047844A
KR20170047844A KR1020150148413A KR20150148413A KR20170047844A KR 20170047844 A KR20170047844 A KR 20170047844A KR 1020150148413 A KR1020150148413 A KR 1020150148413A KR 20150148413 A KR20150148413 A KR 20150148413A KR 20170047844 A KR20170047844 A KR 20170047844A
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KR
South Korea
Prior art keywords
article
information
conveying device
conveyor
unloading
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KR1020150148413A
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Korean (ko)
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KR101822103B1 (en
Inventor
김호연
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주식회사 가치소프트
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Priority to KR1020150148413A priority Critical patent/KR101822103B1/en
Publication of KR20170047844A publication Critical patent/KR20170047844A/en
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Publication of KR101822103B1 publication Critical patent/KR101822103B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/005—Control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06018—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking one-dimensional coding
    • G06K19/06028—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking one-dimensional coding using bar codes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0216—Codes or marks on the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/046—RFID

Abstract

An article classification system and method thereof are disclosed. The article sorting system according to an embodiment of the present invention includes a conveying device that freely rotates the electric wheel in a workplace and freely moves and unloads an article placed on the upper end when the article reaches the unloading position, And a sorting device that determines the article unloading position according to the sorting information and controls the conveying device to move to the determined unloading position.

Description

[0001] The present invention relates to a goods sorting system and a method thereof,

The present invention relates to article carrying and sorting techniques.

Generally, a conveyor is a mechanical device that is fixedly installed in a workplace to transport an article in one direction by the power of the machine, thereby reducing manpower and improving work efficiency. These conveyor devices play a major role in the automation of the workplace.

In addition to the function of transporting the article to the conveyor, a function of sorting the transferred article according to a predetermined position is added. To this end, an automatic classifier is installed at a specific position in the conveyor apparatus so that the articles placed on the tray of the conveyor are sorted or discharged so as to be classified into predetermined positions.

According to one embodiment, an article sorting system and method for automatically sorting articles and freely and freely loading and unloading the sorted articles in space are proposed.

The article sorting system according to an embodiment of the present invention includes a conveying device that freely rotates the electric wheel in a workplace and freely moves and unloads an article placed on the upper end when the article reaches the unloading position, And a sorting device that determines the article unloading position according to the sorting information and controls the conveying device to move to the determined unloading position. The identification information may be identifier information of a barcode, an RFID ID, or an item indicated by a character, a delimiter code or address information. When the conveying device reaches the unloading position, the conveyor formed at the upper end of the electric wheel can be rotated to unload the article.

The classification apparatus according to an embodiment includes a classification information acquisition unit that recognizes classification information of an article placed on a transportation device or receives information from an external source, a work site designing unit, and determines a loading and unloading position of the transportation apparatus in the workplace according to the article classification information And a workplace management unit for controlling the movement of the transportation device according to the virtual map and the route set by setting the virtual map and the route to be freely moved to the determined unloading position.

The classification information obtaining unit according to an embodiment obtains the item classification information using any one of a camera, a laser scanner, an RF reader, a Bluetooth, a ZigBee, a near field wireless communication, and a video coding. The item classification information may be recognized before the article is loaded on the carrier apparatus. In this case, the identification information of the article recognized in advance in the carrier apparatus is transmitted through various communication methods.

The workplace management unit according to an embodiment of the present invention searches the article unloading position information mapped with the article classification information to determine an article unloading position according to the article identification information, provides the determined article unloading position information to the conveying apparatus, A loading position management unit for controlling the connection with the position, a route for setting the moving route to the article unloading position through the virtual map of the workplace, providing the set moving route information to the carrying device, or controlling the moving device to move along the moving route And a management unit.

The route management unit according to an embodiment allows the transport apparatus to determine the movement route in real time according to the situation, sets a plurality of movement routes in advance, and selects the optimum movement route according to the situation of the workplace. The path management unit according to an exemplary embodiment manages a virtual movement path in association with an actual movement path in association with the position measurement unit, and dynamically sets a movement path so as not to collide with an obstacle including another transportation apparatus.

The workplace management unit according to an embodiment includes an input position management unit configured to set and manage an input position and an input method for loading an article on a conveyance apparatus, a position management unit for managing positions for battery replacement or charging, And a charging position management unit for controlling the transportation device to move to the charging position according to the result of the analysis.

The article sorting system according to an embodiment further includes a stacking table disposed at an article unloading position and divided into a plurality of sorting compartments. The sorting apparatus recognizes the sorting information of the articles placed on the conveying apparatus and unloads the articles in the stacking compartment Determine the division field. The article sorting system according to one embodiment further includes a loading section for loading articles on the conveying apparatus for conveyance. At this time, the conveying device can load the article by adjusting the moving speed of the conveying device of the conveying device so as to correspond to the moving speed and the tangent angle of the conveying device when passing through the inputting part. The conveying device can load the article while moving from the lower side of the loading conveyor in the same direction as the moving direction of the loading conveyor of the loading section.

 The article sorting system according to one embodiment further includes a charging unit that replaces or charges the battery mounted on the conveyance apparatus.

A plurality of conveying devices according to an embodiment can be coupled or separated. A conveying device according to an embodiment of the present invention includes an electric wheel that rotates along a bottom surface, a conveyor that is formed at an upper end of the electric wheel and that unloads or adjusts the position of the article, And a control unit for controlling the operation of the apparatus.

The control unit may include a position control unit for recognizing a current position and an unloading position of the conveying apparatus and confirming a moving path of the conveying apparatus, and a control unit for controlling the conveying unit to move the loaded goods to the unloading position A moving control unit, and an unloading control unit for unloading the article that has reached the unloading position.

The movement control unit controls the rotation direction and speed of the electric wheel, the direction and the rotation speed and the inclination of the conveyor, and controls the movement of the conveyance device to the article unloading position using the state information of the conveyance apparatus itself.

The loading and unloading control unit according to an embodiment unloads an article on the floor by rotating the conveyor or unloads the article to the loading stand installed corresponding to the height of the conveyor. When unloading the floor, the conveyor is inclined to the floor.

According to another aspect of the present invention, there is provided an article sorting method comprising the steps of: classifying articles by obtaining classification information of an article on a conveying apparatus that freely moves through an electric wheel and conveys an article placed on a conveyor; Determining an article unloading position, and controlling the conveying device to move to the determined unloading position.

The step of controlling the transport apparatus according to an embodiment includes the steps of: determining an article unloading position according to the article classification information by searching the article unloading position information mapped with the article classification information; And setting the movement path and controlling the transportation device to move along an actual movement path mapped with the set virtual movement path.

The step of controlling the conveying apparatus according to an embodiment may include a step of setting a plurality of movement paths in advance and selecting an optimum movement path in accordance with a situation of a worksite, And dynamically changing.

According to an embodiment, by using a conveying device having a simple structure in which an electric wheel and a conveyor are combined to sort an article, miniaturization and convenience can be guaranteed at the same time. For example, they can freely transport goods at high speed because they are free from mobility, and are free from space problems because they independently carry and unload goods themselves. In addition, if a problem occurs only in a few specific devices, not a system problem, it is easy to maintain because the system can be excluded from the system and the remaining devices can be continuously operated.

Further, the loading / unloading position is determined according to the classification information of the article transported through the transportation device, the movement route to the article unloading position is set through the virtual map of the workplace, and the article transportation is controlled The efficiency of sorting can be increased and the working speed can be shortened.

Further, in the conventional sorting apparatus, the processing capacity can not be flexibly adjusted due to the fixed amount of the article, the number of sections, and the conveyor speed. However, since the proposed method does not require a fixed track facility, it is possible to easily change the processing capacity by adjusting the number of input conveying devices when the quantity of water or the number of divisions is changed.

Further, by sensing the state information of the transportation apparatus itself and using the sensed state information, it controls the direction and rotation speed of the electric wheel, the direction of the conveyor, the rotation speed and the inclination, and prevents the collision with the obstacle in advance Accordingly, the article can be safely transported to the designated position. Such a conveying device replaces a fixed conveyor belt for conveying cargo, replaces a mobile conveyor for supporting unloading operations, and can replace an Automated Guided Vehicle (AGV).

BRIEF DESCRIPTION OF THE DRAWINGS FIGURES 1A and 1B are external views of a delivery apparatus according to various embodiments of the present invention,
1C-1E are external views of a plurality of interconnecting devices according to various embodiments of the present invention,
2 is a configuration diagram of an article classification system according to an embodiment of the present invention;
3 is a configuration diagram of a sorting apparatus according to an embodiment of the present invention;
FIG. 4 is a configuration diagram of a transportation apparatus according to an embodiment of the present invention;
FIG. 5A is a reference view showing a state in which an article is inserted into a conveying apparatus according to an embodiment of the present invention,
FIG. 5B is a reference view showing a state where an article is inserted into a conveying device according to another embodiment of the present invention;
6 is a reference view showing a virtual map including a movement path of a mesh type according to an embodiment of the present invention;
FIG. 7 is a reference view showing a virtual map including an oval track type movement path according to an embodiment of the present invention;
FIG. 8 is a reference view showing a state in which a conveying device according to an embodiment of the present invention unloads an article to a designated position;
Figures 9 and 10 are cross-sectional views of a carrier device according to various embodiments of the present invention as it controls posture during movement or rotation;
11 is a flowchart illustrating a method of transporting a product using the transportation device according to an embodiment of the present invention,
12 is a flowchart illustrating an article classification method using a classification apparatus according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention of the user, the operator, or the like. Therefore, the definition should be based on the contents throughout this specification.

1A and 1B are external views of a conveyance apparatus according to various embodiments of the present invention.

Referring to Figs. 1A and 1B, a transportation apparatus 1 is used for automating a series of processes including goods loading, sorting, transportation, and unloading, and for speeding up work. The item may be any item that requires sorting, for example, items such as parcels, courier items, magazines, envelopes, food, clothing, and the like. The size and height of the conveying device 1 can be made different from each other depending on the size of the object.

The conveying device 1 conveys articles using the electric wheel 11, so that the conveying device 1 is convenient to move and is free. Particularly, when moving through one or two electric wheels 11, it is advantageous to move quickly and change the direction. Also, since there is no need to display the movement path on the floor separately as in the case of an unmanned vehicle, it is possible to move freely and move a plurality of the vehicles flexibly. The conveying device 1 can be used as a mobile robot of one wheel or two wheels in that the article can be transported at high speed freely through the one or two electric wheels 11 Can be called. The conveying apparatus 1 can be remotely controlled.

The conveying device 1 loads the article, moves it to the destination, and automatically unloads the article to the destination. The conveying device 1 controls the posture by itself so as not to fall down at the time of movement or change of direction. Then, the carrying direction of the article is set by using the conveyor 14 which rotates forward, backward, leftward or rightward or freely. The conveying device 1 identifies the position in the workplace and moves to the destination while controlling the movement line within the limit range. The conveying device 1 replaces a fixed conveyor belt for conveying cargo, replaces a mobile conveyor for supporting the unloading operation, and can replace an Automated Guided Vehicle (AGV).

The structure of the conveying apparatus 1 will be described below. The conveying device (1) has a structure in which the electric wheel (11) and the conveyor (14) are combined. The electric wheel 11 is formed at the lower portion of the conveying device 1 and rotates along the floor surface. The electric wheel 11 may include an electric motor for rotating the electric wheel 11, and a motor for driving may be separately installed outside the wheel. The conveyor 14 is formed at the upper end of the electric wheel 11 and unloads or adjusts the position of the article loaded thereon while rotating.

In FIGS. 1A and 1B, the number of the electric wheels 11 is two, but the number of the electric wheels 11 may be one or two or more. The electric wheels 11 are individually controllable and are used to move the conveying device 1 or change the direction.

The conveyor 14 unloads the article through rotation, and the direction of rotation of the conveyor 14 can be configured differently according to the operating method of the conveying device 1. [ For example, when the article is placed on the floor, a structure that moves back and forth as shown in Fig. 1A is suitable. On the other hand, in the case of dropping the articles on the left and right stacking tables while moving, a structure of moving left and right as shown in FIG. 1B is suitable. The conveying device 1 shown in Fig. 1A has a structure in which the rotating directions of the conveyor 14 and the electric wheels 11 are in parallel with each other, and the conveying device 1 shown in Fig. 1B has a structure in which the conveyor 14 and the electric wheels 11 In the direction of rotation. As another example, the traveling direction of the conveyor 14 may be perpendicular or horizontal to the traveling direction of the electric wheel 11, but it is also possible to rotate freely. In this case, the conveyor 14 can be rotated to adjust the position so that the article placed on the top of the conveyor 14 does not fall off, or to move the article in the article unloading direction.

The conveyor 14 according to one embodiment controls its direction and rotation speed, as well as its tilt. For example, the conveyor can be adjusted in a tilted state in parallel with the ground in order to balance the force or unload the article so that the article placed on the top of the conveyor 14 does not fall during transport or rotation of the transport apparatus 1 have.

1C-1E are external views of a plurality of connected conveying devices in accordance with various embodiments of the present invention.

A plurality of conveying devices may be connected as shown in Figs. 1C to 1E. 1C is a case where the rotating direction of the conveyor is perpendicular to the rotating direction of the vibrating wheel, and the conveying devices of FIGS. 1D and 1E are the case where the rotating direction of the conveyor and the rotating direction of the vibrating wheel are horizontal.

The conveying devices according to one embodiment are automatically connected or separated from each other. To this end, each conveying device may include a device connection. For example, the device connection may have a structure in which the connected devices are not separated when the other connected devices are pulled in the opposite direction, and the connection is automatically separated up and down if the devices are moved facing each other. However, the structure of the device connection portion is not limited thereto.

2 is a configuration diagram of an article classification system according to an embodiment of the present invention.

2, the article sorting system includes a conveying apparatus 1 and a sorting apparatus 2, and may further include an input unit 3, a loading table 4, and a charger 5.

The conveying device (1) carries the articles in the work place using the structure in which the electric wheels and the conveyor are combined, and unloads the articles in the unloading position. Several units are connected to the conveying apparatus 1, and the articles can be sequentially conveyed. Conventionally, a fixed conveyor line is installed or a movable conveyor is installed in order to carry a large amount of goods, and the conveying device 1 replaces the conveyor for moving the goods. The conveying device 1 can directly move and convey the articles, and several conveying devices 1 themselves can be connected in a single line to convey the articles as a movable conveyor. The detailed configuration of the transportation device 1 will be described later with reference to Fig.

The sorting device 2 recognizes the sorting information of the articles carried by the carrying device 1, classifies the articles, determines the article unloading position according to the recognized sorting information, and moves the conveying device 1 to the determined unloading position . For example, if the item is a postal item, the item to be sent to Seoul should be classified as Category 1 of the loading area (4), and the item to be sent to Busan shall be classified as Category 2 of the loading area (4). Classified mail can then be shipped to the destination via courier.

The classifying device 2 may be a remote control device for remotely controlling the conveying device 1. [ For example, the classification device 2 may be a PC, a server, or a mobile terminal such as a smart phone or a remote controller. The classifier 2 may be located in the control center. In the case of a mobile terminal, the user can control the carrier 1 lying within the remote control range while moving. At this time, the conveying apparatus 1 can be remotely controlled so as to follow the moving path of the user to convey the article. The sorting device 2 can monitor the schematic operating state of the conveying device 1 from the conveying device 1. [ The detailed configuration of the classifying device 2 will be described later with reference to Fig.

At the unloading position, the loading table 4 is disposed. A plurality of the stacker 4 can be distributed and arranged in the workplace, and the stacker 4 can be divided into a plurality of regions, for example, a plurality of divisional cells. In this case, the sorting device 2 determines which of the compartments 4 of the loading stage 4 or the loading stage 4 is to be unloaded. The loading table 4 may be a slide structure having a certain degree of inclination for an efficient loading and unloading of articles from the conveying apparatus 1 through a structure such as a chute or a conveyor.

 The input unit 3 feeds the article to the conveying apparatus 1. The worker may place the article directly on the conveying device 1 and the conveying device 1 is waiting and the introducing part 3 can deliver the article directly to the conveying device 1. [ The charging part 3 may be a conveyor belt structure. The conveying apparatuses 1 on which the articles are loaded through the input unit 3 can be conveyed in a form in which a plurality of the conveying apparatuses 1 are combined or separated. At this time, the conveying device 1 can move the conveyor together with the movement at the time of loading the goods. For example, the conveying apparatus 1 can load the article by adjusting the conveyor moving speed of the conveying apparatus 1 so as to correspond to the moving speed and the tangent angle of the conveying apparatus 1 when passing through the loading unit 3 . As another example, the conveying apparatus 1 can be loaded while moving from the lower side of the input conveyor in the same direction as the moving direction of the input conveyor of the input unit 3. At this time, the rotating direction of the electric wheel of the conveying device 1 and the conveyor are the same direction.

The charging unit 5 replaces or charges the battery mounted on the conveying device 1. [ The battery may be in a form removable from the conveying device 1.

A position measuring sensor is mounted on the physical structure in the workplace including the loading unit 3, the loading table 4 and the charging unit 5 according to an embodiment. In this case, as the input unit 3, the loading table 4, and the charging unit 5 provide the actual position information measured to the classification apparatus 2, the classification apparatus 2 calculates the virtual movement path as the actual position information . ≪ / RTI > The position measurement sensor may be, but not limited to, an ultrasonic sensor, an RF sensor, and the like.

3 is a configuration diagram of a sorting apparatus according to an embodiment of the present invention.

3, the classification apparatus 2 includes a classification information acquisition unit 20, a workplace management unit 22, and a database 24. The database 24 is included in the classifying device 2 as shown in Fig. 3, but may be separated separately.

The division information obtaining unit 20 obtains the division information of the article placed on the conveyor of the conveying apparatus 1. [ The division information acquiring unit 20 can recognize the division information on the article being carried through the transportation apparatus 1. [ Or the division information can be received from the outside through the communication means. In case of receiving the identification information, the identification information is recognized from the outside before the carrying device 1 loads the article. The division information obtaining unit 20 transmits the obtained goods classification information to the workplace management unit 22. The identification information may be an identifier information of a barcode, an RFID (RFID) or an item indicated by a character, a delimiter code or address information. For example, if the article is a mail item, a bar code is printed or attached to the mail item, and the mail item identifier information (ID) is recorded in the bar code. The mail identifier information is a code including a series of numbers such as an invoice number and a receipt number uniquely assigned to a mail item for mail management when mail is received. The mail identifier information of the bar code is stored in the database 24, and is used as an identifier for tracking or referring to the mail. In addition, the sender information and recipient information input from the sender at the time of receiving mail are matched with the product identifier information and stored in the database 24. The sender and recipient information includes the name, address, and zip code. In another example, the classification information may be information such as the style, color, size, and number of articles.

As shown in FIG. 3, the classification information obtaining unit 20 is included in the classifying device 20, but may be located separately from the classifying device 20. The classification information acquisition unit 20 may acquire classification information of a product using a camera, a laser scanner, an RF reader, Bluetooth, Zigbee, Near Field Communication (NFC) Classification information can be obtained. The division information obtaining unit 20 may be installed at a predetermined height on the movement path of the transportation apparatus 1 and may be mounted on the transportation apparatus 1. [ Taking a camera as an example, a camera captures an image of an article loaded on the conveying apparatus 1, acquires image data, and recognizes the classification information from the acquired image data. In the case of a laser scanner, the moving article is scanned to recognize the identification information. In the case of the RFID reader, the RFID tag attached to the article is read to recognize the identification information.

The workplace management section 22 designates the workplace in a two-dimensional space and determines and manages the article unloading position of the conveying apparatus 1 in the workplace according to the article classification information obtained through the division information obtaining section 20. [ Then, a virtual map to be freely moved to the determined unloading position and a path are set, and the movement of the carrier 1 is controlled according to the virtual map and the route set.

In the database 24, the goods classification information and the goods unloading location information are mapped and stored. For example, according to the bar code or address information of a mail, information is stored in which compartment of a loading rack or a loading rack the article is to be unloaded. The mapping information of the article classification information and the article unloading location information is used for unloading location determination. In addition, the database 24 stores a virtual map of the workplace, and an actual movement route information mapped with the virtual movement route and the virtual movement route in the virtual map.

The workplace management unit 22 according to one embodiment includes a handing location management unit 220, a route management unit 222, an input location management unit 224, and a charging location management unit 226.

The unloading position management unit 220 searches the database 24 for the article unloading position information mapped with the article classification information, and determines the article unloading position according to the article classification information. And provides the determined article unloading position information to the conveying device 1 or controls the connection between the conveying device 1 and the unloading position.

The unloading location management unit 220 according to an embodiment maps the goods classification information and the unloading location information in advance and stores them in the database 24. The mapping information includes information on which loading / unloading bin to unload the article unloading location information according to the item classification information.

The route management unit 222 sets a movement route to the article unloading position through the virtual map of the workplace and provides the set travel route information to the transportation apparatus 1 or controls the transportation apparatus 1 to move along the movement route . The movement path is a path for moving the article to the article unloading position determined by the unloading position managing unit 220 at a position where the conveying apparatus 1 is inserted. The movement path may be a mesh type, and various structures such as a structure including a plurality of overlapping elliptical tracks and paths crossing the middle are possible. The movement path of the mesh type will be described later with reference to FIG. 6, and the movement path of the elliptic track type will be described later with reference to FIG. The path management unit 222 may control the movement path of the transportation apparatus 1 but the transportation apparatus 1 may directly determine the movement path in real time depending on the situation.

The route management unit 222 may set a plurality of routes (lanes) as a route that the airplane moves along predetermined routes, and may select an optimal route among the routes as the travel route. The optimal movement path can be determined depending on the workplace situation and the like. For example, the route of the shortest distance from the current position of the transportation apparatus 1 can be selected. In addition, since a plurality of conveying devices may simultaneously move and movement paths may overlap each other in the workplace, the path management unit 222 may determine an optimal movement path so that the path management unit 222 can move at a high speed without colliding with each other.

The route to be designed by the route management unit 222 needs to be mapped to an actual work space although it exists in a virtual space as S / W without any facility or display. For this purpose, the route management unit 222 can map the virtual movement route to the actual movement route in association with the transportation apparatus 1 or the external position measurement means. The path management unit 222 can dynamically change the movement path according to an obstacle or a risk of collision. The route management unit 222 may determine a series of movement routes comprehensively, but may also update the carrier device 1 while searching for an optimal movement route in the local area directly.

The insertion position management unit 224 sets and manages the insertion position and the insertion method for loading the article on the conveying apparatus 1. [ At this time, the insertion position management unit 224 can set and manage the waiting position of the transportation device 1 at the same time. The charging position management unit 226 manages the position for replacing or charging the battery and monitors and analyzes the state including the remaining battery capacity and the failure state of the conveying apparatus 1, .

4 is a configuration diagram of a transportation apparatus according to an embodiment of the present invention.

4, the conveying apparatus 1 includes an electric wheel 11, a control unit 12, a conveyor 14, a first sensor 15, a second sensor 16, a third sensor 17, (18) and a battery (19).

The conveying device (1) is a structure in which the electric wheel (11) and the conveyor (14) are mechanically combined. The electric wheel 11 is rotated through an internal or external electric motor. The battery 19 supplies power to the conveying device 1. [ The conveyor 14 may comprise a conveyor roller, or may further comprise a belt that is rotated by the conveyor roller with the conveyor roller. The battery 19 may be in a detachable form. In this case, the battery 19 may be disposed in an exposed structure at the lower end of the conveying device 1 in consideration of automatic desorption, but is not limited thereto.

The control unit 12 grasps the current position and the unloading position of the conveying apparatus 1, and controls the movement and unloading of the loaded article to the unloading position. The controller 12 may be implemented through a small-sized control board having a built-in microcontroller such as an Arduino. The controller 12 according to an embodiment includes a position controller 120, a movement controller 122, and an unloading controller 124.

The position control unit 120 checks the current position and the unloading position of the conveying apparatus 1 and confirms the moving path of the conveying apparatus 1. [ The position controller 120 measures the absolute position of the user using the GPS sensor or the indoor positioning technique in order to determine the current position and the unloading position. The conveying apparatus 1 may include a third sensor 17 for calculating a relative position from an external transmitting apparatus such as an ultrasonic sensor or an RF sensor and measuring an absolute position thereof. The position control unit 120 can correct the position and the unloading position that are currently grasped by using the first sensor 15. [

The movement controller 122 rotates the electric wheel 11 along the movement path to move the loaded article to the unloading position. The movement control unit 122 senses the state information using the first sensor 15 so as to prevent the article from falling during the movement, and controls the posture, direction and speed of the transportation apparatus 1 based on the sensed state information. As another example, the second sensor 16 is used to prevent a collision with an obstacle in advance during the movement. If a conflict situation occurs, you can stop the movement for a short period of time, wait until the line is secured, or select a bypass route.

The movement controller 122 controls the rotation direction and the rotation speed of the electric wheel 11, the rotation direction of the conveyor 14, the rotation speed, and the slope of the electric wheel 11 at the time of movement. To this end, the controller 12 grasps the change of the current posture and posture from the state information obtained by using the first sensor 15, and calculates the motion required for the posture control based on the dynamics model. The posture is controlled so that the state of the conveying device 1 is detected in real time and continuously balanced.

The unloading control unit 124 unloads the article that has reached the unloading position. The unloading control unit 124 can control the discharge to be optimized according to the characteristics of the structure such as a chute or a conveyor. For example, the article is unloaded to the loading table installed at the height of the conveyor 14 of the conveying apparatus 1. [ As another example, when the article is unloaded on the floor, the conveyor 14 of the conveying device 1 is unloaded while inclining it to the bottom. The unloading and conveying apparatus 1 can return to the designated position.

The first sensor 15 may be, for example, an acceleration sensor, a gyroscope, or the like. The acceleration sensor measures the acceleration around the earth's surface. The slope can be obtained for a stationary object, but it is difficult to obtain a slope for a moving object, and it is difficult to measure an object that does not move linearly. The gyroscope can measure the angle of the rotational motion that can not be measured with the accelerometer. Therefore, by using the gyroscope and the acceleration sensor together, accurate motion of the object can be grasped. Furthermore, measurement errors can be reduced by using weight sensors and geomagnetic sensors.

The second sensor 16 is for detecting a collision situation and preventing collision, and may be, for example, an ultrasonic sensor, a laser sensor, or the like, but the type is not limited thereto. The second sensor 16 may be an image sensor, including a camera, which can acquire external image data and use the acquired image data to detect and prevent collisions with obstacles, including other carriers.

The communication unit 18 communicates with the classification device 2 wirelessly. A communication interface is defined for wireless communication. For example, a communication interface is defined for receiving a simple operating command for conveying the rough operating state of the conveying device 1 and for determining a traveling path. A simple operation command is an operation command such as forward, backward, rotation, and the like. Or it may be a movement path coordinate or a continuous direction vector value.

FIG. 5A is a reference view showing a state where an article is inserted into a conveying apparatus according to an embodiment of the present invention. FIG.

Referring to FIG. 5A, the input unit 3 feeds articles to the conveying apparatus 1, and a plurality of conveying apparatuses 1 are connected to each other to load the articles, and can be automatically separated or combined as necessary. The charging unit 3 may be a conveyor belt structure as shown in FIG. The conveying device 1 can operate the conveyor together with the movement at the time of loading the goods. For example, the conveying apparatus 1 can load the article by adjusting the conveyor moving speed of the conveying apparatus 1 so as to correspond to the moving speed and the tangent angle of the conveying apparatus 1 when passing through the loading unit 3 .

FIG. 5B is a reference view showing a state where an article is inserted into a conveyance apparatus according to another embodiment of the present invention. FIG.

Referring to FIG. 5B, the conveying apparatus 1 is moved from the lower side of the input conveyor in the same direction as the moving direction of the input conveyor of the input unit 3, and loads the article. At this time, the rotating direction of the electric wheel of the conveying device 1 and the conveyor are the same direction. According to the above-described method, since fixed track facilities are not needed separately, the processing capacity can be easily changed by adjusting the number of input conveying apparatuses when the quantity of water or the number of divisions is changed.

6 is a reference view showing a virtual map including a movement path of a mesh type according to an embodiment of the present invention.

Referring to FIG. 6, the movement path for the transportation apparatus to move from the input unit 3 to the loading table 4 is set through the virtual map 60 of the workplace. The movement path may be a mesh type as shown in FIG. A plurality of movement routes can be preset through the virtual map 60, and an optimal route among them can be selected as the movement route. The optimal movement path can be determined depending on the workplace situation and the like. For example, the route with the shortest distance from the current position of the transport apparatus can be selected. Furthermore, since a plurality of conveying apparatuses can move at the same time and movement paths can be overlapped with each other in the workplace, an optimum movement path can be determined so that they do not collide with each other and can move at a high speed. As shown in FIG. 6, there are a plurality of stacking tables 4 in the workplace, and each stacking table 4 is divided into a plurality of division boxes.

FIG. 7 is a reference view showing a virtual map including an oval track type movement path according to an embodiment of the present invention.

7, the movement path for the transport apparatus to move from the input section 3 to the pallet 4 includes a plurality of overlapping elliptical tracks in the virtual map 60 of the workplace and a path therebetween Lt; / RTI >

8 is a reference view showing a state in which the conveying device according to an embodiment of the present invention unloads the article to a designated position.

Referring to FIG. 8, when the article A is unloaded on the floor, the conveying apparatus 1 unloads the article A by inclining the conveyor 14 to the bottom. At the time of tilting, the conveyor 14 rotates and the article A is unloaded to the bottom.

Figs. 9 and 10 are reference views showing a state in which a conveying device according to various embodiments of the present invention controls a posture while moving or rotating. Fig.

The conveying device according to one embodiment balances the force through tilting so that the article does not fall off during rotation or rotation. This is to prevent the article from being tilted or overturned due to centrifugal force, inertia or the like. It also uses centrifugal force or inertia to reduce the power and time required to unload heavy goods by rotating the conveyor and to unload them effectively and quickly. For example, as shown in Figs. 9 and 10, the conveying device 1 approaches the loading surface in a direction not parallel to the loading surface of the loading table 4. Fig. Then, the direction of movement is changed or decelerated before the arrival time of the loading surface so that centrifugal force or inertia works in the direction of the loading surface. At the same time when the direction of movement is changed or decelerated, the conveyor is driven in the direction in which the centrifugal force or inertia is applied to unload the article at a high speed.

The conveying apparatus 1 according to the embodiment drives the conveyor in which the article is placed before the time arriving at the determined unloading position, in order to move and unload the conveying apparatus 1 at a high speed without stopping the conveying apparatus 1. [ Then, the conveyor is rotated in the direction of unloading while moving, so that the article is freely unloaded to the stacking table (4).

11 is a flowchart illustrating a method of transporting a product using a transportation device according to an embodiment of the present invention.

Referring to FIGS. 2 and 11, when an article is used for transporting, sorting and unloading indoor articles, the article is manually input by the operator to the conveying apparatus 1 or the article is input through the input unit 3 (1100 ). In this case, if the plurality of conveying apparatuses are used to carry the articles sequentially, the operator does not have to carry out the work of unloading and re-moving the articles.

The articles can be loaded by adjusting the conveyor moving speed of the conveying apparatus 1 so as to correspond to the moving speed and tangent angle of the conveying apparatus 1 when the articles are passed through the input unit 3. [ As another example, the conveying apparatus 1 can be loaded while moving from the lower side of the input conveyor in the same direction as the moving direction of the input conveyor of the input unit 3.

The conveying device 2 then carries the article to a designated unloading position within the workshop (1110). The unloading position is a section of a loading stand or a loading stand sorted by the sorting device (2) according to the sorting information of the articles for each article. The conveying apparatus 1 can be moved along a predetermined path. The conveying device 1 moves along the movement path set up to the unloading position and can control its position so that the article does not fall during the movement.

Subsequently, when the conveying apparatus 1 reaches the designated unloading position, the article is automatically unloaded to the unloading position (1120). At this time, control is performed so as to optimize discharge according to the characteristics of structures such as suits and conveyors. For example, the article is unloaded to a loading stand installed at the height of the conveyor of the conveying device 1. [ As another example, when unloading an article on the floor, the conveyor of the conveying device 1 is unloaded while inclining it to the bottom. After unloading, the conveying apparatus 1 returns to the designated position (1130).

The conveying apparatus 1 according to the embodiment self-diagnoses its own state. For example, it monitors and analyzes the status of residual battery, failure status, etc., and carries out follow-up action according to the diagnosis result. As an example of a follow-up action, the battery can be moved to the charging unit 5 itself to replace or charge the removable battery in the battery replacement and charging device.

12 is a flowchart illustrating an article classification method using a classification apparatus according to an embodiment of the present invention.

Referring to FIGS. 2 and 12, the classification device 2 acquires classification information of an article with respect to the transportation apparatus 1 to classify the article (1200). At this time, the sorting device 2 can recognize the article classification information on the article placed on the conveying device 1, and can receive the previously recognized article classification information from the outside.

Then, an article unloading position is determined (1210) according to the obtained division information, and the conveying apparatus 1 is controlled to move to a determined unloading position (1220).

The classifying device 2 can determine the article unloading position according to the article classification information by searching the article unloading position information mapped with the article classification information. Then, a movement path from the virtual map of the workplace to the article unloading position is set, and the moving device can be controlled to move along the set virtual moving path and the mapped actual moving path.

The classifying device 2 according to the embodiment can set a travel route to the unloading position in advance and control the transportation device 1 to move along the set travel route. To this end, the sorting device 2 sets a workplace on a two-dimensional plane, and distinguishes between an area in which the conveying device 1 can move and an area in which the conveying device 1 can not move. Then, the transportation device 1 sets a destination for unloading the goods, sets a virtual map and a route to move freely to the set destination, and controls the moving of the goods according to the virtual map and the route.

The embodiments of the present invention have been described above. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

1: conveying device 2: sorting device
3: Input section 4:
5: charger 11: electric wheel
12: Control section 14: Conveyor
15: first sensor 16: second sensor
17: third sensor 18:
19: Battery 20:
22: workplace management section 24: database
220: unloading location management unit 222: route management unit
224: input position management unit 226: charging position management unit

Claims (22)

A conveying device for freely moving the electric wheel in the work place and unloading the article placed on the upper end when the unloading position is reached; And
A sorting device that acquires sorting information of an article placed on the conveying device, determines an article unloading position according to the obtained sorting information, and controls the conveying device to move to a determined unloading position;
Wherein the product classification system comprises: The method according to claim 1,
Wherein the classification information is identifier information of a barcode, an RFID ID, or an article indicated by a character, a classification code or address information. The apparatus according to claim 1, wherein the conveying device
And when the vehicle reaches the unloading position, rotates the conveyor formed at the upper end of the electric wheel to unload the article. 2. The apparatus according to claim 1,
A division information acquiring unit for recognizing the division information of the article placed on the carrier or receiving the information from outside; And
A virtual map and a route to be freely moved to a determined unloading position are set, and the moving and moving of the conveying device is performed according to the set virtual map and the route, A workplace management unit for controlling the worker;
Wherein the product classification system comprises: 5. The apparatus of claim 4, wherein the classification information obtaining unit
Wherein the article classification information is obtained by using any one of a camera, a laser scanner, an RF reader, Bluetooth, Zigbee, short-range wireless communication, and video coding. 5. The system according to claim 4, wherein the workplace management unit
A loading and unloading position determining unit for determining an unloading position of the article according to the article classification information by searching the article unloading position information mapped with the article classification information and providing the determined article unloading position information to the conveying apparatus or controlling the connection between the conveying apparatus and the article unloading position Management; And
A path management unit for setting a movement path from the virtual map of the workplace to the article unloading position and providing the set movement path information to the transportation apparatus or controlling the transportation apparatus to move along the movement path;
Wherein the product classification system comprises: 7. The apparatus of claim 6, wherein the route management unit
Wherein the transportation device directly determines the movement route in real time according to the situation or sets a plurality of movement routes in advance and selects the optimum movement route according to the situation of the workplace. 7. The apparatus of claim 6, wherein the route management unit
Wherein the virtual movement route is mapped to an actual movement route in association with the position measurement means, and the movement route is dynamically set so as not to collide with an obstacle including another transportation device. 5. The system according to claim 4, wherein the workplace management unit
An input position management unit for setting and managing an input position and an input method for loading an article on a transportation device; And
A charging position management unit for managing a position for replacement or charging of the battery, monitoring and analyzing a state including the remaining battery capacity and failure of the transportation device, and controlling the transportation device to move to the charging position according to the analysis result;
Wherein the product classification system comprises: The system according to claim 1,
A loading bin positioned at the unloading location of the article and divided into a plurality of compartments; Further comprising:
Wherein the sorting device recognizes the sorting information of the articles placed on the conveying device and determines a sorting section to unload the articles in the stacking compartment. The system according to claim 1,
An input unit for loading an article on a conveying device for conveyance;
Further comprising the step of: 12. The apparatus according to claim 11, wherein the conveying device
And the conveying speed of the conveying device is adjusted so as to correspond to the moving speed and the tangent angle of the conveying device when the conveying device passes the conveying device. 12. The apparatus according to claim 11, wherein the conveying device
And the article is loaded while moving from the lower side of the charging conveyor in the same direction as the charging conveyor moving direction of the charging section. The system according to claim 1,
A charger for replacing or charging the battery mounted on the conveying device;
Further comprising the step of: The apparatus according to claim 1, wherein the conveying device
And the plurality of the plurality of the plurality of the plurality of the plurality of the plurality of the plurality of the plurality of the plurality of the plurality of the plurality of the plurality of the plurality of the plurality of the plurality. The apparatus according to claim 1, wherein the conveying device
An electric wheel rotating along the bottom surface;
A conveyor which is formed at an upper end of the electric wheel and which unloads or adjusts a position of an article loaded on the upper end thereof while rotating; And
A control unit for controlling operation of the device including driving the electric wheel and the conveyor;
Wherein the product classification system comprises: 17. The apparatus of claim 16, wherein the control unit
A position control unit for recognizing a current position of the transport apparatus and an unloading position of the transport apparatus and confirming a movement path of the transport apparatus;
A movement control unit which rotates the electric wheel along the movement path to move the loaded article to the unloading position; And
An unloading control unit for unloading the article that has reached the unloading position;
Wherein the product classification system comprises: 18. The apparatus of claim 17, wherein the movement control unit
Controls the rotational direction and speed of the electric wheel, the direction of the conveyor, the rotational speed and the inclination by using the state information of the conveying apparatus, and controls the movement of the conveying apparatus to the article unloading position. 18. The method according to claim 17, wherein the unloading control section
Wherein the conveyor is rotated to unload the article on the floor or unload the article to a loading stand installed corresponding to the height of the conveyor, and when the unloading operation is performed on the floor, the conveyor is inclined to the floor. A step of classifying an article by obtaining division information of the article with respect to a conveying device that freely moves through an electric wheel and conveys the article placed on the conveyor;
Determining an article unloading position in the workplace according to the obtained division information; And
Controlling the conveying device to move to a determined unloading position;
Wherein the method comprises the steps of: 21. The method of claim 20, wherein controlling the transport device
Retrieving the article unloading location information mapped with the article classification information and determining an article unloading position according to the article classification information; And
Setting a movement path from the virtual map of the workplace to the article unloading position and controlling the moving device to move along the set virtual movement path and the mapped actual movement path;
Wherein the method comprises the steps of: 21. The method of claim 20, wherein controlling the transport device
Setting a plurality of movement paths in advance and selecting an optimal movement path according to the situation of the worksite;
Dynamically changing the movement path so as not to collide with an obstacle including another transportation apparatus;
Wherein the method comprises the steps of:
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