WO2016140481A1 - Système de transport logistique - Google Patents

Système de transport logistique Download PDF

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Publication number
WO2016140481A1
WO2016140481A1 PCT/KR2016/001997 KR2016001997W WO2016140481A1 WO 2016140481 A1 WO2016140481 A1 WO 2016140481A1 KR 2016001997 W KR2016001997 W KR 2016001997W WO 2016140481 A1 WO2016140481 A1 WO 2016140481A1
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WO
WIPO (PCT)
Prior art keywords
transport cart
mobile robot
unit
transport
coupled
Prior art date
Application number
PCT/KR2016/001997
Other languages
English (en)
Inventor
Joon Pyo Park
Young Youn Song
Koo Po Kwon
Jae Hyuck AUH
Original Assignee
Cj Korea Express Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cj Korea Express Corporation filed Critical Cj Korea Express Corporation
Priority to CN201680013059.1A priority Critical patent/CN107646096A/zh
Publication of WO2016140481A1 publication Critical patent/WO2016140481A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room

Definitions

  • the present invention relates to a logistics transport system and, more particularly, to a logistics transport system in which a mobile robot is connected to a transport cart based on position information provided by a management server and moves the connected transport cart.
  • a transport cart for work is used to move the parts or products or the complete products.
  • a plurality of casters is installed at the bottom of a load stand in order to facilitate a movement and a change of direction, and a handle for enabling the transport cart to be pushed by a hand is installed on one side of the load stand.
  • Korean Patent Application Publication No. 10-2009-00894784 discloses a transport cart which can be easily extended to the front of the transport cart and easily extended to the left and right of the transport card by a user so that a large number of articles can be transported at once.
  • a logistics transport system may include a transport cart onto which articles to be transported are loaded, a mobile robot coupled to the transport cart and configured to move the transport cart, and a management server configured to manage position information about the mobile robot, send position information about the transport cart to which the mobile robot is to be coupled and information about a position to which the transport cart having the mobile robot coupled thereto is to move to the mobile robot, and to manage the position information.
  • the mobile robot may include a coupling unit coupled to the transport cart, an information transmission/reception unit configured to receive the information about the position to which the mobile robot is to move from the management server and to send the information about the transport cart having the coupling unit coupled thereto to the management server, a control unit configured to move movable units based on the position information of the mobile robot received from the information transmission/reception unit and to control the coupling unit and the information transmission/reception unit, and the movable units configured to move the mobile robot in response to a command signal from the control unit.
  • the coupling unit may include a magnet and couple the mobile unit to the transport cart.
  • the mobile robot may further include an elevation unit configured to elevate the transport cart to which the coupling unit has been coupled in response to a command signal from the control unit.
  • the elevation unit may be elevated by the rotation of a screw device.
  • the elevation unit may include a support configured to support the transport cart and to elevate the transport cart in response to the driving of the screw device.
  • the mobile robot may include a power supply unit configured to store power and to supply the power to the transport cart to which the coupling unit has been coupled.
  • the transport cart may include a transport housing onto which articles are loaded, a transport cart coupling unit coupled to the mobile robot, and transport cart movable units by which the transport cart are moved.
  • Each of the transport cart movable units may include a spring. When the transport cart is elevated by the mobile robot, the wheel of the transport cart movable unit may fall.
  • the transport cart coupling unit may have a magnet and may be coupled to the mobile robot.
  • the transport cart may further include a display unit for displaying information about articles to be loaded onto the transport cart.
  • a mobile robot may include a coupling unit coupled to a transport cart onto which articles to be transported are loaded, an information transmission/reception unit configured to send information about the transport cart having the coupling unit coupled thereto to a management server and to receive information about a position to which the mobile robot is to move from the management server, a control unit configured to move movable units based on the position information of the mobile robot received from the information transmission/reception unit and to control the coupling unit and the information transmission/reception unit, and the movable units configured to move the mobile robot in response to a command signal from the control unit.
  • the coupling unit may include a magnet and may be coupled to the transport cart.
  • the mobile robot may further include an elevation unit configured to elevate the transport cart having the coupling unit coupled thereto in response to a command signal from the control unit.
  • the elevation unit may be elevated by the rotation of a screw device.
  • the elevation unit may include a support configured to support the transport cart and to elevate the transport cart in response to the driving of the screw device.
  • the mobile robot may further include a power supply unit configured to store power and to supply the power to the transport cart to which the coupling unit has been coupled.
  • a transport cart may include a transport housing onto which articles are loaded, a transport cart coupling unit coupled to a mobile robot, and transport cart movable units configured to move the transport cart.
  • Each of the transport cart movable units may include a spring. When the transport cart is elevated by the mobile robot, the wheel of the transport cart movable unit may fall.
  • the transport cart coupling unit may include a magnet and is coupled to the mobile robot.
  • the transport cart may further include a display unit for displaying information about articles to be loaded onto the transport cart.
  • the transport cart may further include a power reception unit supplied with power from the mobile robot.
  • the present invention has an advantage in that the position of an article to be loaded onto the transport cart can be accurately checked.
  • the present invention has advantages in that the position of an article to be loaded onto the transport cart can be rapidly checked and the time taken to transport an article to be loaded can be reduced.
  • the present invention has an advantage in that the transport cart and the mobile robot for moving the transport cart can be coupled rapidly and accurately.
  • FIG. 1 is a configuration diagram schematically showing a logistics transport system according to an embodiment of the present invention.
  • FIG. 2 is an exemplary diagram schematically showing a transport cart coupled to a mobile robot according to an embodiment of the present invention.
  • FIG. 3 is a side view schematically showing the transport cart coupled to the mobile robot according to an embodiment of the present invention.
  • FIG. 4 is a block diagram schematically showing the mobile robot according to an embodiment of the present invention.
  • FIG. 5 is a block diagram schematically showing the transport cart according to an embodiment of the present invention.
  • FIG. 6 is a side view schematically showing the transport cart according to an embodiment of the present invention.
  • each of function units described in this specification is only an example of an implementation of the present invention. Accordingly, in other implementations of the present invention, other function units may be used without departing from the spirit and scope of the present invention. Furthermore, each function unit may be solely implemented using a hardware or software element, but may be implemented using a combination of various hardware and software elements for executing the same function.
  • FIG. 1 is a configuration diagram schematically showing a logistics transport system according to an embodiment of the present invention.
  • the logistics transport system according to an embodiment of the present invention includes a transport cart 200 onto which articles to be transported is loaded and a mobile robot 100 coupled to the transport cart 200 and configured to move the transport cart 200.
  • the logistics transport system further includes a management server 300 configured to manage information about the position of the mobile robot 100, send information about the position of the transport cart 200 to which the mobile robot 100 will be coupled and information about the position to which the transport cart 200 having the mobile robot 100 coupled thereto will move to the mobile robot 100, and to manage the information.
  • FIG. 2 is an exemplary diagram schematically showing the transport cart coupled to the mobile robot according to an embodiment of the present invention
  • FIG. 3 is a side view schematically showing the transport cart coupled to the mobile robot according to an embodiment of the present invention.
  • the mobile robot 100 according to an embodiment of the present invention includes a coupling unit 110 coupled to the transport cart 200, an information transmission/reception unit 130 (refer to FIG.
  • the mobile robot 100 configured to receive information about the position to which the mobile robot 100 will move from the management server 300 and send information about a transport cart coupled by the coupling unit 110 to the management server 300, a control unit 150 configured to move movable units 120 based on the position information of the mobile robot 100 received from the information transmission/reception unit 130 and control the coupling unit 110 and the information transmission/reception unit 130, and the movable units 120 configured to move the mobile robot 100 in response to a command signal from the control unit 150.
  • the mobile robot 100 according to an embodiment of the present invention is coupled to the transport cart 200 to be manually moved by a worker and moves the transport cart 200 to a destination.
  • the information transmission/reception unit 130 of the mobile robot 100 receives information about the identification (ID) of the transport cart 200 to be coupled and moved by the mobile robot 100 and information about a movement of the transport cart 200 from the management server 300.
  • ID the identification
  • the information transmission/reception unit 130 sends the ID and movement information of the transport cart 200 to the control unit 150.
  • the control unit 150 that has received the ID and movement information of the transport cart 200 moves the mobile robot 100 based on the movement information by controlling the movable units 120.
  • the control unit 150 checks the ID information of the transport cart 200 and matches the checked ID information up with the ID information of the transport cart 200 to be moved, which has been received from the information transmission/reception unit 130. If, as a result of the check, the ID information of the transport cart 200 is found to be identical with the ID information of the transport cart 200 to be moved, which has been received from the information transmission/reception unit 130, the control unit 150 sends a coupling command signal for the transport cart 200 to the coupling unit 110 so that the coupling unit 110 is coupled to the transport cart 200.
  • a method for checking, by the control unit 150, the ID information of the transport cart 200 may include various methods, such as a method for checking the ID information of the transport cart 200 by scanning QR code marked in the transport cart 200 using a QR code scanner included in the mobile robot 100 or a method for checking the ID information of the transport cart 200 by recognizing ID information marked in the transport cart 200 using an image recognition device included in the mobile robot 100.
  • the mobile robot 100 may be accurately placed in the position where it will be coupled to the transport cart 200 based on coupling position information marked in the transport cart 200.
  • the coupling position information marked in the transport cart 200 may be displayed in the aforementioned QR code or image recognition device so that the mobile robot 100 recognizes the coupling position information and the mobile robot 100 and the transport cart 200 are placed in an accurate position where they will be coupled.
  • an accurate position where the mobile robot 100 and the transport cart 200 will be coupled may be checked using GPSs included in the mobile robot 100 and the transport cart 200.
  • the coupling unit 110 of the mobile robot 100 may include a magnet 111 so that the mobile robot 100 is coupled to the transport cart 200.
  • the transport cart 200 may also include a magnet 211. Accordingly, when the coupling unit 110 of the mobile robot 100 approaches the transport cart 200, the magnet 211 of the transport cart 200 and the magnet 111 of the mobile robot 100 are attracted each other by magnetism. As a result, the mobile robot 100 and the transport cart 200 can be coupled rapidly and accurately by the magnet 111 of the mobile robot 100 and the magnet 211 of the transport cart 200.
  • the coupling unit 110 may be fabricated to be movable.
  • the coupling unit 110 is not fixed to the mobile robot 100, but is movably installed in the mobile robot 100. After the coupling unit 110 of the mobile robot 100 is coupled to the transport cart 200, the mobile robot 100 moves so that the coupling unit 110 is placed at a specific position of the mobile robot 100.
  • the coupling unit 110 is movably coupled to the transport cart 200, the magnet 111 of the coupling unit 110 can effectively recognize the magnetism of the magnet 211 of the transport cart 200. Accordingly, the mobile robot 100 and the transport cart 200 can be coupled rapidly and accurately.
  • the coupling unit 110 of the mobile robot 100 may include a coupling ring 112.
  • the coupling ring 112 of the coupling unit 110 moves to a transport cart coupling unit 210 and is closely coupled to the transport cart coupling unit 210.
  • the mobile robot 100 may further include an elevation unit 140 configured to elevate the transport cart 200 to which the coupling unit 110 has been coupled in response to a command signal from the elevation unit 140.
  • the elevation unit 140 may be separated from the coupling unit 110 or may be integrated with the coupling unit 110.
  • the elevation unit 140 is provided in order for the mobile robot 100 to effectively move the transport cart 200.
  • the control unit 150 may include a screw device and may be elevated by the rotation of the screw device.
  • the elevation unit 140 may include a support 141 configured to support the transport cart 200 and to elevate the transport cart 200 in response to the driving of the screw device.
  • the control unit 150 sends a rise command signal to the elevation unit 140.
  • the screw device of the elevation unit 140 rises until the support 141 of the elevation unit 140 comes in contact with the transport cart 200.
  • the control unit 150 sends a fall command signal to the elevation unit 140.
  • the screw device of the elevation unit 140 falls.
  • the support 141 may have a circle or quadrangle. The support 141 is not limited to a specific form and may have various forms depending on those skilled in the art.
  • the mobile robot 100 may further include a power supply unit 160 (refer to FIG. 4) configured to store power and to supply the power to the transport cart 200 to which the coupling unit 110 has been coupled.
  • the control unit 150 may send a power supply command signal to the power supply unit 160 so that the power supply unit 160 supplies power to the transport cart 200.
  • the power supply unit 160 may be integrated with the coupling unit 110. If the power supply unit 160 is provided as a contact point for generating power on one side of the coupling unit 110, when the coupling unit 110 is coupled to the transport cart 200, the power supply unit 160 provided on one side of the coupling unit 110 supplies power to the transport cart 200.
  • the transport cart 200 may be supplied with power required to drive the transport cart 200 from the power supply unit 160.
  • the transport cart 200 includes a transport housing 240 onto which articles are loaded, the transport cart coupling unit 210 to which the mobile robot 100 is coupled, and transport cart movable units 220 configured to move the transport cart 200.
  • a wheel is disposed on one side of each of the transport cart movable units 220 so that the transport cart 200 is manually moved by a worker.
  • Each of the transport cart movable units 220 is equipped with a spring. Accordingly, when the transport cart 200 is elevated by the mobile robot 100, the length between the wheels of the transport cart movable units 220 corresponds to the length between the wheels of the movable units 120 of the mobile robot 100.
  • the transport cart 200 When the transport cart 200 is raised by the elevation unit 140 of the mobile robot 100, the transport cart 200 also rises as high as that the height of the elevation unit 140.
  • the spring having elasticity is extended as high as the height of the transport cart 200 raised by the elevation unit 140.
  • the wheels of the transport cart movable units 220 and the wheels of the movable units 120 of the mobile robot 100 move the mobile robot 100 and the transport cart 200.
  • the transport cart coupling unit 210 is equipped with the magnet 211 and may be attached to the magnet 111 of the coupling unit 110 of the mobile robot 100 by magnetism. Furthermore, the transport cart coupling unit 210 may be fabricated to be movable. In this case, when the magnet 211 of the transport cart coupling unit 210 adheres to the magnet 111 of the coupling unit 110, the transport cart coupling unit 210 moves toward the coupling unit 110 of the mobile robot 100 and is closely coupled to the coupling unit 110.
  • the transport cart 200 may include a display unit 230 (refer to FIG. 5) configured to display information about products to be loaded onto the transport cart 200.
  • the transport cart 200 is for moving articles loaded onto the transport cart 200.
  • the transport cart 200 is not manually moved by a worker, but is coupled to the mobile robot 100 and moved.
  • the mobile robot 100 receives information about the position onto which articles will be loaded or information about the position from which articles will be unloaded from the management server 300 and moves the transport cart 200 based on the received information.
  • the mobile robot 100 moves the transport cart 200 to the position where articles will be loaded, the mobile robot 100 releases coupling with the transport cart 200.
  • the transport cart 200 may receive information about articles to be loaded from the management server 300 and display the received information on the display unit 230.
  • Article information displayed on the display unit 230 may help a worker to be accurately aware of a corresponding article when he or she loads or unloads the corresponding article.
  • the display unit 230 may be a liquid crystal display (LED), a field emission display (FED), a plasma display panel (PDP), or an organic light-emitting diode (OLED). In some embodiments, the display unit 230 may be a tablet PC.
  • LED liquid crystal display
  • FED field emission display
  • PDP plasma display panel
  • OLED organic light-emitting diode
  • the display unit 230 may be a tablet PC.
  • the transport cart 200 may be supplied with power from the mobile robot 100.
  • the transport cart 200 may include a power reception unit 260 (refer to FIG. 5) in order to be supplied with power from the mobile robot 100.
  • the power reception unit 260 may be provided in such a way as to be separated from or integrated with the transport cart coupling unit 210 and may be provided on one side of the transport cart 200.
  • the power reception unit 260 needs to form a contact point along with the power supply unit 160 of the mobile robot 100. Accordingly, when the transport cart coupling unit 210 is coupled to the mobile robot 100, the power reception unit 260 has to be disposed at the position corresponding to the power supply unit 160.
  • the transport cart 200 may be supplied with required power from the power reception unit 260.
  • the transport cart 200 may be supplied with power to be used, such as power for displaying articles to be loaded on the display unit 230 or power necessary to drive the transport cart coupling unit 210, from the power reception unit 260. Power to be used in the transport cart 200 may not be supplied from the mobile robot 100 only.
  • the transport cart 200 may include a charging unit for charging external power or may be supplied with power from a charger.
  • FIG. 4 is a block diagram schematically showing the mobile robot according to an embodiment of the present invention.
  • the mobile robot 100 includes the coupling unit 110 coupled to the transport cart 200 onto which articles to be transported are loaded, the information transmission/reception unit 130 configured to send information about the transport cart 200 coupled to the coupling unit 110 to the management server 300 and to receive information about the position to which the mobile robot 100 will be moved from the management server 300, the coupling unit 110 configured to move the movable units 120 based on information about the position of the mobile robot 100 which has been received from the information transmission/reception unit 130, the control unit 150 configured to control the information transmission/reception unit 130, and the movable units 120 configured to move the mobile robot 100 in response to a command signal from the control unit 150.
  • the coupling unit 110 may include the magnet 111 and may be coupled to the transport cart 200.
  • the mobile robot 100 may further include the elevation unit 140 for elevating the transport cart 200 to which the coupling unit 110 has been coupled in response to a command signal from the control unit 150.
  • the elevation unit 140 may be elevated by the rotation of the screw device.
  • the elevation unit 140 may include the support 141 for supporting the transport cart 200 and elevating the transport cart 200 in response to the driving of the screw device.
  • the mobile robot 100 may further include the power supply unit 160 for storing power and supplying the power to the transport cart 200 to which the coupling unit 110 has been coupled.
  • a detailed description of the mobile robot 100 includes the same information as that of the logistics transport system described with reference to FIGS. 1 to 3 except a category and is thus omitted.
  • FIG. 5 is a block diagram schematically showing the transport cart according to an embodiment of the present invention
  • FIG. 6 is a side view schematically showing the transport cart according to an embodiment of the present invention.
  • the transport cart 200 according to an embodiment of the present invention includes the transport housing 230 onto which articles are loaded, the transport cart coupling unit 210 to which the mobile robot 100 is coupled, and the transport cart movable units 220 by which the transport cart 200 is moved.
  • the transport cart movable unit 220 is equipped with the spring. Accordingly, when the transport cart 200 is elevated by the mobile robot 100, the wheel of the transport cart movable unit 220 can be elevated.
  • the transport cart coupling unit 210 includes the magnet 211 and may be coupled to the mobile robot 100.
  • the transport cart 200 may include the display unit 230 for displaying information about articles to be loaded onto the transport cart 200.
  • the transport cart 200 may include the power reception unit 260 for being supplied with power from the mobile robot 100.
  • the transport cart coupling unit 210, the transport cart movable unit 220, the display unit 230, and the power reception unit 260 may be driven under the control of a control unit 250.
  • a detailed description of the transport cart 200 includes the same information as that of the logistics transport system described with reference to FIGS. 1 to 3 except a category and is thus omitted.

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  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Economics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Resources & Organizations (AREA)
  • Tourism & Hospitality (AREA)
  • Strategic Management (AREA)
  • General Business, Economics & Management (AREA)
  • Quality & Reliability (AREA)
  • Theoretical Computer Science (AREA)
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  • Marketing (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Development Economics (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Handcart (AREA)

Abstract

Selon un mode de réalisation, la présente invention concerne un système de transport logistique qui peut comprendre un chariot de transport sur lequel des articles à transporter sont chargés, un robot mobile couplé au chariot de transport et configuré pour déplacer le chariot de transport, et un serveur de gestion configuré pour gérer des informations de position concernant le robot mobile, envoyer au robot mobile des informations de position concernant le chariot de transport auquel le robot mobile doit être couplé et des informations concernant une position vers laquelle le chariot de transport auquel est couplé le robot mobile doit être déplacé, et gérer les informations de position. Le système de transport logistique offre des avantages en ce que la position d'un article à charger sur le chariot de transport peut être précisément vérifiée, la position d'un article à charger sur le chariot de transport peut être rapidement vérifiée, et le temps mis pour transporter un article à charger peut être réduit.
PCT/KR2016/001997 2015-03-02 2016-02-29 Système de transport logistique WO2016140481A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201680013059.1A CN107646096A (zh) 2015-03-02 2016-02-29 物流输送系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2015-0029269 2015-03-02
KR1020150029269A KR101642728B1 (ko) 2015-03-02 2015-03-02 물류 이송 시스템

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WO2016140481A1 true WO2016140481A1 (fr) 2016-09-09

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GB2542472B (en) * 2015-07-17 2018-02-07 Wal Mart Stores Inc Shopping facility assistance systems, devices and methods to drive movable item containers
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CN109956379A (zh) * 2017-12-22 2019-07-02 通力股份公司 电梯系统的功率供应的管理
CN114728676A (zh) * 2019-10-21 2022-07-08 康茂股份公司 用于在工业工厂中用作可重新配置的操作系统的自主移动系统

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