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KR-20260064958-A - Palletizing Safety Control Area Setting Method

KR20260064958AKR 20260064958 AKR20260064958 AKR 20260064958AKR-20260064958-A

Abstract

The present invention relates to a method for setting a palletizing safety control area implemented to prevent the occurrence of safety accidents by displaying a safety area around a logistics transfer and loading system in a projection type, comprising: a safety area reading step of reading a safety area corresponding to a range for preventing collision with a transfer robot constituting the logistics transfer and loading system or with a transfer object being transferred and loaded for the transfer and loading of a transfer object using a safety area reading device; and a safety area display step of displaying the safety area read by the safety area reading step through the projection of a projection device.

Inventors

  • 전진

Assignees

  • 주식회사 브릴스

Dates

Publication Date
20260508
Application Date
20241030

Claims (10)

  1. A method for setting a palletizing safety control area implemented to prevent the occurrence of safety accidents by displaying a safety area around a logistics transfer and loading system in a projection type, A safety area reading step for reading a safety area corresponding to a range to prevent collision with a transport robot or a transport object being transported and loaded, which constitutes the logistics transport and loading system for the transport and loading of the transport object, using a safety area reading device; and A method for setting a palletizing safety control area, comprising: a safety area display step for displaying a safety area read by the above safety area reading step through the projection of a projection device.
  2. In paragraph 2, The above safe area reading step is, A method for setting a palletizing safety control area, which reads a safety area by considering the characteristics of the transported object, including the size and shape of the transported object, after the above-mentioned transport robot picks it up.
  3. In paragraph 2, The above safety area indication step is, A method for setting a palletizing safety control area that displays a safety area by considering the characteristics of the transported material read by the above safety area reading step.
  4. In paragraph 3, The above transport characteristics are, A method for setting a palletizing safety control area based on 3D vision recognition using a 3D vision camera.
  5. In paragraph 1, A method for setting a palletizing safety control area, further comprising: a step of reading an avoidance maneuver area, which is an avoidance maneuver area by the transfer robot, to prevent a collision when it is determined that a collision between the transfer robot or the transfer object will occur during the transfer of the transfer object.
  6. In paragraph 5, A palletizing safety control area setting method further comprising: an avoidance maneuver area display step of displaying the avoidance maneuver area read in the avoidance maneuver area reading step through the projection of the projection device.
  7. In paragraph 1, A palletizing safety control area setting method further comprising: an area recognition step of recognizing the safety area indicated by the above safety area indication step through vision recognition.
  8. In paragraph 1, A method for setting a palletizing safety control area, further comprising a fall possibility reading step for reading the possibility of a transported object falling during transport.
  9. In paragraph 8, The above drop possibility reading step is, A method for setting a palletizing safety control area, wherein the possibility of a transported object being attached to a gripping part is determined by considering at least one of the following factors: the position of the center of gravity of the transported object being attached to a gripping part provided in the above-described transport robot, the suction pressure distribution of a plurality of suction cups installed in an n*n row along the bottom surface of the above-described gripping part to secure the transported object using negative pressure, the degree of suction leakage of the above-described suction cups, and the surface texture of the transported object, and wherein the safety area is set wider as the possibility of falling increases according to the step of determining the possibility of falling.
  10. In paragraph 1, A method for setting a palletizing safety control area, further comprising: an avoidance maneuver step of performing a collision avoidance maneuver of the transfer robot when it is determined that there is a possibility of collision with the transfer robot or the transfer object being transferred.

Description

Palletizing Safety Control Area Setting Method The present invention relates to a method for setting a palletizing safety control area, and more specifically, to a method for setting a palletizing safety control area implemented to prevent the occurrence of safety accidents by displaying a safety area around a logistics transfer and loading system in a projection type. In modern logistics and manufacturing systems, transfer robots are widely used for the automated transfer and loading of goods of various sizes and weights. Transfer robots offer the advantage of moving items along predetermined paths and loading them at precise locations without human intervention. However, in automated environments, the risk of collisions with workers, obstacles, or other robots along the robot's path and at loading points is very high, which can lead to serious safety issues within logistics sites. To prevent such collision accidents, a system is required that establishes a safety zone around the robot's movement path, monitors it in real time, and responds immediately if a collision risk is detected. In particular, when the likelihood of a transported object falling increases due to changes in position or center of gravity during transport, it is crucial to analyze this risk in real time, expand the safety zone, and adjust the transport speed or path if necessary to prevent collisions with workers. In addition, it is required to utilize advanced recognition devices, such as 3D vision cameras, to track the position and movements of workers in real time and to set an avoidance maneuver area when there is a high risk of collision. Meanwhile, the aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot necessarily be considered publicly known technology disclosed to the general public prior to the filing of the present invention. The present invention is a result obtained by carrying out the government ministry-led R&D full-cycle IP solution support project (Contract No.: 24CC01P033) of the Korea Patent Strategy Development Institute. FIG. 1 is a flowchart illustrating a method for setting a palletizing safety control area according to a first embodiment of the present invention. FIG. 2 is a drawing showing a logistics transfer and loading system controlled by the present invention. FIG. 3 is a flowchart illustrating a method for setting a palletizing safety control area according to a second embodiment of the present invention. FIG. 4 is a flowchart illustrating a method for setting a palletizing safety control area according to a third embodiment of the present invention. FIG. 5 is a flowchart illustrating a method for setting a palletizing safety control area according to a fourth embodiment of the present invention. FIG. 6 is a flowchart illustrating a method for setting a palletizing safety control area according to the fifth embodiment of the present invention. FIG. 7 is a flowchart illustrating a method for setting a palletizing safety control area according to the 6th embodiment of the present invention. FIGS. 8 and 9 are drawings illustrating the schematic configuration of a logistics transfer and loading system according to one embodiment of the present invention. FIG. 10 is a perspective view illustrating the appearance of a grip portion connected to a robot arm according to one embodiment. Figure 11 is a drawing of Figure 10 from a different angle. FIG. 12 is a drawing that omits some of the components of the grip portion of FIG. 10 and illustrates the internal components of the grip portion in more detail. FIG. 13 is a drawing illustrating the movement of the gripping module in accordance with the operation of the first hydraulic module in the grip portion of FIG. 12. Figure 14 is an enlarged view of a part of Figure 13. Fig. 15 is a drawing of Fig. 14 shown from a different angle. FIG. 16 is a drawing illustrating a grip portion according to one embodiment gripping and adsorbing an object. FIG. 17 is a drawing illustrating a grip portion according to one embodiment. FIG. 18 is a drawing showing examples of incorrect fastening by the suction cup of the grip portion. Figure 19 is a drawing showing examples of proper fastening by the suction cup of the grip portion. FIG. 20 is a drawing showing examples of methods for securing a transported object by a transport robot. Figure 21 is a drawing showing a conventional suction gripper. The following detailed description of the invention refers to the accompanying drawings, which illustrate specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that various embodiments of the invention are different but need not be mutually exclusive. For example, specific shapes, structure