Automated gas supply system including mobile robots

Abstract

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

Description

Technical Field

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

Background Art

[0002] Generally, in a process using gas, for example, in a process where precise work is performed such as a semiconductor manufacturing process, it is required that a gas of a type suitable for the purpose of each process be supplied while satisfying a certain concentration or pressure.

[0003] In order to efficiently supply gas during the process, various types of 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. When all the gas in the gas container is consumed, after separating the gas supply device from the valve of the gas container, the gas container is removed, and a series of replacement processes are performed to fasten a new gas container to the gas supply device.

[0005] On the other hand, in order for a gas supply device to be connected 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, so 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 supplying power for position adjustment and operation, the size of the cabinet to which gas is supplied needs to be formed to accommodate the gas supply device.

[0006] The above-described background art is what the inventor retained or acquired in the process of deriving the disclosure of this specification, and it cannot necessarily be said to be publicly known technology 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 device in which the power supply source is located externally, thereby enabling a reduction in the size of the gas supply device.

[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 for separating an end cap from the valve of the gas container or fastening a valve connector to the valve of the gas container; and a mobile robot device located outside the cabinet and connected to the fastening device to operate the fastening device, wherein the mobile robot device includes a body that can move along the ground; a first robot arm provided on the body and having multiple degrees of freedom of movement; a docking module located at the end of the first robot arm and detachably fastened to the fastening device; a three-dimensional vision camera for collecting images; and a control unit that controls the operation of the first robot arm based on the images collected by the three-dimensional vision camera.

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

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

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

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

[0014] The control unit can be configured to determine a second alignment position of the docking module that brings the fastening device to a first state, while the docking module is fastened to the fastening device.

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

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

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

[0018] In one embodiment, the power motor can be mounted on the docking plate such that its rotating shaft penetrates the docking plate and protrudes from the docking surface.

[0019] In one embodiment, the three-dimensional vision camera may be positioned at the end of the first robot arm and configured to acquire a forward image of the docking module toward which the docking surface of the docking plate faces.

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

[0021] A gas supply system according to one embodiment may include a cabinet in which a gas container is arranged; a fastening device that separates an end cap from the valve of the gas container or fastens a valve connector to the valve of the gas container while aligned with the valve of the gas container; and a mobile robot device that is movable outside the cabinet. The fastening device may include a docking section that is exposed to the outside. The mobile robot device may include a body that is movable along the ground; a first robot arm provided on the body and having multiple degrees of freedom of movement; a docking module positioned at the end of the first robot arm and detachably fastened to the docking section while aligned with the fastening device; and a three-dimensional vision camera for collecting images of the gas container, the fastening device, and the docking module. The fastening device may be positioned to adapt to the operation of the mobile robot device while the docking module is fastened to the docking section.

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

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

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

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

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

[0027] In one embodiment, it can further include a control unit configured to control the operation of the based on the image collected by the three-dimensional vision camera. The control unit can determine the alignment position of the docking module according to a set algorithm and control the first robotic arm so that the docking module is located at the determined alignment position. The alignment position can be any one of a first alignment position where the docking module is aligned to be fastened to the docking portion of the fastening device, a second alignment position of the docking module where the fastening device is in a first state with respect to the valve of the gas container, and a third alignment position of the docking module where the fastening device is in a second state with respect to the valve of the gas container. Mobile robotic device の作動を制御する制御部をさらに含むことができる。前記制御部は、設定されたアルゴリズムに応じて前記ドッキングモジュールの整列位置を決定し、前記ドッキングモジュールが前記決定された整列位置に位置するように第1ロボットアームを制御することができる。前記整列位置は、前記ドッキングモジュールが前記締結装置のドッキング部に対して締結可能に整列した第1整列位置と、前記締結装置が前記ガス容器のバルブに対して第1状態にする前記ドッキングモジュールの第2整列位置と、前記締結装置が前記ガス容器のバルブに対して第2状態にする前記ドッキングモジュールの第3整列位置のいずれか1つであり得る。

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

[0029] An automated gas supply method through a gas supply system according to one embodiment can be performed via a gas supply system. The gas supply system may include a fastening device for separating an end cap from the valve of a gas container or fastening a valve connector to the valve of the gas container, a docking module detachably fastened to the fastening device, and a mobile robot device including a first cooperative robot for moving the docking module. The gas supply method includes an operation to confirm whether or not a gas container is placed at a gas supply position, an operation to generate a three-dimensional model in virtual space based on the relative positions of the gas container, the fastening device, and the docking module and align the position of the docking module, an operation to fasten the docking module to the fastening device based on the generated three-dimensional model, and an operation to move the docking module after the docking module has been fastened to the fastening device so that the fastening device aligns with the valve of the gas container.

[0030] In one embodiment, the operation to align the docking module may include: collecting a 3D image via a 3D vision camera; generating a 3D model based on the collected 3D image; comparing the 3D model with a set reference model to determine the similarity of the images; and, if the similarity of the images is less than a set value, determining the expected position of the docking module to make the similarity of the images equal to or greater than the set value. [Effects of the Invention]

[0031] In one embodiment, a gas supply system can reduce or minimize the space required for a gas supply device by providing power to the gas supply device via a mobile robot selectively connected to the gas supply device.

[0032] 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.

[0033] 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.

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

[0035] [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 3A] A front view showing a gas supply system according to one embodiment. [Figure 3B] A perspective view showing a fastening device and alignment module according to one embodiment. [Figure 3C] This diagram schematically shows the positional change process of a fastening device according to one embodiment. [Figure 4A] This is a perspective view of a mobile robot device according to one embodiment. [Figure 4B] This is a plan view showing a docking module for a mobile robot device according to one embodiment. [Figure 5] This diagram shows the process by which a docking module is connected to the docking section of a fastening device according to one embodiment. [Figure 6] This is a perspective view of a mobile robot device according to one embodiment. [Figure 7] This is a perspective view of a gas supply system according to one embodiment. [Figure 8] This is a flowchart illustrating a gas supply method according to one embodiment. [Modes for carrying out the invention]

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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. When it is stated that any component is “connected,” “joined,” or “connected” to another component, that component may be directly connected to or linked to that different component, but it should be understood that further components may be “connected,” “joined,” or “connected” between each component.

[0041] 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.

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

[0043] 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 can store 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 and for injecting gas from the outside. In one embodiment, the valve assembly V provides a flow path for discharging the gas stored inside the gas container G 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 open to allow gas to be discharged to the outside. In one embodiment, the valve C is connected to a valve connector 112 of a fastening device 110 (for example, the fastening device 110 in Figure 2), which will be described later. In one embodiment, a valve C 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.

[0044] In one embodiment, an end cap E is 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 is attached to and removed from the valve C by screw coupling along the outer circumferential surface of the valve C. In one embodiment, the end cap E may have a polygonal cross-sectional shape, but the cross-sectional shape of the end cap E is not limited thereto.

[0045] In one embodiment, for the gas supply system 1 to receive gas from the gas container G, the process of separating and removing the end cap E attached to the valve C must be performed first. Once the series of steps for supplying gas from the gas container G is completed, the end cap E can be reattached to the valve C of the gas container G to close the outlet.

[0046] In one embodiment, the gas container G can 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 provided in the internal space of the cabinet 100, which will be described later. In one embodiment, since the gas container G is generally heavy, it can be fastened by aligning the fastening device 110 with the gas container G after it has been positioned at the mounting location. However, it is not limited to this.

[0047] In the following description of the gas supply system 1, we will assume that the gas container G is positioned at the designated mounting location.

[0048] Figure 2 is a perspective view of a gas supply system according to one embodiment. Figure 3A is a front view showing a gas supply system according to one embodiment. Figure 3B is a perspective view showing a fastening device and a position adjustment module according to one embodiment. Figure 3C is a schematic diagram showing the position change process of the fastening device according to one embodiment. Figure 4A is a perspective view of a mobile robot device according to one embodiment. Figure 4B is a plan view showing the docking module of the mobile robot device according to one embodiment. Figure 5 is a diagram showing the process of the docking module being connected to the docking part of the fastening device according to one embodiment.

[0049] Referring to Figures 2 to 5, in one embodiment, the gas supply system 1 is automatically fastened to the gas container G located at a set position. In one embodiment, the gas supply system 1 can automatically disconnect and fasten the end cap E attached to the valve C of the gas container G. The gas supply system 1 is fastened to the valve C of the gas container G and supplies the gas from the gas container G to the gas piping 150.

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

[0051] 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 allowing a used gas container G to exit 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 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). The door can reduce or prevent the gas stored inside the gas container G from leaking out of the cabinet 100 by sealing the internal space of the cabinet 100 during the process of supplying gas from the gas container G located inside the cabinet 100 to the gas piping 150.

[0052] In one embodiment, one or more gas containers G are arranged inside the cabinet 100. For example, as shown in Figure 2, the inside of the cabinet 100 is arranged with two gas containers G and two fastening devices 110 fastened to each of the two gas containers G. 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.

[0053] In one embodiment, a support base (not shown) 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 may rotate about an axis perpendicular to the ground while supporting the gas container G in the lower position. The position of the valve C of the gas container G inside the cabinet 100 is changed by the rotation of the gas container G through the support base.

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

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

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

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

[0058] In one embodiment, the position adjustment module 120 can adjust the three-dimensional coordinates of the fastening device 110 relative to the fixed plate 121 via the movement of each movable member 123, 124, and 122. Therefore, when the mobile robot device 130, described later, is connected to the fastening device 110, and an external force is applied to move the fastening device 110 by the mobile robot device 130, the position adjustment module 120 will operate in response to the external force applied to the fastening device 110, adjusting the relative position of the fastening device 110 with respect to the fixed plate 121 and changing the position of the fastening device 110 in the internal space of the cabinet 100.

[0059] This operation allows the fastening device 110 to be aligned with the valve C of the gas container G.

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

[0061] With this structure, the fastening device 110 can perform three degrees of translational motion and three degrees of rotational motion relative to the fixed plate 121 by the position adjustment module 120, so that its 3D position and angle can be changed inside the cabinet 100.

[0062] In one embodiment, the fastening device 110 is movably mounted within the internal space of the cabinet 100. As described above, the fastening device 110 is connected to the interior of the cabinet 100 via a position adjustment module 120, and its position and angle within the cabinet 100 are adjusted by the operation of the position adjustment module 120. For example, the fastening device 110 may be located at the top of the internal space of the cabinet 100.

[0063] In one embodiment, the fastening device 110 operates to separate the end cap (end cap E in Figure 1) from the valve C of the gas container G, or to fasten it to the valve C of the gas container G so that gas can be supplied. The fastening device 110 can be configured to separate / attach the end cap E, or to fasten it to the valve C, while it is aligned relative to the valve C of the gas container G.

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

[0065] 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 regular 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 regular hexagonal cross-sectional shape corresponding to the cross-sectional shape of the end cap so that the end cap can be inserted. In one embodiment, the end cap separation portion 111 rotates around a first rotation axis A1. The first rotation axis A1 may be positioned to pass through the center of the insertion groove. In one embodiment, with the fastening device 110 aligned in a first position relative to the valve C, the first rotation axis A1 of the end cap separation portion 111 coincides with the central axis of the end cap.

[0066] 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 shaft while gripping the outer surface of the end cap through the insertion groove, thereby releasing the screwing of the end cap to the valve C or screwing the end cap onto the valve C.

[0067] In one embodiment, with the fastening device 110 aligned to the valve C of the gas container G in a first state, the end cap separation portion 111 may be positioned in a state 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 state, the end cap separation portion 111 may be positioned opposite the valve C such that the first rotation axis A1 coincides with the central axis of the valve C, i.e., the rotation center of the end cap attached to the valve C.

[0068] In one embodiment of the end cap, for the end cap to be inserted into the insertion groove of the end cap separation portion 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 A1 and the central axis of the valve C are aligned. In one embodiment, the end cap separation portion 111 can be aligned relative to the end cap by rotating around the first rotation axis A1 with power transmitted from a mobile robot device 130, which will be described later. For example, the alignment of the first rotation axis A1 of the end cap separation portion 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 separation portion 111 can be achieved by rotational movement of the end cap separation portion 111 around the first rotation axis A1.

[0069] In one embodiment, once the axis of the end cap separation part 111 is aligned with the end cap and the rotation angle is aligned, the end cap separation part 111 advances toward the end cap along the first rotation axis A1, thereby accommodating the end cap in the insertion groove. With the end cap inserted in the insertion groove, the end cap separation part 111 rotates around the first rotation axis A1 and translates along the first rotation axis A1, thereby removing the end cap from the valve C. Reattaching the end cap to the valve C is performed by reversing the above-described end cap separation operation.

[0070] In one embodiment, the valve connector 112 is connected to the gas piping 150 and fastened to the valve C of the 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 is operated to fasten to the valve C when the fastening device 110 is aligned to the valve C of the gas container G in a second state.

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

[0072] In one embodiment, the second rotation axis A2 of the valve connector 112 may be arranged to be substantially parallel to the first rotation axis A1 of the end cap separation portion 111 on 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 state, for example, when the first rotation axis A1 of the end cap separation portion 111 coincides with the central axis of the end cap, if the fastening device 110 is translated in one direction (for example, the second direction D2 shown in Figure 3C), the fastening device 110 will be aligned to the valve C of the gas container G in a second state. In this case, the valve connector 112 is arranged alongside the end cap separation portion 111.

[0073] In other examples not shown in the drawings, the valve connector 112 and the end cap separator 111 may be formed such that the second rotation axis A2 and the first rotation axis A1 coincide. For example, the valve connector 112 may be located inside the insertion groove of the end cap separator 111 and be formed to rotate about the same rotation axis as the end cap separator 111. In this case, the fastening device 110 is aligned to the valve C of the gas container G in a first state, for example, when the first rotation axis A1 of the end cap separator 111 coincides with the central axis of the end cap, and the fastening device 110 is moved along the first rotation axis A1 to align to the valve C of the gas container G in a second state.

[0074] On the other hand, it should be noted that the position and angle of the fastening device 110 in the first state, 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.

[0075] 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 as shown in Figure 3A). In one embodiment, a mobile robot device 130 may be detachably connected to the docking portion 113. For example, a docking module 135 of the mobile robot device 130, described later, may be fastened to the docking portion 113.

[0076] In one embodiment, with the mobile robot device 130 connected to the docking portion 113, the fastening device 110 may have its position in the internal space of the cabinet 100 changed by 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.

[0077] In one embodiment, the docking section 113 includes a docking clamp 1132 for fastening the docking module 135 of the mobile robot device 130, and a power transmission section 1131 to which the rotating shaft 1361 of the power motor of the mobile robot device 130 is connected. In one embodiment, the docking clamp 1132 fixes the fastened state of the docking module 135 to the docking section 113, or releases the fastened state so that the docking module 135 can be detached. A detailed explanation of the docking section 113 will be given later.

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

[0079] In one embodiment, the main body 131 forms the torso 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 located inside the main body 131. The main body 131 is capable of moving along the ground.

[0080] In one embodiment, the running unit 133 may be positioned below the main body 131. The running unit 133 can move the main 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 in response to a command from the control unit to move the mobile robot device 130.

[0081] In one embodiment, the first robot arm 132A is provided on the main body 131. In one embodiment, the first robot arm 132A may be positioned on the upper part of the main body 131. In one embodiment, the first robot arm 132A may be configured as a multi-joint arm that enables multi-degree-of-freedom movement, for example, six-degree-of-freedom movement. For example, the first robot arm 132A 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.

[0082] In one embodiment, the docking module 135 may be located at the end of the first robot arm 132A. In one embodiment, the docking module 135 may be detachably fastened to the fastening device 110. The docking module 135 is fastened to the docking portion 113 of the fastening device 110 via the operation of the first robot arm 132A. The docking module 135 is fastened to the docking portion 113 and can move the fastening device 110 by the operation of the first robot arm 132A, and can supply 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 136.

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

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

[0085] In one embodiment, the power motor 136 may be provided at the end of the first robot arm 132A. The rotation shaft 1361 of the power motor 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 1353 is fastened to the docking clamp 1132, the rotation shaft 1361 of the power motor 136 is inserted into the power transmission portion 1131 formed in the docking portion 113. The power motor 136 transmits power to the fastening device 110 via the power transmission portion 1131. The power transmitted by the power motor 136 to the fastening device 110 is transmitted to the end cap separation portion 111 and the valve connector 112 of the fastening device 110.

[0086] In one embodiment, 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 fastening state that allows it to be fastened to the docking portion 113. In one embodiment, as shown in Figure 5, the docking module 135 is positioned in a fastening state that allows it to be fastened to the docking portion 113, with the docking member 1353 of the docking module 135 and the rotating shaft 1361 of the power motor positioned to correspond to the docking clamp 1132 and power transmission portion 1131 of the docking portion 113, 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.

[0087] 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 fastening device 110 to be positioned within the internal space of the cabinet 100 by the first robot arm 132A. For example, the fastening device 110 may be positioned relative to the valve C of the gas container G by the first robot arm 132A.

[0088] In one embodiment, the 3D vision camera 134 collects an image of the gas supply system 1. For example, the 3D vision camera 134 may collect a 3D image of the gas supply system 1 including the docking module 135, the fastening device 110, and the valve C of the gas container G. In one embodiment, the 3D vision camera 134 may be positioned at the end of the first robot arm 132A, for example, on top of the docking plate 1351. The 3D vision camera 134 may be positioned on the first robot arm 132A to collect a forward image of the docking module 135 toward the docking section 113, for example, an image toward the docking surface of the docking plate 1351. In one embodiment, the image collection position of the 3D vision camera 134 is not limited to the examples given above, and may be set to collect images in various directions depending on the setting conditions. For example, the 3D vision camera 134 may be positioned on the first robot arm 132A to collect a downward image of the docking module 135, for example, an image toward the ground of the docking plate 1351.

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

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

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

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

[0093] In one embodiment, the alignment position of the docking module 135 may be determined according to the purpose of operation by the process 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 first alignment position in which the docking module 135 is aligned relative to the fastening device 110 so as to be able to fasten it, that is, a fastening state in which the docking module 135 is aligned so as to be able to fasten it in accordance with the position and angle of the docking portion 113.

[0094] 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 second alignment position of the docking module 135 that brings the fastening device 110 to a first state relative to the valve C of the gas container G. For example, the second alignment position of the docking module 135 means the position and angle of the docking module 135 where the end cap separation portion 111 of the fastening device 110 coincides with the first rotation axis A1 of the docking module 135, corresponding to the position and angle of the valve of the gas container G.

[0095] 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 third alignment position of the docking module 135 that brings the fastening device 110 to a second state relative to the valve C of the gas container G. For example, the third alignment position of the docking module 135 means the position and angle of the docking module 135 in which the second rotation axis A2 of the valve connector 112 of the fastening device 110 coincides with the central axis of the valve C, corresponding to the position and angle of the valve of the gas container G.

[0096] In one embodiment, the control unit determines the alignment position of the docking module 135 according to a set algorithm. For example, the set algorithm may be configured to generate a 3D model of a virtual space in real time, for example, a 3D model of the docking module 135, the gas container G, and the fastening device 110, via images acquired by a 3D vision camera 134. In one embodiment, the 3D model changes with the real-time images acquired by the vision camera 134. In one embodiment, the set algorithm can determine the similarity of the generated 3D image by comparing it with a set reference model. For example, the set reference model may be a 3D model of the docking module 135 in a fastened state, aligned to be fastened to the docking section 113. For example, the set reference model may be a 3D model of the fastening device 110 connected to the docking module 135 aligned to a first state relative to the gas container G valve C. For example, the set reference model may be a 3D model of the fastening device 110 connected to the docking module 135 aligned to a second state relative to the gas container G valve C. In one embodiment, the configured algorithm can be set to determine the similarity between the generated 3D image and the image of the configured reference model, and to determine the need for positional adjustment of the docking module 135.

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

[0098] In one embodiment, if the image similarity is greater than or equal to a set value, the configured algorithm can predict the expected position of the docking module 135 so that the 3D model has an image similarity of greater than or equal to the set value with respect to the reference model, and can determine the predicted position as the alignment position of the docking module 135.

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

[0100] In one embodiment, the control unit can align the position of the fastening device 110 connected to the docking module 135 by moving the docking module 135 via the operation of the first robot arm 132A while the docking module 135 is fastened to the docking section 113. In one embodiment, the control unit may control the operation of the first robot arm 132A so that the fastening device 110 is in a first state relative to the valve C of the gas container G, based on an image collected by the 3D vision camera 134. In one embodiment, once the fastening device 110 is aligned to the first state relative to the valve C of the gas container G, the control unit can control the power motor 136 to transmit power to the power transmission section 1131, thereby operating the end cap separation section 111. In one embodiment, the control unit may control the operation of the first robot arm 132A so that the fastening device 110 is in a second state relative to the valve C of the gas container G, based on an image collected by the 3D vision camera 134. In one embodiment, the control unit controls the power motor to transmit power to the power transmission unit 1131 when the fastening device 110 is aligned with the valve C of the gas container G to a second state, thereby activating the valve connector 112.

[0101] In one embodiment, the gas supply system 1 transmits power to the outside of the fastening device 110 via a mobile robot device 130 and aligns the position of the fastening device 110, thereby eliminating the need for a separate component (e.g., an actuator) for operating the fastening device 110. Consequently, the structure of the fastening device 110 is simplified, improving ease of maintenance. Furthermore, the gas supply system 1 reduces the space occupied by the fastening device 110 inside the cabinet 100, thereby reducing the spatial constraints required for the installation of the gas supply system 1.

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

[0103] Referring to Figure 6, the mobile robot device 230 according to one embodiment is fastened to a fastening device (for example, the fastening device 110 in Figure 2) to supply power and adjust the position of the fastening device 110.

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

[0105] In one embodiment, the main body 231 forms the torso of the mobile robot device 230. In one embodiment, the running unit 233 is positioned below the main body 231, allowing the main body 231 to move along the ground. In one embodiment, the first robot arm 232A may be positioned on top of the main body 231. In one embodiment, the first robot arm 232A may be a multi-joint arm that enables multi-degree-of-freedom movement, for example, six-degree-of-freedom movement.

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

[0107] In one embodiment, the second robot arm 232B may be positioned on the upper part of the main body 231. In one embodiment, the second robot arm 232B may be a multi-joint arm that enables multi-degree-of-freedom movement, for example, six-degree-of-freedom movement.

[0108] In one embodiment, a 3D vision camera 234 is positioned at the end of a second robot arm 232B and can collect 3D images including a docking module 236, a fastening device, and a valve on a gas container.

[0109] With this structure, the 3D vision camera 234 can collect images of each component of the gas supply system at an independent position, unrelated to the operation of the first robot arm 232A, thus enabling the generation of more accurate 3D images in virtual space.

[0110] On the other hand, while Figure 6 shows that the 3D vision camera 234 is located only at the end of the second robot arm 232B, alternatively, as shown in Figure 4A, one 3D vision camera 234 may be located at the end of the first robot arm 232A, and as shown in Figure 6, one 2D or 3D vision camera 234 may also be located at the end of the second robot arm 232B. In this case, since 3D images or 2D images can be acquired at various angles via the two 3D vision cameras 234 or their respective 2D and 3D vision cameras, image correction for the 3D model acquired via one 3D vision camera 234 can be performed more easily. In addition, the second robot arm 232B can acquire images while the first robot arm 232A is transporting the fastening device, making it easier to determine the fastening status.

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

[0112] Unless otherwise stated, the gas supply system shown in Figure 7 may be subject to the same configurations of the gas supply system described above.

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

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

[0115] In one embodiment, the fastening device is movably mounted in the internal space of the cabinet 300 and fastens to the valve of the gas container in an aligned position to receive gas. In one embodiment, the fastening device includes an end cap separation unit (e.g., end cap separation unit 111 shown in Figure 3B) for removing an end cap mounted on the valve in a first position aligned with the valve, and a valve connector (e.g., valve connector 112 shown in Figure 3B) mounted on the valve in a second position aligned with the valve for supplying gas. In one embodiment, the fastening device includes a docking unit (e.g., docking unit 113 shown in Figure 3B) for connecting to an externally located mobile robot device 330 and receiving power from the mobile robot device 330.

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

[0117] In one embodiment, the main body 331 forms the torso of the mobile robot device 330. In one embodiment, the running unit is positioned below the main body 331, allowing the main body 331 to move along the ground. In one embodiment, the first robot arm 332A may be positioned on top of the main body 331. In one embodiment, the first robot arm 332A may be configured as a multi-joint arm that enables multi-degree-of-freedom movement, for example, six-degree-of-freedom movement.

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

[0119] In one embodiment, the second robot arm 332B may be positioned on the upper part of the main body 331. In one embodiment, the second robot arm 332B may be configured as a multi-joint arm that enables multi-degree-of-freedom movement, for example, six-degree-of-freedom movement.

[0120] In one embodiment, a 3D vision camera 334 is positioned at at least one end of either the first robot arm 332A or the second robot arm 332B, and collects a 3D image including the docking module 335, the fastening device, and the valve of the gas container.

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

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

[0123] In one embodiment, the gasket storage section 338 may be located on the upper part of the main body 331. In one embodiment, the gasket storage section 338 includes a waste gasket storage box containing waste gaskets removed from the valve via the gasket gripper 337, and a new gasket storage box containing new gaskets for the gasket gripper 337 to grip.

[0124] The following describes a gas supply method through an automated gas supply system according to one embodiment. In describing the gas supply method, any information that overlaps with what has been described earlier will be omitted.

[0125] Figure 8 is a flowchart of a gas supply method according to one embodiment.

[0126] At least one of the operations of the gas supply method shown in Figure 8 may be omitted. Unless otherwise specified, the order of the operations of the gas supply method may be changed from one another or performed simultaneously. At least one of the operations of the gas supply method may be repeated.

[0127] A gas supply method according to one embodiment is performed by a gas supply system (for example, the gas supply system in Figure 2) having a fastening device and a mobile robot device that includes a docking module selectively connected to the fastening device to supply power to the fastening device. In one embodiment, the fastening device includes a valve connector or an end cap separator for fastening to the valve of a gas container to receive gas supply. In one embodiment, the mobile robot device includes a docking module selectively connected to the docking portion of the fastening device to supply power to the fastening device. In one embodiment, the gas supply method can be performed by a control unit.

[0128] In one embodiment, the gas supply method includes an operation 410 to confirm the placement of the gas container. Operation 410 can confirm whether the gas container has been placed at the gas supply position, for example, whether the gas container has been placed in the placement space inside the cabinet.

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

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

[0131] In one embodiment, the operation for generating the 3D model may be changed based on the real-time 3D image acquired by the vision camera.

[0132] In one embodiment, the operation to determine image similarity can determine the similarity between the generated 3D image and a set reference model. For example, the set reference model may be a 3D model of the fastening device aligned to a gas container valve in a first state. For example, the set reference model may be a 3D model of the fastening device aligned to a gas container valve in a second state. In one embodiment, the operation to determine image similarity can determine the need for docking module position adjustment by determining the similarity between the generated 3D image and the image of the set reference model.

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

[0134] In one embodiment, if the similarity of the images is less than a set value, the operation to determine the expected position of the docking module so that the similarity of the images is equal to or greater than the set value includes the operation of predicting the expected position of the docking module so that the 3D model has an image similarity of equal or greater than the set value to the reference model, and the operation of determining the expected position as the alignment position of the docking module.

[0135] In one embodiment, the gas supply method includes an operation 430 for docking the docking module to a fastening device. Operation 430 is performed when it is determined that the similarity between the image of the reference model and the generated 3D model to the state in which the docking module can be fastened to the fastening device is equal to or greater than a set value.

[0136] In one embodiment, the gas supply method includes an operation 440 in which the mobile robotic device is operated so that the fastening device is aligned with the gas container valve after the docking module has been fastened to the fastening device.

[0137] In one embodiment, operation 440 is performed by determining the similarity between a reference model and a generated 3D image of the fastening device aligned to the valve in a first state, and determining the alignment position of the docking module. Operation 440 can align the position of the fastening device integrally connected to the docking module to the first state by operating a mobile robot device to move the docking module to the determined alignment position of the docking module.

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

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

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

[0141] 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 systems, structures, devices, circuits, and other components 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.

[0142] 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]

[0143] 1: Gas supply system 100: Cabinet 110: Fastening device 120: Position adjustment 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 for separating the end cap from the valve of the gas container or fastening the valve connector to the valve of the gas container, A mobile robot device positioned outside the cabinet and connected to the fastening device to operate the fastening device, Includes, The aforementioned mobile robot device is A main body that can move along the ground, A first robot arm having multiple degrees of freedom is provided on the main body, A docking module is positioned at the end of the first robot arm, detachably fastened to the fastening device, and configured to move the fastening device and transmit power to the fastening device by the operation of the first robot arm; A 3D vision camera that collects images, A control unit controls the operation of the first robot arm based on the images collected by the three-dimensional vision camera, A gas supply system, including a gas supply system.

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

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

4. The docking module can be fastened to the fastening device in a fastened state that is aligned relative to the fastening device. The gas supply system according to claim 2, wherein the control unit is configured to determine a first alignment position in which the docking module is fastened to the fastening device during the process of connecting the docking module to the fastening device.

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

6. The fastening device is configured such that gas is supplied by fastening the valve connector to the valve of the gas container in a second state in which it is aligned relative to the valve of the gas container. The gas supply system according to claim 2, wherein the control unit is configured to determine a third alignment position of the docking module that puts the fastening device into a second state, while the docking module is fastened to the fastening device.

7. The fastening device includes a docking portion that is exposed on the outer surface of the fastening device and to which the docking module is fastened. The docking module is, docking plate and A docking member is placed on the docking surface of the docking plate and fastened to the docking portion, With the docking module fastened to the docking portion, a power motor supplies power to the fastening device, The gas supply system according to claim 1, including the gas supply system according to claim 1.

8. The docking section is A docking clamp into which the docking member is inserted and fastened, A power transmission unit into which the rotating shaft of the power motor is inserted and into which power is transmitted from the power motor, The gas supply system according to claim 7, including the gas supply system according to claim 7.

9. The gas supply system according to claim 7, wherein the three-dimensional vision camera is positioned at the end of the first robot arm and configured to acquire a forward image of the docking module toward which the docking surface of the docking plate faces.

10. The aforementioned mobile robot device is The main body is provided with a second robot arm having multiple degrees of freedom of movement, The gas supply system according to claim 1, wherein the three-dimensional vision camera is positioned on the second robot arm.

11. A gas supply system, A cabinet in which gas containers are placed, A fastening device for separating the end cap from the valve of the gas container or fastening the valve connector to the valve of the gas container while aligned with the valve of the gas container, Includes a mobile robotic device that is movable outside the cabinet, The fastening device includes a docking portion that is exposed to the outside, The aforementioned mobile robot device is A main body that can move along the ground, A first robot arm having multiple degrees of freedom is provided on the main body, A docking module is positioned at the end of the first robot arm and is detachably fastened to the docking portion in an aligned state with respect to the fastening device, A 3D vision camera for collecting images of the gas container, the fastening device, and the docking module, Includes, The fastening device is a gas supply system whose position is adjusted in accordance with the operation of the mobile robot device while the docking module is fastened to the docking portion.

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

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

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

15. The gas supply system according to claim 12, wherein the first rotating shaft and the second rotating shaft are the same.

16. The docking module includes a power motor configured to supply power while the docking module is fastened to the fastening device, The gas supply system according to claim 12, wherein the docking portion includes a power transmission portion into which the rotating shaft of the power motor is inserted and which transmits the power of the power motor to the end cap separation portion and the valve connector.

17. The system further includes a control unit that controls the operation of the mobile robot device based on the images collected by the three-dimensional vision camera, The control unit determines the alignment position of the docking module according to the set algorithm, and controls the first robot arm so that the docking module is positioned at the determined alignment position. The aforementioned alignment position is, The docking module is aligned to the docking portion of the fastening device in a first alignment position, The fastening device brings the docking module to the first state relative to the valve of the gas container, and The gas supply system according to claim 13, wherein the fastening device is one of the third alignment positions of the docking module that brings the valve of the gas container to the second state.

18. The aforementioned algorithm is The gas supply system according to claim 17, wherein a three-dimensional model of the gas supply system is generated in real time in a virtual space through images collected via the three-dimensional vision camera, the similarity of the generated three-dimensional model is determined by comparing it with a set reference model, and the predicted position of the docking module that makes the similarity of the images equal to or greater than a set value is determined as the alignment position.

19. A method of supplying gas through a gas supply system, The aforementioned gas supply system is A fastening device for separating the end cap from the valve of a gas container, or for fastening a valve connector to the valve of the gas container, A docking module detachably fastened to the fastening device, and a mobile robot device including a first cooperative robot for moving the docking module, Includes, The aforementioned gas supply method is The operation to confirm whether or not the gas container has been placed in the gas supply position, The operation involves generating a three-dimensional model in virtual space based on the relative positions of the gas container, the fastening device, and the docking module, and aligning the position of the docking module. Based on the generated three-dimensional model, the operation of fastening the docking module to the fastening device is performed, After the docking module is fastened to the fastening device, the docking module is moved so that the fastening device aligns with the valve of the gas container. Includes, The operation to align the position of the docking module is as follows: The operation of collecting 3D images via a 3D vision camera, The operation of generating the three-dimensional model based on the collected three-dimensional images, The operation involves comparing the aforementioned 3D model with a set reference model to determine the degree of image similarity, If the similarity of the aforementioned images is less than a set value, the operation of determining the expected position of the docking module so that the similarity of the aforementioned images is equal to or greater than the set value, A method of supplying gas, including a gas supply method.

Images