WO2023101239A1

WO2023101239A1 - Robot management device and control method therefor

Info

Publication number: WO2023101239A1
Application number: PCT/KR2022/017301
Authority: WO
Inventors: 최현서; 이민국; 원유재
Original assignee: 주식회사 제우스
Priority date: 2021-12-01
Filing date: 2022-11-07
Publication date: 2023-06-08
Also published as: KR102631530B1; KR20230082721A

Abstract

The present invention relates to a robot management device comprising: a sensor unit for detecting the surroundings of a robot and the environment of an idling space, which is a space in which the robot is on standby, and detecting an obstacle approaching the vicinity of the robot in the middle of an operation or the inside of a frame at which the robot is provided so as to perform an operation or move; a robot driving unit for moving the robot along a travel shaft of the frame or controlling the joint angle thereof; an end effector driving unit for driving an end effector attached to the robot; and a control unit, which controls the robot driving unit and the end effector driving unit on the basis of information detected through the sensor unit, so as to allow the robot to work or be on standby in the idling space.

Description

Robot management device and its control method

The present invention relates to a robot management device and a control method thereof, and more particularly, controls the operation of a robot for automatically charging an electric vehicle, manages to stably maintain the state of the robot, and also controls the robot and an outside pedestrian. It relates to a robot management device and its control method that warns to prevent an accident with an object.

Due to global warming and depletion of fossil fuels, there is a growing demand for more environmentally friendly vehicles. Accordingly, automobile manufacturers in each country are providing a quieter driving environment without emitting air pollutants such as CO ₂ while driving. and also develops and manufactures electric vehicles that are economically advantageous.

The electric vehicle refers to a vehicle using a battery and an electric motor.

At this time, the charging method between the electric vehicle (EV) and EVSE (Electric Vehicle Supply Equipment: Electric Vehicle Charging Facility) can be largely divided into a charging method using AC (Alternating Current) and a charging method using DC (Directing Current).

For example, the charging method using AC is a method of charging using a generator or commercial AC power (eg, 220VAC), and the charging method using DC is a method of converting AC power using a DC/AC converter and charging.

To charge the electric vehicle, a charging cable (or plug) of the EVSE (ie, electric vehicle charging facility) is connected (or connected) to a charging port (or charging gun inlet) of the electric vehicle (electric vehicle) in the form of a charging gun.

However, since the EVSE (ie, an electric vehicle charging facility) uses high-voltage (or ultra-high-voltage) electricity due to its characteristics, there is always a risk of electric leakage. For example, if you need to hold (or touch) the charging connector part (or the charging gun part) without knowing that rain (or snow) is falling or water (eg snow, rain, dew, etc.) is sprinkled while charging the electric vehicle, the user for short circuit There is a problem of poor safety.

Accordingly, research on charging an electric vehicle using a robot is being actively conducted.

The background art of the present invention is disclosed in Republic of Korea Patent Registration No. 10-1860797 (registered on May 17, 2018, auto handle device).

The background art is a method in which an auto handle device grabs a charging gun installed in a plurality of kiosks installed in an electric vehicle charging station and inserts (fastens) the charging gun into an injection port of an electric vehicle parked in front of each kiosk to charge the corresponding electric vehicle. However, since the above background art is a method in which the driving axis for moving the robot is installed on the floor, there is a problem that the user cannot pass through the moving area or working area of the robot for safety reasons, and due to the backlash of the transfer part during robot operation There is a problem that the position of the robot may be distorted.

Therefore, even while electric vehicle charging is being performed by the robot, the user can safely pass in other areas (ie, the area where charging is not being performed directly) and the robot can be safely protected from the risk of short circuit. In addition, there is a need for a device capable of stably maintaining and managing the state of the robot even when the robot does not perform a charging operation.

According to one aspect of the present invention, the present invention was created to solve the above problems, controls the operation of a robot for automatically charging an electric vehicle, manages to stably maintain the state of the robot, and An object of the present invention is to provide a robot management device and a control method thereof, which warns to prevent an accident between the robot and an external pedestrian or object.

The robot management device according to an aspect of the present invention detects the environment of the robot's surroundings and the rest space, which is a space where the robot waits, and moves around the robot at work or inside the frame where the robot is installed and working or moving. a sensor unit that detects an approaching obstacle; a robot driving unit for moving the robot along the driving axis of the frame or controlling joint angles; an end effector driver driving an end effector attached to the robot; and a control unit that controls the robot driving unit and the end effector driving unit based on the information detected through the sensor unit to make the robot work or wait in the resting space.

In the present invention, the end effector driving unit selects and drives one of the plurality of end effectors when a plurality of end effectors performing different functions are mounted on the robot, or simultaneously operates the plurality of end effectors. It is characterized by driving all of them.

In the present invention, the rest space management unit for managing the rest space; further including, the rest space management unit, an air conditioning unit for adjusting the temperature and humidity inside the rest space to be optimized for the robot; a cleaning unit that removes dust or foreign substances attached to the robot that has entered the resting space; an inspection unit for testing and inspecting the operation of actuators of the robot; and an end effector mounting unit for changing or exchanging the type of end effector attached to or mounted on the robot. It is characterized in that it includes at least one of.

In the present invention, when the robot moves along the driving axis, when an abnormality occurs in the result of testing and checking the actuator operation of the robot and requires repair, when an obstacle approaches while working using the robot, and It is characterized in that it further comprises; an alarm output unit for outputting an alarm in at least one case among cases in which a risk of electric leakage occurs during work using the robot.

In the present invention, the robot is mounted to move along a travel axis formed on an upper portion of the frame, and an end effector performing at least one or more functions in place of a human hand is attached or mounted.

In the present invention, the control unit, when the robot enters the rest space, cleans the robot, tests and checks the actuator operation of the robot, and tests and checks the actuator operation. If there is no, the robot is kept in a standby state in the resting space, and if the actuator operation is not normal as a result of testing and checking, an alarm is output and a robot repair request message is output to a designated manager.

In the present invention, when the robot is in a standby state in the resting space and the entry of the electric vehicle into the frame is detected, the control unit recognizes electric vehicle information for engaging the charging gun of the electric vehicle through the sensor unit, , Mounting or changing a corresponding end effector based on the recognized electric vehicle information, moving the robot to a chargeable position based on the recognized electric vehicle information, and when the robot moves to a charging position, the end effector After opening the charging inlet cover by controlling, the charging operation is performed by fastening the end effector to the charging inlet of the electric vehicle.

In the present invention, the control unit refers to a database (DB) in which the location, shape, and charging port opening method of each vehicle type are stored in order to recognize electric vehicle information for fastening the charging gun of the electric vehicle, It is characterized in that it recognizes the position, shape and opening method of the charging port corresponding to the type of electric vehicle that has entered the vehicle.

In the present invention, when the controller is in a state of charging the electric vehicle using the robot, when a risk of electric leakage occurs such as moisture or moisture around the end effector of the robot or the charging port of the electric vehicle, an alarm is generated. In addition to outputting, an end effector having a moisture removal function among end effectors mounted on the robot is driven.

In the present invention, the control unit, when charging of the electric vehicle using the robot is completed or stopped, separates or detaches the end effector fastened to the electric vehicle charging port, and uses the end effector to open the charging port cover of the electric vehicle. After closing, it is characterized in that an alarm is output for the safety of the user while moving the robot to a resting space.

In the present invention, the rest space is located at a height separated from the ground by a designated distance, and when the robot moves to the rest space, it is characterized in that it is movable through an elevator or an elevating device.

In the present invention, when two or more robots are installed in one frame, a second or more resting space is further included to secure an additional resting space, and an elevator or an elevator or an elevator when the robot moves to the second floor of the resting space It is characterized in that it is implemented to be movable to the second floor through.

A control method of a robot management apparatus according to another aspect of the present invention, the control unit through the sensor unit around the robot and the environment of the rest space, which is a space where the robot waits, and the surroundings of the robot in operation or the robot is installed to work detecting an obstacle approaching the inside of the moving frame; moving the robot along the driving axis of the frame or controlling a joint angle by the controller through a robot driving unit; driving, by the control unit, an end effector attached to the robot through an end effector driving unit; and allowing the controller to work the robot or wait in the resting space based on the information detected through the sensor unit.

In the present invention, when the robot enters the rest space, the control unit performs cleaning of the robot, and when the cleaning is completed, tests and checks the actuator operation of the robot, and tests the actuator operation If there is no abnormality as a result of the inspection, the robot is kept in a standby state in the resting space, and if the operation of the actuator is not normal as a result of testing and inspection, an alarm is output and a robot repair request message is output to a designated manager. characterized by

In the present invention, when the robot is in a standby state in a resting space and an entry of an electric vehicle into the frame is detected, the control unit recognizes electric vehicle information for engaging the charging gun of the electric vehicle, and the recognition A corresponding end effector is installed or changed based on information about one electric vehicle, the robot is moved to a charging position based on the recognized electric vehicle information, and when the robot moves to a charging position, the end effector is controlled to After opening the charging port cover, the charging operation is performed by fastening the end effector to the charging port of the electric vehicle.

In the present invention, in order to recognize electric vehicle information for fastening the charging gun of the electric vehicle, the control unit refers to a database (DB) in which the location, shape, and charging port opening method of each vehicle type are stored, and the inside of the frame is stored. It is characterized in that it recognizes the position, shape and opening method of the charging port corresponding to the type of electric vehicle that has entered the vehicle.

In the present invention, when the robot is in a state of charging the electric vehicle, if moisture is generated or a risk of electric leakage occurs around the end effector of the robot or the charging port of the electric vehicle, the control unit issues an alarm. In addition to outputting, an end effector having a moisture removal function among end effectors mounted on the robot is driven.

In the present invention, when charging of the electric vehicle using the robot is completed or stopped, the controller separates or detaches the end effector fastened to the electric vehicle charging port, and uses the end effector to open the charging port cover of the electric vehicle. After closing, it is characterized in that an alarm is output for the safety of the user while moving the robot to a resting space.

According to one aspect of the present invention, the present invention controls the operation of a robot for automatically charging an electric vehicle, manages to stably maintain the state of the robot, and also prevents accidents between the robot and external pedestrians or objects. By warning to be able to do so, it is possible to prevent failure of the robot, improve safety, and improve user safety and convenience.

1 is an exemplary view showing a schematic configuration of a robot management device according to an embodiment of the present invention.

2 is a flowchart illustrating a control method of a robot management device according to a first embodiment of the present invention.

3 is a flowchart illustrating a control method of a robot management device according to a second embodiment of the present invention.

4 is a flowchart illustrating a control method of a robot management device according to a third embodiment of the present invention.

5 is a flowchart illustrating a control method of a robot management device according to a fourth embodiment of the present invention.

6 is a flowchart illustrating a control method of a robot management device according to a fifth embodiment of the present invention.

Hereinafter, an embodiment of a robot management device and a control method thereof according to the present invention will be described with reference to the accompanying drawings.

In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, definitions of these terms will have to be made based on the content throughout this specification.

1 is an exemplary view showing a schematic configuration of a robot management apparatus according to an embodiment of the present invention.

As shown in FIG. 1 , the robot management device according to the present embodiment includes a sensor unit 110, a robot driving unit 120, an end effector driving unit 130, a resting space management unit 140, and an alarm output unit 150. and a control unit 160.

In this embodiment, the robot (including the articulated robot) 10 is mounted to move along the driving axis 30 formed on the upper part of the frame 50 formed in the shape of Π. An end effector 20 is attached (mounted) to an end (ie, a part corresponding to a hand) of the robot 10 .

At this time, in this embodiment, the end effector 20 is a concept including a gripper, and specifically, the gripper is a tongs-shaped object used when holding an object with fingers or the entire hand. It means a robot hand, and the end effector means a means for attaching various tools including the gripper to the position of the robot hand and using it instead of the hand.

A protection unit 40 is installed above the driving shaft 30 to prevent twisting or cutting of lines (eg, power lines, signal lines) when the robot 10 moves.

A rest space 60 is formed on one side of the frame 50 to stand by, protect, and inspect the robot 10 when the robot 10 is not performing a task (eg, a charging task). .

A door (not shown) may be formed on the front of the rest space 60 .

An air conditioning unit (not shown) is provided in the resting space 60, and the inside of the resting space 60 is optimized for the robot 10 by the control unit 160 (eg, temperature, humidity, dust). blocking, insect prevention, etc.)

Although not shown in the drawing, the rest space 60 is cleaned to remove and disinfect dust or foreign substances (eg, oil, moisture, insects, etc.) attached to the robot 10 as well as an air conditioning unit (not shown) And a disinfection unit (not shown), an inspection unit (not shown) for testing and checking the operation of actuators (eg, motor, hydraulic pressure, etc.) of the robot 10, and attached (mounted) to the robot 10 It may include an end effector mounting unit (not shown) capable of changing the type of the end effector (ie, changing to a different type of end effector) or replacing it (ie, replacing it with an end effector of the same type).

Here, the rest space is located at a height separated from the ground by a designated distance, and when the robot moves to the rest space, it is movable through an elevator (not shown) or an elevating device (not shown), and also one frame (50 ), when two or more robots are installed, a second or higher resting space is further included to additionally secure the resting space 60, and an elevator (not shown) or an elevator (not shown) or an elevator when the robot moves to the second floor of the resting space It can be implemented to be movable to the second floor through (not shown).

The sensor unit 110 includes a plurality of sensors (not shown) to detect the surroundings of the robot 10 and the environment (eg, temperature, humidity, and dust) of the rest space 60 .

In addition, the sensor unit 110 includes a plurality of sensors (eg, cameras, vision sensors, ultrasonic waves, infrared rays, lasers, etc.) for recognizing vehicles, pedestrians (users), and obstacles entering the inside of the frame 50. includes

The robot driving unit 120 moves the robot 10 along the driving axis 30 and controls joint angles of the robot 10 .

The end effector driver 130 drives the end effector 20 attached to the end of the robot 10 .

In addition, the end effector driving unit 130 is equipped with a plurality of end effectors 20 (eg, a rechargeable gun end effector, a button-pressing end effector, a dust/moisture removing end effector, etc.) at the end of the robot 10 (eg: When a plurality of end effectors are mounted by a rotary means or the plurality of end effectors are mounted in different directions), one of the plurality of end effectors 20 may be selected and driven, or the plurality of end effectors 20 may be selected and driven. All effectors 20 may be driven simultaneously.

The resting space management unit 140 uses an air conditioning unit (not shown) of the resting space 60 to adjust temperature and humidity to be optimized for the robot, and uses a cleaning and disinfection unit (not shown) to control the robot 10. Adhering dust or foreign substances (eg, oil, moisture, bugs, etc.) are removed and disinfected, and the operation of the actuator (eg, motor, hydraulic pressure, etc.) of the robot 10 is tested using an inspection unit (not shown) In addition, the type of end effector attached (mounted) to the robot 10 is changed (ie, changed to a different type of end effector) or exchanged (ie, the same type of end effector is used) using an end effector mounting unit (not shown). Replace it with an effector) and install it.

When the robot 10 is moved along the driving axis 30, the alarm output unit 150 tests and inspects the operation of the actuator (eg, motor, hydraulic pressure, etc.) of the robot 10, and abnormal ( failure) occurs and repair is required, when an obstacle (eg, user, pedestrian, vehicle, etc.) approaches during work (eg, charging operation) using the robot 10, and when using the robot 10 It outputs an alarm when a risk of electric leakage (eg, a situation in which snow, rain, moisture, etc. is contacted (stained or generated)) occurs during work (eg, charging operation).

The alarm is output in a combination of sound and light according to circumstances.

The control unit 160 controls the robot driving unit 120, the end effector driving unit 130, and the resting space management unit 140 according to the state of the robot 10 (eg, a working state, a resting space waiting state, etc.) , and controls the alarm output unit 150.

More specific operations of the controller 160 will be described below with reference to FIGS. 2 to 6 .

Referring to FIG. 2 , the controller 160 controls and maintains the temperature and humidity of the rest space 60 to be optimized for the robot 10 through the rest space management unit 140 (S101).

At this time, when the robot 10 enters the resting space 60 (YES in S102), the control unit 160 cleans the robot 10 through the resting space management unit 140 (eg, dust). , removal of moisture, etc.) and disinfection are performed (S103).

When the cleaning and disinfection of the robot 10 is completed, the control unit 160 tests and checks the operation of actuators (eg, motor, hydraulic pressure, etc.) of the robot 10 (S104).

If there is no abnormality as a result of testing and checking the operation of the actuator of the robot 10 (that is, if it is normal) (YES in S105), the control unit 160 controls the robot 10 in a standby state and the idle The space 60 is continuously maintained in an optimized state (S106).

On the other hand, if an abnormality occurs as a result of testing and checking the operation of the actuator of the robot 10 (ie, if it is not normal) (No in S105), the control unit 160 outputs an alarm and a designated manager (not shown) Outputs (transmits) a robot repair request message to (S107).

3 is a flowchart illustrating a control method of a robot management apparatus according to a second embodiment of the present invention.

Referring to FIG. 3, when the robot 10 is in a standby state in the rest space 60 (S201) and the entry of an electric car into the frame 50 is detected (Yes in S202), the controller ( 160) recognizes the information of the electric vehicle (in particular, information for connecting the charging gun) through the sensor unit 110 (S203).

For example, information on the electric vehicle (in particular, information for fastening the charging gun) is the location, shape, and charging port opening method (ie, charging port cover opening method) for each vehicle type (i.e., an injection port for inserting or fastening the charging gun). ) is stored, the position and shape of the charging port corresponding to the type of electric vehicle entering the frame 50 and the opening method of the charging port are recognized.

As described above, when the location and shape of the charging port corresponding to the type of electric vehicle that has entered the frame 50 and the opening method of the charging port are recognized, the controller 160 controls the end effector 20 based on the recognized electric vehicle information. ) is installed (i.e., the end effector that was detached for testing or inspection is installed) or modified (i.e., the already installed end effector is changed to a different type of end effector or a normal end effector in response to the type of electric vehicle. ) (S204).

For example, the end effector 20 includes a charging gun end effector corresponding to the type of electric vehicle (i.e., an end effector equipped with a charging gun), a button-pressing end effector (i.e., an end effector capable of pressing a button for opening a charging port cover) ), a dust/moisture removing end effector (that is, an end effector equipped with means for removing dust or moisture (moisture) from the charging port cover), and the like.

As described above, when the end effector 20 is mounted or changed on the robot 10, the control unit 160 controls the robot 10 based on the recognized electric vehicle information (in particular, information for connecting a charging gun). ) is moved to a chargeable position, and an alarm is output for the user's safety (S205).

When the robot 10 moves to a position where charging is possible, the controller 160 controls the end effector 20 (eg, a button-pressing end effector) to open the charging port cover, and then the end effector 20 (eg, a charging gun end effector) is fastened to a charging port of an electric vehicle to perform a charging operation (S206).

4 is a flowchart illustrating a control method of a robot management apparatus according to a third embodiment of the present invention.

Referring to FIG. 4, when the robot 10 is in a state of charging an electric vehicle (S301), an approach of an obstacle (eg, a user, a pedestrian, a vehicle, etc.) around the robot 10 is detected. In this case (YES in S302), the control unit 160 outputs a designated alarm (S303) to prevent a collision accident between the robot 10 and an obstacle.

5 is a flowchart illustrating a control method of a robot management apparatus according to a fourth embodiment of the present invention.

Referring to FIG. 5 , when the robot 10 is in a state of charging the electric vehicle (S401), there is a danger of leakage around the end effector 20 of the robot 10 or the charging port of the electric vehicle (eg: When a situation in which snow, rain, moisture, etc. is contacted (stained or generated) occurs (yes in S402), the control unit 160 outputs a designated alarm, and a specific end effector mounted on the robot 10 (eg, an end effector having a moisture removal function) is driven (S403).

Accordingly, it is possible to protect the robot 10 itself and the user from the risk of electric leakage.

6 is a flowchart illustrating a control method of a robot management apparatus according to a fifth embodiment of the present invention.

Referring to FIG. 6 , when charging of the electric vehicle using the robot 10 is completed or stopped (yes in S501), the control unit 160 connects the end effector 20 (eg, charging The gun end effector) is detached (detached) (S502).

When the end effector 20 (eg, a charging gun end effector) is separated (detached) from the electric vehicle charging port, the control unit 160 uses the specific end effector 20 (eg, a button-pressing end effector) to control the electric vehicle. Close the charging port cover (S503).

After closing the charging port cover of the electric vehicle, the controller 160 outputs an alarm for the user's safety while moving the robot 10 to the rest space 60 (S504).

As described above, the present embodiment controls the operation of the robot for automatically charging an electric vehicle, manages to stably maintain the state of the robot, and prevents a collision between the robot and an external pedestrian or object. By warning, there is an effect of preventing failure of the robot, improving stability, and improving user safety and convenience.

The present invention has been described above with reference to the embodiments shown in the drawings, but this is only exemplary, and those skilled in the art can make various modifications and equivalent other embodiments. you will understand the point. Therefore, the technical protection scope of the present invention should be determined by the claims below. Implementations described herein may also be embodied in, for example, a method or process, an apparatus, a software program, a data stream, or a signal. Even if discussed only in the context of a single form of implementation (eg, discussed only as a method), the implementation of features discussed may also be implemented in other forms (eg, an apparatus or program). The device may be implemented in suitable hardware, software and firmware. The method may be implemented in an apparatus such as a processor, which is generally referred to as a processing device including, for example, a computer, microprocessor, integrated circuit, programmable logic device, or the like. Processors also include communication devices such as computers, cell phones, personal digital assistants ("PDAs") and other devices that facilitate communication of information between end-users.

Claims

A sensor unit for detecting the surroundings of the robot and the environment of the rest space, which is the space where the robot waits, and detecting obstacles approaching the surroundings of the robot in operation or the inside of the frame in which the robot is installed and working or moving;

a robot driving unit for moving the robot along the driving axis of the frame or controlling joint angles;

an end effector driver driving an end effector attached to the robot; and

and a control unit for controlling the robot driving unit and the end effector driving unit based on the information detected through the sensor unit to make the robot work or stand by in the resting space.
The method of claim 1, wherein the end effector driving unit,

When a plurality of end effectors performing different functions are mounted on the robot, one of the plurality of end effectors is selected and driven, or

Robot management device, characterized in that for driving all of the plurality of end effectors at the same time.
According to claim 1,

It further includes; a resting space management unit for managing the resting space,

The rest space management unit,

an air conditioning unit that adjusts the temperature and humidity inside the resting space to be optimized for the robot;

a cleaning unit that removes dust or foreign substances attached to the robot that has entered the resting space;

an inspection unit for testing and inspecting the operation of actuators of the robot; and

an end effector mounting unit for changing or exchanging the type of end effector attached to or mounted on the robot; Robot management device characterized in that it comprises at least one of.
According to claim 1,

When moving the robot along the travel axis,

If an abnormality occurs in the result of testing and checking the actuator operation of the robot and requires repair,

When an obstacle approaches during work using the robot, and

The robot management device further comprising: an alarm output unit outputting an alarm in at least one of cases in which a risk of electric leakage occurs during work using the robot.
The method of claim 1, wherein the robot,

A robot management device, characterized in that it is mounted to move along a travel axis formed on the upper part of the frame, and an end effector is attached or mounted to perform at least one or more functions in place of a human hand.
The method of claim 1, wherein the control unit,

When the robot enters the resting space, cleaning of the robot is performed,

Test and check the actuator operation of the robot,

If there is no abnormality as a result of testing and checking the operation of the actuator, the robot is maintained in a standby state in the rest space,

If the actuator operation is not normal as a result of testing and checking, an alarm is output and a robot management device characterized in that for outputting a robot repair request message to a designated manager.
The method of claim 1, wherein the control unit,

When the robot is in a standby state in the resting space and the entry of the electric vehicle into the frame is detected, the sensor unit recognizes electric vehicle information for connecting the charging gun of the electric vehicle,

Based on the recognized electric vehicle information, a corresponding end effector is installed or changed,

Moving the robot to a charging position based on the recognized electric vehicle information;

The robot management device, characterized in that, when the robot moves to a charging position, the end effector is controlled to open a charging inlet cover, and then the end effector is fastened to a charging inlet of the electric vehicle to perform a charging operation.
The method of claim 7, wherein the control unit,

In order to recognize electric vehicle information for engaging the charging case of the electric vehicle,

Recognizing the location, shape, and opening method of a charging port corresponding to the type of electric vehicle that has entered the frame by referring to a database (DB) in which the location, shape, and opening method of a charging port for each vehicle type are stored. robot management device.
The method of claim 1, wherein the control unit,

When the robot is in a state of charging the electric vehicle, if a risk of electric leakage occurs around the end effector of the robot or the charging port of the electric vehicle,

A robot management device characterized in that it outputs an alarm and drives an end effector having a moisture removal function among end effectors mounted on the robot.
The method of claim 1, wherein the control unit,

When the charging of the electric vehicle using the robot is completed or stopped,

Separate or detach the end effector fastened to the electric vehicle charging port,

After closing the charging port cover of the electric vehicle using the end effector,

Robot management device, characterized in that for outputting an alarm for the safety of the user while moving the robot to the rest space.
According to claim 1,

The resting space is located at a height separated from the ground by a designated distance, and the robot management device, characterized in that implemented to be movable through an elevator or an elevating device when the robot moves to the resting space.
According to claim 1,

When two or more robots are installed in one frame, a rest space of two floors or more is further included to secure additional rest space,

When the robot moves to the second floor of the resting space, the robot management device characterized in that implemented to be able to move to the second floor through an elevator or an elevator.
Detecting, by a controller, obstacles approaching the surroundings of the robot and the environment of the rest space, which is a space in which the robot waits, and the surroundings of the robot in operation or the inside of the frame in which the robot is installed and working or moving through a sensor unit;

moving the robot along the driving axis of the frame or controlling a joint angle by the controller through a robot driving unit;

driving, by the control unit, an end effector attached to the robot through an end effector driving unit; and

Based on the information detected through the sensor unit by the control unit, the step of making the robot work or waiting in the rest space; control method of a robot management device comprising a.
The method of claim 13, when the robot enters the rest space,

The control unit,

cleaning the robot;

When the cleaning is completed, the actuator operation of the robot is tested and checked,

If there is no abnormality as a result of testing and checking the operation of the actuator, the robot is maintained in a standby state in the rest space,

A control method of a robot management device, characterized in that for outputting an alarm and outputting a robot repair request message to a designated manager when the actuator operation is not normal as a result of testing and checking.
The method of claim 13, when the robot is in a standby state in the rest space, when the entry of the electric vehicle into the frame is detected,

The control unit,

Recognize electric vehicle information for engaging the charging case of the electric vehicle,

Based on the recognized electric vehicle information, a corresponding end effector is installed or changed,

Moving the robot to a charging position based on the recognized electric vehicle information;

When the robot moves to a position where charging is possible, control the end effector to open a charging inlet cover, and then fasten the end effector to the charging inlet of the electric vehicle to perform a charging operation. .
The method of claim 15, in order to recognize electric vehicle information for engaging the charging case of the electric vehicle,

The control unit,

Recognizing the location, shape, and opening method of a charging port corresponding to the type of electric vehicle that has entered the frame by referring to a database (DB) in which the location, shape, and opening method of a charging port for each vehicle type are stored. Control method of a robot management device to be.
The method of claim 13, when the robot is in a state of charging the electric vehicle, when a risk of electric leakage occurs around an end effector of the robot or a charging port of the electric vehicle,

The control unit,

A control method of a robot management apparatus, characterized in that outputting an alarm and driving an end effector having a moisture removal function among end effectors mounted on the robot.
The method of claim 13, when charging of the electric vehicle using the robot is completed or stopped,

The control unit,

Separate or detach the end effector fastened to the electric vehicle charging port,

After closing the charging port cover of the electric vehicle using the end effector,

A control method of a robot management device, characterized in that for outputting an alarm for the safety of the user while moving the robot to the resting space.