KR20220057675A - Loading system in warehouse and loading method using the same - Google Patents

Abstract

The present invention relates to a logistic loading system that can perform effective loading to improve the convenience of final parcel delivery by considering the know-how of the loading and unloading at the time of logistics loading, and a logistic loading method using the same. According to the present invention, the logistic loading system loads the logistics loaded in a logistic stacking unit to a loading unit, and comprises an information acquisition unit, an imaging unit, a control unit, and a robot transfer unit. The information acquisition unit acquires basic information of each of the logistics. The imaging unit acquires imaging information by imaging each of the stacked logistics. The control unit recognizes the corresponding distribution by matching the basic information and the imaging information, and determines an optimal location of the corresponding logistic in the loading unit. The robot transfer unit transfers the corresponding logistic from the logistic stacking unit to the loading unit under the control of the control unit.

Description

Logistics loading system and logistics loading method using the same

The present invention relates to a logistics loading system and a logistics loading method using the same, and more particularly, logistics for automatically optimally loading logistics loaded using a robot at a manufacturing site or a logistics warehouse, etc. to a transportation means or a specific place It relates to a loading system and a logistics loading method using the same.

In recent years, efforts to automate the conventional manual sorting of logistics or loading and unloading of logistics in a logistics center are increasing, and the need is increasing, especially in light of the explosive increase in the amount of movement of logistics.

For example, Korean Patent Publication No. 10-2020-0093895 discloses a system for automating a distribution center using a transfer robot, and Korean Patent Publication No. 10-2019-0056451 relates to a smart distribution center operating system. , discloses a technology that realizes automation and efficiency of the overall logistics center operation.

Despite the development of automation technology in the distribution center, in the actual distribution center, when the classified materials are finally loaded into the vehicle, the manpower directly checks the distribution and determines the size, type, or final delivery address of the distribution. In consideration of this, it is common to judge the ease of delivery by courier, and to perform loading manually based on this.

In other words, when actual logistics are loaded into a vehicle, the delivery is performed based on the subjective judgment or personal experience of the delivery driver, and there is a limit to the application of automation or systematic standards for this to the field.

Republic of Korea Patent Publication No. 10-2020-0093895 Republic of Korea Patent Publication No. 10-2019-0056451

Accordingly, the technical problem of the present invention has been conceived in this respect, and an object of the present invention is to provide a logistics system that can effectively perform commercial loading to improve the convenience of final courier delivery in consideration of the know-how of commercial loading at the time of logistics. will do

In addition, another object of the present invention is to provide a logistics loading method using the above logistics loading system.

Logistics loading system according to an embodiment for realizing the object of the present invention, loading the materials loaded in the logistics loading unit to the loading unit, and includes an information acquisition unit, an imaging unit, a control unit and a robot transfer unit. The information acquisition unit acquires basic information of each of the logistics. The imaging unit acquires imaging information by imaging each of the stacked materials. The control unit recognizes the corresponding distribution by matching the basic information and the imaging information, and determines the optimal location of the corresponding distribution in the mounting unit. The robot transfer unit transfers the corresponding material from the material loading unit to the mounting unit under the control of the control unit.

In an embodiment, the logistics may be sorted through a logistics transfer unit and provided to the logistics loading unit.

In an embodiment, the basic information may include ID information or address information of the logistics.

In an embodiment, the imaging information may include external information including the location, shape, weight and size of the distribution and matching the basic information including ID information or address information of the distribution.

In an embodiment, the imaging unit may be at least one or more vision cameras.

In one embodiment, the control unit, a logistics recognition unit for recognizing the corresponding logistics by matching the basic information and the imaging information, and the address information and appearance information of the corresponding logistics, learning based on information about the mounting space of the mounting unit By performing (deep learning), it may include a determination unit for determining the optimal position in the loading unit of the logistics.

In one embodiment, the basic information is stored, and further comprising a database in which information about commercial know-how, including commercial information related to weathered logistics, and a shipping method of a delivery driver, is stored, wherein the determination unit is information stored in the database can be simultaneously utilized to perform the above learning.

In one embodiment, the robot transfer unit, a robot arm having a multi-joint for transporting by gripping the corresponding material, and a guide frame for moving the robot arm in space, and fixing the robot arm and the guide frame and may include vertical and horizontal frames for moving and fixing the robot transfer unit to the material loading unit on which the materials are loaded.

In an embodiment, the imaging unit may be fixed on corners of the vertical and horizontal frames.

In the logistic loading method according to an embodiment for realizing another object of the present invention, basic information of each of the logistics loaded in the logistics loading unit is acquired. Image information is obtained by capturing each of the loaded materials. Corresponding logistics are recognized by matching the basic information and the imaging information. It is determined the optimal location of the distribution in the loading unit on which the distribution is mounted. The robot arm is driven under the control of the controller. The robot arm transfers the corresponding material from the material loading unit to the mounting unit.

In an embodiment, the basic information includes ID information or address information of the logistics, and the imaging information includes ID information or address information of the logistics, and external information including the location, shape, weight and size of the logistics may include

In one embodiment, in the step of determining the optimal commercial location of the corresponding logistics, learning (deep learning) is performed based on the address information and external information of the corresponding logistics, and information about the mounting space of the mounting unit, It is possible to determine the optimal position of the loading in the mounting portion.

According to the embodiments of the present invention, based on external information such as shape, weight and size of the corresponding logistics, address information to which the corresponding logistics should be delivered, and information on the current mounting space of the loading unit, that is, the optimal Since it determines the location of the clothes and automatically loads the corresponding logistics to the loading unit, the optimal loading and loading may be possible to approximate the actual shipping know-how of the delivery driver.

In particular, the determination unit performs learning based on the address information and appearance information of the corresponding logistics and information on the loading space, and in this case, information on the know-how such as the actual delivery driver's loading method is provided at the same time to learn Since this is performed, the optimal commercial location determination result according to the learning result of the determination unit can be very close to or rather more optimal than the manual commercial location through the actual delivery driver, and accordingly, automatically It may be possible to derive an image location.

Furthermore, with the optimal loading position derived in this way, logistics loading from the logistics loading unit to the loading unit is automatically possible through the robot transport unit, and in this case, the robot transport unit includes a multi-joint robot arm having a plurality of joints, Effective merchandising in a logistical environment may be possible.

1 is a block diagram illustrating a logistics system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram showing an example of the robot transfer unit of FIG. 1 .
3 is a flowchart illustrating a logistics loading method using the logistics loading system of FIG. 1 .

Since the present invention can have various changes and can have various forms, embodiments will be described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing each figure, like reference numerals have been used for like elements. Terms such as first, second, etc. 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. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise.

In this application, terms such as "comprises" or "consisting of" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification is present, but one or more other features It is to be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

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

1 is a block diagram illustrating a logistics system according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing an example of the robot transfer unit of FIG. 1 . 3 is a flowchart illustrating a logistics loading method using the logistics loading system of FIG. 1 .

First, referring to FIG. 1, in a general distribution warehouse (the manufacturing warehouse of the product is also the same, hereinafter, for convenience of explanation, the delivery process in the distribution warehouse will be mainly described, but it is not limited thereto), the distribution transfer unit 20 The logistics 30 transferred through ) are classified and loaded into the logistics loading unit 300 in which the logistics of the region are divided by specific address area and loaded.

The logistics loading system 10 in this embodiment is the logistics 30 classified and loaded by the logistics loading unit 300, that is, the logistics primarily classified to be delivered to a predetermined area, actually in the corresponding area. In the process of delivering each logistics to the final address, in order to improve the efficiency of delivery, it is a system applied when optimally loading the logistics on the loading unit 700 (eg, a delivery vehicle).

That is, in the prior art, in order to effectively deliver the logistics 30 classified in the logistics loading unit 300 to the final address, a delivery driver or the like considers the state of address, size, shape, etc. of each logistics, Mounting unit 700 was directly mounted, in this embodiment relates to a system implemented to automatically perform the above-mentioned commercial operation performed by such a delivery driver or the like.

First, referring to FIG. 1 , the logistics system 10 includes an information acquisition unit 100 , a database 200 , a logistics loading unit 300 , an imaging unit 400 , a control unit 500 , and a robot transfer unit ( 600 ) and a mounting unit 700 , and the control unit 500 includes a logistics recognition unit 510 , a determination unit 520 , and a driving unit 530 .

On the other hand, the logistics loading system 10 and the logistics loading method using the same according to this embodiment will be simultaneously described for convenience of explanation with reference to FIGS. 1 to 3, and accordingly, each configuration of the logistics loading system 10 Detailed description will be described at the same time in the description of the logistic loading method.

First, referring to FIGS. 1 and 3 , in the logistic loading method, the information acquiring unit 100 allocates and transports to the corresponding area, and each of the logistics 30 loaded in the logistics loading unit 300 . Basic information is acquired (step S10).

In this case, the obtained basic information may include the ID information of the distribution 30 , address information that is the final delivery address, or caution information regarding notes on delivery of the distribution 30 .

Recently, since basic information such as address information regarding logistics processed in a distribution center is managed through a warehouse management system (WMS), the information acquisition unit 100 in this embodiment is It may be substantially the same as the information management unit utilized in the conventional warehouse management system.

On the other hand, the basic information about the logistics 30 stored in the information acquisition unit 100 may be directly provided to the logistics recognition unit 510 of the control unit 500 or may be provided to the database 200 . .

In this case, in the database 200, in addition to the basic information obtained from the information acquisition unit 100, trade information on the weathered logistics, information on trade know-how including the shipping method of a delivery driver, etc. are additionally stored can be

That is, how information such as shape, size, weight, final address, etc. of various logistics is applied through the commercial information on the vaporized logistics that performed the commercial loading for various logistics before the current logistic loading is applied to the loading unit 700 ) can be stored information about whether it has been registered.

In addition, based on the know-how of various loading methods possessed by the courier, that is, the remaining space of the loading unit 700 and the logistics information of the corresponding logistics, information on where to place the corresponding logistics in the loading space of the loading part, etc. will be stored at the same time. can

As will be described later, the information stored in the database 200 may be used as important data in determining the optimal loading position in the determination unit 520 .

Furthermore, the information stored in the database 200 is also provided to the logistics recognition unit 510 .

In this way, when basic information on the logistics 30 is acquired through the information acquisition unit 100 , the imaging unit 400 captures each of the logistics 30 loaded in the logistics loading unit 300 . An image is captured (step S20).

In this case, the imaging unit 400 may be, for example, an image or an image imaging device such as at least one or more vision cameras, and among the materials loaded in the distribution loading unit 30 , transfer An imaging is performed on the target material.

At this time, the imaging unit 400 may acquire imaging information by performing imaging only on the logistics to be transported, but in the actual transport process, it is necessary to first determine what is the optimal logistics for the transport. Therefore, the imaging unit 400 acquires imaging information by performing imaging for a plurality of materials expected to be transported at the current stage, and the imaging information for the plurality of materials thus obtained is transferred to the control unit ( 500) can be provided.

In the imaging unit 400, the image or image for the logistics 30 is acquired, and the imaging information obtained through this includes information about the location of the logistics, that is, within the logistics loading unit 300. Information about the location of the distribution, information about the shape, weight, size, etc. of the logistics may be included.

Furthermore, through the imaging unit 400, a bar code or other recognition information for the logistics 30 can also be acquired, so that ID information of the logistics 30 as well as address information can be obtained through this. can be obtained.

As described above, the imaging information acquired through the imaging unit 400 is provided to the logistics recognition unit 510 of the control unit 500 .

Thereafter, in the logistics recognition unit 510 of the control unit 500 , the basic information provided through the information obtaining unit 100 or the database 200 , and the image capturing unit 400 provided through Based on the captured information, the corresponding distribution is recognized (step S30).

As described above, in the information acquisition unit 100, ID information or address information of each of the distributions 30 is obtained, and the ID information or address of each of the distributions 30 is obtained in the imaging unit 400 as well. Since the information is obtained, the distribution recognition unit 510 may recognize which distribution corresponds to the distribution imaged through the imaging unit 400 .

Furthermore, since the imaging unit 400 simultaneously acquires external information including the location, shape, weight, size, etc. of the corresponding logistics in addition to the ID information or address information through imaging, in the end, the logistics recognition unit 510 ), the final delivery address of each logistics, the location in the logistics loading unit 300, information about the shape, weight, size, etc. can be arranged by matching.

Thereafter, the determination unit 520 determines the optimal storage position in the loading unit 700 of the corresponding distribution currently scheduled for shipment based on the information on each distribution recognized by the distribution recognition unit 510 . (Step S40).

In the determination unit 520, the basic information and appearance information of the corresponding logistics that are the target of the commercial shipment or are scheduled to be shipped are in a state of being provided, and the commercial information related to the logistics that has been woken up through the database 200, the commercial inventory of the delivery driver Information on commercial know-how including methods may be provided, and further, information on the current mounting space in the mounting unit 700 may be provided.

In this case, the information about the current mounting space in the mounting unit 700 can be obtained based on the loading state of the logistics to date when information about the mounting space of the mounting unit 700 is provided in the initial stage, Although not additionally shown, information on the current mounting space may be provided through the separate mounting space imaging module.

As described above, the determination unit 520 performs deep learning based on the basic information of the corresponding logistics, the external information, the information provided from the database 200, and the information on the mounting space, , the corresponding logistics determines the optimal location of the loading on the current loading space of the loading unit (700).

In the process of delivering the actual parcel to the final address, the parcels of the address that arrive first should be loaded on the outermost side, and the parcels of the address that arrive the last time should be loaded on the innermost side in consideration of the movement of the delivery vehicle.

In addition, according to the size or shape of the parcel, relatively large parcels are loaded inside and below to minimize problems such as damage to the parcel during the transportation process, and furthermore, the know-how of parcel delivery of various couriers is required.

Accordingly, in the present embodiment, the determination unit 320 may determine the optimal location for the logistics by performing self-learning based on the input information, and the determined location of the merchant may be determined as described above. It can be said that it is a commercial location where the know-how of real courier delivery service is applied.

Thereafter, the driving unit 530 controls the driving of the robot transfer unit 600 in order to load the corresponding material 30 to the optimal loading position determined by the determination unit 320 (step S50).

Thereafter, in the robot arm 610 to be described later of the robot transfer unit 600, according to the driving control of the driving unit 530, the corresponding material 30 loaded on the material loading unit 300 is placed on the mounting unit 700 ) to the loading space, that is, the loading is performed (step S60).

Meanwhile, referring to FIG. 2 , the robot transfer unit 600 has a frame structure including a plurality of vertical frames 601 and horizontal frames 603 connecting upper portions of the vertical frames 601 . The frame structure can be moved and fixed through the wheel parts 602 connected to the lower portions of the vertical frames 601 .

That is, the robot transfer unit 600 moves to a location where the logistics loading unit 300 on which the materials 30 are loaded is located, and in a state where it is fixed at the corresponding location, to perform the logistics loading as described above. can

In addition, the robot transfer unit 600 may further include a guide frame 604 formed on the horizontal frames 603 , and a plurality of robot arms 610 fixed on the guide frame 604 . there is.

In this case, the guide frame 604 is movable in the horizontal direction on the horizontal frames 603 , and accordingly, the robot arms 610 fixed on the guide frame 604 move in the horizontal direction. It can be moved and positioned to an optimal position for gripping the logistic 30 through the movement.

In addition, at least one of the robot arms 610 is fixed on the guide frame 604 , and each robot arm 610 has multiple joints, so that it can move to various postures and positions.

Thus, in the logistics 30 on the logistics loading unit 300 loaded in various states, it is possible to properly grip the corresponding logistics to be loaded at present, and the gripped logistics, although not shown, is the loading unit Loading can be performed to an optimal loading location within the loading space of 700 .

According to the embodiments of the present invention, based on external information such as shape, weight and size of the corresponding logistics, address information to which the corresponding logistics should be delivered, and information on the current mounting space of the loading unit, that is, the optimal Since it determines the location of the clothes and automatically loads the corresponding logistics to the loading unit, the optimal loading and loading may be possible to approximate the actual shipping know-how of the delivery driver.

In particular, the determination unit performs learning based on the address information and appearance information of the corresponding logistics and information on the loading space, and in this case, information on the know-how such as the actual delivery driver's loading method is provided at the same time to learn Since this is performed, the optimal commercial location determination result according to the learning result of the determination unit can be very close to or rather more optimal than the manual commercial location through the actual delivery driver, and accordingly, automatically It may be possible to derive an image location.

Furthermore, with the optimal loading position derived in this way, logistics loading from the logistics loading unit to the loading unit is automatically possible through the robot transport unit, and in this case, the robot transport unit includes a multi-joint robot arm having a plurality of joints, Effective merchandising in a logistical environment may be possible.

Although the above has been described with reference to the preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention as set forth in the following claims. You will understand that you can.

10: Logistics loading system 20: Logistics transport unit
30: logistics 100: information acquisition unit
200: database 300: logistics loading department
400: imaging unit 500: control unit
510: logistics recognition unit 520: judgment unit
530: driving unit 600: robot transfer unit
700: mount

Claims (12)

In the logistics loading system that loads the logistics loaded in the loading part to the loading part,
an information acquisition unit for acquiring basic information of each of the logistics;
an imaging unit for acquiring imaging information by imaging each of the stacked materials;
a control unit for recognizing the corresponding distribution by matching the basic information and the imaging information, and determining an optimal location of the corresponding distribution within the mounting unit; and
Logistics loading system including a robot transfer unit for transferring the corresponding material from the distribution loading unit to the loading unit under the control of the control unit. According to claim 1, wherein the logistics,
Logistics loading system, characterized in that it is classified through the logistics transfer unit and provided to the logistics loading unit. According to claim 1, wherein the basic information,
Logistics shipping system, characterized in that it includes the ID information or address information of the logistics. The method of claim 3, wherein the imaging information,
Matching with the basic information, including the ID information or address information of the logistics,
Logistics shipping system, characterized in that it includes external information including the location, shape, weight and size of the logistics. The method of claim 4, wherein the imaging unit,
Logistics loading system, characterized in that at least one or more vision cameras (vision camera). According to claim 4, wherein the control unit,
a logistics recognition unit for matching the basic information and the imaging information to recognize the corresponding logistics; and
It is characterized in that it comprises a determination unit that performs learning (deep learning) based on the address information and appearance information of the logistics, information about the mounting space of the loading unit, and determines the optimal commercial position in the loading unit of the corresponding logistics. Logistics warehousing system. 7. The method of claim 6,
Further comprising a database in which the basic information is stored, and information about commercial know-how, including commercial information on the above-mentioned logistics, and the shipping method of a courier, is stored,
The judging unit simultaneously utilizes the information stored in the database to perform the learning. According to claim 1, wherein the robot transfer unit,
A robot arm having multiple joints for gripping and transporting the corresponding logistics; and
a guide frame for moving the robot arm in space; and
Logistics loading system comprising vertical and horizontal frames for fixing the robot arm and the guide frame, and for moving and fixing the robot transfer part to the logistics loading part on which the logistics are loaded. The method of claim 8, wherein the imaging unit,
Logistics loading system, characterized in that fixed on the corners of the vertical and horizontal frames. Obtaining basic information of each of the logistics to be loaded into the logistics loading unit;
acquiring imaging information by imaging each of the loaded materials;
recognizing a corresponding logistics by matching the basic information and the imaging information;
Determining an optimal location of the logistics in the loading unit on which the logistics are mounted;
driving the robot arm under the control of the controller; and
Logistics loading method comprising the step of the robot arm transferring the corresponding logistics from the loading part to the loading part. 11. The method of claim 10,
The basic information includes ID information or address information of the logistics,
The image capturing information includes ID information or address information of the logistics, and external information including the location, shape, weight and size of the logistics. 11. The method of claim 10, In the step of determining the optimal location of the logistics,
Logistics loading method, characterized in that by performing learning (deep learning) based on the address information and external information of the corresponding logistics and information about the loading space of the loading part, determining the optimal loading position in the loading part of the corresponding logistics .

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