Automated gas supply system including mobile robot

Abstract

To provide an automated gas supply device with a power source positioned outside so that the gas supply device can be miniaturized.SOLUTION: A gas supply system includes a cabinet forming an internal space where a gas container is disposed, a fastening device movably installed in the internal space and fastened to a valve of the gas container in a state of being aligned with the valve, and a mobile robot device movable outside the cabinet, detachably connected to the fastening device, and configured to move the fastening device in a state of being connected to the fastening device.SELECTED DRAWING: Figure 3A

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 using gas, for example, in a process where precise work is performed such as a semiconductor manufacturing process, it is required that a gas of a type suitable for the purpose of each process be supplied while satisfying a certain concentration or pressure.

[0003] In order to efficiently supply gas during the process, various types of gas are stored in gas containers in a high-pressure state, and gas containers storing gas containing components harmful to the human body are stored in an unmanned state under strict management.

[0004] The gas container is connected to the gas supply device to discharge the gas stored inside. When all the gas in the gas container is consumed, after separating the gas supply device from the valve of the gas container, the gas container is removed, and a series of replacement processes of fastening a new gas container to the gas supply device are performed.

[0005] On the other hand, in order for the gas supply device to be connected to the gas container, the valve of the gas container and the gas supply device must be aligned. However, due to the high weight characteristic of the gas container, it is difficult to align the position. Therefore, the gas supply device operates so as to be position-aligned with respect to the valve of the gas container. Therefore, since the gas supply device includes an actuator for supplying power for position adjustment and operation, the size of the cabinet to which gas is supplied needs to be formed to be large enough to accommodate the gas supply device.

[0006] The background art described above is what the inventor retained or acquired in the process of deriving the disclosure of this specification, and it cannot necessarily be said to be publicly known technology that was publicly disclosed to the general public before this application.

Summary of the Invention

Problems to be Solved by the Invention

[0007] An object of one embodiment is to provide an automated gas supply apparatus that positions a power supply source outside so that the size of the gas supply apparatus can be reduced.

[0008] An object of one embodiment is to provide an automated gas supply apparatus capable of aligning a gas supply apparatus with a gas container through three-dimensional mapping using a mobile robot.

Means for Solving the Problems

[0009] A gas supply system according to one embodiment includes a cabinet in which a gas container is disposed, a fastening device that separates an end cap from a valve of the gas container or fastens a valve connector to the valve of the gas container, and a mobile robot device disposed outside the cabinet and connected to the fastening device to operate the fastening device. The mobile robot device includes a main body movable along the ground, a first robot arm provided on the main body and having a multi-degree-of-freedom movement, a docking module disposed at an end of the first robot arm and detachably fastened to the fastening device, a three-dimensional vision camera that collects images, and a control unit that controls the operation of the first robot arm based on the images collected by the three-dimensional vision camera.

[0010] In one embodiment, the control unit is configured to determine one or more alignment positions of the docking module according to a set algorithm, and can control the operation of the first robot arm so that the docking module is located at the determined alignment positions. The set algorithm is configured to generate a three-dimensional model of the gas supply system in real time on a virtual space based on the images collected through the three-dimensional vision camera, compare the generated three-dimensional model of the gas supply system with a set reference model to determine the similarity of the images, and determine the predicted position of the docking module that makes the similarity of the images equal to or greater than a set value as the alignment position of the docking module.

[0011] In one embodiment, the control unit may be configured to operate the first robotic arm to adjust the three-dimensional coordinates and three-dimensional rotation angle of the docking module so that the docking module is located at the determined alignment position.

[0012] In one embodiment, the docking module can be fastened to the fastening device in a fastening state aligned relative to the fastening device, and the control unit may be configured to determine a first alignment position at which the docking module is in the fastening state relative to the fastening device in the process of connecting the docking module to the fastening device.

[0013] In one embodiment, the fastening device is configured to separate the end cap from the valve or attach the end cap to the valve in a first state aligned relative to the valve of the gas container,

[0014] the control unit may be configured to determine a second alignment position of the docking module to bring the fastening device into the first state while the docking module is fastened to the fastening device.

[0015] In one embodiment, the fastening device can be configured to fasten the valve connector to the valve of the gas container in a second state aligned relative to the valve of the gas container so that gas is supplied. The control unit may be configured to determine a third alignment position of the docking module to bring the fastening device into the second state while the docking module is fastened to the fastening device.

[0016] In one embodiment, the fastening device may include a docking portion that is disposed to be exposed on an outer surface of the fastening device and to which the docking module is fastened. The docking module may include a docking plate, a docking member that is disposed on a docking surface of the docking plate and is fastened to the docking portion, and a power motor that supplies power to the fastening device in a state where the docking module is fastened to the docking portion.

[0017] In one embodiment, the docking portion may include a docking clamp into which the docking member is inserted and fastened, and a power transmission portion into which a rotation shaft of the power motor is inserted and through which power is transmitted from the power motor.

[0018] In one embodiment, the power motor may be provided on the docking plate such that the rotation shaft penetrates the docking plate and protrudes from the docking surface.

[0019] In one embodiment, the three-dimensional vision camera may be disposed at an end of the first robotic arm and configured to acquire a front image of the docking module facing the docking surface of the docking plate.

[0020] In one embodiment, the mobile robot device may be provided on the main body and may further include a second robotic arm having multi-degree-of-freedom movement. The three-dimensional vision camera may be disposed on the second robotic arm.

[0021] A gas supply system according to an embodiment may include a cabinet in which a gas container is disposed, a fastening device that separates an end cap from a valve of the gas container or fastens a valve connector to the valve of the gas container while being aligned with the valve of the gas container, and a mobile robot device that is movable outside the cabinet. The fastening device may include a docking portion that is disposed to be exposed to the outside. The mobile robot device may include a main body that is movable along the ground, a first robot arm provided on the main body and having a multi-degree-of-freedom movement, a docking module that is disposed at an end of the first robot arm and is detachably fastened to the docking portion in a state of being aligned with the fastening device, and a three-dimensional vision camera that collects images of the gas container, the fastening device, and the docking module. The position of the fastening device can be adjusted in accordance with the operation of the mobile robot device while the docking module is fastened to the docking portion.

[0022] In one embodiment, the fastening device may further include an end cap separation portion configured to separate the end cap from the valve of the gas container or attach the end cap to the valve of the gas container. The end cap separation portion is rotatable about a first rotation axis, and the valve connector can rotate about a second rotation axis.

[0023] In one embodiment, the first rotation axis may coincide with the central axis of the valve of the gas container while the fastening device is aligned with the valve of the gas container in a first state. The second rotation axis may coincide with the central axis of the valve of the gas container while the fastening device is aligned with the valve of the gas container in a second state.

[0024] In one embodiment, the first rotation axis and the second rotation axis are parallel to each other.

[0025] In one embodiment, the first rotation axis and the second rotation axis are the same.

[0026] In one embodiment, the docking module can include a power motor configured to supply power in a state where the docking module is fastened to the fastening device. The docking portion can include a power transmission portion into which the rotation shaft of the power motor is inserted and which transmits the power of the power motor to the end cap separation portion and the valve connector.

[0027] In one embodiment, it can further include a control unit configured to control the operation of the mobile collaborative robot based on the image collected by the three-dimensional vision camera. The control unit can determine the alignment position of the docking module according to a set algorithm and control the first robot arm so that the docking module is located at the determined alignment position. The alignment position can be any one of a first alignment position where the docking module is aligned to be fastenable with respect to the docking portion of the fastening device, a second alignment position of the docking module where the fastening device is in a first state with respect to the valve of the gas container, and a third alignment position of the docking module where the fastening device is in a second state with respect to the valve of the gas container.

[0028] In one embodiment, the set algorithm can be set to generate a three-dimensional model of the gas supply system in real time on a virtual space through the image collected via the three-dimensional vision camera, compare the generated three-dimensional model with a set reference model to determine the similarity of the image, and determine the predicted position of the docking module that makes the similarity of the image equal to or greater than a set value as the alignment position.

[0029] The automated gas supply method through the gas supply system according to an embodiment can be performed via the gas supply system. The gas supply system can include a fastening device that separates an end cap from a valve of a gas container or fastens a valve connector to the valve of the gas container, a docking module detachably fastened to the fastening device, and a mobile robot device including a first collaborative robot that moves the docking module. The gas supply method includes an operation of checking whether the gas container is placed at a gas supply position, an operation of generating a three-dimensional model in a virtual space based on the relative positions of the gas container, the fastening device, and the docking module to align the position of the docking module, an operation of fastening the docking module to the fastening device based on the generated three-dimensional model, and an operation of moving the docking module so that the fastening device is aligned with the valve of the gas container after the docking module is fastened to the fastening device.

[0030] In one embodiment, the operation of aligning the position of the docking module includes an operation of collecting a three-dimensional image via a three-dimensional vision camera, an operation of generating the three-dimensional model based on the collected three-dimensional image, an operation of determining the similarity of the image by comparing the three-dimensional model with a set reference model, and an operation of determining the predicted position of the docking module to make the similarity of the image equal to or greater than a set value when the similarity of the image is less than the set value.

Advantages of the Invention

[0031] The gas supply system according to an embodiment can reduce or minimize the space where the gas supply device is provided by providing power to the gas supply device via a mobile robot selectively connected to the gas supply device.

[0032] The gas supply system according to one embodiment can simplify the structure of the gas supply device by detecting the alignment state of the gas supply device with respect to the gas container via a mobile robot located outside the cabinet on which the gas container is placed.

[0033] The gas supply system according to one embodiment can prevent attachment in a misaligned state and minimize or reduce damage and breakage of the device by detecting the alignment state of the gas supply device with respect to the gas container via three-dimensional mapping through a three-dimensional camera.

[0034] The effects of the substrate carrier according to one embodiment are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

Brief Description of the Drawings

[0035]

Figure 1

Figure 2

Figure 3A

Figure 3B

Figure 3C

Figure 4A

Figure 4B

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0036] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, the specific structural or functional descriptions disclosed herein are merely illustrative for the purpose of describing the embodiments, and the embodiments may be implemented in various different forms, and the present invention is not limited to the embodiments described herein. It should be understood that all modifications, equivalents, or alternatives to the embodiments are included within the scope of the rights.

[0037] The terms used in the embodiments are merely used for the purpose of explanation and are not to be construed as having an intention of limitation. Singular expressions include plural expressions unless the context clearly gives a different meaning. In this specification, terms such as "including" or "having" indicate the presence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should not be understood as precluding the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0038] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by those of ordinary skill in the technical field to which this embodiment belongs. Commonly used predefined terms should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted as having an ideal or overly formal meaning unless clearly defined herein.

[0039] In addition, when describing with reference to the accompanying drawings, the same components will be given the same reference numerals regardless of the reference signs in the drawings, and redundant descriptions thereof will be omitted. In the description of the embodiments, if a specific description of related known technologies is determined to obscure the gist of the embodiments unnecessarily, the detailed description thereof will be omitted.

[0040] Also, in the description of the components of the embodiments, terms such as first, second, A, B, (a), (b), etc. may be used. Such terms are merely for distinguishing the components from other components, and the essence, order, or sequence of the corresponding components are not limited by such terms. When any component is described as being "connected", "coupled", or "joined" to another component, that component may be directly connected or joined to the different component, but it should be understood that additional components may be "connected", "coupled", or "joined" between each component.

[0041] Components included in any one of the embodiments and components having a common function will be described using the same names in other embodiments. Unless there is a contrary description, the description given in any one of the embodiments is also applicable to other embodiments, and specific descriptions in the overlapping scope will be omitted.

[0042] FIG. 1 is a partial perspective view of a gas container according to an embodiment.

[0043] Referring to FIG. 1, a gas container G used in an automated gas supply system 1 according to an embodiment will be described. In one embodiment, the gas container G can store process gas therein. In one embodiment, at the upper part of the gas container G, there is provided a valve assembly V for discharging the gas stored therein or injecting gas from the outside. In one embodiment, the valve assembly V provides a flow path for the gas stored inside the gas container G to be discharged to the outside and can selectively control the flow of the gas. In one embodiment, a valve C with a discharge port formed to be open so that gas is discharged to the outside may protrude from the side surface of the valve assembly V. In one embodiment, the valve C is connected to a valve connector 112 of a fastening device 110 (for example, the fastening device 110 in FIG. 2) described later. In one embodiment, inside the valve assembly V, a valve C shutter (not shown) for controlling the gas flow through the valve C may be provided. The valve C shutter can control the gas flow through the valve C via the rotational operation of a valve handle H located at the upper part of the valve assembly V.

[0044] In one embodiment, an end cap E for covering the discharge port and preventing gas leakage is attached to the outer peripheral surface of the valve C of the gas container G. The end cap E may be attached to the valve C so as to surround the outer peripheral surface of the valve C. In one embodiment, the end cap is screwed to the outer peripheral surface of the valve C to be attached to or removed from the valve C. In one embodiment, the end cap E may have a polygonal cross-sectional shape, but the cross-sectional form of the end cap E is not limited thereto.

[0045] In one embodiment, in order for the gas supply system 1 to receive gas supply from the gas container G, the process of separating and removing the end cap E attached to the valve C must precede. When a series of processes for gas supply from the gas container G are completed, the end cap E can be attached again to the valve C of the gas container G so as to close the discharge port.

[0046] In one embodiment, the gas container G can be fastened to the fastening device 110 of the gas supply system 1 while being disposed at a set placement position. For example, the placement position may be provided in the internal space of the cabinet 100 described later. In one embodiment, since the gas container G is generally heavy, the fastening device 110 can be fastened to the gas container G by an alignment method after the gas container G is disposed at the placement position. However, the present invention is not limited thereto.

[0047] Hereinafter, in the description of the gas supply system 1, the gas supply system 1 will be described on the premise that the gas container G is disposed at the set placement position.

[0048] FIG. 2 is a perspective view of a gas supply system according to an embodiment. FIG. 3A is a front view showing a gas supply system according to an embodiment. FIG. 3B is a perspective view showing a fastening device and a position adjustment module according to an embodiment. FIG. 3C is a diagram schematically showing a position change process of a fastening device according to an embodiment. FIG. 4A is a perspective view of a mobile robot device according to an embodiment. FIG. 4B is a plan view showing a docking module of a mobile robot device according to an embodiment. FIG. 5 is a diagram showing a process in which a docking module is connected to a docking portion of a fastening device according to an embodiment.

[0049] Referring to FIGS. 2 to 5, the gas supply system 1 according to an embodiment is automatically fastened to the gas container G disposed at the set position. In one embodiment, the gas supply system 1 can automatically separate or fasten the end cap E attached to the valve C of the gas container G. The gas supply system 1 is fastened to the valve C of the gas container G and supplies the gas in the gas container G to the gas pipe 150.

[0050] In one embodiment, the gas supply system 1 includes a cabinet 100, a fastening device 110, a position adjustment module 120, and a mobile robot device 130 disposed outside the cabinet 100.

[0051] In one embodiment, the cabinet 100 can accommodate the gas container G therein. The cabinet 100 may form an internal space in which the gas container G is disposed. The cabinet 100 may include a door portion (not shown) that opens and closes the internal space so that the gas container G can enter the internal space or the used gas container G can leave the internal space. In the drawings, the internal space of the cabinet 100 is shown as being open (e.g., in the +Y direction of the cabinet 100 in FIG. 2), but this is for 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. The door portion can reduce or prevent the phenomenon that the gas stored inside the gas container G flows out to the outside of the cabinet 100 by sealing the internal space of the cabinet 100 in the process of supplying gas from the gas container G disposed inside the cabinet 100 to the gas pipe 150.

[0052] In one embodiment, one or more gas containers G are disposed inside the cabinet 100. For example, as shown in FIG. 2, inside the cabinet 100, two gas containers G and two fastening devices 110 each fastened to the two gas containers G are disposed. However, this is only an example, and it should be noted that the number of the gas containers G and the corresponding fastening 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 device 110.

[0053] In one embodiment, a support base (not shown) that supports the gas container G may be disposed on the bottom surface of the internal space of the cabinet 100. In one embodiment, the support base may rotate about an axis perpendicular to the ground while supporting the gas container G at the lower stage. The position of the valve C of the container G inside the cabinet 100 is changed through the rotation of the gas container G through the support base.

[0054] In one embodiment, inside the cabinet 100, a support clamp 140 is arranged to operate so as to support the outer peripheral surface of the placed gas container G. The support clamp 140 may selectively grip the outer peripheral surface of the gas container G or move away from the outer peripheral surface of the gas container G.

[0055] In one embodiment, the position adjustment module 120 can movably connect the fastening device 110 to the cabinet 100. In one embodiment, the position adjustment module 120 includes a fixed plate 121, a first moving member 123, a second moving member 124, and a third moving member 122.

[0056] In one embodiment, the fixed plate 121 may be fixed to the internal space of the cabinet 100. For example, the fixed plate 121 may be fixed to the upper surface of the internal space.

[0057] The first moving member 123 connects between the fixed plate 121 and the fastening device 110 and moves in a first direction D1 parallel to the ground with respect to the fixed plate 121. The second moving member 124 connects between the fixed plate 121 and the fastening device 110 and moves in a second direction D2 parallel to the ground and perpendicular to the first direction D1 with respect to the fixed plate 121. The third moving member 122 connects between the fixed plate 121 and the fastening device 110 and moves in a third direction D3 perpendicular to the ground with respect to the fixed plate 121, for example, a third direction D3 perpendicular to the first direction D1 and the second direction D2. In one embodiment, the first moving member 123, the second moving member 124, and the third moving member 122 are sequentially connected along the fastening device 110 from the fixed plate 121, but the relative connection order of the respective moving members is not limited. For example, as shown in FIG. 3B, the first moving member 123 is movably connected to the fixed plate 121 in the first direction D1, the third moving member 122 is movably connected to the first moving member 123 in the third direction D3, and the second moving member 124 is movably connected to the third moving member 122 in the second direction D2, but it should be noted that the above-described connection order is not limited.

[0058] In one embodiment, the position adjustment module 120 can adjust the three-dimensional coordinates of the fastening device 110 with respect to the fixed plate 121 through the movement of each moving member 123, 124, 122. Therefore, when an external force is applied so that the mobile robot device 130 described later moves the fastening device 110 while the mobile robot device 130 is connected to the fastening device 110, the position adjustment module 120 operates in accordance with the external force applied to the fastening device 110, adjusts the relative position of the fastening device 110 with respect to the fixed plate 121, and can change the position of the fastening device 110 in the internal space of the cabinet 100.

[0059] By such an operation, the position of the fastening device 110 with respect to the valve C of the gas container G can be aligned.

[0060] In one embodiment, the position adjustment module 120 can rotate the fastening device 110 in the internal space of the cabinet 100. For example, the position adjustment module 120 may include a structure that realizes a three-degree-of-freedom rotational movement of the fastening device 110. For example, the position adjustment module 120 may connect between the fixed plate 121 and the fastening device 110 and include a plurality of rotating members (not shown) that enable the fastening device 110 to move in three degrees of freedom of yaw, pitch, and roll with respect to the fixed plate 121.

[0061] According to such a structure, since the fastening device 110 can perform a three-degree-of-freedom translational movement and a three-degree-of-freedom rotational movement with respect to the fixed plate 121 by the position adjustment module 120, the 3D position and angle can be changed inside the cabinet 100.

[0062] In one embodiment, the fastening device 110 is provided movably in the internal space of the cabinet 100. As described above, the fastening device 110 is connected to the inside of the cabinet 100 via the position adjustment module 120, and the position and angle inside the cabinet 100 are adjusted via the operation of the position adjustment module 120. For example, the fastening device 110 may be disposed at the upper part of the internal space of the cabinet 100.

[0063] In one embodiment, the fastening device 110 operates to separate an end cap (end cap E in FIG. 1) from the valve C of the gas container G or to be fastened to the valve C of the gas container G so as to supply gas. The fastening device 110 can be configured to separate / attach the end cap E in a state aligned relative to the valve C of the gas container G or to be fastened to the valve C.

[0064] In one embodiment, the fastening device 110 includes an end cap separation part 111 for removing or attaching an end cap from the valve C of the gas container G, a valve connector 112 detachably fastened to the valve C of the gas container G, and a docking part 113 connected to the mobile robot device 130 for transmitting power.

[0065] In one embodiment, the end cap separation part 111 may separate and remove the end cap E attached to the valve C or reattach the end cap to 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 formed to have a regular hexagonal cross-sectional shape as shown in FIG. 1, the insertion groove formed in the end cap separation part 111 may be formed in a regular hexagonal 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 rotates about a first rotation axis A1. The first rotation axis A1 may be arranged to penetrate the center of the insertion groove. In one embodiment, with the fastening device 110 aligned at the first position relative to the valve C, the first rotation axis A1 of the end cap separation part 111 coincides with the central axis of the end cap.

[0066] In one embodiment, since the end cap is separated and fastened to the valve C by a screwing method, the end cap separation part 111 rotates through the first rotation axis while gripping the outer surface of the end cap through the insertion groove, to release the screwing of the end cap with respect to the valve C or to screw the end cap onto the valve C.

[0067] In one embodiment, in a state where the fastening device 110 is aligned with the valve C of the gas container G in the first state, the end cap separation part 111 may be placed in a state where it can separate the end cap from the valve C or attach the end cap. For example, in a state where the fastening device 110 is aligned with the valve C of the gas container G in the first state, the end cap separation part 111 may be arranged 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 attached to the valve C.

[0068] In one embodiment of the end cap, in order for the end cap to be inserted into the insertion groove of the end cap separation part 111, the rotation angle of the end cap needs to be aligned so that the forms of the insertion groove and the end cap match each other in a state where the first rotation axis A1 and the central axis of the valve C coincide. In one embodiment, the end cap separation part 111 can align the relative rotation angle with respect to the end cap by rotating about the first rotation axis A1 by the power transmitted from the mobile robot device 130 described later. For example, the coincidence of the first rotation axis A1 of the end cap separation part 111 and the central axis of the end cap is executed through the position adjustment of the fastening device 110, and the rotation angle of the end cap separation part 111 may also be executed by a rotation operation about the first rotation axis A1 of the end cap separation part 111.

[0069] In one embodiment, when the alignment of the axis and the rotational angle alignment of the end cap separating part 111 with respect to the end cap are completed, the end cap separating part 111 advances along the first rotation axis A1 toward the end cap, so that the end cap can be accommodated in the insertion groove. With the end cap inserted into the insertion groove, the end cap separating part 111 can remove the end cap from the valve C by rotating about the first rotation axis A1 and translating along the first rotation axis A1. Reattachment of the end cap to the valve C is performed while reversing the above-described end cap separation operation.

[0070] In one embodiment, the valve connector 112 is connected to the gas pipe 150 and fastened to the valve C of the gas container G from which the end cap has been removed, and gas is supplied from the gas container G. In one embodiment, the valve connector 112 is operated to be fastened to the valve C in a state where the fastening device 110 is aligned with the valve C of the gas container G in the second state.

[0071] In one embodiment, the valve connector 112 may rotate along the second rotation axis A2. In one embodiment, the valve connector 112 may 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 substantially coincides with the central axis of the valve C in a state where the fastening device 110 is aligned with the valve C of the gas container G in the second state. In this case, the valve connector 112 is fastened to the valve C by advancing toward the valve C along the second rotation axis A2. In one embodiment, the rotation and forward movement of the valve connector 112 can be performed by the power transmitted from the mobile robot device 130.

[0072] In one embodiment, the second rotation axis A2 of the valve connector 112 may be arranged to be parallel on substantially the same plane as the first rotation axis A1 of the end cap separation part 111. According to such a structure, in a state where the fastening device 110 is aligned 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, if the fastening device 110 translates in one direction (for example, the second direction D2 shown in FIG. 3C), the fastening device 110 is aligned with the valve C of the gas container G in the second state. In this case, the valve connector 112 is arranged side by side with the end cap separation part 111.

[0073] As another example not shown in the drawings, the valve connector 112 and the end cap separation part 111 may be formed such that the second rotation axis A2 and the first rotation axis A1 coincide. For example, the valve connector 112 may be located inside the insertion groove of the end cap separation part 111 and formed to rotate about the same rotation axis as the end cap separation part 111. In this case, in a state where the fastening device 110 is aligned 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, by the fastening device 110 translating along the first rotation axis A1, the fastening device 110 is aligned with the valve C of the gas container G in the second state.

[0074] On the other hand, it should be noted that the position and angle of the fastening device 110 in the first state aligned to separate / attach the end cap from the valve C and the position and angle in the second state aligned to be fastened to the valve C can vary relatively according to the valve position and angle of the gas container C arranged in the cabinet 100.

[0075] In one embodiment, the docking part 113 may be arranged to be exposed on the outer surface of the fastening device 110. For example, the docking part 113 may be arranged on the side surface of the fastening device 110 facing the open part of the cabinet 100 (for example, the side surface of the fastening device 110 facing the +Y axis shown in FIG. 3A). In one embodiment, the mobile robot device 130 may be detachably connected to the docking part 113. For example, the docking module 135 of the mobile robot device 130 described later may be fastened to the docking part 113.

[0076] In one embodiment, with the mobile robot device 130 connected to the docking part 113, the position of the fastening device 110 in the internal space of the cabinet 100 may be changed by the mobile robot device 130. In one embodiment, with the mobile robot device 130 connected to the docking part 113, the power supplied by the mobile robot device 130 is transmitted through the docking part 113, and the end cap separation part 111 and the valve connector 112 can be operated.

[0077] In one embodiment, the docking part 113 includes a docking clamp 1132 for fastening the docking module 135 of the mobile robot device 130, and a power transmission part 1131 to which the rotation shaft 1361 of the power motor of the mobile robot device 130 is connected. In one embodiment, the docking clamp 1132 fixes the fastening state of the docking module 135 to the docking part 113 or releases the fastening state of the docking module 135 detachably. A detailed description of the docking part 113 will be given later.

[0078] In one embodiment, the mobile robot device 130 may move outside the cabinet 100. The mobile robot device 130 may be detachably connected to the fastening device 110, and may move the fastening device 110 or supply power to the fastening device 110 while being connected to the fastening device 110. In one embodiment, the mobile robot device 130 includes a main body 131, a traveling unit 133, a first robot arm 132A, a docking module 135, a three-dimensional vision camera 134, and a control unit.

[0079] In one embodiment, the main body 131 forms the body of the mobile robot device 130. Inside the main body 131, each component (for example, an actuator, a control unit, a communication device, etc.) for the operation of the mobile robot device 130 may be arranged. The main body 131 can move along the ground.

[0080] In one embodiment, the traveling unit 133 may be arranged below the main body 131. The traveling unit 133 can move the main body 131 along the ground. The traveling unit 133 may include, for example, a guide member that moves along a guide rail provided on the ground, or a rolling member that can move on the ground. In one embodiment, the traveling unit 133 is operated so that the mobile robot device 130 moves in response to an instruction from the control unit.

[0081] In one embodiment, the first robot arm 132A is provided on the main body 131. In one embodiment, the first robot arm 132A may be arranged on the upper part of the main body 131. In one embodiment, the first robot arm 132A may be composed of a multi-joint arm that realizes multi-degree-of-freedom movement, for example, six-degree-of-freedom movement. For example, through the operation of the multi-joint arm, the first robot arm 132A can realize three-dimensional movement with respect to the ground (for example, translational movement in the X, Y, and Z axis directions) and angular movement in three directions (for example, roll, yaw, and pitch movements).

[0082] In one embodiment, the docking module 135 may be disposed at the end of the first robotic arm 132A. In one embodiment, the docking module 135 may be detachably fastened to the fastening device 110. The docking module 135 is fastened to the docking portion 113 of the fastening device 110 through the operation of the first robotic arm 132A. The docking module 135 is fastened to the docking portion 113 to move the fastening device 110 by the operation of the first robotic arm 132A and can provide power to the fastening device 110 while being fastened to the fastening device 110. In one embodiment, the docking module 135 includes a docking plate 1351, a docking member 1353, and a power motor 136.

[0083] In one embodiment, the docking plate 1351 may be disposed at the end of the first robotic arm 132A. In one embodiment, the docking plate 1351 may include a docking surface (for example, the surface of the docking plate 1351 shown in FIG. 4B) facing the surface of the docking portion 113 (for example, the surface facing the +Y axis shown in FIG. 3B).

[0084] In one embodiment, the docking member 1353 may be disposed on the docking surface of the docking plate 1351. For example, the docking member 1353 may be formed to protrude from the docking surface. In one embodiment, the docking member 1353 may be selectively fastened to the docking clamp 1132 of the docking portion 113. For example, the docking member 1353 may be inserted and fastened to the docking clamp 1132. In one embodiment, when a plurality of docking clamps 1132 are disposed on the surface of the docking portion 113, a plurality of docking members 1353 corresponding to each of the plurality of docking clamps 1132 are formed at positions on the docking surface of the docking plate 1351.

[0085] In one embodiment, the power motor 136 may be provided at an end of the first robot arm 132A. The rotation shaft 1361 of the power motor may penetrate the docking plate 1351 and protrude from the docking surface of the docking plate 1351. In one embodiment, in a state where the docking module 135 is fastened to the docking portion 113, for example, in a state where the docking member 1353 is fastened to the docking clamp 1132, the rotation shaft 1361 of the power motor 136 is inserted into the power transmission portion 1131 formed in the docking portion 113. The power motor 136 transmits power to the fastening device 110 via the power transmission portion 1131. The power transmitted from the power motor 136 to the fastening device 110 is transmitted to the end cap separation portion 111 and the valve connector 112 of the fastening device 110.

[0086] In one embodiment, in order for the docking module 135 to be fastened to the docking portion 113 of the fastening device 110, the docking module 135 needs to be aligned in a fastening state that can be fastened to the docking portion 113. In one embodiment, as shown in FIG. 5, in a fastening state where the docking module 135 is aligned so as to be fastened to the docking portion 113, the docking member 1353 of the docking module 135 and the rotation shaft 1361 of the power motor are respectively disposed at positions corresponding to the docking clamp 1132 and the power transmission portion 1131 of the docking portion 113. It should be noted that the fastening state in which the docking module 135 can be fastened to the docking portion 113 of the fastening device 110 may vary relatively according to the position and angle of the fastening device 110 inside the cabinet 100.

[0087] In one embodiment, in a state where the docking module 135 is fastened to the docking portion 113 of the fastening device 110, since the docking module 135 and the fastening device 110 move integrally, the position of the fastening device 110 can be adjusted within the internal space of the cabinet 100 by the first robot arm 132A. For example, the relative position of the fastening device 110 with respect to the valve C of the gas container G may be adjusted by the first robot arm 132A.

[0088] In one embodiment, the three-dimensional vision camera 134 collects an image of the gas supply system 1. For example, the three-dimensional vision camera 134 may collect a three-dimensional image of the gas supply system 1 including the docking module 135, the fastening device 110, and the valve C of the gas container G. In one embodiment, the three-dimensional vision camera 134 may be disposed at the end of the first robot arm 132A, for example, on the upper part of the docking plate 1351. The three-dimensional vision camera 134 may be disposed on the first robot arm 132A so as to collect a front image of the docking module 135 facing the docking portion 113, for example, an image in the direction of the docking surface of the docking plate 1351. In one embodiment, the image collection position of the three-dimensional vision camera 134 is not limited to the above-described examples, and may be set to collect images in various directions according to the set conditions. For example, the three-dimensional vision camera 134 may be disposed on the first robot arm 132A so as to collect a lower image of the docking module 135, for example, an image in the direction of the ground of the docking plate 1351.

[0089] In one embodiment, the control unit controls the operation of the mobile robot device 130. In one embodiment, the control unit may move the mobile robot device 130 closer to or away from the cabinet 100.

[0090] In the process of connecting the mobile robot device 130 to the fastening device 110 in one embodiment, the control unit may operate the first robot arm 132A so that the docking module 135 is fastened to the docking portion 113 of the fastening device 110 based on the three-dimensional image collected by the three-dimensional vision camera 134.

[0091] In one embodiment, with the mobile robot device 130 connected to the fastening device 110, the control unit can align the fastening device 110 with the valve C of the gas container G by operating the first robot arm 132A based on the image collected by the 3D vision camera 134. For example, the control unit moves and adjusts the docking module 135 so as to align with the first state in which the fastening device 110 separates / attaches the end cap to the valve C, or the second state in which the fastening device 110 is fastened to the valve C, and can adjust the position and angle of the fastening device 135.

[0092] In one embodiment, the control unit determines one or more alignment positions of the docking module 135 according to a set algorithm, and controls the operation of the first robot arm 132A so that the docking module 135 is located at the determined alignment position. The alignment position of the docking module 135 may include three-dimensional coordinates and three-dimensional rotation angles inside the cabinet 100.

[0093] In one embodiment, the alignment position of the docking module 135 may be determined according to the operation purpose by the process sequence of the gas supply system 1. In one embodiment, in the process of fastening the mobile robot device 130 to the fastening device 110, the alignment position of the docking module 135 is a fastening state in which the docking module 135 is relatively aligned so as to be fastenable with respect to the fastening device 110, that is, a first alignment position in which the docking module 135 is aligned so as to be fastenable corresponding to the position and angle of the docking portion 113.

[0094] In one embodiment, in a state where the mobile robot device 130 is fastened to the fastening device 110, that is, in a state where the docking module 135 is fastened to the docking portion 113, the alignment position of the docking module 135 is the second alignment position of the docking module 135 when the fastening device 110 is in the first state with respect to the valve C of the gas container G. For example, the second alignment position of the docking module 135 means the position and angle of the docking module 135 where the end cap separation portion 111 of the fastening device 110 corresponds to the position and angle of the valve of the gas container G and the first rotation axis A1 coincides with the central axis of the valve C.

[0095] In one embodiment, in a state where the mobile robot device 130 is fastened to the fastening device 110, that is, in a state where the docking module 135 is fastened to the docking portion 113, the alignment position of the docking module 135 is the third alignment position of the docking module 135 when the fastening device 110 is in the second state with respect to the valve C of the gas container G. For example, the third alignment position of the docking module 135 means the position and angle of the docking module 135 where the second rotation axis A2 of the valve connector 112 of the fastening device 110 corresponds to the position and angle of the valve of the gas container G and coincides with the central axis of the valve C.

[0096] In one embodiment, the control unit determines the alignment position of the docking module 135 according to the set algorithm. For example, the set algorithm may be set to generate in real time a three-dimensional model for the virtual space via the image acquired by the three-dimensional vision camera 134, for example, a three-dimensional model for the docking module 135, the gas container G, and the fastening device 110. In one embodiment, the three-dimensional model changes according to the real-time image acquired by the vision camera 134. In one embodiment, the set algorithm can determine the similarity of the image by comparing the generated three-dimensional image with the set reference model. For example, the set reference model may be a three-dimensional model in a fastened state where the docking module 135 is aligned to be fastenable to the docking part 113. For example, the set reference model may be a three-dimensional model in a state where the fastening device 110 connected to the docking module 135 is aligned in a first state with respect to the gas container G valve C. For example, the set reference model may be a three-dimensional model in a state where the fastening device 110 connected to the docking module 135 is aligned in a second state with respect to the gas container G valve C. In one embodiment, the set algorithm can determine the similarity of the generated three-dimensional image and the image of the set reference model, and can be set to determine the necessity of adjusting the position of the docking module 135.

[0097] In one embodiment, when the similarity of the image is equal to or greater than a set value, the set algorithm may generate an instruction to perform an operation determined by the reference model. For example, when the reference model is a three-dimensional model in a fastened state where the docking module 135 is aligned to be fastenable to the docking part 113, the set algorithm may generate an instruction for the docking module 135 to perform an operation of being fastened to the docking part 113 when the similarity of the image is equal to or greater than the set value. For example, when the reference model is a three-dimensional model in a state where the fastening device 110 is aligned in a first state with respect to the valve C, the set algorithm may generate an instruction that when the similarity of the image is equal to or greater than the set value, the end cap separation part 111 operates to remove the end cap from the valve C. For example, when the set reference model is a three-dimensional model in a state where the fastening device 110 is aligned in a second state with respect to the gas container G valve C, the set algorithm may generate an instruction that when the similarity of the image is equal to or greater than the set value, the valve connector 112 operates to be fastened to the valve C.

[0098] In one embodiment, when the similarity of the image is equal to or greater than a set value, the set algorithm can predict the predicted position of the docking module 135 such that the three-dimensional model has an image similarity equal to or greater than the set value with the reference model, and determine the predicted position as the alignment position of the docking module 135.

[0099] In one embodiment, when the set algorithm determines the alignment position of the docking module 135, the control unit controls the first robot arm 132A so that the position of the docking module 135 becomes the determined alignment position, and adjusts the three-dimensional coordinates and three-dimensional rotation angle of the docking module 135.

[0100] In one embodiment, the control unit can align the position of the fastening device 110 connected to the docking module 135 by moving the docking module 135 through the operation of the first robotic arm 132A in a state where the docking module 135 is fastened to the docking part 113. In one embodiment, the control unit may control the operation of the first robotic arm 132A based on the image collected by the three-dimensional vision camera 134 so that the fastening device 110 is in the first state with respect to the valve C of the gas container G. In one embodiment, if the fastening device 110 is aligned in the first state with respect to the valve C of the gas container G, the control unit controls the power motor 136 to transmit power to the power transmission part 1131, and can operate the end cap separation part 111. In one embodiment, the control unit may control the operation of the first robotic arm 132A based on the image collected by the three-dimensional vision camera 134 so that the fastening device 110 is in the second state with respect to the valve C of the gas container G. In one embodiment, if the fastening device 110 is aligned in the second state with respect to the valve C of the gas container G, the control unit controls the power motor to transmit power to the power transmission part 1131, and can operate the valve connector 112.

[0101] In one embodiment, the gas supply system 1 transmits power to the outside of the fastening device 110 via the mobile robot device 130 and aligns the position of the fastening device 110, thereby omitting a separate configuration (for example, an actuator, etc.) for the operation of the fastening device 110. Therefore, the structure of the fastening device 110 is simplified and the convenience of maintenance is improved. Further, the gas supply system 1 can reduce the space constraints required for the installation of the gas supply system 1 by reducing the space occupied by the fastening device 110 inside the cabinet 100.

[0102] FIG. 6 is a perspective view of a mobile robot device according to one embodiment.

[0103] Referring to FIG. 6, a mobile robot device 230 according to an embodiment is fastened to a fastening device (e.g., the fastening device 110 in FIG. 2) to supply power and adjust the position of the fastening device 110.

[0104] In one embodiment, the mobile robot device 230 includes a main body 231, a traveling unit 233, a first robot arm 232A, a second robot arm 232B, a docking module 236 including a power motor 235, a three-dimensional vision camera 234, and a control unit.

[0105] In one embodiment, the main body 231 forms the body of the mobile robot device 230. In one embodiment, the traveling unit 233 is disposed below the main body 231 and can move the main body 231 along the ground. In one embodiment, the first robot arm 232A may be disposed above the main body 231. In one embodiment, the first robot arm 232A may be composed of an articulated arm that realizes multi-degree-of-freedom movement, for example, six-degree-of-freedom movement.

[0106] In one embodiment, the docking module 236 may be disposed at the end of the first robot arm 232A. In one embodiment, the docking module 236 is connected to the docking portion of the fastening device via the operation of the first robot arm 232A. The docking module 236 is connected to the docking portion and provides power for operating the fastening device.

[0107] In one embodiment, the second robot arm 232B may be disposed above the main body 231. In one embodiment, the second robot arm 232B may be composed of an articulated arm that realizes multi-degree-of-freedom movement, for example, six-degree-of-freedom movement.

[0108] In one embodiment, the three-dimensional vision camera 234 is disposed at the end of the second robot arm 232B and can collect three-dimensional images including the docking module 236, the fastening device, and the valve of the gas container.

[0109] With such a structure, since the 3D vision camera 234 can collect images of each component of the gas supply system at an independent position without being related to the operation of the first robot arm 232A, a 3D image in the virtual space can be generated more accurately.

[0110] On the other hand, in FIG. 6, although it is illustrated that the 3D vision camera 234 is arranged only at the end of the second robot arm 232B, differently, as shown in FIG. 4A, one 3D vision camera 234 is arranged at the end of the first robot arm 232A, and one 2D or 3D vision camera 234 may also be arranged at the end of the second robot arm 232B as shown in FIG. 6. In this case, since 3D images or 2D images at various angles can be collected through the two 3D vision cameras 234 or the respective 2D and 3D vision cameras, image correction for the 3D model obtained through one 3D vision camera 234 can be more easily performed. Also, while the first robot arm 232A is transferring the fastening device, the second robot arm 232B can acquire an image, and the determination of the fastening situation can be easily performed.

[0111] FIG. 7 is a perspective view of a gas supply system according to an embodiment.

[0112] Unless otherwise mentioned, each component of the gas supply system described above may be identically applied to the gas supply system shown in FIG. 7.

[0113] Referring to FIG. 7, a gas supply system 3 according to an embodiment includes a cabinet 300, a position adjustment module, a fastening device (for example, the fastening device 110 in FIG. 2A), and a mobile robot device 330.

[0114] In one embodiment, the cabinet 300 may form an internal space in which the gas container is disposed. In one embodiment, inside the cabinet 300, a support clamp 340 is disposed which operates to support the outer peripheral surface of the placed gas container. In one embodiment, a support base (not shown) for supporting the gas container may be disposed on the bottom surface of the internal space of the cabinet 300. In one embodiment, the position adjustment module (for example, the position adjustment module 120 shown in FIG. 2) may be movably connected to the cabinet 300 with a fastening device.

[0115] In one embodiment, the fastening device is movably provided in the internal space of the cabinet 300 and is fastened to the valve in a state aligned with the valve of the gas container to receive gas supply. In one embodiment, the fastening device includes an end cap separation part (for example, the end cap separation part 111 shown in FIG. 3B) for removing the end cap attached to the valve in a state aligned with the valve at the first position and a valve connector (for example, the valve connector 112 shown in FIG. 3B) attached to the valve in a state aligned with the valve at the second position and through which gas is supplied. In one embodiment, the fastening device includes a docking part (for example, the docking part 113 shown in FIG. 3B) connected to the mobile robot device 330 located outside and powered by the mobile robot device 330.

[0116] In one embodiment, the mobile robot device 330 can move outside the cabinet 300. The mobile robot device 330 can be connected to the fastening device to move the fastening device or supply power to the fastening device to operate the fastening device. In one embodiment, the mobile robot device 330 includes a main body 331, a traveling part, a first robot arm 332A, a second robot arm 332B, a docking module 335, a three-dimensional vision camera 334, a gasket gripper 337, a gasket storage part 338, and a control part.

[0117] In one embodiment, the main body 331 forms the body of the mobile robot device 330. In one embodiment, the traveling unit is disposed below the main body 331 and can move the main body 331 along the ground. In one embodiment, the first robot arm 332A may be disposed on the upper part of the main body 331. In one embodiment, the first robot arm 332A may be composed of an articulated arm that realizes multi-degree-of-freedom movement, for example, six-degree-of-freedom movement.

[0118] In one embodiment, the docking module 335 may be disposed at the end of the first robot arm 332A. In one embodiment, the docking module 335 may be connected to the docking part of the fastening device via the operation of the first robot arm 332A. The docking module 335 is connected to the docking part and provides power for operating the fastening device.

[0119] In one embodiment, the second robot arm 332B may be disposed on the upper part of the main body 331. In one embodiment, the second robot arm 332B may be composed of an articulated arm that realizes multi-degree-of-freedom movement, for example, six-degree-of-freedom movement.

[0120] In one embodiment, the three-dimensional vision camera 334 is respectively disposed at the end of at least one of the first robot arm 332A or the second robot arm 332B, and collects a three-dimensional image including the docking module 335, the fastening device, and the valve of the gas container.

[0121] In one embodiment, the gasket gripper 337 may be provided at the end of the second robot arm 332B. In one embodiment, the gasket gripper 337 can move and operate to replace the gasket mounted between the valve and the valve connector by the second robot arm 332B. For example, the gasket gripper 337 may move between the gasket replacement position set by the second robot arm 332B and the gasket storage unit 338. For example, the gasket gripper 337 can operate to grip the used waste gasket at the gasket replacement position or grip a new gasket and move to the gasket replacement position.

[0122] In one embodiment, the control unit determines the gasket replacement position for gasket replacement based on the image collected by the 3D vision camera 334, and can control the operation of the second robot arm 332B so that the gasket gripper 337 moves to the determined gasket replacement position.

[0123] In one embodiment, the gasket storage unit 338 may be arranged at the upper part of the main body 331. In one embodiment, the gasket storage unit 338 includes a waste gasket storage box for storing the waste gasket taken out from the valve via the gasket gripper 337, and a new gasket storage box for storing the new gasket to be gripped by the gasket gripper 337.

[0124] Hereinafter, a gas supply method through an automated gas supply system according to an embodiment will be described. In the description of the gas supply method, the content overlapping with the description explained above will be omitted.

[0125] FIG. 8 is a flowchart for a gas supply method according to an embodiment.

[0126] At least one of the operations of the gas supply method shown in FIG. 8 may be omitted. The order of the operations of the gas supply method may be changed from each other or executed simultaneously unless otherwise mentioned. At least one of the operations of the gas supply method may be repeatedly executed.

[0127] The gas supply method according to one embodiment is executed by a gas supply system (for example, the gas supply system in FIG. 2) having a fastening device and a mobile robot device including a docking module selectively connected to the fastening device to supply power to the fastening device. In one embodiment, the fastening device includes a valve connector fastened to a valve of a gas container to receive gas supply, or an end cap separation part. In one embodiment, the mobile robot device includes a docking module selectively connected to a docking part of the fastening device to supply power to the fastening device. In one embodiment, the gas supply method can be executed by a control unit.

[0128] In one embodiment, the gas supply method includes an operation 410 of checking the placement of the gas container. The operation 410 can check whether the gas container is placed at the gas supply position, for example, whether the gas container is placed in a placement space in the cabinet.

[0129] In one embodiment, the gas supply method includes an operation 420 of generating a three-dimensional model of the gas supply system. The operation 420 can generate a three-dimensional model of a virtual space based on the relative positions of the gas container, the fastening device, and the docking module, and align the position of the docking module.

[0130] In one embodiment, operation 420 includes an operation of collecting a three-dimensional image via a three-dimensional vision camera, an operation of generating a three-dimensional model for a virtual space based on the collected image, an operation of determining the similarity of the image by comparing the generated three-dimensional model with a set reference model, and an operation of determining a predicted position of the docking module to make the similarity of the image equal to or greater than a set value when the similarity of the image is less than the set value.

[0131] In one embodiment, the operation of generating a three-dimensional model may vary according to the real-time three-dimensional image acquired by the vision camera.

[0132] In one embodiment, the operation of determining the similarity of the image can determine the similarity of the image by comparing the generated three-dimensional image with a set reference model. For example, the set reference model may be a three-dimensional model in a state where the fastening device is aligned with the gas container valve in a first state. For example, the set reference model may be a three-dimensional model in a state where the fastening device is aligned with the gas container valve in a second state. In one embodiment, the operation of determining the similarity of the image can determine the necessity of position adjustment of the docking module by determining the similarity of the generated three-dimensional image and the image of the set reference model.

[0133] In one embodiment, the operation of determining the similarity of an image can determine a subsequent operation determined by a reference model when the similarity of the image is equal to or greater than a set value. For example, when the reference model is a three-dimensional model in which a docking module is aligned to be fastenable to a docking part, the subsequent operation corresponding to when the similarity of the image is equal to or greater than the set value may be an operation of fastening the docking module to the docking part. For example, when the reference model is a three-dimensional model in which a fastening device is aligned in a first state with respect to a valve, the subsequent operation corresponding to when the similarity of the image is equal to or greater than the set value may be an operation of removing an end cap from the valve by an end cap separation part. For example, when the reference model is a three-dimensional model in which a fastening device is aligned in a second state with respect to a gas container valve, the subsequent operation corresponding to when the similarity of the image is equal to or greater than the set value may be an operation of fastening a valve connector to the valve.

[0134] In one embodiment, when the similarity of the image is less than the set value, the operation of determining the predicted position of the docking module for making the similarity of the image equal to or greater than the set value includes an operation of predicting the predicted position of the docking module such that the three-dimensional model has a similarity of the image equal to or greater than the reference model and an operation of determining the predicted position as the alignment position of the docking module.

[0135] In one embodiment, the gas supply method includes an operation 430 of docking a docking module to a fastening device. The operation 430 is executed when it is determined that the similarity of the images of the reference model and the generated three-dimensional model with respect to the state in which the docking module is fastenable to the fastening device is equal to or greater than a set value.

[0136] In one embodiment, the gas supply method includes an operation 440 of operating the mobile robot device so that the fastening device is aligned with the gas container valve after the docking module is fastened to the fastening device.

[0137] In one embodiment, operation 440 is performed by determining the similarity between a reference model in a state where the fastening device is aligned with the valve in a first state and the generated three-dimensional image, and determining the alignment position of the docking module. Operation 440 can align the position of the fastening device integrally connected to the docking module to the first state by operating the mobile robot device so that the docking module moves to the determined alignment position of the docking module.

[0138] In one embodiment, operation 440 is performed by determining the similarity between a reference model in a state where the fastening device is aligned with the valve in a second state and the generated three-dimensional image, and determining the alignment position of the docking module. Operation 440 can align the position of the fastening device integrally connected to the docking module to the second state by operating the mobile robot device so that the docking module moves to the determined alignment position of the docking module.

[0139] In one embodiment, the gas supply method includes an operation 450 of supplying power to the fastening device via the docking module. In one embodiment, operation 450 is performed in a state where the fastening device is aligned with the valve in a first state or a second state.

[0140] In one embodiment, the gas supply method includes an operation 460 of separating the docking module from the fastening device.

[0141] As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the present invention is not limited to the above-described embodiments, and those having ordinary knowledge in the technical field can apply various technical modifications and variations based on the above. For example, the described technology may be executed in an order different from the described method, and / or the components of the described system, structure, device, circuit, etc. may be combined or combined in a form different from the described method, or may be replaced or substituted by other components or equivalents, and appropriate results can be achieved.

[0142] Therefore, the scope of the present invention is not limited to the disclosed embodiments, but is defined by equivalents such as those equivalent to the claims.

Description of Reference Numerals

[0143] 1: Gas supply system 100: Cabinet 110: Fastening device 120: Position adjustment module 130: Mobile robot device 140: 3D vision camera

Claims

1. 1. A gas supply system comprising: a cabinet within which the gas container is disposed; a fastening device for separating an end cap from a valve of the gas container and fastening a valve connector to the valve of the gas container; a mobile robotic device disposed outside the cabinet and coupled to the fastening device for actuating the fastening device; Including, The mobile robotic device comprises: A main body that can move along the ground; A first robot arm provided on the main body and having multiple degrees of freedom of movement; a docking module disposed at an end of the first robot arm and releasably fastened to the fastening device; a 3D vision camera for collecting images; a control unit that controls the operation of the first robot arm based on the image collected by the 3D vision camera; A gas supply system comprising:

2. the controller is configured to determine one or more alignment positions of the docking module according to a set algorithm, and to control an operation of the first robot arm such that the docking module is located at the determined alignment position; The gas supply system of claim 1, wherein the set algorithm is configured to generate a three-dimensional model of the gas supply system in a virtual space in real time based on an image collected via the three-dimensional vision camera, compare the generated three-dimensional model of the gas supply system with a set reference model to determine a similarity of the image, and determine a predicted position of the docking module that makes the similarity of the image equal to or greater than a set value as an alignment position of the docking module.

3. The gas supply system of claim 2 , wherein the control unit is configured to operate the first robot arm to adjust three-dimensional coordinates and three-dimensional rotational angles of the docking module so that the docking module is positioned at the determined alignment position.

4. the docking module is fastenable to the fastening device in a fastening state aligned relative to the fastening device; The gas supply system of claim 2 , wherein the controller is configured to determine a first alignment position in which the docking module is in the fastened state relative to the fastening device during the process of coupling the docking module to the fastening device.

5. the fastening device is configured to separate or attach the end cap to a valve of the gas container in a first state aligned relative to the valve; The gas supply system of claim 2 , wherein the control unit is configured to determine a second alignment position of the docking module that places the fastening device in a first state when the docking module is fastened to the fastening device.

6. the fastening device is configured to fasten the valve connector to the valve of the gas container in a second state aligned relative to the valve of the gas container to supply gas; The gas supply system of claim 2 , wherein the control unit is configured to determine a third alignment position of the docking module that places the fastening device in a second state when the docking module is fastened to the fastening device.

7. the fastening device includes a docking portion disposed on an outer surface of the fastening device and exposed thereto, the docking module being fastened thereto; The docking module includes: A docking plate; a docking member disposed on a docking surface of the docking plate and fastened to the docking portion; a power motor for supplying power to the fastening device when the docking module is fastened to the docking unit; The gas supply system of claim 1 , comprising:

8. The docking unit includes: a docking clamp into which the docking member is inserted and fastened; a power transmission section into which a rotating shaft of the power motor is inserted and through which power is transmitted from the power motor; The gas supply system of claim 7 , comprising:

9. 8. The gas delivery system of claim 7, wherein the three-dimensional vision camera is disposed at an end of the first robotic arm and configured to capture a forward image of the docking module toward which the docking surface of the docking plate faces.

10. The mobile robotic device comprises: a second robot arm mounted on the body and having multiple degrees of freedom of movement; The gas delivery system of claim 1 , wherein the three-dimensional vision camera is disposed on the second robotic arm.

11. 1. A gas supply system comprising: a cabinet within which the gas container is disposed; a fastening device for separating an end cap from the valve of the gas container or fastening a valve connector to the valve of the gas container in a state where the fastening device is aligned with the valve of the gas container; a mobile robotic device movable outside the cabinet; The fastening device includes a docking portion that is exposed to the outside, The mobile robotic device comprises: A main body that can move along the ground; A first robot arm provided on the main body and having multiple degrees of freedom of movement; a docking module disposed at an end of the first robot arm and detachably fastened to the docking portion in a state aligned with the fastening device; a 3D vision camera that collects images of the gas bottle, the fastening device, and a docking module; Including, a fastening device that adjusts its position to accommodate operation of the mobile robotic device when the docking module is fastened to the docking portion;

12. The fastening device comprises: The gas container further includes an end cap separation unit configured to separate the end cap from a valve of the gas container or to attach the end cap to the valve of the gas container, The end cap separation portion is rotatable about a first rotation axis, The gas supply system of claim 11 , wherein the valve connector is rotatable about a second axis of rotation.

13. When the fastening device is aligned in a first state with respect to the valve of the gas container, the first rotation axis coincides with a central axis of the valve of the gas container; 13. The gas supply system of claim 12, wherein when the fastening device is aligned in a second state relative to a valve of the gas bottle, the second axis of rotation coincides with a central axis of the valve of the gas bottle.

14. The gas delivery system of claim 13 , wherein the first and second axes of rotation are parallel to each other.

15. The gas supply system of claim 12 , wherein the first axis of rotation and the second axis of rotation are the same.

16. the docking module includes a power motor configured to provide power when the docking module is fastened to the fastening device; The gas supply system according to claim 11 , wherein the docking portion includes a power transmission portion into which a rotating shaft of the power motor is inserted and which transmits power of the power motor to the end cap separation portion and the valve connector.

17. a control unit for controlling an operation of the mobile collaborative robot based on an image collected by the 3D vision camera; the control unit determines an alignment position of the docking module according to a set algorithm, and controls a first robot arm so that the docking module is positioned at the determined alignment position; The alignment position is: a first alignment position in which the docking module is aligned so as to be fastenable to the docking portion of the fastening device; a second alignment position of the docking module in which the fastening device is in a first state relative to a valve of the gas container; 12. The gas supply system of claim 11, wherein the fastening device is in one of the third alignment positions of the docking module in a second state relative to a valve of the gas container.

18. The set algorithm is: The gas supply system of claim 17, further configured to generate a three-dimensional model of the gas supply system in a virtual space in real time through images collected through the three-dimensional vision camera, compare the generated three-dimensional model with a set reference model to determine the similarity of the image, and determine the predicted position of the docking module that makes the similarity of the image equal to or greater than a set value as the alignment position.

19. 1. A method for automating gas supply through a gas supply system, comprising: The gas supply system includes: a fastening device for separating an end cap from a valve of a gas container and fastening a valve connector to the valve of the gas container; a mobile robotic device including a docking module releasably fastened to the fastening device and a first cooperating robot for moving the docking module; Including, The gas supply method includes: An operation of confirming whether or not the gas container is placed at the gas supply position; an operation of generating a three-dimensional model in a virtual space according to relative positions of the gas container, the fastening device, and the docking module, and aligning the position of the docking module; fastening the docking module to the fastening device based on the generated three-dimensional model; moving the docking module after the docking module is fastened to the fastening device so that the fastening device is aligned with a valve of the gas container; A gas supply method comprising:

20. The operation of aligning the position of the docking module includes: acquiring a three-dimensional image via a three-dimensional vision camera; generating the three-dimensional model based on the collected three-dimensional images; comparing the 3D model with a reference model to determine image similarity; if the similarity of the images is less than a set value, determining a predicted position of the docking module that will make the similarity of the images equal to or greater than a set value; The gas supply method of claim 19 , comprising:

Images