KR-20260063874-A - A mobile manipulator system for collecting empty boxes

KR20260063874AKR 20260063874 AKR20260063874 AKR 20260063874AKR-20260063874-A

Abstract

A mobile manipulator system for empty box recovery according to the present invention comprises: an empty box discharge unit to which empty boxes are supplied for recovery of empty boxes; a mobile manipulator including a main body unit including a moving means, a gripper for grasping boxes, and a transport unit for loading boxes on the rear of the main body unit; and a plurality of buffer units capable of temporarily storing boxes by size or type; wherein the mobile manipulator is configured to arrive at a destination point set in front of the empty box discharge unit, and the plurality of buffer units are configured to be positioned on the side of the destination point, and the mobile manipulator utilizes the plurality of buffer units to select only boxes of the same size or type among the boxes supplied from the empty box discharge unit and loads them onto the transport unit.

Inventors

최범성
홍하나
김지만
김동윤

Assignees

현대글로비스 주식회사

Dates

Publication Date: 20260507
Application Date: 20241031

Claims (13)

As a mobile manipulator system for empty box retrieval, The above system is: Empty box discharge section for supplying empty boxes for the recovery of empty boxes; A mobile manipulator comprising a main body including a means of movement, a gripper for grasping a box, and a transport unit for loading boxes on the rear of the main body; and It includes a plurality of buffer sections capable of temporarily storing boxes by size or type; and The mobile manipulator is configured to arrive at a destination point set in front of the empty box discharge section, and the plurality of buffer sections are configured to be positioned on the side of the destination point. A mobile manipulator system characterized by the above mobile manipulator utilizing the plurality of buffer sections to select only boxes of the same size or type among the boxes supplied from the empty box discharge section and loading them onto the conveyor section.
A method for performing a mobile manipulator system for empty box recovery according to claim 1, Step (S1) in which a mobile manipulator checks the data of an empty box; Step (S2) of establishing a movement plan based on the above-mentioned confirmed data; Based on the movement plan established above, a step of grasping and loading empty boxes (S3); and A method comprising the step (S4) of transferring an empty box loaded on the transport part of the above-mentioned mobile manipulator to a final recovery area.
In Article 2, The step (S1) in which the above-mentioned mobile manipulator checks the data of the empty box is: Step (S11) in which a mobile manipulator arrives at a designated arrival point (P) in front of an empty box discharge section; and A method comprising: a step (S12) in which, when the mobile manipulator arrives at the destination point, the mobile manipulator recognizes data of a plurality of empty boxes supplied to the empty box discharge unit.
In Paragraph 3, The step of recognizing the above data (S12) can be performed by recognizing the barcodes of empty boxes through a sensor placed on a mobile manipulator.
In Article 2, Based on the above-mentioned confirmed data, the step (S2) of establishing a movement plan is: Step to check the number of boxes by type (S21); A step of selecting a box that has reached the maximum load capacity for each type as a transfer target box (S22); A step (S23) of transferring boxes of a type that have not reached the maximum load capacity to a buffer section for temporary storage while waiting to be transferred to a transport section; A step (S24) of checking whether there are 2 or more types of boxes selected as the transfer target boxes; If only one type of box is selected as the box to be transferred, the step of transferring the said one type of box to the transport part of the mobile manipulator (S25); and A method comprising the step (S26) of, when two or more types of boxes are selected as boxes to be transported, setting the box that is more loaded in the empty box discharge section as the priority, and transporting the one type of box set as the priority to the transport section of the mobile manipulator.
In Article 5, A method in which, in step S25 above, the box of the corresponding type can be transferred from the empty box discharge section and/or the buffer section to the transport section of the mobile manipulator.
In Article 5, A method in which, in step S26 above, one type of box set with the corresponding priority can be transferred from the empty box discharge section and/or the buffer section to the transport section of the mobile manipulator.
In Article 2, Based on the above-established movement plan, the step of grasping and loading empty boxes (S3) is a method in which the mobile manipulator grasps a box supplied to the empty box discharge section or a box stored in the buffer section using the gripper of the mobile manipulator and finally loads it onto the transport section of the mobile manipulator.
In Article 2, Based on the movement plan established above, the step (S3) of grasping and loading empty boxes is: Step of verifying the movement plan established above (S31); Step (S32) to check whether the rotational motion of the gripper is clockwise or counterclockwise; Step of setting the gripping point to the + X axis in the case of counterclockwise direction (S33); and A method comprising the step (S34) of setting the gripping point to the - X-axis in the case of clockwise.
In Article 2, A method comprising the step (S4) of transporting empty boxes loaded on the transport section of the mobile manipulator to a final recovery area, wherein only boxes of the same size or type are loaded on the transport section and transported to each final recovery area, thereby terminating one cycle of a series of systems, and wherein the mobile manipulator arrives at the destination point in front of the empty box discharge section again and starts the next cycle.
A mobile manipulator used in a mobile manipulator system for empty box retrieval according to claim 1, A mobile manipulator characterized by gripping by determining the gripping point of the gripper of the mobile manipulator differently according to the direction of the rotation radius of the mobile manipulator.
In Article 11, A mobile manipulator in which, when the above mobile manipulator rotates in a counterclockwise direction at a certain angle (-1 to -+180), the gripper grips by contacting the +x axis when gripping a box supplied from an empty box discharge unit.
In Article 11, A mobile manipulator in which, when the above mobile manipulator rotates clockwise at a certain angle (+ 1 to + 180), the gripper grips by contacting the -x axis when gripping a box supplied from an empty box discharge unit.

Description

A mobile manipulator system for collecting empty boxes The present invention relates to a system for automatically retrieving and sorting empty boxes in logistics and warehouse environments. More specifically, it relates to a system in which a mobile manipulator moves autonomously to efficiently retrieving and transporting empty boxes. The present invention calculates an optimal route based on data and is suitable for sorting retrieving boxes and safely transporting them to a designated location. The retrieval and management of empty boxes is a critical task in logistics and warehouse management. Manually collecting and sorting empty boxes is time-consuming and increases worker fatigue. In particular, large-scale logistics centers and e-commerce fulfillment centers generate large volumes of empty boxes; failure to retrieve them in a timely manner can lower overall operational efficiency and disrupt logistics flow. While various attempts have been made to address these issues with existing automation systems, most have limitations, such as being installed in a fixed location that is constrained by space or unable to adapt to dynamic environments. Fixed systems typically operate by discharging boxes via conveyors and having workers move them to designated areas. However, this method is inefficient when the location of boxes within a logistics center is fluid. If a box deviates from the conveyor or lands in an unexpected position, the system may fail to retrieve it, potentially delaying the entire operation. With the recent introduction of mobile robot technology, systems capable of autonomously moving and performing tasks within logistics centers are being developed. Mobile manipulators combine mobility with the ability to manipulate objects, making them highly suitable for tasks such as retrieving and transporting items like empty boxes. These systems can move beyond fixed areas to retrieve boxes located in various positions, enabling more flexible and efficient work execution. However, there is still a need for a system capable of recovering empty boxes more reliably and efficiently. In particular, technology is required that can appropriately respond to box sizes and types, and ensure a stable grip to prevent boxes from slipping or falling during transport. Furthermore, data-driven route planning and optimized transport operations are necessary to maximize logistics efficiency. FIG. 1 is a drawing illustrating the overall configuration of a mobile manipulator (1) system for empty box recovery according to one embodiment of the present invention. FIG. 2 is a drawing illustrating the overall configuration of a mobile manipulator according to one embodiment of the present invention. FIG. 3 is a flowchart illustrating the process of a mobile manipulator system for empty box recovery according to one embodiment of the present invention. FIG. 4 is a flowchart showing the specific execution process of the step (S2) of establishing a movement plan according to one embodiment of the present invention. FIG. 5 is a diagram illustrating a gripping method of a gripper of a mobile manipulator according to another embodiment of the present invention. FIG. 6 is a flowchart illustrating the specific process of performing the step (S3) of grasping and loading empty boxes according to another embodiment of the present invention. FIG. 1 is a drawing illustrating the overall configuration of a mobile manipulator (1) system for empty box recovery according to an embodiment of the present invention. With reference to FIG. 1, the overall system configuration will be explained. 1. System Configuration The mobile manipulator (1) system of the present invention is composed of three main components: An empty box discharge section (10) is provided. The empty box discharge section (10) refers to a space where empty boxes (B) are discharged for sorting and processing after use. The empty box discharge section (10) is generally discharged mainly via a conveyor belt, but is not limited thereto. According to one embodiment, empty boxes (B) are stacked in three layers via a conveyor belt and reach the empty box discharge section (10). The number of layers in which the boxes are stacked is not limited; it may be one layer or two layers, and it may also be higher than three layers. However, in one embodiment of the present invention, for convenience of explanation and optimized efficient implementation, the case of three layers is described as an example. A mobile manipulator (1) is provided. The mobile manipulator (1) is capable of moving freely on the ground and also refers to a robot mechanism composed of links or joints. The role of the mobile manipulator (1) of the present invention is to be a gripper for grasping an empty box and a means of transport for moving the grasped empty box to the next space or place. FIG. 2 is a drawing illustrating the overall configuration of a mobile manipulator according to an embodiment of the present inv