Logistics robot and logistics automation system

Abstract

Provided is a logistics robot that can be switched between a coupling mode in which the logistics robot is coupled to a roll container and a release mode in which the logistics robot is separated from the roll container, the logistics robot comprising: a body on which a control module is mounted; a traveling unit located at the bottom of the body; and a docking module located on top of the body and configured to be coupled to or separated from the roll container, wherein the docking module comprises: a module frame fixed on top of the body; a driving unit which provides power for sliding movement in a first direction; a fastening block which receives power from the driving unit, moves in the first direction, and engages with a docking pin of the roll container; and a lifting module which, when the fastening block moves in the first direction, moves the fastening block upward to a height corresponding to the docking pin.

Description

Logistics robots and logistics automation systems

[0001] The present invention relates to a logistics robot and a logistics automation system comprising a docking module capable of automatically securing a roll container.

[0002] Robots have been developed for industrial use to play a part in factory automation. Recently, however, the fields of robot application have been expanding further, with the development of not only medical and aerospace robots but also robots for use in daily life.

[0003] These everyday robots are being developed to provide specific services (e.g., shopping, serving, conversation, cleaning, etc.) in response to user commands. Unlike industrial robots that perform fixed, repetitive tasks in specific locations, or specialized robots in fields such as medicine or aerospace that require high costs to perform specific functions, everyday robots prioritize navigation and communication capabilities; however, there is a problem where widespread adoption is difficult if manufacturing costs become excessive.

[0004] In particular, since it moves using wheels rather than bipedal locomotion like humans, it must be able to move over uneven surfaces or avoid obstacles; therefore, it must be able to minimize impact without falling even when crossing uneven surfaces, and it must be able to make quick decisions using various sensors to avoid obstacles.

[0005] Autonomous robots come in various types, including guide robots for public spaces, serving robots for serving food in restaurants, and delivery robots for delivering small items to consumers.

[0006] Among these, logistics robots are robots that transport goods in logistics centers. Although they move within confined spaces, due to the nature of warehouses, they must navigate while detecting and avoiding fixed structures and temporarily stored items as goods are loaded and transported. In particular, since logistics robots transport heavy loads, they must operate while considering factors such as driving speed and turning radius to prevent items from overturning or falling during movement.

[0007] Logistics robots may include a loading section capable of directly loading goods onto the body, but they have limitations in that they cannot operate while staying at a designated location during loading or unloading of goods.

[0008] Logistics robots that transport roll containers loaded with goods have the advantage of being able to quickly transport large quantities of items. However, because the robot is lighter than the weight of the goods loaded in the roll container, driving is difficult due to the difference in the center of gravity when the robot is connected to and separated from the roll container.

[0009] In addition, there is a limitation in that the logistics automation system cannot be fully unmanned because the connection between logistics robots and roll containers is currently performed manually.

[0010] The present invention aims to provide a logistics robot and a logistics automation system comprising a docking module capable of automatically securing a roll container.

[0011] A logistics robot capable of switching between a combined mode combined with a roll container and a released mode separated from the roll container comprises: a body on which a control module is mounted; a driving unit located at the lower part of the body; and a docking module located at the upper part of the body that is combined with or separated from the roll container, wherein the docking module comprises: a module frame fixed to the upper part of the body; a driving unit providing power to slide in a first direction; a fastening block that receives power from the driving unit, moves in the first direction, and combines with a docking pin of the roll container; and a lifting module that moves the fastening block upward to a height corresponding to the docking pin when the fastening block moves in the first direction.

[0012] The above fastening block may include a V-shaped fastening groove in which the first direction is open and the docking pin is inserted.

[0013] The lifting module comprises a frame wall fixed to the upper surface of the body and extended in the first direction; a lifting rail formed on the frame wall; and a slide pin protruding from the fastening block and moving along the lifting rail, wherein the lifting rail may include an inclined section in which the height increases as it moves toward the first direction.

[0014] The lifting rail may include a fixing groove bent downward at the end of the first direction.

[0015] The lifting rail may include an upper horizontal section located in the first direction of the inclined section; and a chamfer formed between the upper horizontal section and the fixed groove.

[0016] The above-mentioned fastening block may include a lower block fastened to the drive unit; an upper block fastened to the lifting module; and a vertical guide shaft located between the upper block and the lower block.

[0017] The above vertical guide shafts can be arranged in a pair diagonally on the fastening block.

[0018] The above driving unit includes a fastening motor fixed to the body; a lead screw extending in the first direction and rotating by receiving power from the fastening motor; and a shaft nut that moves in the first direction when the lead screw rotates, and the fastening block may include a lower block that accommodates the shaft nut.

[0019] The above fastening block may include an upper block having a fastening groove into which the docking pin is inserted and having a variable angle; and a block elastic member that provides elasticity in a direction such that the end of the upper block in the first direction is tilted upward.

[0020] In the above release mode, a release block may be included that reduces the angle of the upper block by providing a force in the opposite direction to the elasticity of the block elastic part.

[0021] The above release block may include an end block located in a second direction opposite to the first direction of the driving unit and in contact with the end of the upper block in the second direction.

[0022] The above docking module includes a hook holder rotatably coupled to the first direction end of the module frame, and when the fastening block reaches the coupling mode, the lower end of the hook holder is pressed in the first direction so that the hook holder rotates and the upper end of the hook holder can be caught on the holder fastening part of the roll container.

[0023] The above hook holder may include a holder elastic part that provides elasticity to rotate in a direction separated from the holder fastening part when the above fastening block is separated.

[0024] The above docking module includes a pair of alignment guide rails located on the left and right sides, and the alignment guide rails may include a first alignment guide rail extending parallel to the first direction and a second alignment guide rail extending in a second direction opposite to the first direction from the first alignment guide rail.

[0025] A logistics automation system comprising: a roll container including a loading section for loading goods, a lower caster, and a docking pin protruding downward from the lower surface of the loading section; and a logistics robot capable of switching between a docking mode coupled with the roll container and a release mode separated from the roll container, wherein the logistics robot comprises: a body on which a control module is mounted; a driving section located at the bottom of the body; and a docking module located at the top of the body that is coupled to or separated from the roll container, wherein the docking module comprises: a module frame fixed to the top of the body; a driving section providing power to slide in a first direction; a fastening block that receives power from the driving section, moves in the first direction, and engages with the docking pin of the roll container; and a lifting module that moves the fastening block upward to a height corresponding to the docking pin when the fastening block moves in the first direction.

[0026] The above docking pin may include a docking roller that contacts the fastening groove of the fastening block in the docking mode; and a docking washer that contacts the upper surface of the fastening block in the docking mode and has a larger diameter than the docking roller.

[0027] The above logistics robot includes a pair of alignment guide rails located on the left and right sides of the docking module, and the roll container includes a guide roller located at a predetermined distance from the docking pin, and the guide roller can move along the alignment guide rails in correspondence with the movement of the fastening block.

[0028] The guide rollers are positioned as a pair on both sides of the docking pin, and the guide rollers and the docking pin can form the vertices of a triangle.

[0029] The above roll container includes a holder fastening portion located in front of the docking pin, and the docking module includes a hook holder rotatably coupled to the first direction end of the module frame, and when the fastening block reaches the docking mode, the lower end of the hook holder is pressed in the first direction so that the hook holder rotates and the upper end of the hook holder can be caught on the holder fastening portion.

[0030] The above roll container includes an identification mark, and the logistics robot includes a camera that photographs a first direction of the body, and may include a control unit that rotates the body when the camera recognizes the identification mark, moves it in a second direction which is the reverse direction of the first direction, and moves the body of the body into the lower part of the loading section.

[0031] The logistics robot of the present invention can automatically perform fastening with roll containers, thereby enabling the implementation of a fully automated logistics system.

[0032] In addition, in the logistics robot of the present invention, most of the space is recessed into the lower part of the roll container and the roll container is seated on the upper part of the logistics robot's body, so even when the roll container and the logistics robot are combined, the center of gravity does not deviate significantly from the center of the logistics robot, enabling stable driving during operation.

[0033] In addition, the logistics robot of the present invention allows the docking module and docking pin to be accurately coupled even if the roll container and the robot are misaligned.

[0034] The effects obtainable from the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description below.

[0035] FIG. 1 is a drawing showing a 5G network-based cloud system including a logistics automation system according to one embodiment of the present invention.

[0036] FIG. 2 is a block diagram illustrating the configuration of a logistics robot of a logistics automation system according to one embodiment of the present invention.

[0037] FIG. 3 is a perspective view illustrating a logistics automation system according to one embodiment of the present invention.

[0038] FIGS. 4 to 6 are drawings illustrating the docking process between a logistics robot and a roll container of a logistics automation system according to one embodiment of the present invention.

[0039] FIG. 7 is a perspective view illustrating the release state of a docking module of a logistics robot according to one embodiment of the present invention.

[0040] FIG. 8 is a perspective view illustrating the docking state of a docking module of a logistics robot according to one embodiment of the present invention.

[0041] FIG. 9 is a perspective view illustrating a docking module of a logistics robot according to one embodiment of the present invention.

[0042] FIGS. 10 to 13 are vertical cross-sectional views illustrating the docking process of a logistics robot according to one embodiment of the present invention.

[0043] FIG. 14 is a perspective view illustrating a fastening block of a logistics robot according to another embodiment of the present invention.

[0044] FIG. 15 is a drawing illustrating the fastening structure of a roll container of a logistics automation system according to one embodiment of the present invention.

[0045] FIG. 16 is a plan view showing the upper surface of the body of a logistics robot according to one embodiment of the present invention.

[0046] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components regardless of drawing symbols will be assigned the same reference number, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably solely for the ease of drafting the specification and do not inherently possess distinct meanings or roles. Furthermore, in describing embodiments disclosed in this specification, if it is determined that a detailed description of related prior art could obscure the essence of the embodiments disclosed in this specification, such detailed description will be omitted. Additionally, the attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification; the technical concept disclosed in this specification is not limited by the attached drawings, and it should be understood that they include all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the present invention.

[0047] Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another.

[0048] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0049] A singular expression includes a plural expression unless the context clearly indicates otherwise.

[0050] In this application, terms such as “comprising” or “having” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0051] A robot is a mechanical device capable of automatically performing tasks or operations; it may be controlled by an external control device or have a control device built in. It can perform tasks that are difficult for humans to execute, such as repeatedly processing pre-set movements, lifting heavy objects, performing precision work, or working in extreme environments.

[0052] To perform tasks, a drive unit including an actuator or a motor is provided to perform various physical movements, such as moving robot joints.

[0053] Due to issues such as high manufacturing costs and operational expertise, industrial and medical robots, which feature designs specialized for specific tasks, were developed first. While industrial and medical robots repeatedly perform identical actions in designated locations,

[0054] Recently, mobile robots have been emerging. In particular, they can perform exploration tasks on distant planets that are difficult for humans to reach directly, such as in the aerospace industry, and these robots are equipped with driving capabilities.

[0055] Robots equipped with artificial intelligence are emerging to perform driving functions, which are equipped with a drive unit that may include wheels, brakes, casters, motors, etc., and to detect surrounding obstacles and drive while avoiding them.

[0056] Artificial intelligence technology can be applied to enable the implementation of guide robots, transport robots, cleaning robots, wearable robots, entertainment robots, pet robots, unmanned flying robots, etc.

[0057] A robot may include a robot control module for controlling motion, and the robot control module may refer to a software module or a chip that implements it in hardware.

[0058] The robot can use sensor information obtained from various types of sensors to acquire state information of the robot, detect (recognize) the surrounding environment and objects, generate map data, determine movement paths and driving plans, determine responses to user interactions, or determine actions.

[0059] A robot can perform the aforementioned actions using a learning model composed of at least one artificial neural network. For example, the robot can recognize the surrounding environment and objects using the learning model, and can determine actions using the recognized surrounding environment information or object information. Here, the learning model may be learned directly by the robot or learned from an external device such as an AI server.

[0060] In this case, the robot may perform an action by generating results using a direct learning model, but it may also perform an action by transmitting sensor information to an external device such as an AI server and receiving the results generated accordingly.

[0061] Robots can perform autonomous driving through artificial intelligence. This refers to technology capable of independently determining the optimal path and moving while avoiding obstacles. Currently applied autonomous driving technologies can include lane-keeping technology, speed-regulating technology such as adaptive cruise control, automatic driving along a predetermined route, and driving technology that automatically sets a route once a destination is set.

[0062] To perform autonomous driving, numerous sensors may be included to perceive data regarding the surrounding environment. Examples of sensors include proximity sensors, light sensors, accelerometers, magnetic sensors, gyroscopes, inertial sensors, RGB sensors, IR sensors, fingerprint recognition sensors, ultrasonic sensors, optical sensors, microphones, LiDAR, and radar.

[0063] In addition to information collected from sensors, autonomous driving can be performed using image information collected through RGBC cameras, infrared cameras, etc., and acoustic information collected through microphones. Furthermore, driving can be performed based on information entered through the user input unit. Map data, location information, and information on surrounding conditions collected through the wireless communication unit are also necessary for performing autonomous driving.

[0064] Map data may include object identification information for various objects placed in the space where the robot moves. For example, the map data may include object identification information for fixed objects such as walls and doors, and movable objects such as flowerpots and desks. Additionally, the object identification information may include names, types, distances, and locations.

[0065] Therefore, robots are essentially equipped with sensors, various input units, and wireless communication units to collect data for artificial intelligence learning, and can perform optimal operations by synthesizing various types of information. The learning processor executing artificial intelligence can be installed in the control unit within the robot to perform learning, or it can transmit collected information to servos, learn through a server, and then transmit the learning results back to the robot to perform autonomous driving based on this.

[0066] Robots equipped with artificial intelligence can create a full map by collecting surrounding information even in new places, and can perform more accurate autonomous driving because the amount of accumulated information in the main activity radius is large.

[0067] A touchscreen or buttons may be provided to receive user input, and commands may be received by recognizing the user's voice. The processor may obtain intent information corresponding to the user input by utilizing at least one of a Speech-to-Text (STT) engine to convert voice input into a string or a Natural Language Processing (NLP) engine to obtain intent information of natural language.

[0068] At this time, at least one of the STT engine or NLP engine may be composed of an artificial neural network in which at least a portion is trained according to a machine learning algorithm. Additionally, at least one of the STT engine or NLP engine may be trained by a learning processor, trained by a learning processor of an AI server, or trained by distributed processing thereof.

[0069] FIG. 1 shows a 5G network-based logistics automation system (1000) according to one embodiment of the present invention.

[0070] Referring to FIG. 1, the logistics automation system (1000) may include a logistics robot (100), a mobile terminal (300), a robot control system (200), various devices (400), and a 5G network (500). The logistics robot (100) is a robot that transports goods from a source to a destination.

[0071] The logistics robot (100) can move goods to a destination not only outdoors but also indoors. The logistics robot (100) can be implemented as an AGV (Automated Guided Vehicle), and the AGV can be a transport device that moves by means of sensors on the floor surface, magnetic fields, vision devices, etc.

[0072] The logistics robot (100) may be configured to include a shelf for storing goods, a type in which the side wall is omitted and the interior is open, or a storage section that can be opened and closed with a door in the case of a long travel distance.

[0073] The mobile terminal (300) can communicate with the logistics robot (100) via a 5G network (500). The mobile terminal (300) may be a device held by a user who installs a partition in a storage area to load goods, or a device held by a recipient of the loaded goods. The mobile terminal (300) may provide information based on video, and the mobile terminal (300) may include mobile devices such as a mobile phone, a smartphone, a wearable device (e.g., a smartwatch, a smart glass, a head-mounted display (HMD)).

[0074] The robot control system (200) can remotely control the logistics robot (100) and respond to various requests from the logistics robot (100). For example, the robot control system (200) can perform calculations using artificial intelligence based on requests from the logistics robot (100).

[0075] Additionally, the robot control system (200) can set the movement path of the logistics robot (100), and if there are multiple destinations, the robot control system (200) can set the order of movement of the destinations.

[0076] Various devices (400) may include a personal computer (PC, 400a), an autonomous vehicle (400b), a home robot (400c), etc. When the logistics robot (100) arrives at the destination of the goods, it can deliver the goods directly to the home robot (400c) through communication with the home robot (400c).

[0077] Various devices (400) can be connected wirelessly or via wired connection to a logistics robot (100), a mobile terminal (300), a robot control system (200), etc., through a 5G network (500).

[0078] The above logistics robot (100), mobile terminal (300), robot control system (200), and various devices (400) are all equipped with a 5G module to transmit and receive data at a speed of 100 Mbps to 20 Gbps (or higher), thereby enabling the transmission of large video files to various devices and allowing for low power operation to minimize power consumption. However, the transmission speed may be implemented differently depending on the embodiment.

[0079] The 5G network (500) may include a 5G mobile communication network, a short-range network, the internet, etc., and may provide a communication environment for devices via wired and wireless connections.

[0080] FIG. 2 is a block diagram illustrating the configuration of a logistics robot (100) according to one embodiment of the present invention, and FIG. 3 is a perspective view illustrating a logistics automation system (1000) according to one embodiment of the present invention.

[0081] The components illustrated in FIG. 2 are not essential for implementing the logistics robot (100), so the logistics robot (100) described in this specification may have more or fewer components than the components listed above.

[0082] Referring to FIG. 3, the body (110) of the logistics robot (100) has various electronic components such as a control unit and a battery mounted inside, and the body (110) can move through a driving unit (170) located at the bottom.

[0083] Referring to FIG. 2, the logistics robot (100) of the present invention may include a door (120), a driving unit (170), a sensor unit (160), an output unit (150), an input unit (190), a control unit (180), a communication unit (185), and a power supply unit (189).

[0084] To detect the driving direction while driving, a camera (193), a lidar (162), and a proximity sensor (161) may be positioned so as to face the driving direction. The camera (193) may be positioned on a vertical section (115) protruding upward from the front of the driving direction, as shown in FIG. 3, to secure a sufficient field of view and accurately identify obstacles ahead.

[0085] In addition to the camera (193), the vertical section (115) may be equipped with a user input section (192), such as a speaker (152) and an emergency button (1923). Although not shown in the drawing, a display section (151) for displaying user input and the status of the logistics robot may also be located in the vertical section.

[0086] The logistics robot (100) of the present invention can move the roll container (600) while driving forward by positioning the roll container (600) on the opposite side of the driving direction. A docking module (120) connected to the roll container (600) can be located on the upper surface of the body.

[0087] The roll container (600) may include a grid-shaped frame, a loading section (612) fixed to the frame and composed of at least one shelf, and casters located at the bottom. The roll container (600) does not have a self-driving system but can move freely in the direction in which force is applied through the casters at the bottom.

[0088] The roll container (600) included in the logistics automation system (1000) has a higher bottom shelf height than a standard roll container (600), allowing the body of the logistics robot (100) to enter the lower part of the loading section (612). The docking module (120) located on the upper part of the body of the logistics robot (100) and the docking pin protruding from the lower part of the loading section (612) of the roll container (600) are combined so that the logistics robot (100) and the roll container (600) can be combined.

[0089] The logistics robot (100) may include an identification mark (640) located within the field of view of the camera of the logistics robot (100) so that the logistics robot (100) can identify the roll container (600). The identification mark (640) may be an encrypted code such as a QR code or a barcode. By recognizing the identification mark (640), information regarding the type and size of the roll container (600) and information regarding the type and weight of goods loaded in each roll container (600), etc., stored in the server of the logistics system, can be obtained.

[0090] Depending on the size of the roll container (600) and the weight of the loaded goods, the center of gravity may vary, and the power required and appropriate speed can be calculated in the driving part of the logistics robot (100).

[0091]

[0092] The output unit (150) may generate outputs related to sight, hearing, or touch, and the output unit (150) may include a light output unit that outputs visual information, a display (151), etc., a speaker (152) that outputs auditory information, an ultrasonic output unit that outputs ultrasonic signals belonging to inaudible frequencies, etc., and may include a haptic module that outputs tactile information.

[0093] The sensor unit (160) can acquire at least one of internal information of the logistics robot (100), surrounding environment information of the logistics robot (100), and user information by using various sensors.

[0094] At this time, the sensor unit (160) may include various types of sensors for recognizing the surroundings for autonomous driving. Representative examples include a distance sensing sensor or proximity sensor (161) and a LiDAR (162).

[0095] The proximity sensor (161) may include an ultrasonic sensor that recognizes nearby objects and determines the distance to the objects based on the time it takes for the emitted ultrasonic waves to return. Multiple proximity sensors may be provided along the perimeter, and may also be provided on the upper side to detect obstacles on the upper side.

[0096] Lidar (162) is a device that emits laser pulses and receives the light reflected back from surrounding objects to create a precise image of the surroundings. Although its principle is similar to that of radar, the electromagnetic waves used are different, so the technology and scope of application differ.

[0097] Lasers use light with wavelengths of 600 to 1000 nm, which can damage human eyesight. Lidar (162) uses longer wavelengths than this and is used to measure not only the distance to a target object but also the speed and direction of movement, temperature, and the analysis and concentration of surrounding atmospheric substances.

[0098] In addition, the sensor unit (160) may include an illuminance sensor, an accelerometer, a magnetic sensor, a gyroscope, an inertial sensor, an RGB sensor, an infrared sensor, a fingerprint recognition sensor, an ultrasonic sensor, a light sensor, a Hall sensor, etc.

[0099] The driving unit (170) is a means for moving the logistics robot (100) and may include a wheel or a leg, and may include a wheel driving unit and a leg driving unit for controlling the same.

[0100] The wheel may include a main wheel for fast driving, a caster for turning, and an auxiliary caster for stable driving to prevent loaded items (L) from falling off while driving.

[0101] The communication unit (185, Transceiver) may include a wired or wireless communication module capable of communicating with the robot control system (200).

[0102] As an optional embodiment, the communication unit (185) may be equipped with modules for GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, and NFC (Near Field Communication) communication.

[0103] The input unit (190) may include a user input unit (192) for receiving information from a user. As an optional embodiment, the input unit (190) may include a camera (193) for inputting a video signal and a microphone (123, hereinafter referred to as "micro") for receiving an audio signal. Here, the camera (193) or the microphone (191) may be treated as a sensor, and the signal obtained from the camera (193) or the microphone (191) may be referred to as sensing data or sensor information.

[0104] The camera (193) detects obstacles in the direction of travel, and as shown in FIG. 3, multiple cameras can be arranged at different angles. Multiple cameras (193) with different shooting directions can be provided, such as a camera that recognizes a wide area in front and a camera that photographs the floor.

[0105] Alternatively, a camera having different functions may be provided. For example, a wide-angle camera, an infrared camera, etc. may be provided. The camera may serve as a sensor unit (160) to detect surrounding objects.

[0106] The user input unit (192) may be equipped with a touch panel that overlaps with a button or a display (151). Alternatively, user commands may be entered remotely through a communication unit (185), in which case the user input unit (192) may include a personal computer (400a) or a remote control device provided separately from the logistics robot (100).

[0107] The user input unit (192) includes all methods for receiving user commands, so user commands can be recognized through voice recognition. That is, a voice recognition device that extracts user commands by analyzing voice collected from the microphone (173) can also serve as the user input unit (122).

[0108] The input unit (190) may include an item information input unit, which can receive information such as the size, weight, destination, and shipping requester of the item. At this time, the item information input unit may include a code reader.

[0109] In addition, the memory can store information necessary to perform calculations using artificial intelligence, machine learning, and artificial neural networks. The memory (185) can store a deep neural network model. The deep neural network model can be used to infer a result value for new input data that is not training data, and the inferred value can be used as a basis for judgment to perform an action.

[0110] The power supply unit (189), under the control of the processor (180), receives external power and internal power and supplies power to each component of the logistics robot (100). This power supply unit (190) includes a battery, and the battery may be an internal battery or a replaceable battery. The battery may be charged via wired or wireless charging, and the wireless charging method may include magnetic induction or magnetic resonance.

[0111] The control unit (180) is a module that controls the components of the logistics robot (100). The control unit (180) may refer to a data processing device embedded in hardware having a physically structured circuit to perform a function expressed by code or commands included in a program. Examples of such data processing devices embedded in hardware may include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), etc., but the scope of the present invention is not limited thereto.

[0112] FIGS. 4 to 6 illustrate the docking process between a logistics robot (100) and a roll container (600) of a logistics automation system (1000) according to an embodiment of the present invention. The front of the logistics robot (100) has a vertical section so that it cannot enter the lower part of the loading section (612) of the roll container (600). The logistics robot (100) detects the identification mark (640) of the roll container (600) and, if it is a roll container (600) to be transported, can rotate as shown in FIG. 4 for docking.

[0113] Since the logistics robot (100) is equipped with more sensors, such as cameras and lidar, in the driving direction, it can acquire necessary information in advance when the roll container (600) is positioned in front of the logistics robot (100) as in FIG. 3 before rotating as in FIG. 4. For example, after identifying in advance the distance to the roll container (600) and the position of the docking pin (626) connected to the docking module (120), it can rotate and attempt docking.

[0114] The logistics robot (100) can enter the lower part of the loading section (612) of the roll container (600) while moving backward. At this time, in order for the docking module (120) and the docking pin (626) to be connected in the correct position, the roll container (600) and the logistics robot (100) must be positioned without tilting, so the logistics robot (100) can move backward after moving so that the docking module (120) is positioned in front of the docking pin (626).

[0115] When the rear of the body (110) enters the lower part of the loading section (612) as shown in FIG. 5, the logistics robot (100) can drive the docking module (120) to pull the roll container (600) forward and combine with the roll container (600) as shown in FIG. 6.

[0116] When the roll container (600) is connected to the rear of the logistics robot (100) and pulled, the movement of the roll container (600) is not synchronized with the movement of the logistics robot (100), and a swaying motion in the left and right directions, such as a fishtail, may occur, causing the loaded goods to fall or the roll container (600) to overturn.

[0117] The docking module (120) of the present invention is located on the upper part of the body (110) and is configured such that the docking module (120) and the loading section (612) of the roll container (600) overlap vertically. The center of gravity of the roll container (600) and the center of gravity of the logistics robot (100) are positioned close together, so that the logistics robot (100) can stably transport the roll container (600).

[0118] In the logistics automation system (1000) of the present embodiment, the roll container (600) can be connected to the connecting part (620) of the roll container and the docking module (120) of the logistics robot in an overlapping state so as to cover more than 70% of the upper part of the body (110) of the logistics robot (100).

[0119] FIG. 7 is a perspective view illustrating the undocking state of a docking module (120) of a logistics robot (100) according to one embodiment of the present invention, and FIG. 8 is a perspective view illustrating the docking state of a docking module (120) of a logistics robot (100) according to one embodiment of the present invention.

[0120] FIG. 7 illustrates a docking module (120) in the state of FIG. 5 and shows an unlocked mode not coupled with a docking pin (626) of a roll container (600). FIG. 8 illustrates a docking module (120) in the state of FIG. 6 and shows a docking mode. The docking module (120) of the present invention may include a module frame (121), a driving unit (125), a fastening block (126), and a lifting module (122, 1265).

[0121] The module frame (121) is a member for fixing the docking module (120) to the upper surface of the body (110) of the logistics robot (100), and as shown in FIG. 7, it can be configured in a box shape with an open top. The module frame (121) is long in the first direction (D1), which is the driving direction of the driving unit (125), and the first direction (D1) can be the front, which is the driving direction of the logistics robot (100).

[0122] The driving unit (125) provides a force to move the fastening block (126) in the first direction (D1). The driving unit (125) moves the fastening block (126) in the first direction (D1) from the state of FIG. 7 so that the fastening block (126) is positioned in the front as in FIG. 8, and the connection can be switched from the release mode to the docking mode.

[0123] The drive unit (125) can switch from docking mode to release mode by moving the fastening block (126) to the second direction (D2), which is the opposite direction of the first direction (D1). (Switching from FIG. 8 to FIG. 7) The second direction (D2), which is the opposite direction of the first direction (D1), refers to the rear of the logistics robot (100).

[0124] The driving unit (125) includes a lead screw (1253) extended in a first direction (D1), and the fastening block (126) can move in the first direction (D1) and the second direction (D2) along the extension direction of the lead screw (1253). The lead screw (1253) includes screw threads formed on its outer surface, and when the lead screw (1253) rotates by receiving power from the motor (1251), a shaft nut (1254) coupled to the screw threads can move along the extension direction of the lead screw (1253).

[0125] The shaft nut (1254) is housed in the lower block (1261) of the fastening block (126), and when the motor (1251) drives the fastening block (126), it moves in a first direction (D1) or a second direction (D2) according to the rotational direction of the lead screw (1253), and can switch between docking mode and release mode.

[0126] FIG. 9 is a perspective view illustrating a docking module (120) of a logistics robot (100) according to one embodiment of the present invention, in which the module frame (121) is omitted and only the driving unit (125) and the fastening block (126) are shown.

[0127] The driving unit (125) includes a motor (1251) that provides rotational force to the lead screw (1253). The motor (1251) may be positioned in the same direction as the lead screw (1253), or, as shown in FIG. 9, the motor (1251) may be positioned vertically to the lead screw (1253) to secure space in the longitudinal direction of the lead screw (1253).

[0128] To transmit the driving force of the motor (1251) to the lead screw (1253), the driving unit (125) may include a bevel gear (1252) located at the first direction (D1) end of the lead screw (1253).

[0129] The end of the lead screw (1253) in the first direction (D1) may be coupled with a bevel gear (1252), and the end of the lead screw (1253) in the second direction (D2) may include an end block (1255) that fixes the position of the lead screw (1253).

[0130] The end block (1255) includes a hole through which the lead screw (1253) passes and does not affect the rotation of the lead screw (1253), but restricts the movement of the lead screw (1253) in a horizontal or vertical direction. The end block (1255) supports the end of the lead screw (1253) in the second direction (D2) so that the lead screw (1253) can be maintained in a horizontal state.

[0131] The fastening block (126) moves in a first direction (D1) or a second direction (D2) depending on the movement of the shaft nut (1254). The upper part of the fastening block (126) may include a fastening groove (1264) that engages with a docking pin (626) located on the lower surface (621) of the loading portion (612) of the roll container (600). The fastening groove (1264) is open toward the first direction (D1).

[0132] When the fastening block (126) moves in the first direction (D1) while in the released state, the fastening groove (1264) may have a V-shape that extends forward (first direction (D1)) so that the roll container (600) is aligned and the docking pin (626) can be inserted into the fastening groove (1264).

[0133] The position of the fastening block (126) in the first direction (D1) may change according to the driving of the driving unit (125), and the vertical height may change accordingly. It may include a lifting module (122, 1265) that adjusts the height of the fastening block (126). The lifting module adjusts the height of the fastening block (126) so that the height of the fastening block (126) in the docking state is higher than the height of the fastening block (126) in the released state.

[0134] As shown in FIG. 6, when the logistics robot (100) moves backward so that a part of the docking module (120) is located at the bottom of the roll container (600), the fastening block (126) in the released state does not come into contact with the docking pin (626), but when the driving unit (125) is driven and the fastening block (126) moves in the first direction (D1), the docking pin (626) and the fastening groove (1264) can be engaged.

[0135] Although the fastening block (126) can be moved in a vertical direction using a separate power source, the lifting module (122, 1265) of the present invention converts the driving force that moves the fastening block (126) of the driving unit (125) in the first direction (D1) into a vertical direction.

[0136] FIGS. 10 to 13 are vertical cross-sectional views illustrating the docking process of a logistics robot (100) according to one embodiment of the present invention.

[0137] The lifting module (122, 1265) may include a lifting rail (122) and a slide pin (1265).

[0138] The lifting rail (122) is a rail located on the side of the fastening block (126) and extending in the first direction (D1). The slide pin (1265) protrudes from the fastening block (126) in a vertical direction in the first direction and is inserted into the lifting rail (122).

[0139] The lifting rail (122) can be formed on a frame wall located on the left and right sides of the fastening block (126). The frame wall can form part of the module frame (121). The lifting rail (122) extends in a first direction (D1) and may include an inclined section (1223) in which the height increases as it goes in the first direction (D1).

[0140] As illustrated in FIG. 11, when the slide pin (1265) passes through the inclined section (1223), the height of the fastening block (126) increases, and the docking pin (626) of the roll container (600) is inserted into the fastening groove (1264) of the fastening block (126), and the roll container (600) can also move in the first direction (D1) as the fastening block (126) moves in the first direction (D1).

[0141] The fastening block (126) may include an upper block (1263) where the slide pin (1265) of the lifting module is located, and a lower block (1261) in which the shaft nut (1254) of the driving unit (125) is housed.

[0142] In order to allow vertical movement of the upper block (1263) while synchronizing the movement of the lower block (1261) and the upper block (1263) in the first direction (D1), the upper block (1263) and the lower block (1261) can be connected through a vertical guide shaft (1267).

[0143] The vertical guide shafts (1267) may include multiple shafts to allow the upper block (1263) to move vertically while maintaining a horizontal position without shaking. However, due to space constraints for the placement of the vertical guide shafts (1267) based on the size of the fastening block (126), only two vertical guide shafts (1267) may be placed and instead arranged diagonally.

[0144] Since the slide pins (1265) are arranged symmetrically, if a pair of vertical guide shafts (1267) are arranged in a direction opposite to them, the upper block (1263) is supported at four points, thereby preventing the upper block (1263) from tilting.

[0145] The fastening block (126) comes into contact with the lower surface of the loading section (612) of the roll container (600) in the middle of the inclined section (1223), and when it reaches the upper horizontal section (1224) extended horizontally from the first direction (D1) end of the inclined section (1223), the fastening block (126) is in a state where it has lifted the roll container (600).

[0146] The front casters (630) of the roll container (600) are separated from the floor, and the front weight of the roll container (600) is transferred to the upper part of the logistics robot (100). As the weight is transferred to the logistics robot (100), the center of gravity of the roll container (600) moves forward, and the fishtail effect of the rear shaking when the logistics robot (100) changes direction can be reduced.

[0147] When the slide pin (1265) moves along the lifting rail (122) in the first direction (D1) and reaches the end of the first direction (D1) of the upper horizontal section (1224), the motor (1251) of the drive unit (125) can stop driving. The slide pin (1265) must be fixed to the end of the first direction (D1) of the lifting rail (122) so that the fastening block (126) does not slip in the second direction (D2) due to the weight of the roll container (600).

[0148] The lifting rail (122) of the present invention may further include a fixing groove (1225) bent downward at the first direction (D1) end. When a slide pin (1265) is inserted into the fixing groove (1225), the slide pin (1265) can remain in the fixing groove (1225) unless the motor (1251) is driven to switch to a release mode.

[0149] A chamfer (1226) (inclined surface) may be included so that the slide pin (1265) can move smoothly between the fixed groove (1225) and the upper horizontal section (1224).

[0150] The docking pin (626) moves along the V-shape of the fastening groove (1264) of the fastening block (126) to the second direction (D2) end of the fastening groove (1264). In order for the docking pin (626) to be fixed at the second direction end of the fastening groove (1264) while in contact with the fastening groove (1264), the fastening groove (1264) of the docking pin (626) must be located at the same height. That is, when the first direction (D1) entrance of the fastening groove (1264) reaches a position corresponding to the docking pin (626), the fastening groove (1264) must be raised to a height corresponding to the docking pin (626).

[0151] However, as shown in FIG. 11, when the entrance of the fastening groove (1264) has passed the position of the docking pin (626) and the fastening block (126) reaches a height that overlaps with the docking pin (626), the V-shape of the fastening groove (1264) may not substantially guide the position of the docking pin (626).

[0152] To solve the above problem, as shown in the embodiment of FIG. 14, an intermediate block (1262) can be added to the lower part of the upper block (1263) in which the fastening groove (1264) of the fastening block (126) is formed.

[0153] The lower block (1261) moves in the first direction (D1), and the middle block (1262) moves simultaneously with the lower block (1261) in the first direction (D1), and the height may change at the inclined portion of the lifting rail (122), and the upper block (1263) changes angle as shown in Fig. 14 (b) when the fastening block (126) moves in the first direction (D1), and the end of the first direction (D1) may move upward.

[0154] The block elastic part (1266) that adjusts the angle between the upper block (1263) and the middle block (1262) provides elasticity so that the upper block (1263) is tilted as in (b) of FIG. 14.

[0155] It may include one of a tension spring located between the first direction (D1) end of the upper block (1263) and the middle block (1262) or a torsion spring (1266) located at the hinge of the second direction (D2) end of the upper block (1263) and the lower block (1261).

[0156] The block elastic part (1266) provides elasticity to maintain the open state when the upper block (1263) is switched to a docking state, and conversely, may include a release block that provides a force in a direction opposite to the elasticity of the block elastic part (1266) so that the upper block (1263) touches the upper surface of the middle block (1262) as in (a) of FIG. 14 in the release state.

[0157] When the release block (126) reaches the second direction (D2) end of the docking module (120), it contacts the second direction (D2) end of the upper block (1263) and presses the upper block (1263) to switch to a state as shown in (a) of FIG. 14.

[0158] The release block may include an end block (1255) that supports the second direction (D2) end of the lead screw (1253). The second direction (D2) area of ​​the upper block (1263) in contact with the end block (1255) may be expanded so that a force opposing the elasticity of the block elastic part (1266) acts significantly.

[0159] The release block may further include a protrusion (not shown) extending from the end block (1255) upward toward the upper block (1263) so as to press from the upper side of the second direction (D2) of the upper block (1263) when the fastening block (126) reaches the end of the second direction (D2) of the docking module (120).

[0160] When the logistics robot (100) moves backward, if the docking pin (626) of the roll container (600) and the fastening groove (1264) of the docking module (120) are misaligned and not positioned correctly in the forward and backward directions, a configuration is required to guide them to be aligned in the correct position.

[0161] FIG. 15 is a drawing illustrating a fastening structure (620) of a roll container (600) of a logistics automation system (1000) according to one embodiment of the present invention, and FIG. 16 is a plan view illustrating the upper surface of a body (110) where a docking module (120) of a logistics robot (100) according to one embodiment of the present invention is located, which is the AA cross-section of FIG. 6.

[0162] When the docking pin (626) comes into contact with the V-shaped wall of the fastening groove (1264), it moves along the inclined surface of the fastening groove (1264) and can move to the second direction (D2) end of the fastening groove (1264). To allow the docking pin (626) to move along the inclined surface of the fastening groove (1264) while reducing friction with the fastening groove (1264), the docking pin (626) can be rotatably coupled to the roll container (600). The docking pin (626) can be configured as a docking roller (626) that is inserted into the fastening groove (1264) of the fastening block (126) and rotatably fixed to the lower part of the loading section (612).

[0163] At the inclined section (1223) of the lifting rail (122), the slide pin (1265) contacts the lower surface (621) of the loading section (612) of the roll container (600), and presses the roll container (600) upward so that the front caster (630) of the roll container (600) lifts off the ground.

[0164] At this time, when the roll container (600) is not aligned with the logistics robot (100), the roll container (600) must move in the first direction (D1) while changing its angle around the docking pin (626) as an axis, but there is a problem in that the angle change of the roll container (600) is difficult due to the frictional force between the fastening block (126) and the lower surface (621) of the loading part (612).

[0165] As illustrated in FIG. 15, to reduce friction between the fastening block (126) and the lower surface (621) of the loading section (612), a disc-shaped docking washer (625) located between the docking pin (626) and the lower surface (621) of the loading section (612) may be further included. The docking washer (625) is located between the docking roller (626) and the lower surface (621) of the loading section (612) and contacts the upper surface of the fastening block (126) in the docking state. Since the docking washer (625) is also rotatably coupled to the lower part of the loading section (612), the angle of the roll container (600) relative to the logistics robot (100) can change even when the fastening block (126) and the docking washer (625) are in contact.

[0166] Even if the docking pin (626) moves along the inclined surface of the fastening groove (1264), in order for the front of the roll container (600) and the front of the logistics robot (100) to be horizontally aligned, a configuration that guides the position of the roll container (600) in the left and right directions of the docking pin (626) is additionally required.

[0167] The docking module (120) includes alignment guide rails (124) that extend in a second direction (D2) on both the left and right sides of the module frame (121), and the roll container (600) may further include guide rollers (614) positioned spaced apart from the docking pin (626) in the left and right directions.

[0168] When the roll container (600) is inserted into the fastening groove (1254) of the docking pin (626) and moves in the first direction (D1), at least one side of the pair of guide rollers (614) comes into contact with the pair of alignment guide rails (124) that spread out widely in the second direction (D2) and moves along the alignment guide rails (124), thereby aligning the roll container (600) so that the front direction of the roll container (600) matches the logistics robot (100) and pulling it in the first direction (D1).

[0169] At this time, a pair of guide rollers (614) can be positioned so as to be spaced apart from the docking pin (626) in the second direction (D2) to form a triangle as shown in FIG. 16. Since the three points can be aligned quickly and without shaking when forming a triangle rather than when arranged in a line, the docking pin (626) and the pair of guide rollers (614) can be positioned at the vertices of the triangle.

[0170] When the guide roller (614) reaches the parallel section of the alignment guide rail (124), the roll container (600) is aligned, and when the slide pin (1265) of the fastening block (126) moves along the upper horizontal section (1224) of the lifting rail (122), the roll container (600) also moves in the first direction (D1).

[0171] As shown in FIG. 12, when the fastening block (126) moves in the first direction (D1) and the slide pin (1265) is inserted into the fixing groove (1225) of the lifting rail (122), the docking of the roll container (600) and the logistics robot (100) is completed. However, to secure the fastening force, the docking module (120) may further include a hook holder (128) that hooks onto the horizontal bar of the roll container (600).

[0172] As shown in FIG. 12, the hook holder (128) is rotatably coupled to the first direction (D1) of the module frame (121), and when the fastening block (126) presses one end in the first direction (D1), it rotates around the rotation axis and the other end (128b) of the hook holder (128) moves in the second direction (D2).

[0173] The other end (128b) of the hook holder (128) has a hook shape (hook shape) and can be coupled with the roll container (600) by hooking onto the horizontal bar (628) of the roll container (600). As the hook holder (128) is fastened from the upper side to the lower side as shown in FIG. 13, it can firmly secure the roll container (600) and the logistics robot (100) together with the force applying pressure from the lower side to the upper side of the fastening block (126).

[0174] The horizontal bar (628) connected to the hook holder (128) may be one of the horizontal frames of the roll container (600) or may be additionally provided at the front of the roll container (600). Alternatively, instead of the horizontal bar (628), the connection structure may be configured in the form of a catch hole into which the hook (128b) of the other end of the hook holder (128) is inserted.

[0175] When switching to release mode, if the fastening block (126) moves to the second direction (D2), the hook holder (128) may include a holder elastic part (128c) that provides elasticity to rotate from the state of Fig. 13 to the state of Fig. 12 so that the hook holder (128) is restored to the form of Fig. 12.

[0176] The holder elastic part (128c) may include a torsion spring (see FIG. 9) located on the rotation axis of the hook holder (128) or a spring that pulls the other end (128b) of the hook holder (128) in a second direction (D2).

[0177] As seen above, the logistics robot (100) of the present invention can automatically perform fastening with the roll container (600), thereby enabling the implementation of a fully automated logistics system.

[0178] In addition, the logistics robot (100) of the present invention has most of its space incorporated into the lower part of the roll container (600) and the roll container (600) is seated on the upper part of the body of the logistics robot (100), so that even when the roll container (600) and the logistics robot (100) are combined, the center of gravity does not deviate significantly from the center of the logistics robot (100), allowing for stable driving during operation.

[0179] In addition, the logistics robot (100) of the present invention can accurately combine the docking module (120) and the docking pin (626) even if the roll container (600) and the robot are misaligned.

[0180] The foregoing detailed description should not be interpreted restrictively in all respects and should be considered exemplary. The scope of the invention shall be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the invention are included within the scope of the invention.

[0181] Regarding various embodiments for implementing the present invention, descriptions that are redundant with those described above in the previous section on the best mode for carrying out the invention are omitted.

[0182] Since the present invention is applicable to logistics robots in various fields, its industrial applicability is recognized.

Claims

1. A logistics robot capable of switching between a combined mode combined with a roll container and a released mode separated from the roll container, Body with a control module mounted thereon; A driving part located at the lower part of the above body; and It includes a docking module located on the upper part of the body and coupled to or separated from the roll container, The above docking module is A module frame fixed to the upper part of the above body; A drive unit that provides power for sliding movement in a first direction; A fastening block that receives power from the above-mentioned drive unit, moves in a first direction, and engages with a docking pin of the above-mentioned roll container; and A logistics robot comprising a lifting module that moves the fastening block upward to a height corresponding to the docking pin when the fastening block moves in the first direction.

2. In Paragraph 1, The above fastening block is A logistics robot characterized by including a V-shaped fastening groove in which the first direction is open and the docking pin is inserted.

3. In Paragraph 1, The above lifting module is A frame wall fixed to the upper surface of the body and extending in the first direction; A lifting rail formed on the frame wall; and It includes a slide pin that protrudes from the above-mentioned fastening block and moves along the above-mentioned lifting rail, and A logistics robot characterized by the lifting rail above including an inclined section in which the height increases as it moves toward the first direction.

4. In Paragraph 3, The above lifting rail is A logistics robot characterized by including a fixing groove bent downward at the end of the first direction.

5. In Paragraph 4, The above lifting rail is An upper horizontal section located in the first direction of the above-mentioned inclined section; and A logistics robot characterized by including a chamfer formed between the upper horizontal section and the fixed groove.

6. In Paragraph 1, The above fastening block is, A lower block connected to the above-mentioned drive unit; An upper block connected to the above lifting module; and A logistics robot characterized by including a vertical guide shaft located between the upper block and the lower block.

7. In Paragraph 6, The above vertical guide shaft is A logistics robot characterized by having a pair arranged diagonally on the above-mentioned fastening block.

8. In Paragraph 1, The above driving unit A fastening motor fixed to the above body; A lead screw extending in the first direction and rotating by receiving power from the fastening motor; The above lead screw includes a shaft nut that moves in the first direction when rotated, and A logistics robot characterized in that the above-mentioned fastening block includes a lower block in which the above-mentioned shaft nut is received.

9. In Paragraph 1, The above fastening block is An upper block having a fastening groove into which the above docking pin is inserted and having a variable angle; and A logistics robot characterized by including a block elastic member that provides elasticity in a direction in which the end of the first direction of the upper block is tilted upward.

10. In Paragraph 9, A logistics robot characterized by including a release block that reduces the angle of the upper block by providing a force in the opposite direction to the elasticity of the block elastic part in the above release mode.

11. In Paragraph 10, The above release block is A logistics robot characterized by including an end block located in a second direction opposite to the first direction of the driving unit and in contact with the end of the second direction of the upper block.

12. In Paragraph 1, The above docking module is It includes a hook holder rotatably coupled to the first direction end of the module frame, and A logistics robot characterized by the fact that when the above-mentioned fastening block reaches the above-mentioned coupling mode, the lower end of the hook holder is pressed in the above-mentioned first direction so that the hook holder rotates and the upper end of the hook holder is caught on the holder fastening part of the roll container.

13. In Paragraph 12, A logistics robot characterized in that the above hook holder includes a holder elastic part that provides elasticity to rotate in a direction separated from the holder fastening part when the above fastening block is separated.

14. In Paragraph 1, It includes a pair of alignment guide rails located on the left and right sides of the above docking module, and The above alignment guide rail is A first alignment guide rail extending parallel to the first direction above and A logistics robot characterized by including a second alignment guide rail that widens in a second direction opposite to the first direction from the first alignment guide rail.

15. A roll container comprising a loading section for loading goods, lower casters, and a docking pin protruding downward from the lower surface of the loading section; and In a transport automation system comprising a logistics robot capable of switching between a docking mode combined with the roll container and a release mode separated from the roll container, The above logistics robot is, Body with a control module mounted thereon; A driving part located at the lower part of the above body; and It includes a docking module located on the upper part of the body and coupled to or separated from the roll container, The above docking module is A module frame fixed to the upper part of the above body; A drive unit that provides power for sliding movement in a first direction; A fastening block that receives power from the above-mentioned drive unit, moves in a first direction, and engages with the docking pin of the above-mentioned roll container; A logistics automation system comprising a lifting module that moves the fastening block upward to a height corresponding to the docking pin when the fastening block moves in the first direction.

16. In Paragraph 15, The above docking pin is A docking roller that contacts the fastening groove of the fastening block in the above docking mode; and A logistics automation system characterized by including a docking washer that contacts the upper surface of the fastening block in the above docking mode and has a diameter larger than that of the docking roller.

17. In Paragraph 15, The above logistics robot is It includes a pair of alignment guide rails located on the left and right sides of the above docking module, and The above roll container is, It includes a guide roller positioned at a predetermined distance from the above docking pin, and A logistics automation system characterized in that the guide roller moves along the alignment guide rail in correspondence with the movement of the fastening block.

18. In Paragraph 17, The above guide rollers are positioned as a pair on both sides of the docking pin. A logistics automation system characterized in that the guide roller and the docking pin form the vertices of a triangle.

19. In Paragraph 15, The above roll container includes a holder fastening part located in front of the docking pin, and The above docking module is It includes a hook holder rotatably coupled to the first direction end of the module frame, and A logistics automation system characterized by the fact that when the above-mentioned fastening block reaches the above-mentioned docking mode, the lower end of the above-mentioned hook holder is pressed in the above-mentioned first direction so that the hook holder rotates and the upper end of the above-mentioned hook holder is caught on the holder fastening part.

20. In Paragraph 15, The above roll container includes an identification mark, and The above logistics robot is It includes a camera that photographs the first direction of the above body, and A logistics automation system characterized by including a control unit that, when the camera recognizes the identification mark, rotates the body and moves it in a second direction which is the reverse direction of the first direction, thereby introducing the body into the lower part of the loading section.

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