Gas supply systems including mobile robots

Abstract

To provide an automating gas supply device with a power supply source positioned outside in order to achieve downsizing of a gas supply device.SOLUTION: A gas supply system includes: a cabinet inside of which a gas container is arranged; a fastening device that is movable with respect to the gas container and can be fastened to a valve of the gas container while aligned with the valve; a mobile robot device that is separably coupled to the fastening device and moves the fastening device; a three-dimensional vision camera that collects images; and a processor that controls operation of the mobile robot device based on the images collected by the three-dimensional vision camera.SELECTED DRAWING: Figure 2

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 and pressure.

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

[0004] The gas container is connected to a gas supply device to discharge the gas stored inside. If all the gas inside 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 to connect a gas supply device to a 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, and the gas supply device operates so as to be positionally aligned with the valve of the gas container. Therefore, since the gas supply device includes an actuator for receiving power for position adjustment and operation, the size of the cabinet where gas is supplied is required to be formed to a size that can accommodate the gas supply device.

[0006] The background art described above is what the inventor maintained 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] One objective of this embodiment is to provide an automated gas supply system in which the power supply source is located externally, thereby enabling a reduction in the size of the gas supply system.

[0008] One embodiment aims to provide an automated gas supply system that can align the gas supply device with respect to a gas container via three-dimensional mapping using a mobile robot. [Means for solving the problem]

[0009] A gas supply system according to one embodiment includes a cabinet in which a gas container is arranged; a fastening device that is movable relative to the gas container and can be fastened to the valve of the gas container while aligned with the valve; a mobile robot device that is detachably connected to the fastening device and moves the fastening device; a three-dimensional vision camera for collecting images; and a processor that controls the operation of the mobile robot device based on the images collected by the three-dimensional vision camera.

[0010] The mobile robot device may include a body that is movable outside the cabinet and a robot arm provided on the upper part of the body and consisting of a multi-joint arm. The processor generates a three-dimensional model of the valve area of ​​the gas container in real time via the three-dimensional vision camera, matches the generated three-dimensional model with one of the reference images stored in the database, and determines the position and angular state of the gas container relative to the valve based on the matched reference image. of Based on the results, the mobile robot device can be configured to operate so that the fastening device aligns itself in a position where it can be fastened to the valve.

[0011] The processor can generate a three-dimensional model of the valve region of the gas container, including the shape of the valve of the gas container or the shape of the end cap attached to the valve, in the process of generating a three-dimensional model of the valve region of the gas container.

[0012] The processor can be configured to compare the generated 3D model with a plurality of reference images stored in the database to determine image similarity, select the reference image with the highest image similarity to the generated 3D model, and match it with the 3D model.

[0013] The processor can be configured to generate alignment information for three-dimensional coordinates and angles, based on the rotation angle and position information of the three-dimensional model corresponding to the selected reference image, so that the fastening device aligns itself to a state where it can be fastened to the valve of the gas container.

[0014] The processor can be configured to generate the alignment information only when the rotation angle of the 3D model corresponding to the selected reference image is within a set angular range.

[0015] The processor can be configured to generate the alignment information only when the image similarity between the selected reference image and the generated 3D model is equal to or greater than a set reference value.

[0016] The processor can control the imaging angle of the 3D vision camera relative to the valve area of ​​the gas container if the image similarity between the selected reference image and the generated 3D model is less than a set reference value.

[0017] The processor can be configured to generate a movement path based on the generated alignment information so that the fastening device is optimally aligned with the gas container, and to control the operation of the mobile robot device so that the position of the fastening device is adjusted by the generated movement path.

[0018] The processor can be configured to, in the process of determining the image similarity between the generated 3D model and the reference image, acquire each pixel obtained by dividing the generated 3D model into 2D, combine the acquired pixels to generate pixels of a 3D image of the geometric structure, divide the generated 3D model and the reference image into a plurality of pixel regions and match them individually, and determine the image similarity according to the matching state for each divided pixel region.

[0019] The gas supply system may further include a clamping device that supports the outer surface of the gas container and can rotate the gas container about a rotation axis perpendicular to the ground. The processor can be configured to rotate the gas container about the rotation axis via the clamping device, and as the gas container rotates about the rotation axis, it can be configured to acquire an image of the end cap attached to the valve of the gas container via the 3D vision camera for each rotation angle of the gas container, and to stop the rotation of the gas container when the acquired image of the end cap has an image similarity of a set reference value or higher with a reference image of the end cap stored in the database.

[0020] The fastening device can separate the end cap attached to the valve when it is aligned to a first position relative to the gas container, and can fasten it to the valve when it is aligned to a second position relative to the gas container.

[0021] The fastening device includes a docking section, and the mobile robot device may further include a docking module positioned at the end of the robot arm and fastened to the docking section.

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

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

[0024] The gas supply system can further include a connection module that movably connects the fastening device to the cabinet. The connection module includes one or more connections that connect the cabinet and the fastening device, and each connection assembly is rotatable via a joint and can adjust its length. assembly including, and each connection assembly is rotatable via a joint and can adjust its length.

[0025] A gas supply system according to an embodiment includes a cabinet in which a gas container is disposed, The cabinet is provided with, a fastening device that is movable relative to the gas container and can separate an end cap from the valve or be fastened to the valve in a state aligned with the valve of the gas container, a mobile robot device that is separably connected to the fastening device and moves the fastening device, a three-dimensional vision camera that collects images, and a processor that controls the operation of the mobile robot device based on the images collected by the three-dimensional vision camera. The mobile robot device can include a body that is movable outside the cabinet and a robot arm provided on an upper portion of the body and composed of a multi-joint arm. The processor generates a three-dimensional model of an end cap attached to the valve of the gas container via the three-dimensional vision camera, matches the generated three-dimensional model of the end cap with any one of the reference images stored in a database, determines the position and angular state of the end cap attached to the gas container based on the matched reference image, and based on the determination of result, the mobile robot device can be configured to operate so that the fastening device is aligned in a state where it can separate the end cap from the valve.

[0026] The processor is configured to compare the three-dimensional model of the generated end cap with each of a plurality of reference images stored in the database to determine image similarity, select a reference image having the highest image similarity with the three-dimensional model of the generated end cap and match it with the three-dimensional model of the generated end cap, and generate information regarding the movement coordinates and rotation angle for aligning the fastening device based on the rotation angle and position information of the three-dimensional model corresponding to the matched reference image.

[0027] The fastening device can include an end cap separation part for separating an end cap attached to the valve in a state of being aligned with the gas container at a first position, a valve connector for being fastened to the valve in a state of being aligned with the gas container at a second position to receive gas supply, and a docking part to which external power is supplied.

[0028] The gas supply system further includes a docking module provided at an end of the robot arm and connected to the docking part to operate the fastening device. The docking module can include a fastening part fastened to the docking part of the fastening device and a power motor for supplying power to the fastening device through the docking part.

[0029] A gas supply system according to one embodiment may include a clamping device that supports a gas container and rotates the gas container about a rotation axis perpendicular to the ground, a three-dimensional vision camera that collects images, and a processor that controls the operation of the clamping device. The processor can operate to rotate the gas container about the rotation axis via the clamping device, collect images of the end caps attached to the valves of the gas container at set points via the three-dimensional vision camera for each rotation angle of the gas container, select the end cap image with the highest similarity by comparing the end cap images for each rotation angle of the gas container with reference images stored in a database, and control the clamping device so that the rotation angles of the gas container about the rotation axis are aligned at the rotation angle corresponding to the selected end cap image. [Effects of the Invention]

[0030] In one embodiment, a gas supply system can reduce or minimize the space required for the gas supply device by providing power to the gas supply device via a mobile robot that can be optionally connected to the gas supply device.

[0031] In one embodiment of the gas supply system, the alignment of the gas supply device with respect to the gas container can be detected via a mobile robot located outside the cabinet on which the gas container is placed, thereby simplifying the structure of the gas supply device.

[0032] A gas supply system according to one embodiment can prevent installation in an unaligned state by detecting the alignment of the gas supply device relative to the gas container via three-dimensional mapping using a three-dimensional camera, thereby minimizing or reducing damage and breakage to the device.

[0033] The effects of the gas supply system 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 explanation of the drawing]

[0034] [Figure 1] This is a partial perspective view of a gas container according to one embodiment. [Figure 2] This is a perspective view of a gas supply system according to one embodiment. [Figure 3] This is a perspective view of a clamping device according to one embodiment. [Figure 4] This is a perspective view of a mobile robot device according to one embodiment. [Figure 5A] This is a perspective view showing a mobile robot device, a connecting module, and a fastening module according to one embodiment. [Figure 5B] This is a perspective view showing a connecting module and a fastening module according to one embodiment. [Figure 5C] This is a perspective view of a connecting assembly according to one embodiment. [Figure 5D] This is a perspective view of a connecting assembly according to one embodiment. [Figure 6] This is an operational diagram illustrating the process by which a gas supply system according to one embodiment aligns gas containers via a clamping device. [Figure 7A] This is an operational diagram showing the process by which a gas supply system according to one embodiment generates alignment information for fastening devices to a gas container via a 3D vision camera. [Figure 7B] This is an illustrative diagram of a three-dimensional model of an end cap generated via a gas supply system according to one embodiment. [Figure 7C] This is a schematic diagram showing the process of matching a 3D model generated via a processor according to one embodiment with a reference image. [Figure 8] This figure shows the process of aligning fastening devices via a mobile robot device according to one embodiment. [Figure 9] This is a flowchart of an automatic fastening method according to one embodiment. [Figure 10] This is a flowchart of an automatic fastening method according to one embodiment. [Figure 11]This is an operation flowchart of a gas supply system according to one embodiment. [Modes for carrying out the invention]

[0035] Embodiments will be described in detail below with reference to the attached drawings. However, the specific structural or functional descriptions disclosed herein are merely illustrative for the purpose of illustrating the embodiments, and the embodiments can be carried out in various different forms, and the present invention is not limited to the embodiments described herein. All modifications, equivalents, or substitutions to the embodiments should be understood to be included within the scope of the rights.

[0036] The terms used in the embodiments are for illustrative purposes only and should not be construed as limiting. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “includes” or “having” indicate the presence of features, figures, steps, actions, components, parts, or combinations thereof described in the specification, and should not be understood as preemptively excluding the possibility of the presence or addition of one or more other features, figures, steps, actions, components, parts, or combinations thereof.

[0037] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as those generally understood by a person of ordinary skill in the art to which this embodiment belongs. Commonly used, predefined terms should be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and not as ideal or overly formal unless expressly defined herein.

[0038] Furthermore, when explaining with reference to the attached drawings, the same components will be assigned the same reference numerals regardless of the reference numerals used in the drawings, and redundant explanations will be omitted. In the description of embodiments, if a specific explanation of related prior art is deemed to unnecessarily obscure the gist of the embodiment, such detailed explanation will be omitted.

[0039] Furthermore, terms such as 1st, 2nd, A, B, (a), (b), etc., may be used in the description of the components of the embodiments. Such terms are merely for distinguishing a component from other components, and do not limit the nature, order, or sequence of the component in question. If it is stated that any component is “linked,” “combined,” or “connected” to another component, that component may be directly linked or connected to that different component, but it should be understood that further components may be “linked,” “combined,” or “connected” between each component.

[0040] Components included in any one embodiment and components with common functions will be described using the same names in the other embodiments. Unless otherwise stated, the descriptions in any one embodiment will also apply to the other embodiments, and specific descriptions will be omitted to the extent of overlap.

[0041] Figure 1 is a partial perspective view of a gas container according to one embodiment.

[0042] Referring to Figure 1, a gas container G used in an automated gas supply system 1 according to one embodiment will be described. In one embodiment, the gas container G stores process gas inside. In one embodiment, the top of the gas container G is provided with a valve assembly V for discharging the gas stored inside or for 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 gas. In one embodiment, a valve C may be formed protruding from the side of the valve assembly V, having an outlet that is formed to be open so that gas can be discharged to the outside. In one embodiment, the valve C may be connected to a valve connector 112 of a fastening device 110 (for example, the fastening device 110 shown in Figure 2), which will be described later. In one embodiment, a valve shutter (not shown) may be provided inside the valve assembly V for controlling the gas flow through the valve C. 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 top of the valve assembly V.

[0043] In one embodiment, an end cap E may be attached to the outer circumferential surface of the valve C of the gas container G to cover the outlet and prevent gas leakage. The end cap E may be attached to the valve C so as to surround the outer circumferential surface of the valve C. In one embodiment, the end cap may be attached to or removed from the valve C by screw coupling along the outer circumferential surface of the valve C. In one embodiment, the end cap E has a polygonal cross-sectional shape, but the cross-sectional shape of the end cap E is not limited thereto.

[0044] In one embodiment, the gas supply system 1 must first remove the end cap E attached to the valve C in order to supply gas from the gas container G. Once the series of steps for supplying gas from the gas container G is complete, the end cap E is reattached to the valve C of the gas container G to close the outlet.

[0045] In one embodiment, the gas container G may be fastened to the fastening device 110 of the gas supply system 1 while it is positioned at a set mounting location. For example, the mounting location may be the internal space of the cabinet 100, which will be described later. In one embodiment, since the gas container G is generally heavy, the fastening device 110 may be fastened in a manner in which it is aligned with the gas container G after it has been positioned at the mounting location. However, the method is not limited to this.

[0046] The following description of the gas supply system 1 assumes that the gas container G is positioned at the designated mounting location, and explains the various components and operating methods of the gas supply system 1.

[0047] Figure 2 is a perspective view of a gas supply system according to one embodiment. Figure 3 is a perspective view of a clamping device according to one embodiment. Figure 4 is a perspective view of a mobile robot device according to one embodiment. Figure 5A is a perspective view showing a mobile robot device, a connecting module, and a fastening module according to one embodiment. Figure 5B is a perspective view showing a connecting module and a fastening module according to one embodiment. Figures 5C and 5D are perspective views of a connecting assembly according to one embodiment.

[0048] Referring to Figures 2 to 5D, in one embodiment, the gas supply system 1 can be automatically fastened to a gas container G located at a set position and supply gas. In one embodiment, the gas supply system 1 may automatically detach the end cap E from the valve C of the gas container G, or automatically fasten the end cap E to the valve E. By automatically fastening the gas supply system 1 to the valve C of the gas container G, the gas inside the gas container G can be supplied to the gas piping.

[0049] In one embodiment, the gas supply system 1 includes a cabinet 100, a fastening device 110, a mobile robot device 130, a 3D vision camera 140, and a processor (not shown).

[0050] In one embodiment, the cabinet 100 can house a gas container G inside. The cabinet 100 may form an internal space in which the gas container G is placed. The cabinet 100 may include a door (not shown) that opens and closes the internal space, allowing the gas container G to enter the internal space and used gas container G to leave the internal space. In the drawings, the internal space of the cabinet 100 is shown as open (for example, in the +Y direction of the cabinet 100 as shown in Figure 2), but this is for the sake of explanation, and it should be noted that the internal space of the cabinet 100 can be opened and closed by a door (not shown). In the series of processes in which the gas container G placed inside the cabinet 100 is fastened to the fastening device 110 and receives gas supply, the door can reduce or prevent the gas stored in the gas container G from leaking out of the cabinet 100 by sealing the internal space of the cabinet 100.

[0051] In one embodiment, one or more gas containers G may be arranged inside the cabinet 100. For example, as shown in Figure 2, two gas containers G and two fastening devices 110 fastened to each of the two gas containers G may be arranged inside the cabinet 100. However, it should be noted that this is just one example, and the number of gas containers G and their corresponding fastening devices 110 is not limited and can be changed according to the design. Below, the configuration of the gas supply system 1 will be described focusing on one gas container G and one corresponding fastening device 110 arranged inside the cabinet 100.

[0052] In one embodiment, a support base (not shown) for supporting the gas container G may be placed on the bottom surface of the internal space of the cabinet 100. In one embodiment, the support base can rotate about an axis perpendicular to the ground while supporting the gas container G in the lower position.

[0053] In one embodiment, the fastening device 110 may be configured to separate or fasten an end cap (for example, the end cap E shown in Figure 1) from the valve C of the gas container G, or to fasten to the valve C of the gas container G so that gas is supplied. For example, the fastening device 110 may separate / attach the end cap from the valve of the gas container G while aligned to the valve C of the gas container G in a first position. The fastening device 110 may be fastened to the valve C from which the end cap has been removed while aligned to the valve C of the gas container G in a second position so that the gas container G and the gas piping can be connected.

[0054] In one embodiment, the fastening device 110 may be fastened to the valve C of the gas container G while aligned with the valve C. In one embodiment, the fastening device 110 includes an end cap separation section 111 for removing the end cap from the valve C of the gas container G, a valve connector 112 for fastening to the valve C of the gas container G to supply gas, and a docking section 113 for connecting to a mobile robot device 130 (described later) to transmit power.

[0055] In one embodiment, the end cap separation portion 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, the end cap separation portion 111 may have an insertion groove into which at least a portion of the end cap is inserted. The insertion groove may be formed in a shape corresponding to the cross-section of the end cap. For example, if the end cap is formed to have a hexagonal cross-sectional shape as shown in Figure 1, the insertion groove formed in the end cap separation portion 111 may be formed in a 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 portion 111 rotates about a first rotation axis. The first rotation axis may be positioned to pass through the center of the insertion groove. In one embodiment, when the fastening device 110 is aligned to a first position relative to the valve C, the first rotation axis of the end cap separation portion 111 coincides with the central axis of the end cap.

[0056] In one embodiment, with the fastening device 110 aligned to the valve C of the gas container G in a first position, the end cap separation portion 111 may be positioned in a way that allows for the separation of the end cap from the valve C or the attachment of the end cap. For example, with the fastening device 110 aligned to the valve C of the gas container G in a first position, the end cap separation portion 111 may be positioned facing the valve C such that its first axis of rotation coincides with the central axis of the valve C, i.e., the center of rotation of the end cap attached to the valve C.

[0057] In one embodiment, since the end cap is separated from and fastened to the valve C by a screw mechanism, the end cap separation part 111 rotates via the first rotation axis while gripping the outer surface of the end cap through the insertion groove, thereby releasing the screw of the end cap from the valve C or screwing the end cap onto the valve C.

[0058] In one embodiment, for an end cap to be inserted into the insertion groove of the end cap separator 111, the rotation angle of the end cap must be aligned so that the shapes of the insertion groove and the end cap are compatible with each other, while the first rotation axis and the central axis are aligned. In one embodiment, the rotation angle of the end cap can be aligned with the end cap by rotating the end cap about the first rotation axis using power transmitted from a mobile robot device 130, which will be described later. For example, the alignment of the first rotation axis of the end cap separator 111 and the central axis of the end cap can be achieved through position adjustment of the fastening device 110, and the rotation angle of the end cap separator 111 can be achieved by rotational movement of the end cap separator 111 about the first rotation axis.

[0059] In one embodiment, once the axis alignment and rotational angle alignment of the end cap separation part 111 with respect to the end cap are completed, the end cap separation part 111 can be accommodated in the insertion groove by advancing toward the end cap along the first rotation axis. With the end cap inserted, the end cap separation part 111 can be removed from the valve C by rotating around the first rotation axis and translating along the first rotation axis. Reattaching the end cap to the valve C is performed in the reverse of the end cap separation operation described above.

[0060] In one embodiment, the valve connector 112 is connected to a gas pipe 150 and fastened to a valve C of a gas container G from which the end cap has been removed, thereby supplying gas from the gas container G. In one embodiment, the valve connector 112 may operate to fasten to the valve C when the fastening device 110 is aligned to a second position relative to the valve C of the gas container G. With the fastening device 110 aligned to a second position relative to the valve C of the gas container G, the valve connector 112 may be positioned to face the valve C. The valve connector 112 may be fastened to the valve C by screw connection via threads formed on the outer circumferential surface of the valve C.

[0061] In one embodiment, the valve connector 112 is second Rotation axis It can rotate along A2. In one embodiment, the valve connector 112 is second Rotation axis It may also move in the forward and backward direction along A2. In one embodiment, the second valve connector 112 Rotation axis In A2, the fastening device 110 is aligned to the second position relative to the valve C of the gas container G, and substantially coincides with the central axis of the valve C. In this case, the valve connector 112 is the second rotate It may be fastened to valve C by advancing along axis A2 toward valve C. In one embodiment, the rotational and forward motion of valve connector 112 is performed by power transmitted from mobile robot device 130.

[0062] In one embodiment, the second valve connector 112 Rotation axis A2 may be positioned parallel to the first rotation axis of the end cap separator 111 on substantially the same plane. With such a structure, when the fastening device 110 is aligned to the valve C of the gas container G in a first position, for example, when the first rotation axis of the end cap separator 111 coincides with the central axis of the end cap, if the fastening device 110 moves in one direction, the fastening device 110 will be aligned to the second position relative to the valve C of the gas container G. In this case, the valve connector 112 is positioned alongside the end cap separator 111.

[0063] As a different example not shown, the valve connector 112 and the end cap separation portion 111 are second Rotation axis A2 and the first axis of rotation may be formed to coincide. For example, the valve connector 112 may be located inside the insertion groove of the end cap separation portion 111 and may be formed to rotate about the same axis of rotation as the end cap separation portion 111. In this case, when the fastening device 110 is aligned to the valve C of the gas container G in a first state, for example, when the first axis of rotation of the end cap separation portion 111 coincides with the central axis of the end cap, the fastening device 110 is moved along the first axis of rotation to align with the valve C of the gas container G in a second state.

[0064] On the other hand, it should be noted that the position and angle of the fastening device 110 in the first state, when it is aligned to separate / attach the end cap from the valve C, and the position and angle of the fastening device 110 in the second state, when it is aligned to fasten to the valve C, may change relative to the valve position and angle of the gas container C located in the cabinet 100.

[0065] In one embodiment, the docking portion 113 may be positioned so as to be exposed on the outer surface of the fastening device 110. For example, the docking portion 113 may be positioned on the side of the fastening device 110 facing the open portion of the cabinet 100 (for example, the side of the fastening device 110 facing the +Y axis in Figure 3A). In one embodiment, a mobile robot device 130 may be detachably connected to the docking portion 113.

[0066] In one embodiment, with the mobile robot device 130 connected to the docking portion 113, the fastening device 110 can change its position within the internal space of the cabinet 100 due to the mobile robot device 130. In one embodiment, with the mobile robot device 130 connected to the docking portion 113, the fastening device 110 can receive power supplied by the mobile robot device 130 via the docking portion 113 and operate the end cap separation portion 111 and the valve connector 112.

[0067] In one embodiment, the docking section 113 includes a docking clamp for fastening the docking module of the mobile robot device 130, and a power transmission section to which the rotating shaft of the power motor 134 of the mobile robot device 130 is connected. In one embodiment, the docking clamp may either fix the fastened state of the docking module to the docking section 113, or release the fastened state so that the docking module can be separated.

[0068] In one embodiment, the mobile robot device 130 may move outside the cabinet 100. The mobile robot device 130 is detachably connected to the fastening device 110 and can move the fastening device 110 or supply power to the fastening device 110 while connected to it. In one embodiment, the mobile robot device 130 includes a body 131, a travel unit 133, a robot arm 132, and a docking module 135.

[0069] In one embodiment, the body 131 forms the body portion of the mobile robot device 130. Various components for operating the mobile robot device 130 (e.g., actuators, control units, communication devices, etc.) may be arranged inside the body 131. The body 131 moves along the ground.

[0070] In one embodiment, the running unit 133 may be positioned below the body 131. The running unit 133 can move the body 131 along the ground. The running unit 133 may include, for example, a guide member that moves along a guide rail provided on the ground, or a rolling member that is movable on the ground. In one embodiment, the running unit 133 is operated to move the mobile robot device 130 in response to a command from the control unit.

[0071] In one embodiment, the robot arm 132 may be mounted on the body 131. In one embodiment, the robot arm 132 may be positioned on the upper part of the body 131. In one embodiment, the robot arm 132 may be composed of a multi-joint arm that enables multi-degree-of-freedom movement, for example, six-degree-of-freedom movement. For example, the robot arm 132 can achieve three-dimensional movement relative to the ground (e.g., translational movement in the X, Y, and Z axis directions) and angular movement in three directions (e.g., roll, yaw, and pitch movements) through the operation of the multi-joint arm.

[0072] In one embodiment, the docking module 135 may be positioned at the end of the robot arm 132. In one embodiment, the docking module 135 may be detachably fastened to the fastening device 110.

[0073] In one embodiment, the docking module 135 may be provided in a clamp form that grips the outer circumferential surface of the fastening device 110 and supports the fastening device 110. In this case, the mobile cooperative robot 130 can adjust the position of the fastening device 110 by moving the robot arm 132 while gripping the fastening device 110 via the docking module 135.

[0074] In one embodiment, the docking module 135 may be provided in a structure that is fastened to the fastening device 110 in a docking manner. In this case, the docking module 135 may be fastened to the docking portion 113 of the fastening device 110 via the operation of a robot arm 132. The docking module 135 is fastened to the docking portion 113 and can move the fastening device 110 by the operation of the robot arm 132, and can provide power to the fastening device 110 while 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 134.

[0075] In one embodiment, the docking plate 1351 may be positioned at the end of the robot arm 132. In one embodiment, the docking plate 1351 may include a docking surface (for example, the surface of the docking plate 1351 shown in Figure 4B) facing the surface of the docking portion 113 (for example, the surface facing the +Y axis in Figure 3B).

[0076] In one embodiment, a docking member (not shown) may be positioned on the docking surface of the docking plate 1351. For example, the docking member may protrude from the docking surface. In one embodiment, the docking member may be selectively fastened to the docking clamp 1132 of the docking portion 113. For example, the docking member may be inserted and fastened to the docking clamp 1132. In one embodiment, if a plurality of docking clamps 1132 are positioned on the surface of the docking portion 113, a plurality of docking members may be formed on the docking surface of the docking plate 1351, positioned at locations corresponding to each of the plurality of docking clamps 1132.

[0077] In one embodiment, the power motor 134 is provided at the end of the robot arm. The rotation axis of the power motor 134 may pass through the docking plate 1351 and protrude from the docking surface of the docking plate 1351. In one embodiment, when the docking module 135 is fastened to the docking portion 113, for example, when the docking member is fastened to the docking clamp 1132, the rotation axis of the power motor 134 is inserted into the power transmission portion 1131 formed in the docking portion 113. The power motor 134 transmits power to the fastening device 110 via the power transmission portion 1131. The power transmitted by the power motor 134 can be transmitted to the end cap separation portion 111 and the valve connector 112 of the fastening device 110.

[0078] In one embodiment, 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 to a position where it can be fastened to the docking portion 113. In one embodiment, as shown in Figure 5, the docking module is aligned to be fastened to the docking portion 113 and is positioned to correspond to the docking clamp 1132 and power transmission portion 1131 of the docking portion 113 of the docking member 136 of the docking module and the rotation axis of the power motor 134, respectively. 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 change relatively depending on the position and angle of the fastening device 110 inside the cabinet 100.

[0079] In one embodiment, with the docking module 135 fastened to the docking portion 113 of the fastening device 110, the docking module 135 and the fastening device 110 move together, allowing the position of the fastening device 110 within the internal space of the cabinet 100 to be adjusted by the robot arm 132. For example, the position of the fastening device 110 relative to the valve C of the gas container G may be adjusted by the robot arm 132.

[0080] On the other hand, although the drawings show the mobile robot device 130 having one robot arm 132, this is for the sake of explanation, and it should be noted that the mobile robot device 130 may have multiple robot arms 132 for performing different functions (e.g., fastening / separating gaskets, adjusting the position of a 3D vision camera, docking to a fastening device, docking to a clamping device, etc.).

[0081] In one embodiment, the 3D vision camera 140 may collect images of the gas supply system 1. For example, the 3D vision camera 140 may collect a 3D image including the docking module 135, the fastening device 110, and the valve C of the gas container G. The 3D vision camera 140 acquires a 3D image of the valve region including the valve C of the gas container G. In one embodiment, the 3D vision camera 140 may be positioned at the end of a robot arm, for example, on top of the docking plate 1351. The 3D vision camera 140 may be positioned on the robot arm to collect a forward image of the docking module facing the docking section 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 3D vision camera 140 is not limited to the examples given above, and may be configured to collect images in various directions depending on the setting conditions. For example, the 3D vision camera 140 may be positioned on the robot arm to collect a downward image of the docking module, for example, an image of the docking plate 1351 toward the ground. Alternatively, it may not be placed on the robot arm itself, but rather in a position adjacent to the robot arm.

[0082] In one embodiment, the processor may control the operation of the mobile robot device 130. In one embodiment, the processor may move the mobile robot device 130 based on images collected by the 3D vision camera 140. For example, the processor may move the mobile robot device 130 closer to or further away from the cabinet 100.

[0083] In one embodiment, the processor can control the operation of the mobile collaborative robot 130 so that it fastens to the fastening device 110 based on the three-dimensional image collected by the three-dimensional vision camera 140. For example, the processor can acquire information on the position and angle of the fastening device 110 and move and operate the robot arm 132 so that the mobile collaborative robot 130 grasps the fastening device 110 or fastens to the fastening device 110.

[0084] In one embodiment, the processor can operate a robotic arm to dock the docking module 135 to the docking portion 113 of the fastening device 110 based on a three-dimensional image collected by a three-dimensional vision camera 140. In another embodiment, the processor can adjust the position of the docking module 135 connected to the fastening device 110 by operating a robotic arm 132 based on an image collected by the three-dimensional vision camera 140, so that the fastening device 110 is aligned with the gas container G valve C.

[0085] In one embodiment, the processor determines the alignment position of the docking module 135 according to a set algorithm and controls the operation of the robot arm 132 to move the docking module 135 at the determined alignment position. The alignment position of the docking module 135 may include three-dimensional coordinates and a three-dimensional rotation angle within the cabinet 100.

[0086] In one embodiment, the alignment position of the docking module 135 may vary depending on the purpose of each operating sequence of the gas supply system 1. In one embodiment, during the process of fastening the mobile robot device 130 to the fastening device 110, the alignment position of the docking module 135 is a fastened state in which the docking module 135 is aligned relative to the fastening device 110 so that it can be fastened, that is, a position in which the docking module 135 is aligned so that it can be fastened in accordance with the position and angle of the docking portion 113.

[0087] In one embodiment, when the mobile robot device 130 is fastened to the fastening device 110, that is, when the docking module 135 is fastened to the docking portion 113, the alignment position of the docking module 135 refers to the three-dimensional coordinates and three-dimensional angles of the docking module 135 that position the fastening device 110 to a first position relative to the valve C of the gas container G. For example, the alignment position of the docking module that position the fastening device 110 to a first position relative to the valve C refers to the position and angle of the docking module 135 that allows the end cap separation portion 111 of the fastening device 110 to match its first rotation axis with the central axis of the valve C, corresponding to the position and angle of the valve of the gas container G.

[0088] In one embodiment, when the mobile robot device 130 is fastened to the fastening device 110, that is, when the docking module 135 is fastened to the docking portion 113, the alignment position of the docking module 135 is the alignment position of the docking module 135 in which the fastening device 110 is positioned in a second position relative to the valve C of the gas container G. For example, the alignment position of the docking module in which the fastening device 110 is positioned in a second position relative to the valve C corresponds to the position and angle of the valve of the gas container G, and is the second position of the valve connector 112 of the fastening device 110. Rotation axis This refers to the position and angle of the docking module 135 that allows it to align with the central axis of valve C.

[0089] In one embodiment, the processor is configured to generate a three-dimensional model 3M for a virtual space through images acquired via a three-dimensional vision camera 140. For example, the three-dimensional model 3M generated by the processor may include three-dimensional images of the shapes of the docking module, the valve C of the gas container G, and the fastening device 110. In one embodiment, the generated three-dimensional model 3M may change in real time based on images acquired by the three-dimensional vision camera 140. In one embodiment, the processor generates a three-dimensional model 3M for the valve region of the gas container G. The valve region means a region including a three-dimensional image of the shape of the valve C of the gas container G or the end cap attached to the valve C.

[0090] In one embodiment, the processor can match the generated 3D model 3M with one or more reference images BM stored in a database. For example, the reference image BM may be a 3D image of the docking portion 113 of the fastening device 110 viewed from a specific angle and position. For example, the reference image BM may be an actual image of the valve area, i.e., a 3D image of the actual valve C and end cap viewed from a specific angle and position. The database stores a plurality of reference images set based on different angles and positions. Each reference image may record positional information relative to the corresponding 3D model. For example, if the reference image includes an image of the docking portion 113, the reference image may record information regarding the position and angle of the docking portion 113 within the cabinet 100. For example, each reference image may record information regarding the 3D position coordinates and angle within the cabinet 100 relative to the corresponding 3D model, i.e., the valve or end cap corresponding to the reference image.

[0091] In one embodiment, the processor determines the position and angle state of the valve C of the gas container G based on the matching results of the generated three-dimensional model 3M and the reference image BM, and based on the determination result, can operate a mobile robot device 130 to adjust the position and angle of the fastening device 110 so that it is in a state where it can be fastened to the valve C, for example, a first alignment position aligned so that the end cap can be separated / fastened, or a second alignment position aligned so that it can be fastened to the valve C and gas can be supplied.

[0092] In one embodiment, the processor determines the image similarity between a 3D model generated via a set algorithm and a reference image stored in a database.

[0093] In one embodiment, the processor controls the mobile robot device 130 so that the docking module is fastened to the docking portion of the fastening device 110 if the image similarity between the generated 3D model 3M and the reference image BM is equal to or greater than a set value. For example, in the case of a 3D model 3M in which the reference image BM is aligned so that the docking module 135 can be fastened to the docking portion 113, the set algorithm may be configured to generate an instruction to perform the action of fastening the docking module to the docking portion 113 if the image similarity is equal to or greater than a set value.

[0094] In one embodiment, the processor is configured to generate an alignment position for the fastening device 110 if the maximum image similarity between the generated 3D model 3M and the reference image BM is equal to or greater than a set value. The processor can then operate the mobile robot device 130 to align the position of the fastening device 110 according to the generated alignment position.

[0095] In one embodiment, once a set algorithm determines the alignment position of the fastening device 110, the processor controls the robot arm to adjust the position of the fastening device 110, which is connected to the mobile robot device 130, to the determined alignment position. For example, the processor can control the robot arm to adjust the three-dimensional coordinates and three-dimensional rotation angle of the docking module 135 connected to the fastening device 110.

[0096] In one embodiment, during the process of separating the end cap from the valve C, the processor may control the mobile robot device 130 so that the fastening device 110 aligns to a first position relative to the valve C of the gas container G if the image similarity between the generated three-dimensional model 3M and the reference image BM is greater than or equal to a set value. In one embodiment, if the reference image BM is the three-dimensional model 3M with the fastening device 110 aligned to a first position relative to the valve C, the configured algorithm may be configured to generate a command for the end cap separation unit 111 to operate to remove the end cap from the valve C if the image similarity is greater than or equal to a set value.

[0097] In one embodiment, during the process of fastening the fastening device 110 to the valve C, the processor may control the mobile robot device 130 so that the fastening device 110 aligns with the valve C of the gas container G in a second position if the image similarity between the generated 3D model 3M and the reference image BM is greater than or equal to a set value. In one embodiment, if the set reference image BM is the 3D model 3M in which the fastening device 110 is aligned with the valve C of the gas container G in a second position, the set algorithm may be configured to generate a command to operate so that the valve connector 112 fastens to the valve C if the image similarity is greater than or equal to a set value.

[0098] In one embodiment, the processor may align the position of the fastening device 110 via the operation of the robot arm 132 while the docking module 135 is fastened to the docking section 113. In one embodiment, the processor may control the operation of the robot arm so that the fastening device 110 is in a first position relative to the valve C of the gas container G, based on an image collected by the 3D vision camera 140. In one embodiment, once the fastening device 110 is aligned to the first position relative to the valve C of the gas container G, the processor may control the power motor 134 to transmit power to the power transmission section 1131 and operate the end cap separation section 111. In one embodiment, the processor may control the operation of the robot arm so that the fastening device 110 is in a second position relative to the valve C of the gas container G, based on an image collected by the 3D vision camera 140. In one embodiment, the processor may control the power motor 134 to transmit power to the power transmission unit 1131 and operate the valve connector 112 once the fastening device 110 is aligned to the second position relative to the valve C of the gas container G.

[0099] In one embodiment, the processor may be configured to perform alignment operations determined by a reference image BM having the greatest similarity to the generated three-dimensional model 3M. For example, the processor may determine the positional state of the gas container G valve C based on positional and angular information corresponding to the reference image BM, and generate alignment information for the alignment state of the fastening device 110 based on the determination result. The process for determining the image similarity between the three-dimensional model 3M and the reference image BM will be described later.

[0100] In one embodiment, the gas supply system 1 includes a clamping device 150.

[0101] In one embodiment, the clamping device 150 may support the gas container G inside the cabinet 100. In one embodiment, the clamping device 150 prevents the position of the gas container G from being distorted or the gas container G from tilting during the process of fastening the fastening device 110 to the gas container G by clamping the outer circumferential surface of the gas container G. In one embodiment, the clamping device 150 may clamp the outer circumferential surface of the gas container G located on the upper part of the support base.

[0102] In one embodiment, the clamping device 150 includes one or more clamping portions 151a, 151b for selectively gripping the outer circumferential surface of the gas container G located on the upper part of the support base. For example, the clamping device 150 includes first clamping portions 151a, 151b for gripping the upper periphery of the gas container G and second clamping portions 151a, 151b positioned below the first clamping portions 151a, 151b for gripping the lower periphery of the gas container G. However, this is just one example, and the clamping device 150 may include only one clamping portion 151a, 151b or three or more clamping portions 151a, 151b.

[0103] In one embodiment, each clamping section 151a, 151b includes a pair of clamping members 1511 for supporting a gas container G on both sides. In one embodiment, the distance between the pair of clamping members 1511 can be adjusted. For example, the clamping sections 151a, 151b may include a guide rail positioned along a direction parallel to the ground, and the pair of clamping members 1511 may be movably connected along the guide rail. By moving the pair of clamping members 1511 to adjust their relative distance, a clamping operation of the gas container G through the clamping sections 151a, 151b can be performed. In one embodiment, the movement of the clamping members 1511 relative to the guide rail may be powered by a clamping drive motor (not shown). In one embodiment, each clamping member 1511 may have one or more rolling members that are in contact with the gas container G and rotatable about an axis perpendicular to the ground. Each rolling member 153 guides the rotational movement of the gas container G about an axis of rotation perpendicular to the ground (e.g., the axis of rotation of the support base). In one embodiment, a plurality of rolling members 153 arranged on the clamping member 1511 may be connected via a connecting link (not shown) to be synchronized. The plurality of rolling members 153 rotate synchronously with each other via the connecting link, thereby guiding the rotational movement of the gas container G around a rotation axis perpendicular to the ground. In one embodiment, the rolling members 153 can rotate the gas container G by receiving power from a robot arm. For example, the clamping device 150 may have the same docking portion 113 as the fastening device 110 described later, and the rotation axis of the mobile robot device 130 may be connected to rotate the rolling members 153. However, the invention is not limited to this, and a separate drive unit that provides rotational power may also be configured.

[0104] In one embodiment, the processor operates the robotic arm 132 so that the docking module 135 can dock with the clamping device based on the three-dimensional image collected by the three-dimensional vision camera 140. Once docking is complete, the processor rotates the power motor 134 of the mobile robotic device 130 based on the three-dimensional image collected by the three-dimensional vision camera 140 to rotate the rolling member 153 and rotate the gas container G, thereby aligning the end cap of the gas container G to a position that matches the pre-stored three-dimensional image. For example, the processor may rotate the gas container G so that the rotation angle of the image-referenced gas container G is within ±25° and the matching rate between images is 70% or more.

[0105] In one embodiment, the processor can cause the mobile robot device 130 to rotate the clamping device to rotate the gas container if the maximum image similarity between the generated 3D model 3M and the reference image BM is less than or equal to a set value. The processor can continue rotating the clamping device until the 3D model 3M obtained by rotating the gas container G has an image similarity of equal or greater than the set value to the reference image BM. Alternatively, the process may continue rotating the gas container G until the generated 3D model 3M and the reference image BM have the maximum image similarity.

[0106] In one embodiment, the gas supply system 1 includes a connecting module 120.

[0107] In one embodiment, the connecting module 120 movably connects the fastening device 110 to the cabinet 100. In one embodiment, the connecting module 120 may connect the fastening device 110 to the cabinet 100 so that the position and angle of the fastening device 110 can be adjusted inside the cabinet 100. In one embodiment, the connecting module 120 includes a fixing plate 1011, a support plate 1121, and a plurality of connecting assemblies 123. However, although the connecting assemblies 123 have been described as shown in the illustration in one embodiment, the module is not limited to this and may consist of at least one or more connecting assemblies 123. The following description will focus on one of the plurality of connecting assemblies 123.

[0108] In one embodiment, the fixing plate 1011 may be fixed to the internal space of the cabinet 100. For example, the fixing plate 1011 may be fixed to the upper surface of the internal space. For example, the fixing plate 1011 may be fixed to one side of the interior of the cabinet 100 and form a first connecting portion 101 to which a connecting assembly 123 (described later) is connected. For example, the fixing plate 1011 may have a first connecting portion 101 on its surface to which the first end portion 121 of a connecting module 120 is connected. However, it should be noted that the location where the first connecting portion 101 is formed is not limited to the fixing plate 1011, but can be formed on any part of the upper surface of the cabinet 100.

[0109] In one embodiment, the support plate 1121 may be fixed to one side of the fastening device 110. For example, the support plate 1121 may be fixed to the upper surface of the fastening device 110. For example, the support plate 1121 may be fixed to the upper surface of the fastening device 110 and form a second connecting portion to which a connecting assembly 123, described later, is connected. For example, the support plate 1121 may form a second connecting portion on its surface to which the second end 122 of a connecting module 120 is connected. However, it should be noted that the location where the second connecting portion is formed is not limited to the support plate 1121, but can be formed on any part of the upper surface of the fastening device 110. In this case, the support plate 1121 can be movably and rotatably provided on the cabinet 100 via a connecting module 120 fixed to the upper part of the cabinet 100. In one embodiment, if there is a fixed plate 1011, the surface of the support plate 1121 may have substantially the same shape as the surface of the fixed plate 1011. In other words, the shape of the support plate 1121 and the shape of the fixing plate 1011 are identical or similar.

[0110] In one embodiment, the connecting assembly 123 may be movably and rotatably connected to the fastening device 110 relative to the cabinet 100. For example, the connecting assembly 123 may be formed to have a longitudinal direction. In this case, the first end 121 of the connecting assembly 123 may be connected to the first connecting portion 101 of the cabinet 100. In this case, the second end 122 of the connecting assembly may be connected to the second connecting portion. For example, if the connecting module 120 has a plurality of connecting assemblies 123, each of the plurality of connecting assemblies 123 may be connected to a different position on the first connecting portion 101. For example, if the connecting module 120 has a plurality of connecting assemblies 123, each of the plurality of connecting assemblies 123 may be connected to a different position on the second connecting portion.

[0111] In one embodiment, the connecting assembly 123 includes a first connecting member 1231, a second connecting member 1232, a length adjustment shaft 1233, a first joint 1234, a second joint 1236, and a brake 1238.

[0112] In one embodiment, the first connecting member 1231 may be connected to any point on the first connecting portion 101. For example, if there are multiple connecting assemblies 123, the first connecting members 1231 may each be connected to different points on the first connecting portion 101. In one embodiment, the second connecting member 1232 may be connected to any point on the second connecting portion. For example, if there are multiple connecting assemblies 123, the second connecting members 1232 may each be connected to different points on the second connecting portion.

[0113] In one embodiment, the length adjustment shaft 1233 may connect the first connecting member 1231 and the second connecting member 1232 to adjust the length. In one embodiment, the length adjustment shaft 1233 includes a first length adjustment member 1233-1, a second length adjustment member 1233-2, and an elastic member.

[0114] In one embodiment, the first length adjusting member 1233-1 and the second length adjusting member 1233-2 may be formed to have a longitudinal direction. For example, the first length adjusting member 1233-1 may have an internal space in the longitudinal direction into which the second length adjusting member 1233-2 is inserted. In this case, the first length adjusting member 1233-1 has an internal diameter substantially the same as the external diameter of the second length adjusting member 1233-2. That is, the internal diameter of the first length adjusting member 1233-1 and the external diameter of the second length adjusting member 1233-2 are substantially the same. For example, the second length adjusting member 1233-2 is inserted into the internal space of the first length adjusting member 1233-1, and the second length adjusting member 1233-2 is movable within the internal space of the first length adjusting member 1233-1. In this case, the length of the length adjusting shaft 1233 can be adjusted through the relative movement of the first length adjusting member 1233-1 and the second length adjusting member 1233-2.

[0115] In one embodiment, an elastic member (not shown) can mitigate the impact that may occur when the second length adjusting member 1233-2 moves relative to the first length adjusting member 1233-1. For example, the elastic member may be placed inside the first length adjusting member 1233-1. In this case, the elastic part can apply an elastic force to the second length adjusting member 1233-2, which is inserted inside the first length adjusting member 1233-1. However, the elastic member may be mounted between the fixing plate 1011 and the support plate 1121 via a spring post.

[0116] In one embodiment, the first joint 1234 may rotatably connect the length adjustment shaft 1233 and the first connecting member 1231. For example, the first joint 1234 may include a universal joint, a ball joint, or a spherical bearing. In one embodiment, the first joint 1234 includes a first-first rotating member 1234-1 that is rotatably connected to the first connecting member 1231 about a first-first rotation axis A1-1. In one embodiment, the first joint 1234 includes a first-second rotating member 1234-2 that is rotatably connected to the first-first rotating member 1234-1 about a first-second rotation axis A1-2 perpendicular to the first-first rotation axis A1-1, and to which the length adjustment shaft 1233 is connected. In this case, the first-second rotating member 1234-2 rotates about the first-second rotation axis A1-2, and the first-second rotation axis A1-2 rotates about the first-first rotation axis A1-1. Therefore, the length adjustment shaft 1233, which is connected via the first-first rotating member 1234-1 and the first-second rotating member 1234-2, can be rotated relative to the first connecting member 1231 along a virtual sphere, that is, at any angle on the spherical coordinate system.

[0117] In one embodiment, the second joint 1236 can rotatably connect the length adjustment shaft 1233 and the second connecting member 1232. For example, the second joint 1236 includes a second-first rotating member 1236-1 that is rotatably connected to the second connecting member 1232 about a second-first rotation axis A2-1. In one embodiment, the second joint 1236 includes a second-second rotating member 1236-2 that is rotatably connected to the second-first rotating member 1236-1 about a second-second rotation axis A2-2 perpendicular to the second-first rotation axis A2-1, and to which the length adjustment shaft 1233 is connected. To avoid duplication, in the description of the second joint 1236, substantially the same content as that of the first joint 1234 will be followed to the extent that it does not contradict the content described via the first joint 1234.

[0118] In one embodiment, the brake 1238 is mounted on the length adjustment shaft 1233 and restricts the length adjustment of the length adjustment shaft 1233. In one embodiment, the brake 1238 restricts length adjustment by restricting the relative movement of the first length adjustment member 1233-1 and the second length adjustment member 1233-2. In one embodiment, the brake 1238 may include a first brake member 1238-1 fixed to the outer surface of the first length adjustment member 1233-1. In one embodiment, the brake 1238 includes a second brake member 1238-2 connected to the first brake member 1238-1 and selectively in contact with the outer surface of the second length adjustment member 1233-2 to fix the position of the second length adjustment member 1233-2. In this case, the brake 1238 can be activated to selectively contact the outer surface of the second length adjusting member 1233-2, thereby generating a frictional force that restricts the relative movement of the second length adjusting member 1233-2 with respect to the first length adjusting member 1233-1. For example, the brake 1238 may include a pneumatic brake 1238. However, the type of brake 1238 is illustrative and not limited thereto, and those skilled in the art should note that suitable modifications and alterations can be made to restrict the relative movement of the first length adjusting member 1233-1 and the second length adjusting member 1233-2.

[0119] In one embodiment, the connecting assembly 123 may include either a first bearing (not shown) or a second bearing (not shown).

[0120] In one embodiment, the first bearing member is provided between the first connecting member 1231 and the length adjustment shaft 1233 and is rotatable about a first central axis. In this case, the first central axis is an axis aligned with the longitudinal direction of the first connecting member 1231, or an axis aligned with the longitudinal direction of the length adjustment shaft 1233. For example, if the first bearing member is connected to the first connecting member 1231, the first central axis may include an axis aligned with the longitudinal direction of the first connecting member 1231. For example, if the first bearing member is connected to the length adjustment shaft 1233, the first central axis may include an axis aligned with the longitudinal direction of the length adjustment shaft 1233. In one embodiment, the second bearing member is provided between the second connecting member 1232 and the length adjustment shaft 1233 and is rotatable about a second central axis. In the description of the second joint 1236, substantially the same content as that of the first joint 1234 is followed to the extent that it does not contradict the content described via the first joint 1234.

[0121] In one embodiment, the connecting module 120 includes a plurality of connecting assemblies 123. For example, the connecting module 120 includes a first connecting assembly 123-1 whose ends are connected to the 1-1 point P1-1 of the first connecting section 101 and the 2-1 point P2-1 of the second connecting section; a second connecting assembly 123-2 whose ends are connected to the 1-2 point P1-2 of the first connecting section 101 and the 2-2 point P2-2 of the second connecting section; a third connecting assembly 123-3 whose ends are connected to the 1-3 point P1-3 of the first connecting section 101 and the 2-3 point P2-3 of the second connecting section; and a fourth connecting assembly 123-4 whose ends are connected to the 1-4 point P1-4 of the first connecting section 101 and the 2-4 point P2-4 of the second connecting section. In this case, each connection position of the multiple connecting assemblies 123 relative to the first connecting portion 101 and each connection position of the multiple connecting assemblies 123 relative to the second connecting portion correspond to one another. In one embodiment, when viewed with the first connecting portion 101 and the second connecting portion overlapping each other, the multiple connecting assemblies 123 are arranged so as not to intersect each other. In this case, the fastening device 110 is connected to the fixing plate 1011 by the multiple connecting assemblies 123 that do not intersect each other, so as to be able to move and rotate freely.

[0122] In one embodiment, the multiple connecting assemblies 123 may be connected to any position on the first connecting portion 101 and the second connecting portion, within a range in which the fastening device 110 can move and rotate freely relative to the first connecting portion 101. For example, each connection position to which the multiple connecting assemblies 123 are connected to the first connecting portion 101 may be located at the same distance from a virtual first reference point located on the first connecting portion 101, and each connection position to which the multiple connecting assemblies 123 are connected to the second connecting portion may be located at the same distance from a virtual second reference point located on the second connecting portion. In this case, the distance from the first reference point and the distance from the second reference point may be the same or different. For example, the connection points of each of the multiple connecting assemblies 123 to the first connecting portion 101 may form the vertices of a virtual first quadrilateral, and the connection points of each of the multiple connecting assemblies 123 to the second connecting portion may form the vertices of a second quadrilateral having the same shape as the first quadrilateral. In this case, the first quadrilateral and the second quadrilateral may have the same shape, and the multiple connecting assemblies 123 may be arranged perpendicular to the torque generated when fastening the gas container G. In this case, the connecting module 120 can efficiently transmit the repulsive force against the torque to the cabinet 100.

[0123] Figure 6 is an operational diagram illustrating the process by which a gas supply system according to one embodiment aligns gas containers via a clamping device. Figure 7A is an operational diagram showing the process by which a gas supply system according to one embodiment generates alignment information for fastening devices on gas containers via a 3D vision camera 140. Figure 7B is an illustrative diagram of a 3D model of an end cap generated via a gas supply system according to one embodiment. Figure 7C is a schematic diagram showing the process of matching a 3D model generated via a processor according to one embodiment with a reference image. Figure 8 is a diagram showing the process of aligning fastening devices via a mobile robot device according to one embodiment.

[0124] The following describes a series of exemplary processes by which the gas supply system 1 automatically fastens to the gas container G based on images acquired via the 3D vision camera 140, with reference to Figures 6 to 8.

[0125] Referring to Figure 6, in one embodiment, the gas supply system 1 can align the position of the gas container G based on an image acquired via a 3D vision camera 140. In one embodiment, with the gas container G placed on a support base (not shown), the clamping device can support the outer surface of the gas container G and rotate the gas container G about a rotation axis perpendicular to the ground. For example, the clamping device can rotate the gas container G about a rotation axis perpendicular to the ground by the rotational movement of a rolling member 153 located on the clamping member 1511.

[0126] In one embodiment, the processor may align the rotational state of the gas container G via a clamping device. For example, the processor rotates the gas container G via a clamping device around a rotation axis perpendicular to the ground, and can acquire images of the end caps attached to the valve C of the gas container G in real time via a 3D vision camera 140 during the rotation of the gas container G. The 3D vision camera 140 can acquire images of the end caps at set positions. As the gas container G rotates around the rotation axis, the 3D vision camera 140 can acquire images of the end caps for each rotation angle of the gas container G with respect to the rotation axis. In one embodiment, the processor can compare the acquired images of multiple end caps with a reference image BM of the end caps stored in a database to determine the image similarity of each end cap image. In one embodiment, the processor selects the image of the end cap with the highest similarity to the reference image BM of the end caps and operates the clamping device so that the gas container G is positioned at the rotation angle corresponding to the selected end cap. For example, when the gas container G is positioned at a specific angle, the image of the end cap acquired via the 3D vision camera 140 has the highest similarity to the reference image BM of the end cap stored in the database. With the acquired image of the end cap having the highest similarity to the reference image BM, the rotation angle of the gas container G with respect to the axis of rotation can be aligned.

[0127] In one embodiment, once the rotation angles of the gas container G are aligned, the gas supply system 1 can detect the alignment of the fastening device 110 to the valve C of the gas container G, as shown in Figures 7A to 7C. In one embodiment, the gas supply system 1 acquires an image of the valve C region of the gas container G (e.g., valve C, end cap) and the fastening device 110 via a 3D vision camera 140, and generates a 3D model 3M of the target region based on the acquired image. For example, the gas supply system 1 may generate a 3D model 3M of the shape of the end cap attached to the valve C of the gas container G.

[0128] In one embodiment, the processor matches the generated 3D model 3M, for example, the 3D model 3M of an end cap, with a plurality of reference images BM stored in a database to determine the alignment of the fastening device 110 to the valve C of the gas container G. For example, the processor compares the generated 3D model 3M with a plurality of reference images BM pre-stored in the database and selects the 3D reference image BM having the highest image similarity to the generated 3D model 3M according to the image similarity determination result. Here, the plurality of reference images BM may be 3D reference images BM of valves C or end caps of gas container G having different shapes from each other.

[0129] In one embodiment, the processor may divide the generated 3D model 3M and the selected 3D reference image BM into multiple pixel regions and individually determine whether or not there is a match in each pixel region. Based on the matching status for each of the multiple pixel regions of the generated 3D model 3M and the selected reference image BM, the processor determines the image similarity between the selected 3D image and the reference image BM. Simultaneously with the similarity determination, the processor can obtain the rotated angle and position coordinates on the generated 3D model 3M and the reference image (BM).

[0130] In one embodiment, the processor can determine the position and angular state of the gas container G relative to the valve C region based on the rotation angle and position information of the generated 3D model 3M, for example, the position adjustment value of the generated 3D image compared to the initial state of the 3D model 3M. Based on the rotation angle and position information of the generated 3D model 3M corresponding to the generated 3D image, the processor generates alignment information for the movement coordinates and rotation angles for the fastening device 110 to align with the gas container G.

[0131] In one embodiment, the processor may be configured to generate alignment information for the fastening device 110 only if the image similarity between the generated 3D model 3M and the reference image BM is equal to or greater than a set value. For example, if the maximum image similarity obtained from image matching is less than a set value, the processor may not generate alignment information for the fastening device 110 and may control the 3D vision camera 140 to reacquire an image of the valve C region of the gas container G at another position. For example, the processor may control the rotation of the gas container G or adjust the imaging angle of the 3D vision camera 140 with respect to the valve C region of the gas container G.

[0132] In one embodiment, the processor may operate to generate alignment information for the fastening device 110 only if the rotation angle of the generated 3D model 3M corresponding to the 3D reference image BM, for example, the rotation angle of the 3D reference image BM relative to the initial state of the 3D model 3M, is within a set angle range. For example, if the rotation angle of the generated 3D model 3M corresponding to the 3D reference image BM exceeds the set angle, the processor may generate the 3D model 3M of the fastening device 110 and perform the operation of matching the 3D model 3M with the reference image BM again.

[0133] In one embodiment, the processor can generate a movement path that optimally aligns the fastening device 110 with respect to the gas container G, based on alignment information generated by image matching. The processor controls the operation of the mobile robot device 130 so that the position of the fastening device 110 is adjusted according to the generated movement path.

[0134] In one embodiment, once the processor has generated alignment information and movement path for the fastening device 110, it can control the operation of the mobile robot device 130 so that the docking module 135 of the mobile robot device 130 docks with the docking portion of the fastening device 110. As shown in Figure 8, once the mobile robot device 130 is docked with the fastening device 110, the processor can control the mobile robot device 130 so that the fastening device 110 is aligned with the valve C of the gas container G, for example, to be placed in a first alignment position where the end cap can be separated.

[0135] Figure 9 is a flowchart illustrating an automatic fastening method for a fastening device 110 to a gas container G according to one embodiment.

[0136] At least one of the operations in the automatic fastening method shown in Figure 9 may be omitted. Unless otherwise specified, the order of the operations in the automatic fastening method may be changed from one another or performed simultaneously. At least one of the operations in the automatic fastening method may be repeated.

[0137] An automatic fastening method according to one embodiment is performed by a gas supply system 1 (for example, the gas supply system 1 shown in Figure 2) which includes a fastening device 110 and a mobile robot device 130 that includes a docking module selectively connected to the fastening device 110 and supplying power to the fastening device 110. In one embodiment, the fastening device 110 includes a valve connector 112 or an end cap separation part 111 for fastening to a valve C of a gas container G to supply gas. In one embodiment, the mobile robot device 130 may include a docking module selectively connected to the docking part of the fastening device 110 and supplying power to the fastening device 110. In one embodiment, the automatic fastening method may be performed by a processor.

[0138] In one embodiment, the automatic fastening method includes an operation 210 to generate a three-dimensional model 3M of the end cap of the gas container G. Operation 210 is performed via a three-dimensional vision camera 140. In one embodiment, in operation 210, the processor acquires an image of the end cap of the gas container G via the three-dimensional vision camera 140 and generates a three-dimensional model 3M of the end cap based on the acquired image.

[0139] In one embodiment, the automatic fastening method includes an operation 220 that matches a three-dimensional model 3M of the generated end cap with one of the reference images BM stored in a database. The reference images BM are actual three-dimensional images or 3D images of several types of end caps taken at various angles. In one embodiment, the operation 220 divides the generated three-dimensional image into a plane to generate a two-dimensional image to generate pixels of the three-dimensional image, and compares the generated pixels with the image pixels of the reference image BM to determine image similarity. In one embodiment, the operation 220 obtains the rotation angle and three-dimensional coordinates of the generated three-dimensional model 3M based on the determined image similarity.

[0140] In one embodiment, operation 221 divides the generated 3D model 3M into 2D, obtains each pixel, and then combines them again to generate pixels for a 3D image of the geometric structure.

[0141] In one embodiment, operation 220 compares the pixels of the generated 3D image with the image of a reference image BM to determine image similarity. For example, the image similarity determination is configured to divide the 3D image into a plurality of pixel regions, match each pixel region with the image of the reference image BM, and generate a numerical value of image similarity according to the number of pixel regions that are matched.

[0142] In one embodiment, operation 220 determines whether the image has the highest image similarity to the reference image BM. If the value of the highest image similarity in operation 220 is less than the set reference value, operation 210 is executed again.

[0143] In one embodiment, the automatic fastening method includes an operation 230 that generates alignment information for the position and angle at which the end cap separation portion 111 can be aligned with the end cap, based on the matching result of a reference image BM and a three-dimensional model 3M. In one embodiment, operation 230 is performed only if the image similarity determined in operation 220 is equal to or greater than a set reference value.

[0144] In one embodiment, the automatic fastening method includes an operation 240 to move the fastening device 110 so that it aligns with the valve C (e.g., end cap) of the gas container G based on generated alignment information.

[0145] Figure 10 is a flowchart illustrating an automatic fastening method for a fastening device to a gas container according to one embodiment.

[0146] At least one of the operations in the automatic fastening method shown in Figure 10 may be omitted. Unless otherwise specified, the order of the operations in the automatic fastening method may be changed from one another or performed simultaneously. At least one of the operations in the automatic fastening method may be repeated.

[0147] An automatic fastening method according to one embodiment may be performed by a gas supply system 1 (for example, the gas supply system 1 shown in Figure 2) which includes a clamping device that supports the gas container G so as to be rotatable around a rotation axis perpendicular to the ground, and a 3D vision camera 140 for acquiring an image of the gas container G. In one embodiment, the automatic fastening method may be performed by a processor.

[0148] In one embodiment, the automatic fastening method includes an operation 310 in which the gas container G is rotated about a rotation axis perpendicular to the ground. The operation 310 is performed via a clamping device.

[0149] In one embodiment, the automatic fastening method includes an operation 320 that acquires an image of the end cap attached to the valve C of the gas container G at a set position via a three-dimensional vision camera 140 during the process in which operation 310 is being performed.

[0150] In one embodiment, the automatic fastening method includes an operation 330 which compares the acquired image of the end cap with a reference image BM of the end cap stored in a database and selects the image of the end cap that has the highest image similarity to the reference image BM. Operation 330 can select the image of the end cap that has the highest image similarity to the set reference image BM, that is, the image of the end cap when the gas container G is rotated by a specific angle around the axis of rotation.

[0151] In one embodiment, the automatic fastening method includes an operation 340 that aligns the rotation angle of the gas container G around the axis of rotation at a rotation angle corresponding to the image of the selected end cap. In operation 340, the processor can stop the operation of the clamping device and determine the rotation angle of the gas container G around the axis of rotation.

[0152] Figure 11 is an exemplary operation flowchart of a gas supply system 1 according to one embodiment.

[0153] The order of the operations of the gas supply system 1 shown in Figure 11 may be changed from one another or performed simultaneously, unless otherwise noted. At least one of the operations shown in Figure 11 may be repeated. The operations of the gas supply system 1 shown in Figure 11 may be performed via the gas supply system 1 described above.

[0154] In one embodiment, the operation method of the gas supply system 1 includes an operation 410 to receive a fastening start signal. In operation 410, the gas supply system 1 determines whether or not fastening operation of the fastening device 110 to the gas container G is necessary. For example, the determination of whether or not fastening of the fastening device 110 to the gas container G is necessary may be performed based on an image acquired via a 3D vision camera 140 mounted on a mobile robot device 130. In operation 410, the mobile robot device 130 moves toward the cabinet 100. The mobile robot device 130 recognizes the gas container G located inside the cabinet 100. In one embodiment, if replacement of the gas container G located inside the cabinet 100 is necessary, a signal indicating whether or not the gas container G needs to be replaced may be generated and transmitted to the processor. In one embodiment, if multiple gas containers G are located inside the cabinet 100, priority is given to determining whether or not replacement is necessary for gas containers G with shorter usage cycles.

[0155] In operation 410 of one embodiment, when a signal for fastening is received, the mobile robot device 130 moves to a set position adjacent to the cabinet 100. The processor determines the relative position of the mobile robot device 130 to the cabinet 100 based on information about the position of the mobile robot device 130. In one embodiment, when it is determined that the mobile robot device 130 has reached the set position adjacent to the cabinet 100, an arrival signal is sent to the operation server of the gas supply system 1 (e.g., processor, external server, etc.). The operation server can generate and transmit commands for the automatic fastening sequence through the mobile robot device 130 to the processor.

[0156] In one embodiment, the operation method of the gas supply system 1 includes an operation 420 to align the position of the mobile robot device 130. For example, operation 420 may be performed after an operation server generates a signal to start the automatic fastening sequence. In one embodiment, the processor controls the mobile robot device 130 to position it at a set position adjacent to the cabinet 100 (i.e., a set starting position for the fastening operation). In one embodiment, the processor determines, via the mobile robot device 130 and the 3D vision camera 140, whether the mobile robot device 130 is positioned at the set position or in any abnormal situation (e.g., a dangerous situation requiring interruption of the fastening sequence). In one embodiment, during the execution of operation 420, the cabinet 100 is opened so that the gas container G is exposed to the outside.

[0157] In one embodiment, the operation method of the gas supply system 1 includes an operation 430 to align the gas container G via a clamping device after operation 420 has been performed. In one embodiment, during operation 430, the processor may confirm the docking position of the mobile robot device 130 to the clamp device via a three-dimensional vision camera 140. In one embodiment, the mobile robot device 130 may be docked to the clamp device and provide power for the operation of the clamp device. In a different example, the clamp device may also be operated by a power source that is provided on-site.

[0158] In one embodiment, during operation 430, the processor detects whether or not a gas container G is present inside the cabinet 100 via the 3D vision camera 140. If it is determined that a gas container G is present inside the cabinet 100, the processor can capture an image of the valve C region of the gas container G, for example, the end cap attached to the valve C, via the 3D vision camera 140. In one embodiment, during operation 430, the clamping device can rotate the gas container G around a rotation axis perpendicular to the ground while the 3D vision camera 140 is capturing images of the end cap of the gas container G at a set position. The processor can acquire images of the end cap that change with the rotation of the gas container G for each angle, and can determine the image similarity by comparing the acquired images of the end cap with a reference image BM stored in a database. In one embodiment, during operation 430, the processor selects the image of the end cap captured at the rotation angle of the gas container G that has the highest similarity to the reference image BM. In one embodiment, if the end cap image having the highest similarity to the reference image BM is selected in operation 430, the processor stops the gas container G at a rotation angle corresponding to the selected image via the clamping device. In this case, rotational alignment of the gas container G is completed only if the similarity between the reference image BM and the end cap image has a set reference value, for example, a matching rate of 70% or more. For example, if the highest image similarity is less than the set reference value, it may be determined that the gas container G does not exist or that there is a defect in the cylinder valve C (e.g., the end cap), and an alarm for the abnormal situation may be generated.

[0159] In one embodiment, during operation 430, once the rotation and alignment of the gas container G is complete, the clamping device stops operating. If the clamping device operates via the mobile robot device 130, the mobile robot device 130 is separated from the clamping device. During operation 430, information regarding the position of the end cap is transmitted to the processor.

[0160] In one embodiment, the operation method of the gas supply system 1 includes an operation 440 in which the fastening device 110 is aligned with the gas container G after the operation 430 is performed.

[0161] In one embodiment, during operation 440, the processor acquires positional information of a target area of ​​the fastening device 110, such as the end cap separation section 111 and the valve connector 112, via a three-dimensional vision camera 140. During operation 440, the processor connects the mobile robot device 130 to the docking section of the fastening device 110. During operation 440, the processor rotates the connector of the mobile robot device to remove the plug blocking the connector. During operation 440, based on information regarding the relative position and rotation angle of the fastening device 110 with respect to the end cap, the processor aligns the fastening device 110 to a position where it can be fastened to the valve C of the gas container G, i.e., the end cap. Since the position and angle of the fastening device 110 are adjusted via multi-degree-of-freedom movement inside the cabinet 100 by a moving module, the operation of the mobile robot device docked to the fastening device 110 aligns the fastening device 110 to the valve C of the gas container G. For example, the fastening device 110 may be aligned to a first alignment state for separating the end cap from the gas container G.

[0162] In one embodiment, the operation method of the gas supply system 1 includes an operation 450 to separate the end cap from the gas container G via the fastening device 110 after operation 440 has been performed. In operation 450, the processor can control the mobile robot device 130 so that the end cap is inserted into the end cap separation portion 111 of the fastening device 110. With the end cap inserted into the end cap separation portion 111, the processor operates the power motor 134 of the mobile robot device 130 to apply power to the end cap separation portion 111 of the fastening device 110. The rotational movement of the end cap separation portion 111 allows the end cap to be separated from the valve C of the gas container G.

[0163] In one embodiment, the operation method of the gas supply system 1 includes an operation 460 in which, after operation 450 is performed, the end cap is separated from the gas container G via the fastening device 110.

[0164] In one embodiment, when the end cap is separated from the valve C of the gas container G, the processor can adjust the position of the fastening device 110 via the mobile robot device 130 to a second alignment state in which the fastening device 110 can be fastened to the valve C of the gas container G, for example, so that the central axis of the valve C connector coincides with the valve C axis of the gas container G. In this case, the processor may control another mobile robot device 130 to attach a gasket to the valve C of the gas container G from which the end cap has been removed. In one embodiment, with the gasket attached to the valve C of the gas container G, the processor moves the position of the fastening device 110 via the mobile robot device 130 so that the valve connector 112 of the fastening device 110 is fastened to the valve C of the gas container G. With the valve connector 112 fastened to the valve C of the gas container G, the processor can rotate the valve connector 112 to the valve C of the gas container G by applying power to the fastening device 110 via the power motor 134.

[0165] Although embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is not limited to the embodiments described above, and a person with ordinary skill in the art can apply various technical modifications and variations based on the above. For example, the described techniques may be performed in a different order than described, and / or the described components such as systems, structures, devices, and circuits may be combined or assembled in a different manner than described, or substituted or replaced by other components or equivalents, and still achieve appropriate results.

[0166] Therefore, the scope of the present invention is not limited to the disclosed embodiments, but is defined by equivalents to the claims, etc. [Explanation of Symbols]

[0167] 1: Gas supply system 100: Cabinet 110: Fastening device 120: Mobile Module 130: Mobile robotic device 140: 3D Vision Camera

Claims

1. A gas supply system, A cabinet in which gas containers are placed, A fastening device provided in the cabinet, movable relative to the gas container, and capable of fastening to the valve while aligned with the valve of the gas container, A mobile robot device is detachably connected to the fastening device and moves the fastening device, A 3D vision camera that collects images, A processor that controls the operation of the mobile robot device based on the images collected by the three-dimensional vision camera, Includes, The aforementioned mobile robot device is A body that is movable outside the aforementioned cabinet, A robot arm, which is provided on the upper part of the aforementioned body and is composed of a multi-jointed arm, Includes, The aforementioned processor, A gas supply system configured to generate a three-dimensional model of the valve area of ​​the gas container in real time via the three-dimensional vision camera, match the generated three-dimensional model with one of the reference images stored in a database, determine the position and angle state of the gas container relative to the valve based on the matched reference image, and operate the mobile robot device so that the fastening device is aligned to the valve in a state where it can be fastened based on the result of the determination.

2. The gas supply system according to claim 1, wherein the processor generates a three-dimensional model of the valve region of the gas container, including the shape of the valve of the gas container or the shape of the end cap attached to the valve.

3. The gas supply system according to claim 1, wherein the processor is configured to compare the generated three-dimensional model with a plurality of reference images stored in the database to determine the image similarity, and to select the reference image having the highest image similarity with the generated three-dimensional model and match it with the three-dimensional model.

4. The gas supply system according to claim 3, wherein the processor is configured to generate alignment information for three-dimensional coordinates and angles so that the fastening device can be aligned to fasten to the valve of the gas container, based on the rotation angle and position information of the three-dimensional model corresponding to the selected reference image.

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

6. The gas supply system according to claim 4, wherein the processor is configured to generate the alignment information only when the image similarity between the selected reference image and the generated three-dimensional model is equal to or greater than a set reference value.

7. The gas supply system according to claim 6, wherein the processor controls the imaging angle of the three-dimensional vision camera with respect to the valve area of ​​the gas container to adjust if the image similarity between the selected reference image and the generated three-dimensional model is less than a set reference value.

8. The gas supply system according to claim 4, wherein the processor is configured to generate a movement path that causes the fastening device to be optimally aligned with the gas container based on the generated alignment information, and to control the operation of the mobile robot device so that the position of the fastening device is adjusted by the generated movement path.

9. The aforementioned processor, In the process of determining the image similarity between the generated three-dimensional model and the reference image, The generated 3D model is divided into 2D sections, each pixel is obtained, and the obtained pixels are combined to generate pixels for a 3D image of the geometric structure. The gas supply system according to claim 3, wherein the generated three-dimensional model and reference image are divided into a plurality of pixel regions and individually matched, and the image similarity is determined according to the matching state for each divided pixel region.

10. The present invention further includes a clamping device that supports the outer surface of the gas container and allows the gas container to rotate about a rotation axis perpendicular to the ground, The aforementioned processor, The gas supply system according to claim 1, wherein the gas container is rotated around the rotation axis via the clamping device, and as the gas container rotates around the rotation axis, an image of the end cap attached to the valve of the gas container is acquired via the three-dimensional vision camera for each rotation angle of the gas container, and the rotation of the gas container is stopped when the acquired image of the end cap has an image similarity of a reference image of the end cap stored in the database that is equal to or greater than a set reference value.

11. The fastening device is An end cap separation unit for separating the end cap attached to the valve while aligned to a first position relative to the gas container, The gas supply system according to claim 1, further comprising a valve connector fastened to the valve while aligned to a second position relative to the gas container, for receiving gas supply.

12. The fastening device includes a docking portion, The gas supply system according to claim 1, wherein the mobile robot device further includes a docking module positioned at the end of the robot arm and fastened to the docking portion.

13. The gas supply system according to claim 12, wherein the docking module further includes a power motor that supplies power to the docking portion.

14. The gas supply system according to claim 1, wherein the three-dimensional vision camera is positioned at the end of the robot arm.

15. The fastening device further includes a connecting module that movably connects to the cabinet, The gas supply system according to claim 1, wherein the connecting module includes one or more connecting assemblies that connect the cabinet and the fastening device, each of the one or more connecting assemblies includes a joint, and each of the connecting assemblies is rotatable via the joint and its length is adjustable.

16. A gas supply system, A cabinet in which gas containers are placed, A fastening device provided in the cabinet, movable relative to the gas container, and capable of separating the end cap from the valve or fastening it to the valve while aligned with the valve of the gas container, A mobile robot device is detachably connected to the fastening device and moves the fastening device, A 3D vision camera that collects images, A processor that controls the operation of the mobile robot device based on the images collected by the three-dimensional vision camera, Includes, The aforementioned mobile robot device is A body that is movable outside the aforementioned cabinet, A robot arm, which is provided on the upper part of the aforementioned body and is composed of a multi-jointed arm, Includes, The aforementioned processor, A gas supply system configured to generate a three-dimensional model of an end cap attached to the valve of a gas container via the three-dimensional vision camera, match the generated three-dimensional model of the end cap with one of the reference images stored in a database, determine the position and angle state of the end cap attached to the gas container based on the matched reference image, and operate the mobile robot device so that the fastening device aligns itself to a state in which the end cap can be separated from the valve, based on the result of the determination.

17. The gas supply system according to claim 16, wherein the processor is configured to compare the generated three-dimensional model of the end cap with a plurality of reference images stored in the database to determine the image similarity, select the reference image having the highest image similarity to the generated three-dimensional model of the end cap and match it with the generated three-dimensional model of the end cap, and generate information regarding the movement coordinates and rotation angles for aligning the fastening device based on the rotation angle and position information of the three-dimensional model corresponding to the matched reference image.

18. The fastening device is An end cap separation unit for separating the end cap attached to the valve while aligned to a first position relative to the gas container, A valve connector that is fastened to the valve while aligned with the gas container in a second position to receive gas supply, A docking section that receives power from an external source, The gas supply system according to claim 16, including the gas supply system according to claim 16.

19. It includes a docking module provided at the end of the robot arm, connected to the docking section, and for operating the fastening device, The docking module is, A fastening portion that is fastened to the docking portion of the fastening device, A power motor that supplies power to the fastening device via the docking portion, The gas supply system according to claim 18, including the gas supply system according to claim 18.

Images