KR20190105168A - Transportation robot based on IoT(Internet of Things) equipped with a detachable transceiver capable of distance measurement and operation method of a transportation robot - Google Patents

Abstract

The present invention relates to a transportation robot based on the Internet of Things equipped with a detachable transceiver capable of measuring a distance and an operation method of the transportation robot. The transportation robot based on the Internet of Things comprises: a plurality of detachable receiving parts for receiving signals from a detachable transmitting part attached to a body of an operator; a calculation part for measuring a distance and an angle of each of the detachable transmitting part and the plurality of detachable receiving parts; and a control part for controlling a movement direction of the transportation robot on the basis of a calculation result of the calculation part. According to the present invention, a recognition speed is improved by using the detachable transceiver capable of measuring the distance, thereby enabling a worker to be recognized more quickly.

Description

Transportation robot based on Internet of Things equipped with a detachable transceiver capable of distance measurement and operation method of a transportation robot}

The present invention relates to an IoT-based transport robot and a method of operating a transport robot equipped with a detachable transceiver capable of measuring distance, and in particular, a detachable transceiver is capable of controlling a transport robot by quickly recognizing an operator without the influence of lighting. The present invention relates to an IoT-based transport robot and a method of operating the transport robot.

There is a lot of research on carts that move automatically by tracking worker's movements without auto-carrying carts in the workplace or autonomous driving. Conventional carts for warehouse management have only simple information search or simple transport functions, and picking (picking up and sorting out as many items as needed by ordering) There was a falling issue. In addition, when sensing using a depth camera, there is a problem in that the computational load is large in implementing the algorithm and the operator cannot be recognized by lighting.

Patent Publication No. 10-2011-0096392 is based on a digital picking system that digitizes all processes from ordering of stores to the picking quantity displayed on the indicators attached to the product shelves of the distribution center, reducing the work time and error rate. Although a cart for a digital picking system can be significantly reduced, there is a difference from the contents of quickly recognizing the operator and controlling the cart.

The problem to be solved by the present invention is to provide an IoT-based transport robot and a method of operating the transport robot that can control the transport robot by quickly detecting the operator without the influence of the light by mounting a separate transceiver capable of measuring the distance.

The IoT-based transport robot equipped with a detachable transceiver capable of measuring a distance includes a plurality of separate receivers for receiving signals from a detachable transmitter attached to a worker's body, and a distance between the detachable transmitter and a plurality of separate receivers. And a calculation unit for measuring an angle and a control unit for controlling a moving direction of the transport robot based on a calculation result of the calculation unit.

The operation method of the IoT-based transport robot equipped with a detachable transmission / reception device capable of measuring a distance includes continuously transmitting signals from a detachable transmitter attached to a body of a worker, and first to third detachable types mounted to the transport robot. Receiving signals from the separate transmitter by the receiver, calculating a distance and an angle between the separate transmitter and the first to third receivers, and a distance D1 between the separate transmitter and the first receiver. And if the distance D3 between the split transmitter and the third split receiver is the same, the transport robot linearly moves in a worker direction.

The present invention through the above problem solving means has the effect of improving the recognition speed for the operator by using a separate transceiver.

In addition, it is free from the influence of lighting, can be applied in a general-purpose environment, and can be used in a low-profile hardware environment.

1 is a perspective view of a IoT-based transport robot according to an embodiment of the present invention.
2 is a block diagram illustrating a configuration of an IoT-based transport robot according to an embodiment of the present invention.
3 is a flowchart illustrating a method of operating an IoT-based transport robot according to an embodiment of the present invention.
4 is a conceptual diagram illustrating a method of operating an IoT-based transport robot according to an embodiment of the present invention.

Specific structural or functional descriptions of the embodiments according to the inventive concept disclosed herein are provided only for the purpose of describing the embodiments according to the inventive concept. Specific structural or functional descriptions of embodiments in accordance with the inventive concepts disclosed herein may be embodied in various forms and are merely illustrated for purposes of describing embodiments in accordance with the inventive concepts. As embodiments of the inventive concept may be implemented in various forms, it is not limited to the embodiments described herein.

Embodiments according to the inventive concept may be variously modified and have various forms, so embodiments are illustrated in the drawings and described in detail herein. However, this is not intended to limit the embodiments in accordance with the concept of the invention to the specific forms disclosed, and includes all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described herein, but one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view of an IoT-based transport robot according to an embodiment of the present invention, and FIG. 2 is a block diagram illustrating a configuration of an IoT-based transport robot according to an embodiment of the present invention.

Referring to FIG. 1, the IoT-based transport robot 10 equipped with a detachable transceiver capable of measuring distance includes a frame unit 20, a bumper unit 30, a detachable receiver unit 110, and a display unit 130. do.

Frame portion 20 may be formed in a structure that can load the logistics to be transported. The frame unit 20 may be provided with at least one storage unit for storing logistics. For example, the frame part 20 may include a lower frame 21 on which logistics is loaded, and an upper frame part 23 disposed perpendicularly to the front surface of the lower frame part 21. It does not limit the shape and may be formed in a shape different from the embodiment.

The upper frame part 23 may include a handle part for adjusting a moving direction of the IoT-based transport robot, and the display unit 130 may be disposed on the front to provide the user with status information of the IoT-based transport robot. Can provide. The upper frame unit 23 may arrange the start / end control unit 27 under the display unit 130.

The bumper part 30 may be disposed on the front or rear side of the lower frame part 20 to absorb external shocks generated during movement.

The detachable transceiver capable of measuring a distance includes a detachable receiver 110 and a detachable transmitter 200, and the detachable receiver 110 is mounted on the front of the lower frame unit 20 and disposed on the bumper unit 30. A signal may be received from the detachable transmitter 200 worn on the belt. The separate transceiver may transmit and receive an ultrasound signal and a beacon signal, but is not limited thereto.

Referring to FIG. 2, the transport robot 10 includes a separate receiver 110, a driver 120, a display 130, a lidar sensor 140, a calculator 150, a controller 160, and a battery unit ( 170, an interface unit 180.

The split receiver 110 includes a plurality of split receivers, and includes a first split receiver 111, a second split receiver 113, and a third split receiver 115. The second split receiver 113 is disposed in the center of the bumper 30, and the first split receiver 111 and the third split receiver 115 are spaced apart by the same distance with respect to the second split receiver 113. Is placed.

The driving unit 120 serves to move the transportation robot 10 by using the power supplied from the battery unit 170, and may be a motor driving driver that drives wheels provided in the transportation robot 10. The driving unit 120 includes a plurality of wheels on a lower surface of the lower frame portion 21 and a motor unit providing driving force to the wheels, and drives the transport robot 10 according to the driving force generated by the motor unit.

The display unit 130 may display work list data of the used work and state information of the transport robot. For example, the display 130 may be a touch screen, but is not limited thereto. The state information of the transport robot may be at least one of a state of the battery unit, time information, use time, and user information.

The lidar sensor 140 may be disposed at the rear of the lower frame part 20 to measure a distance.

The calculator 150 may measure distances and angles of the separate transmitter 200 and the plurality of separate receivers 110, respectively.

The controller 160 may control the movement direction of the transport robot based on the calculation result of the calculator. The controller 160 compares the distances of the first to third separate receivers 111, 113, and 115 and the separate transmitter 200, respectively, and the distance D1 between the split transmitter 200 and the first split receiver 111. And, if the distance (D3) between the separate transmitter 200 and the third separate receiver 115 is the same, the transport robot can be controlled to move linearly in the worker direction.

If the distance D1 between the split type transmitter 200 and the first split type receiver 111 is greater than the distance D3 between the split type transmitter 200 and the third split type receiver 115, the third split type receiver The transport robot may rotate by the second angle θ2 in the direction of 115.

If the distance D1 between the split type transmitter 200 and the first split type receiver 111 is smaller than the distance D3 between the split type transmitter 200 and the third split type receiver 113, the controller 160 is the first split type. The transport robot may rotate by the first angle θ1 in the direction of the receiver 111.

The controller 160 may control the transport robot 10 to operate in a plurality of driving modes. For example, the plurality of driving modes may be one of a follow mode, a drive mode, and an autonomous driving mode.

The controller 160 may control the speed and the rotation direction of the transport robot 10 according to the moving position of the operator, and may control the acceleration or deceleration of the driving speed to maintain a predetermined distance from the operator. On the other hand, the control unit 160 may control the distance to the worker more closely to facilitate the worker's work during the picking operation.

In the follow mode and the drive mode, the position of the operator is determined by the separate receiver 110, and the transport robot moves based on the same. However, in the follow mode, the worker moves in a state arranged side by side in front of the transport robot 10, but in the drive mode, the worker faces the front of the transport robot 10 from behind the IoT-based transport robot 10. There is a shift in movement.

The controller 160 may change the driving mode by the operator. For example, the operator may change and select the driving mode through the display 130.

The battery unit 170 serves as a power source by converting chemical energy into electrical energy or converting electrical energy into chemical energy as an energy storage device providing power to the transportation robot 10.

The interface unit 180 receives work list data of the current worker through the central server, and the received work list data is displayed on the display 130.

3 is a flowchart illustrating a method of operating the IoT-based transport robot according to an embodiment of the present invention, and FIG. 4 is a conceptual diagram illustrating a method of operating the IoT-based transport robot according to an embodiment of the present invention. to be.

Referring to Figures 3 and 4, the operation method of the IoT-based transport robot equipped with a detachable transceiver capable of measuring a distance first transmits a signal continuously from the detachable transmitter 200 attached to the body of the worker (S310) ). Thereafter, the first to third separate receivers 111, 113, and 115 mounted on the transport robot 10 receive a signal from the separate transmitter 200 (S320). The distance L1 of the first split receiver 111 and the second split receiver 113 and the distance L2 of the second split receiver 113 and the third split receiver 115 are equal to each other.

Subsequently, the calculator calculates the distances D1, D2, and D3 and the angles θ1 and θ2 between the split transmitter 200 and the first to third split receivers 111, 113, and 115 (S330).

Subsequently, the controller 160 compares the distances of the first to third separate receivers 111, 113, and 115 and the separate transmitter 200, respectively, and the distance between the split transmitter 200 and the first split receiver 111. If the distance D3 is equal to the distance D3 between the separate transmitter 200 and the third separate receiver 115 (S340), the transport robot may be controlled to linearly move in the worker direction (S350). Depending on the driving mode, it can move in the direction of the worker or in the opposite direction of the worker.

If the distance D1 of the split transmitter 200 and the first split receiver 111 is greater than the distance D3 between the split transmitter 200 and the third split receiver 115 (S360), the third split receiver 115 The transport robot may rotate to move by a second angle θ2 in the direction of (S370).

If the distance D1 between the split type transmitter 200 and the first split type receiver 111 is smaller than the distance D3 between the split type transmitter 200 and the third split type receiver 113 (S360), the first split type receiver ( The transport robot may rotate to move by the first angle θ1 in the direction 111 (S380).

Although the present invention has been described with reference to the embodiments illustrated in the drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

10; IoT-based transport robot 20; Frame part
30; Bumper portion 110; Remote Receiver
120; A driver 130; Display part
140; Lidar sensor 150; Calculation
160; A controller 170; Battery part
180; An interface unit 200; Separate transmitter

Claims (8)

In the IoT-based transport robot equipped with a detachable transceiver capable of measuring a distance,
A plurality of separate receivers for receiving a signal from a separate transmitter attached to a body of an operator;
A calculator for measuring a distance and an angle of each of the separate transmitter and the plurality of separate receivers; And
IoT based transport robot including a control unit for controlling the movement direction of the transport robot based on the calculation result of the calculation unit. The method of claim 1,
The plurality of separate receivers include first to third separate receivers,
The controller compares distances of the first to third separate receivers and the separate transmitter, respectively, and the distance D1 between the split transmitter and the first split receiver, and the distance D3 between the split transmitter and the third split receiver. ) Is the same, the IoT-based transport robot that controls the transport robot to move linearly in the direction of the worker. The method of claim 1,
The plurality of separate receivers include first to third separate receivers,
The controller compares the distances of the first to third separate receivers and the separate transmitter, respectively, and the distance D1 of the split transmitter and the first split receiver is a distance D3 between the split transmitter and the third split receiver. Greater than), the IoT-based transport robot that controls the transport robot to rotate by a second angle θ2 in the direction of the third detachable receiver. The method of claim 1,
The plurality of separate receivers include first to third separate receivers,
The controller compares the distances of the first to third separate receivers and the separate transmitter, respectively, and the distance D1 of the split transmitter and the first split receiver is a distance D3 between the split transmitter and the third split receiver. Less than), the IoT-based transport robot that controls the transport robot to rotate by a first angle (θ1) in the direction of the first detachable receiver. The method of claim 1,
The transport robot,
A frame part including a lower frame part and an upper frame part;
A bumper part disposed on the front or rear surface of the lower frame part to absorb an external shock generated during movement;
It is disposed on the front of the upper frame portion further comprises a display unit for providing a user with status information of the IoT-based transport robot,
The IoT-based transport robot is mounted on the front surface of the bumper unit. In the operation method of the IoT-based transport robot equipped with a detachable transceiver capable of measuring distance,
Continuously transmitting a signal in a separate transmitter attached to a body of an operator;
Receiving, by the first to third separate receivers mounted on a transport robot, a signal from the separate transmitter;
Calculating a distance and an angle between the split transmitter and the first to third split receivers; And
If the distance D1 between the split transmitter and the first split receiver is equal to the distance D3 between the split transmitter and the third split receiver, the transport robot moves linearly to the worker direction How the robot works. The method of claim 6,
If the distance D1 of the split transmitter and the first split receiver is greater than the distance D3 between the split transmitter and the third split receiver, the transport robot rotates by a second angle θ2 in the direction of the third split receiver. Operation method of the IoT-based transport robot further comprising the step of controlling to move. The method of claim 6,
If the distance D1 of the split transmitter and the first split receiver is less than the distance D3 between the split transmitter and the third split receiver, the transport robot rotates by a first angle θ1 in the direction of the first split receiver. Operation method of the IoT-based transport robot further comprising the step of moving.

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