WO2022270789A1 - Véhicule à guidage automatique apte à une livraison à de multiples destinations - Google Patents

Véhicule à guidage automatique apte à une livraison à de multiples destinations Download PDF

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Publication number
WO2022270789A1
WO2022270789A1 PCT/KR2022/007816 KR2022007816W WO2022270789A1 WO 2022270789 A1 WO2022270789 A1 WO 2022270789A1 KR 2022007816 W KR2022007816 W KR 2022007816W WO 2022270789 A1 WO2022270789 A1 WO 2022270789A1
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WO
WIPO (PCT)
Prior art keywords
unit
door
loading
driving
screen
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PCT/KR2022/007816
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English (en)
Korean (ko)
Inventor
양우식
김병수
하인용
Original Assignee
(주)로보티즈
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Publication of WO2022270789A1 publication Critical patent/WO2022270789A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G19/00—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors
    • B65G19/02—Conveyors comprising an impeller or a series of impellers carried by an endless traction element and arranged to move articles or materials over a supporting surface or underlying material, e.g. endless scraper conveyors for articles, e.g. for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames

Definitions

  • the present disclosure relates to an unmanned transport robot capable of delivery to multiple destinations, and more particularly, to an unmanned transport robot configured to deliver delivery items of various sizes to multiple destinations.
  • An unmanned transport robot or an automatic guided vehicle refers to an industrial robot or vehicle that moves automatically without a driver.
  • An unmanned transport robot has a built-in system designed to perform movements independently without a driver or operator and to move along a defined path under its own power.
  • Embodiments disclosed in this specification provide an unmanned transport robot configured to load and discharge various sizes of delivery items in delivery to one or more destinations.
  • a body part configured to be opened and closed by a loading unit, a screen unit disposed between the loading unit and the door unit, and a control unit configured to control operations of the loading unit, the door unit, and the screen unit, wherein the loading unit includes a support unit for supporting one or more items, and a support unit.
  • a carrying unit including at least one conveyor disposed on at least one side of the and at least one sweeper formed on the at least one conveyor, and a second driving unit configured to drive the at least one conveyor
  • the screen unit includes one A screen configured to selectively come into contact with at least some of the above items, a guide unit for guiding movement of the screen, and a third drive unit configured to drive the screen
  • the control unit comprises the first drive unit, the second drive unit, and the third drive unit. It is further configured to control.
  • control unit opens the door unit coupled to the main body unit at one end, controls the first drive unit so that the other end of the door unit approaches or contacts the ground, and drives at least one conveyor to move the support unit and the support unit among one or more items.
  • the second driving unit is controlled so that the items in contact are pushed by the at least one sweeper and discharged to the ground along the door unit.
  • control unit controls the operation of the third driving unit so that the rest of the one or more items other than the one in contact with the support unit are not discharged to the ground in contact with the screen.
  • a contact sensor configured to detect whether or not at least some of one or more items are in contact with the door is disposed on one side of the door, and the control unit is further configured to control the operation of the contact sensor.
  • control unit when an item is discharged along one side of the door unit while the door unit is open, the control unit is further configured to determine whether or not the item is discharged through a contact detection sensor.
  • the door unit is configured such that one end of the door unit is coupled to the main body unit through a hinge unit so as to be rotated and opened and closed about a rotational axis of the hinge unit, and the other end of the door unit approaches or contacts the ground when the door unit is open.
  • it further includes a load detection sensor configured to detect whether one or more items on the support are loaded, and the control unit is further configured to control operation of the load detection sensor.
  • the control unit when it is determined that one or more items are loaded in the loading unit through a load detection sensor, and the unmanned transfer robot arrives at a transfer destination of at least some of the one or more items, the control unit operates the first driving unit to open the door unit. Control.
  • a transfer confirmation sensor configured to capture an image of an item disposed outside the unmanned transfer robot is further included, and when the item is discharged to the outside of the loading unit at the transfer destination, the control unit confirms the transfer to capture an image of the discharged item. Control the operation of the sensor.
  • the control unit controls the first driving unit to close the door unit.
  • the loading unit without spatial division is used by using the screen unit. Multiple delivery may be possible by selectively discharging loaded items of various sizes.
  • a plurality of items can be selectively delivered to a plurality of destinations with one unmanned transfer robot, delivery service time can be shortened and costs associated with driving the unmanned transfer robot can be reduced.
  • the recipient may receive the product through non-face-to-face delivery.
  • FIG. 1 shows an example of a conventional unmanned transfer robot.
  • FIG. 2 is a diagram illustrating an example of discharging loaded articles to the outside by an unmanned transfer robot according to an embodiment of the present disclosure.
  • FIG. 3 is a perspective view illustrating an example in which a body part, a loading part, a screen part, and a door part are combined according to an embodiment of the present disclosure.
  • FIG. 4 is a perspective view of the unmanned transfer robot shown in FIG. 3 viewed from another angle according to an embodiment of the present disclosure.
  • FIG. 5 is a perspective view illustrating a coupling relationship between a support unit, a transport unit, and a second driving unit according to an embodiment of the present disclosure.
  • FIG. 6 shows a state in which one or more articles are loaded on a loading unit in an unmanned transfer robot according to an embodiment of the present disclosure.
  • FIG. 7 is a diagram illustrating a process of loading one or more articles on an unmanned transfer robot according to an embodiment of the present disclosure.
  • FIG. 8 is a diagram illustrating a process of selectively discharging one or more items loaded on an unmanned transfer robot according to an embodiment of the present disclosure.
  • FIG 9 illustrates a method of selectively discharging an article transported by an unmanned transfer robot according to an embodiment of the present disclosure.
  • an upper portion of a figure may be referred to as a “top” or “upper side” of a configuration shown in the figure, and a lower portion thereof may be referred to as a “lower” or “lower side”.
  • the portion between the upper and lower portions or the upper and lower portions of the illustrated configuration in the drawings may be referred to as “side” or “side”.
  • Relative terms such as “upper” and “upper” may be used to describe relationships between components shown in the drawings, and the present disclosure is not limited by such terms.
  • a direction toward an internal space of a structure may be referred to as “inside” and a direction protruding into an open external space may be referred to as “outside.”
  • Relative terms such as “inner” and “outer” may be used to describe relationships between components shown in the drawings, and the present disclosure is not limited by such terms.
  • an 'unmanned transport robot' may refer to any robot, vehicle, device, etc. that can move an item to a destination without a human being on board.
  • an unmanned transport robot may be equipped with an autonomous driving function and arrive at a destination through autonomous driving.
  • an unmanned transport robot may arrive at a destination through remote control by a human.
  • an unmanned transport robot may refer to an unmanned transport vehicle, and conversely, an unmanned transport vehicle may refer to an unmanned transport robot.
  • references to "A and/or B" herein means A, or B, or A and B.
  • FIG. 1 shows an example of a conventional unmanned transfer robot 100.
  • Previous article transfer robots took a method of delivering a plurality of delivery articles by putting them in one loading unit. When each of the plurality of items is delivered to multiple destinations, it is difficult to select and discharge a specific item from among the plurality of items to be delivered at each destination.
  • some conventional article transfer robots 100 are designed to enable selective discharge of articles at multiple destinations by physically separating the loading units 110 and 120.
  • the article transfer robot 100 of FIG. 1 has a problem in that only articles within the size of each of the divided loading units 110 and 120 can be loaded and delivered.
  • FIG. 2 is a diagram illustrating an example of discharging loaded articles 260 to the outside by the unmanned transfer robot 200 according to an embodiment of the present disclosure.
  • the unmanned transfer robot 200 is shown in the form of an unmanned vehicle for transporting an item 260, but is not limited thereto.
  • the unmanned transport robot 200 may have any one form of an arbitrary AGV for transporting the item 260, and may include, for example, an unmanned transport vehicle or a drone.
  • the unmanned transfer robot 200 may include a body part 210, a loading part 230, a door part 240, a screen part 250, and a controller (not shown).
  • the main body 210 may correspond to a frame of the unmanned transfer robot 200 .
  • the main body 210 may be a device serving as a main body to be combined with other components of the unmanned transfer robot 200.
  • a loading part 230 may be formed on one side of the body part 210 .
  • the size and shape of the body part 210 may be determined according to the size/volume of the driving part 220 and the loading part 230.
  • the body unit 210 may include a driving unit 220 for driving the unmanned transfer robot 200.
  • the driving unit 220 may be an arbitrary driving device for moving the unmanned transfer robot 200 to a transfer destination along a driving path or the like.
  • the driving unit 220 may correspond to wheels, but is not limited thereto.
  • the driving unit 220 may correspond to wings or propellers.
  • the driving unit 220 when the driving unit 220 is in the form of a wheel, a portion of the driving unit 220 in contact with the ground may be in the shape of a wheel, but is not limited thereto.
  • a portion of the driving unit 220 that comes into contact with the ground may be in the form of a leg.
  • the loading unit 230 may be a device that is formed on one side of the body unit 210 and loads the article 260 thereon. Specifically, the loading unit 230 may be formed in a state in which a space in which the article 260 can be loaded is secured on the upper side of the body unit 210 . In this case, the loading unit 230 may be a space in which the articles 260 are stacked. In FIG. 2 , one article 260 is shown, but is not limited thereto. For example, the article 260 may correspond to a plurality of articles. The detailed configuration and driving method of the loading unit 230 will be described in detail with reference to subsequent drawings.
  • the door unit 240 may be disposed on one side of the loading unit 230 .
  • one end of the door unit 240 may be disposed on one side of the loading unit 230 by being coupled to a part of the main body unit 210 .
  • the door unit 240 may be configured to be opened and closed. The detailed configuration and driving method of the door unit 240 will be described in detail with reference to subsequent drawings.
  • the screen unit 250 may be disposed between the loading unit 230 and the door unit 240 .
  • the screen unit 250 selectively contacts at least some of the one or more items 260 loaded on the loading unit 230 so that the one or more items 260 are selectively discharged from the unmanned transfer robot 200. It can be configured so that The detailed configuration and driving method of the screen unit 250 will be described in detail with reference to subsequent drawings.
  • the control unit may be a system for controlling the operation of each component of the body unit 210, the driving unit 220, the loading unit 230, the door unit 240, and/or the screen unit 250. Specifically, the control unit may control the operation of the driving unit 220 so that the body unit 210 moves along the driving path. In addition, the control unit may control the movement of the driving unit 220 so that the unmanned transfer robot 200 does not collide with an external object. Additionally, the control unit may control the operation of each component of the loading unit 230, the door unit 240, and the screen unit 250 so that one or more items loaded on the loading unit 230 are selectively discharged.
  • the loading unit 320 may include a support unit 322 , transport units 324 and 326 , and a second driving unit (not shown).
  • the transporters 324 and 326 may include a conveyor 324 and a sweeper 326 .
  • the loading part 320 may be configured to be coupled with a part of the main body part 310 at one side.
  • the mounting unit 320 may be fixed to the body unit 310 by being coupled with at least one cradle 312 formed on the upper surface of the body unit 310 .
  • the loading unit 320 may be fixedly coupled to the main body 310 by combining a pair of conveyors 324 with a pair of holders 312 .
  • the support part 322 may be configured to directly or indirectly support one or more items (not shown) loaded on the loading part 320 .
  • the support portion 322 may be formed in a flat shape to facilitate loading of one or more items.
  • the support part 322 may be formed in a plate or table shape.
  • a concave-convex portion is formed on the surface of the support part 322 on which the article is loaded, so that movement of the article during transport may be restricted.
  • the transporters 324 and 326 may be devices for discharging the loaded goods to one side of the loading unit 320 .
  • the transport units 324 and 326 may include at least one conveyor 324 disposed on at least one side of the support unit 322 and at least one sweeper 326 formed on the conveyor 324. there is.
  • the conveyor 324 may be driven by the second drive unit. The coupling relationship between the support part 322, the conveying parts 324 and 326, and the second driving part will be described in detail with reference to subsequent drawings.
  • Conveyor 324 may be a transport device configured to continuously move sweeper 326 .
  • the conveyor 324 may be driven by a second driving unit. Specifically, the conveyor 324 may perform rotation and/or linear reciprocating motion by the second drive unit.
  • the conveyor 324 may move the sweeper 326 coupled with the conveyor 324 by being driven by the second driving unit.
  • conveyor 324 may correspond to a chain conveyor or a belt conveyor. In other embodiments, conveyor 324 may correspond to a link structure.
  • the sweeper 326 may be a device configured to move the loaded items to one side of the loading unit 320 . Specifically, the sweeper 326 will be configured to push the article on the support part 322 toward the door part 340 as the conveyor 324 rotates and/or performs a linear reciprocating motion while being coupled with the conveyor 324. can In this case, the sweeper 326 may be of any type configured to facilitate an operation of pushing an article in one direction. For example, as shown in FIG. 3 , the sweeper 326 may have a rod shape longer than the length of the support part 322 in one lateral direction.
  • the door part 340 may be disposed on one side of the support part 322 .
  • one end of the door part 340 may be disposed on one side of the support part 322 by being coupled to a part of the body part 310 .
  • the door unit 340 may be configured to be opened and closed by the first driving unit 350 .
  • the door unit 340 may be rotated and opened by the first driving unit 350 . In this case, in a state in which the door unit 340 is open, the other end of the door unit 340 may approach or contact the ground (not shown).
  • one end of the door unit 340 is coupled to the body unit 310 through a hinge unit (not shown), so that it can be configured to rotate and open and close around a rotation axis of the hinge unit.
  • one side of the hinge unit may be connected to the first driving unit 350 and the other side may be connected to the door unit 340 .
  • the hinge portion may correspond to a gravity compensation mechanism driving hinge.
  • the first driving unit 350 may be a device configured to open and close the door unit 340 .
  • the first driving unit 350 may be an actuator that operates to rotate and open the door unit 340 by being coupled to the door unit 340 through a hinge unit.
  • the control unit may control the operation of the first driving unit 350 .
  • the screen unit 330 may include a screen 336 , a guide unit 334 , and a third driving unit 332 .
  • Screen 336 may be a device configured to selectively contact at least some of the one or more items loaded. Specifically, the screen 336 may serve as a shield so that the product is not discharged along the door unit 340 and is continuously positioned on the support unit 322 by contacting other items other than the item to be discharged. To this end, the screen 336 may be configured to move along the guide portion 334 . For example, the screen 336 may perform linear reciprocating motion along the guide part 334 . In one embodiment, screen 336 may be of any shape configured to facilitate effective concealment of non-ejected items. For example, as shown in FIG. 3 , the screen 336 may have a rectangular shape longer than the length of the support 322 in one side direction.
  • the guide unit 334 may be a device that guides the movement of the screen 336 .
  • the guide part 334 may be disposed between the loading part 320 and the closed door part 340 .
  • the guide part 334 is disposed perpendicular to the upper surface of the body part 310, but is not limited thereto.
  • the guide part 334 may be disposed to be inclined with respect to the upper surface of the main body part 310, or may be disposed in any shape in which the screen 336 can effectively come into contact with the article.
  • the third driving unit 332 may be a device configured to move the screen 336 along the guide unit 334 .
  • the third driving unit 332 may be an actuator that operates to move the screen 336 along the guide unit 334 by being coupled to one side of the guide unit 334 .
  • the control unit may control the operation of the third driving unit.
  • FIG. 4 is a perspective view of the unmanned transfer robot shown in FIG. 3 viewed from another angle according to an embodiment of the present disclosure.
  • FIG. 4 descriptions of those corresponding to the components shown in FIG. 3 will be omitted.
  • an adhesion detection sensor 410 configured to detect whether or not an item (not shown) is in contact with the door unit 340 may be disposed on one surface of the door unit 340 .
  • the control unit may be configured to control the operation of the contact detection sensor 410 .
  • the contact detection sensor 410 may correspond to a piezoelectric sensor, an infrared sensor, a visible light sensor, a photo interrupter, or any other sensor capable of measuring whether an object is in contact and/or the contact strength. .
  • the contact detection sensor 410 when the contact detection sensor 410 corresponds to a piezoelectric sensor, when an external force is generated on the contact detection sensor 410 as an article comes into contact with the contact detection sensor 410 formed on one surface of the door unit 340. , The contact detection sensor 410 may generate a voltage and transmit a signal to the control unit. In another example, when the contact detection sensor 410 corresponds to an infrared sensor or a visible light sensor, the contact detection sensor 410 transmits an infrared ray to the contact detection sensor 410 as an article comes into contact with the contact detection sensor 410 formed on one surface of the door unit 340. Alternatively, when visible light is not sensed, the contact detection sensor 410 may transmit a signal to the control unit.
  • the control unit may receive a signal from the contact detection sensor 410 and control the operation of each component of the unmanned transport robot. Operation control of each component of the unmanned transport robot through the contact detection sensor 410 and the control unit will be described in detail through subsequent drawings.
  • FIG. 5 is a perspective view illustrating a coupling relationship between a support unit 510, transport units 520 and 530, and a second driving unit 540 according to an embodiment of the present disclosure.
  • the support part 510 and the carrier parts 520 and 530 shown in FIG. 5 may correspond to the support part (322 in FIG. 3 ) and the carrier parts (324 and 326 in FIG. 3 ) shown in FIG. 3 .
  • the transporters 520 and 530 include a pair of conveyors 520 disposed to face each other with a support 510 interposed therebetween, and a pair of sweepers 530 coupled to the conveyors 520 . ) may be included.
  • two conveyors 520 and two sweepers 530 are shown, but are not limited thereto.
  • the conveyor 520 and the sweeper 530 may be formed one by one, or three or more.
  • the conveyor 520 may be formed on one side of the support 510 alone.
  • Sweeper 530 may be coupled with a pair of conveyors 520 at both ends, respectively. As shown in FIG. 5 , two sweepers 530 may be disposed on the conveyor 520 at a predetermined distance apart. For example, the sweeper 530 may be disposed so that the second sweeper is positioned where the first sweeper was when the conveyor 520 rotates 180 degrees. The shape, number, and arrangement of the sweepers 530 may be variously modified according to the size, shape, and/or number of items.
  • the second driving unit 540 may be a device configured to drive at least one conveyor 520 .
  • the control unit may be configured to control the operation of the second driving unit 540 .
  • two second driving units 540 may be disposed for each conveyor 520, but are not limited thereto.
  • three or more second driving units 540 may be disposed on one conveyor 520 .
  • FIG. 6 shows a state in which one or more articles 642 and 644 are loaded on a loading unit in an unmanned transfer robot according to an embodiment of the present disclosure.
  • the unmanned transfer robot is shown in a side view.
  • the support portion (322 in FIG. 3) shown in FIG. 3 is omitted, and the shapes of the driving portion 610 and the main body portion 620 are simplified.
  • the traveling part 610, the main body part 620, the conveyor 632, the sweeper 634, the door part 650, the contact detection sensor 652, the guide part 662, and the screen 664 shown in FIG. 6 may correspond to the driving part, the body part, the conveyor, the sweeper, the door part, the contact sensor, the guide part, and the screen shown in FIGS. 2 to 4 .
  • the unmanned transfer robot may further include a load detection sensor 670 configured to detect whether one or more items 642 and 644 are loaded on a support unit (not shown).
  • the items 642 and 644 to be loaded may include the first item 642 in contact with the support and the second item 644 overlapping the first item 642 .
  • the controller may control the operation of the load detection sensor 670 .
  • the load detection sensor 670 is illustrated as one, but is not limited thereto.
  • the unmanned transfer robot may include any number of loading detection sensors 670 suitable for detecting whether an article is loaded.
  • the loading detection sensor 670 may be fixed to the inside of the main body 620 so as to face the loading section. In another embodiment, the loading detection sensor 670 may be disposed at an arbitrary position within the body part 620 or the loading part where it is easy to check whether the items 642 and 644 are loaded. In one embodiment, the loading detection sensor 670 may correspond to a visible light camera, an infrared camera, an ultrasonic camera, a LiDAR, or the like.
  • the control unit may receive a signal from the load detection sensor 670 to determine whether an article is loaded, and accordingly control operations of the driving unit 610, the first driving unit, the second driving unit, and the third driving unit.
  • the unmanned transfer robot may further include a transfer confirmation sensor 680 configured to image an item (not shown) disposed outside the unmanned transfer robot.
  • the transfer confirmation sensor 680 may correspond to at least one of a visible light camera, an infrared camera, an ultrasonic camera, and a LiDAR.
  • the controller may control the operation of the transfer confirmation sensor 680 to capture an image of the discharged items.
  • the transfer confirmation sensor 680 is shown as one, but is not limited thereto.
  • the unmanned transfer robot may include any number of transfer confirmation sensors 680 suitable for detecting whether items are loaded.
  • control unit may control the operation of the second driving unit (not shown) so that the sweeper 634 comes into contact with the first item 642 by driving the conveyor 632 .
  • the control unit may control the operation of the second driving unit so that the first article 642 is pushed by the sweeper 634 and tightly fixed to the door unit 650. Accordingly, the first article 642 may be fitted and fixed between the sweeper 634 and the door unit 650 .
  • the second article 644 may be in a state in contact with the screen 664 .
  • the controller controls the first item 642 It is possible to additionally control the operation of the second driving unit so that it is pushed by the sweeper 634 and tightly fixed to the door unit 650 .
  • the adhesion detection sensor 652 transmits a signal to the control unit, and the control unit may control the second drive unit not to be driven.
  • the close contact sensor 652 transmits a signal to the control unit, and the control unit pushes the first item 642 to the door unit 634 by the sweeper 634.
  • the second driving unit may be driven so as to be tightly fixed to the unit 650 .
  • a sensor (not shown) may be formed on the screen 664 to perform the same function as the contact detection sensor 652 formed on the door unit 650 .
  • the corresponding sensor may be a sensor that detects whether the second article 644 is in close contact with the screen 664 .
  • reference numeral 710 indicates a state in which the articles 642 and 644 are loaded in the loading unit
  • reference numeral 720 indicates a state in which the door unit 650 is closed and the screen 664 is moved.
  • FIG. 7 descriptions of those corresponding to the components shown in FIG. 6 will be omitted.
  • one or more items 642, 644 may be loaded on the support of the load section.
  • one or more items 642 and 644 may be stacked and stacked on the support part of the loading part through the opened door part 650 side.
  • the controller may control a first driving unit (not shown) to close the door unit 650 .
  • the control unit controls the operation of a third drive unit (not shown) so that the screen 664 approaches or comes into contact with at least some of the one or more items 642 and 644. can do. Specifically, the control unit drives the screen 664 so that the remaining second articles 644 other than the first article 642 in contact with the support among one or more articles 642 and 644 are not discharged to the ground in contact with the screen 664. It is possible to control the operation of the third driving unit so as not to In FIG. 7 , each of the first article 642 and the second article 644 is shown as one, but is not limited thereto. For example, a plurality of first articles 642 in contact with the support and second articles 644 overlapping thereon may be provided.
  • the controller controls the operation of the driving section 610 so that the unmanned transport robot heads to the transfer destination of the first article 642. can do.
  • reference numeral 810 denotes a state in which the articles 642 and 644 are loaded in the loading unit
  • reference numeral 820 denotes a state in which the door unit 650 is closed and the screen 664 is moved.
  • FIG. 8 descriptions of those corresponding to the components shown in FIG. 6 will be omitted.
  • the controller may control the first drive unit (not shown) to open the door unit 650.
  • the controller may control the first drive unit to open the door unit 650 coupled to the body unit at one end so that the other end of the door unit 650 approaches or comes into contact with the ground (not shown).
  • the door part 650 may be configured to function as a slope so that the first article 642 pushed from the support part is discharged to the outside along the slope by gravity.
  • the unmanned transport robot may include an obstacle detection sensor (not shown).
  • the obstacle detection sensor may be configured to detect the position, size, or distance of an obstacle on the ground.
  • the controller may control the operation of the obstacle detection sensor.
  • the obstacle detection sensor may be fixedly disposed facing the ground at an arbitrary position of the body part or the loading part.
  • the obstacle detection sensor may correspond to a Time of Flight (ToF) sensor, an ultrasonic sensor, a lidar sensor, or a 3D camera sensor.
  • ToF Time of Flight
  • the control unit may control the operation of the driving unit and/or the first driving unit so that the first article 642 is released on the ground without an obstacle.
  • the unmanned transfer robot may perform the ejection operation of the first item 642 again.
  • the controller may detect the load current of the first driving unit.
  • the control unit controls the first driving unit to close the door unit 650, controls the driving unit to move the position of the unmanned transport robot, and then controls the first driving unit to open the door unit 650 to obtain the first item. (642) can be ejected again.
  • the control unit controls a second driving unit (not shown) such that the first article 642 is pushed by at least one sweeper 634 and discharged to the ground along the door unit 650.
  • the first article 642 is pushed by the sweeper 660 and moved along the support to the inclined door part 650, and then discharged to the ground along one side of the inclined door part 650 by gravity It can be.
  • the second article 644 is not discharged to the ground by being in contact with the screen 664, but may change its position so as to come into contact with the support part by gravity.
  • the control unit may control the second driving unit so that the second item 644 is pushed and moved by the sweeper 634 .
  • the controller may use a contact detection sensor (not shown) to detect the first article 642 . It is possible to determine whether 642 is discharged. That is, the contact detection sensor may serve as a getting off detection sensor. Specifically, the contact detection sensor formed on one side of the door unit 650 in contact with the first article 642 determines whether the first article 642 discharged along one side of the door unit 650 is discharged out of the door unit 650. can detect For example, when the first item 642 pushed down by contact with the contact sensor escapes from the contact sensor and out of the door unit 650, the contact sensor detects this and transmits a signal to the control unit. In this case, the controller may prepare to close the door unit 650 .
  • the controller controls the door unit 650 to be closed. 1 drive unit can be controlled. Also, the control unit may control the second driving unit so that the sweeper 634 comes into contact with the second item 644 on the support unit. Next, the control unit may control an operation of the driving unit so that the unmanned transfer robot moves to the transfer destination of the second item 644 .
  • FIG 9 shows a method 900 of selectively discharging an article transported by an unmanned transfer robot according to an embodiment of the present disclosure.
  • the method 900 of selectively discharging items by the unmanned transport robot may be started when the control unit detects the closing of the door unit (S910). Subsequently, the control unit may determine whether or not an article is loaded in the loading unit through the loading detection sensor (S920). When goods are loaded on the loading unit, the controller may adjust the position of the screen by driving the screen unit (S930). Specifically, by driving the screen, the controller may control the operation of the third driving unit so that among one or more items that are not to be discharged are not discharged to the ground in contact with the screen.
  • control unit may control the operation of the driving unit so that the unmanned transfer robot moves along the driving path to the transfer destination of the product.
  • the control unit may control the first driving unit to open the door part coupled to the main body part at one end so that the other end of the door part approaches or comes into contact with the ground.
  • the control unit may detect whether the door unit is opened through a sensor (S940). Then, by driving the conveyor, the control unit may control the second driving unit so that the item to be discharged is pushed by the sweeper and discharged to the ground along the door unit (S950).
  • control unit may determine whether an article remains in the loading unit through the loading detection sensor and/or the closeness detection sensor (S960).
  • the control unit can adjust the position of the screen by driving the screen unit so that the items loaded in another transfer destination can be selectively discharged.
  • the controller may control the operation of the first drive unit to close the door unit, and may control the operation of the driving unit so that the unmanned transfer robot moves along the travel path to the transfer destination of the article.
  • the controller may control the operation of the transport confirmation sensor to detect whether the discharged product is properly unloaded at the destination (S970).
  • control unit may control the second driving unit so that the positions of the conveyor and the sweeper are initialized to the state before loading of the product (S980).
  • the above-described operation of the control unit may be provided as a computer program stored in a computer-readable recording medium to be executed on a computer.
  • the medium may continuously store programs executable by a computer or temporarily store them for execution or download.
  • the medium may be various recording means or storage means in the form of a single or combined hardware, but is not limited to a medium directly connected to a certain computer system, and may be distributed on a network. Examples of the medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROM and DVD, magneto-optical media such as floptical disks, and ROM, RAM, flash memory, etc. configured to store program instructions.
  • examples of other media include recording media or storage media managed by an app store that distributes applications, a site that supplies or distributes various other software, and a server.
  • control unit of this disclosure may be implemented by various means. For example, these techniques may be implemented in hardware, firmware, software, or combinations thereof.
  • Those skilled in the art will appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchange of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the particular application and design requirements imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementations should not be interpreted as causing a departure from the scope of the present disclosure.
  • the processing units used to perform the techniques may include one or more ASICs, DSPs, digital signal processing devices (DSPDs), programmable logic devices (PLDs) ), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, and other electronic units designed to perform the functions described in this disclosure. , a computer, or a combination thereof.
  • control unit of the present disclosure it may be implemented by various illustrative logical blocks, modules, and circuits.
  • the controller may be implemented with a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of those designed to perform the functions described herein; may be performed.
  • a general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine.
  • a processor may also be implemented as a combination of computing devices, eg, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other configuration.
  • the techniques include random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), PROM (on a computer readable medium, such as programmable read-only memory (EPROM), erasable programmable read-only memory (EPROM), electrically erasable PROM (EEPROM), flash memory, compact disc (CD), magnetic or optical data storage device, or the like. It can also be implemented as stored instructions. Instructions may be executable by one or more processors and may cause the processor(s) to perform certain aspects of the functionality described in this disclosure.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne, selon un mode de réalisation, un véhicule à guidage automatique apte à une livraison à de multiples destinations qui comprend : une partie de corps principal ; une partie de chargement formée sur un côté de la partie de corps principal de telle sorte qu'un ou plusieurs produits sont empilés et chargés sur celle-ci ; une partie de porte formée sur un côté de la partie de chargement de façon à être ouverte/fermée au moyen d'une première unité d'entraînement ; une partie d'écran disposée entre la partie de chargement et la partie de porte ; et une unité de commande pour commander des opérations de la partie de chargement, de la partie de porte et de la partie d'écran, la partie de chargement comprenant : une partie de support pour supporter le ou les produits ; une partie de transport comprenant au moins un transporteur disposé à au moins une surface latérale de la partie de support, et au moins un balai formé sur l'au moins un transporteur ; et une deuxième unité d'entraînement pour entraîner l'au moins un transporteur, la partie d'écran comprenant : un écran établissant un contact sélectif avec au moins certains du ou des produits ; une partie de guidage pour guider le mouvement de l'écran ; et une troisième unité d'entraînement pour entraîner l'écran, et l'unité de commande commandant en outre la première unité d'entraînement, la deuxième unité d'entraînement et la troisième unité d'entraînement.
PCT/KR2022/007816 2021-06-21 2022-06-02 Véhicule à guidage automatique apte à une livraison à de multiples destinations WO2022270789A1 (fr)

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KR1020210079807A KR102449394B1 (ko) 2021-06-21 2021-06-21 다중 목적지로의 배송이 가능한 무인 이송 로봇
KR10-2021-0079807 2021-06-21

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2961591B2 (ja) * 1994-01-18 1999-10-12 廣光 伊藤 バラ物積層混合散布法
JP2009196381A (ja) * 2008-02-19 2009-09-03 Topy Ind Ltd 運搬用遠隔制御ロボット
KR20140123816A (ko) * 2013-04-15 2014-10-23 주식회사 포스코 스크린 장치
US20190287063A1 (en) * 2018-03-14 2019-09-19 Fedex Corporate Services, Inc. Methods of Performing a Dispatched Consumer-to-Store Logistics Operation Related to an Item Being Replaced Using a Modular Autonomous Bot Apparatus Assembly and a Dispatch Server
KR20200048858A (ko) * 2018-10-31 2020-05-08 백승구 물품 배출 장치

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2961591B2 (ja) * 1994-01-18 1999-10-12 廣光 伊藤 バラ物積層混合散布法
JP2009196381A (ja) * 2008-02-19 2009-09-03 Topy Ind Ltd 運搬用遠隔制御ロボット
KR20140123816A (ko) * 2013-04-15 2014-10-23 주식회사 포스코 스크린 장치
US20190287063A1 (en) * 2018-03-14 2019-09-19 Fedex Corporate Services, Inc. Methods of Performing a Dispatched Consumer-to-Store Logistics Operation Related to an Item Being Replaced Using a Modular Autonomous Bot Apparatus Assembly and a Dispatch Server
KR20200048858A (ko) * 2018-10-31 2020-05-08 백승구 물품 배출 장치

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