Refrigerator and refrigerator control method

Abstract

The present invention relates to a method for moving a stored item placed in a work area by controlling a moving unit through a drive control unit within a refrigerator storage compartment comprising a storage area and a work area. The present invention may include the steps of: (a) moving the moving unit in a straight line along the storage area; (b) rotating or horizontally moving the moving unit to move the working end of the moving unit from the storage area into the work area; and (c) controlling the working end to reach a target position in the work area by performing the movements defined in (a) and (b) one or more times alternately or in combination overlappingly.

Description

Technology Field

[0001] The present invention relates to a refrigerator and a method for controlling a refrigerator. Background Technology

[0002] Generally, a refrigerator is a home appliance that allows food to be stored at a low temperature in an internal storage compartment enclosed by a door. Typically, a refrigerator comprises a freezer compartment for freezing and storing food or beverages, and a refrigerator compartment for storing said food or beverages at a low temperature.

[0003] Recently, there has been a trend toward larger refrigerator capacities. Consequently, as the front-to-back width of storage compartments, such as the refrigerator or freezer, increases, it becomes difficult to retrieve items stored deep inside. Therefore, storage boxes are mostly provided in a drawer form. In other words, users can pull out the storage box to retrieve the contents inside. These drawer-type storage boxes are mostly provided in the lower area of ​​the refrigerator to enhance user convenience.

[0004] However, conventional refrigerators require the user to manually organize and retrieve items, making it difficult to retrieve items stored deep within the storage compartment. Additionally, there is the disadvantage of inconvenience as users must organize the items in the storage compartment one by one. This task is particularly inconvenient for users who have difficulty accessing deep inside the storage compartment, such as children or the elderly.

[0005] Among prior art patents, Korean Patent No. 10-2225439 (Prior Patent 1) describes a rail for moving items in a storage compartment; however, since the items can only be moved along a fixed, simple path, there is a significant limitation in the movement of the items. U.S. Patent US9,449,208B2 (Prior Patent 2) describes a conveyor configured to move between compartments inside a refrigerator; however, the movement of the conveyor is limited to a restricted path, and there are limitations such as the requirement to divide the interior of the refrigerator into multiple compartments.

[0006] Therefore, there is a growing need for refrigerators that can provide more proactive services, such as moving items in the storage compartment to allow users to easily retrieve them or organizing the items.

[0007] In addition, there is a need to move stored items within the narrow interior space of a refrigerator through the efficient movement of a means of transport. In particular, to move stored items inside the refrigerator to an accurate location, the means of transport must be able to move in various and precise ways.

[0008] In addition, interference with the stored items must be prevented during the process of the transport means moving the items, and it is also necessary to prevent cold air leakage or a decline in the refrigerator's aesthetic appeal caused by the movement of the transport means. Prior art literature

[0009] Korean Patent No. 10-2225439 (Prior Patent 1) US Patent US9,449,208B2 (Prior Patent 2) The problem to be solved

[0010] The present invention aims to solve the problems of the prior art as described above, and the objective of the present invention is to provide a refrigerator equipped with a moving unit capable of moving items stored inside the refrigerator.

[0011] Another objective of the present invention is to enable the moving unit to operate efficiently inside a narrow storage room through linear and rotational motion.

[0012] Another objective of the present invention is to enable the moving unit to perform various operations, while simultaneously placing the driving unit for implementing this in a space separated from the moving unit.

[0013] Another objective of the present invention is to prevent the aesthetic appeal of the refrigerator from deteriorating due to the moving unit.

[0014] Another objective of the present invention is to prevent cold air from leaking from the storage room due to the installation and operation of the moving unit. means of solving the problem

[0015] According to the features of the present invention for achieving the above-described purpose, the present invention relates to a control method for moving a stored item placed in a work area by controlling a moving unit through a control unit within a refrigerator storage compartment comprising a storage area and a work area. The present invention may include the steps of: moving the moving unit in a straight line along the storage area; rotating or moving the moving unit horizontally to move the working end of the moving unit from the storage area into the work area; and controlling the linear movement and rotation / horizontal movement one or more times alternately or in combination to cause the working end to reach a target position in the work area.

[0016] According to another feature of the present invention, the control method may further include the step of calculating a driving torque from a motor current or torque sensor at one or more driving shafts of the moving unit. At this time, if the absolute value of the driving torque is greater than or equal to a first reference value, or if the absolute value of the time rate of change of the driving torque is greater than or equal to a second reference value based on a moving average calculated in an average interval (△t), the movement of the moving unit may be controlled to stop.

[0017] According to another feature of the present invention, the control method may further include the step of retracting the moving unit into the storage area or moving the moving unit in an up-and-down direction after the moving unit has stopped.

[0018] According to another feature of the present invention, when the torque change amount exceeds a reference value, the moving unit can be controlled to first move the storage object to a temporary placement point to secure a movement path, and then the working end can reach a target position.

[0019] According to another feature of the present invention, the storage area may be positioned behind the storage room compared to the working area, and the moving unit may be controlled to be positioned in the storage area when in standby mode.

[0020] According to another feature of the present invention, a shelf may be disposed in the work area, and the work area may be divided into a plurality of work areas based on the height direction by the shelf. In this case, the moving unit may be controlled to be placed in the storage area formed behind the shelf when in standby mode.

[0021] According to another feature of the present invention, the storage area may be defined as a space continuous behind the plurality of work areas, and the moving unit may be controlled to be raised and lowered within the work area.

[0022] According to another feature of the present invention, the moving unit may include a first rotating arm that rotates around a fixed first rotation axis and a second rotating arm that rotates independently of the first rotating arm around a movable second rotation axis formed at the other end of the first rotating arm. In this case, the control of the moving unit may include moving the working end to the target point by a rotation combination of the first rotating arm and the second rotating arm.

[0023] According to another feature of the present invention, in the target position reaching control step, the control of the moving unit may be performed sequentially by rotating the first rotating arm in the target direction, and then rotating the second rotating arm so that the working end reaches the target position.

[0024] According to another feature of the present invention, the target position reaching control step may include the step of first rotating the second rotating arm by a predetermined angle to check for interference with the surrounding area when the moving unit reaches a preset height, the step of rotating the first rotating arm in the target direction when it is determined that there is no obstacle with the surrounding area, and the step of additionally rotating the second rotating arm to control the working end to reach the target point.

[0025] According to another feature of the present invention, the first rotating arm and the second rotating arm can be controlled to be stored in the storage area in a state where they overlap each other in the height direction of the storage area.

[0026] According to another feature of the present invention, movement within the storage area may include a first direction movement of ascending or descending in the height direction of the storage area, a second direction movement of moving in the left-right width direction of the storage area, or a combination of the first direction movement and the second direction movement.

[0027] According to another feature of the present invention, the moving unit may be controlled to rotate within the work area, and the moving unit may be equipped with a sensor device comprising at least one of a proximity sensor or a camera sensor. In this case, an operation sequence prioritizing lifting or rotation may be automatically selected based on the minimum distance to the stored object calculated by the sensor device.

[0028] According to another feature of the present invention, the control method may further include the step of raising the working end to a safe height, which is the highest point height of the storage object plus a preset height, before the moving unit rotates.

[0029] According to another feature of the present invention, the sensor device may include a proximity sensor, and the target position reach control step may include the step of the control unit stopping the upward movement when the proximity sensor detects the upper part of the target storage object while the moving unit is rising vertically, and the step of the control unit stopping the downward movement when the proximity sensor detects a storage object or shelf below within a reference distance while the moving unit is descending vertically.

[0030] According to another feature of the present invention, the target position reach control step may further include the step of detecting that the door of the cabinet is opened, the step of controlling the storage item held by the working end to be temporarily placed in a seating area located at the shortest distance within the working area when the opening of the door is detected, and the step of controlling the moving unit to return to the storage area.

[0031] According to another feature of the present invention, when the closing of a door positioned at the front of the cabinet is detected, the command for the work area entry step may be automatically generated by the control unit after a preset time has elapsed following the closing of the cabinet door.

[0032] According to another feature of the present invention, the target position reach control step may further include a step in which the control unit determines that there is an obstructing storage object interfering with the calculated movement path, and a step in which the control unit calculates a path to first move the obstructing storage object to a temporary placement point within the work area. In this case, the temporary placement point may be controlled to be selected as the point with the highest score calculated by considering the risk of falling, return distance, and distance from other storage objects.

[0033] According to another feature of the present invention, the command for the step of entering the work area may be input by a user through a display unit provided on the door of the cabinet or an external terminal.

[0034] According to another feature of the present invention, the work end or shelf is equipped with a weight sensor to measure weight, and the control unit can adjust the acceleration / deceleration, lifting speed, and gripping force of the moving unit according to the weight of the stored object measured by the weight sensor.

[0035] According to another feature of the present invention, when the moving unit moves along the storage area, the speed, rotation angle, and lifting height of the moving unit can be limited so that the distance between the left and right edges of the moving unit and the left and right boundary lines of the work area closest to it is greater than or equal to a pre-stored clearance width.

[0036] According to another feature of the present invention, the target position reach control step may further include the step of measuring the temperature at each location of the work area using the measurement value of the temperature sensor in the storage room, the step of determining whether the temperature at the location where the stored item is placed differs from the preset allowable temperature of the stored item by more than a margin temperature (△T), and the step of causing the control unit to move the location of the stored item to the moving unit if there is a difference greater than the margin temperature.

[0037] According to another feature of the present invention, the moving unit may be equipped with a sensor device comprising at least one of a ToF proximity sensor, an infrared sensor, a capacitive sensor, or a camera sensor, and the output of the sensor device and a camera depth image may be fused to generate an obstacle layout diagram of the work area, and the obstacle layout diagram may be used to calculate the movement path of the moving unit.

[0038] According to another feature of the present invention, when the working end grasps a container classified as a liquid container, it can be controlled to limit the inclination and apply gentle acceleration and deceleration.

[0039] According to another feature of the present invention, when a manual stop input is received from a user, the current state can be saved and the moving unit can be controlled to return to the standby position of the storage area.

[0040] According to another feature of the present invention, a barcode, RFID, or NFC mark is recognized to identify the storage item, and the storage item to be moved can be selected based on the identification result.

[0041] According to another feature of the present invention, a shelf may be placed in the work area, and if the position of the shelf changes beyond a tolerance from a previously stored value, if the position of the reference marker in the work area is displaced beyond a tolerance, or if the distance value between reference points in the work area fluctuates beyond a tolerance, the work area coordinate system may be recalibrated and the recalibrated coordinate system may be controlled to be applied to the movement path of the moving unit.

[0042] According to another feature of the present invention, when a person’s approach to a work area is detected by at least one of a camera, infrared, radar, or ultrasound, the moving unit can be switched to a low-speed and low-acceleration mode, and the moving unit can be controlled to standby or low-speed operation at a preset safety height.

[0043] According to another feature of the present invention, a method for controlling a moving unit provided in a refrigerator may include the steps of: a control unit generating a spatial map including the locations of a plurality of stored items and internal structures placed inside a storage compartment based on data received from a sensor device; the control unit calculating a movement path that avoids collisions with the plurality of stored items based on the spatial map; and the control unit controlling the moving unit to move a target stored item while moving along the calculated movement path.

[0044] According to a feature of the present invention, a refrigerator may include a cabinet having a storage compartment including a storage area and a work area, a driving unit disposed in the cabinet and generating a driving force, a moving unit that receives the driving force from the driving unit and operates within the storage area and the work area and includes a working end, and a control unit that controls the moving unit to cause the working end to move a stored item disposed in the work area. In this case, the control unit may control the working end to move between a plurality of target positions within the work area by combining the movement of the moving unit within the storage area and the movement within the work area.

[0045] According to another feature of the present invention, the control unit can control the moving unit to rotate or move horizontally so that the working end of the moving unit enters the working area from the storage area.

[0046] According to another feature of the present invention, the control unit may stop the current operation of the moving unit when the torque change amount of the moving unit exceeds a reference value, and control the moving unit to move within the storage area.

[0047] According to another feature of the present invention, the control unit may stop the current operation of the moving unit when the torque change amount of the moving unit exceeds a reference value, and control the moving unit to move the stored object to secure a movement path for the moving unit.

[0048] According to another feature of the present invention, a shelf is disposed in the work area, and the work area may be divided into a plurality of work areas based on the height direction by the shelf, and the moving unit may be disposed in the storage area formed behind the shelf when in standby mode.

[0049] According to another feature of the present invention, the moving unit may include a first rotating arm that rotates around a fixed first rotation axis, and a second rotating arm that rotates independently of the first rotating arm around a movable second rotation axis formed at the other end of the first rotating arm and is equipped with the working end. In this case, the control unit may be configured to adjust the position of the working end by combining the rotation of the first rotating arm and the rotation of the second rotating arm.

[0050] According to another feature of the present invention, the control unit may be configured to sequentially control the first rotating arm to rotate in a target direction and then to rotate the second rotating arm so that the working end reaches the target position.

[0051] According to another feature of the present invention, when the moving unit reaches a preset height, the control unit first rotates the second rotating arm by a predetermined angle to check for interference with the surrounding area, and if it is determined that there is no interference, rotates the first rotating arm in the target direction and then further rotates the second rotating arm to control the working end to reach the target point.

[0052] According to another feature of the present invention, movement within the storage area may include a first direction movement that moves up and down in the height direction of the storage area, a second direction movement that moves in the left and right width direction of the storage area, or a combination of the first direction movement and the second direction movement.

[0053] According to another feature of the present invention, the control unit may control the moving unit to rotate within the working area, and the moving unit may be equipped with a sensor device comprising at least one of a proximity sensor or a camera sensor. In this case, the control unit may be configured to automatically select an operation sequence of lifting priority or rotation priority of the moving unit according to the minimum distance to the stored object calculated by the sensor device.

[0054] According to another feature of the present invention, a door for opening and closing the storage room may be disposed at the front of the cabinet, and the control unit may detect the opening of the door and, when the door is opened, control the storage item held by the work end to be temporarily placed in the shortest distance seating area within the work area and then return to the storage area along the storage path.

[0055] The present invention may include a cabinet having a storage compartment formed therein and a driving unit disposed inside the cabinet. The driving unit may transmit driving force to a moving unit. The moving unit may move stored items placed in the storage compartment while operating within the storage compartment. The moving unit may be configured to move linearly in a first direction. The moving unit may be configured to move rotationally around a rotation axis formed along the first direction. In this case, the moving unit may move between multiple points inside the storage compartment by a combination of the linear movement and the rotational movement. In this way, the moving unit may move stored items to various locations while operating inside the refrigerator.

[0056] The moving unit may be configured to move up and down along the height direction of the storage room formed in the first direction. The moving unit may be configured to rotate in the XY plane inside the storage room formed in a direction orthogonal to the first direction. Effects of the invention

[0057] The refrigerator according to the present invention, as examined above, has the following effects.

[0058] In the present invention, the moving unit operates inside the refrigerator and can move stored items to various positions. As such, the moving unit can actively organize stored items, thereby improving user convenience.

[0059] In particular, the present invention provides an active service that automatically moves items stored deep inside a storage room to a location easily accessible to the user through a moving unit, or rearranges items according to type, expiration date, etc. Through this, the user does not need to bend over or rummage through other items to find and retrieve items, thereby improving user convenience.

[0060] Furthermore, in the present invention, the moving unit is not limited to merely moving the stored items, but can pick up the items and move them in a state of height (Z-axis direction) through rotational movement on the XY plane. Therefore, the moving unit of the present invention can move the stored items to a desired location while avoiding interference with other stored items inside a complex refrigerator. Thus, the moving unit can provide more precise service through efficient movement.

[0061] In addition, the moving unit in the present invention not only repositions the stored items but can also move them to a position closer to the door. This allows the user to access the stored items more easily. Through this, the present invention can further enhance user convenience.

[0062] Furthermore, the moving unit of the present invention includes a plurality of rotating arms, and the plurality of rotating arms can rotate independently. The plurality of rotating arms of the present invention enable efficient and precise movement. Each rotating arm is independently controlled to enable precise position adjustment, thereby allowing complex and sophisticated tasks to be performed and responding to various user requirements.

[0063] In addition, due to the combined operation of a plurality of rotating arms in the present invention, the moving unit can access all coordinate systems within the three-dimensional space inside the storage room, thereby maximizing the working area.

[0064] In addition, the driving unit that drives the moving unit in the present invention may be placed in a space partitioned from the moving unit. This prevents the exposure of the driving unit and reduces noise generated by the driving unit.

[0065] In particular, in the present invention, a plurality of rotary motors constituting the driving unit can move linearly in a first direction together with the moving unit in conjunction with the lifting of the moving unit. Accordingly, the driving unit can move the stored items while freely rotating at various heights.

[0066] In addition, in the present invention, power transmission between the moving unit and the driving unit can be performed remotely through a plurality of belts. Since power is transmitted remotely through a plurality of belts in this way, the driving unit (motor, etc.) does not need to be installed directly on the moving unit, and the moving unit can be implemented with a relatively light and simple structure.

[0067] In addition, the multiple rotational forces generated by the moving unit in the present invention can first be collected in a hub pulley assembly and then distributed from the hub pulley assembly to each rotating arm and working end. When the rotational force is concentrated in the hub pulley assembly and then distributed to each moving part in this manner, the belts become relatively shorter, which can reduce energy wasted during the power transmission process and prevent interference between the belts.

[0068] In particular, since the moving unit only needs to be connected to the hub pulley assembly, the size of the passage (connection port) for connecting the hub pulley assembly and the moving unit can also be reduced. By making the connection passage smaller in this way, both cold air leakage from the storage compartment and exposure of the drive unit can be reduced.

[0069] In addition, the working end provided at the end of the moving unit in the present invention is capable of not only picking up the stored item but also rotating it. Therefore, the storage position of the item can be set more precisely through the working end, thereby improving the freedom of placement of the item.

[0070] In addition, a sealing cover may be disposed between the driving unit and the moving unit in the present invention. The sealing cover of the present invention may be belt-driven so that it rotates together with the moving unit as it moves in a first direction, thereby shielding the passages for connecting the driving unit and the moving unit. This reduces both cold air leakage from the storage room and exposure of the driving unit.

[0071] In addition, the moving unit in the present invention may be equipped with a camera. This camera operates in conjunction with the moving unit and can photograph the stored items from various positions. Therefore, the user can observe the entire wide area inside the storage room and, through this, actively provide appropriate services to the user.

[0072] In addition, the moving unit of the present invention may be equipped with a proximity sensor. The proximity sensor not only prevents collisions between the moving unit and the stored object but also measures the height of the stored object. Through this height measurement function, more precise control can be achieved during the repositioning or movement of the stored object.

[0073] In addition, in the present invention, the moving unit can be placed in a unit storage space inside the storage room in a folded state from its initial position. By placing the moving unit in the unit storage space in this manner, the surface area exposed to the outside from the initial position is minimized, thereby preventing a decrease in aesthetic appeal caused by the moving unit.

[0074] In this case, the surface of the moving unit stored in the unit storage space can constitute the surface of the storage room. For example, the moving unit can form the floor surface of the storage room together with the shelves. Therefore, it is possible to prevent the storage room space from being narrowed by the moving unit and to provide a unified aesthetic.

[0075] In addition, the unit storage space serves as a passageway, allowing the moving unit to move back and forth between multiple storage compartments in a first direction along the passageway. This enables the moving unit to move and rearrange all items stored in the multiple compartments. Therefore, the usability of the refrigerator can be enhanced even without placing a moving unit in every storage compartment.

[0076] In addition, in the present invention, the driving unit may be positioned at a spaced-apart location at the rear of the storage room. The driving unit may be installed by utilizing a portion of the rear space where the evaporator is located. Accordingly, it is possible to prevent the volume of the refrigerator from increasing due to the driving unit.

[0077] In addition, the present invention can provide a function that monitors changes in the torque of the drive motor in real time to detect physical interference with the stored contents and immediately stop the operation. This can fundamentally prevent damage to the stored contents, overturning of the liquid container, or damage to the moving unit itself caused by excessive force, thereby ensuring the stability and reliability of the system.

[0078] Furthermore, the drive control unit of the present invention can dynamically calculate a collision-free movement path to a target point based on a real-time 3D spatial map generated through sensor fusion control. In particular, by analyzing the distance to surrounding obstacles and automatically selecting a sequence of operations such as 'lifting priority' or 'turning priority', unnecessary movements can be minimized and the task can be completed in the safest and fastest manner. This can increase the efficiency of the overall operation.

[0079] In addition, when obstacles on the path need to be moved, safety can be enhanced by selecting the optimal temporary placement point through a score calculation that comprehensively considers factors such as the risk of falling and return distance. Brief explanation of the drawing

[0080] FIG. 1 is a perspective view showing an embodiment of a refrigerator according to the present invention. FIG. 2 is a perspective view showing the interior of a refrigerator compartment with the door removed, constituting an embodiment of a refrigerator according to the present invention. FIGS. 3(A) and FIGS. 3(B) are operation state diagrams showing a moving unit constituting an embodiment of a refrigerator according to the present invention picking up a stored item and moving from a first point to a second point, respectively. FIGS. 4(A) and FIGS. 4(B) are operation state diagrams showing the moving unit constituting an embodiment of a refrigerator according to the present invention being raised from a first height position to a second height position, respectively. FIGS. 5(A) and FIGS. 5(B) are operation state diagrams showing that a moving unit constituting an embodiment of a refrigerator according to the present invention moves in an XY plane at a second height position and has different shapes, respectively. FIG. 6 is a perspective view showing an embodiment of a refrigerator according to the present invention from the rear. FIG. 7 is a perspective view showing the state with the rear outer casing removed from FIG. 6. FIG. 8 is a cross-sectional view along the line VIII-VIII' of FIG. 7. FIG. 9 is a plan view illustrating the arrangement of a driving unit and a moving unit, which constitute an embodiment of a refrigerator according to the present invention, inside the refrigerator. FIG. 10 is a plan view showing only the driving unit and the moving unit constituting an embodiment of a refrigerator according to the present invention. FIG. 11 is a perspective view showing a driving unit and a moving unit constituting an embodiment of a refrigerator according to the present invention arranged in a driving casing. FIG. 12 is a cross-sectional view along the line XII-XII' of FIG. 11. FIG. 13 is a perspective view showing the sealing cover removed from FIG. 11 and the drive unit and moving unit positioned in the drive casing. FIG. 14 is a perspective view showing the lower structure of a driving casing constituting an embodiment of a refrigerator according to the present invention. FIG. 15 is a perspective view showing the internal structure of a moving unit with the housing removed, constituting an embodiment of the present invention. FIG. 16 is a perspective view showing the structure of a hub pulley assembly constituting an embodiment of the present invention. FIG. 17 is a perspective view showing a power transmission structure between a plurality of motors and a main joint unit constituting an embodiment of the present invention. FIG. 18 is a perspective view showing a power transmission structure between a driving unit and a moving unit constituting an embodiment of the present invention. FIG. 19 is a cross-sectional view along the line XIX-XIX' of FIG. 14. FIG. 20 is an enlarged cross-sectional view of section A of FIG. 19. FIG. 21 is a cross-sectional view showing the structure of a plurality of main drive shafts constituting a main joint unit constituting an embodiment of the present invention. FIG. 22 is an enlarged cross-sectional view of section B of FIG. 19. FIG. 23 is a cross-sectional view showing the structure of a sub-joint unit constituting an embodiment of the present invention. FIG. 24 is a cross-sectional view showing the structure of an end joint unit constituting an embodiment of the present invention. FIGS. 25 to 27 are operation state diagrams sequentially showing the process of operation of a moving unit constituting an embodiment of the present invention. FIG. 28 is a perspective view showing the structure of a working end constituting an embodiment of the present invention. FIG. 29 is a perspective view showing the structure of another embodiment of the working end constituting the present invention. FIG. 30 is a cross-sectional view showing the structure of another embodiment of the main joint unit constituting the present invention. Specific details for implementing the invention

[0081] Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the embodiments of the present invention, if it is determined that a detailed description of related known components or functions would hinder understanding of the embodiments of the present invention, such detailed description is omitted.

[0082] The present invention relates to a moving unit (200) configured to automatically move a stored item (P, illustrated in FIG. 3) stored in a storage room (S1, S2, S3, illustrated in FIG. 3). The moving unit (200) may be viewed as a type of robot arm. The moving unit (200) may be used to transport the stored item (P) while moving between multiple points inside the storage room (S). Here, the storage room (S) may include a refrigerator room and a freezer room. The moving unit (200) may be placed in at least one of the refrigerator room or the freezer room of the refrigerator. Hereinafter, the description will focus on the moving unit (200) and the driving unit (100) for operating the moving unit (200). At this time, since the storage room (S) is a space used to transport the stored item (P), it may also be referred to as a work area (S).

[0083] Referring to FIGS. 1 and 2, the structure of a refrigerator is illustrated. The basic structure and frame of the refrigerator can be formed in a cabinet (10). One or more doors (13, 15) may be arranged in front of the cabinet (10). In this embodiment, a total of four doors (13, 15) are arranged in front of the cabinet (10), some of which (13) shield the refrigerator compartment, and the remaining parts (15) shield the freezer compartment. As another example, only one of the refrigerator compartment or the freezer compartment may be formed in the refrigerator, and as yet another example, the doors (13, 15) may be composed of three or fewer. Hereinafter, the refrigerator compartment and the freezer compartment will be collectively referred to as the storage compartment (S).

[0084] In FIG. 1, the X-axis represents the front-rear direction, the Y-axis represents the left-right direction, and the Z-axis represents the up-down direction. In the following, the front-rear, left-right, and up-down directions are based on these axis directions. For reference, the first direction and the lifting direction below are the same as the Z-axis direction.

[0085] FIG. 2 shows the structure of a storage room (S) with the door (13) covering the refrigerator room removed. As can be seen here, the storage room (S) can be defined by an inner casing (30). The inner casing (30) can be wrapped by an outer casing (20). The outer casing (20) includes a side outer casing (21), a top outer casing (23), and a rear outer casing (25, shown in FIG. 6). The inner casing (30) includes a side inner casing (31), a top inner casing (33), and a rear inner casing (35). The storage room (S) can be defined by the side inner casing (31), the top inner casing (33), and the rear inner casing (35). The rear inner casing (35) can be viewed as a flat rear plate (35).

[0086] In this embodiment, the storage room (S) may be divided into a plurality of storage rooms (S1, S2, S3). The plurality of storage rooms (S1, S2, S3) are divided by shelves (40) placed in the storage room (S). As shown in FIG. 2, a total of three shelves (41, 42, 43) divide the storage room (S) into a first storage room (S1), a second storage room (S2), and a third storage room (S3). A storage drawer (44) may be provided at the bottom of the first shelf (41). This division of the storage room (S) is merely an example, and various divisions are possible. As another example, the storage room (S) may be made into a single space.

[0087] A moving unit (200) is placed in the storage room (S). The moving unit (200) can perform linear and rotational movements within the storage room (S). Through these movements, the moving unit (200) can move the stored items (P) stored in the storage room (S). The moving unit (200) can move and reposition the stored items (P). For example, the moving unit (200) can move the stored items (P) to a position close to the doors (13, 15), or conversely, move them to a position deep inside the storage room (S).

[0088] As shown in FIG. 2, unit storage spaces (PW1, PW2, PW3) are formed in the storage room (S). The unit storage spaces (PW1, PW2, PW3) are spaces in which the moving unit (200) is stored. The moving unit (200) can be placed in the unit storage spaces (PW1, PW2, PW3) when not in operation, for example, in an initial state or a ready state. In FIG. 2, the moving unit (200) is shown stored in the unit storage spaces (PW1, PW2, PW3) formed between the first shelf (41) and the rear plate (35).

[0089] The unit storage spaces (PW1, PW2, PW3) may be formed between the rear plate (35) and the shelf (40). A portion of the rear plate (35) or the shelf (40) may be recessed to form the unit storage spaces (PW1, PW2, PW3). In this embodiment, a portion of the shelf (40) is recessed to define the unit storage spaces (PW1, PW2, PW3).

[0090] The above unit storage spaces (PW1, PW2, PW3) can serve as a passageway through which the moving unit (200) passes during the lifting process. The moving unit (200) passes between the plurality of storage rooms (S1, S2, S3), and can move through the passageway at this time. As shown in FIG. 2, a total of three unit storage spaces (PW1, PW2, PW3) are illustrated. Among these, the first unit storage space (PW1) formed at the very bottom has a greater vertical depth compared to the other unit storage spaces (PW2, PW3). Therefore, the moving unit (200) stored in the first unit storage space (PW1) can be relatively less exposed.

[0091] Fig. 3 illustrates the operation of the moving unit (200). Comparing Fig. 3(A) and Fig. 3(B), it can be seen that the moving unit (200) is in operation. In this way, the moving unit (200) can move the stored item (P) while moving. To this end, the moving unit (200) can be operated in various ways.

[0092] In this embodiment, the moving unit (200) is (i) moved linearly in the first direction, which is the up-and-down direction, and (ii) rotated around a plurality of rotation axes formed along the first direction. More precisely, the first rotation arm (300) and the second rotation arm (400) constituting the moving unit (200) can each be rotated independently. In addition, the working end (500) provided at one end of the second rotation arm (400) can be rotated independently of the second rotation arm (400). The working end (500) is a part that picks up the storage item (P), and can change the angle of the storage item (P) by rotating while holding the storage item (P). Consequently, in this embodiment, the moving unit (200) can be configured to have four degrees of freedom (4DoF). The working end (500) can be viewed as a kind of end effector.

[0093] As shown in FIG. 3, the moving unit (200) includes a first rotating arm (300) and a second rotating arm (400). At this time, the first rotating arm (300) is configured to rotate in a first XY plane inside the storage chamber (S) formed in a direction orthogonal to the first direction. The second rotating arm (400) is configured to rotate in a second XY plane formed in a direction orthogonal to the first direction and having a different height from the first XY plane. That is, the first rotating arm (300) and the second rotating arm (400) can rotate along the Z-axis direction with different heights from each other. Reference numeral L1 is an imaginary line passing through the first XY plane, and L2 is an imaginary line passing through the second XY plane.

[0094] Thus, one end of the moving unit (200) is configured to operate on the XY plane inside the storage room (S). Here, the one end of the moving unit (200) may be configured as a working end (500). At the same time, the moving unit (200) is configured to move up and down along the Z-axis orthogonal to the XY plane in the storage room (S).

[0095] In this embodiment, the first rotating arm (300) is positioned higher than the second rotating arm (400) with respect to the first direction. In this way, the second rotating arm (400) is positioned relatively lower, that is, closer to the shelf (40), making it more advantageous to access the stored items (P). Conversely, the first rotating arm (300) may be positioned lower than the second rotating arm (400) with respect to the first direction.

[0096] Referring to FIG. 4, the process of the moving unit (200) moving in a straight line in a first direction is illustrated. It can be seen that the moving unit (200) in FIG. 4(B) has moved to a relatively higher position than the moving unit (200) in FIG. 4(A). The moving unit (200) is raised and lowered along the path created by the guide slot (GS) provided in the storage room (S). The guide slot (GS) can also be viewed as a connecting passage through which the main belts (MB1, MB2, MB3) connecting the driving unit (100), which will be described below, and the moving unit (200) pass. Through the guide slot (GS), the driving unit (100) and the moving unit (200) are remotely connected to each other. This structure will be examined in more detail below.

[0097] The moving unit (200) can be moved in a first direction while passing through the unit storage spaces (PW1, PW2, PW3). FIG. 4 illustrates the moving unit (200) moving from the second storage room (S) to the third storage room (S) by passing through the third unit storage space (PW3). At this time, the moving unit (200) can be moved in a folded state to pass through the third unit storage space (PW3). Here, the folded state means a state in which the first rotating arm (300) and the second rotating arm (400) overlap each other in the first direction.

[0098] Referring to FIG. 5, the moving unit (200) is shown rotating in the storage room (S). Comparing the moving unit (200) in FIG. 5(A) with the moving unit (200) in FIG. 5(B), the moving unit (200) moves from a first target point (TP1) to a second target point (TP2). More precisely, the working end (500) provided at the end of the moving unit (200) moves from the first target point (TP1) to the second target point (TP2). In this process, the working end (500) can approach the target storage item (P) or transport the picked-up storage item (P).

[0099] Referring to FIG. 6, the rear structure of the refrigerator according to the present embodiment is illustrated. As shown in the figure, the outer casing (20) is provided with a rear outer casing (25). The rear outer casing (25) is configured to shield the drive unit (100) and cover the drive chamber (DS) in which the drive unit (100) is placed, thereby preventing cold air from leaking through the drive chamber (DS). The rear outer casing (25) may be omitted.

[0100] FIG. 7 shows the rear outer casing (25) removed. As can be seen, a drive chamber (DS) is formed inside the rear outer casing (25). The drive chamber (DS) is defined by a drive frame (50). The drive frame (50) is positioned inside the rear outer casing (25) and surrounds the drive chamber (DS). The drive frame (50) provides a place where the drive unit (100) is fixed and also guides the first direction movement of the moving platform (55) described below.

[0101] The above driving chamber (DS) may be positioned adjacent to an evaporator space in which an evaporator (not shown) is placed. The evaporator space is partitioned from the driving chamber (DS) so that the cold air from the evaporator can be concentrated in the storage chamber (S). Although the evaporator is omitted in FIG. 7, the evaporator may be placed in the evaporator space. As another example, the evaporator space may be connected to the driving chamber (DS).

[0102] The above-described drive frame (50) may be provided with a sealing cover (60). The sealing cover (60) can shield the guide slot (GS). The sealing cover (60) is positioned between the storage room (S) and the drive chamber (DS) to shield the guide slot (GS). The sealing cover (60) prevents the drive chamber (DS) from being exposed to the storage room (S) through the guide slot (GS). This prevents cold air from leaking into the drive chamber (DS) and enhances the aesthetic appeal of the refrigerator. The sealing cover (60) is wound around cover pulleys (65) provided at the top and bottom of the drive frame (50), respectively, to form a closed-loop path. Reference numeral 60' indicates the opposite side of the sealing cover wound in the opposite direction relative to the cover pulley (65). The structure of the sealing cover (60) will be explained again below.

[0103] FIG. 8 illustrates a cross-sectional view of the side structure of the storage room (S) and the drive chamber (DS). The drive chamber (DS), positioned at the rear of the storage room (S), extends in the vertical direction, which is the first direction. The interior of the cabinet (10) may include a first area (T1) and a second area (T2) that are partitioned from each other along the front-rear direction orthogonal to the first direction. At this time, the drive unit (100) is positioned in the first area (T1), and the moving unit (200) is positioned in the second area (T2), which constitutes a part of the storage room (S). When the space in which the drive unit (100) and the moving unit (200) are positioned is partitioned from each other in this way, only the drive unit (100) that is actually driven can be exposed to the storage room (S), and the noise of the drive unit (100) can be prevented from being transmitted to the outside.

[0104] As shown in FIG. 8, the drive unit (100) can be positioned at the bottom of the drive chamber (DS). This minimizes interference between the drive unit (100) and surrounding components such as an evaporator. For reference, as described below, some of the components constituting the drive unit (100) are positioned in a fixed state at the bottom of the drive chamber (DS), while others are raised and lowered along the first direction together with the moving unit (200). Reference numeral ES indicates a space where electronic components, such as a cooling fan and a main control unit, are positioned.

[0105] FIG. 9 illustrates the first shelf (41), the drive unit (100), and the moving unit (200) in a plan view. As can be seen, the first area (T1) and the second area (T2) can be divided from each other based on a partition plane. Here, the partition plane serves as a criterion for dividing the first area (T1) and the second area (T2). The first area (T1) can be the drive chamber (DS). The second area (T2) can be the first storage room (S). In this embodiment, the first area (T1) is relatively narrower than the second area (T2).

[0106] A plurality of motors (SM, RM1, RM2, RM3) constituting the drive unit (100) may be arranged to overlap each other along a direction parallel to the partition plane. The plurality of motors (SM, RM1, RM2, RM3) are arranged side by side with respect to one direction. Reference numeral K represents a virtual arrangement line extended along a direction parallel to the partition plane, and all of the plurality of motors (SM, RM1, RM2, RM3) are arranged to pass through the arrangement line. Through this, the volume in the front-rear direction occupied by the plurality of motors (SM, RM1, RM2, RM3) can be reduced, and the ease of installation and maintenance of the plurality of motors (SM, RM1, RM2, RM3) can be improved.

[0107] FIG. 9 illustrates the moving unit (200) positioned in an initial position. The moving unit (200) can be positioned parallel to the partition plane in the initial position. In this way, the volume occupied by the moving unit (200) in the first storage room (S) can be minimized when the moving unit (200) is in the initial position. In this state, the moving unit (200) can be extended forward toward the center of the first storage room (S), that is, toward the door (13, 15), through rotational movement.

[0108] At the initial position, the moving unit (200) is placed inside the unit storage space (PW1, PW2, PW3) formed in the storage room (S). The moving unit (200) is stored in the unit storage space (PW1, PW2, PW3) and can form part of the surface of the storage room (S). At the initial position, the moving unit (200) constitutes part of the surface of the inner casing (30) that surrounds the storage room (S). For example, the moving unit (200) can form part of the shelf (40). In this way, the moving unit (200) becomes part of the bottom surface of the storage room (S). Therefore, the width of the shelf (40) and the volume of the storage room (S) can be prevented from being reduced by the moving unit (200).

[0109] Referring to FIG. 10, the first area (T1) and the second area (T2) are depicted in different forms. Reference numeral T2' indicates the storage area occupied by the moving unit (200) in the initial position where the moving unit (200) is in a folded state. FIG. 10 only shows the driving unit (100) and the moving unit (200), but as can be seen, the first area (T1) and the second area (T2') can be partitioned along the Y-axis direction. Based on FIG. 10, the linear driving motor (SM) constituting the driving unit (100) and the plurality of rotary motors (RM1, RM2, RM3) are arranged to overlap along the Y-axis direction, that is, the direction in which the first area (T1) and the storage area (T2') are partitioned. The linear driving motor (SM) can be viewed as a linear driving source, and the plurality of rotary motors (RM1, RM2, RM3) can be viewed as rotary driving sources.

[0110] As shown in FIG. 10, a hub pulley assembly (120) is provided between the drive unit (100) and the moving unit (200). The hub pulley assembly (120) transmits the rotational force of the plurality of rotary motors (RM1, RM2, RM3) constituting the drive unit (100) to the drive unit (100). The hub pulley assembly (120) is positioned between the drive unit (100) and the moving unit (200) to transmit power between them. The hub pulley assembly (120) is positioned in the first area (T1). The hub pulley assembly (120) can be raised and lowered together with the moving unit (200). The specific structure of the hub pulley assembly (120) will be described below.

[0111] Referring to FIG. 11, the moving unit (200) is coupled to the driving unit (100). The driving frame (50) constituting the driving unit (100) may be in the shape of a roughly rectangular frame. In the driving chamber (DS) defined by the driving frame (50), a plurality of motors (SM, RM1, RM2, RM3) constituting the driving unit (100), the sealing cover (60), and a moving platform (55) are arranged.

[0112] The above-mentioned moving platform (55) can be moved in a first direction along the drive frame (50). Based on the drawing, the moving platform (55) is raised and lowered in the up and down direction. Both ends (56) of the moving platform (55) can be moved along a moving rail (52) provided on the drive frame (50). The driving force for the linear movement of the moving platform (55) can be generated by the linear drive motor (SM) of the drive unit (100).

[0113] The above-mentioned moving platform (55) is provided with a motor casing (57) so that the motor casing (57) can be raised and lowered together. The plurality of rotary motors (RM1, RM2, RM3) are mounted on the motor casing (57). The hub pulley assembly (120) is mounted on the motor casing (57) so that the hub pulley assembly (120) is also raised and lowered together. As another example, the plurality of rotary motors (RM1, RM2, RM3) and the hub pulley assembly (120) may be directly mounted on the moving platform (55).

[0114] A moving unit (200) may be mounted on the moving platform (55). The moving unit (200) may be fixed to the surface of the moving platform (55). The moving unit (200) may move linearly in a first direction along the moving platform (55) while simultaneously rotating. The moving unit (200) is configured to move between multiple points inside the storage room (S) by a combination of the linear movement and the rotational movement. In this embodiment, a main housing (210) constituting the moving unit (200) is fixed to the surface of the moving platform (55).

[0115] Referring to FIGS. 11 and 12, the sealing cover (60) is illustrated. The sealing cover (60) shields the space between the moving unit (200) and the driving unit (100) to prevent cold air leakage. The sealing cover (60) can also prevent the exposure of the driving unit (100). Referring to FIG. 12, a guide slot (GS) is formed in the rear plate (35) to connect the driving unit (100) and the moving unit (200), and the sealing cover (60) shields the guide slot (GS). For reference, a plurality of main belts (MB1, MB2, MB3) can pass through the guide slot (GS) to transmit rotational force to the separated moving unit (200).

[0116] The sealing cover (60) is configured to be belt-driven by being wound around a cover pulley (65) provided along the first direction. The sealing cover (60) is wound around cover pulleys (65) provided at the upper and lower ends of the drive frame (50), respectively, to form a closed-loop path. Since the sealing cover (60) is belt-driven in conjunction with the first-direction movement of the moving unit (200), the part connecting the moving unit (200) and the drive unit (100) can also remain shielded. Reference numeral 66 indicates a fixing bracket that secures the cover pulley (65). In FIG. 12, reference numeral 60' indicates the opposite side of the sealing cover wound in the opposite direction, which is actually connected to the sealing cover (60).

[0117] The sealing cover (60) may be provided with a connection port (CP). Referring to FIG. 11, the connection port (CP) is formed in a portion of the sealing cover (60) that is disconnected. Both ends of the sealing cover (60) are fixed to the movable platform (55) but are spaced apart from each other to form the connection port (CP) between them. This connection port (CP) may be covered by the main housing (210) of the main joint unit (230), which will be described below, with respect to the front.

[0118] Referring to FIG. 12, the sealing cover (60) may be provided with a cover rib (63). The cover rib (63) protrudes from the surface of the sealing cover (60). The cover rib (63) extends in a first direction, that is, the rotational direction of the sealing cover (60), so as to fill the guide slot (GS). With the cover rib (63) filling the guide slot (GS), the sealing cover (60) is belt-driven. The cover rib (63) may be omitted.

[0119] Referring to FIG. 13, the drive frame (50) is provided with a guide post (110) for moving the moving platform (55) and the moving unit (200) in a first direction. The moving platform (55) moves along the guide post (110). At the bottom of the guide post (110), a post pulley (113, shown in FIG. 14) is provided that is belt-coupled to the linear drive motor (SM). The guide post (110) can be rotated by the post pulley (113).

[0120] A drive nut (115, shown in FIG. 17) may be fastened to the guide post (110). The guide post (110) is composed of a lead screw, so that the drive nut (115) can move linearly along the guide post (110) in a first direction. The drive nut (115) is coupled to the moving platform (55) or the motor casing (57) to move the moving platform (55). As another example, a ball screw instead of a lead screw may be applied to the guide post (110). As yet another example, the guide post (110) may be configured to be a structure that is tensioned by hydraulic pressure. Reference numeral 117 indicates a rotation support block for supporting the rotation of the guide post (110).

[0121] FIG. 14 illustrates the lower structure of the drive frame (50). In FIG. 14, only a portion of the first rotary motor (RM1) among the plurality of rotary motors (RM1, RM2, RM3) constituting the drive unit (100) is exposed. The plurality of rotary motors (RM1, RM2, RM3) are covered by the motor casing (57). The plurality of rotary motors (RM1, RM2, RM3) are fixed inside the motor casing (57), and the motor casing (57) is fixed to the moving platform (55). The motor casing (57) can fix the plurality of rotary motors (RM1, RM2, RM3) and also serve to reduce motor noise.

[0122] Looking at FIG. 15, the housing parts of the first rotating arm (300) and the second rotating arm (400) constituting the moving unit (200) are removed, revealing the internal structure. As shown here, the driving unit (100) and the moving unit (200) are connected by a plurality of belts to transmit rotational force. When the plurality of belts transmit rotational force, the moving unit (200) can rotate while the plurality of parts move in tandem.

[0123] The hub pulley assembly (120) is disposed in the drive chamber (DS). The hub pulley assembly (120) can be seen as a component where the rotational force of the plurality of rotary motors (RM1, RM2, RM3) is concentrated and then redistributed. When the rotational force of the plurality of rotary motors (RM1, RM2, RM3) is gathered in the hub pulley assembly (120), the hub pulley assembly (120) becomes a medium for transmitting rotational force to the moving unit (200). Accordingly, the moving unit (200) and the drive unit (100) can be easily connected even when separated from each other, and the size of the space (connection port (CP)) for connection is reduced. In addition, when connected through the hub pulley assembly (120), the exposure of the drive unit (100) can be minimized. Furthermore, the installation volume occupied by the plurality of belts can also be reduced.

[0124] As shown in FIG. 15, the linear drive motor (SM) may be positioned at a relatively lower edge of the drive chamber (DS). The plurality of rotary motors (RM1, RM2, RM3) may be distributed to the left of the linear drive motor (SM). Here, only the linear drive motor (SM) is fixed to the drive frame (50), and the remaining plurality of rotary motors (RM1, RM2, RM3) move along the moving platform (55) in a first direction.

[0125] The plurality of rotary motors (RM1, RM2, RM3) are connected to the hub pulley assembly (120) and the plurality of drive belts (DB1, DB2, DB3). The plurality of drive belts (DB1, DB2, DB3) are each connected to different plurality of rotary motors (RM1, RM2, RM3) and can transmit their rotational force to the plurality of hub pulleys (123, 125, 127) constituting the hub pulley assembly (120) via the main belt (MB). The hub pulley assembly (120) is configured to transmit the rotational force generated as the plurality of hub pulleys (123, 125, 127) rotate to the main joint unit (230). As such, since the main belt (MB) is rotated by the drive belts (DB1, DB2, DB3), the main belt (MB) can be viewed as a driven belt coupled to the drive belts (DB1, DB2, DB3).

[0126] The main joint unit (230) may be positioned in front of the hub pulley assembly (120). The main joint unit (230) provides a first rotation axis (RA1) of the moving unit (200). The main joint unit (230) serves as the rotation center of the first rotating arm (300). The entire moving unit (200) can be rotated around the first rotation axis (RA1). The first rotation axis (RA1) formed by the main joint unit (230) does not rotate itself, but moves in the first direction. The specific structure of the main joint unit (230) will be described below.

[0127] The above moving unit (200) is equipped with a sub-joint unit (250). The sub-joint unit (250) provides a second rotation axis (RA2) of the above moving unit (200). The sub-joint unit (250) serves as the rotation center of the second rotating arm (400). The second rotating arm (400) and the working end (500) can be rotated around the second rotation axis (RA2). The working end (500) can revolve around the second rotation axis (RA2) in conjunction with the rotation of the second rotating arm (400). The second rotation axis (RA2) formed by the sub-joint unit (250) itself can be rotated in conjunction with the rotational movement of the first rotating arm (300). Additionally, the second rotation axis (RA2) is moved in the first direction. The specific structure of the sub-joint unit (250) will be described below.

[0128] The above moving unit (200) is equipped with an end joint unit (270). The end joint unit (270) provides a third rotation axis (RA3) of the above moving unit (200). The end joint unit (270) serves as the rotation center of the above working end (500). The working end (500) can be rotated around the third rotation axis (RA3). The above working end (500) is configured to rotate around the third rotation axis (RA3). The third rotation axis (RA3) formed by the end joint unit (270) itself can be rotated in conjunction with the rotational movement of the first rotating arm (300) and the second rotating arm (400). Additionally, the third rotation axis (RA3) is moved in the first direction. The specific structure of the above end joint unit (270) will be described below.

[0129] Referring to FIGS. 16 and 17, the structure of the hub pulley assembly (120) is illustrated. As shown therein, the hub pulley assembly (120) is composed of the hub shaft (121) and a plurality of hub pulleys (123, 125, 127). The plurality of hub pulleys (123, 125, 127) includes a first hub pulley (123), a second hub pulley (125), and a third hub pulley (127). The first hub pulley (123) is connected to the first rotary motor (RM1) and the first drive belt (DB1). The second hub pulley (125) is connected to the second rotary motor (RM2) and the second drive belt (DB2). The third hub pulley (127) is connected to the third rotary motor (RM3) and the third drive belt (DB3). The first hub pulley (123), the second hub pulley (125), and the third hub pulley (127) rotate independently of each other.

[0130] At this time, as shown in FIG. 17, the first hub pulley (123) is connected to the first main pulley (233a) of the main joint unit (230) by the first main belt (MB1). Accordingly, the rotation of the first hub pulley (123) leads to the rotation of the first main pulley (233a). That is, the first drive belt (DB1) and the first main belt (MB1) are wound around the first hub pulley (123) at different heights, and they rotate in opposite directions. Likewise, the second hub pulley (125) is connected to the second main pulley (235a) of the main joint unit (230) by the second main belt (MB2). Accordingly, the rotation of the second hub pulley (125) leads to the rotation of the second main pulley (235a). The third hub pulley (127) is connected to the third main pulley (237a) of the main joint unit (230) by the third main belt (MB3). The rotation of the third hub pulley (127) leads to the rotation of the third main pulley (237a). Accordingly, the first main pulley (233a), the second main pulley (235a), and the third main pulley (237a) may be viewed as driven pulleys (255b) that rotate by the plurality of hub pulleys (123, 125, 127).

[0131] In FIG. 17, reference numeral 122 represents a rotating bracket that supports the rotation of the hub pulley assembly (120). The rotating bracket (122) rotatably supports the hub shaft (121). The rotating bracket (122) is fixed to the motor casing (57) described above, and the hub pulley assembly (120) is rotatably supported by the rotating bracket (122).

[0132] Referring to FIG. 18, the main joint unit (230), the sub joint unit (250), and the end joint unit (270) are shown in an exposed state. The first rotation axis (RA1) formed by the main joint unit (230), the second rotation axis (RA2) formed by the sub joint unit (250), and the third rotation axis (RA3) formed by the end joint unit (270) provide rotation axes that are independent of each other. Therefore, the main joint unit (230) itself can be seen as the first rotation axis (RA1), the sub joint unit (250) itself as the second rotation axis (RA2), and the end joint unit (270) itself as the third rotation axis (RA3).

[0133] FIG. 18 shows the moving unit (200) in an unfolded state. Compared to FIG. 15, the first rotating arm (300) and the second rotating arm (400) are both rotated from their initial state. It can be seen that the main joint unit (230) and the sub-joint unit (250) are positioned at each end of the first rotating arm (300), and the sub-joint unit (250) and the end joint unit (270) are positioned at each end of the second rotating arm (400). Reference numeral R is a roller, and the roller (R) is intended to facilitate the smooth operation of the belts and to apply tension to the belts.

[0134] The moving unit (200) may be equipped with a first sub-belt (SB1) and a second sub-belt (SB2) connecting the main and the sub-joint unit (250). The first sub-belt (SB1) provides rotational force to the second rotating arm (400). The second sub-belt (SB2) rotates with the rotational force of the third hub pulley (127) and rotates the end belt (EB), which will be described later. This structure will be explained again below.

[0135] FIG. 19 shows a cross-sectional view of the moving unit (200) in a folded state. As can be seen in the figure, the plurality of rotating arms constituting the moving unit (200) at the initial position are configured to be maintained in a folded state where they are stacked or overlapped with each other. In this embodiment, the first rotating arm (300) and the second rotating arm (400) are configured to have different heights with respect to the first direction. The first rotating arm (300) and the second rotating arm (400) can be placed at the initial position in a folded state where they are arranged to overlap each other in the first direction.

[0136] The first rotating arm (300) is configured such that its one end and the other end are connected to the main joint unit (230) and the sub joint unit (250), respectively, and the one end is configured to rotate around the main joint unit (230). The second rotating arm (400) is configured such that its one end is positioned coaxially with the sub joint unit (250) together with the other end of the first rotating arm (300) and rotates around the sub joint unit (250). At this time, a working end (500) is provided at the other end of the second rotating arm (400). Below, we will examine the main joint unit (230), the sub joint unit (250), and the end joint unit (270).

[0137] Referring to Fig. 20, which is an enlarged view of part A of Fig. 19, and Fig. 21, which shows the structure of the main joint unit (230), the main joint unit (230) may have a plurality of axes (232, 234, 236) extending in a first direction that form a coaxial structure. Main bearings (B1a, B1b, B1c) are arranged between the plurality of axes (232, 234, 236), so that the plurality of axes (232, 234, 236) can rotate independently of each other.

[0138] The main joint unit (230) includes a first main drive shaft (232). The first main drive shaft (232) is equipped with a first main pulley (233a) and a first rotation block (233b), and the first main drive shaft (232) is configured to rotate together with the first main pulley (233a) and the first rotation block (233b). The main joint unit (230) includes a second main drive shaft (234). The second main drive shaft (234) is equipped with a second main pulley (235a) and a first connecting pulley (235b), and the second main drive shaft (234) is configured to rotate together with the second main pulley (235a) and the first connecting pulley (235b), and is concentric with the first main drive shaft (232).

[0139] The first rotation block (233b) is connected to the first rotation arm (300) and configured so that the first rotation arm (300) rotates around the first main drive shaft (232). Since the first rotation block (233b) rotates together with the first main drive shaft (232), the first rotation arm (300) can be rotated while rotating at the same speed as the first main pulley (233a).

[0140] In addition, the main joint unit (230) may include a third main drive shaft (236). The third main drive shaft (236) is equipped with a third main pulley (237a) and a second connecting pulley (237b), and the third main drive shaft (236) is configured to rotate together with the third main pulley (237a) and the second connecting pulley (237b). The third main drive shaft (236) is concentric with the first main drive shaft (232) and the second main drive shaft (234), respectively.

[0141] Looking at FIG. 20, the plurality of main drive shafts (232, 234, 236) are configured coaxially, with the first direction length of the third main drive shaft (236) being the longest and the first direction length of the first main drive shaft (232) being the shortest. This is because, while two belts are wound on the second main drive shaft (234) and the third main drive shaft (236) respectively, only the first main belt (MB1) needs to be wound on the first main drive shaft (232). More precisely, the second main belt (MB2) is wound on the lower part (second main pulley (235a)) of the second main drive shaft (234), and the first sub belt (SB1) is wound on the upper part (first connecting pulley (235b)). The third main belt (MB3) is wound around the lower part (third main pulley (237a)) of the third main drive shaft (236), and the second sub belt (SB2) is wound around the upper part (second connecting pulley (237b)).

[0142] Consequently, the second main drive shaft (234) and the third main drive shaft (236) of the main joint unit (230) transmit the rotational force supplied to the lower part to a high position along the first direction, and then transmit it to the sub joint unit (250) and the end joint unit (270). At this time, as shown in FIG. 20, the plurality of main drive shafts (232, 234, 236) are arranged inside the main housing (210) so as not to be exposed to the outside. The main housing (210) is provided with a first rotation support (215) that supports the rotation of the first main drive shaft (232).

[0143] The rotation of the first main drive shaft (232) is consequently connected to rotation around the first rotation axis (RA1) of the moving unit (200). The first rotation block (233b) of the first main drive shaft (232) is not wound with a separate belt, and the first rotation arm (300) is connected to it. More precisely, the first housing connection part (315) provided in the first arm housing (310) of the first rotation arm (300) is coupled to the first rotation connection part (233b') of the first rotation block (233b). The first housing connection part (315) and the first rotation connection part (233b') can be fastened to each other with a fastener such as a screw. Accordingly, when the first main drive shaft (232) rotates, the first rotation arm (300) coupled thereto can rotate. Reference numeral 311 is a first housing space (311) inside the first arm housing (310), and the first connecting pulley (235b), the second connecting pulley (237b), the first sub-belt (SB1) and the second sub-belt (SB2) may be placed in the first housing space (311).

[0144] Referring to FIG. 21, the plurality of main drive shafts (232, 234, 236) are illustrated. As can be seen, a plurality of main bearings (B1a, B1b, B1c) may be provided between the plurality of main drive shafts (232, 234, 236). When the first main pulley (233a) of the first main drive shaft (232) rotates, the first rotating block (233b) integrally coupled thereto rotates (arrow ①). When the second main pulley (235a) of the second main drive shaft (234) rotates, the first connecting pulley (235b) integrally coupled thereto rotates (arrow ②). When the third main pulley (237a) of the third main drive shaft (236) rotates, the second connecting pulley (237b) integrally coupled thereto rotates (arrow ③). And these multiple main drive shafts (232, 234, 236) can rotate independently of each other and implement various operations.

[0145] Referring to FIG. 22, the internal structure of the sub-joint unit (250) is illustrated. The sub-joint unit (250) can form a second rotation axis (RA2). The sub-joint unit (250) can implement the rotational movement of the second rotation arm (400). The sub-joint unit (250) can transmit rotational force to the end joint unit (270) to cause the working end (500) to rotate. The sub-joint unit (250) also forms a second rotation axis (RA2) along the first direction.

[0146] The sub-joint unit (250) includes a first sub-drive shaft (252). The first sub-drive shaft (252) is equipped with a first sub-pulley (253a) and a second rotation block (253b), and the first sub-drive shaft (252) is configured to rotate together with the first sub-pulley (253a) and the second rotation block (253b). The sub-joint unit (250) includes a second sub-drive shaft (254). The second sub-drive shaft (254) is equipped with a second sub-pulley (255a) and a driven pulley (255b), and the second sub-drive shaft (254) rotates together with the second sub-pulley (255a) and the driven pulley (255b). The first sub-drive shaft (252) and the second sub-drive shaft (254) are configured to be coaxial with each other. In this embodiment, since two belts (SB2, EB) are wound around the second sub-drive shaft (254), the length of the first direction of the second sub-drive shaft (254) is relatively longer.

[0147] A first sub-belt (SB1) is wound around the first connecting pulley (235b) and the first sub-pulley (253a). The first sub-belt (SB1) is configured to transmit power between the first connecting pulley (235b) and the first sub-pulley (253a). This power becomes the rotational force of the second rotating arm (400).

[0148] The second rotation block (253b) is connected to the second rotation arm (400) and configured so that the second rotation arm (400) rotates around the first sub-drive shaft (252). That is, since the first sub-pulley (253a) and the second rotation block (253b) rotate together, the second rotation block (253b) rotates at the same speed as the first sub-pulley (253a) and rotates the second rotation arm (400).

[0149] Referring to FIGS. 22 and 23, the second rotational connecting portion (253b') of the second rotational block (253b) is coupled with the second housing connecting portion (415) provided in the second arm housing (410) of the second rotational arm (400). The second housing connecting portion (415) and the second rotational connecting portion (253b') can be fastened to each other with a fastener such as a screw. Accordingly, when the first sub-drive shaft (252) rotates, the second rotational arm (400) coupled thereto can rotate. Reference numeral 411 denotes a second housing space formed in the second arm housing (410), where a part of the sub-joint unit (250) may be placed. The second housing space (411) can enclose the sub-joint unit (250) together with the first housing space (311).

[0150] As shown in FIG. 22, the sub-joint unit (250) is provided with a sub-support block (251). The sub-support block (251) serves as a rotational center that allows the first sub-drive shaft (252) to rotate. That is, the first sub-drive shaft (252) rotates around the second rotational axis (RA2) while supported by the sub-support block (251). The block fastening portion (251a) of the sub-support block (251) can be fastened with a screw or the like to the support fastening portion (325) of the second rotational support (323) provided in the first arm housing (310). Consequently, the second rotational support (323) of the first arm housing (310) can support the rotation of the sub-joint unit (250). In other words, the second sub-drive shaft (254) and the second rotation arm (400) can rotate independently of the first rotation arm (300) while rotating relative to the second rotation support (323).

[0151] When the second sub-pulley (255a) provided at the upper end of the second sub-drive shaft (254) rotates by the second sub-belt (SB2), the driven pulley (255b) provided at the lower end rotates simultaneously. At this time, since the end belt (EB) is wound around the driven pulley (255b), the end belt (EB) rotates, thereby rotating the end pulley (272a, shown in FIG. 20) provided on the opposite side. As shown in FIG. 23, sub-bearings (B2a, B2b, B2c) are provided between the sub-support block (251), the first sub-drive shaft (252), and the second sub-drive shaft (254) to assist in relative rotation.

[0152] Referring to FIGS. 20 and FIGS. 24, the working end (500) is illustrated. As shown therein, the working end (500) includes the effector housing (510) and a pickup unit (520) disposed in the effector housing (510). The pickup unit (520) can serve to lift the storage item (P). The pickup unit (520) can pick up the storage item (P) by magnetic force. For example, the storage item (P) is equipped with a fixing part (not shown) composed of a magnet or a ferromagnetic material, and the pickup unit (520) is in close contact with the fixing part by magnetic force. The pickup unit (520) is operated by an electromagnet (not shown) to selectively pick up the storage item (P). Reference numeral 525 indicates a mounting space where the electromagnet is placed. Although not illustrated, as another example, the pickup unit (520) may be configured to include a plurality of fingers to pick up the storage item (P).

[0153] The end joint unit (270) is provided inside the end housing (510) that constitutes the exterior of the above-mentioned work end (500). The end joint unit (270) provides a third rotation axis (RA3) of the above-mentioned moving unit (200). The end joint unit (270) serves as the rotation center of the above-mentioned work end (500). The work end (500) can be rotated around the third rotation axis (RA3). The work end (500) is configured to rotate around the third rotation axis (RA3).

[0154] The end joint unit (270) includes an effector roller (272) that serves as the rotational center of the work end (500) and an end pulley (272a) provided on the effector roller (272). The end pulley (272a) receives rotational force from the driven pulley (255b) of the sub-joint unit (250) through the end belt (EB). The effector roller (272) rotates around a third rotation axis (RA3) together with the end pulley (272a). Referring to FIG. 20, the effector fastening part (515) provided on the effector housing (510) can be fastened to the block fastening part (273) provided on the effector roller (272) by means of a screw or the like. Accordingly, when the effector roller (272) rotates, the work end (500) can rotate.

[0155] The end joint unit (270) is provided with an end support block (271). The end support block (271) serves as a rotational center that allows the effector roller (272) to rotate. That is, the effector roller (272) rotates around the third rotation axis (RA3) while supported by the end support block (271). As shown in FIG. 20, the block fastening portion (271a) of the end support block (271) can be fastened with a screw or the like to the end fastening portion (425) provided in the second arm housing (410). Accordingly, the second arm housing (410) can support the rotation of the end joint unit (270). In other words, the end support block (271) can rotate independently of the second rotation arm (400) while rotating relative to the second arm housing (410). As shown in FIG. 24, an end bearing (B3) is provided between the end support block (271) and the effector roller (272) to assist in relative rotation. Reference numeral 440 indicates an end cover, and when the end cover (440) is removed from the second arm housing (410), the electromagnet can be accessed.

[0156] FIGS. 25 to 27 sequentially illustrate the process of the moving unit (200) being operated. FIG. 25 shows the moving unit (200) in a folded state, which is the initial position. In this state, when the first rotating arm (300) of the moving unit (200) rotates in the direction of the arrow around the first rotation axis (RA1), the state of FIG. 26 is achieved. As previously seen in FIGS. 17 and FIG. 20, when the first rotating motor (RM1) rotates, the first main pulley (233a) of the main joint unit (230) rotates through the hub pulley assembly (120), and the first rotating block (233b), which rotates simultaneously with the first main pulley (233a), rotates, thereby rotating the first rotating arm (300).

[0157] In the state of FIG. 26, the second rotating arm (400) can be rotated independently. FIG. 27 shows the state in FIG. 26 where only the second rotating arm (400) is rotated. As previously seen in FIG. 17 and FIG. 22, when the second rotating motor (RM2) rotates, the second main pulley (235a) of the main joint unit (230) rotates through the hub pulley assembly (120), and the first connecting pulley (235b), which rotates simultaneously with the second main pulley (235a), rotates the first sub-belt (SB1). When the first sub-pulley (253a) of the sub-joint unit (250) wound around the first sub-belt (SB1) rotates, the second rotating block (253b), which rotates simultaneously with the first sub-pulley (253a), rotates, thereby rotating the second rotating arm (400) in the direction of the arrow.

[0158] At this time, the drive unit (100) may rotate simultaneously with moving in the first direction. Additionally, the rotation of the first rotating arm (300), the second rotating arm (400), and the work end (500) may be performed independently or simultaneously. With these various combinations, the work end (500) can move to various positions on the XY plane. As a result, the work end (500) may have an operating position that is moved closer to the center of the storage chamber (S) than the initial position.

[0159] Referring to FIG. 28, the moving unit (200) may be equipped with a camera (450) that photographs the storage room (S). The camera (450) is positioned in the moving unit (200) so as to face the floor of the storage room (S). In this embodiment, the camera (450) is positioned at the bottom of the second rotating arm (400) adjacent to the working end (500). The drive control unit can control the operation of the moving unit (200) based on at least one of the information obtained by the camera (450), such as the type, expiration date, size, color, and usage status of the stored item (P), thereby repositioning the location of the stored item (P) within the storage room (S).

[0160] The moving unit (200) may be equipped with a proximity sensor (470) that detects the distance between the moving unit (200) and surrounding objects. The proximity sensor (470) may be positioned on at least one of the left and right sides of the working end (500) provided in the moving unit (200). In this embodiment, the proximity sensor (470) is provided on each side of the working end (500). The proximity sensor (470) may include a Time-of-Flight (ToF) sensor or an infrared sensor.

[0161] The proximity sensor (470) can prevent collision between the moving unit (200) and the structure inside the storage unit (P) or storage room (S). Additionally, the proximity sensor (470) may be used to measure the height of the storage unit (P). The drive control unit can measure the height of the storage unit (P) adjacent to the moving unit (200) through the proximity sensor (470). This control process will be explained in detail below.

[0162] FIG. 29 illustrates another embodiment of the above-mentioned work end (500). As shown in FIG. 29, the above-mentioned work end (500) may be configured to adsorb and pick up a storage item (P). A vacuum generator (not shown) for adsorbing the storage item (P) may be connected to the above-mentioned work end (500). The above-mentioned work end (500) may be provided with a plurality of contact pad portions (531, 533). Some of the contact pad portions (531) may be driven by the vacuum generator to adsorb the storage item (P), and compressed air injected by the vacuum generator may be guided to the vacuum suction port of the remaining contact pad portions (533) to release (break) the vacuum state.

[0163] FIG. 30 illustrates a different structure of the main joint unit (230). As can be seen, the third main drive shaft (236) may be omitted from the main joint unit (230). In this case, the working end (500) may not rotate, or a separate motor may be directly mounted on the working end (500) to rotate the working end (500).

[0164] Meanwhile, a method for controlling a moving unit (200) through a drive control unit inside the storage compartment of the refrigerator according to the present invention will be described. The method includes a control method for moving / arranging a storage item (P) by raising and rotating (or horizontally moving) a moving unit (200) stored in a storage area (PW1, PW2, PW3) located at the rear of the work area (S) to enter the front work area, and moving a work end (500) between a plurality of target positions within the work area (S).

[0165] The storage area and the work area are not completely separated by a partition but are interconnected spaces, and the moving unit (200) waits in the storage area and enters / exits the work area according to control. Here, the storage area can be viewed as unit storage spaces (PW1, PW2, PW3), and the work area can be viewed as all or part of the storage room (S).

[0166] In the above work area (S), a plurality of shelves (40) are spaced apart in the height direction to form work areas of different heights, and the storage area (PW1, PW2, PW3) is defined as a continuous space behind these plurality of work areas. The moving unit (200) is stored in the storage area (PW1, PW2, PW3) in standby mode, can be raised or lowered along the height direction (Z-axis) of the storage room or moved along the left and right width direction (Y-axis) of the storage area (PW1, PW2, PW3), and performs rotation (yaw / pitch) or horizontal movement in the work area (S).

[0167] The above moving unit (200) may include a first rotating arm (300) that rotates around a fixed first rotation axis (RA1), a second rotating arm (400) that rotates independently of the first rotating arm (300) around a movable second rotation axis (RA2) formed at the other end of the first rotating arm (300), and a working end (500) that grips / supports a stored object.

[0168] The refrigerator of the present embodiment includes a drive control unit that controls the moving unit (200). The drive control unit controls the moving unit (200) to enable the following various operations to be performed through the moving unit (200). The drive control unit controls the working end (500) to move between multiple target positions in a working area (S) by appropriately combining the rotation combination of the first rotating arm (300) and the second rotating arm (400), and the lifting and horizontal movement of the moving unit (200). One or more drive shafts of the moving unit (200) may be equipped with a motor current sensor or a torque sensor, and the drive control unit calculates the driving torque of each shaft based on the output of these sensors.

[0169] The above control unit can typically be implemented in the form of a control board including a microprocessor, memory, a motor driver interface, a sensor input interface, etc. The memory stores program code for executing the core control algorithm of the present invention and data for storing spatial information of the storage room.

[0170] The control unit can fuse data received from the camera (450) and the proximity sensor (470) to generate a three-dimensional spatial map of the storage room (S) and continuously update it. Specifically, the camera (450) acquires an image of the inside of the storage room, and the control unit can roughly determine the location, size, and shape of internal structures such as stored items (P) and shelves (40) through image processing technology (e.g., edge detection, object recognition). At the same time, the proximity sensor (470) can provide precise distance data from each part of the moving unit (200) to surrounding objects.

[0171] The control unit can fuse the image information and distance information to generate a three-dimensional grid map that divides the interior of the storage room into multiple small three-dimensional units. Each grid map can be displayed as one of the states of 'occupied', 'free', or 'unknown'. This three-dimensional spatial map is updated in real time whenever the location of a stored item changes or a new stored item is added, so that the moving unit (200) can always operate based on the latest internal environment information.

[0172] The above drive control unit first moves the moving unit (200) in the up-and-down direction along the storage area (PW1, PW2, PW3), and if necessary, adjusts its position in the left-right width direction within the storage area, then rotates or moves the moving unit (200) horizontally to move it from the storage area (PW1, PW2, PW3) into the work area (S), and controls the work end (500) to move between multiple positions within the work area (S). The lifting operation and the rotation / horizontal movement operation may be performed alternately, or may be performed in overlap in some sections to secure interference clearance in a narrow space. In particular, if the target position exists on the same shelf surface, rotation / horizontal movement is prioritized, and if the minimum distance is small and the risk of interference is high, the order of operation may be automatically selected so that lifting is performed first to secure a safe height, and then rotation is performed.

[0173] More specifically, the height measurement of the storage item (P) includes the step of measuring the relative distance between the moving unit (200) at the first height position and the adjacent storage item (P). Subsequently, the step of measuring the relative distance between the moving unit (200) at the second height position, which is moved by a unit height from the first height position, and the adjacent storage item (P) follows. These two steps may be repeated. In this process, if the relative distance between the moving unit (200) at the n-th height position and the storage item (P) differs from the relative distance between the moving unit (200) at the n-1-th height position and the storage item (P), the drive control unit can obtain the height of the storage item (P) from the n-th height position.

[0174] The drive control unit determines whether interference occurs based on the drive torque of the moving unit (200). Interference is determined if the absolute value of the drive torque calculated from one or more drive shafts is greater than or equal to a first reference value, or if the absolute value of the time rate of change of the drive torque is greater than or equal to a second reference value based on the moving average calculated in the average interval (Δt). When interference is determined, the drive control unit immediately stops the current operation and, depending on the situation, retracts the moving unit (200) to the storage area (PW1, PW2, PW3) or moves it a predetermined distance in the up and down direction to resolve the interference. Additionally, if the interference is caused by a stored object along the path, the object can be moved to a temporary placement point first to secure the movement path, and then the transfer to the original target point can be resumed. The temporary placement point can be automatically selected based on a score calculation that considers the risk of falling, the return distance after work, and the minimum distance from other stored objects.

[0175] When the moving unit (200) moves along the storage area (PW1, PW2, PW3), the speed, rotation angle, and lifting height are limited so that the distance between the left and right edges of the moving unit (200) and the left and right boundaries of the nearest shelf (40) is greater than or equal to a pre-stored clearance width (δ). This ensures that the usable width of the shelf (40) is not substantially reduced. Movement within the storage area (PW1, PW2, PW3) may be performed by including at least one of height lifting and left and right width movement. If the moving unit (200) attempts to move out of the storage area (PW1, PW2, PW3) and encroach upon the work area (S), an interlock may be applied to output a warning or block movement in that direction.

[0176] The above drive control unit raises the work end (500) to a safe height before rotation / horizontal movement in the work area (S). The safe height is defined as the height obtained by adding a pre-set margin height to the highest point height of the storage item placed below the work end (500). During the raising operation, the raising is stopped when it is determined that the work end (500) has reached the top height of the target storage item calculated by a camera depth image or a proximity sensor, and during the lowering operation, the lowering is stopped when the storage item or shelf below is detected within a reference distance. To increase the precision of the height measurement, a scanning method may be applied in which the relative distance to the target storage item is sequentially measured at multiple different height positions, and the point where a change in the relative distance between adjacent measurements occurs is determined as the top.

[0177] The drive control unit can generate and continuously update a three-dimensional spatial map of the storage room by fusing the output of a sensor device (including at least one of a proximity sensor, an infrared sensor, a capacitive sensor, or a camera that provides depth information). The map may include an obstacle layout that includes the three-dimensional position / size / shape of fixed structures such as shelves (40) as well as storage items whose positions change. When a command to move a storage item is input by a user command or an automatic sorting mode, the drive control unit calculates a collision-free movement path by considering the map, the current position of the moving unit (200), the position of the target storage item, and the arrangement of surrounding storage items. This path may be generated by a path planning algorithm such as an A* algorithm or an RRT* algorithm family, and is converted into a time-series control profile including the angle / velocity / acceleration of each joint of the moving unit (200) and executed.

[0178] Specifically, the drive control unit can detect a collision between the moving unit (200) and the storage object (P) or structure, and take appropriate action in response. The drive control unit can detect interference between the moving unit (200) and the storage object (P) or an installation inside the storage room (S) through a change in torque applied to the plurality of motors (SM, RM1, RM2, RM3) during the operation of the moving unit (200).

[0179] At this time, if the change in torque applied to the motor is smaller than a reference value, the drive control unit can maintain the operation of the moving unit (200). This is because if the change in torque is smaller than the reference value, the weight of the stored item (P) is not large, so the stored item (P) can be sufficiently moved by pushing it with the moving unit (200).

[0180] The above control unit may perform the following algorithm to determine whether there is interference. First, it calculates the average torque value during a short time interval (e.g., 0.1 seconds) while in normal movement (i.e., in a state without contact with an external object) to set a 'dynamic baseline torque'. This is to reflect the normal load that changes according to the movement posture or speed.

[0181] Subsequently, if the instantaneous torque value measured in real time exceeds the value obtained by adding a predetermined first reference value to the aforementioned dynamic reference torque, this indicates that unexpected resistance, i.e., interference, has occurred, and is therefore determined to be a collision. Additionally, to detect abrupt changes in the torque value, the control unit calculates the time rate of change (derivative value) of the torque value. If the absolute value of this time rate of change exceeds a preset second reference value, it is also determined that an instantaneous collision has occurred. At this time, a 'moving average standard' may be applied; as an example of a method for setting the aforementioned dynamic reference torque, the moving average standard may refer to applying a moving average filter to remove noise from the torque signal and secure a stable reference line.

[0182] Meanwhile, if interference or collision is detected, the drive control unit immediately stops the operation of all relevant motors. Subsequently, it may perform a backward movement to return the previous movement path in reverse by a fine amount (e.g., a predetermined mm or a predetermined angle) to resolve the interference condition, or move a predetermined distance in the vertical direction from the current position to avoid the collision and then search for a new path.

[0183] In contrast, if the change in torque applied to the motor is greater than or equal to a reference value, the drive control unit may stop the operation of the moving unit (200). This is because it may lead to a failure of the moving unit (200) or the drive unit (100). For example, if a large change in torque is detected in the linear drive motor (SM) during the first direction movement of the moving unit (200) caused by the operation of the linear drive motor (SM), it means that there is an object interfering with the upper or lower part of the moving unit (200). If the moving unit (200) continues to move in this state, it may overturn the stored item (P), cause loud noise, or lead to damage to the moving unit (200). Therefore, in this case, the drive control unit may stop the operation of the moving unit (200) and notify the user of this.

[0184] Meanwhile, as a result of path search, there may be cases where the path to move the target storage item (P) is physically blocked by another 'obstacle storage item'. In this case, the drive control unit may not simply abandon the operation, but may initiate a dynamic obstacle relocation procedure to temporarily move the obstacle storage item to another location to secure a path and then perform the original operation.

[0185] At this time, to select a 'temporary placement point' to move the obstructed storage item, the drive control unit may use a score-based evaluation function. The drive control unit identifies all 'empty space candidate sites' on a 3D spatial map where the obstructed storage item can be placed. For each candidate site, a total score (Stotal) is calculated by considering the following factors.

[0186] Stotal = w1 * fstability + w2 * faccessibility + w3 * fclearance

[0187] Here, (i) fstability is a stability score, which has a higher value as the floor area of ​​the candidate site becomes larger and flatter (reduction in risk of falling). (ii) faccessibility is an accessibility score, which has a higher value as the travel distance required to return the obstructed storage to its original position after the original task is completed becomes shorter (minimization of return distance). (iii) fclearance is a clearance score, which has a higher value as the minimum distance from other surrounding storage when the obstructed storage is placed on the candidate site becomes greater (prevention of additional interference). (iv) w1, w2, and w3 are weights representing the importance of each element.

[0188] The above drive control unit calculates a comprehensive score for all candidate sites and selects the point with the highest score as the optimal temporary placement point. Then, the moving unit (200) first moves the obstructed storage item to the corresponding temporary placement point to secure a path, and then performs the original target storage item movement operation.

[0189] When the opening of the above doors (13, 15) is detected, the work end (500) temporarily places the stored item held by the work end on the shortest distance support surface within the work area (S), and returns the moving unit (200) to the storage area (PW1, PW2, PW3) along the storage path. When the closing of the above doors (13, 15) is detected and a preset time elapses, an automatic sorting mode is initiated, and the drive control unit moves the selected stored item to a designated target point. When a movement command is input via a display or external terminal, the drive control unit moves the selected stored item according to the input parameters (pickup / placement position, priority, speed profile, etc.).

[0190] For example, if the opening of the door is detected through a sensor attached to the refrigerator door (13, 15), the drive control unit may immediately pause all ongoing movement operations for safety. If the work end (500) is holding a stored item, the item is temporarily placed on the nearest stable shelf (40), and then the moving unit (200) is returned to the initial position of the storage area (PW1, PW2, PW3) to prevent collision with the user's hand or body.

[0191] If there is a storage item (P) interfering with the movement path of the above-mentioned work end (500), the drive control unit calculates a score function, selects the temporary placement point with the highest score, moves the storage item (P) first, and performs the target work through the secured path. When gripping a storage item (P) classified as a liquid container, a tilt limit and a gradual acceleration / deceleration profile are applied. For example, the tilt is limited to 10° or less for water or carbonated beverage containers, 7° or less for oils such as cooking oil, and 5° or less for soup containers, and a stopping time of 0.3 to 1.0 seconds is provided after the acceleration / deceleration event to dampen sloshing. If the sealing status of the container is detected, the tilt limit may be temporarily relaxed within a predetermined range.

[0192] The dew point for each location is calculated based on the measurements of the temperature and humidity sensors within the storage room (S), and the path or speed / acceleration upper limit can be adjusted so that the expected surface temperature of the stored item during movement is greater than or equal to a preset margin temperature (ΔT) above the dew point of that location. Additionally, if it is determined that temperature or humidity conditions suitable for the storage of the stored item (P) are not maintained in a specific area, the stored item (P) can be controlled to be relocated to a more suitable area.

[0193] In order to maintain the accuracy of the above coordinate system, if the position of the shelf (40) changes by more than the allowable error relative to the stored value, if the image coordinates of the reference marker of the work area (S) are displaced by more than the allowable error, or if the distance value between reference points changes by more than the allowable error, the drive control unit recalculates the work area coordinate system and immediately applies the recalculation result starting from the next path calculation.

[0194] For user safety, if two or more consecutive samples are detected within a predetermined distance (D_min) from the boundary of the work area by at least one of a camera, infrared, radar, or ultrasound, the drive control unit switches the moving unit (200) to a low-speed / low-acceleration mode and maintains the height of the work end (500) above a safe height. Even after detection is released, the safety mode is maintained for a predetermined holding time (τ_hold) and then can return to normal operation.

[0195] The above drive control unit stores a virtual boundary (virtual wall or virtual line) set by the user and calculates the movement path of the moving unit (200) so that it does not pass through the exclusion zone defined by the virtual boundary when creating the path. The virtual boundary can be designated by drawing operations on a display or mobile terminal, and a buffer zone of a predetermined width can be automatically set around the boundary. When searching for a path, a high cost is assigned to the area masked by the virtual boundary to prevent the path from passing through, and the user can modify the boundary by moving / deleting / merging nodes in the boundary editing mode.

[0196] The drive control unit can adjust acceleration / deceleration, lifting speed, and gripping force based on the measurement value of the weight sensor provided on the work end (500) or shelf (40). If the weight of the stored item (P) exceeds a threshold, the upper limit of acceleration is lowered and the lifting speed is limited, and if slippage is detected, the gripping force is corrected. When a user manual stop input is received, the current state (joint angle, work end posture, gripping state, etc.) is saved, and the moving unit (200) returns to the standby position of the storage area (PW1, PW2, PW3). The stored item is identified based on the recognition result of a barcode, RFID, or NFC mark, and its attributes can be reflected in the selection of movement targets and priority determination.

[0197] Meanwhile, the control unit can identify the type, expiration date (barcode or character recognition), size, color, etc. of the stored items (P) by utilizing images acquired by the camera (450) and object recognition technology. Based on this information, the user can issue sorting commands, such as "sorting forward in order of approaching expiration date" or "grouping similar types of beverages together," and the drive control unit can automatically control the operation of the moving unit (200) accordingly to rearrange the stored items.

[0198] The foregoing description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by such embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention.

Claims

Claim 1 A method for controlling a refrigerator, comprising: (a) moving the moving unit in a straight line along the storage area; (b) rotating or horizontally moving the moving unit to move the working end of the moving unit from the storage area into the working area; and (c) controlling the working end to reach a target position in the working area by performing the movements defined in (a) and (b) one or more times alternately or in combination with overlap. Claim 2 A method for controlling a refrigerator according to claim 1, wherein a driving torque is calculated from a motor current or torque sensor at one or more driving shafts of the moving unit, and (i) the absolute value of the driving torque is greater than or equal to a first reference value, or (ii) the absolute value of the time rate of change of the driving torque is greater than or equal to a second reference value based on a moving average calculated in an average interval (Δt). Claim 3 A method for controlling a refrigerator according to claim 2, further comprising the step of, after the moving unit is stopped, the moving unit being retracted into the storage area or the moving unit being moved in an up-and-down direction. Claim 4 A method for controlling a refrigerator according to claim 2, wherein if the torque change amount exceeds a reference value, the moving unit is controlled to first move the stored item to a temporary placement point to secure a movement path, and then the working end reaches a target position. Claim 5 A method for controlling a refrigerator according to claim 1, wherein the storage area is positioned behind the storage room relative to the work area, and the moving unit is controlled to be positioned in the storage area when in standby mode. Claim 6 A method for controlling a refrigerator according to claim 1, wherein a shelf is disposed in the work area, the work area is divided into a plurality of work areas based on the height direction by the shelf, and the moving unit is controlled to be disposed in the storage area formed behind the shelf when in standby mode. Claim 7 A method for controlling a refrigerator according to claim 1, wherein the storage area is defined as a space continuous behind the plurality of work areas, and the moving unit is controlled to be raised and lowered within the storage area. Claim 8 A method for controlling a refrigerator according to claim 1, wherein the moving unit comprises a first rotating arm that rotates around a fixed first rotation axis and a second rotating arm that rotates independently of the first rotating arm around a movable second rotation axis formed at the other end of the first rotating arm, and the control of the moving unit comprises moving the working end to the target point by a rotation combination of the first rotating arm and the second rotating arm. Claim 9 A method for controlling a refrigerator according to claim 8, wherein in step (c), the control of the moving unit is performed sequentially by rotating the first rotating arm in a target direction, and then rotating the second rotating arm so that the working end reaches the target position. Claim 10 A method for controlling a refrigerator according to claim 8, wherein step (c) comprises: a step of first rotating the second rotating arm by a predetermined angle to check for interference with the surrounding area when the moving unit reaches a preset height; a step of rotating the first rotating arm in a target direction when it is determined that there is no obstacle with the surrounding area; and a step of additionally rotating the second rotating arm to control the working end to reach the target point. Claim 11 A method for controlling a refrigerator according to claim 8, wherein the first rotating arm and the second rotating arm are controlled to be stored in the storage area in a state where they overlap each other in the height direction of the storage area. Claim 12 A method for controlling a refrigerator according to claim 1, wherein movement within the storage area comprises (i) a first direction movement of moving up and down in the height direction of the storage area, (ii) a second direction movement of moving in the left and right width direction of the storage area, or (iii) a combination of the first direction movement and the second direction movement. Claim 13 A method for controlling a refrigerator according to claim 1, wherein the moving unit is controlled to rotate within the working area, the moving unit is equipped with a sensor device including at least one of a proximity sensor or a camera sensor, and a lifting priority or rotation priority operation sequence is automatically selected according to the minimum distance to a stored item calculated by the sensor device. Claim 14 A method for controlling a refrigerator according to claim 1, further comprising the step of raising the working end to a safe height obtained by adding a preset height to the highest point height of the storage item before the moving unit rotates. Claim 15 A method for controlling a refrigerator according to claim 13, wherein the sensor device includes a proximity sensor, and step (c) comprises: a step in which the drive control unit stops the upward movement when the proximity sensor detects the upper part of a target storage item while the moving unit is rising vertically; and a step in which the drive control unit stops the downward movement when the proximity sensor detects a storage item or shelf below within a reference distance while the moving unit is descending vertically. Claim 16 A method for controlling a refrigerator according to claim 1, wherein step (c) further comprises: a step of detecting that the door of the cabinet is opened; a step of controlling the work end to temporarily place the stored item it has grasped into a seating area located at the shortest distance within the work area when the opening of the door is detected; and a step of controlling the moving unit to return to the storage area. Claim 17 A method for controlling a refrigerator according to claim 1, wherein when the closing of a door positioned at the front of the cabinet is detected, the command of step (b) is automatically generated by the drive control unit after a preset time has elapsed after the door of the cabinet is closed. Claim 18 A method for controlling a refrigerator according to claim 1, wherein step (c) further comprises: a step in which the drive control unit determines that there is an obstructing storage object interfering with the calculated movement path; and a step in which the drive control unit calculates a path to first move the obstructing storage object to a temporary placement point within the work area, wherein the temporary placement point is controlled to be selected as the point with the highest score calculated by considering the risk of falling, return distance, and distance from other storage objects. Claim 19 In claim 1, the command of step (b) is a method for controlling a refrigerator input by a user through a display unit provided on the door of the cabinet or an external terminal. Claim 20 A method for controlling a refrigerator according to claim 1, wherein the working end or shelf is equipped with a weight sensor to measure weight, and (d) the driving control unit adjusts the acceleration / deceleration, lifting speed, and gripping force of the moving unit according to the weight of the stored item measured by the weight sensor. Claim 21 A method for controlling a refrigerator according to claim 1, wherein when the moving unit moves along a storage area, the speed, rotation angle, and lifting height of the moving unit are limited such that the distance between the left and right edges of the moving unit and the left and right boundary lines of the work area closest to it is greater than or equal to a pre-stored clearance width. Claim 22 A method for controlling a refrigerator according to claim 1, wherein step (c) further comprises: a step of measuring the temperature at each location of the work area using the measurement value of the temperature sensor in the storage room; a step of determining whether the temperature at the location where the stored item is placed differs from the preset allowable temperature of the stored item by a margin temperature (ΔT); and, if there is a difference exceeding the margin temperature, a step of the drive control unit causing the moving unit to move the location of the stored item. Claim 23 A method for controlling a refrigerator according to claim 1, wherein the moving unit is equipped with a sensor device comprising at least one of a ToF proximity sensor, an infrared sensor, a capacitive sensor, or a camera sensor, and fuses the output of the sensor device with a camera depth image to generate an obstacle layout diagram of the work area, and uses the obstacle layout diagram to calculate the movement path of the moving unit. Claim 24 A control method for a refrigerator according to claim 1, wherein the working end applies tilt limiting and gradual acceleration / deceleration when gripping a storage item classified as a liquid container. Claim 25 A method for controlling a refrigerator according to claim 1, wherein when a user manual stop input is received, the current state is saved and the moving unit is controlled to return to a standby position in the storage area. Claim 26 A control method for a refrigerator according to claim 1, wherein the stored item is identified by recognizing a barcode, RFID, or NFC mark, and the stored item to be moved is selected according to the identification result. Claim 27 A method for controlling a refrigerator according to claim 1, wherein a shelf is disposed in the work area, and when (i) the shelf position changes beyond a pre-stored value, (ii) the reference marker position of the work area is displaced beyond a pre-stored value, or (iii) the distance value between reference points of the work area fluctuates beyond a pre-stored value, the work area coordinate system is recalibrated and the recalibrated coordinate system is applied to the movement path of the moving unit. Claim 28 A method for controlling a refrigerator according to claim 1, wherein when a person’s approach to a work area is detected by at least one of a camera, infrared, radar, or ultrasound, the moving unit is switched to a low-speed and low-acceleration mode, and the moving unit is controlled to standby or low-speed operation at a preset safety height. Claim 29 A method for controlling a moving unit provided in a refrigerator, comprising: (a) a step in which a driving control unit generates a spatial map including the locations of a plurality of stored items and internal structures placed inside a storage compartment based on data received from a sensor device; (b) a step in which the driving control unit calculates a movement path that avoids collisions with the plurality of stored items based on the spatial map; and (c) a step in which the driving control unit controls the moving unit to move along the calculated movement path to move a target stored item. Claim 30 A refrigerator comprising: a cabinet having a storage compartment including a storage area and a work area; a drive unit disposed in the cabinet and generating a driving force; a moving unit that receives a driving force from the drive unit and operates within the storage area and the work area, respectively, and includes a working end; and a drive control unit that controls the moving unit to cause the working end to move a stored item disposed in the work area; wherein the drive control unit controls the moving unit to combine the movement within the storage area and the movement within the work area to control the working end to move between a plurality of target positions within the work area. Claim 31 A refrigerator according to claim 30, wherein the drive control unit controls the moving unit to rotate or horizontally move so that the working end of the moving unit enters the working area from the storage area. Claim 32 A refrigerator according to claim 30, wherein the drive control unit stops the current operation of the moving unit when the torque change amount of the moving unit exceeds a reference value, and controls the moving unit to move within the storage area. Claim 33 A refrigerator according to claim 30, wherein the drive control unit stops the current operation of the moving unit when the torque change amount of the moving unit exceeds a reference value, and controls the moving unit to move the stored item to secure a movement path of the moving unit. Claim 34 A refrigerator according to claim 30, wherein a shelf is disposed in the work area, the work area is divided into a plurality of work areas based on the height direction by the shelf, and the moving unit is disposed in the storage area formed behind the shelf when in standby mode. Claim 35 A refrigerator according to claim 30, wherein the moving unit comprises: a first rotating arm that rotates around a fixed first rotation axis; and a second rotating arm that rotates independently of the first rotating arm around a movable second rotation axis formed at the other end of the first rotating arm and has the working end; and the drive control unit adjusts the position of the working end by combining the rotation of the first rotating arm and the rotation of the second rotating arm. Claim 36 A refrigerator according to claim 35, wherein the drive control unit is configured to sequentially control the first rotating arm to rotate in a target direction and then to rotate the second rotating arm so that the working end reaches the target position. Claim 37 A refrigerator according to claim 35, wherein the drive control unit, when the moving unit reaches a preset height, first rotates the second rotating arm by a predetermined angle to check for interference with the surrounding area, and if it is determined that there is no interference, rotates the first rotating arm in the target direction and then further rotates the second rotating arm to control the working end to reach the target point. Claim 38 A refrigerator according to claim 30, wherein movement within the storage area comprises (i) a first direction movement of moving up and down in the height direction of the storage area, (ii) a second direction movement of moving in the left and right width direction of the storage area, or (iii) a combination of the first direction movement and the second direction movement. Claim 39 A refrigerator according to claim 30, wherein the drive control unit controls the moving unit to rotate within the working area, the moving unit is equipped with a sensor device including at least one of a proximity sensor or a camera sensor, and the drive control unit is configured to automatically select the operation order of the moving unit, such as lifting priority or rotation priority, according to the minimum distance to the stored item calculated by the sensor device. Claim 40 A refrigerator according to claim 30, wherein a door for opening and closing the storage compartment is disposed at the front of the cabinet, and the drive control unit detects the opening of the door, and when the door is opened, controls the storage item held by the work end to be temporarily placed in the shortest distance seating area within the work area and then return to the storage area along the storage path.

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