KR20240041103A - Pick-up robot high-precision positioning method for smart warehouse system - Google Patents

Abstract

This is about a high-precision position correction method for a pick-up robot for a smart warehouse system that precisely corrects the position of the pick-up robot in operation in an artificial intelligence-based small smart warehouse system using a robot to the pick-up position to ensure accurate pickup. Robot control In order to correct the position of the pickup robot that picks up items loaded in cells installed in the smart warehouse system, the server synchronizes the times of multiple anchors that calculate the distance to the pickup robot, moves the pickup robot to the pickup location, and then moves the pickup robot to the pickup location. It transmits a location information request command, broadcasts a specific signal from the pickup robot to multiple anchors, calculates the distance value from the pickup robot to the multiple anchors that received the specific signal, and sends the calculated distance value to the robot control server. When transmitted, the robot control server calculates a position correction value based on the distance value and transmits the calculated position correction value to the pickup robot to precisely correct the position of the pickup robot.

Description

Pick-up robot high-precision positioning method for smart warehouse system}

The present invention relates to a method for correcting the high-precision position of a pickup robot for a smart warehouse system. In particular, in a small smart warehouse system based on artificial intelligence using a robot, the position of the pickup robot in operation is precisely corrected to the pickup position to ensure accurate pickup. This is about a high-precision position correction method for a pickup robot for a smart warehouse system.

In general, the form of logistics warehouses is changing from the past large quantity shipment of small varieties to small quantity shipment of small varieties.

In addition, as online shopping that delivers directly from warehouses to consumers has recently increased, the needs of warehouses that can cope with this are increasing, and the importance of logistics systems is increasing as accurate and fast delivery becomes a competitive advantage for companies. .

The smartphone-centered Internet environment and the revitalization of online to offline business require a new type of logistics delivery system. In the case of Coupang, vertical integration of logistics is being implemented by introducing an innovative delivery service represented by 'rocket delivery'. We provide same-day delivery service.

This was made possible thanks to the support of the distribution logistics automation system for warehousing, sorting, and delivery of products.

Currently, the field of application of logistics distribution robots is expanding, and they are being applied in various forms in various fields, including AGVs (Automated-guided Vehicles) for unmanned transport for factory automation and AGVs (Automated-guided Vehicles) for inventory management in warehouses. , an unmanned AGV that handles cargo in the field, an intelligent guidance robot that guides the location and products in the store, and an artificial intelligence-based small smart warehouse system that picks up and takes out items loaded in the loading box or loads items in the loading box. Robots, etc. are becoming active.

In an artificial intelligence-based small smart warehouse system, when using a pickup robot to pick up or load items into a loading box, location recognition of the pickup robot is very important.

The location recognition of the pickup robot used in a general artificial intelligence-based small smart warehouse system is achieved by installing an Location information is identified using the ID value of the tag (installed on the pickup robot) through RFID communication between the cell and the pickup robot. At this time, when the location information of the pickup robot is recognized using the RFID communication method, recognition errors occur depending on the moving speed of the pickup robot.

Additionally, in the small smart warehouse system, a large number of cells are installed, and RFID must be installed in each cell, which results in excessive installation costs and the installation of many RFIDs makes maintenance difficult.

In addition, there is a method of recognizing the location of the pickup robot through Wi-Fi and Bluetooth (BLE) communication instead of RFID, but these methods also have the disadvantage of low accuracy, making accurate location recognition difficult.

Therefore, technology for accurate location recognition of pickup robots is required in artificial intelligence-based small smart warehouse systems.

Republic of Korea registered patent 10-2043801 (registered on November 6, 2019) (intelligent unmanned autonomous logistics robot) Republic of Korea registered patent 10-2362205 (registered on 2022.02.08) (Autonomous mobile robot for smart logistics system)

Therefore, the present invention was proposed to solve the problem of location recognition errors of pickup robots in the general artificial intelligence-based small smart warehouse system as described above, and the location of the pickup robot in operation in the artificial intelligence-based small smart warehouse system using robots The purpose is to provide a high-precision position correction method for a pickup robot for a smart warehouse system that precisely corrects the pickup position to ensure accurate pickup.

In order to achieve the above-described object, the first embodiment of the “pickup robot high-precision position correction method for a smart warehouse system” according to the present invention is,

(a) synchronizing the time of a plurality of anchors that calculate the distance to the pickup robot in order to correct the position of the pickup robot that picks up the goods loaded in the cell installed in the smart warehouse system in the robot control server;

(b) moving the pickup robot to a pickup location in the robot control server;

(c) transmitting a location information request command from the robot control server to the pickup robot;

(d) broadcasting a specific signal from the pickup robot to the plurality of anchors;

(e) calculating distance values from the plurality of anchors that have received the specific signal to the pickup robot and transmitting the calculated distance values to the robot control server;

(f) calculating a position correction value based on the distance value in the robot control server and transmitting the calculated position correction value to the pickup robot; and

(g) comprising the step of correcting the position of the pickup robot according to the position correction value after receiving the position correction value.

In step (a) above,

A clock generator generates a clock, and the generated clocks are transmitted to the plurality of anchors at regular intervals to synchronize the times of the anchors.

In the above, the specific signal in step (d) includes recognition information of the pickup robot and location information of the pickup robot.

In the above step (e), the distance to the pickup robot is calculated by calculating the location information of the pickup robot and the user's own location information.

In step (f) above,

Based on the distance values received from each of the plurality of anchors, the position correction value of the pickup robot is calculated so that the distances between the pickup robot and the plurality of anchors are all the same.

In step (g) above,

It is characterized by correcting the position of the pickup robot so that the pickup robot is located in the center of the cell.

In order to achieve the above-described object, the second embodiment of the “pickup robot high-precision position correction method for a smart warehouse system” according to the present invention is,

(a) Synchronizing the time of a plurality of anchors that calculate information on the pickup robot in order to correct the position of the pickup robot that picks up the goods loaded in the cell installed in the smart warehouse system in the robot control server;

(b) moving the pickup robot to a pickup location in the robot control server;

(c) transmitting a location information request command from the robot control server to the pickup robot;

(d) broadcasting a specific signal from the pickup robot to the plurality of anchors;

(e) extracting the reception time value of the specific signal from the plurality of anchors that received the specific signal, and transmitting the extracted reception time value of the specific signal to the robot control server;

(f) calculating a position correction value based on the reception time values of the plurality of anchors in the robot control server and transmitting the calculated position correction value to the pickup robot; and

(g) comprising the step of correcting the position of the pickup robot according to the position correction value after receiving the position correction value.

In step (a) above,

A clock generator generates a clock, and the generated clocks are transmitted to the plurality of anchors at regular intervals to synchronize the times of the anchors.

In the above, the specific signal in step (d) is characterized as recognition information of the pickup robot.

In the above step (e), the reception time value of the anchor is converted into a distance value between the pickup robot and the anchor, and a position correction value of the pickup robot is calculated based on the distance value.

In step (f) above,

It is characterized in that the position correction value of the pickup robot is calculated so that the distances between the pickup robot and the plurality of anchors are all the same.

In step (g) above,

It is characterized by correcting the position of the pickup robot so that the pickup robot is located in the center of the cell.

According to the present invention, the position of a pickup robot operating in a small smart warehouse system based on artificial intelligence using a robot is precisely corrected to the pickup position, which has the effect of helping to accurately pick up items.

Figure 1 is a schematic configuration diagram of a pickup robot position correction system to which the pickup robot high-precision position correction method for a smart warehouse system according to the present invention is applied;
Figure 2 is a block diagram of an embodiment of the pickup robot of Figure 1;
Figure 3 is an example of confirming the location of the pickup robot in the present invention;
Figure 4 is an example of calculating the distance between the anchor and the pickup robot applied to the present invention;
Figure 5 is a flowchart of a first embodiment of a pick-up robot high-precision position correction method for a smart warehouse system according to the present invention;
Figure 6 is a flowchart of a second embodiment of a pick-up robot high-precision position correction method for a smart warehouse system according to the present invention.

Hereinafter, a high-precision position correction method for a pickup robot for a smart warehouse system according to a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

The terms or words used in the present invention described below should not be construed as limited to their usual or dictionary meanings, and the inventor may appropriately define the concept of the term in order to explain his/her invention in the best way. It must be interpreted with meaning and concept consistent with the technical idea of the present invention based on the principle that it can be done.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are only preferred embodiments of the present invention and do not represent the entire technical idea of the present invention, and therefore various equivalents and It should be understood that variations may exist.

1 is a schematic diagram of a position correction system for a pickup robot to which a high-precision position correction method for a pickup robot is applied for a smart warehouse system according to a preferred embodiment of the present invention, showing the structure of a cell provided in a small smart warehouse system based on artificial intelligence. A pickup robot 300 is provided to pick up loaded items or load the items into the loading box.

In the artificial intelligence-based small smart warehouse system, an

At a predetermined location in the artificial intelligence-based small smart warehouse system, there are a plurality of anchors (510) that recognize the location of the pickup robot 300, calculate the distance to the pickup robot 300, or obtain the reception time value of the signal. - 540) is provided. A plurality of anchors (510 - 540) communicate with the pickup robot (300) and the mobile station (base station) (200). Here, the anchors 510 - 540 may be provided at the outermost part of each of the plurality of cells. The mobile station 200 transmits a movement command and a position correction value to the pickup robot 300, and transmits the distance value or signal reception time value transmitted from the anchors 510 - 540 to the robot control server 100. It plays a role in providing In other words, the mobile station 200 functions as a repeater.

Communication is carried out between the pickup robot 300 and the anchors 510 - 540 using UWB (Ultra Wide Band) communication, which is one of short-distance wireless communications, and between the anchors 510 - 540 and the mobile station 200, short-range wireless communication is used. Interface data through telecommunication or wired communication.

In addition, the artificial intelligence-based small smart warehouse system controls the movement of the pickup robot 300 and positions the pickup robot 300 using the distance value or reception time value obtained from the anchors 510 - 540. A position correction value for correction is calculated, and the pickup robot 300 is controlled with high precision using the calculated position correction value so that the pickup robot 300 is located in the center of the cell.

In addition, the artificial intelligence-based small smart warehouse system is equipped with a Wi-Fi router 410, and the robot control server 100 transmits the calculated robot position correction value to the pickup robot 300.

In addition, the artificial intelligence-based small smart warehouse system is equipped with a clock generator (CLOCK GENERATOR) 420, which periodically provides a synchronization clock to the anchors (510 - 540) to synchronize the time of the anchors (510 - 540). Implement.

Generation and transmission control of the synchronization clock can be performed by the robot control server 100.

Figure 5 is a flowchart of the first embodiment of the "pickup robot high-precision position correction method for a smart warehouse system" according to the present invention. (a) The robot control server 100 picks up goods loaded in cells installed in the smart warehouse system. In order to correct the position of the pickup robot 300, synchronizing the time of the plurality of anchors 510 to 540 that calculate the distance to the pickup robot 300 (S101), (b) in the robot control server 100 Step of moving the pickup robot 300 to the pickup position (S102), (c) Step of transmitting a location information request command from the robot control server 100 to the pickup robot 300 (S103), (d) Broadcasting a specific signal from the pickup robot 300 to the plurality of anchors 510 to 540 (S104), (e) the pickup robot 300 from the plurality of anchors 510 to 540 receiving the specific signal Calculating a distance value and transmitting the calculated distance value to the robot control server 100 (S105 - S106), (f) a position correction value based on the distance value in the robot control server 100 Calculating and transmitting the calculated position correction value to the pickup robot 300 (S107 - S108), and (g) correcting the position according to the position correction value in the pickup robot 300 that has received the position correction value. It includes a step (S109).

The operation of the first embodiment of the “pickup robot high-precision position correction method for a smart warehouse system” according to the present invention configured as described above will be described in detail as follows.

First, the robot control server 100 creates a location map of all cells provided in the artificial intelligence-based smart warehouse system and stores it in a database in order to pick up goods loaded in a cell or load goods into a specific cell.

That is, as shown in FIG. 3, all cells are moved horizontally and vertically using a pickup robot to generate location data for each cell (e.g., S111, S112, S113,..., Snnn), This is created as a location map and stored in the database (DB).

Thereafter, in order to correct the position of the pickup robot 300, in step S101, the robot control server 100 is used to correct the position of the pickup robot 300 that picks up items loaded in cells installed in the artificial intelligence-based smart warehouse system. The times of multiple anchors 510 - 540 that calculate the distance to the pickup robot 300 are synchronized.

For example, the robot control server 100 controls the clock generator 420 to generate and transmit a time synchronization clock, and according to this control, the clock generator 420 generates a clock, and transmits the generated clock through LAN communication or short-distance communication. It is transmitted to the plurality of anchors 510 - 540 through wireless communication to synchronize the times of the anchors 510 - 540. Here, time synchronization of the anchors 510 - 540 may be performed at regular intervals by the robot control server 100.

Next, in step S102, the robot control server 100 transmits the movement information of the pickup robot to the pickup robot 300 using the Wi-Fi router 410, and moves the pickup robot 300 to the pickup position. Here, the pickup location can be determined by transmitting movement information (coordinate values) to the pickup robot 300 using location map information as shown in FIG. 3, so that the pickup robot 300 can be moved to a desired location.

Here, as shown in FIG. 2, the pickup robot 300 receives movement information from the Wi-Fi module 321 of the pickup robot control board 320, and moves the main control unit (MCU) 322 according to the movement information. The motor 323 is operated to move the pickup robot 300 to a designated location.

When the pickup robot 300 completes moving to the designated location, the robot control server 100 transmits a location information request command to the pickup robot 300 through the mobile station 200 in step S103.

The pickup robot 300, which has received the location information request command, broadcasts a specific signal to the plurality of anchors 510 to 540 in step S104 to request transmission of a distance value for location correction. Here, the specific signal may include recognition information (ID information) of the pickup robot 300 and location information (coordinate information) (x, y) of the pickup robot 300.

A plurality of anchors 510 - 540 that receive the specific signal calculate distance values (d1, d2, d3) with the pickup robot 300, and send the calculated distance values to the robot control server 100 through LAN communication. ) (S105 - S106).

That is, as shown in FIG. 4, the plurality of anchors 510 - 540 contain location information (e.g., x, y) of the pickup robot 300 and its own location information (e.g., 510 = (x1) , y1), 520 = (x2, y2), 530 = (x3, y3), 540 = (x4, y4)) are calculated using the following [Equation 1] to calculate the distance to the pickup robot 300. .

Here, d1 represents the distance between the pickup robot 300 and the first anchor 510, d2 represents the distance between the pickup robot 300 and the second anchor 520, and d3 represents the distance between the pickup robot 300 and the third anchor. (530) indicates the distance between

Next, in step S107, the robot control server 100 calculates a position correction value based on the distance value, and in step S108, the calculated position correction value is sent to the pickup robot 300 through the Wi-Fi router 410. send.

Here, the robot control server 100 configures the pickup robot 300 so that the distances between the pickup robot 300 and the plurality of anchors 510 to 540 are the same based on the distance values received from each of the plurality of anchors 510 to 540. Calculate the position correction value.

Finally, in step S109, the pickup robot (S107 - S108) precisely corrects its own position based on the received position correction value. That is, the main control unit 322 based on the received position correction value The position of the pickup robot 300 is corrected so that it is located at the center of the cell by precisely controlling the motor 323. Here, if a step motor is used for precise control of the pickup robot, the position of the pickup robot can be corrected with high precision.

Meanwhile, the first embodiment of the present invention as described above calculates the distance between the pickup robot and the anchor from the anchor installed in the small smart warehouse system to correct the precise position of the pickup robot in the artificial intelligence-based small smart warehouse system, and controls the robot. This is a method of controlling the position of the pickup robot with high precision by calculating the position correction value in the server.

This method has no problem controlling the position of the pickup robot with high precision, but on the other hand, since an algorithm for calculating the distance value must be added to the anchor, the anchor installation cost is high and the load on the anchor is increased. You can.

Therefore, in order to precisely control the position of the pickup robot while compensating for these shortcomings, the burden on the anchor can be reduced by simply detecting the value for correction and having the robot control server perform the calculation for position correction, and this can be done in detail. It is explained as follows.

Figure 6 is a flowchart showing the second embodiment of the "pickup robot high-precision position correction method for a smart warehouse system" according to the present invention, (a) goods loaded in a cell installed in the smart warehouse system from the robot control server 100 A step (S201) of synchronizing the time of a plurality of anchors 510 to 540 that calculate information on the pickup robot 300 to correct the position of the pickup robot 300, (b) the robot control server 100 moving the pickup robot 300 to the pickup position (S202), (c) transmitting a location information request command from the robot control server 100 to the pickup robot 300 (S203), (d) ) Broadcasting a specific signal from the pickup robot 300 to the plurality of anchors 510 to 540 (S204), (e) broadcasting the specific signal from the plurality of anchors 510 to 540 that have received the specific signal Extracting the reception time value and transmitting the extracted reception time value of the specific signal to the robot control server 100 (S205 - S206), (f) the plurality of anchors 510 in the robot control server 100 - 540) calculating a position correction value based on the reception time value and transmitting the calculated position correction value to the pickup robot 300 (S207-S208), and (g) the pickup robot receiving the position correction value. In (300), a step (S209) of correcting the position according to the position correction value may be included.

The operation of the second embodiment of the “pickup robot high-precision position correction method for a smart warehouse system” according to the present invention configured as described above will be described in detail as follows.

First, the robot control server 100 creates a location map of all cells provided in the artificial intelligence-based smart warehouse system and stores it in a database in order to pick up goods loaded in a cell or load goods into a specific cell.

That is, as shown in FIG. 3, all cells are moved horizontally and vertically using a pickup robot to generate location data for each cell (e.g., S111, S112, S113,..., Snnn), This is created as a location map and stored in the database (DB).

Thereafter, in order to correct the position of the pickup robot 300, in step S201, the robot control server 100 is used to correct the position of the pickup robot 300 that picks up items loaded in cells installed in the artificial intelligence-based smart warehouse system. The times of multiple anchors 510 - 540 that detect information about the pickup robot 300 are synchronized.

For example, the robot control server 100 controls the clock generator 420 to generate and transmit a time synchronization clock, and according to this control, the clock generator 420 generates a clock, and transmits the generated clock through LAN communication or short-distance communication. It is transmitted to the plurality of anchors 510 to 540 through wireless communication to synchronize the times of the anchors 510 to 540. Here, time synchronization of the anchors 510 - 540 may be performed at regular intervals by the robot control server 100.

Next, in step S202, the robot control server 100 transmits the movement information of the pickup robot to the pickup robot 300 using the Wi-Fi router 410, and moves the pickup robot 300 to the pickup position. Here, the pickup location can be determined by transmitting movement information (coordinate values) to the pickup robot 300 using location map information as shown in FIG. 3, so that the pickup robot 300 can be moved to a desired location.

Here, as shown in FIG. 2, the pickup robot 300 receives movement information from the Wi-Fi module 321 of the pickup robot control board 320, and moves the main control unit (MCU) 322 according to the movement information. The motor 323 is operated to move the pickup robot 300 to a designated location.

When the pickup robot 300 completes moving to the designated location, the robot control server 100 transmits a location information request command to the pickup robot 300 through the mobile station 200 in step S203.

The pickup robot 300, which has received the location information request command, broadcasts a specific signal to the plurality of anchors 510 to 540 in step S204 to request transmission of a reception time value for location correction. Here, the specific signal may include recognition information (ID information) of the pickup robot 300 and location information (coordinate information) (x, y) of the pickup robot 300.

Here, the reception time value refers to the reception time value at which the specific signal is received by the anchor after the pickup robot 300 broadcasts the specific signal. These time values vary depending on the distance between the pickup robot and the anchor.

When the plurality of anchors 510 - 540 that have received the specific signal receive the specific signal in step S205, they calculate the received time information as a reception time value, and send the reception time value calculated in step S206 to the robot through LAN communication. Transmit to the control server 100 (S206).

Next, in step S207, the robot control server 100 calculates a position correction value of the pickup robot based on the reception time value, and in step S208, the calculated position correction value is sent to the pickup robot through the Wi-Fi router 410. Send to (300).

Here, the robot control server 100 converts the reception time value of the anchor into a distance value between the pickup robot 300 and the anchors 510 - 540, and calculates a position correction value of the pickup robot based on the distance value. The position correction value of the pickup robot 300 is calculated so that the distances between the pickup robot 300 and the plurality of anchors 510 to 540 are all the same. In other words, the average value of each distance value is calculated, and the position correction value is calculated so that the distances of all anchors are the same as those of the pickup robot based on this average value.

Finally, in step S209, the pickup robot 300 precisely corrects its own position based on the received position correction value. That is, the main control unit 322 precisely controls the motor 323 based on the received position correction value to correct the position of the pickup robot 300 so that it is located at the center of the cell. Here, if a step motor is used for precise control of the pickup robot, it is possible to correct the position of the pickup robot with high precision.

In this way, the anchor simply extracts the reception time value of the signal and calculates the position correction value in the robot control server. This allows the anchor to be implemented at low cost while reducing the load on the anchor. In addition, the position correction value is entirely determined by the robot control server. By calculating this, it is possible to quickly calculate the position correction value.

According to the present invention described above, there is an effect of accurately correcting the position of a pickup robot operating in an artificial intelligence-based small smart warehouse system using a robot to the pickup position, thereby enabling accurate pickup of items.

Although the invention made by the present inventor has been described in detail according to the above embodiments, the present invention is not limited to the above embodiments, and various changes can be made without departing from the gist of the invention, as is known in the art. It is self-evident to those who have it.

100: Robot control server
200: Lee Dong-guk (BS)
300: Pickup robot
310: tag board
320: Pickup robot control board
321: WiFi module
322: Main control unit (MCU)
323: motor
410: WiFi router
420: clock generator
510 - 540: Anchor

Claims (11)

(a) synchronizing the time of a plurality of anchors that calculate the distance to the pickup robot in order to correct the position of the pickup robot that picks up the goods loaded in the cell installed in the smart warehouse system in the robot control server;
(b) moving the pickup robot to a pickup location in the robot control server;
(c) transmitting a location information request command from the robot control server to the pickup robot;
(d) broadcasting a specific signal from the pickup robot to the plurality of anchors;
(e) calculating distance values from the plurality of anchors that have received the specific signal to the pickup robot and transmitting the calculated distance values to the robot control server;
(f) calculating a position correction value based on the distance value in the robot control server and transmitting the calculated position correction value to the pickup robot; and
(g) A high-precision position correction method for a pickup robot for a smart warehouse system, comprising the step of correcting the position of the pickup robot according to the position correction value in the pickup robot that has received the position correction value.
In claim 1, step (a) includes,
A pick-up robot high-precision position correction method for a smart warehouse system, characterized by generating a clock from a clock generator and transmitting the generated clocks to the plurality of anchors at regular intervals to synchronize the times of the anchors.
In claim 1, a pick-up robot high-precision position correction method for a smart warehouse system, wherein the specific signal in step (d) includes recognition information of the pick-up robot and location information of the pick-up robot.
In claim 1, step (e) is a high-precision position correction method for a pickup robot for a smart warehouse system, characterized in that the distance value to the pickup robot is calculated by calculating the location information of the pickup robot and its own location information.
In claim 1, step (f) is,
A high-precision position correction method for a pickup robot for a smart warehouse system, characterized in that the position correction value of the pickup robot is calculated so that the distances between the pickup robot and the plurality of anchors are the same based on the distance values received from each of the plurality of anchors.
In claim 1, step (g) is,
A high-precision position correction method for a pickup robot for a smart warehouse system, characterized by correcting the position of the pickup robot so that the pickup robot is located in the center of the cell.
(a) Synchronizing the time of a plurality of anchors that calculate information on the pickup robot in order to correct the position of the pickup robot that picks up the goods loaded in the cell installed in the smart warehouse system in the robot control server;
(b) moving the pickup robot to a pickup location in the robot control server;
(c) transmitting a location information request command from the robot control server to the pickup robot;
(d) broadcasting a specific signal from the pickup robot to the plurality of anchors;
(e) extracting the reception time value of the specific signal from the plurality of anchors that received the specific signal, and transmitting the extracted reception time value of the specific signal to the robot control server;
(f) calculating a position correction value based on the reception time values of the plurality of anchors in the robot control server and transmitting the calculated position correction value to the pickup robot; and
(g) A high-precision position correction method for a pickup robot for a smart warehouse system, comprising the step of correcting the position of the pickup robot according to the position correction value after receiving the position correction value.
In claim 7, step (a) includes,
A pick-up robot high-precision position correction method for a smart warehouse system, characterized by generating a clock from a clock generator and transmitting the generated clocks to the plurality of anchors at regular intervals to synchronize the times of the anchors.
In claim 7, step (e) is,
A high-precision position correction method for a pickup robot for a smart warehouse system, characterized by converting the reception time value of the anchor into a distance value between the pickup robot and the anchor, and calculating a position correction value of the pickup robot based on the distance value.
In claim 7, step (f) is,
A high-precision position correction method for a pickup robot for a smart warehouse system, characterized in that the position correction value of the pickup robot is calculated so that the distances between the pickup robot and the plurality of anchors are all the same.
In claim 7, step (g) includes,
A high-precision position correction method for a pickup robot for a smart warehouse system, characterized by correcting the position of the pickup robot so that the pickup robot is located in the center of the cell.

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