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KR-102962872-B1 - Unmanned transport robot control system

KR102962872B1KR 102962872 B1KR102962872 B1KR 102962872B1KR-102962872-B1

Abstract

The present invention relates to an unmanned transport robot control system that enables a control center to move a robot vehicle along a selected path, loads goods using a gripper on a robot arm when loading at each point along the path, and unloads goods using a gripper on a robot arm when unloading, thereby enabling the stable transport of goods to a desired location.

Inventors

  • 이욱진

Assignees

  • 주식회사 영현로보틱스

Dates

Publication Date
20260512
Application Date
20250915

Claims (8)

  1. A robot vehicle (100) having at least one lidar sensor (110) installed and at least two robot arms (120) having grippers (121) installed; A control unit (200) for controlling the above-mentioned robot vehicle (100), lidar sensor (110), and robot arm (120); and A control center (300) communicating with the above-mentioned control unit (200); comprising, The above control center (300) is, The robot vehicle (100) is driven to a predetermined location through the above control unit (200) and scanned around with a LiDAR sensor (110). Based on the information obtained by scanning above, at least one location for supplying the item (1), at least one location for preparing the processing of the item (1), at least one location for finishing the processing of the item (1), and at least one location for collecting the item (1) after processing is completed are each pre-set and stored as points. At least one path is pre-set and stored by connecting at least two of the above points, and The above control unit (200) is, When a path is selected by the control center (300), the robot vehicle (100) is controlled to move from the starting point to the end point of the selected path, When the above-mentioned robot vehicle (100) arrives at a point on a selected path, when loading an item (1) onto the gripper (121), the robot arm (120) is controlled to grasp the item (1) placed on the table (2) at the point where the gripper (121) arrived, and when unloading the item (1) onto the gripper (121), the robot arm (120) is controlled to place the item (1) down on the table (2) at the point where the gripper (121) arrived. The above control unit (200) is, When the LiDAR sensor (110) detects an obstacle (3) on the path while the robot vehicle (100) is driving, the robot vehicle (100) is controlled to avoid the obstacle (3) to the left or right and then re-enter the path. The above robot vehicle (100) further includes an alarm device (400) installed thereon, The above control unit (200) is, If it is determined that avoidance of the obstacle (3) is impossible, an alarm is generated through the alarm device (400), and an alarm signal related to the obstacle (3) is transmitted to the control center (300). The above control center (300) is, When an alarm signal related to the obstacle (3) is received, the operation of the robot vehicle (100) is stopped through the control unit (200), and A laser projector (500) installed on a robot arm (120) to be positioned around the gripper (121), positioned above an item (1) while perpendicular to the table (2) by the robot arm (120), and projecting a straight laser beam onto the item (1); and, A camera (600) is further included, which is installed on a robot arm (120) to be positioned around the laser projector (500), and is positioned above an item (1) while tilting toward the ground by the robot arm (120) to capture a laser beam displayed on the item (1) and store it as an image. The above control unit (200) is, When the robot vehicle (100) arrives at a certain point to grasp an item (1), the robot arm (120) is controlled so that the laser projector (500) projects a laser beam onto the item (1) twice in the x-axis and y-axis directions of the table (2), and The camera (600) is controlled to capture the x, z1 axis laser beams respectively marked on the upper surface of the article (1) and on the surface of the article (1) between the upper surface of the article (1) and the table (2) by projecting a laser beam in the x-axis direction, and to save them as a first image. Control the camera (600) to capture the y, z2 axis laser beams respectively marked on the upper surface of the article (1) and on the surface of the article (1) between the upper surface of the article (1) and the table (2) by projecting a laser beam in the y-axis direction, and save them as a second image. An unmanned transport robot control system characterized by binarizing the above first and second images, extracting the above x, y, z1, z2 axis laser beams in the form of lines, extracting the center line from the above x, y, z1, z2 axis laser beams, calculating the average height of the z1, z2 axis laser beams at the intersection point where the x, y axis laser beams intersect, calculating the deviation between the intersection point and the center point of the item (1), and then transmitting a correction value equal to the deviation to the above robot arm (120).
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  5. In paragraph 1, The above control unit (200) is, If it is determined that at least one of the x, y, z1, and z2 axis laser beams in the first and second images is not displayed on the item (1), an alarm is generated through the alarm device (400), and an alarm signal related to the x, y, z1, and z2 axis laser beams is transmitted to the control center (300). The above control center (300) is, An unmanned transport robot control system characterized by stopping the operation of the robot arm (120) through the control unit (200) when an alarm signal related to the above x, y, z1, z2 axis laser beams is received.
  6. In paragraph 1, The above control unit (200) is, An unmanned transport robot control system characterized by calculating the deviation between the intersection point and the center point of the item (1) until the intersection point and the center point of the item (1) coincide, and then transmitting a correction value equal to the deviation to the robot arm (120).
  7. In paragraph 1, An unmanned transport robot control system characterized in that the above laser projector (500) is installed to be positioned on each side of the camera (600).
  8. In paragraph 1, An unmanned transport robot control system characterized in that the angle (θ) between the laser projector (500) and the camera (600) is formed as 15°.

Description

Unmanned transport robot control system The present invention relates to an unmanned transport robot control system that controls the transport of goods to a desired location quickly and efficiently. Generally, a robot arm is a component of a robot system and is referred to as a manipulator arm or artificial arm that moves a gripper, consisting of a mechanical claw or robot hand installed at the front end, to assume any position or posture. In addition, the aforementioned robotic arm is widely used to transport goods in large buildings such as logistics centers and factories. In this regard, Patent Document 1 comprises: a main body comprising a vertical plate fixed to a base and extending upward along a vertical direction; a driving mechanism comprising a driving wheel and a driven wheel installed on the base; an actuation mechanism comprising two robot manipulators, each comprising a robot arm with a proximal end connected to the vertical plate and a gripper pivotably connected to the distal end of the robot arm, wherein the robot arm is installed so that the gripper can reach a desired position, and the two robot manipulators are configured to move cooperatively to drive the two grippers to move closer to or further apart from each other to clamp or release a target object; and a support mechanism comprising a plurality of plate-shaped support members fixed to the same side, front or rear of the vertical plate and installed spaced apart in a vertical direction to support a target object. The present invention provides an autonomous mobile transport robot comprising: a control system that controls the driving, stopping, and steering of a driving mechanism and controls the operation of a robot manipulator; wherein the robot arm includes a telescopic arm, a rotary arm, and a drive device electrically connected to the control system, the rotary arm includes a plurality of sequentially connected articulated arm sections, the proximal end of the rotary arm is hinge-connected to the distal end of the telescopic arm, and the distal end of the rotary arm is used to rotatably connect to a gripper, and the drive device includes a first drive device for driving the telescopic arm to move in a transverse direction and a second drive device for driving the arm section to rotate around its own hinge axis, and the hinge axes of the arm sections are parallel to each other and parallel to the transverse direction. However, in the case of Patent Document 1, a control system was required to enable the autonomous mobile transport robot to stably transport an object to a desired location. FIGS. 1 to 3 are configuration diagrams of an unmanned transport robot control system according to an embodiment of the present invention, FIG. 4 is a partial enlarged view of an unmanned transport robot control system according to an embodiment of the present invention, FIGS. 5 to 14 are usage state diagrams of an unmanned transport robot control system according to an embodiment of the present invention, FIGS. 15 and 16 are flowcharts of an unmanned transport robot control system according to an embodiment of the present invention, FIG. 17 is a partial enlarged view of an unmanned transport robot control system according to a modified example of an embodiment of the present invention. Accordingly, an embodiment of the present invention as described above will be explained in detail with reference to the attached drawings as follows. As illustrated in FIGS. 1 to 16, an unmanned transport robot control system (1000) according to an embodiment of the present invention is used to automatically transport goods (1) to a desired location without human assistance in large buildings such as logistics centers and factories. Here, the above article (1) consists of a window frame, machine parts, etc. The above unmanned transport robot control system (1000) includes a robot vehicle (100), a control unit (200), a control station (300), an alarm device (400), a laser projector (500), and a camera (600). At least one lidar sensor (110) is installed in the above robot vehicle (100), and at least two robot arms (120) having grippers (121) are installed. Here, the robot vehicle (100) is composed of an AGV (Automated Guided Vehicle) having wheels at the bottom that rotate by a driving member. And, the above lidar sensor (110) is installed at the front and rear of the robot vehicle (100), and two robot arms (120) having the above gripper (121) are installed at predetermined intervals on the upper part of the robot vehicle (100). And, the robot arm (120) is made of a multi-joint arm and rotates by the driving of a driving member, and a gripper (121) consisting of a mechanical clamp, a robot hand, etc., which is operated by a driving member to grasp an item (1) is installed at the front end of the robot arm (120). The control unit (200) controls the robot vehicle (100), the lidar sensor (110), and the robot arm (120), and the control center (300) communicates wit