Gas supply system including mobile robot

Abstract

The gas supply system may comprise: a cabinet in which a gas container is disposed; the fastening connection device can move relative to the gas container and can be fastened and connected to the valve in the state of being aligned with the valve of the gas container; a mobile robot device detachably connected to the fastening connection device and moving the fastening connection device; a three-dimensional vision camera that collects an image; and a processor that controls an operation of the mobile robot device based on the image collected by the three-dimensional vision camera.

Description

Technical Field

[0001] The following embodiments relate to an automated gas supply system including a mobile robot. Background Art

[0002] Generally, in a process that uses a gas, such as a semiconductor manufacturing process or the like, in a process of performing precision work, it is required that a gas of a type that meets the purpose of each process be supplied at a certain concentration and pressure.

[0003] In order to effectively supply a gas in a process, a plurality of gases are stored in a gas container in a high-pressure state, and a gas container storing a gas containing a harmful component to the human body is stored in a strictly managed unmanned state.

[0004] The gas container is connected to a gas supply device to discharge the gas stored inside, and when all the gas inside the gas container is exhausted, a series of replacement processes of separating the gas supply device from the valve of the gas container, removing the gas container, and tightly connecting a new gas container to the gas supply device are performed.

[0005] On the other hand, in order to connect the gas supply device to the gas container, it is necessary to align the valve of the gas container and the gas supply device. However, due to the high weight characteristic of the gas container, it is difficult to align the position. Therefore, the gas supply device performs a position alignment operation with respect to the valve of the gas container. Therefore, since the gas supply device includes an actuator for adjusting the position and obtaining power for operation, it is necessary to form the size of the cabinet for realizing gas supply to be large enough to accommodate the gas supply device.

[0006] The above background art is what the inventor has or mastered in the process of deriving the disclosure of the present application, and is not necessarily publicly known art that was publicly available to the general public before the present application. Summary of the Invention

[0007] An object of one embodiment is to provide an automated gas supply device in which a power supply source is located outside so that the size of the gas supply device can be miniaturized.

[0008] An object of one embodiment is to provide an automated gas supply device that can align the gas supply device with the gas container through three-dimensional mapping performed by a mobile robot.

[0009] A gas supply system according to an embodiment may include: a cabinet with a gas container disposed inside; a fastening connection device that is movable relative to the gas container and can be fastened to the valve in a state aligned with the valve of the gas container; a mobile robot device detachably connected to the fastening connection device and configured to move the fastening connection device; a three-dimensional vision camera that collects images; and a processor that controls the operation of the mobile robot device based on the images collected by the three-dimensional vision camera.

[0010] The mobile robot device may include: a main body that can move outside the cabinet; and a robot arm mounted on the upper part of the main body and composed of multi-joint arms. The processor may be configured to generate a three-dimensional model of the valve area of the gas container in real time through the three-dimensional vision camera, match the generated three-dimensional model with any one of the reference images stored in the database, determine the position and angular state of the valve of the gas container based on the matched reference image, and operate the mobile robot device based on the determination result so that the fastening connection device is aligned with the valve in a state where it can be fastened.

[0011] During the process of generating the three-dimensional model of the valve area of the gas container, the processor may generate a three-dimensional model including the shape of the valve of the gas container or the shape of the end cap mounted on the valve.

[0012] The processor may be configured to determine the image similarity by comparing the generated three-dimensional model with multiple reference images stored in the database respectively, and match the three-dimensional model by screening the reference image with the highest image similarity to the generated three-dimensional model.

[0013] The processor may be configured to generate alignment information of three-dimensional coordinates and angles for aligning the fastening connection device with the valve of the gas container in a state where it can be fastened based on the rotation angle and position information of the three-dimensional model corresponding to the screened reference image.

[0014] The processor may be configured to generate alignment information only when the rotation angle of the three-dimensional model corresponding to the screened reference image is within a set angle range.

[0015] The processor may be configured to generate alignment information only when the image similarity between the screened reference image and the generated three-dimensional model reaches or exceeds a set reference value.

[0016] When the image similarity between the screened reference image and the generated three-dimensional model is lower than the set reference value, the processor may control to adjust the shooting angle of the three-dimensional vision camera for the valve area of the gas container.

[0017] The processor can be configured to generate a movement path that optimally aligns the fastening connection device with respect to the gas container based on the generated alignment information, and control the operation of the mobile robot device according to the generated movement path to adjust the position of the fastening connection device.

[0018] The processor can be configured to, in the process of discriminating the image similarity between the generated three-dimensional model and the reference image, obtain each pixel that divides the generated three-dimensional model into two dimensions, and merge the obtained pixels to generate pixels of a three-dimensional image of the geometric structure. Divide the generated three-dimensional model and the reference image into multiple pixel regions for matching respectively, and judge the image similarity according to the matching state of each divided pixel region.

[0019] The gas supply system may further include a clamping device that supports the outer peripheral surface of the gas container and rotates the gas container around a rotation axis perpendicular to the ground. The processor can be configured to rotate the gas container around the rotation axis through the clamping device, and when the gas container rotates around the rotation axis, obtain an image of the end cover of the valve installed on the gas container through the three-dimensional vision camera at the rotation angle of the gas container, and when the obtained image of the end cover has an image similarity above a set reference value with the reference image of the end cover stored in the database, stop the rotation of the gas container.

[0020] The fastening connection device can separate the end cover installed on the valve in a state where it is aligned with the gas container at the first position, and can be fastened to the valve in a state where it is aligned with the gas container at the second position.

[0021] The fastening connection device includes a docking part, and the mobile robot device may further include a docking module that is arranged at the end of the robot arm and is fastened to the docking part.

[0022] The docking module may further include a power motor that supplies power to the docking part.

[0023] The three-dimensional vision camera can be arranged at the end of the robot arm.

[0024] The gas supply system may further include a connection module that connects the fastening connection device in a form that can move relative to the cabinet. The connection module includes more than one connection joint that connects the cabinet and the fastening connection device, and each connection assembly can rotate through the joint and adjust its length.

[0025] A gas supply system according to an embodiment may include: a cabinet with a gas container disposed inside; a fastening connection device that is movable relative to the gas container and can separate or fasten a end cap to a valve of the gas container in a state aligned with the valve; a mobile robot device detachably connected to the fastening connection device and configured to move the fastening connection device; a three-dimensional vision camera configured to collect images; and a processor configured to control the operation of the mobile robot device based on the images collected by the three-dimensional vision camera. The mobile robot device may include: a main body movable outside the cabinet; and a robotic arm mounted on the upper part of the main body and composed of multi-jointed arms. The processor may be configured to generate a three-dimensional model of the end cap mounted on the valve of the gas container through the three-dimensional vision camera, match the generated three-dimensional model of the end cap with any one of the reference images stored in a database, determine the position and angular state of the end cap mounted on the gas container based on the matched reference image, and operate the mobile robot device based on the determination result so that the fastening connection device is aligned in a state where the end cap can be separated from the valve.

[0026] The processor may be configured to discriminate the image similarity by comparing the generated three-dimensional model of the end cap with a plurality of reference images stored in the database respectively, and match the generated three-dimensional model of the end cap by screening the reference image having the highest image similarity with the generated three-dimensional model of the end cap, and generate relevant information on the displacement coordinates and rotation angle for aligning the fastening connection device based on the rotation angle and position information of the three-dimensional model corresponding to the matched reference image.

[0027] The fastening connection device may include: an end cap separation part configured to separate the end cap mounted on the valve in a state aligned with the gas container at a first position; a valve connector configured to connect to the valve to obtain gas supply in a state aligned with the gas container at a second position; and a docking part configured to receive power supply from the outside.

[0028] The mobile robot device may further include a docking module mounted on the end of the robotic arm and connected to the docking part for operating the fastening connection device. The docking module may include: a fastening connection part fastened to the docking part of the fastening connection device; and a power motor configured to supply power to the fastening connection device through the docking part.

[0029] A gas supply system according to an embodiment may include: a clamping device that supports a gas container and rotates the gas container about a rotation axis perpendicular to the ground; a three-dimensional vision camera that collects images; and a processor that controls the operation of the clamping device. The processor may operate in such a manner that the gas container is rotated about the rotation axis by the clamping device, and the image of the end cap of the valve mounted on the gas container is collected at a set location according to the rotation angle of the gas container by the three-dimensional vision camera, and the end cap image with the highest similarity is selected by comparing the end cap images at the rotation angles of each gas container with the reference images stored in the database, and the clamping device is controlled within the rotation angle corresponding to the selected end cap image so that the rotation angle of the gas container about the rotation axis is aligned.

[0030] The gas supply system according to an embodiment provides power to the gas supply device through a mobile robot selectively connected to the gas supply device, thereby reducing or minimizing the space for installing the gas supply device.

[0031] The gas supply system according to an embodiment may detect the alignment state of the gas supply device relative to the gas container through a mobile robot located outside the cabinet where the gas container is installed, thereby simplifying the structure of the gas supply device.

[0032] The gas supply system according to an embodiment detects the alignment state of the gas supply device relative to the gas container through three-dimensional mapping performed by a three-dimensional camera, thereby preventing installation in a misaligned state and minimizing or reducing damage and breakage of the device.

[0033] The effects of the gas supply system according to an embodiment are not limited to the above-mentioned effects, and those of ordinary skill in the art can clearly understand other effects not mentioned from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a partial perspective view of a gas container according to an embodiment.

[0035] Figure 2 is a perspective view of a gas supply system according to an embodiment.

[0036] Figure 3 is a perspective view of a clamping device according to an embodiment.

[0037] Figure 4 is a perspective view of a mobile robot device according to an embodiment.

[0038] Figure 5a is a perspective view showing a mobile robot device, a connection module, and a fastening connection module according to an embodiment.

[0039] Figure 5b is a perspective view showing a connection module and a fastening connection module according to an embodiment.

[0040] Figure 5c and Figure 5d is a perspective view of a connection assembly according to an embodiment.

[0041] Figure 6 is an operation diagram illustrating the process of aligning a gas container by a clamping device in a gas supply system according to an embodiment.

[0042] Figure 7a is an operation diagram showing the process of a gas supply system generating alignment information of a fastening connection device relative to a gas container through a three-dimensional vision camera according to an embodiment.

[0043] Figure 7b is an example diagram of a three-dimensional model of an end cap generated by a gas supply system according to an embodiment.

[0044] Figure 7c is a schematic diagram showing the process of matching an image of a three-dimensional model generated by a processor with a reference image according to an embodiment.

[0045] Figure 8 is a diagram showing the process of aligning a fastening connection device by a mobile robot device according to an embodiment.

[0046] Figure 9 is a sequence diagram of an automatic fastening connection method according to an embodiment.

[0047] Figure 10 is a sequence diagram of an automatic fastening connection method according to an embodiment.

[0048] Figure 11 is an operation sequence diagram of a gas supply system according to an embodiment.

[0049] Reference Numeral Explanation

[0050] 1: Gas supply system

[0051] 100: Cabinet

[0052] 110: Fastening connection device

[0053] 120: Connection module

[0054] 130: Mobile robot device

[0055] 140: Three-dimensional vision camera Detailed Description of the Invention

[0056] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, since the embodiments can be variously modified, the scope of rights of the patent application is not limited or defined by these embodiments. Rather, it should be understood that all modifications, equivalents, and alternatives to the embodiments are included within the scope of rights.

[0057] The terms used in the embodiments are for illustrative purposes only and should not be construed as having a limiting intention. Expressions in the singular include those in the plural, unless the context clearly has a different meaning. In this specification, terms such as "including" or "having" should be understood to specify the presence of the features, numbers, steps, operations, components, elements, or combinations thereof described in the specification, and not to preclude in advance the presence or additional possibility of one or more other features, numbers, steps, operations, components, elements, or combinations thereof.

[0058] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the embodiments belong. Those terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art, and should not be interpreted as ideal or overly formal, unless clearly defined in this application.

[0059] In addition, when describing with reference to the accompanying drawings, regardless of the reference numerals of the drawings, the same components are given the same reference numerals, and repeated descriptions thereof are omitted. When explaining the embodiments, when it is determined that a detailed description of the relevant well-known technology may unnecessarily obscure the gist of the embodiments, the detailed description thereof will be omitted.

[0060] In addition, when describing the components of the embodiments, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only used to distinguish the component from other components, and do not limit the essence, order, steps, etc. of the relevant component due to these terms. When a component is described as "connected", "coupled", or "connected to" another component, it should be understood that although the component can be directly connected or connected to the other component, there may also be other components "connected", "coupled", or "connected" between the components.

[0061] The components included in one embodiment and the components having common functions are described using the same names in other embodiments. Unless otherwise stated, the descriptions recorded in any one embodiment can be applied to other embodiments, and specific descriptions within the scope of repetition are omitted.

[0062] Figure 1Partial perspective view of a gas container according to an embodiment.

[0063] Referring Figure 1 , the gas container G for the automated gas supply system 1 according to an embodiment will be described. In one embodiment, the gas container G can store process gas inside. In one embodiment, a valve assembly V for discharging the gas stored inside or injecting gas from the outside can be provided at the upper part of the gas container G. In one embodiment, while the valve assembly V provides a flow path for discharging the gas stored inside the gas container G to the outside, it can selectively restrict the flow of the gas. In one embodiment, a valve C having an open discharge port formed therein can be protrudingly formed on the side surface of the valve assembly V so as to discharge the gas to the outside. In one embodiment, the valve C can be connected to a valve connector 112 of a fastening connection device 110 (for example: Figure 2 the fastening connection device 110). In one embodiment, a valve baffle (not shown) for restricting the gas flow through the valve C can be provided inside the valve assembly V. The valve C baffle can restrict the gas flow through the valve C by the rotation operation of a valve handwheel H located at the upper part of the valve assembly V.

[0064] In one embodiment, an end cap E for preventing gas leakage by covering the discharge port can be installed on the outer circumferential surface of the valve C of the gas container G. The end cap E can be installed on the valve C in a form surrounding the outer circumferential surface of the valve C. In one embodiment, the end cap can be helically coupled along the outer circumferential surface of the valve C so as to be installed on the valve C or removed from the valve C. In one embodiment, the end cap E can have a polygonal cross-sectional shape, but the cross-sectional form of the end cap E is not limited thereto.

[0065] In one embodiment, in order for the gas supply system 1 to obtain the supply of gas from the gas container G, the process of removing the end cap E installed on the valve C must be performed first. When a series of processes for obtaining the supply of gas from the gas container G are completed, the end cap E can be reinstalled on the valve C of the gas container G to close the discharge port.

[0066] In one embodiment, the gas container G can be fastened and connected to the fastening connection device 110 of the gas supply system 1 in a state where it is disposed at a set installation position. For example, the installation position can be the internal space of a cabinet 100 to be described later. In one embodiment, since the gas container G generally has a high weight, after the gas container G is disposed at the installation position, the fastening connection device 110 can be fastened and connected in a manner aligned with the gas container G. However, it is not limited thereto.

[0067] Hereinafter, when describing the gas supply system 1, each component and operation method of the gas supply system 1 will be described on the premise that the gas container G is disposed at a set installation position.

[0068] Figure 2 is a perspective view of a gas supply system according to one embodiment, Figure 3 is a perspective view of a clamping device according to one embodiment, Figure 4 is a perspective view of a mobile robotic apparatus according to one embodiment, Figure 5a is a perspective view showing a mobile robot device, a connection module and a fastening connection module according to one embodiment, Figure 5b is a perspective view showing a connection module and a fastening connection module according to one embodiment, Figure 5c and Figure 5d is a perspective view of a connection assembly according to one embodiment.

[0069] Reference Figures 2 to 5d According to one embodiment, the gas supply system 1 can be automatically fastened to the gas container G configured at a set position, so as to obtain the supply of gas. In one embodiment, the gas supply system 1 can automatically separate the end cap E from the valve C of the gas container G or automatically fasten the end cap E to the valve C. The gas supply system 1 is automatically fastened to the valve C of the gas container G, so that the gas inside the gas container G can be supplied to the gas pipeline.

[0070] In one embodiment, the gas supply system 1 may include a cabinet 100 , a fastening connection device 110 , a mobile robotic device 130 , a three-dimensional vision camera 140 , and a processor (not shown).

[0071] In one embodiment, the cabinet 100 may contain a gas container G. The cabinet 100 may be formed with an internal space for arranging the gas container G. In order to allow the gas container G to enter the internal space, or to allow the used gas container G to be detached from the internal space, the cabinet 100 may include a door (not shown) for opening and closing the internal space. In the accompanying drawings, the internal space of the cabinet 100 is shown in an open form (for example: Figure 2 The cabinet 100 is located in the +Y direction of the cabinet 100, but this is for the convenience of explanation, and it should be noted that the internal space of the cabinet 100 can be opened and closed by a door portion not shown. In a series of processes in which the gas container G disposed inside the cabinet 100 is fastened to the fastening connection device 110 to obtain the supply of gas, the door portion seals the internal space of the cabinet 100, thereby reducing or preventing the gas stored in the gas container G from flowing out to the outside of the cabinet 100.

[0072] In one embodiment, more than one gas container G may be configured inside the cabinet 100. For example, the cabinet 100 may be configured with the following gas containers G: Figure 2The two gas containers G shown and the two fastening connection devices 110 respectively fastened to the two gas containers G. However, this is an example, and it should be noted that the number of the gas containers G and the corresponding fastening connection devices 110 is not limited and can be changed according to the design. Hereinafter, the configuration of the gas supply system 1 will be described centering on one gas container G disposed inside the cabinet 100 and one corresponding fastening connection device 110.

[0073] In one embodiment, a support frame (not shown) for supporting the gas container G may be disposed on the bottom surface of the internal space of the cabinet 100. In one embodiment, the support frame may support the gas container G from the lower end and rotate about an axis perpendicular to the ground.

[0074] In one embodiment, the fastening connection device 110 may be configured to separate or fasten a end cap (e.g., Figure 1 the end cap E) from the valve C of the gas container G, or fasten to the valve C of the gas container G to obtain gas supply. For example, the fastening connection device 110 may separate / install the end cap from the valve of the gas container G in a state where the valve C of the gas container G is aligned at the first position. The fastening connection device 110 fastens to the valve C from which the end cap has been removed in a state where the valve C of the gas container G is aligned at the second position, thereby enabling communication between the gas container G and the gas pipeline.

[0075] In one embodiment, the fastening connection device 110 may be fastened to the valve C in a state where it is aligned with the valve C of the gas container G. In one embodiment, the fastening connection device 110 may include: an end cap separation part 111 for removing the end cap from the valve C of the gas container G; a valve connector 112 for obtaining gas supply by fastening to the valve C of the gas container G; and a docking part 113 for connecting to a mobile robot device 130 described later to obtain power transmission.

[0076] In one embodiment, the end cap separation part 111 may separate and remove the end cap E installed on the valve C or reinstall the end cap on the valve C of the used gas container G. In one embodiment, an insertion groove into which at least a part of the end cap is inserted may be formed in the end cap separation part 111. The insertion groove may be formed in a shape corresponding to the cross section of the end cap. For example, when the end cap is as Figure 1When formed to have a cross-sectional shape of a regular hexagon, the insertion groove formed in the end cap separation part 111 can be formed to have a regular hexagon cross-sectional shape corresponding to the cross-sectional shape of the end cap so that the end cap can be inserted. In one embodiment, the end cap separation part 111 can rotate about the first rotation axis A1. The first rotation axis A1 can be configured to penetrate the center of the insertion groove. In one embodiment, with the fastening connection device 110 aligned with the valve C in the first position, the first rotation axis A1 of the end cap separation part 111 can coincide with the central axis of the end cap.

[0077] In one embodiment, with the fastening connection device 110 aligned with the valve C of the gas container G in the first state, the end cap separation part 111 can be in a state of separating the end cap from the valve C or installing the end cap. For example, with the fastening connection device 110 aligned with the valve C of the gas container G in the first state, the end cap separation part 111 can be configured to face the valve C in a state where the first rotation axis A1 coincides with the central axis of the valve C, that is, the rotation center of the end cap installed on the valve C.

[0078] In one embodiment, since the end cap is separated from and fastened to the valve C in a screw-coupled manner, the end cap separation part 111 can, in a state of clamping the outer surface of the end cap through the insertion groove, release the screw coupling between the end cap and the valve C or screw-couple the end cap and the valve C through the rotation operation about the first rotation axis.

[0079] In one embodiment, in order to insert the end cap into the insertion groove of the end cap separation part 111, it is necessary to align the rotation angle of the end cap in a state where the first rotation axis and the central axis coincide so that the shapes of the insertion groove and the end cap match. In one embodiment, the end cap separation part 111 can rotate about the first rotation axis by obtaining the transmitted power from the mobile robot device 130 described later, so as to align the rotation angle with respect to the end cap. For example, the coincidence of the first rotation axis of the end cap separation part 111 and the central axis of the end cap can be performed through the position adjustment of the fastening connection device 110, and the rotation angle of the end cap separation part 111 can be performed through the rotation operation about the first rotation axis of the end cap separation part 111.

[0080] In one embodiment, when the alignment of the axis of the end cap separation part 111 with respect to the end cap and the alignment of the rotation angle are completed, the end cap separation part 111 can advance toward the end cap along the first rotation axis, so as to receive the end cap in the insertion groove. In a state where the end cap is inserted into the insertion groove, the end cap separation part 111 rotates about the first rotation axis and can translate along the first rotation axis, so as to remove the end cap from the valve C. The reinstallation of the end cap with respect to the valve C can be performed by performing the above-described end cap separation operation conversely.

[0081] In one embodiment, the valve connector 112 is connected to the gas pipeline 150 and tightly connected to the valve C of the gas container G with the end cap removed, so that a gas supply can be obtained from the gas container G. In one embodiment, the valve connector 112 can be operated to be tightly connected to the valve C in a state where the fastening connection device 110 aligns with the valve C of the gas container G in the second position. In a state where the fastening connection device 110 aligns with the valve C of the gas container G in the second position, the valve connector 112 can be configured to face the valve C. The valve connector 112 can be tightly connected to the valve C by screwing onto the valve C through the threads formed on the outer peripheral surface of the valve C.

[0082] In one embodiment, the valve connector 112 can rotate along the second rotation axis A2. In one embodiment, the valve connector 112 can translate in the front - rear direction along the second rotation axis A2. In one embodiment, the second rotation axis A2 of the valve connector 112 can be substantially coincident with the central axis of the valve C in a state where the fastening connection device 110 aligns with the valve C of the gas container G in the second position. In this case, the valve connector 112 can be tightly connected to the valve C by advancing toward the valve C along the second rotation axis A2. In one embodiment, the rotational and advancing movements of the valve connector 112 can be performed by obtaining the transmitted power from the mobile robot device 130.

[0083] In one embodiment, the second rotation axis A2 of the valve connector 112 can be arranged substantially parallel to the first rotation axis A1 of the end - cap separation part 111 on the same plane. According to the structure described above, in a state where the fastening connection device 110 aligns with the valve C of the gas container G in the first state, for example, in a state where the first rotation axis A1 of the end - cap separation part 111 coincides with the central axis of the end cap, when the fastening connection device 110 translates in one direction, the fastening connection device 110 can align with the valve C of the gas container G in the second position. In this case, the valve connector 112 can be arranged side - by - side with the end - cap separation part 111.

[0084] In other examples not shown in the figure, the valve connector 112 and the end - cap separation part 111 can be formed such that the second rotation axis A2 and the first rotation axis A1 coincide. For example, the valve connector 112 is located inside the insertion groove of the end - cap separation part 111 and can be formed to rotate about the same rotation axis as the end - cap separation part 111. In this case, in a state where the fastening connection device 110 aligns with the valve C of the gas container G in the first state, for example, in a state where the first rotation axis A1 of the end - cap separation part 111 coincides with the central axis of the end cap, the fastening connection device 110 can translate along the first rotation axis A1, so that the fastening connection device 110 can align with the valve C of the gas container G in the second state.

[0085] On the other hand, it should be noted that the position and angle of the fastening connection device 110 in the first state aligned in such a way that the end cap is separated from / attached to the valve C and the position and angle in the second state aligned in the form of being fastened to the valve C may change relatively according to the position and angle of the valve of the gas container C disposed in the cabinet 100.

[0086] In one embodiment, the docking portion 113 may be exposed and disposed outside the fastening connection device 110. For example, the docking portion 113 may be located on the side of the fastening connection device 110 facing the open portion of the cabinet 100 (e.g., the side of the fastening connection device 110 facing the +Y axis Figure 3 ). In one embodiment, the mobile robot device 130 may be detachably connected to the docking portion 113.

[0087] In one embodiment, in a state where the mobile robot device 130 is connected to the docking portion 113, the fastening connection device 110 may change its position within the internal space of the cabinet 100 through the mobile robot device 130. In one embodiment, in a state where the mobile robot device 130 is connected to the docking portion 113, the fastening connection device 110 may obtain the transmission of the power supplied by the mobile robot device 130 through the docking portion 113 to operate the end cap separating portion 111 and the valve connector 112.

[0088] In one embodiment, the docking portion 113 may include a docking fixture for fastening and connecting the docking module of the mobile robot device 130 and a power transmission portion connecting the rotating shaft of the power motor 134 of the mobile robot device 130. In one embodiment, the docking fixture may fix or release the fastening connection state of the docking module relative to the docking portion 113 so that the docking module can be separated.

[0089] In one embodiment, the mobile robot device 130 may move outside the cabinet 100. The mobile robot device 130 is detachably connected to the fastening connection device 110 and can move the fastening connection device 110 or supply power to the fastening connection device 110 in a state of being connected to the fastening connection device 110. In one embodiment, the mobile robot device 130 may include a main body 131, a traveling portion 133, a robot arm 132, and a docking module 135.

[0090] In one embodiment, the main body 131 may form the main body of the mobile robot device 130. Various components for operating the mobile robot device 130 (e.g., actuators, control units, communication devices, etc.) may be disposed inside the main body 131. The main body 131 may move along the ground.

[0091] In one embodiment, the traveling unit 133 may be disposed at the lower end of the main body 131. The traveling unit 133 may move the main body 131 along the ground. The traveling unit 133 may include, for example, a guiding member that moves along a guide rail installed on the ground, or a rolling member that can move on the ground. In one embodiment, the traveling unit 133 may operate according to an order from the control unit to move the mobile robot device 130.

[0092] In one embodiment, the robotic arm 132 may be mounted on the main body 131. In one embodiment, the robotic arm 132 may be disposed at the upper part of the main body 131. In one embodiment, the robotic arm 132 may be composed of a multi-joint arm that realizes a multi-degree-of-freedom motion, that is, a six-degree-of-freedom motion. For example, the robotic arm 132 can achieve three-dimensional motion relative to the ground (e.g., translational motion along the X, Y, and Z axes) and three-directional angular motion (e.g., roll, yaw, and pitch motions) through the operation of the multi-joint arm.

[0093] In one embodiment, the docking module 135 may be disposed at the end of the robotic arm 132. In one embodiment, the docking module 135 may be detachably fastened to the fastening connection device 110.

[0094] In one embodiment, the docking module 135 may be provided in the form of a clamp that supports the fastening connection device 110 by gripping the outer peripheral surface of the fastening connection device 110. In this case, the mobile collaborative robot 130 may adjust the position of the fastening connection device 110 through the operation of the robotic arm 132 in a state where the docking module 135 grips the fastening connection device 110.

[0095] In one embodiment, the docking module 135 may be provided as a structure that is fastened to the fastening connection device 110 in a docking manner. In this case, the docking module 135 may be fastened to the docking portion 113 of the fastening connection device 110 through the operation of the robotic arm 132. The docking module 135 is fastened to the docking portion 113, thereby moving the fastening connection device 110 according to the operation of the robotic arm 132, and may supply power to the fastening connection device 110 in a state of being fastened to the fastening connection device 110. In one embodiment, the docking module 135 may include a docking plate 1351, a docking member 1353, and a power motor 134.

[0096] In one embodiment, the docking plate 1351 may be disposed at the end of the robotic arm 132. In one embodiment, the docking plate 1351 may include a docking surface (e.g., the surface of the docking plate 1351 shown in Figure 3 toward the +Y axis of Figure 4 the surface facing the docking portion 113).

[0097] In one embodiment, a docking component (not shown) can be configured on the docking surface of the docking plate 1351. For example, the docking component can protrude from the docking surface. In one embodiment, the docking component can be selectively fastened to the docking fixture 1132 of the docking portion 113. For example, the docking component can be inserted and fastened to the docking fixture 1132. In one embodiment, when multiple docking fixtures 1132 are arranged on the surface of the docking portion 113, multiple docking components can be formed on the docking surface of the docking plate 1351 at positions corresponding to the multiple docking fixtures 1132 respectively.

[0098] In one embodiment, the power motor 134 can be installed at the end of the robotic arm. The rotating shaft of the power motor 134 can penetrate the docking plate 1351 and protrude towards the docking surface of the docking plate 1351. In one embodiment, in the state where the docking module 135 is fastened to the docking portion 113, for example, in the state where the docking component is fastened to the docking fixture 1132, the rotating shaft of the power motor 134 can be inserted into the power transmission portion 1131 formed on the docking portion 113. The power motor 134 can transmit power to the fastening connection device 110 through the power transmission portion 1131. The power transmitted by the power motor 134 can be transmitted to the end cap separation portion 111 and the valve connector 112 of the fastening connection device 110.

[0099] In one embodiment, in order to fasten the docking module 135 to the docking portion 113 of the fastening connection device 110, the docking module 135 needs to be aligned with the docking portion 113 at a position where it can be fastened. In one embodiment, as shown in FIG. 5, in the state where the docking module is aligned with the docking portion 113 in a form that can be fastened, the docking component 136 of the docking module and the rotating shaft of the power motor 134 can be respectively located at positions corresponding to the docking fixture 1132 and the power transmission portion 1131 of the docking portion 113. It should be noted that the fastening connection state in which the docking module 135 can be fastened to the docking portion 113 of the fastening connection device 110 may vary relatively due to the position and angle of the fastening connection device 110 inside the cabinet 100.

[0100] In one embodiment, in the state where the docking module 135 is fastened to the docking portion 113 of the fastening connection device 110, the docking module 135 and the fastening connection device 110 move in an integrated form, so the position of the fastening connection device 110 inside the internal space of the cabinet 100 can be adjusted by the robotic arm 132. For example, the relative position between the fastening connection device 110 and the valve C of the gas container G can be adjusted by the robotic arm 132.

[0101] On the other hand, in the drawings, although the mobile robot device 130 is shown to have one robot arm 132, this is for ease of illustration. It should be noted that the mobile robot device 130 may be configured with multiple robot arms 132 to perform different functions (e.g., fastening / separating washers, adjusting the position of a three-dimensional vision camera, docking a fastening connection device, docking a clamping device, etc.).

[0102] In one embodiment, the three-dimensional vision camera 140 may collect images of the gas supply system 1. For example, the three-dimensional vision camera 140 may collect three-dimensional images including the docking module 135, the fastening connection device 110, and the valve C of the gas container G. The three-dimensional vision camera 140 may obtain a three-dimensional image of the valve area including the valve C of the gas container G. In one embodiment, the three-dimensional vision camera 140 may be disposed at the end of the robot arm, for example, above the docking plate 1351. The three-dimensional vision camera 140 may be configured on the robot arm in a form that can collect a front image of the docking module facing the docking portion 113, for example, an image along the docking surface direction of the docking plate 1351. In one embodiment, the image collection position of the three-dimensional vision camera 140 is not limited to the above examples and may be set to collect images in various directions according to set conditions. For example, the three-dimensional vision camera 140 may be configured on the robot arm in a form that can collect a lower image of the docking module, for example, an image in the ground direction of the docking plate 1351. Additionally, it may be disposed at a position adjacent to the robot arm instead of on the robot arm.

[0103] In one embodiment, the processor may control the operation of the mobile robot device 130. In one embodiment, the processor may move the mobile robot device 130 based on the images collected by the three-dimensional vision camera 140. For example, the processor may cause the mobile robot device 130 to move in a form of approaching or moving away from the cabinet 100.

[0104] In one embodiment, the processor may control the operation of the mobile collaborative robot 130 based on the three-dimensional images collected by the three-dimensional vision camera 140 so that the mobile collaborative robot 130 can be fastened to the fastening connection device 110. For example, the processor may obtain information on the position and angle of the fastening connection device 110, move and operate the robot arm 132 so that the mobile collaborative robot 130 can clamp the fastening connection device 110 or be fastened to the fastening connection device 110.

[0105] In one embodiment, the processor may operate the robotic arm based on the three-dimensional image collected by the three-dimensional vision camera 140, such that the docking module 135 can dock with the docking portion 113 of the fastening connection device 110. In one embodiment, the processor may operate the robotic arm 132 based on the image collected by the three-dimensional vision camera 140, so as to adjust the position of the docking module 135 connected to the fastening connection device 110, such that the fastening connection device 110 is aligned with the valve C of the gas container G.

[0106] In one embodiment, the processor may determine the alignment position of the docking module 135 according to a set algorithm, and control the operation of the robotic arm 132, such that the docking module 135 moves to the determined alignment position. The alignment position of the docking module 135 may include the three-dimensional coordinates and three-dimensional rotation angle inside the cabinet 100.

[0107] In one embodiment, the alignment position of the docking module 135 may be different according to the purpose of each operation sequence of the gas supply system 1. In one embodiment, during the process of fastening the mobile robot device 130 to the fastening connection device 110, the alignment position of the docking module 135 may be a fastening connection state that is relatively aligned so that the docking module 135 can be fastened to the fastening connection device 110, that is, a position where the docking module 135 can be fastened and connected in a form corresponding to the position and angle of the docking portion 113.

[0108] In one embodiment, in the state where the mobile robot device 130 is fastened to the fastening connection device 110, that is, in the state where the docking module 135 is fastened to the docking portion 113, the alignment position of the docking module 135 may refer to the three-dimensional coordinates and three-dimensional angle of the alignment module 135 that makes the fastening connection device 110 in the first position relative to the valve C of the gas container G. For example, the alignment position of the docking module that makes the fastening connection device 110 in the first position relative to the valve C may refer to the position and angle of the docking module 135 corresponding to the position and angle of the valve of the gas container G, such that the first rotation axis of the end cap separation portion 111 of the fastening connection device 110 coincides with the central axis of the valve C.

[0109] In one embodiment, in a state where the mobile robot device 130 is fastened to the fastening connection device 110, that is, in a state where the docking module 135 is fastened to the docking part 113, the alignment position of the docking module 135 may be the alignment position of the alignment module 135 such that the fastening connection device 110 is in a second position relative to the valve C of the gas container G. For example, the alignment position of the docking module when the fastening connection device 110 is in the second position relative to the valve C may refer to the position and angle of the docking module 135 corresponding to the position and angle of the valve of the gas container G such that the second rotation axis of the valve connector 112 of the fastening connection device 110 coincides with the central axis of the valve C.

[0110] In one embodiment, the processor may be configured to generate a three-dimensional model 3M of a virtual space through an image obtained by the three-dimensional vision camera 140. For example, the three-dimensional model 3M generated by the processor may include three-dimensional images according to the shapes of the docking module, the valve C of the gas container G, and the fastening connection device 110. In one embodiment, the generated three-dimensional model 3M may change in real time according to the image obtained by the three-dimensional vision camera 140. In one embodiment, the processor may generate a three-dimensional model 3M of the valve area of the gas container G. The valve area may refer to an area including three-dimensional images according to the shape of the valve C of the gas container G or the end cap mounted on the valve C.

[0111] In one embodiment, the processor may compare and match the generated three-dimensional model 3M with one or more reference images BM stored in the database. For example, the reference image BM may be a three-dimensional image of observing the docking part 113 of the fastening connection device 110 from a specific angle and position. For example, the reference image BM may be an actual image of the valve area, that is, a three-dimensional image of observing the actual valve C and the end cap from a specific angle and position. A plurality of reference images set based on different angles and positions may be stored in the database. Position information of the corresponding three-dimensional model may be recorded in each reference image. For example, when the reference image includes an image of the docking part 113, information related to the position and angle of the docking part 113 in the cabinet 100 may be recorded in the reference image. For example, the three-dimensional position coordinates and angle information of the three-dimensional model corresponding to each reference image, that is, the valve or the end cap corresponding to the reference image in the cabinet 100, may be recorded.

[0112] In one embodiment, the processor may determine the position and angular state of the valve C of the gas container G based on the matching result between the generated three-dimensional model 3M and the reference image BM, and based on the determination result, operate the mobile robot device 130 to adjust the position and angle of the fastening connection device 110 so that the fastening connection device 110 can be in a state where it can be fastened to the valve C. For example, it may be located at the first alignment position aligned for detachable / fastening connection of the end cap, or the second alignment position aligned for fastening to the valve C to obtain gas supply.

[0113] In one embodiment, the processor may determine the image similarity between the generated three-dimensional model and the reference image stored in the database through a set algorithm.

[0114] In one embodiment, when the image similarity between the generated three-dimensional model 3M and the reference image BM reaches or exceeds a set value, the processor may control the mobile robot device 130 to cause the docking module to be fastened to the docking part of the fastening connection device 110. For example, when the reference image BM is a three-dimensional model 3M aligned so that the docking module 135 can be fastened to the docking part 113, the set algorithm may be set to generate a command for performing an operation of fastening the docking module to the docking part 113 when the image similarity is at or above the set value.

[0115] In one embodiment, when the maximum image similarity between the generated three-dimensional model 3M and the reference image BM is at or above the set value, the processor may be configured to generate the alignment position of the fastening connection device 110. The processor may operate the mobile robot device 130 to align the position of the fastening connection device 110 according to the generated alignment position.

[0116] In one embodiment, when the set algorithm determines the alignment position of the fastening connection device 110, the processor may control the robotic arm to adjust the position of the fastening connection device 110 connected to the mobile robot device 130 to the determined alignment position. For example, the processor may adjust the three-dimensional coordinates and three-dimensional rotation angle of the docking module 135 connected to the fastening connection device 110 by controlling the robotic arm.

[0117] In one embodiment, during the process of separating the end cap from the valve C, when the image similarity between the generated three-dimensional model 3M and the reference image BM is at or above the set value, the processor may control the mobile robot device 130 to align the fastening connection device 110 with the valve C of the gas container G at the first position. In one embodiment, when the reference image BM is a three-dimensional model 3M in a state where the fastening connection device 110 is aligned with the valve C at the first position, the set algorithm may be set to generate an operation command for removing the end cap from the valve C by the end cap separation part 111 when the image similarity is at or above the set value.

[0118] In one embodiment, during the process of tightly connecting the fastening connection device 110 to the valve C of the gas container G, when the image similarity between the generated three-dimensional model 3M and the reference image BM is equal to or greater than a set value, the processor may control the mobile robot device 130 such that the fastening connection device 110 is aligned with the valve C of the gas container G at the second position. In one embodiment, when the set reference image BM is the three-dimensional model 3M in the state where the fastening connection device 110 is aligned with the valve C of the gas container G at the second position, the set algorithm may be set to generate an operation command for tightly connecting the valve connector 112 to the valve C when the image similarity is equal to or greater than the set value.

[0119] In one embodiment, the processor may, in a state where the docking module 135 is tightly connected to the docking portion 113, align the position of the fastening connection device 110 by operating the robot arm 132. In one embodiment, the processor may control the operation of the robot arm based on the image collected by the three-dimensional vision camera 140 such that the fastening connection device 110 is in the first position relative to the valve C of the gas container G. In one embodiment, when the fastening connection device 110 is aligned with the valve C of the gas container G at the first position, the processor controls the power motor 134 to transmit power to the power transmission portion 1131, thereby operating the end cap separation portion 111. In one embodiment, the processor may control the operation of the robot arm based on the image collected by the three-dimensional vision camera 140 such that the fastening connection device 110 is in the second position relative to the valve C of the gas container G. In one embodiment, when the fastening connection device 110 is aligned with the valve C of the gas container G at the second position, the processor controls the power motor 134 to transmit power to the power transmission portion 1131, thereby operating the valve connector 112.

[0120] In one embodiment, the processor may be configured to execute an alignment operation determined according to the reference image BM having the highest similarity to the generated three-dimensional model 3M. For example, the processor may judge the position state of the valve C of the gas container G based on the position and angle information corresponding to the reference image BM, and may generate alignment information on the alignment state of the fastening connection device 110 based on the judgment result. The process of judging the image similarity between the three-dimensional model 3M and the reference image BM will be described later.

[0121] In one embodiment, the gas supply system 1 may include a clamping device 150.

[0122] In one embodiment, the clamping device 150 can support the gas container G inside the cabinet 100. In one embodiment, the clamping device 150 clamps the outer peripheral surface of the gas container G, thereby preventing the position deviation or inclination of the gas container G during the process of the fastening connection device 110 being fastened to the gas container G. In one embodiment, the clamping device 150 can clamp the outer peripheral surface of the gas container G located above the support frame.

[0123] In one embodiment, the clamping device 150 may include one or more clamping portions 151a, 151b for selectively clamping the outer peripheral surface of the gas container G located above the support frame. For example, the clamping device 150 may include first clamping portions 151a, 151b for clamping around the upper portion of the gas container G and second clamping portions 151a, 151b disposed below the first clamping portions 151a, 151b and clamping around the lower portion of the gas container G. However, this is only an example, and the clamping device 150 may include only one clamping portion 151a, 151b, or may include three or more clamping portions 151a, 151b.

[0124] In one embodiment, each clamping portion 151a, 151b may include a pair of clamping members 1511 for supporting the gas container G from both sides. In one embodiment, the interval between the pair of clamping members 1511 can be adjusted. For example, the clamping portions 151a, 151b include guide rails disposed along a direction parallel to the ground, and the pair of clamping members 1511 can be movably connected along the guide rails. The pair of clamping members 1511 move along the guide rails and adjust the relative interval, thereby enabling the clamping operation of the gas container G by the clamping portions 151a, 151b. In one embodiment, the moving operation of the clamping member 1511 relative to the guide rail can be performed by the power provided by a clamping drive motor (not shown). In one embodiment, one or more rolling members that contact the gas container G and can rotate about an axis perpendicular to the ground can be disposed on each clamping member 1511. Each rolling member 153 can guide the rotation operation of the gas container G about a rotation axis perpendicular to the ground (for example, the rotation axis of the support frame). In one embodiment, the plurality of rolling members 153 disposed on the clamping member 1511 can be connected by a connecting chain (not shown) to be synchronized. The plurality of rolling members 153 rotate synchronously with each other through the connecting chain, thereby guiding the rotation operation of the gas container G about a rotation axis perpendicular to the ground. In one embodiment, the rolling member 153 can rotate the gas container G through the transmission of power obtained from the robot arm. For example, the clamping device 150 is configured to be the same as the docking portion 113 of the fastening connection device 110 described later and is connected to the rotation axis of the mobile robot device 130, thereby rotating the rolling member 153. However, it is not limited thereto, and a separate drive portion for providing rotational power may also be configured.

[0125] In one embodiment, the processor may operate the robotic arm 132 based on the three-dimensional image collected by the three-dimensional vision camera 140 so that the docking module 135 can be docked with the clamping device. After the docking is completed, the processor may, based on the three-dimensional image collected by the three-dimensional vision camera 140, rotate the power motor 134 of the mobile robot device 130 and rotate the rolling member 153 so that the gas container G rotates, thereby aligning the end cap of the gas container G to a position matching the stored three-dimensional image. For example, the processor may rotate the gas container so that the rotation angle of the image comparison gas container G is within ±25° and the matching rate between the images reaches more than 70%.

[0126] In one embodiment, when the maximum image similarity between the generated three-dimensional model 3M and the reference image BM is below the set value, the processor may operate to rotate the clamping device of the mobile robot device 130 to rotate the gas container. The processor may rotate the gas container G and rotate the clamping device until the image similarity between the obtained three-dimensional model 3M and the reference image BM reaches above the set value. Additionally, the processor may rotate the gas container G until the generated three-dimensional model 3M and the reference image BM have the maximum image similarity.

[0127] In one embodiment, the gas supply system 1 may include a connection module 120.

[0128] In one embodiment, the connection module 120 may connect the fastening connection device 110 to the cabinet 100 in a movable manner. In one embodiment, the connection module 120 may connect the fastening connection device 110 to the cabinet 100 to adjust the position and angle of the fastening connection device 110 inside the cabinet 100. In one embodiment, the connection module 120 may include a fixing plate 1011, a support plate 1121, and a plurality of connection assemblies 123. However, in one embodiment, although the connection assemblies 123 are illustrated in a certain way, it is not limited thereto, and may be composed of at least one or more connection assemblies 123. Hereinafter, one of the plurality of connection assemblies 123 will be described as the center.

[0129] In one embodiment, the fixing plate 1011 may be fixed to the internal space of the cabinet 100. For example, the fixing plate 1011 may be fixed to the upper end surface of the internal space. For example, the fixing plate 1011 may be fixed to one side inside the cabinet 100 and form a first connection portion 101 to which a connection assembly 123 described later is connected. For example, the fixing plate 1011 may form a first connection portion 101 on its surface to which a first end 121 of the connection module 120 is connected. However, it should be noted that the place where the first connection portion 1011 is formed is not limited to the fixing plate 1011, and it may be formed at any portion of the upper end surface of the cabinet 100.

[0130] In one embodiment, the support plate 1121 may be fixed to one side of the fastening connection device 110. For example, the support plate 1121 may be fixed to the upper end surface of the fastening connection device 110. For example, the support plate 1121 may be fixed to the upper end surface of the fastening connection device 110 and form a second connection portion to which a connection assembly 123 described later is connected. For example, the support plate 1121 may form a second connection portion on its surface to which a second end 122 of the connection module 120 is connected. However, it should be noted that the place where the second connection portion is formed is not limited to the support plate 1121, and it may be formed at any portion of the upper end surface of the fastening connection device 110. In this case, the support plate 1121 may be installed on the cabinet 100 in a movable and rotatable manner through the connection module 120 fixed to the upper end of the cabinet 100. In one embodiment, when there is a fixing plate 1011, the surface of the support plate 1121 may have substantially the same form as the surface of the fixing plate 1011. In other words, the shape of the support plate 1121 and the shape of the fixing plate 1011 may be the same or similar.

[0131] In one embodiment, the connection assembly 123 may connect the fastening connection device 110 to the cabinet 100 in a movable and rotatable manner. For example, the connection assembly 123 may be formed to have a length direction. In this case, a first end 121 of the connection assembly 123 may be connected to the first connection portion 101 of the cabinet 100. In this case, a second end 122 of the connection assembly may be connected to the second connection portion. For example, when the connection module 120 has a plurality of connection assemblies 123, the plurality of connection assemblies 123 may be respectively connected to different positions of the first connection portion 101. For example, when the connection module 120 has a plurality of connection assemblies 123, the plurality of connection assemblies 123 may be respectively connected to different positions of the second connection portion.

[0132] In one embodiment, the connection assembly 123 may include a first connection member 1231, a second connection member 1232, a length adjustment shaft 1233, a first joint 1234, a second joint 1236, and a brake 1238.

[0133] In one embodiment, the first connecting member 1231 may be connected to any location of the first connecting portion 101. For example, when a plurality of connecting assemblies 123 are included, the first connecting members 1231 may be respectively connected to different locations on the first connecting portion 101. In one embodiment, the second connecting member 1232 may be connected to any location of the second connecting portion. For example, when a plurality of connecting assemblies 123 are included, the second connecting members 1232 may be respectively connected to different locations on the second connecting portion.

[0134] In one embodiment, the length adjustment shaft 1233 connects the first connecting member 1231 and the second connecting member 1232 and is length-adjustable. In one embodiment, the length adjustment shaft 1233 may include a first length adjustment member 1233-1, a second length adjustment member 1233-2, and an elastic member.

[0135] In one embodiment, the first length adjustment member 1233-1 and the second length adjustment member 1233-2 may be formed to have a length direction. For example, the first length adjustment member 1233-1 may be formed with an inner space for inserting the second length adjustment member 1233-2 along the length direction. In this case, the first length adjustment member 1233-1 may have an inner diameter substantially the same as the outer diameter of the second length adjustment member 1233-2. In other words, the inner diameter of the first length adjustment member 1233-1 and the outer diameter of the second length adjustment member 1233-2 may be substantially the same. For example, the second length adjustment member 1233-2 may be inserted into the inner space of the first length adjustment member 1233-1, and the second length adjustment member 1233-2 may move within the inner space of the first length adjustment member 1233-1. In this case, the length of the length adjustment shaft 1233 may be adjusted by the relative movement of the first length adjustment member 1233-1 and the second length adjustment member 1233-2.

[0136] In one embodiment, an elastic member (not shown) may mitigate the impact that may occur when the second length adjustment member 1233-2 moves relative to the first length adjustment member 1233-1. For example, the elastic member may be disposed inside the first length adjustment member 1233-1. In this case, the elastic member may apply an elastic force to the second length adjustment member 1233-2 inserted into the inside of the first length adjustment member 1233-1. However, it is not limited thereto, and the elastic member may be installed between the fixing plate 1011 and the support plate 1121 through a spring post.

[0137] In one embodiment, the first joint 1234 may rotatably connect the length adjustment shaft 1233 and the first connection member 1231. For example, the first joint 1234 may include a universal joint, a ball and socket joint, or a spherical bearing. In one embodiment, the first joint 1234 may include a first-1 rotating member 1234-1 rotatably connected to the first connection member 1231 about the first-1 rotation axis A1-1. In one embodiment, the first joint 1234 may include a first-2 rotating member 1234-2 rotatably connected relative to the first rotating member 1234-1 about the first-2 rotation axis A1-2 perpendicular to the first-1 rotation axis A1-1 and connected to the length adjustment shaft 1233. In this case, the first-2 rotating member 1234-2 may rotate about the first-2 rotation axis A1-2, and the first-2 rotation axis A1-2 may rotate about the first-1 rotation axis A1-1. Therefore, the length adjustment shaft 1233 connected by the first-1 rotating member 1234-1 and the first-2 rotating member 1234-2 may rotate relative to the first connection member 1231 along a virtual spherical surface, that is, in the form of having an arbitrary angle in the spherical coordinate system.

[0138] In one embodiment, the second joint 1236 and the first joint 1234 rotatably connect the length adjustment shaft 1233 and the second connection member 1232. For example, the second joint 1236 may include a second-1 rotating member 1236-1 rotatably connected to the second connection member 1232 about the second-1 rotation axis A2-1. In one embodiment, the second joint 1236 may include a second-2 rotating member 1236-2 rotatably connected relative to the second-1 rotating member 1236-1 about the second-2 rotation axis A2-2 perpendicular to the second-1 rotation axis A2-1 and connected to the length adjustment shaft 1233. To avoid repeated description, when describing the second joint 1236, the content substantially the same as that of the first joint 1234 shall apply within the scope not conflicting with the content described by the first joint 1234.

[0139] In one embodiment, the brake 1238 is mounted on the length adjustment shaft 1233 and can limit the length adjustment of the length adjustment shaft 1233. In one embodiment, the brake 1238 can limit the length adjustment by restricting the relative movement between the first length adjustment member 1233-1 and the second length adjustment member 1233-2. In one embodiment, the brake 1238 can include a first brake member 1238-1 fixed to the outer surface of the first length adjustment member 1233-1. In one embodiment, the brake 1238 can include a second brake member 1238-2 connected to the first brake member 1238-1 and selectively contacting the outer surface of the second length adjustment member 1233-2 to fix the position of the second length adjustment member 1233-2. In this case, the brake 1238 can selectively contact the outer surface of the second length adjustment member 1233-2 by operating the second brake 1238 and generate frictional force, thereby restricting the relative movement of the second length adjustment member 1233-2 relative to the first length adjustment member 1233-1. For example, the brake 1238 can include a pneumatic brake 1238. However, it should be noted that the type of the brake 1238 is illustrative and not limited thereto, and those skilled in the art can make appropriate changes and modifications to restrict the relative movement between the first length adjustment member 1233-1 and the second length adjustment member 1233-2.

[0140] In one embodiment, the connection assembly 123 can include either a first bearing (not shown) or a second bearing (not shown).

[0141] In one embodiment, the first bearing member is disposed between the first connection member 1231 and the length adjustment shaft 1233 and can rotate about a first central axis. In this case, the first central axis can be an axis parallel to the length direction of the first connection member 1231 or an axis parallel to the length direction of the length adjustment shaft 1233. For example, when the first bearing member is connected to the first connection member 1231, the first central axis can include an axis parallel to the length direction of the first connection member 1231. For example, when the first bearing member is connected to the length adjustment shaft 1233, the first central axis can include an axis parallel to the length direction of the length adjustment shaft 1233. In one embodiment, the second bearing member is disposed between the second connection member 1232 and the length adjustment shaft 1233 and can rotate about a second central axis. When describing the second joint 1236, the substantially same content as that of the first joint 1234 should be applicable within the scope not conflicting with the content described by the first joint 1234.

[0142] In one embodiment, the connection module 120 may include a plurality of connection assemblies 123. For example, the connection module 120 may include: a first connection assembly 123-1, both ends of which are connected to the 1-1 location P1-1 of the first connection part 101 and the 2-1 location P2-1 of the second connection part; a second connection assembly 123-2, both ends of which are connected to the 1-2 location P1-2 of the first connection part 101 and the 2-2 location P2-2 of the second connection part; a third connection assembly 123-3, both ends of which are connected to the 1-3 location P1-3 of the first connection part 101 and the 2-3 location P2-3 of the second connection part; and a fourth connection assembly 123-4, both ends of which are connected to the 1-4 location P1-4 of the first connection part 101 and the 2-4 location P2-4 of the second connection part. In this case, the connection positions of the plurality of connection assemblies 123 with respect to the first connection part 101 and the connection positions of the plurality of connection assemblies 123 with respect to the second connection part may correspond to each other respectively. In one embodiment, the plurality of connection assemblies 123 may be arranged so as not to cross each other in a state where the first connection part 101 and the second connection part are observed to overlap each other. In this case, due to the plurality of non-crossing connection assemblies 123, the fastening connection device 110 may be connected to the fixing plate 1011 in a form that can freely move and rotate.

[0143] In one embodiment, the plurality of connection assemblies 123 may be connected to any positions of the first connection part 101 and the second connection part within a range where the fastening connection device 110 can freely move and rotate with respect to the first connection part 101. For example, each connection position where a plurality of connection assemblies 123 are connected to the first connection part 101 may be located at the same distance from a virtual first reference point located on the first connection part 101, and each connection position where a plurality of connection assemblies 123 are connected to the second connection part may be located at the same distance from a virtual second reference point located on the second connection part. In this case, the distance from the first reference point and the distance from the second reference point may be the same or different. For example, the connection points of the plurality of connection assemblies 123 with respect to the first connection part 101 may form the vertices of a virtual first quadrilateral, and the connection points of the plurality of connection assemblies 123 with respect to the second connection part may form the vertices of a second quadrilateral having the same shape as the first quadrilateral. In this case, the first quadrilateral and the second quadrilateral have the same shape, and the plurality of connection assemblies 123 may be arranged along a direction perpendicular to the torque generated when the gas container G is fastened and connected. In this case, the connection module 120 can effectively transmit the rebounding force of the torque to the cabinet 100.

[0144] Figure 6 It is an operation diagram for explaining the process of aligning a gas container by a clamping device in a gas supply system according to an embodiment.Figure 7a It is an operation diagram showing the process in which a gas supply system according to an embodiment generates alignment information of a fastening connection device with respect to a gas container through a three-dimensional vision camera 140. Figure 7b It is an exemplary diagram of a three-dimensional model of an end cap generated by a gas supply system according to an embodiment. Figure 7c It is a schematic diagram showing the process of matching the three-dimensional model generated by a processor and an image of a reference image according to an embodiment. Figure 8 It is a diagram showing the process of aligning a fastening connection device by a mobile robot device according to an embodiment.

[0145] Hereinafter, through Figures 6 to 8 , a series of exemplary processes in which the gas supply system 1 is automatically fastened to the gas container G based on the image obtained through the three-dimensional vision camera 140 will be described.

[0146] Referring to Figure 6 , in one embodiment, the gas supply system 1 may align the position of the gas container G based on the image obtained through the three-dimensional vision camera 140. In one embodiment, in a state where the gas container G is installed on a support frame (not shown), the clamping device may support the outer circumferential surface of the gas container G and rotate the gas container G about a rotation axis perpendicular to the ground. For example, the clamping device may rotate the gas container G about a rotation axis perpendicular to the ground through the rotation operation of the rolling member 153 disposed on the clamping member 1511.

[0147] In one embodiment, the processor can align the rotational state of the gas container G through the clamping device. For example, the processor uses the clamping device to rotate the gas container G around a rotation axis perpendicular to the ground, and during the rotation of the gas container G, an image of the end cap of the valve C installed on the gas container G can be obtained in real time through the three-dimensional vision camera 140. The three-dimensional vision camera 140 can obtain an image of the end cap at a preset position. Since the gas container G rotates around the rotation axis, the three-dimensional vision camera 140 can obtain end cap images at various rotation angles of the gas container G relative to the rotation axis. In one embodiment, the processor can determine the image similarity according to each end cap image by comparing the obtained images of multiple end caps with the reference image BM of the end cap stored in the database. In one embodiment, the processor can screen out the end cap image with the highest similarity to the reference image BM of the end cap, and operate the clamping device so that the gas container G is located at the rotation angle corresponding to the screened end cap. For example, when the gas container G is located at a specific angle, the end cap image obtained through the three-dimensional vision camera 140 can have the highest similarity to the reference image BM of the end cap stored in the database. In a state where the obtained end cap image has the highest similarity to the reference image BM, the rotation angle of the gas container G relative to the rotation axis can be aligned.

[0148] In one embodiment, when aligning the rotation angle of the gas container G, the gas supply system 1 can, as Figures 7a to 7c shown, detect the alignment state of the fastening connection device 110 relative to the valve C of the gas container G. In one embodiment, the gas supply system 1 can obtain an image including the valve C area (e.g., valve C, end cap) of the gas container G and the fastening connection device 110 through the three-dimensional vision camera 140, and can generate a three-dimensional model 3M of the target area based on the obtained image. For example, the gas supply system 1 can generate a three-dimensional model 3M of the shape of the end cap of the valve C installed on the gas container G.

[0149] In one embodiment, the processor can determine the alignment state of the fastening connection device 110 relative to the valve C of the gas container G by matching the generated three-dimensional model 3M, for example, the three-dimensional model 3M of the end cap, with multiple reference images BM stored in the database. For example, the processor compares the generated three-dimensional model 3M with multiple reference images BM already stored in the database, and can screen out the three-dimensional reference image BM with the highest image similarity to the generated three-dimensional model 3M according to the image similarity judgment result. Here, the multiple reference images BM can be three-dimensional reference images BM of the valve C or end cap of the gas container G with different shapes.

[0150] In one embodiment, the processor may divide the generated three-dimensional model 3M and the selected three-dimensional reference image BM into a plurality of pixel regions, and separately determine whether each pixel region matches. The processor may determine the image similarity between the selected three-dimensional image and the reference image BM based on the matching status of each of the plurality of pixel regions of the generated three-dimensional model 3M and the selected reference image BM. While determining the similarity, the processor may obtain the rotation angle and position coordinates on the generated three-dimensional model 3M and the reference image BM.

[0151] In one embodiment, the processor may determine the position and angular state of the valve C region of the gas container G based on the rotation angle and position information of the generated three-dimensional model 3M, for example, the position adjustment value of the generated three-dimensional image compared to the initial state of the three-dimensional model 3M. The processor may generate relevant alignment information for causing the fastening connection device 110 to align with the gas container G, based on the rotation angle and position information of the generated three-dimensional model 3M corresponding to the generated three-dimensional image.

[0152] In one embodiment, the processor may be configured to generate the alignment information of the fastening connection device 110 only when the image similarity between the generated three-dimensional model 3M and the reference image BM reaches a set value or more. For example, when the maximum image similarity according to the image matching result is less than the set value, the processor may control the three-dimensional vision camera 140 to acquire an image of the valve C region of the gas container G again at a different position, without generating the alignment information of the fastening connection device 110. For example, the processor may control the rotation of the gas container G, or may adjust the shooting angle of the three-dimensional vision camera 140 for the valve C region of the gas container G.

[0153] In one embodiment, the processor can operate to generate the alignment information of the fastening connection device 110 only when the rotation angle of the generated three-dimensional model 3M corresponding to the three-dimensional reference image BM, for example, the rotation angle of the three-dimensional reference image BM compared to the initial state of the three-dimensional model 3M, is within a set angle range. For example, when the rotation angle of the generated three-dimensional model 3M corresponding to the three-dimensional reference image BM exceeds the set angle, the processor may generate the three-dimensional model 3M of the fastening connection device 110, and perform the matching operation between the three-dimensional model 3M and the reference image BM again.

[0154] In one embodiment, the processor may generate a movement path for optimally aligning the fastening connection device 110 with respect to the gas container G based on the alignment information generated according to the image matching. The processor may control the operation of the mobile robot device 130 according to the generated movement path, so as to adjust the position of the fastening connection device 110.

[0155] In one embodiment, the processor may control the operation of the mobile robot device 130 such that when the alignment information and the movement path of the fastening device 110 are generated, the docking module 135 of the mobile robot device 130 docks with the docking portion of the fastening connection device 110. As Figure 8 shown, when the mobile robot device 130 docks with the fastening connection device 110, the processor may control through the mobile robot device 130 to align the fastening connection device 110 with the valve C of the gas container G. For example, the fastening connection device 110 is in a first alignment position where the end cap can be separated.

[0156] Figure 9 is a sequence diagram of an automatic fastening connection method of the fastening connection device 110 with respect to the gas container G according to one embodiment.

[0157] Figure 9 At least one operation among the operations of the automatic fastening connection method shown in may be omitted. Unless otherwise specified, the order of the operations of the automatic fastening connection method may be changed with each other or executed simultaneously. At least one operation among the operations of the automatic fastening connection method may be repeatedly executed.

[0158] The automatic fastening connection method according to one embodiment may be executed by a gas supply system 1 including a fastening connection device 110 and a mobile robot device 130 (for example: Figure 2 the gas supply system 1). The mobile robot device 130 includes a docking module that is selectively connected to the fastening connection device 110 to supply power to the fastening connection device 110. In one embodiment, the fastening connection device 110 may include a valve connector 112 or an end cap separation portion 111 that is fastened to the valve C of the gas container G to obtain gas supply. In one embodiment, the mobile robot device 130 may include a docking portion that is selectively connected to the fastening connection device 110, so as to supply power to the fastening connection device 110 through the docking module. In one embodiment, the automatic fastening connection method may be executed by the processor.

[0159] In one embodiment, the automatic fastening connection method may include an operation 210 of generating a three-dimensional model 3M of the end cap of the gas container G. The operation 210 may be executed by a three-dimensional vision camera 140. In one embodiment, in the operation 210, the processor may obtain an image of the end cap of the gas container G through the three-dimensional vision camera 140, and generate a three-dimensional model 3M of the end cap based on the obtained image.

[0160] In one embodiment, the automatic fastening connection method may include an operation of matching the generated three-dimensional model 3M of the end cap with any one of the reference images BM stored in the database. The reference image BM may be an actual three-dimensional image or a three-dimensional image of various end caps taken from various angles. In one embodiment, operation 220 may generate a two-dimensional image by dividing the generated three-dimensional image into planes, thereby generating pixels of the three-dimensional image, and compare the generated pixels with the image pixels of the reference image BM to determine the image similarity. In one embodiment, operation 220 may obtain the rotation angle and three-dimensional coordinates of the three-dimensional model 3M generated based on the determined image similarity.

[0161] In one embodiment, operation 221 may obtain respective pixels by dividing the generated three-dimensional model 3M into two dimensions, and then merge them again to generate pixels of a three-dimensional image of the geometric structure.

[0162] In one embodiment, operation 220 may determine the image similarity by comparing the pixels of the generated three-dimensional image with the image of the reference image BM. For example, the determination of the image similarity may be configured to divide the three-dimensional image into a plurality of pixel regions, match each pixel region with the image of the reference image BM, and generate a numerical value of the image similarity based on the number of the matched pixel regions.

[0163] In one embodiment, operation 220 may determine whether it has the highest image similarity with the reference image BM. In operation 220, when the value of the highest image similarity is lower than the set reference value, operation 210 may be executed again.

[0164] In one embodiment, the automatic fastening connection method may include an operation 230 of generating relevant alignment information based on the matching result of the reference image BM and the three-dimensional model 3M such that the end cap separation part 111 can be aligned with the position and angle of the end cap. In one embodiment, operation 230 may be executed only when the image similarity determined in operation 220 reaches a value equal to or higher than the set reference value.

[0165] In one embodiment, the automatic fastening connection method may include an operation 240 of moving the fastening connection device 110 based on the generated alignment information to align it with the valve C (e.g., end cap) of the gas container G.

[0166] Figure 10 It is a sequence diagram of an automatic fastening connection method of a fastening connection device with respect to a gas container according to one embodiment.

[0167] Figure 10At least one of the operations in the automatic fastening connection method shown may be omitted. Unless otherwise specified, the order of the operations in the automatic fastening connection method may be changed with each other or performed simultaneously. At least one of the operations in the automatic fastening connection method may be repeatedly performed.

[0168] The automatic fastening connection method according to one embodiment may be performed by a gas supply system 1 including a clamping device and a three-dimensional vision camera 140 (e.g., Figure 2 the gas supply system 1), wherein the clamping device rotatably supports a gas container G about a rotation axis perpendicular to the ground, and the three-dimensional vision camera 140 is configured to obtain an image of the gas container G. In one embodiment, the automatic fastening connection method may be performed by a processor.

[0169] In one embodiment, the automatic fastening connection method may include an operation 310 of rotating the gas container G about a rotation axis perpendicular to the ground. The operation 310 may be performed by the clamping device.

[0170] In one embodiment, the automatic fastening connection method may include an operation 320 of obtaining an end cap image of a valve C mounted on the gas container G at a set position by the three-dimensional vision camera 140 during the execution of the operation 310.

[0171] In one embodiment, the automatic fastening connection method may include an operation 330 of comparing the obtained end cap image with a reference image BM of the end cap stored in a database and screening out the end cap image having the highest image similarity with the reference image BM. The operation 330 may screen out the end cap image having the highest image similarity with the set reference image BM, that is, the end cap image in a state where the gas container G is rotated by a specific angle about the rotation axis.

[0172] In one embodiment, the automatic fastening connection method may include an operation 340 of aligning the rotation angle of the gas container G about the rotation axis from the rotation angle corresponding to the screened end cap image. In the operation 340, the processor may determine the rotation angle of the gas container G about the rotation axis by stopping the operation of the clamping device.

[0173] Figure 11 is an exemplary operation sequence diagram of the gas supply system 1 according to one embodiment.

[0174] Unless otherwise specified, Figure 11 the order of the operations in the gas supply system 1 shown may be changed with each other or performed simultaneously. Figure 11 At least one of the operations shown may be repeatedly performed. Figure 11 The operation of the gas supply system 1 may be performed by the gas supply system 1 as described above.

[0175] In one embodiment, an operating method of the gas supply system 1 may include an operation 410 of receiving a signal for starting a fastening connection. In operation 410, the gas supply system 1 may determine whether a fastening connection operation of the fastening connection device 110 with respect to the gas container G is required. For example, whether the fastening connection of the fastening connection device 110 with respect to the gas container G is required may be performed based on an image obtained by the three-dimensional vision camera 140 mounted on the mobile robot device 130. In operation 410, the mobile robot device 130 may move toward the cabinet 100. The mobile robot device 130 may identify the gas container G disposed inside the cabinet 100. In one embodiment, when it is necessary to replace the gas container G disposed inside the cabinet 100, a signal regarding whether to replace the gas container G may be generated and transmitted to the processor. In one embodiment, when a plurality of gas containers G are disposed inside the cabinet 100, it may be preferentially determined whether it is necessary to replace the gas container G with a short usage period.

[0176] In one embodiment, when a signal regarding the fastening connection signal is received in operation 410, the mobile robot device 130 may move to a set position adjacent to the cabinet 100. The processor may determine the relative position of the mobile robot device 130 with respect to the cabinet 100 based on the position information of the mobile robot device 130. In one embodiment, when it is determined that the mobile robot device 130 has reached the set position adjacent to the cabinet 100, an arrival signal may be transmitted to an operation server (e.g., a processor, an external server, etc.) of the gas supply system 1. The operation server may generate a command for an automatic fastening connection sequence performed by the mobile robot device 130 and transmit it to the processor.

[0177] In one embodiment, an operating method of the gas supply system 1 may include an operation 420 of aligning the position of the mobile robot device 130. For example, operation 420 may be performed after a start signal for an automatic fastening connection sequence is generated from the operation server. In one embodiment, the processor may control the mobile robot device 130 such that the mobile robot device 130 is located at a set position adjacent to the cabinet 100 (i.e., a set fastening connection operation start position). In one embodiment, the processor may determine whether the position of the mobile robot device 130 is located at the set position or whether any abnormal situation (e.g., a dangerous situation requiring interruption of the fastening connection sequence, etc.) exists through the mobile robot device 130 and the three-dimensional vision camera 140. In one embodiment, during the execution of operation 420, the cabinet 100 may be opened so that the gas container G can be exposed to the outside.

[0178] In one embodiment, the operating method of the gas supply system 1 may include, after performing operation 420, an operation 430 of aligning the gas container G by the clamping device. In one embodiment, in operation 430, the processor may confirm the docking position of the mobile robot device 130 relative to the clamping device through the three-dimensional vision camera 140. In one embodiment, the mobile robot device 130 docks with the clamping device, thereby providing power for operating the clamping device. In another example, the clamping device may also be operated by a power device provided therein.

[0179] In one embodiment, in operation 430, the processor may detect whether there is a gas container G inside the cabinet 100 through the three-dimensional vision camera 140. When it is determined that there is a gas container G inside the cabinet 100, the processor may capture an image of the valve C area of the gas container G and an image of, for example, the end cap of the valve C installed in the valve C area through the three-dimensional vision camera 140. In one embodiment, in operation 430, while the three-dimensional vision camera 140 can capture the end cap of the gas container G at a set position, the clamping device rotates the gas container G about a rotation axis perpendicular to the ground. The processor may obtain end cap images at various angles that change according to the rotation operation of the gas container G, and determine the image similarity by comparing the obtained end cap images with the reference image BM stored in the database. In one embodiment, in operation 430, the processor may select the end cap image captured from the rotation angle of the gas container G that has the highest similarity to the reference image BM. In one embodiment, when the end cap image with the highest similarity to the reference image BM is selected in operation 430, the processor may stop the gas container G at the rotation angle corresponding to the selected image through the clamping device. In this case, the rotation alignment of the gas container G can be completed only when the similarity between the reference image BM and the end cap image has a set reference value, for example, a matching rate of 70% or more. For example, when the highest image similarity is lower than the set reference value, it may be determined that there is no gas container G or there is a defect in the cylinder valve C (for example: end cap), and an alarm for an abnormal state may be generated.

[0180] In one embodiment, in operation 430, when the rotation alignment of the gas container G is completed, the operation of the clamping device may be stopped. When the clamping device is operated by the mobile robot device 130, the mobile robot device 130 may separate from the clamping device. In operation 430, information about the end cap position may be transmitted to the processor.

[0181] In one embodiment, the operating method of the gas supply system 1 may include an operation 440 of aligning the fastening connection device 110 with the gas container G after performing operation 430.

[0182] In one embodiment, in operation 440, the processor may obtain a target area of the fastening connection device 110 through the three-dimensional vision camera 140, for example, the position information of the end cap separation part 111 and the valve connector 112. In operation 440, the processor may connect the mobile robot device 130 to the docking part of the fastening connection device 110. In operation 440, the processor may rotate the connector of the mobile robot device to remove the plug blocking the connector. In operation 440, based on the relative position and rotation angle information of the fastening connection device 110 with respect to the end cap, the processor may align the fastening connection device 110 with the valve C of the gas container G, that is, the position where it can be fastened to the end cap. Since the fastening connection device 110 can adjust its position and angle through multi-degree-of-freedom movement inside the cabinet 100 by means of the moving module, the fastening connection device 110 can be aligned with the valve C of the gas container G through the operation of the mobile robot device docked to the fastening connection device 110. For example, the fastening connection device 110 can be aligned with the gas container G in a form in the first alignment state for separating the end cap.

[0183] In one embodiment, the operation method of the gas supply system 1 may include, after performing operation 440, an operation 450 of separating the end cap from the gas container G through the fastening connection device 110. In operation 450, the processor may control the mobile robot device 130 to insert the end cap into the end cap separation part 111 of the fastening connection device 110. In a state where the end cap is inserted into the end cap separator 111, the processor may apply power to the end cap separator 111 of the fastening connection device 110 by operating the power motor 134 of the mobile robot device 130. According to the rotation operation of the end cap separation part 111, the end cap may be separated from the valve C of the gas container G.

[0184] In one embodiment, the operation method of the gas supply system 1 may include, after performing operation 450, an operation 460 of separating the end cap from the gas container G through the fastening connection device 110.

[0185] In one embodiment, when the end cap is separated from the valve C of the gas container G, the processor can adjust the position of the fastening connection device 110 through the mobile robot device 130 so that the fastening connection device 110 is in a second alignment state where it can be fastened to the valve C of the gas container G. For example, the central axis of the valve C connector is aligned with the valve C axis of the gas container G. In this case, the processor can control the separate mobile robot device 130 to install a gasket on the valve C of the gas container G from which the end cap has been removed. In one embodiment, with the gasket installed on the valve C of the gas container G, the processor can move the position of the fastening connection device 110 through the mobile robot device 130 so that the valve connector 112 of the fastening connection device 110 is fastened to the valve C of the gas container G. In the state where the valve connector 112 is fastened to the valve C of the gas container G, the processor applies power to the fastening connection device 110 through the power motor 134, causing the valve connector 112 to rotate and engage with the valve C of the gas container G.

[0186] As described above, although the embodiments are illustrated through limited figures, those with ordinary knowledge in the relevant technical field can make various technical modifications and deformations based on the above content. For example, even if the described techniques are executed in a different order from the described method, and / or the components such as the systems, structures, devices, and circuits described are combined or assembled in a different form from the described method, or are replaced or substituted by other components or equivalents, appropriate results can be obtained.

[0187] Therefore, other embodiments, other implementations, and matters equivalent to the patent claims also fall within the scope of the patent claims.

Claims

1. A gas supply system, characterized in that: include: A cabinet having a gas container disposed therein; A fastening connection device, which is movable relative to the gas container and can be fastened to the valve in a state aligned with the valve of the gas container; a mobile robot device which is detachably connected to the fastening connection device and moves the fastening connection device; a three-dimensional vision camera that collects images; as well as a processor that controls the operation of the mobile robotic device based on images collected by the three-dimensional vision camera, The mobile robotic device comprises: a main body, which is movable outside the cabinet; A robot arm, which is mounted on the upper part of the main body and is composed of a multi-jointed arm, The processor is configured to generate a three-dimensional model of the valve area of ​​the gas container in real time through a three-dimensional visual camera, and match the generated three-dimensional model with any reference image stored in a database, judge the position and angle state of the valve of the gas container based on the matched reference image, and operate the mobile robot device based on the judgment result so that the fastening device is aligned with the valve in a fastenable state.

2. The gas supply system according to claim 1, characterized in that: In the process of generating the three-dimensional model of the valve region of the gas container, the processor generates the three-dimensional model including the shape of the valve of the gas container or the shape of the end cap mounted on the valve.

3. The gas supply system according to claim 1, characterized in that: The processor is configured to determine image similarity by comparing the generated three-dimensional model with a plurality of reference images stored in a database, and to match the generated three-dimensional model with the reference image by selecting the reference image having the highest image similarity with the generated three-dimensional model.

4. The gas supply system according to claim 3, characterized in that: The processor is configured to generate alignment information of three-dimensional coordinates and angles for aligning the fastening device with the valve of the gas container in a fastenable state based on the rotation angle and position information of the three-dimensional model corresponding to the selected reference image.

5. The gas supply system according to claim 4, characterized in that The processor is configured to generate the alignment information only when the rotation angle of the three-dimensional model corresponding to the narrowed-down reference image is within a set angle range.

6. The gas supply system according to claim 4, characterized in that: The processor is configured to generate the alignment information only when the image similarity between the selected reference image and the generated three-dimensional model reaches or exceeds a set reference value.

7. The gas supply system according to claim 6, characterized in that: When the image similarity between the screened reference image and the generated three-dimensional model is lower than a set reference value, the processor controls the adjustment of the shooting angle of the three-dimensional vision camera for the valve area of ​​the gas container.

8. The gas supply system according to claim 4, characterized in that: The processor is configured to generate a movement path that optimally aligns the fastening connection relative to the gas container based on the generated alignment information, and to control operation of the mobile robotic device to adjust a position of the fastening connection according to the generated movement path.

9. The gas supply system according to claim 3, characterized in that: The processor is composed of: In the process of determining the image similarity between the generated 3D model and the reference image, Obtaining pixels that divide the generated three-dimensional model into two-dimensional pixels, and merging the obtained pixels to generate pixels of a three-dimensional image of the geometric structure, The generated three-dimensional model and the reference image are divided into a plurality of pixel regions for matching respectively, and the image similarity is determined according to the matching status of each divided pixel region.

10. The gas supply system according to claim 1, characterized in that: The device also includes a clamping device that supports the outer peripheral surface of the gas container and allows the gas container to rotate around a rotation axis that is perpendicular to the ground. The processor is configured to rotate the gas container around a rotation axis through a clamping device, and when the gas container rotates around the rotation axis, obtain an image of an end cap of a valve installed on the gas container according to the rotation angle of the gas container through a three-dimensional vision camera, and stop the rotation of the gas container when the image of the obtained end cap has an image similarity with a reference image of the end cap stored in a database that is greater than a set reference value.

11. The gas supply system according to claim 1, characterized in that: The fastening connection device can separate the end cover installed on the valve when it is aligned with the gas container in the first position. In a state where the gas container is aligned in the second position, the connection to the valve can be secured.

12. The gas supply system according to claim 1, characterized in that: The fastening connection device comprises a docking portion, The mobile robot device also includes a docking module, which is configured at the end of the robot arm and is firmly connected to the docking portion.

13. The gas supply system according to claim 12, characterized in that: The docking module also includes a power motor that supplies power to the docking portion.

14. The gas supply system according to claim 1, characterized in that: The 3D vision camera is arranged at the end of the robot arm.

15. The gas supply system according to claim 1, characterized in that: Also includes a connection module, which is connected to the fastening connection device in a form that can be moved relative to the cabinet, The connection module includes more than one connection joint, which connects the cabinet and the fastening connection device, and each connection assembly can be rotated through the joint and its length can be adjusted.

16. A gas supply system, characterized in that: include: A cabinet having a gas container disposed therein; A fastening connection device, which is movable relative to the gas container and can separate the end cap from the valve or fasten it to the valve in a state aligned with the valve of the gas container; a mobile robot device which is detachably connected to the fastening connection device and moves the fastening connection device; a three-dimensional vision camera that collects images; as well as a processor that controls the operation of the mobile robotic device based on images collected by the three-dimensional vision camera, The mobile robotic device comprises: a main body, which is movable outside the cabinet; A robot arm, which is mounted on the upper part of the main body and is composed of a multi-jointed arm, The processor is configured to generate a three-dimensional model of an end cap installed on a valve of a gas container by means of a three-dimensional vision camera, and to match the generated three-dimensional model of the end cap with any one of the reference images stored in a database, to judge the position and angle state of the end cap installed on the gas container based on the matched reference image, and to operate the mobile robot device based on the judgment result so as to align the fastening connection device in a state where the end cap can be separated from the valve.

17. The gas supply system according to claim 16, characterized in that: The processor is configured to determine image similarity by comparing the generated three-dimensional model of the end cap with a plurality of reference images stored in a database, and to match the generated three-dimensional model of the end cap with the reference image having the highest image similarity to the generated three-dimensional model of the end cap by screening out the reference image, and to generate relevant information on displacement coordinates and rotation angles for aligning the fastening connection device based on the rotation angle and position information of the three-dimensional model corresponding to the matched reference image.

18. The gas supply system according to claim 16, characterized in that The fastening connection device comprises: an end cap separating portion, which is used to separate the end cap mounted on the valve when the end cap is aligned with the gas container in a first position; a valve connector, which is connected to the valve to obtain gas supply when aligned with the gas container in the second position; and The docking part obtains power supply from the outside.

19. The gas supply system according to claim 18, characterized in that It includes a docking module, which is mounted on the end of the robot arm and connected to the docking part for operating the fastening connection device, The docking module includes: a fastening connection portion, which is fastened to the butt joint portion of the fastening connection device; and A power motor supplies power to the fastening connection device through the docking portion.

20. A gas supply system, characterized in that: include: A clamping device that supports the gas container and allows the gas container to rotate around a rotation axis that is perpendicular to the ground; a three-dimensional vision camera that collects images; and a processor that controls the operation of the clamping device, The processor operates as follows: The gas container is rotated around a rotation axis by a clamping device, and an image of an end cap of a valve installed on the gas container is collected at a set location according to the rotation angle of the gas container by a three-dimensional visual camera, and the end cap image with the highest similarity is screened by comparing the end cap image of each rotation angle of the gas container with a reference image stored in a database. The clamping device is controlled within a rotation angle corresponding to the screened end cap image to align the rotation angle of the gas container centered on the rotation axis.

Images