Logistics robots and transportation means

Abstract

The present invention provides a logistics robot for towing a roll container which includes a metal part and a coupling block on its front surface and is fastened to the roll container, the logistics robot comprising: a body; a running section disposed at the bottom of the body; and a docking section disposed on the body and fastened to the metal part and coupling block of the roll container, wherein the docking section comprises an electromagnet disposed on the body whose magnetism changes depending on whether or not power is applied and to which the metal part is selectively attached according to the change in magnetism; and a docking bracket disposed on the body adjacent to the electromagnet into which the coupling block is inserted, wherein the docking bracket comprises a pair of side walls that cover the coupling block in the left-right direction and an upper surface that covers the upper part of the coupling block.

Description

Technical Field

[0001] The present invention relates to a transport robot and a transport means for transporting one or more articles to a destination.

Background Art

[0002] Robots have been developed for industrial use in order to undertake a part of factory automation. In recent years, the fields to which robots are applied have been further expanded, and not only medical robots and aerospace robots but also robots that can be used in daily life have been developed.

[0003] Among industrial robots, robots that perform sophisticated assembly work have been automated using robots because they repeat the same operation and repeat the same operation at a predetermined position without unexpected situations.

[0004] However, in the transport area including traveling, which is an area that requires judgment in the face of unexpected situations, the commercialization of robots has not been actively carried out yet. However, in recent years, as the performance of sensors for recognizing the surroundings has improved and the computer power capable of quickly processing the recognized information and responding has improved, the number of traveling robots has been increasing.

[0005] In the industry, robots with a transport function have attracted attention, and the competition is intensifying day by day. When transferring a large number of articles, since it takes a lot of time to load and unload the articles, the method of transporting a roll container on which the articles are loaded by a logistics robot is more efficient than loading the articles directly onto the logistics robot itself.

[0006] In this case, it is necessary to stably connect the logistics robot and the roll container, and there is a need for a stable fastening structure in order to avoid the problem that the roll container and the logistics robot separate when moving on an inclined surface or a rough road. Also, when manually fastening the roll container and the logistics robot, manpower is required, so automation of fastening and separation from the roll container is also required.

Summary of the Invention

[0007] The present invention relates to a logistics robot that moves by towing a cart, and aims to provide a logistics robot and transportation means that detect the position of the cart, calculate a travel path, and travel based on this path. [Means for solving the problem]

[0008] A logistics robot is provided that is fastened to a roll container having a metal part and a coupling block on its front and to tows the roll container, the logistics robot includes a body; a running part disposed at the bottom of the body; and a docking part disposed on the body and fastened to the metal part and coupling block of the roll container, the docking part including an electromagnet disposed on the body whose magnetism changes depending on whether or not power is applied and to which the metal part is selectively attached according to the change in magnetism; and a docking bracket disposed on the body adjacent to the electromagnet into which the coupling block is inserted, the docking bracket including a pair of side walls that cover the coupling block in the left-right direction and an upper surface that covers the upper part of the coupling block.

[0009] The electromagnet may include a permanent magnet that comprises a magnetic coil and a permanent magnet, and when power is applied to the magnetic coil, a magnetic field is formed in the opposite direction to that of the permanent magnet, thereby reducing the magnetic force of the electromagnet.

[0010] The docking section may include a control unit that applies power to the magnetic coil when it is separated from the roll container.

[0011] The electromagnets can be positioned facing the back of the body and aligned horizontally from left to right on the docking bracket.

[0012] The control unit may include: a vertical bracket protruding upward from the body; a rear camera positioned on the vertical bracket facing rearward and recognizing an identification code placed on the roll container; and a control unit that controls the travel unit so that the coupling block is inserted into the docking bracket based on the position of the identification code recognized by the rear camera.

[0013] The control unit can control the power supply applied to the electromagnet to remove the magnetic force of the electromagnet if the position of the identification code is within a predetermined distance.

[0014] The control unit includes a fastening sensor that detects whether the coupling block of the rolltainer is inserted into the docking bracket, and when the fastening sensor is turned ON, the control unit can control the power supply applied to the electromagnet to restore the magnetic force of the electromagnet.

[0015] The docking portion may include guide brackets positioned to the left and right of the guide projections protruding from the lower side of the coupling block, and extending toward the rear.

[0016] The height of the guide bracket can be lower than that of the coupling block.

[0017] The front end of the guide bracket may include a straight section located below the docking bracket, and may include a fastening sensor that detects whether or not the guide projection is located in the straight section.

[0018] The coupling block includes a first block coupled to the roll container at the rear; a second block positioned below the first block; and a connecting portion connecting the first block and the second block. The side walls of the docking bracket are positioned on both sides of the second block, and the upper surface of the docking bracket can be opened at a position corresponding to the connecting portion.

[0019] The docking portion may include guide brackets that extend rearward from the pair of side walls of the docking bracket and have a widening gap between them.

[0020] According to another aspect of the present invention, a logistics robot is provided which includes a roll container having a metal part and a coupling block positioned on the front; and a body, a traveling part positioned below the body, and a docking part positioned on the body and fastened to the metal part and the coupling block, wherein the docking part includes an electromagnet positioned on the body, the magnetism of which changes depending on whether or not power is applied, and the metal part is selectively attached in accordance with the change in magnetism; and a docking bracket into which the coupling block is inserted, the docking bracket may include a pair of side walls covering the coupling block in the left-right direction and a top surface covering the top of the coupling block.

[0021] The electromagnet includes a magnetic coil and a permanent magnet, and when power is applied to the magnetic coil, a magnetic field is formed in the opposite direction to that of the permanent magnet, thereby reducing the magnetic force of the electromagnet. The electromagnet may also include a control unit that applies power to the magnetic coil when the docking unit is separated from the roll container.

[0022] The control unit may include: a vertical bracket protruding upward from the body; a rear camera positioned on the vertical bracket facing rearward and recognizing an identification code placed on the roll container; and a control unit that controls the travel unit so that the coupling block is inserted into the docking bracket based on the position of the identification code recognized by the rear camera.

[0023] The control unit can control the power supply applied to the electromagnet to remove the magnetic force of the electromagnet when the position of the identification code is within a predetermined distance, and can restore the magnetic force of the electromagnet when the coupling block of the rolltainer is inserted into the docking bracket.

[0024] The coupling block is fixed in front of the metal part and includes guide protrusions protruding downward. The metal part is disposed below the coupling block and includes an open part having a predetermined width. The docking part is disposed on the left and right of the guide protrusions and includes guide brackets that widen toward the back direction. When the coupling block and the docking bracket are fastened, the guide brackets can be disposed through the open part.

[0025] The coupling block includes a first block whose rear is coupled to the roll tender; a second block disposed below the first block; and a connecting part connecting the first block and the second block. Side wall parts of the docking bracket are disposed in both side directions of the second block, and an upper surface part of the docking bracket has an open position corresponding to the connecting part. The docking part can include guide brackets that extend rearward from the pair of side wall parts of the docking bracket and widen at intervals.

[0026] The roll tender includes a lower end loading shelf where the coupling block and the metal part are disposed in front; and a cart stopper disposed below the lower end loading shelf. The docking bracket is disposed at the front half part of the upper surface of the body. A part of the body is disposed below the lower end loading shelf when the coupling block is inserted into the docking bracket, and the cart stopper can abut against the upper surface part of the body.

[0027] The cart stopper can include an elastic part fitted to a support bar disposed below the lower end loading shelf.

Advantages of the Invention

[0028] The docking part of the logistics robot of the present invention can be fastened to the coupling part of the roll tender at an accurate position and can be automatically connected to the roll tender without manual operation.

[0029] Furthermore, the logistics robot of the present invention supplies power only when the roll container is connected to or separated from it, via a permanent electromagnet that loses its magnetic force when power is supplied, thus reducing power consumption and making attachment and detachment easy.

[0030] Furthermore, the docking bracket, which restricts the horizontal and vertical movement of the rolltainer's joint, prevents phenomena such as shaking and shifting during travel.

[0031] Furthermore, the anti-slip section prevents the roll container from shifting due to inertia when passing over inclined or protruding sections, or when the logistics robot accelerates or decelerates.

[0032] The effects obtained by the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understandable to a person with ordinary skill in the art to which the present invention pertains from the following description. [Brief explanation of the drawing]

[0033] [Figure 1] This figure shows a cloud system based on a 5G network according to one embodiment of the present invention. [Figure 2] This is a block diagram illustrating the configuration of a logistics robot according to one embodiment of the present invention. [Figure 3] This figure shows a robot control system according to one embodiment of the present invention. [Figure 4] This is a perspective view of a logistics robot and roll container according to one embodiment of the present invention. [Figure 5] This is a perspective view of a logistics robot and roll container according to one embodiment of the present invention, showing the logistics robot, which is a means of transport, fastened to the roll container. [Figure 6] This figure shows a logistics robot of a transport means according to one embodiment of the present invention fastened to a roll container. [Figure 7] This is an enlarged view of section A in Figure 6. [Figure 8] Figure 7 is a perspective view from above of the logistics robot fastened to the rolltainer. [Figure 9] This is a side view of a transport means according to one embodiment of the present invention. [Figure 10] This figure shows the process by which a logistics robot of a transport means according to another embodiment of the present invention fastens to a roll container. [Figure 11] This figure shows the process by which a logistics robot of a transport means according to another embodiment of the present invention fastens to a roll container. [Figure 12] This is a perspective view showing a logistics robot of a transport means according to another embodiment of the present invention fastened to a roll container. [Figure 13] Figure 12 is a cross-sectional view of BB. [Figure 14] This figure shows a fastening portion of a transport means according to another embodiment of the present invention. [Figure 15] This figure shows a fastening portion of a transport means according to another embodiment of the present invention. [Modes for carrying out the invention]

[0034] The embodiments disclosed herein will be described in detail below with reference to the accompanying drawings. Regardless of the reference numerals in the drawings, identical or similar components will be given the same reference numeral, and redundant explanations will be omitted. The suffixes “module” and “part” used for components in the following description are added or used interchangeably solely for the ease of writing this specification and do not have any distinguishing meaning or role in themselves. Furthermore, in describing the embodiments disclosed herein, if it is determined that a specific description of the relevant prior art may obscure the gist of the embodiments disclosed herein, the detailed description will be omitted. In addition, the accompanying drawings are intended to facilitate an understanding of the embodiments disclosed herein, and the technical ideas disclosed herein are not limited by the accompanying drawings. It should be understood that all modifications, equivalents, or substitutes included in the idea and scope of the present invention are included.

[0035] Terms such as "First," "Second," etc., are used to describe various components of the embodiment, but the interpretation of these components should not be limited by these terms. Such terms are merely used to distinguish one component from another.

[0036] When it is mentioned that one component is “linked” or “connected” to another component, it should be understood that this means it is directly linked or connected to the other component, but also includes cases where another component is interposed between them. On the other hand, when it is mentioned that one component is “directly linked” or “directly connected” to another component, it should be understood that there is no other component interposed between them.

[0037] A singular expression includes plural forms unless the context clearly indicates otherwise.

[0038] Furthermore, in this specification, terms such as “includes” or “having” merely specify the presence of features, figures, stages, operations, components, parts, or combinations thereof as described in the specification, and should be understood not to preemptively exclude the possibility of the presence or addition of one or more other features, figures, stages, operations, components, parts, or combinations thereof.

[0039] A robot is a mechanical device that can perform any task or operation automatically, and may be controlled by an external control device or have a built-in control device. The robot can repeatedly perform only pre-set movements, or perform tasks that are difficult for humans to perform, such as lifting heavy objects, performing precision work, or working in extreme environments.

[0040] To perform tasks, it is equipped with a drive unit including actuators or motors, and can perform various physical movements such as moving robot joints.

[0041] Due to high manufacturing costs and the need for specialized operation, industrial and medical robots, which have appearances specialized for specific tasks, were developed first. Industrial and medical robots perform the same actions repeatedly in a designated location.

[0042] However, in recent years, mobile robots have emerged. In particular, they can perform exploration work on distant planets that are difficult for humans to reach directly, such as in the aerospace industry, and these robots are equipped with the ability to move.

[0043] To perform the function of moving, robots are equipped with a drive unit, which may include wheels, brakes, casters, and motors. Furthermore, robots equipped with artificial intelligence are emerging that can perceive and avoid obstacles in their surroundings while moving.

[0044] Artificial intelligence refers to the field of studying artificial intelligence or methodologies for generating it, while machine learning refers to the field of studying methodologies for defining and solving various problems dealt with in the field of artificial intelligence. Machine learning is sometimes defined as an algorithm that improves its performance on a particular task through continuous experience.

[0045] An artificial neural network (ANN) is a model used in machine learning that consists of artificial neurons (nodes) that form a network through synaptic connections, and can be broadly defined as a model that possesses problem-solving capabilities. An artificial neural network can be defined by the connection patterns between neurons in different layers, the learning process that updates the model parameters, and the activation function that generates the output values.

[0046] An artificial neural network can include an input layer, an output layer, and optionally one or more hidden layers. Each layer contains one or more neurons, and the artificial neural network can include synapses that connect these neurons.

[0047] In an artificial neural network, each neuron can output the function value of the activation function for the input signal, weights, and biases received via synapses.

[0048] Model parameters refer to parameters determined through learning, including synaptic connection weights and neuron biases. Hyperparameters, on the other hand, refer to parameters set before learning in a machine learning algorithm, including the learning rate, iteration count, mini-batch size, and initialization function.

[0049] The goal of training an artificial neural network can be considered as determining the model parameters that minimize the loss function, depending on the robot's purpose or application. The loss function can be used as an indicator to determine the optimal model parameters during the training process of the artificial neural network.

[0050] Machine learning can be classified into supervised learning, unsupervised learning, and reinforcement learning, depending on the learning method.

[0051] Supervised learning refers to a method of training an artificial neural network with labels given to the training data. A label can be defined as the correct answer (or result value) that the artificial neural network should infer when the training data is input to the artificial neural network. Unsupervised learning can be defined as a method of training an artificial neural network without labels given to the training data. Reinforcement learning can be defined as a learning method in which an agent defined in a given environment is trained to select the action or sequence of actions that maximizes the cumulative reward in each state.

[0052] Machine learning implemented using deep neural networks (DNNs), which are a type of artificial neural network containing multiple hidden layers, is sometimes called deep learning, and deep learning is a part of machine learning. In the following, machine learning will be used to include deep learning.

[0053] Robots can be realized as guidance robots, transport robots, cleaning robots, wearable robots, entertainment robots, pet robots, and unmanned aerial vehicles, with the application of AI technology.

[0054] A robot may include a robot control module for controlling its movements, and this robot control module may mean a software module or a chip that implements it as hardware.

[0055] The robot can use sensor information acquired from various sensors to obtain information about its own state, detect (recognize) its surrounding environment and objects, generate map data, determine its movement path and travel plan, determine its response to user interaction, and determine its actions.

[0056] The robot can perform the aforementioned actions using a learning model composed of at least one artificial neural network. For example, the robot can use the learning model to recognize its surrounding environment and objects, and can determine its actions using the recognized surrounding environment information or object information. Here, the learning model may be learned directly within the robot or learned by an external device such as an AI server.

[0057] In this scenario, the robot can either directly use a learned model to generate results and execute actions, or it can send sensor information to an external device such as an AI server, receive the resulting generated data, and then execute actions.

[0058] Through artificial intelligence, robots can perform autonomous driving. This refers to technology that allows robots to determine the optimal route on their own, avoid obstacles, and move accordingly. Currently applied autonomous driving technologies can include technologies that maintain their lane while driving, technologies that automatically adjust speed like adaptive cruise control, technologies that automatically drive along a predetermined route, and technologies that automatically set a route when a destination is set.

[0059] To perform autonomous driving, a vehicle can include numerous sensors to perceive data about its surroundings. Examples of sensors include proximity sensors, illuminance sensors, accelerometers, magnetic sensors, gyroscopes, inertial sensors, RGB sensors, IR sensors, fingerprint sensors, ultrasonic sensors, light sensors, microphones, lidars, and radar.

[0060] In addition to information collected by sensors, autonomous driving can be performed using video information collected by RGBC cameras, infrared cameras, etc., and acoustic information collected by microphones. It can also drive based on information input through the user input unit. Map data, location information, and surrounding environment information collected through the wireless communication unit are also necessary for autonomous driving.

[0061] Map data can include object identification information for various objects placed in the space in which the robot moves. For example, map data may include object identification information for fixed objects such as walls and doors, and movable objects such as flower pots and desks. Object identification information may also include name, type, distance, and location.

[0062] Therefore, the robot is equipped with sensors, various input units, and wireless communication units to collect data that can be used for artificial intelligence learning, and can perform optimal actions by integrating various pieces of information. The learning processor that runs the artificial intelligence may be mounted in the control unit of the robot to perform learning, or it may transmit the collected information to a server, where it learns and retransmits the learning results back to the robot, and then performs autonomous driving based on these results.

[0063] Robots equipped with artificial intelligence can collect surrounding information and build a comprehensive map even in new locations. Because a large amount of information is accumulated in areas within their main activity radius, they can perform more accurate autonomous navigation.

[0064] The system can be equipped with a touchscreen or buttons to receive user input, and can also recognize user voice to input commands. The processor can obtain intent information corresponding to user input by using at least one of the following: a Speech-to-Text (STT) engine to convert voice input into text, or a Natural Language Processing (NLP) engine to obtain intent information in natural language.

[0065] In this case, at least one of the STT engine or NLP engine can be composed of an artificial neural network that has been trained, at least in part, according to a machine learning algorithm. Furthermore, at least one of the STT engine or NLP engine may be trained by a learning processor, trained by a learning processor on an AI server, or trained by distributed processing of these.

[0066] Figure 1 shows a cloud system 1000 based on a 5G network according to one embodiment of the present invention.

[0067] Referring to Figure 1, the cloud system 1000 can include a logistics robot 100, a mobile terminal 300, a robot control system 200, various devices 400, and a 5G network 50.

[0068] Logistics robot 100 is a robot that transports goods from a point of origin to a destination. Logistics robot 100 can travel directly from a logistics center to its destination, or it can be loaded onto a vehicle and transported from the logistics center to the vicinity of the destination, then disembark and travel to the destination.

[0069] Furthermore, the logistics robot 100 can move goods to their destination not only outdoors but also indoors. The logistics robot 100 is implemented as an AGV (Automated Guided Vehicle), and an AGV can be a transport device that moves using floor sensors, magnetic fields, vision equipment, etc.

[0070] The logistics robot 100 includes a storage area for storing goods, and this storage area is divided to accommodate various types of goods, allowing diverse types of goods to be placed in the divided storage areas. This prevents the mixing of goods.

[0071] The mobile terminal 300 can communicate with the logistics robot 100 via the 5G network 50. The mobile terminal 300 may be a device owned by a user who installs partitions in a storage area for loading goods, or a device owned by a recipient of the loaded goods. The mobile terminal 300 can provide information based on video, and the mobile terminal 300 may include mobile devices such as mobile phones, smartphones, wearable devices (e.g., smartwatches, smart glasses, HMDs (head-mounted displays)).

[0072] The robot control system 200 can remotely control the logistics robot 100 and respond to various requests from the logistics robot 100. For example, the robot control system 200 can perform calculations using artificial intelligence based on the requests from the logistics robot 100.

[0073] Furthermore, the robot control system 200 can set the movement path of the logistics robot 100, and if there are multiple destinations, the robot control system 200 can set the order in which the robots move to those destinations.

[0074] The various devices 400 may include a personal computer (PC) 400a, an autonomous vehicle 400b, a home robot 400c, and the like. When the logistics robot 100 arrives at the destination of the goods, it can directly hand over the goods to the home robot 400c via communication with the home robot 400c.

[0075] Various devices 400 can be connected via wired or wireless connections to logistics robots 100, mobile terminals 300, robot control systems 200, etc., through a 5G network 50.

[0076] The logistics robot 100, mobile terminal 300, robot control system 200, and various devices 400 are all equipped with 5G modules and can send and receive data at speeds of 100Mbps to 20Gbps (or higher), enabling the transmission of large video files to various devices, while operating at low power consumption and minimizing overall power consumption. However, the transmission speed varies depending on the embodiment.

[0077] The 5G network 50 includes 5G mobile communication networks, short-range networks, the internet, etc., and can provide a communication environment between devices via wired or wireless connections.

[0078] Figure 2 is a diagram illustrating the configuration of a logistics robot 100 according to one embodiment of the present invention. This will be explained with reference to Figures 3 to 5, which also show a logistics robot 100 according to one embodiment of the present invention.

[0079] Referring to Figure 2, the logistics robot 100 may include a body 101 (see Figure 3) which includes a storage area 50, and the body may include the configuration described later. The logistics robot 100 may include a communication unit 110, an input unit 120, a sensing unit 140, an output unit 150, a memory 185, a wheel drive unit 170, a control unit 180, and a power supply unit 190. The components shown in Figure 2 are not essential for realizing the logistics robot 100, and the logistics robot 100 described herein may have more or fewer components than those described above.

[0080] The communication unit 110 (Transceiver) may include a wired or wireless communication module capable of communicating with the robot control system 200.

[0081] As an optional embodiment, the communication unit 110 may be equipped with modules related to GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Bluetooth (Bluetooth®), RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, and NFC (Near Field Communication) communication.

[0082] The input unit 120 may include a user input unit 122 for receiving information from the user. In an optional embodiment, the input unit 120 may include a camera 121 for video signal input and a microphone 123 (hereinafter referred to as "microphone") for receiving audio signals. Here, the camera 121 and microphone 123 can also be treated as sensors, and the signals acquired by the camera 121 or microphone 123 can be called sensing data or sensor information.

[0083] The input unit 121 can acquire training data for model learning and input data used when obtaining output using the learned model. The input unit 120 can also acquire raw input data, in which case the control unit 180 can extract input feature points as a preprocessing step for the input data.

[0084] The camera 121 is positioned in front to detect obstacles ahead, and multiple cameras at different angles can be arranged as shown in Figure 5. Multiple cameras 121 with different shooting directions can be provided, such as a camera that broadly recognizes the area in front and a camera that photographs the floor.

[0085] Alternatively, it can use a camera to photograph the rear, or scan codes containing specific information, such as barcodes or QR codes.

[0086] Alternatively, the system can be equipped with cameras with different functions. For example, it can be equipped with a wide-angle camera, an infrared camera, etc. The camera acts as a sensing unit 140, playing a role in detecting surrounding objects.

[0087] The user input unit 122 may be equipped with buttons or a touch panel for touch input. Alternatively, user commands can be input remotely via the communication unit 110, in which case the user input unit 122 may include a personal computer 400 or a remote control device that is provided separately from the logistics robot 100.

[0088] Since the user input unit 122 includes all methods for inputting user commands, it can recognize user commands through speech recognition. In other words, a speech recognition device that analyzes the audio collected by the microphone 123 and extracts user commands can also function as the user input unit 122.

[0089] The input unit 120 may include a code scanner, which can capture and input information such as information about the roll container, item size information, weight information, destination information, and information about the transport requester. In this case, the item information input unit may include a code reader.

[0090] The sensing unit 140 can acquire at least one of the following using various sensors: internal information of the logistics robot 100, information about the surrounding environment of the logistics robot 100, and user information.

[0091] In this case, the sensing unit 140 may include a variety of sensors for recognizing the surroundings for autonomous driving. Typical examples include a distance detection sensor or proximity sensor 141 and a lidar 142.

[0092] The proximity sensor 141 may include an ultrasonic sensor that recognizes nearby objects based on the time it takes for emitted ultrasonic waves to return and determines the distance to the object. Multiple proximity sensors may be provided along the perimeter, and some may also be provided on the upper side to detect obstacles above.

[0093] Lidar-142 is a device that emits laser pulses and receives the reflected light from surrounding objects to precisely map the surrounding environment. While its principle is similar to radar, it uses different electromagnetic waves, resulting in differences in its application technology and scope.

[0094] Lasers use light with wavelengths of 600-1000 nm, which can damage human vision. The LIDA-342 uses longer wavelengths and is used not only to measure the distance to an object, but also to measure its speed and direction, temperature, and analyze and measure the concentration of surrounding atmospheric substances.

[0095] In addition, the sensing unit 140 may include an illuminance sensor, acceleration sensor, magnetic sensor, gyroscope sensor, inertial sensor, RGB sensor, infrared sensor, fingerprint recognition sensor, ultrasonic sensor, light sensor, Hall sensor, and the like.

[0096] The output unit 150 can generate outputs related to vision, hearing, or touch, and may include an optical output unit and a display 151 for outputting visual information, a speaker 152 for outputting auditory information, an ultrasonic output unit for outputting ultrasonic signals belonging to inaudible frequencies, and a haptic module for outputting tactile information.

[0097] Memory 185 stores data that supports the various functions of the logistics robot 100. Memory 185 can store numerous applications driven by the logistics robot 100, data for the operation of the logistics robot 100, and instructions.

[0098] Furthermore, memory 185 can store information necessary for performing calculations using artificial intelligence, machine learning, and artificial neural networks. Memory 150 can store a deep neural network model. The deep neural network model is used to infer result values ​​for new input data that is not training data, and the inferred values ​​can be used as the basis for decisions to perform some action.

[0099] The power supply unit 190, under the control of the processor 190, receives an external or internal power supply and supplies power to each component of the logistics robot 100. The power supply unit 190 includes a battery 191, which may be a built-in battery or a replaceable battery. The battery can be charged by a wired charging method or a wireless charging method, and the wireless charging method may include an electromagnetic induction method or a magnetic resonance method.

[0100] The travel unit 170 is a means for moving the logistics robot 100 and may include wheels or legs, and may include wheel drive units and leg drive units for controlling them. By controlling a plurality of wheels provided on the bottom surface of the wheel drive unit, the logistics robot 100, including its body, can be moved.

[0101] The wheels may include main wheels for high-speed travel, casters including a main shaft that rotates in conjunction with the body 101 in addition to the axle on which the wheels rotate, and auxiliary casters 173 that reinforce the support to prevent the loaded items L from falling off during travel.

[0102] The leg drive unit (not shown) can control multiple legs according to the control unit 180 and move the body. The multiple legs may correspond to a configuration that enables the logistics robot 100 to walk or run. The multiple legs can be realized with four legs, but the embodiment is not limited to this. The multiple legs may be coupled to the body and formed as a single unit, or they may be formed to be detachable from the body.

[0103] The logistics robot 100 can move its body via a travel unit 170 which includes at least one of a wheel drive unit and / or a leg drive unit. However, in this specification, we will mainly describe an example in which the wheel drive unit is mounted on the mobile robot 100.

[0104] The control unit 180 is a module that controls each component of the logistics robot 100. The control unit 180 can mean a hardware-embedded data processing device that has physically structured circuits to execute functions expressed by code or instructions contained in a program. Examples of such hardware-embedded data processing devices include microprocessors, central processing units (CPUs), processor cores, multiprocessors, ASICs (application-specific integrated circuits), and FPGAs (field programmable gate arrays), but the scope of the present invention is not limited to these.

[0105] The control unit 180 can collect the information, for example, via the input unit 120. The input to the input unit 120 includes touch input on the display.

[0106] Based on the collected information, the control unit 180 can transmit information about the items L loaded in the loading area 50 to the mobile terminal 200 (see Figure 1) via the communication unit 110.

[0107] The logistics robot 100 of the present invention is a transport means for towing a roll container 500 (see Figure 4) to transport goods, and may include a docking section 130 for connecting with the roll container 500. The docking section 130 is firmly fastened to the roll container 500 and can maintain a stable fastening state even on inclined or uneven surfaces on the travel path during movement.

[0108] Furthermore, the docking portion 130 and the connecting portion 530 (see Figure 4) of the rolltainer 500 may include a configuration that guides the connection, so that the fastening of the docking portion 130 and the connecting portion 530 of the rolltainer 500 is performed automatically rather than manually.

[0109] Referring to Figure 3, the robot control system 200 may include an AI server. The AI ​​server can mean a device that trains an artificial neural network using a machine learning algorithm, or a device that uses a pre-trained artificial neural network. Here, the robot control system 200 may consist of multiple servers performing distributed processing, or it may be defined as a 5G network. In this case, the AI ​​server may be included as part of the logistics robot 100, and the logistics robot 100 itself may also perform at least part of the AI ​​processing.

[0110] The robot control system 200 may include a communication unit 210, memory 230, learning processor 240, and processor 260, among others.

[0111] The communication unit 210 can send and receive data with external devices such as the logistics robot 100.

[0112] The memory 230 may include a model storage unit 231. The model storage unit 231 can store a model (or artificial neural network 231a) that is being trained or has been trained via the learning processor 240.

[0113] The learning processor 240 can train the artificial neural network 231a using training data. The training model may be used with the artificial neural network installed in the robot control system 200, or it may be used installed in an external device such as a logistics robot 100.

[0114] The learning model can be implemented using hardware, software, or a combination of hardware and software. If part or all of the learning model is implemented as software, one or more instructions that make up the learning model can be stored in memory 230.

[0115] The processor 260 can use a learning model to infer result values ​​for new input data and generate responses or control instructions based on the inferred result values.

[0116] Figures 4 and 5 are perspective views of a logistics robot 100 and a roll container 500 of a transport means 100, 500 according to one embodiment of the present invention. The logistics robot 100 of the present invention includes a body 101 with components mounted inside. The body 101 can be moved by a traveling section 170 located at the bottom.

[0117] The body 101 of the logistics robot 100 does not have an area for loading goods and can be box-shaped, including a space for mounting components, as shown in Figure 4. Components such as circuit board assemblies are mounted on the body 101 as the running section 170, power supply section 190, and control section 180. For stable movement, the height of the body 101 can be formed so that it does not exceed the width of the base.

[0118] To ensure a sufficient field of view for the forward-facing camera 121, the position of the camera 121 can be raised using a vertical bracket 102 extending upward from the body 101, as shown in Figure 5.

[0119] Furthermore, a touchscreen 151 is provided on the upper side of the vertical bracket 102, allowing the user to check the status information of the logistics robot 100 and control the logistics robot 100 via touch input.

[0120] The height of the touchscreen 151 can be positioned above the vertical bracket 102, taking into consideration the user's eye level. The vertical bracket 102 can be equipped with a speaker 152, and by positioning the speaker 152 above a predetermined height, the sound output from the speaker 152 can be transmitted over a long distance.

[0121] The logistics robot 100 is connected to a wheeled roll container 500 and transports the goods loaded in the roll container 500. The logistics robot 100 includes a running section 170 and has enough power to tow the roll container 500 loaded with goods.

[0122] The rolltainer 500 may include a loading rack 520 on which goods can be loaded, and may include a frame 510 arranged in a grid pattern to support the loading rack 520. The frame is positioned below the loading rack 520 and can support the weight of the goods loaded on the loading rack 520.

[0123] The roll container 500 may be equipped with roll container wheels 540 at the bottom for ease of transport.

[0124] The roll container 500 includes a coupling portion 530 for fastening to the logistics robot 100, and the logistics robot 100 may include a docking portion 130 that fastens to the coupling portion 530 of the roll container 500. The fastening structure of the coupling portion 530 and the docking portion 130 must be maintained stably even on slopes and uneven surfaces in the travel section.

[0125] As shown in Figure 4, the docking portion 130 of the logistics robot 100 can be located on the upper surface of the body 101, and the coupling portion 530 of the roll container 500 is located in front. The docking portion 130 located on the upper surface of the body 101 can be fastened to the coupling portion 530 located in front of the roll container 500.

[0126] Referring to Figure 6, when the docking portion 130 and the connecting portion 530 are fastened together, a portion of the body 101 is inserted into the lower part of the roll container, and the lower part of the connecting portion 530 of the roll container 500 can include an open space that allows the rear of the body 101 to be inserted.

[0127] In particular, the transport means 100, 500 of the present invention are characterized by having a fastening structure that allows the fastening and unfastening of the logistics robot 100 and the roll container 500 to be performed automatically without the need for manual intervention. The logistics robot 100 can move backward so that the roll container 500 is positioned behind the logistics robot 100, thereby fastening the coupling portion 530 and the docking portion 130 of the roll container 500.

[0128] As shown in Figure 4, the logistics robot 100 moves via the front camera 121, and when it approaches the roll container 500 to be transported, it can rotate 180° as shown in Figure 5 so that the rear of the logistics robot 100 faces the roll container 500.

[0129] In this case, a rear camera 138 may be further included to photograph the rear of the logistics robot 100 in order to confirm the position of the joint 530 of the roll container 500. The rear camera 138 can be positioned on the vertical bracket 102 and, since it is used to photograph only the joint 530 of the roll container 500 rather than a wide area, it can be positioned close to the docking section 130.

[0130] The rear camera 138 can be positioned adjacent to the lower side of the vertical bracket 102 and can be positioned relatively lower than the front camera 121.

[0131] The coupling portion 530 of the rolltainer 500 may include an identification code 535 in order to control the position of the rear camera 138 so that the docking portion 130 of the logistics robot 100 can be fastened to the coupling portion 530.

[0132] As shown in Figure 4, the identification code 535 can identify information through images such as QR codes and barcodes. Not only can information about the roll container 500 be confirmed through the identification code 535 of the roll container 500, but the position of the coupling part 530 of the roll container 500 can also be confirmed. The rear camera 138 moves while confirming the position of the identification code 535 so that the coupling part 530 and the docking part 130 are aligned.

[0133] While locking methods using hooks and the like provide strong fastening force, they have the problem of requiring manual operation because it is difficult to perform accurate positioning automatically. To enable the automatic fastening and unfastening of the logistics robot 100 and the roll container 500, the docking section 130 of the present invention may include an electromagnet 131 that has magnetic force.

[0134] The electromagnet 131 can control its magnetic force depending on whether or not power is applied, and by controlling the power applied to the electromagnet 131, the roll container 500 can be selectively coupled and uncoupled. A normal electromagnet 131 generates a magnetic force when power is applied, and when using a normal electromagnet 131, continuous power application is required for the logistics robot 100 to maintain its coupled state with the roll container 500.

[0135] In contrast, the present invention can use a permanent electromagnet 131 to maintain fastening force while minimizing power consumption. The permanent electromagnet 131 is similar to a normal electromagnet in that its magnetic force changes depending on whether or not a power source is applied.

[0136] However, the permanent electromagnet 131 contains a permanent magnet, and when no power is applied, metallic materials can adhere to it due to the magnetic force of the permanent magnet. The magnetic coil, which is positioned next to the permanent magnet, forms a magnetic field opposite to that of the permanent magnet when power is applied, and can cancel out the magnetic force of the permanent magnet.

[0137] In other words, the magnetic force of the permanent electromagnet 131 disappears when power is applied, and recovers when the power is removed. The permanent electromagnet 131 can be configured such that the magnetic coils are arranged in line with the pole direction of the permanent magnet, and the magnetic field formed by the permanent magnet and the magnetic coils are superimposed. As shown in Figure 5, the metal part 531 of the rolltainer 500 is coupled to the rear of the permanent electromagnet 131, so the magnetic coils can be positioned in front of the permanent electromagnet 131 and the permanent magnet in the rear.

[0138] The coupling portion 530 of the roll container 500 may include a metal portion 531 positioned on the front surface of the roll container 500 for coupling with the permanent electromagnet 131. The metal portion 531 can be made of a plate-like member as shown in Figure 5, and the metal portion 531 can be larger than the permanent electromagnet 131 so that it can adhere even within a predetermined tolerance range.

[0139] The permanent electromagnet 131 adheres to the metal part 531 on the front of the roll container 500 by magnetic force, thereby restricting the movement of the roll container 500 in the front-rear direction (y-axis direction). The permanent electromagnet 131 can include a pair, left and right, as shown in Figure 4, which can increase the fastening force and minimize left-right twisting.

[0140] The backs of the permanent electromagnets 131 can be arranged parallel to each other and on the same horizontal line (x-axis direction) so that the front of the roll container 500 is perpendicular to the direction of movement of the logistics robot 100. If the center of the roll container 500 does not coincide with the center of the logistics robot 100, the logistics robot 100 cannot move stably when traveling.

[0141] To align the horizontal (x-axis) position, the coupling portion 530 may include a coupling block 532 protruding from the front of the rolltainer 500, and the docking portion 130 may include a docking bracket 132 positioned between a pair of permanent electromagnets 131.

[0142] Figure 6 shows a state in which the logistics robot 100 of the transport means 100, 500 according to one embodiment of the present invention is fastened to the roll container 500. Figure 7 is an enlarged view of part A of Figure 6, and Figure 8 is a perspective view from above of the state in which the logistics robot 100 of Figure 7 is fastened to the roll container 500.

[0143] The coupling block 532 can be box-shaped and protrude from the front of the roll container 500. In this embodiment, the metal part 531 is large enough to cover the entire pair of permanent electromagnets 131, and the coupling block 532 is coupled to the front of the metal part 531. The metal part 531 can be supported so as to be securely fixed to the roll container 500.

[0144] The docking bracket 132 includes an internal space into which a box-shaped coupling block 532 can be inserted, and may include side wall portions 1321 located on the left and right sides of the coupling block 532, and an upper surface portion 1322 located above it.

[0145] The side wall portion 1321 restricts the horizontal (x-axis direction) movement of the coupling block 532, and the top surface portion 1322 restricts the vertical (z-axis direction) movement of the coupling block 532, thereby strengthening the fastening force. Since the permanent electromagnet 131 restricts the movement in the front-rear direction (y-axis direction), the rolltainer 500 can move together with the logistics robot 100.

[0146] The control unit 180 can control the travel unit 170 to move in reverse according to the identification code 535 recognized by the rear camera 138 so that the coupling block 532 is accurately coupled to the docking bracket 132.

[0147] The identification code 535 can be located on the upper side of the coupling block 532. As the logistics robot 100 moves backward while maintaining the rear camera 138 and the identification code 535 in a parallel position, the coupling block 532 can be inserted into the docking bracket 132.

[0148] However, when the logistics robot 100 is moving backward, if the permanent electromagnet 131 is within a predetermined distance of the metal part 531, the magnetic force of the permanent electromagnet 131 may pull the metal part 531 towards it, causing the permanent electromagnet 131 and the metal part 531 to be fastened together before alignment. To prevent this, when the rear camera 138 detects that the identification code 535 is within a predetermined distance, the control unit 180 can apply power to the permanent electromagnet 131 to remove its magnetic force.

[0149] The docking bracket 132 may be equipped with a fastening sensor 135 that recognizes whether the coupling block 532 has been correctly inserted into the docking bracket 132. In this embodiment, a limit switch 135 is used as the fastening sensor, and when the coupling block 532 presses the limit switch 135, the travel unit can stop moving in reverse.

[0150] Furthermore, when the limit switch 135 is pressed, the power supply applied to the permanent electromagnet 131 is cut off, restoring the magnetic force of the permanent electromagnet 131 and allowing it to be fastened to the metal part 531.

[0151] The docking section 132 is positioned forward on the upper surface of the body 101, and a portion of the upper surface of the body 101 overlaps with the roll container 500, as shown in Figure 6. Therefore, the connecting section 530 is positioned in front of the lowest shelf 521 of the roll container 500, and the lower surface of the body 101 can fit under the lowest shelf 521.

[0152] Figure 9 is a side view of transport means 100, 500 according to one embodiment of the present invention. It may include a pipe-shaped support frame 511 that supports the lower part of the lowest shelf 521, and the lower surface of the support frame 511 can come into contact with the upper surface of the body 101 of the logistics robot 100.

[0153] When the logistics robot 100 accelerates or decelerates while traveling with the roll container 500 fastened to it, a slippage phenomenon may occur in the roll container 500. If the roll container 500 slips, the top surface and docking section 132 of the logistics robot 100 may be damaged, and the roll container 500 may tilt and overturn. To prevent such accidents, a cart stopper 513 can be provided at the bottom of the lowest shelf 521 of the roll container 500 that is in contact with the top surface of the logistics robot 100 to prevent slippage.

[0154] The cart stopper 513 in this embodiment may include elastic rubber surrounding the lower part of the support frame 511 located below the lowest shelf 521. The cart stopper 513 can be in close contact with the upper surface of the logistics robot 100 to increase the coupling force between the roll container 500 and the logistics robot 100.

[0155] Furthermore, because the cart stopper 513, which includes elastic rubber, is elastic, it can cushion the impact applied to the upper surface of the body 101 of the logistics robot 100 when passing over bumps or steps on the travel path, thereby preventing damage to the logistics robot 100.

[0156] When aligning the position using the aforementioned rear camera 138, it has the advantage of being controllable by software using video information, enabling precise fastening. However, it has the disadvantage that fastening the logistics robot 100 and the roll container 500 takes time because it is necessary to detect proximity and apply power to the permanent electromagnet 131, and because a calculation process is required in the control unit 130 or server 200 to align the docking unit 130 and the coupling unit 530.

[0157] If a guide structure is provided to physically guide the fastening of the connecting block 532 and the docking bracket 132, the docking portion 130 and the connecting portion 530 can be fastened in a shorter time.

[0158] Figures 10 and 11 show the process by which the logistics robot 100 of the transport means 100, 500 according to another embodiment of the present invention fastens with the roll container 500.

[0159] The docking section 130 of this embodiment may further include a guide bracket 133 that physically guides the process of fastening the coupling block 532 to the docking bracket 132. The guide bracket 133 includes an extension section 1331 which is a pair of side wall structures that widen towards the rear, and the distance between the extension sections narrows as one approaches from the front, so that the logistics robot 100 and the roll container 500 can be aligned at the fastening position.

[0160] As shown in Figure 11, the guide bracket 133 extends rearward from the docking bracket 132, so when the connecting block 532 is fastened to the docking bracket 132, the guide bracket 133 is located behind the connecting block 532.

[0161] If the left and right portions of the connecting block 532 of the metal part 531 are cut away to allow the guide bracket 133 to pass through, the rigidity of the connecting block 532 will decrease, and the metal part 531 to which the connecting block 532 is joined may bend.

[0162] In contrast, in this embodiment, in order to avoid omitting the lateral direction of the coupling block 532, the height of the guide bracket 133 is made low, and the guide projection 533 that protrudes from the lower side of the coupling block 532 can be used to guide the fastening of the roll container 500 and the logistics robot 100.

[0163] As shown in Figure 11, the guide bracket 133 may include a straight section 1332 in front of the guide projection 533 so that it is in the correct position, and an extended section 1331 that widens towards the rear from the straight section 1332. A pair of guide brackets 133 can be arranged in a Y shape. The straight section 1332 may be located below the docking bracket 132.

[0164] If there is no rear camera during the process of the logistics robot 100 approaching the roll container 500, the docking bracket 132 and the coupling block 532 may not align parallel to each other. In this case, if the guide projection 533 is positioned between the extended section 1331 of the guide bracket 133, it will move along the slope of the extended section 1331 of the guide bracket 133 and position itself in the straight section 1332. When the guide projection 533 enters the straight section 1332, the logistics robot 100 and the roll container 500 will align so that the coupling block 532 can be inserted into the docking bracket 132.

[0165] Figure 12 is a perspective view showing the logistics robot 100 of the transport means 100, 500 according to another embodiment of the present invention fastened to the roll container 500, and Figure 13 is a cross-sectional view of BB in Figure 12.

[0166] When the coupling block 532 is inserted into the docking bracket 132, the guide projection 533 is located in the straight section 1332 of the guide bracket 133, and the coupling block 532 turns on the limit switch 135, which is a fastening sensor 135 located inside the docking bracket 132, thereby stopping the reverse movement of the logistics robot 100.

[0167] Unlike the above embodiment, even if the permanent electromagnet 131 attracts the metal part 531 of the roll container 500 with its magnetic force, the guide projection 533 and the guide bracket 133 can be aligned, so there is no need to remove the magnetic force of the permanent electromagnet 131. Rather, attracting the roll container 500 with the magnetic force of the permanent electromagnet 131 allows for faster fastening.

[0168] Referring to Figure 10, the metal part 531 can be made of a wide plate-like member so that it can be fastened to the left and right permanent electromagnets 131. By placing the coupling block 532 on the metal part 531 and fastening the metal part 531 to the frame 511 of the roll container 500, the coupling part 530 can be easily attached to the roll container 500.

[0169] The metal part 531 supports the load applied to the coupling block 532 during acceleration and deceleration of the logistics robot 100 and on the inclined travel path, preventing the coupling block 532 from separating from or being damaged by the roll container 500. However, as described above, when the coupling part 530 and the docking part 130 are fastened together, a part of the extension of the guide bracket 133 needs to be located on the rear end side of the coupling block 532. Therefore, the metal part 531 can be provided with an opening 5315 at the bottom of the coupling block 532, as shown in Figure 10.

[0170] The metal part 531 can form an open section 5315 by creating a step between the lower end of the central part to which the coupling block 532 is coupled and the parts that are fastened to the permanent electromagnets 131 on both sides. If the structure is not configured with a step, it is also possible to position the permanent electromagnets 131 spaced apart from the upper surface of the body 101, but in order for the bracket that fixes the permanent electromagnets 131 to stably support the load of the roll container 500, it is advantageous for it to be close to the upper surface of the body 101 of the logistics robot 100. Therefore, as shown in Figure 10, an open section 5315 can be realized by creating a step at the lower end of the metal part 531.

[0171] Figures 14 and 15 show the fastening parts of transport means 100 and 500 according to another embodiment of the present invention. This embodiment is an example in which the docking bracket 134 and the guide bracket 133 are integrated.

[0172] In the above embodiment, the docking bracket 134 is provided separately in a form that covers the upper part of the straight section 1332 of the guide bracket 133. However, in this embodiment, as shown in Figure 15, an upper surface portion 1342 is formed extending from the upper end of the straight section 1332 of the guide bracket 133, and the straight section 1332 can be used as the docking bracket 134.

[0173] The coupling block 532 may include a first block 5321 mounted on the front of the roll container 500, a second block 5322 positioned below the first block 5321, and a connecting portion 5323 connecting the first block 5321 and the second block 5322. In this embodiment, a slit is formed in the upper surface 1342 of the docking bracket 134 so that the connecting portion 5323 can pass through.

[0174] As shown in Figure 15, the width of the connecting portion 5323 is formed to be smaller than that of the second block 5322 and can be configured to lock onto the upper surface 1342 of the docking bracket 134. The second block 5322 and the connecting portion 5323 in this embodiment restrict the horizontal (x-axis direction, Figure 6) and vertical (z-axis direction, Figure 6) movement of the roll container 500, thereby enabling the roll container 500 to be stably coupled to the logistics robot 100.

[0175] In this embodiment, the second block 5322 is a locking structure that restricts the horizontal and vertical movement of the rolltainer 500, and at the same time, it also acts as a guide block that moves along the guide bracket 133 so that the rolltainer 500 enters the docking bracket 134.

[0176] Figure 15 shows another example of the arrangement of the fastening sensor 135. In this embodiment, the fastening sensor 135 is positioned on the side wall portion 1341 of the docking bracket 134 and can detect the entry of the second block 5322 into the docking bracket 134.

[0177] Although not shown in Figure 14, as shown in Figure 12, a docking bracket 132 that surrounds the first block 5321 of the connecting block 532 can also be provided.

[0178] The system can include a first docking bracket 132 surrounding the first block 5321, and a second docking bracket 134 surrounding the second block 5322, which is realized by deforming the straight section 1332 of the guide bracket 133. In this case, the fastening force can be improved because the two docking brackets 134 are fastened together with the connecting block 532.

[0179] As described above, the docking section 130 of the logistics robot 100 of the present invention can connect to the coupling section 530 of the roll container 500 at the correct position, and can be automatically connected to the roll container 500 without requiring manual work.

[0180] Furthermore, the logistics robot 100 of the present invention is supplied with power only when separating from the coupling portion 530 of the roll container 500 via a permanent electromagnet 131 that loses its magnetic force when power is supplied, thus reducing power consumption and facilitating easy attachment and detachment.

[0181] Furthermore, phenomena such as shaking and displacement during travel can be prevented via the docking bracket 134, which restricts the horizontal and vertical movement of the joint portion 530 of the rolltainer 500.

[0182] Furthermore, the anti-slip section prevents the slippage phenomenon caused by the inertia of the roll container 500 when passing over inclined or protruding sections, or when the logistics robot 100 accelerates or decelerates.

[0183] The above detailed description should not be interpreted restrictively in any way and should be considered illustrative. The scope of the invention shall be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the invention are included within the scope of the invention.

Claims

1. In a logistics robot that is fastened to a roll container including a metal part and a connecting block on its front and to tows the roll container, body; A running section located at the lower part of the aforementioned body; and The body is arranged and includes a docking portion that fastens with the metal part and coupling block of the roll container, The docking section is An electromagnet whose magnetism changes depending on whether or not power is applied, and to which the metal part is selectively attached according to the change in magnetism; and It includes a docking bracket positioned adjacent to the electromagnet into which the coupling block is inserted, The docking bracket is, A logistics robot characterized by including a pair of side walls that cover the left and right directions of the coupling block, and an upper surface that covers the upper part of the coupling block.

2. The electromagnet includes a magnetic coil and a permanent magnet. The logistics robot according to claim 1, characterized in that when power is applied to the magnetic coil, a magnetic field is formed in the opposite direction to that of the permanent magnet, thereby reducing the magnetic force of the electromagnet.

3. The logistics robot according to claim 2, characterized in that it includes a control unit that applies power to the magnetic coil when the docking unit is separated from the roll container.

4. The logistics robot according to claim 1, characterized in that the electromagnets face the back of the body and are arranged side by side horizontally in the left-right direction on the docking bracket.

5. A vertical bracket protruding upward from the aforementioned body; A rear camera positioned on the vertical bracket facing rearward and recognizing an identification code placed on the roll container; and The logistics robot according to claim 1, further comprising a control unit that controls the travel unit so that the coupling block is inserted into the docking bracket based on the position of the identification code recognized by the rear camera.

6. The control unit, The logistics robot according to claim 5, characterized in that when the location of the identification code is within a predetermined distance, the power supply applied to the electromagnet is controlled to remove the magnetic force of the electromagnet.

7. Includes a fastening sensor that detects whether the coupling block of the roll container has been inserted into the docking bracket, The control unit, The logistics robot according to claim 6, characterized in that when the fastening sensor is turned ON, the power supply applied to the electromagnet is controlled to restore the magnetic force of the electromagnet.

8. The docking section is The logistics robot according to claim 1, characterized in that it includes guide brackets positioned to the left and right of guide projections protruding from the lower side of the coupling block and extending toward the rear.

9. The logistics robot according to claim 8, characterized in that the height of the guide bracket is lower than that of the coupling block.

10. The front end of the guide bracket includes a straight section located below the docking bracket, The logistics robot according to claim 8, characterized in that it includes a fastening sensor that detects whether or not the guide projection is located in the straight section.

11. The aforementioned combined block is, The rear end is the first block, which is coupled to the aforementioned roll container; A second block positioned below the first block; and It includes a connecting portion that connects the first block and the second block, The side walls of the docking bracket are arranged in the direction of both sides of the second block. The logistics robot according to claim 1, characterized in that the upper surface of the docking bracket is open at a position corresponding to the connecting portion.

12. The docking section is The logistics robot according to claim 11, characterized in that it includes guide brackets that extend rearward from the pair of side walls of the docking bracket and are spaced further apart.

13. A roll container including a metal part and coupling block positioned on the front; and A logistics robot including a body, a running section located below the body, and a docking section located on the body and fastened with the metal section and the coupling block, The docking section is An electromagnet whose magnetism changes depending on whether or not power is applied, and to which the metal part is selectively attached according to the change in magnetism; and Includes a docking bracket into which the aforementioned coupling block is inserted, The docking bracket is, A transport means characterized by including a pair of side walls that cover the left-right direction of the connecting block and an upper surface that covers the upper part of the connecting block.

14. The electromagnet includes a magnetic coil and a permanent magnet, When power is applied to the magnetic coil, a permanent electromagnet is included in which a magnetic field is formed in the opposite direction to that of the permanent magnet, thereby reducing the magnetic force of the electromagnet. The transport means according to claim 13, characterized in that it includes a control unit that applies power to the magnetic coil when the docking portion is separated from the roll container.

15. A vertical bracket protruding upward from the aforementioned body; A rear camera positioned on the vertical bracket facing rearward and recognizing an identification code placed on the roll container; and The transport means according to claim 13, further comprising a control unit that controls the travel unit so that the coupling block is inserted into the docking bracket based on the position of the identification code recognized by the rear camera.

16. The control unit, If the location of the identification code is within a predetermined distance, power is applied to the electromagnet to remove the magnetic force of the electromagnet. The transport means according to claim 15, characterized in that when the coupling block of the rolltainer is inserted into the docking bracket, the power supply to the electromagnet is stopped and the magnetic force of the electromagnet is restored.

17. The coupling block is fixed in front of the metal part and includes a guide projection that protrudes downward, The metal part is located below the connecting block and includes an open portion having a predetermined width. The docking section is The guide brackets are positioned to the left and right of the aforementioned guide projections and extend toward the rear, The transport means according to claim 13, characterized in that when the coupling block and the docking bracket are fastened together, the guide bracket is positioned to pass through the opening.

18. The aforementioned combined block is, The rear end is the first block, which is coupled to the aforementioned roll container; A second block positioned below the first block; and It includes a connecting portion that connects the first block and the second block, The side walls of the docking bracket are arranged in the direction of both sides of the second block. The upper surface of the docking bracket is open at a position corresponding to the connecting portion. The transport means according to claim 13, characterized in that the docking portion includes guide brackets that extend rearward from the pair of side walls of the docking bracket and have a widening gap between them.

19. The aforementioned rolltainer is A lower end stacking shelf in which the connecting block and the metal part are positioned in front; and Includes a cart stopper positioned at the bottom of the lower end stacking shelf, The docking bracket is positioned on the front half of the upper surface of the body. A portion of the body is positioned below the lower end stacking shelf when the connecting block is inserted into the docking bracket. The transport means according to claim 13, characterized in that the cart stopper abuts against the upper surface of the body.

20. The aforementioned cart stopper is The transport means according to claim 19, characterized in that it includes an elastic part fitted to a support frame located at the lower part of the lower end loading shelf.

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