KR20230017380A - Distribution center work information sharing system - Google Patents

Abstract

The present invention relates to a system for sharing logistics center work information, which can prevent an accident between a worker and a robot, comprising: a central server communicating with a plurality of autonomous robots to process data; a magnetic field generator installed on a path on which the autonomous robots can travel; and a wireless charging spot.

Description

Distribution center work information sharing system {Distribution center work information sharing system}

The present invention relates to a distribution center job information sharing system, and more particularly, to a distribution center job information sharing system configured to share logistics-related information between a worker, a robot, and a central server in a distribution sensor, but to enable interaction between a robot and a worker. It's about the system.

Recently, many logistics automation systems are being developed according to the acceleration of industrial development, and there are many logistics automation systems and self-driving robots that are already applied in actual industrial sites.

In an automated distribution center, numerous workers and robots (AGVs) are performing work, resulting in various problems, from confusion in the movement/work process between workers and robots to safety accidents caused by collisions with robots. .

Domestic Registered Patent No. 10-2202244 discloses a "logistics transport system using an autonomous driving unit and a logistics transport method using an autonomous driving unit". Although it describes “working in conjunction with each other,” there is a limitation that it cannot help collaboration between workers and robots in actual logistics sites due to the lack of configuration that represents such effects or functions.

The problem to be solved by the present invention is, in order to solve the limitations of the conventional logistics automation technology as described above, a logistics center capable of enabling workers and robots to efficiently collaborate with each other and preventing safety accidents between workers and robots. It is to provide an autonomous driving robot and a logistics center work information sharing system.

In order to solve the limitations of the conventional logistics automation technology as described above, the present invention provides a logistics sensor work information sharing system including an autonomous robot (R), which communicates with a plurality of the autonomous robots (R) and transmits data. Central server processing; a magnetic field generating device buried on a path on which the self-driving robot R can travel; and a wireless charging spot provided on one side of a path on which the self-driving robot R can travel, wherein the central server checks the state of the battery 4 of the self-driving robot R, and the battery 4 ) is less than a predetermined value, driving another autonomous robot (R) located within a predetermined distance without a designated task; warning the worker (M) of the state of the battery (4) of the self-driving robot (R); bringing the other self-driving robot (R) adjacent to the self-driving robot (R) whose battery (4) is less than or equal to a predetermined value; transferring the article P loaded in the autonomous robot R having the battery 4 equal to or less than a predetermined value to another autonomous robot R; Transferring the remaining task list of the self-driving robot (R) whose battery (4) is less than a predetermined value to the other self-driving robot (R) after transfer is completed; moving the self-driving robot (R) whose battery (4) is below a predetermined value to a wireless charging spot; and converting the self-driving robot (R) into a power saving mode until the battery (4) of the self-driving robot (R) whose battery (4) is equal to or less than a predetermined value is equal to or greater than a predetermined value; Controlling, providing a distribution center work information sharing system.

In addition, the self-driving robot (R) includes a display (3) showing predetermined logistics information, and the display (3) is: a map image of a place where the self-driving robot (R) is used is output, a map display unit for displaying the current location and movement route of the self-driving robot (R) on the map image; a task display unit for displaying a list of one or more tasks to be performed in a currently designated workspace among a plurality of workspaces and highlighting a task to be performed currently among the list of tasks; A robot information display unit displaying the driving time, mileage, and battery (4) information of the autonomous robot (R); and a product (P) information unit for displaying a loading or transferring object, quantity, and location management number with respect to the current task to be performed.

Further, the AR glass is provided so that the operator M can wear it on the head, and the AR glass: Recognizes an item P for recognizing an object to be loaded or transferred with respect to the current task to be performed. wealth; an article (P) appearance generator generating a virtual first polygon along the recognized outline of the object to be loaded or transferred; A place recognition unit for recognizing a target point for loading or transferring with respect to the current task to be performed; A virtual second polygon, which is a figure similar to the virtual first polygon shape, is created at the recognized loading or transferring target point, but the distance (A) and loading to the loading or transferring object based on the current position of the AR glass Alternatively, a place appearance generating unit that converts and creates a size as much as the ratio of the distance (B) to the transfer target point; And AR implementation that overwrites a virtual first polygon on the position of the loading or transferring object recognized by the item (P) recognition unit, and overwrites a virtual second polygon on the loading or transfer target point recognized by the location recognition unit. part; may include.

In addition, the self-driving robot (R) includes: a wireless charging module (7) provided on the base (5) to enable wireless charging at the wireless charging spot; and an induced electromotive force charging module 8 for charging the battery 4 by generating induced electromotive force by a change in magnetic flux generated from the magnetic field generator.

In addition, the self-driving robot (R) includes: a body (2) on which a loading table (1) having a predetermined area is formed; a robot arm provided in the body 2 to load the article P on the loading table 1 or to transfer the article P on the loading table 1; a display (3) provided on the body (2) and displaying predetermined logistics information; a camera provided in the body 2; A battery 4 that is detachably coupled; a charging module provided to charge power to the battery 4; a base (5) provided on the lower part of the body (2); A body rotation unit 6 provided between the body 2 and the base 5 and rotating the body 2 in a uniaxial direction from the base 5; A sensor unit provided on the base 5 to collect predetermined positional information related to movement; Moving means provided on the base 5 to move the body 2; and a control unit for controlling the robot arm and the moving means, wherein the control unit includes: a tracking step of tracking the operator M and performing a designated task within a workspace designated to interact with the operator M; and a moving step of moving to the work space while avoiding obstacles when the interaction is terminated or when a new interaction is received, wherein the robot arm is: provided on the body 2 and is length-adjustable. A boom stand (9) provided to enable; A hoist line 10 extending from the end of the boom bar 9 and provided to be able to adjust the length; And a clamp module 11 connected to the end of the hoist line 10; includes, the clamp module 11 is provided to be able to adjust the length in one axis direction, and a pair is coupled in a direction perpendicular to each other The horizontal pole (12) to be; and a vertical pole 13 coupled to both ends of each horizontal pole 12 and having a load support hook 14 extending in a horizontal direction at an end thereof, and the horizontal pole 12 includes: forward and reverse directions. Rotatable length control motor (15); As a bi-directional rotation shaft of the length control motor 15, a length control shaft 16 having threads in opposite directions around the length control motor 15; and a ball screw 17 connected to the length adjusting shaft 16 and having a flat surface formed on one side thereof. a guide 18 having a plane in contact with the plane of the ball screw 17, coupled to an upper portion of the length control motor 15 and extending in the direction of the length control shaft 16; and a hook rotation motor 19 for rotating the vertical pole 13, and the moving means may include: an omni wheel 20 (Omni Wheel).

According to an embodiment of the present invention, the self-driving robot can move away from a simple self-driving function and collaborate with a worker, enabling smooth logistics work.

In addition, the self-driving robot can be continuously charged while driving, and when the battery is insufficient, it can be charged in a wireless charging method at a wireless charging spot provided on one side or more of the space (logistics warehouse, etc.). Work stoppage due to battery discharge can be prevented by controlling the driving robot to move to the wireless charging spot in advance.

In addition, the body of the self-driving robot is configured to be rotatable based on the base, and by adopting an omni wheel as a means of transportation (wheel), it can move in a narrow space, and can access between narrow shelves to transfer and load objects. .

In addition, the operator can easily check information related to work and the work schedule/status of the self-driving robot working with him or her through the display of the self-driving robot, so that smooth work progress and work schedule adjustment are possible.

In addition, it is possible to intuitively check the work object and work position through the AR glasses worn by the worker, and by implementing a 2D polygonal shape, the graphic processing load can be reduced to lower the hardware required performance of the AR glass, and the processing speed can be reduced. can improve

In addition, items (loads) of various sizes can be loaded/transported through the tong module having a variable length/width.

1 is a schematic diagram of a distribution center work information sharing system according to an embodiment of the present invention.
2 is a side view of an autonomous robot for a distribution center according to an embodiment of the present invention.
3 to 5 are diagrams showing the structure and operation method of a horizontal pole (claw module) of an autonomous robot for a distribution center according to an embodiment of the present invention.

Hereinafter, various embodiments of this document will be described with reference to the accompanying drawings. However, this is not intended to limit the technology described in this document to specific embodiments, and should be understood to include various modifications, equivalents, and/or alternatives of the embodiments of this document. . In connection with the description of the drawings, like reference numerals may be used for like elements.

In this document, expressions such as "has," "may have," "includes," or "may include" indicate the existence of a corresponding feature (eg, numerical value, function, operation, or component such as a part). , which does not preclude the existence of additional features.

In this document, expressions such as “A or B,” “at least one of A and/and B,” or “one or more of A or/and B” may include all possible combinations of the items listed together. . For example, “A or B,” “at least one of A and B,” or “at least one of A or B” (1) includes at least one A, (2) includes at least one B, Or (3) may refer to all cases including at least one A and at least one B.

Terms used in this document are only used to describe a specific embodiment, and may not be intended to limit the scope of other embodiments. Singular expressions may include plural expressions unless the context clearly dictates otherwise. Terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by a person of ordinary skill in the technical field described in this document. Among the terms used in this document, terms defined in a general dictionary may be interpreted as having the same or similar meaning as the meaning in the context of the related art, and unless explicitly defined in this document, an ideal or excessively formal meaning. not be interpreted as In some cases, even terms defined in this document cannot be interpreted to exclude the embodiments of this document.

Of course, various modifications can be made by those skilled in the art without departing from the gist of the present invention claimed in the claims of the present invention, and these modifications are the technical spirit of the present invention or It should not be understood individually from the perspective.

According to an embodiment of the present invention, in the logistics sensor work information sharing system including an autonomous driving robot (R), a central server for communicating with a plurality of the autonomous driving robot (R) and processing data; a magnetic field generating device buried on a path on which the self-driving robot R can travel; and a wireless charging spot provided on one side of a path on which the self-driving robot R can travel, wherein the central server checks the state of the battery 4 of the self-driving robot R, and the battery 4 ) is less than a predetermined value, driving another autonomous robot (R) located within a predetermined distance without a designated task; warning the worker (M) of the state of the battery (4) of the self-driving robot (R); bringing the other self-driving robot (R) adjacent to the self-driving robot (R) whose battery (4) is less than or equal to a predetermined value; transferring the article P loaded in the autonomous robot R having the battery 4 equal to or less than a predetermined value to another autonomous robot R; Transferring the remaining task list of the self-driving robot (R) whose battery (4) is less than a predetermined value to the other self-driving robot (R) after transfer is completed; moving the self-driving robot (R) whose battery (4) is below a predetermined value to a wireless charging spot; and converting the self-driving robot (R) into a power saving mode until the battery (4) of the self-driving robot (R) whose battery (4) is equal to or less than a predetermined value is equal to or greater than a predetermined value; Controlling, providing a distribution center work information sharing system.

The self-driving robot includes: a body 2 on which a loading table 1 having a predetermined area is formed; a robot arm provided in the body 2 to load the article P on the loading table 1 or to transfer the article P on the loading table 1; a display (3) provided on the body (2) and displaying predetermined logistics information; a camera provided in the body 2; A battery 4 that is detachably coupled; a charging module provided to charge power to the battery 4; a base (5) provided on the lower part of the body (2); A body rotation unit 6 provided between the body 2 and the base 5 and rotating the body 2 in a uniaxial direction from the base 5; A sensor unit provided on the base 5 to collect predetermined positional information related to movement; Moving means provided on the base 5 to move the body 2; and a control unit for controlling the robot arm and the moving means, wherein the control unit includes: a tracking step of tracking the operator M and performing a designated task within a workspace designated to interact with the operator M; and a moving step of moving to the workspace while avoiding an obstacle when the interaction is terminated or when a new interaction is received.

The camera can scan the work item number (item number) and the number of items P in real time, and the control unit can specify the item based on the image captured by the camera and the current location of the self-driving robot.

The camera is rotatable in the X-axis to Y-axis directions, and through rotation, images from the lower floor to the upper floor of the shelf can be captured.

From the image taken by the camera, it is determined which layer (cell) of the shelf is being photographed, and the items appearing in the image are specified (identifying the work item number) by combining the shelf information, the current position of the robot, and the camera's shooting angle. )can do.

The moving means may mean a member that contacts the floor surface of the space to transport the robot, such as wheels and rails.

The battery may be provided in a form capable of being inserted/removed from the rear surface of the base. As shown in FIG. 2 , the battery can be inserted and removed from the rear surface of the base, the inductive electromotive force charging module can be provided on the bottom surface of the base, and the wireless charging module can be provided on the front surface of the base.

The body rotation unit provided on the upper surface of the base may be configured in the same form as the rotation device provided in the excavator, and by rotating the body with respect to the base, loads/loads items in various directions without rotating the entire autonomous robot. I can relocate.

In addition, the self-driving robot (R) includes a display (3) showing predetermined logistics information, and the display (3) is: a map image of a place where the self-driving robot (R) is used is output, a map display unit for displaying the current location and movement route of the self-driving robot (R) on the map image; a task display unit for displaying a list of one or more tasks to be performed in a currently designated workspace among a plurality of workspaces and highlighting a task to be performed currently among the list of tasks; A robot information display unit displaying the driving time, mileage, and battery (4) information of the autonomous robot (R); and a product (P) information unit for displaying a loading or transferring object, quantity, and location management number with respect to the current task to be performed.

When the battery of the self-driving robot is below a predetermined level, the task being performed by the self-driving robot whose battery level is below a predetermined level is temporarily overlapped with other self-driving robots in an idle state (standby/charging/charging complete/task unspecified). designate When the other self-driving robot comes close to the self-driving robot whose battery is less than a predetermined value, the worker and the battery are transferred to the other self-driving robot on the loading table of the self-driving robot, and the transfer is completed. When the battery is below a predetermined value, the self-driving robot can be controlled to move to the wireless charging spot. At this time, data such as work order, designated work, and designated worker in the self-driving robot whose battery is below a predetermined level is transmitted to the other self-driving robot, so that the worker can continue to perform the work so that the work flow is not interrupted. there is.

Further, the AR glass is provided so that the operator M can wear it on the head, and the AR glass: Recognizes an item P for recognizing an object to be loaded or transferred with respect to the current task to be performed. wealth; an article (P) appearance generator generating a virtual first polygon along the recognized outline of the object to be loaded or transferred; A place recognition unit for recognizing a target point for loading or transferring with respect to the current task to be performed; A virtual second polygon, which is a figure similar to the virtual first polygon shape, is created at the recognized loading or transferring target point, but the distance (A) and loading to the loading or transferring object based on the current position of the AR glass Alternatively, a place appearance generating unit that converts and creates a size as much as the ratio of the distance (B) to the transfer target point; And AR implementation that overwrites a virtual first polygon on the position of the loading or transferring object recognized by the item (P) recognition unit, and overwrites a virtual second polygon on the loading or transfer target point recognized by the location recognition unit. part; may include.

The first polygon and the second polygon may be formed in a translucent planar shape. By simplifying the graphics implemented in the AR glass as described above, the graphic processing load of the AR glass can be reduced, and through this, the hardware required performance of the AR glass can be lowered, and other operations (object recognition, It is possible to improve the processing speed by increasing the CPU allocation for distance measurement/calculation, etc.).

The description of overwriting the first polygon and the second polygon means a graphic processing step of displaying a corresponding image on an augmented reality (AR) screen.

By recognizing the boom 9 described later, and generating a third polygon for the shape of the boom and outputting it on the augmented reality (AR) screen, accidents caused by collisions with workers during the operation of the autonomous robot (boom control) can prevent

In addition, the self-driving robot (R) includes: a wireless charging module (7) provided on the base (5) to enable wireless charging at the wireless charging spot; and an induced electromotive force charging module 8 for charging the battery 4 by generating induced electromotive force by a change in magnetic flux generated from the magnetic field generator.

Since the magnetic field generators are spaced apart from each other on the floor at predetermined intervals, electric power can be generated by configuring the magnetic flux between each magnetic field generator and the solenoid in the induction electromotive force charging module to change while the autonomous driving robot is running. Alternatively, the magnetic flux change may be induced by changing the voltage/current applied to each magnetic field generating device.

The wireless charging spot may be provided on a wall surface of a workspace, and the battery may be charged by bringing a wireless charging module provided on the front of the self-driving robot base to the wireless charging spot and waiting for the self-driving robot.

In addition, the robot arm includes: a boom stand 9 provided on the body 2 and having a length adjustable; A hoist line 10 extending from the end of the boom bar 9 and provided to be able to adjust the length; And a clamp module 11 connected to the end of the hoist line 10; includes, the clamp module 11 is provided to be able to adjust the length in one axis direction, and a pair is coupled in a direction perpendicular to each other The horizontal pole (12) to be; and a vertical pole 13 coupled to both ends of each horizontal pole 12 and having a load support hook 14 extending in a horizontal direction at an end thereof, and the horizontal pole 12 includes: forward and reverse directions. Rotatable length control motor (15); As a bi-directional rotation shaft of the length control motor 15, a length control shaft 16 having threads in opposite directions around the length control motor 15; and a ball screw 17 connected to the length adjusting shaft 16 and having a flat surface formed on one side thereof. a guide 18 having a plane in contact with the plane of the ball screw 17, coupled to an upper portion of the length control motor 15 and extending in the direction of the length control shaft 16; and a hook rotation motor 19 for rotating the vertical pole 13, and the moving means may include: an omni wheel 20 (Omni Wheel).

Through the structure as described above, it is possible to load and transfer articles of various sizes (particularly in the form of a hexahedral box). In addition, since both ball screws can be simultaneously transported by the rotation of the length adjusting motor, the horizontal pole can be controlled so that the moving distance in both directions based on the center of gravity is symmetrical.

In FIG. 3 (a), the ball screw is in close contact with the length adjusting motor direction and the length of the horizontal pole is shortened, and in FIG. 3 (b), the ball screw is spaced apart from the length adjusting motor direction and the length of the horizontal pole is increased is shown

4 (a) is a plan view of the clamp module with two horizontal poles combined, FIG. 4 (b) shows the clamp module in a state where the length of the two horizontal poles is extended, and in FIG. 4 (c), the vertical pole rotates to support the load. A state in which the hook is adjusted to face one side outside without facing the center direction is shown.

A plurality of (preferably four) omni-wheels are coupled to the base, and by individually controlling each omni-wheel, it is possible to implement straight-forward, left-turn, right-turn, stationary rotation, reverse, and the like.

As the length control shaft rotates, the ball screw connected thereto also receives rotational force, and the rotational force is converted into horizontal linear motion of the ballscrew by contacting (constrained) the flat surface of the ballscrew with the flat surface of the guide.

1: loading table 2: body
3: display 4: battery
5: base 6: body rotation part
7: wireless charging module 8: inductive electromotive force charging module
9: boom stand 10: hoist line
11: clamp module 12: horizontal pole
13: vertical pole 14: load support hook
15: length control motor 16: length control shaft
17: ball screw 18: guide
19: hook rotation motor 20: omni wheel
S : Shelf C : Conveyor
R: Robot M: Worker
P: Goods

Claims (5)

In the logistics sensor work information sharing system including an autonomous driving robot,
A central server that communicates with a plurality of the self-driving robots and processes data;
a magnetic field generating device buried on a path through which the autonomous robot can travel; and
Including; a wireless charging spot provided on one side of a path in which the self-driving robot can travel,
The central server:
Checking the battery state of the self-driving robot, and driving another self-driving robot located within a predetermined distance without a designated task when the battery is below a predetermined value;
warning the operator of the battery status of the self-driving robot;
bringing the other self-driving robot adjacent to the self-driving robot whose battery is less than or equal to a predetermined value;
transferring the goods loaded in the self-driving robot whose battery is less than a predetermined value to another self-driving robot;
Transferring the remaining task list of the self-driving robot whose battery is equal to or less than a predetermined value to the other self-driving robot after transfer is completed;
moving the self-driving robot whose battery is below a predetermined value to a wireless charging spot; and
A logistics center work information sharing system for controlling an autonomous robot with a control method including; The method of claim 1,
The self-driving robot includes a display showing predetermined logistics information;
The display is:
a map display unit for outputting a map image of a place where the self-driving robot is used and displaying the current location and movement route of the self-driving robot on the map image;
a task display unit for displaying a list of one or more tasks to be performed in a currently designated workspace among a plurality of workspaces and highlighting a task to be performed currently among the list of tasks;
A robot information display unit displaying operation time, mileage, and battery information of the autonomous robot; and
With respect to the current work to be performed, the goods information unit for displaying the loading or transferring object, quantity and location management number; containing a distribution center work information sharing system The method of claim 2,
It further includes; AR glass provided so that the worker can wear it on the head,
The AR glass:
An article recognition unit for recognizing a loading or transferring object for the current task to be performed;
an article external shape generating unit generating a virtual first polygon along the recognized external line of the object to be loaded or transferred;
A place recognition unit for recognizing a target point for loading or transferring with respect to the current task to be performed;
A virtual second polygon, which is a figure similar to the virtual first polygon shape, is created at the recognized loading or transferring target point, but the distance (A) and loading to the loading or transferring object based on the current position of the AR glass Alternatively, a place appearance generating unit that converts and creates a size as much as the ratio of the distance (B) to the transfer target point; and
An AR implementation unit that overlays a virtual first polygon on the position of the loading or transferring object recognized by the article recognition unit and overwrites a virtual second polygon on the loading or transfer target point recognized by the location recognition unit. Ha, distribution center work information sharing system The method of claim 2,
The self-driving robot:
A wireless charging module provided on the base to enable wireless charging at the wireless charging spot; and
A distribution center work information sharing system comprising a; induced electromotive force charging module for charging the battery by generating induced electromotive force by a change in magnetic flux generated from the magnetic field generator. The method of claim 1,
The self-driving robot:
A body having a loading base having a predetermined area formed thereon;
a robot arm provided in the body to load an article on a loading table or transfer an article on the loading table;
a display provided on the body and displaying predetermined logistics information;
a camera provided in the body;
A battery coupled to be detachable;
a charging module provided to charge the battery with power;
a base provided under the body;
a body rotation unit provided between the body and the base and rotating the body in a uniaxial direction from the base;
a sensor unit provided on the base to collect predetermined location information related to movement;
a moving means provided on the base to move the body; and
Including; a controller for controlling the robot arm and the moving means;
The control unit:
A tracking step of tracking the operator and performing a specified task within a workspace designated to interact with the operator; and
When the interaction is terminated or when a new interaction is input, a moving step of moving to the workspace while avoiding obstacles is performed;
The robot arm:
a boom mounted on the body and provided to enable length adjustment;
a hoist line extending from the end of the boom bar and having a length adjustable; and
Including; tongs module connected to the end of the hoist line;
The tongs module is:
It is provided to enable length adjustment in one axis direction, and a pair of horizontal poles coupled in a direction perpendicular to each other; and
A vertical pole coupled to both ends of each horizontal pole and having a load support hook extending in the horizontal direction at the end thereof; includes,
The horizontal pole is:
Length adjustment motor capable of forward and reverse rotation;
As a bi-directional rotating shaft of the length adjusting motor, the length adjusting shaft having threads in opposite directions centered on the length adjusting motor;
a ball screw connected to the length adjusting shaft and having a flat surface formed on one side;
a guide having a plane in contact with the plane of the ball screw, coupled to an upper portion of the length control motor, and extending in a direction of the length control axis; and
Including; hook rotation motor for rotating the vertical pole,
The means of transportation is: Logistics center work information sharing system consisting of an omni wheel

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