KR20210033147A - Logistics robot system - Google Patents

Abstract

The present invention comprises: a transfer unit, where an object is loaded in an upper portion, moved inside a work space; a server generating mapping information on the work space through a camera installed in a ceiling of the work space and generating current position information of the transfer unit captured by the camera; and a control unit installed in the transfer unit, generating path information based on the mapping information, the current position information, and a voice recognition based command input from a worker provided from the server, and controlling the transfer unit to perform autonomous driving.

Description

Logistics transfer robot system {LOGISTICS ROBOT SYSTEM}

The present invention relates to a logistics transport robot system, and more particularly, to a logistics transport robot system in which an operator can efficiently load and move goods through a transport unit that runs autonomously within a work space.

In recent industrial sites, automatic guided vehicles (AGVs), air transport pipes, air shooters, and self-propelled trucks are widely used as transportation means instead of people.

However, since AGV moves along guide structures such as guide tapes and magnets, it takes a lot of cost to install these structures, and if it is necessary to change the distribution path after installation, additional costs for repositioning and re-installing the guide structures are added. There is a disadvantage that maintenance and management costs are high because it must be done.

On the other hand, transport pipes, air shooters, and the like, not only require considerable cost for initial installation, but also require a lot of cost for maintenance and repair, as they frequently malfunction due to aging facilities, and thus, there is a problem in that overall work efficiency is deteriorated.

In addition, since the origin, destination, and movement route of AGVs and transport pipes are fixed, it is difficult to apply in environments where the location of users or cargo is frequently changed.

Therefore, even if there is a change in the structure, there is a need for an autonomous driving technology of a logistics vehicle that moves by self-determining the driving route.

The present invention has been derived to solve the above-described problem, and an object thereof is to provide a logistics transfer robot system capable of reducing the cost of installation and modification of the guide structure since there is no need to install a separate guide structure.

In addition, another object of the present invention is to provide a logistics transport robot system that can be used regardless of the change of the moving path even if the loaded logistics are changed or an obstacle is placed on the moving path.

Other objects of the present invention will become more apparent through examples described below.

A logistics transport robot system according to an aspect of the present invention includes a transport unit in which an article is loaded and moves within a work space; A server for generating mapping information for the working space through a camera installed on the ceiling of the working space, and generating current location information of the transfer unit photographed by the camera; And a control installed in the transfer unit to generate route information based on the mapping information provided from the server, the current location information, and a voice recognition-based command input from an operator, and control the transfer unit to run autonomously. May contain units.

The logistics transfer robot system according to the present invention may have one or more of the following embodiments. For example, it may further include a terminal that is carried by the operator and transmits the input command to the transfer unit.

The transfer unit includes: a body portion having a plurality of trays and wheels at a lower portion thereof; A driving unit that provides a driving force to the wheel; A sensor unit installed on the body to detect an obstacle placed on a movement path of the transfer unit or to detect the weight of an article; And a marker part formed in a rod shape on the upper part of the transfer unit to be recognized by the camera.

The control unit may include a voice recognition unit for recognizing a voice command of the operator; A storage unit in which the mapping information provided from the server, location information on which the article is loaded, current location information of the transfer unit, current location information of another transfer unit, and the command are stored; A processor for generating route information by generating shortest route information to a destination based on the mapping information, the current location information, and the command, or avoiding an obstacle detected on a moving route; And a communication unit communicating with the server.

When generating the route information, the processor may determine that the other transfer unit is stopped on the moving route for a predetermined period of time or longer, and may determine it as an obstacle and avoid the corresponding obstacle to generate route information.

The command includes an operation command for instructing the operation of the transfer unit and a location command for a location where the article is loaded, and the control unit, when the operation command is input, is at a constant interval with an operator who has the terminal A follow mode for controlling the transfer unit to run autonomously so as to move with an operator while maintaining the value; And a destination driving mode for controlling to move to a destination based on the route information when the location command is input.

In the present invention, when the operation command is input, the transfer unit communicates with the terminal in a short distance so as to move while maintaining a constant distance from the operator.

In the present invention, the transfer unit may detect the worker through a sensor unit formed on one side, and maintain a constant distance from the worker.

In the present invention, the control unit receives the route information of the other transfer unit from the server in real time, and when a collision with another transfer unit in a specific area is predicted, the control unit controls one of the transfer units to decelerate to the expected collision area. I can.

In the present invention, the control unit may control the transfer unit, which carries the article having a relatively lighter weight than other transfer units, to operate at a reduced speed.

In the present invention, the server receives obstacle information detected as each of the transport units moves and provides the obstacle information to other transport units,

The control unit of the other transfer unit may generate path information for avoiding the obstacle.

In the present invention, the control unit may be interworked with the terminal through a QR code, and may control the transfer unit in response only to a command input from the interlocked terminal.

A logistics transport robot system according to another aspect of the present invention includes a plurality of transport units in which goods are loaded and moving within a work space; A server that generates mapping information for a work space through a camera installed on the ceiling of the work space, and monitors current location information of the transfer unit photographed by the camera; A plurality of units installed in each of the transport units, generating route information based on the mapping information provided from the server, the current location information, and a voice recognition-based command input from an operator, and controlling the transport unit to run autonomously. The control unit of the; And a terminal possessed by an operator and configured to set any one of the plurality of control units as a master control unit and the other as a slave control unit, wherein the master control unit controls the generated route information to the slave. It is provided to a unit, and the slave control unit may control a corresponding transfer unit based on the path information provided from the master control unit.

The master control unit and the slave control unit may control the plurality of transfer units to move while being arranged in a preset arrangement.

The master control unit and the slave control unit, when the plurality of transfer units move based on the route information, control to move in a state that maintains a certain interval, and when the transfer unit arrives at a destination and stops, the movement is in progress. It can be controlled to be placed while maintaining a relatively narrow spacing than the spacing of the time.

The terminal includes a master automatic setting mode for automatically setting any one of the plurality of control units as a master control unit, and in the automatic setting mode, the terminal has route information of the shortest distance to a destination among the plurality of control units. The control unit may be set as the master control unit.

The logistics transfer robot system according to the present invention provides the following effects.

According to the present invention, there is no need to install a separate guide structure, so that the cost of installing and changing the guide structure can be reduced, and it can be used regardless of the change of the distribution path.

In the present invention, since a plurality of transport units are connected to a network and share information on obstacles detected by other transport units, path information including an obstacle avoidance path is generated based on the shared obstacle information, so that the transport unit moves to the destination. There is an effect that can minimize the time.

In the present invention, when a plurality of transfer units having route information of the same destination are predicted to collide with each other in a specific area, one transfer unit is decelerated to prevent a collision between transfer units.

The present invention has the effect of efficiently managing working time through a plurality of transfer units set as masters or slaves when a plurality of transfer units are required due to a large amount of loading.

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

1 is a diagram illustrating a logistics transfer robot system according to a first embodiment.
2 is a perspective view of a transfer unit of the logistics transfer robot system illustrated in FIG. 1.
3 is a block diagram for explaining the logistics transfer robot system according to the first embodiment.
4 is a block diagram illustrating a control unit of the logistics transfer robot system illustrated in FIG. 3.
5 and 6 are views for explaining a control method of a transfer unit of the logistics transfer robot system illustrated in FIG. 3.
7 is a block diagram illustrating a logistics transfer robot system according to a second embodiment of the present invention.
FIG. 8 is a view for explaining a control method of a master transfer unit and a slave transfer unit of the logistics transfer robot system illustrated in FIG. 7.

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be illustrated in the drawings and described in the detailed description. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all conversions, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the present invention, when it is determined that a detailed description of a related known technology may obscure the subject matter of the present invention, a detailed description thereof will be omitted.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance.

Terms such as first and second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another component.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same or corresponding components regardless of the reference numerals are given the same reference numerals, and duplicates thereof. Description will be omitted.

Embodiments of the present invention to be described later relate to a logistics transport robot system, to provide a logistics transport robot system in which an operator can efficiently load and move goods through the transport unit 100 capable of autonomous driving in a work space. .

For reference, the work space described below may be a distribution warehouse in which goods 102 are loaded, and a plurality of shelves 101 are installed in a state spaced apart at predetermined intervals in the work space, and the shelf 101 is Each article 102 may be loaded. For reference, the article 102 referred to herein may be an article stored in a distribution warehouse. In addition, the space in which the transfer unit 100 can move is defined and described as a work space, but the space in which the transfer unit 100 can move is not limited to the work space.

Hereinafter, a logistics transfer robot system according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 6.

1 and 2 are views for explaining the logistics transfer robot system and the transfer unit of the present invention, Figures 3 and 4 are block diagrams for explaining the logistics transfer robot system of the present invention. In addition, FIGS. 5 and 6 are diagrams for explaining a control method of the control unit of the logistics transfer robot system.

1 and 2, the logistics transfer robot system according to an embodiment of the present invention may include a transfer unit 100, a server 200, a control unit 300, and a terminal 400.

First, the transfer unit 100 may be provided in plural, each carrying the article 102 and moving within the working space, and may serve to transport the articles 102. When describing the transfer unit 100 in more detail, the transfer unit 100 may include a body portion 110, a driving portion, a sensor portion 120, and a marker portion 130.

The body portion 110 may be formed such that a plurality of trays 111 are stacked apart from each other, and articles 102 may be loaded on each of the plurality of trays 111. The body portion 110 can be assembled by a worker in various forms. For example, a plurality of trays 111 may be provided for each size, and an operator may install the body portion 110 by selecting the size of the tray 111 according to the working environment. In addition, the operator may install and assemble the tray 111 according to the work environment. That is, the body portion 110 may be assembled and installed in various forms by a worker according to a work environment, thereby increasing work efficiency. In addition, a storage box 115 through which an operator can store tools or the like may be formed in any one or more of the trays 111.

A plurality of wheels for moving the body portion 110 may be formed under the body portion 110. The wheel may be divided into a main wheel 112 and a caster wheel 113, the main wheel 112 is located in the lower center of the body portion 110, the caster wheel 113 is the lower portion of the body portion 110 It can be located on the outskirts.

The rotation of the main wheel 112 may be controlled by receiving a driving force from a driving unit to be described later. The caster wheel 113 may serve to guide the movement of the body portion 110 when the body portion 110 is moved as the main wheel 112 operates.

In one example, the main wheel 112 may be in charge of the movement and rotation of the body portion 110, and is rotated and operated by the control unit 300 to be described later to guide the body portion 110 to move to the destination. can do.

A driving unit may be installed under the body unit 110 in a position adjacent to the main wheel 112. The driving unit may be connected to the main wheel 112 to provide rotation or driving force to the main wheel 112. The driving unit may be implemented as a deceleration DC motor, and the shape of the driving unit is not limited to any one.

For example, the driving unit may provide a driving force to the main wheel 112 by rotating a rotating shaft connected to the main wheel 112. The driving unit may be controlled to gradually accelerate or start, or gradually decelerate or stop in order to prevent the article 102 from falling due to the sudden start or sudden stop of the transfer unit 100.

In this embodiment, the driving unit may be driven by the battery 114 provided in the body portion (110).

The sensor unit 120 is installed outside the body unit 110 to detect an obstacle positioned on the movement path during the movement of the transfer unit 100. For example, the sensor unit 120 may include a distance sensor, an ultrasonic sensor, an infrared sensor, and the like. The obstacle information detected by the sensor unit 120 may be provided to the server 200 by the control unit 300 to be described later.

The sensor unit 120 may be installed on each of the plurality of trays 111 to detect the weight and loading time of the loaded articles 102. For example, the sensor unit 120 may notify the operator through a warning sound when articles 102 that exceed the weight that can be loaded on the tray 111 are loaded.

The marker unit 130 may be formed in a rod shape and may be installed on the top of the tray 111 disposed at the top of the body unit 110. The top end of the marker unit 130 may be formed flat, and a marker 131 that can be recognized from the camera 201 installed on the ceiling of the work space may be formed.

In one embodiment, a status indicator 132 may be installed on the marker unit 130 formed in a rod shape. The status indicator 132 may be located below the marker unit 130 on which the marker 131 is formed, and may notify the current state of the transfer unit 100 under the control of the control unit 300. For example, the status indicator 132 may notify a state of a failure of the transfer unit 100 or the control unit 300, a current operation being performed, a standby state, or a load amount exceeded.

The server 200 may generate mapping information for the work space based on photographing information on the work space captured by a plurality of cameras 201 installed on the ceiling of the work space. The mapping information generated by the server 200 may be a basis for generating path information on which the transfer unit 100 moves.

The server 200 may generate current location information of the transfer units 100 while moving, waiting, or being stopped in the work space based on information acquired through the plurality of cameras 201. For example, the camera 201 may detect the current position of the transfer unit 100 by recognizing the marker 131 formed on the marker unit 130 of the transfer unit 100. The current location information generated by the server 200 may be used when the control unit 300 generates route information.

In addition, the mapping information generated by the server 200 and the current location information of the transfer unit 100 may be used for real-time monitoring by an operator in the management room. In the present embodiment, the camera 201 installed on the ceiling of the work space is a raspberry pi-based IP (INTERNET PROTOCOL) camera 201 to build streaming.

The control unit 300 is installed in the transfer unit 100 and is provided with mapping information and current location information of the transfer unit 100 from the server 200, based on the received information and a voice recognition-based command input from the operator. By generating path information to be moved by the furnace transfer unit 100, it is possible to control the transfer unit 100 to enable autonomous driving.

In an embodiment, the control unit 300 may include a voice recognition unit 310, a storage unit 320, a processing unit 330, and a communication unit 340.

The voice recognition unit 310 may be formed in the form of an AI (ARTIFICIAL INTELLIGENCE) speaker and installed on one side of the transfer unit 100. The voice recognition unit 310 may receive a voice-based command instructed by an operator.

Here, the command input to the voice recognition unit 310 may include an operation command and a location command. The operation command is a command used when the operator controls the direct operation of the transfer unit 100, and may include “go” “stop” “move left” “move right”, and the like.

The location command is a command used when an operator inputs a location for a destination to which the transfer unit 100 will move, and may include “move to area A-1”, “move to article A”, and the like. An example in which the operation command and the position command are used will be described again later.

In this embodiment, since the voice recognition unit 310 is formed in the form of an AI speaker, it may perform functions such as radio or music playback in addition to a function of inputting a command of a worker. For example, the operator may play radio or music through voice-based commands.

In addition, the voice recognition unit 310 may check the work progress time of the worker based on the time at which the initial command is input, and when a predetermined time elapses, it may transmit a notification to notify the worker that a break is required.

In this embodiment, the operator may directly input a command to the voice recognition unit 310, but may also input the command through the terminal 400, which will be described later.

The storage unit 320 may store mapping information provided from the server 200, location information in which the article 102 is loaded in the work space, current location information of the transfer unit 100, and preset commands.

In addition, the storage unit 320 may receive mapping information and current location information of the transfer unit 100 from the server 200 in real time.

The location information on which the goods 102 stored in the storage unit 320 are loaded may be the location information of the goods 102 loaded on each shelf 101 in which each article 102 is installed in each area or in the work space. have. The location information on which the article 102 is loaded may be used as a destination when the control unit 300 generates route information.

The processing unit 330 may generate route information for autonomous driving by the transfer unit 100 based on mapping information, current location information and commands of the transfer unit 100. When generating route information, the processing unit 330 may generate the shortest route information based on the shortest distance to reach the destination.

The route information generated by the processing unit 330 may be used as information for the transfer unit 100 to autonomously drive and move to the position where the article 102 is loaded.

In one embodiment, as mentioned above, when the transfer unit 100 moves along the path information, the sensor unit 120 may detect an obstacle located on the movement path. If an obstacle is detected on the moving path while the transport unit 100 moves along the path information, the processing unit 330 may immediately generate a path that can move by avoiding the obstacle, that is, an avoidance path.

The processing unit 330 may provide the generated obstacle information to the server 200, and the server 200 may notify the provided obstacle information to the management room or provide it to the control unit 300 installed in the other transport unit 100. have.

That is, the plurality of transfer units 100 operating in the work space are networked to share information on obstacles detected by any one transfer unit 100, and each of the control units 300 may generate the initial route information. When the shared obstacle information is avoided, route information can be generated.

In other words, since the plurality of transport units 100 are networked to share obstacle information, path information including an obstacle avoidance path is provided based on the obstacle information shared when each transport unit 100 generates the path information. There is an advantage of being able to minimize the time to generate and move the transfer unit 100 to the destination.

The communication unit 340 may be installed on one side of the transfer unit 100 so that the server 200 and the control unit 300 communicate with each other. The communication unit 340 provides the obstacle information detected by the transfer unit 100 and the route information generated by the control unit 300 to the server 200, or mapping information or other transfer unit 100 from the server 200 The route information generated from or the current location information of the transfer units 100 may be provided. In addition, the communication unit 340 may communicate with the sensor unit 120 installed in the transfer unit 100 to provide obstacle information detected by the sensor unit 120 to the server 200.

The terminal 400 is carried by an operator and may serve as a repeater that transmits a command input by the operator to the voice recognition unit 310 installed in the transfer unit 100. For example, in a state in which the operator and the transfer unit 100 are spaced apart at a predetermined interval, the operator may transmit a command to the voice recognition unit 310 through the terminal 400 in possession. In this embodiment, the operator may input a command through the terminal 400 or directly input the command to the voice recognition unit 310.

Hereinafter, a control method of the control unit 300 of the logistics transfer robot system of the present invention will be described through various embodiments.

First, in the first embodiment, as shown in FIG. 5, the control unit 300 may receive current location information of the other transfer units 100' from the server 200. The processing unit 330 generates route information, and another transfer unit 100' on the moving path included in the route information is stopped for a certain time or longer, or another transfer unit 100' located on the moving route is in a standby state. In the case of, it is possible to set an avoidance path by determining the transfer unit 100 ′ as an obstacle.

In the second embodiment, the control unit 300 is a region in which only one transport unit 100 can pass through the region in which the other transport unit 100 ′ is located, even if the other transport unit 100 ′ is in operation. Another transfer unit 100 ′ may also be determined as an obstacle and may generate an avoidance path.

In the third embodiment, the control unit 300 may include a follow mode and a destination driving mode. The follow mode may be performed when an operation command is input to the voice recognition unit 310. For example, when an operator inputs a voice command for an operation command "Let's go" through the terminal 400, the transfer unit 100 maintains a constant interval with the operator by the control of the control unit 300. In the state, you can follow the operator.

At this time, the control unit 300 maintains a predetermined interval with the operator through the sensor unit 120 of the transfer unit 100 or communicates with the operator in a short distance with the transfer unit 100 and the operator. The interval can be kept constant during the movement of the vehicle. In addition, the control unit 300 may control the transfer unit 100 to be spaced apart from the operator by a predetermined interval even when the operator and the transfer unit 100 arrive at the destination.

The destination driving mode may be performed when a location command is input to the voice recognition unit 310. For example, when the operator inputs a command “Move to Item A” to the terminal 400 or the voice recognition unit 310, the control unit 300 automatically controls the transfer unit 100 to the position where the item A is loaded. It can be controlled to travel and move. The control unit 300 may control the transfer unit 100 to be disposed while maintaining a predetermined distance from the operator if there is an operator at the corresponding position after moving to the corresponding position.

In the fourth embodiment, as shown in FIG. 6, the control unit 300 receives the route information of the other transfer unit 100B from the server 200 in real time, and the other transfer unit 100B and the other transfer unit 100B in a specific area. When a collision is predicted, any one of the transport units 100A and 100B may be controlled to operate at a reduced speed to the predicted collision point.

For reference, in the following, for convenience of explanation, each of the two transfer units 100A and 100B is defined as a first transfer unit 100A and a second transfer unit 100B as shown in FIG. 6 and will be described. .

For example, the first transfer unit 100A and the second transfer unit 100B may share path information with each other through the respective control units 300. At this time, if the destinations of the first transfer unit 100A and the second transfer unit 100B are the same and meet each other in a specific area and a collision is predicted, the control unit 300 installed in the first transfer unit 100A is the first It is possible to prevent a collision with the second transfer unit 100B in a specific area by controlling the moving speed of the transfer unit 100A to a predicted collision area.

In this embodiment, when the first transfer unit (100A) and the second transfer unit (100B) collide with each other in a specific area, each control unit 300 is a first transfer unit loaded with a relatively light weight. Any one of the unit 100A and the second transfer unit 100B can be controlled to decelerate.

When the transfer unit 100 is moving with a relatively heavy item, it requires a larger operation of the driving unit than when the transfer unit 100 is moving with a lighter item when it decelerates, and accordingly, the amount of battery 114 is used. There can also be many.

Accordingly, the logistics transfer robot system of the present invention can efficiently manage the battery 114 of the transfer unit 100 by controlling the deceleration of the transfer unit 100 loaded with a relatively light weight product.

In the fifth embodiment, the control unit 300 may interwork with the terminal 400 held by the operator. For example, the control unit 300 may control the transfer unit 100 in response to only a command input from the interlocked terminal 400. For example, the operator may call the transfer unit 100 far away by inputting a call command through the terminal 400. When the control unit 300 is linked with a specific terminal 400, other users may be restricted from using the transfer unit 100 linked with the specific terminal 400.

In this embodiment, when an operator inputs a call command for calling the transfer unit 100 through a terminal 400 that is not linked with any control unit 300, the transfer unit 100 that is not linked with any of the terminals 400 ) Of the control unit 300 in response to the call command, the transfer unit 100 may be moved to the operator.

In this embodiment, the terminal 400 and the control unit 300 may be interworked with each other through a means such as inputting a QUICK RESPONSE CODE (QR) code or an authentication number.

7 is a block diagram illustrating a logistics transfer robot system according to another embodiment of the present invention.

Referring to FIG. 7, in the logistics transfer robot system according to another embodiment of the present invention, a plurality of transfer units 100 and control units 300 described above are provided, and a plurality of transfer units 100 are provided through a terminal 400. The master transfer unit 500 and the slave transfer unit 600 can be set and operated.

For reference, the configuration and effect of the transfer unit 100, the control unit 300, the server 200, and the terminal 400 are the transfer unit 100, the control unit 300, described with reference to FIGS. 1 to 6, Since it is the same as the server 200 and the terminal 400, a duplicate description will be omitted.

In addition, in the following, for convenience of explanation, when any one of the control units 300 is set as the master control unit 510 by the terminal 400, the transfer unit 100 in which the master control unit 510 is installed is referred to as the master transfer unit. It will be described by defining it as 500 In addition, the transfer unit 100 in which the slave control unit 520 is installed will be described by defining it as a slave transfer unit 600.

First, the terminal 400 may set any one of the plurality of transfer units 100 as the master transfer unit 500 and set the other transfer unit 100 as the slave transfer unit 600.

At this time, the master transfer unit 500 operates in response to a command directly input by the user to the terminal 400 or the voice recognition unit 310, and the master transfer unit 500 transfers the input command to the slave transfer unit ( 600).

The slave transfer unit 600 may respond only to a command transmitted from the master transfer unit 500 without responding to a command directly input from an operator. For reference, when transferring a command to the slave transfer unit 600, the master transfer unit 500 may convert and transfer a command input from an operator to another signal. That is, the commands received by the master transfer unit 500 and the slave transfer unit 600 are implemented as different signals to prevent confusion in the input of the command.

Meanwhile, the master transfer unit 500 transfers the generated route information to the slave transfer unit 600, and the slave transfer unit 600 can be moved based on the route information transferred from the master transfer unit 500. have.

For example, when there are many items to be transported, the operator sets the plurality of transfer units 100 as the master transfer unit 500 and the slave transfer unit 600, and then the master transfer unit 500 and the slave transfer unit 600 ) Can be moved to the destination.

If, without the setting of the master transfer unit 500 and the slave transfer unit 600, if the plurality of transfer units 100 are moved to the same destination, each of the plurality of transfer units 100 moves without interlocking. Conflicting problems may occur. Alternatively, since the plurality of transfer units 100 have the same destination, each set an avoidance path and move, so that the plurality of transfer units 100 move in the work space without alignment of the arrangement, resulting in confusion.

The logistics transfer robot system of the present invention is to prevent such a problem, and the arrangement is aligned to the same destination by setting the plurality of transfer units 100 as the master transfer unit 500 and the slave transfer unit 600. Can be moved to.

For example, when the master transfer unit 500 and the slave transfer unit 600 depart toward the destination, the slave transfer unit 600 sequentially follows the master transfer unit 500. You can move.

At this time, the master transfer unit 500 and the slave transfer unit 600 may move while maintaining a constant distance from each other. When the master transfer unit 500 and the slave transfer unit 600 arrive at the destination and stop, the master transfer unit 500 and the slave transfer unit 600 may be arranged in a state that maintains a relatively narrow gap compared to the gap when moving.

In other words, when the master transfer unit 500 and the slave transfer unit 600 are moving, the master transfer unit 500 that leads the master transfer unit 500 secures a mutual safety distance between the master transfer unit 500 and the slave transfer unit 600 Collision can be prevented even when stopped by an obstacle.

When the master transfer unit 500 and the slave transfer unit 600 arrive at the destination, the master transfer unit 500 and the slave transfer unit 600 are moving in order to easily load the goods 102. It can be arranged in a state that maintains a relatively narrow spacing than the spacing.

On the other hand, Figure 8 is a view for explaining the master transfer unit and the slave transfer unit of the logistics transfer robot system according to another embodiment of the present invention.

For reference, in the following, for convenience of explanation, the movement path for the path information of the master transfer unit 100M and the slave transfer unit 100S toward the article 102 is defined as the initial movement path, and the loaded article 102 In order to get off), the moving route for route information toward the destination is defined as the last moving route and explained.

Referring to Figure 8, the master transfer unit (100M) and the slave transfer unit (100S) can move together to the position where the article 102 is loaded. When all the articles 102 are loaded, the master transfer unit 100M and the slave transfer unit 100S can move to a destination for getting off the article 102.

In this case, as shown in FIG. 8, the master transfer unit 100M may be positioned in the opposite direction to the destination, and the slave transfer unit 100S may be positioned between the master transfer unit 100M and the destination.

At this time, the operator can control by setting the master transfer unit (100M) and the slave transfer unit (100S) to the master automatic setting mode using the terminal 400.

For example, in the master automatic setting mode, the control unit 300 having the shortest distance route information to the destination among the plurality of control units 300 may be set as the master control unit 300. In other words, in the master automatic setting mode, the transfer unit 100 having the shortest route information to the destination among the master transfer unit (100M) and the slave transfer unit (100S) is changed to the master transfer unit (100M). Can be.

That is, when the master transfer unit (100M) and the slave transfer unit (100S) move to the initial path, the master transfer unit (100M) is located on the left side of the drawing and moves, but after loading the goods 102, it moves to the destination. At this time, the existing slave transfer unit 100S (the transfer unit located on the right in the drawing) is set to be changed to the master transfer unit 100M and can be moved to the destination.

Although the above has been described with reference to an embodiment of the present invention, those of ordinary skill in the relevant technical field can use the present invention in various ways within the scope not departing from the spirit and scope of the present invention described in the following claims. It will be appreciated that it can be modified and changed.

100: transfer unit
101: shelf
102: article
200: server
201: camera
300: control unit
400: terminal

Claims (16)

A transfer unit in which the article is loaded on the upper part and moves within the working space;
A server for generating mapping information for the working space through a camera installed on the ceiling of the working space, and generating current location information of the transfer unit photographed by the camera; And
A control unit installed in the transfer unit, generating route information based on the mapping information provided from the server, the current location information, and a voice recognition-based command input from an operator, and controlling the transfer unit to run autonomously Containing
Logistics transfer robot system. The method of claim 1,
Further comprising a terminal carried by the operator and transmitting the input command to the transfer unit
Logistics transfer robot system. The method of claim 1,
The transfer unit,
A body portion having a plurality of trays and having a wheel at a lower portion thereof;
A driving unit that provides a driving force to the wheel;
A sensor unit installed on the body to detect an obstacle placed on the movement path of the transfer unit or to detect the weight of the article; And
It is formed in the form of a rod on the upper portion of the transfer unit and includes a marker portion for recognition from the camera.
Logistics transfer robot system. The method of claim 1,
The control unit,
A voice recognition unit for recognizing the operator's voice command;
A storage unit in which the mapping information provided from the server, location information on which the product is loaded, current location information of the transfer unit, current location information of another transfer unit, and the command are stored;
A processing unit that generates path information by generating shortest path information to a destination based on the mapping information, the current location information, and the command, or avoiding an obstacle detected on a moving path; And
Including a communication unit that communicates with the server
Logistics transfer robot system. The method of claim 4,
The processing unit,
When generating route information, if the other transfer unit is stopped for a certain period of time on the moving route, it is determined as an obstacle and avoids the corresponding obstacle to generate route information
Logistics transfer robot system. The method of claim 2,
The command includes an operation command for commanding the operation of the transfer unit and a position command for a position where the article is loaded,
The control unit,
When the operation command is input, a follow mode for controlling the transfer unit to run autonomously so as to move with the operator while maintaining a constant interval with the operator holding the terminal; And
When the location command is input, including a destination driving mode for controlling to move to a destination based on the route information
Logistics transfer robot system. The method of claim 6,
When the operation command is input, the transfer unit communicates with the terminal in a short distance to move while maintaining a constant distance from the operator.
Logistics transfer robot system. The method of claim 1,
The transfer unit,
Detecting the worker through a sensor unit formed on one side, and maintaining a constant distance from the worker
Logistics transfer robot system. The method of claim 1,
The control unit,
Receiving route information of other transfer units from the server in real time, and when a collision with other transfer units in a specific area is predicted, one of the transfer units controls to operate at a reduced speed to the expected collision area.
Logistics transfer robot system. The method of claim 9,
The control unit,
Controls the transfer unit to move relatively lighter weight than other transfer units to operate at a reduced speed.
Logistics transfer robot system. The method of claim 1,
The server,
Receiving obstacle information sensed while each of the transport units moves and provides the obstacle information to other transport units,
The control unit of the other transfer unit generates path information for avoiding the obstacle.
Logistics transfer robot system. The method of claim 2,
The control unit,
Interworking with the terminal through a QR code and controlling the transfer unit in response only to a command input from the linked terminal
Logistics transfer robot system. A plurality of transfer units loaded with goods on the upper side and moving within the working space;
A server that generates mapping information for a work space through a camera installed on the ceiling of the work space, and monitors current location information of the transfer unit photographed by the camera;
A plurality of units installed in each of the transfer units, generating route information based on the mapping information provided from the server, the current location information, and a voice recognition-based command input from an operator, and controlling the transfer unit to run autonomously The control unit of the; And
The operator possesses and includes a terminal for setting one of the plurality of control units as a master control unit and the other as a slave control unit,
The master control unit provides the generated path information to the slave control unit, and the slave control unit controls a corresponding transfer unit based on the path information provided from the master control unit.
Logistics transfer robot system. The method of claim 13,
The master control unit and the slave control unit,
Controlling to move the plurality of transfer units in a state arranged in a preset arrangement
Logistics transfer robot system. The method of claim 13,
The master control unit and the slave control unit,
When the plurality of transfer units move based on the route information, control to move while maintaining a certain distance, and to be arranged while maintaining a relatively narrow distance than the distance when moving from a stationary state after arriving at the destination. Controlling
Logistics transfer robot system. The method of claim 13,
The terminal includes a master automatic setting mode for automatically setting any one of the plurality of control units as a master control unit,
In the automatic setting mode, a control unit having path information of the shortest distance to a destination among the plurality of control units is set as the master control unit.
Logistics transfer robot system.

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