Smart Shelf based Removable Measurement Robots, Method for Acquiring Inventory and Inventory Management System

Abstract

To achieve the above objectives, the smart shelf based on a mobile measuring robot of the present invention for storing articles and measuring inventory quantity comprises a frame for defining the storage space of the articles, a plurality of support members each supported by the frame so as to be arranged in the vertical direction (z-axis direction) within the storage space to support the articles within the storage space (each of the plurality of support members has a predetermined width (y-direction) and extends in the horizontal direction (x-axis direction)), a plurality of movement passages extending in the horizontal direction and extending to the lower side of the articles on each of the plurality of support members, and at least one mobile measuring robot that moves along the plurality of movement passages to the lower side of the article to be measured, lifts the article to be measured located above from the storage state to the measurement state, and measures the inventory quantity.

Description

Technology Field

[0001] The present invention relates to a smart shelf based on a mobile measuring robot, a method for acquiring inventory, and an inventory management system. In particular, it relates to a smart shelf based on a mobile measuring robot, a method for acquiring inventory, and an inventory management system capable of measuring the weight of stored items and managing inventory through a shelf inside robot that moves inside a storage shelf. Background Technology

[0002] Logistics automation is rapidly advancing due to technological advancements. In particular, the development of computer and communication technologies, automation technologies, robotics, computer vision technologies, and artificial intelligence technologies is leading to the systematization of inventory, warehouse, and logistics management through the combination of these technologies.

[0003] Robot-assisted automated logistics systems primarily utilize shelf-outside robots that move outside the shelves to transport goods, and employ loading robots to store the transported goods on the shelves or retrieve them from the shelves.

[0004] The shelf-outside robot method has the problem of requiring a large physical size for the robot itself to cover the shelf, and a mechanical structure capable of withstanding heavy loads is required to lift or retrieve heavy items from the shelf with a single robot, which increases the size of the robot itself. Furthermore, since robust lifting structures are required to cover from the lower to the upper layers of the shelf, the equipment structure becomes large and high facility investment costs are required. (See U.S. Patents US 2021 / 0147147, US 11,059,668)

[0005] Meanwhile, various technologies for inventory management using weight sensors to count item quantities are also being introduced.

[0006] Published patents No. 10-2022-0135804, No. 10-2010-0089933, and No. 10-2021-0011105 disclose a technology for calculating inventory quantity by installing an electronic scale on a moving object, such as a mobile cart, cart, or forklift, and measuring the weight of each item. Additionally, registered patents No. 10-2657079 and No. 10-2615782 introduce a technology for measuring the weight of each item in a transfer robot or a loading robot.

[0007] In the aforementioned conventional invention patents, since the mobile weighing method involves installing an electronic scale or weight sensor on a moving object to measure the weight of one item at a time, it is inefficient because it requires a lot of time and effort from the inventory manager (movements such as lifting items out or loading them back into their original positions) to check the inventory quantity of multiple items stored on a storage shelf. Furthermore, even if automation using robots is established, it is impossible to determine the inventory quantity in real time.

[0008] Accordingly, published patents No. 10-2023-0065097, No. 10-2023-0079260, No. 10-2012-0075853, No. 10-2001-0067855 and No. 10-2024-0082565, registered patent No. 10-1905866 and U.S. patent US 10,679,181 B1, etc. introduce a technology for managing inventory and logistics by installing multiple electronic scales or weight sensors corresponding to each of the loading positions of a storage shelf to measure the weight of loaded items in real time.

[0009] This type of shelf-fixed weighing method has the advantage of being able to obtain real-time inventory information and reduce the workload of managers, but it requires a large initial investment in facilities due to the inconvenience of having to install electronic scales or weight sensors at every loading location and connecting these numerous weight sensors with cables.

[0010] In addition, pressure sensors or weight measuring sensors are a type of strain gauge that deforms when subjected to tensile or compressive force, and measure the weight of the load by detecting the deformation caused by pressure or weight.

[0011] These weight measurement methods are affected by temperature fluctuations and strong winds due to daily temperature variations and seasonal changes. Furthermore, there are too many external factors that influence measurements, such as errors. Although the zero point and span must be calibrated periodically, the lack of appropriate standard weights and equipment makes it difficult to verify the reliability of the calibration. Moreover, while the zero point must be corrected when fluctuations occur, there are instances where zero point correction becomes impossible. Accordingly, Korean Patent Publication No. 10-2021-0049455 introduces a correction technology for data measured by a weight sensor.

[0012] As mentioned above, while the fixed-shelf weighing method offers advantages such as real-time inventory monitoring and management convenience compared to the existing mobile weighing method, the high installation cost of smart weight-based storage shelves makes it difficult to adopt in the inventory management systems of small logistics warehouses or other small businesses, resulting in a lack of widespread adoption. Prior art literature

[0013] Published Patent No. 10-2022-0135804 Published Patent No. 10-2010-0089933 Published Patent No. 10-2021-0011105 Registered Patent No. 10-2657079 Registered Patent No. 10-2615782 Published Patent No. 10-2023-0065097 Published Patent No. 10-2023-0079260 Published Patent No. 10-2012-0075853 Published Patent No. 10-2001-0067855 Published Patent No. 10-2024-0082565 Registered Patent No. 10-1905866 Published Patent No. 10-2021-0147305 Published Patent No. 10-2021-0049455 The problem to be solved

[0014] The objective of the present invention is to provide a mobile measuring robot-based smart shelf, an inventory acquisition method, and an inventory management system capable of automatically measuring the inventory quantity of an item to be measured in real time through a mobile measuring robot while it is stored on a shelf, in order to solve the problems of the prior art.

[0015] Another objective of the present invention is to provide a smart shelf based on a moving measuring robot, a method for acquiring inventory, and an inventory management system that can reduce facility costs of inventory management equipment by enabling the weight to be measured by moving a shelf inside robot while the items are stored without removing them from the shelf.

[0016] Another objective of the present invention is to provide a smart shelf based on a mobile measuring robot, an inventory acquisition method, and an inventory management system that can maximize warehouse space utilization in a warehouse system because the shelf-inside robot moves inside the shelf.

[0017] Another objective of the present invention is to provide a smart shelf based on a mobile measuring robot, an inventory acquisition method, and an inventory management system that can be easily applied to existing small-scale logistics management, inventory management, or warehouse management, as the computerization of goods management is possible with only simple modifications to a general storage shelf. means of solving the problem

[0018] To achieve the above objectives, the smart shelf based on a mobile measuring robot of the present invention for storing articles and measuring inventory quantity comprises a frame for defining the storage space of the articles, a plurality of support members each supported by the frame so as to be arranged in the vertical direction (z-axis direction) within the storage space to support the articles within the storage space (each of the plurality of support members has a predetermined width (y-direction) and extends in the horizontal direction (x-axis direction)), a plurality of movement passages extending in the horizontal direction and extending to the lower side of the articles on each of the plurality of support members, and at least one mobile measuring robot that moves along the plurality of movement passages to the lower side of the article to be measured, lifts the article to be measured located above from the storage state to the measurement state, and measures the inventory quantity.

[0019] In the present invention, each of at least one moving measuring robot may comprise a moving body configured to rotate, move in the X-direction, and move in the Y-direction, a lifting member coupled to the moving body and loading (measuring state) / unloading (supporting state) the item to be measured by lifting in the Z-direction from below the item to be measured, and a measuring member coupled to the lifting member and for measuring the inventory of the item to be measured lifted by the lifting member.

[0020] In the present invention, it is preferable that the movable body be configured to set each of the plurality of support bodies in an xy coordinate system and to control rotation, movement in the X-direction, and movement in the Y-direction in the xy coordinate system.

[0021] In the present invention, at least one mobile measuring robot forms a robot formation comprising at least two mobile measuring robots, the robot formation moves autonomously along a movement path by swarm control, is distributed below a single item to be measured, and each lift member cooperates to simultaneously lift the item to be measured by swarm control, and the inventory quantity of the item to be measured is measured by swarm control through each measuring member.

[0022] In the present invention, the smart shelf further comprises an up-and-down movement passage between a plurality of vertically arranged supports, through which at least one mobile measuring robot can move up and down, and the up-and-down movement passage may be either a ramp or an elevator that interconnects the movement passages of vertically adjacent supports.

[0023] In the present invention, each of at least one mobile measuring robot further comprises at least one camera for capturing an image of an item to be measured and a display for displaying characters or images, and obtains at least one of identification information, storage location information, center of gravity information, and storage status information of the item to be measured from the image captured through at least one camera. Additionally, at least one of the weight, quantity, and location information of the item to be measured can be displayed through the display.

[0024] In the present invention, each of at least one mobile measuring robot can measure the inventory of all stored items while periodically circulating through the movement passages.

[0025] In the present invention, each of the plurality of supports comprises a bottom plate supported by a frame and a support member formed on the upper surface of the bottom plate to support an article. The support member may be composed of a plurality of protruding plates arranged in the x-axis direction and protruding in the z-axis direction from the upper surface of the bottom plate. (Here, the height (h1) of the protruding plates is greater than the height (h0) of the movement process of the mobile measuring robot, and the spacing (s1) between the protruding plates is greater than the length (l0) and width (w0) of the mobile measuring robot).

[0026] In the present invention, it is preferable that the minimum width of an item stored in a box state without a container on a shelf be at least twice the arrangement pitch (P = spacing (s1) + thickness (t1)) of the protruding plate.

[0027] In the present invention, if the minimum width of the item being stored is less than 2 pitches, it may be stored in a storage container (bin) with a width of 2 pitches or more.

[0028] In the present invention, at least one moving measuring robot is designed such that during the moving process, the height (h01) is lower than the height (h1) of the protruding plate, and during the measuring process when lifted up to the measuring position, the height (h02) is higher than the height (h1) of the protruding plate.

[0029] In the present invention, the moving body includes a communication unit and a control unit. The control unit comprises a memory for storing processor-executable instructions and at least one processor connected to the memory to execute the instructions. When an instruction is executed, the processor may have an operation to control movement to the lower side of a given item to be measured by autonomous movement; a loading control operation to raise the lift member from the lower side of the item to be measured to lift the item to be measured from the height of the storage state to the height of the measurement state; an operation to control measurement of the inventory quantity through the measuring member at the height of the measurement state when loading is completed; an unloading control operation to lower the lift member to lower the item to be measured from the height of the measurement state to the height of the storage state when inventory measurement is completed; and an operation to control transmission of the measured inventory quantity information through the communication unit.

[0030] The inventory management system for managing weight-based inventory quantities of items stored on a mobile measuring robot-based smart shelf according to the present invention comprises a shelf system and a management server in which at least one mobile measuring robot-based smart shelf is connected in series, parallel, or series-parallel. In the shelf system, the inventory quantities of the stored items are acquired by at least one mobile measuring robot that moves autonomously along a passage formed in each shelf, measures the inventory quantity at the storage location of one item, and then moves to the storage location of another item, and transmits this information to the management server. It is preferable that the management server receives the inventory quantity information provided from the shelf and manages an inventory quantity database of the items.

[0031] In the present invention, the shelf system may include a shelf connecting plate that connects the passageways between shelves when shelves are connected in series, and a line connecting plate that connects the passageways between lines when shelf lines are connected in parallel.

[0032] In the present invention, at least one mobile measuring robot comprises a mobile body configured to rotate, move in the X-direction, and move in the Y-direction, a lift member coupled to the mobile body and loading (measuring state) / unloading (supporting state) the item to be measured by lifting in the Z-direction from below the item to be measured, and a measuring member coupled to the lift member and for measuring the inventory of the item to be measured lifted by the lift member. The mobile body includes a communication unit and a control unit. The control unit comprises a memory for storing processor-executable instructions and at least one processor connected to the memory to execute the instructions. When a command is executed, the processor controls the movement to move to the lower side of a given inventory item by autonomous movement when an inventory count command is received from the management server through the communication unit; controls the loading by raising the lift member from the lower side of the inventory item to lift the inventory item from the height of the storage state to the height of the measurement state; controls the measurement of the inventory quantity through the measurement member at the height of the measurement state when loading is completed; controls the unloading by lowering the lift member to lower the inventory item from the height of the measurement state to the height of the storage state when inventory quantity measurement is completed; controls the transmission of the measured inventory quantity information to the management server through the communication unit; and controls the repeated execution of these operations to complete an inventory count for all inventory items.

[0033] A method for obtaining the inventory quantity of each item on a smart shelf based on a mobile measuring robot in which the items of the present invention are loaded comprises the steps of: autonomously moving a robot platoon to the lower position of the item to be measured in response to a target position coordinate value; loading the item to be measured by lifting it from the height of the storage state to the height of the measurement state by simultaneous lift-up by swarm control of the robot platoon; measuring the weight of the item to be measured by swarm control of the robot platoon; unloading the item to be measured by lowering it from the height of the measurement state to the height of the storage state by simultaneous lift-down by swarm control of the robot platoon; and transmitting the measured weight information through a communication unit.

[0034] As described above, although the present invention has been explained with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the invention as set forth in the following claims. Effects of the invention

[0035] As described above, the present invention enables low-cost, real-time automatic inventory management by allowing inventory quantity measurement through a shelf-inside robot while the items are still in their stored state, without removing them from the shelves. Furthermore, it is possible to easily establish computer management systems for small-scale inventory, logistics, or warehouse management on standard storage shelves through simple modifications, while minimizing equipment investment. It enables the establishment of a collaborative structure between a shelf-inside robot and a manager for inventory management, or a fully automated system for inventory management by robots.

[0036] However, the effects of the present invention are not limited to those mentioned above, and other effects not mentioned above will be clearly understood by those skilled in the art within the scope and spirit of the present invention. Brief explanation of the drawing

[0037] FIG. 1 is a perspective view illustrating the configuration of a preferred embodiment of a smart shelf based on a mobile measuring robot according to the present invention. FIG. 2 is a floor plan to explain the configuration of the smart shelf of FIG. 1. FIG. 3 is a perspective view of a preferred embodiment for explaining the configuration of the support of FIG. 1. FIG. 4 is a drawing for explaining another preferred embodiment of the support member (124) according to the present invention. FIG. 5 is a drawing of an embodiment for explaining the configuration of the mobile measuring robot of FIG. 1. FIG. 6 is a diagram for explaining the measurement operation of the mobile measuring robot of FIG. 1. FIG. 7 is a block diagram of a preferred embodiment for explaining the configuration of the control circuit of a mobile measuring robot (140). FIG. 8 is a flowchart of a preferred embodiment for explaining the control operation of the mobile measuring robot of FIG. 7. FIG. 9 is a drawing of a preferred embodiment for explaining the autonomous driving coordinate values ​​of a robot formation according to the present invention. FIG. 10 is a perspective view showing a preferred example of a storage line structure in which a plurality of smart shelves (100) according to the present invention are connected in series. FIG. 11 is a partial plan view of one layer to explain the connection relationship between the shelves of FIG. 10. FIG. 12 is a perspective view showing another preferred example of a storage line structure in which a plurality of smart shelves (100) according to the present invention are connected in series and parallel. FIG. 13 is a perspective view illustrating the configuration of another preferred embodiment of a smart shelf based on a moving measuring robot according to the present invention. FIG. 14 is a conceptual diagram illustrating a method for obtaining the inventory amount of a smart shelf based on a mobile measuring robot according to the present invention. FIG. 15 is a drawing illustrating the configuration of a preferred embodiment of an inventory management system based on a mobile measuring robot according to the present invention. FIG. 16 is a flowchart of a preferred example for explaining the operation of the management server of FIG. 15. FIG. 17 is a flowchart of a preferred example for explaining the operation of the moving measuring robot of FIG. 15. Specific details for implementing the invention

[0038] With respect to the embodiments of the present invention disclosed in the text, specific structural or functional descriptions are provided merely for the purpose of explaining the embodiments of the present invention, and the embodiments of the present invention may be implemented in various forms and should not be interpreted as being limited to the embodiments described in the text.

[0039] The present invention is susceptible to various modifications and may take various forms, and specific embodiments are illustrated in the drawings and described in the text. However, this is not intended to limit the invention to the specific disclosed forms, and it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention. Similar reference numerals have been used for components in the description of each drawing.

[0040] Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0041] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. Conversely, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. Other expressions describing the relationship between components, such as "between" and "exactly between," or "adjacent to" and "directly adjacent to," should be interpreted in the same way.

[0042] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the existence of the described features, numbers, steps, actions, components, parts, or combinations thereof, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0043] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0044] The definitions of each term of the important components in this application are as follows.

[0045] A shelf refers to a shelf used to store goods or arrange products in places such as warehouses or factories. Also known as a rack, stacking shelf, or storage shelf, it refers to a storage facility composed of columns and shelves.

[0046] A mobile measuring robot-based refers to a small robot, approximately a few centimeters in size, that measures the inventory quantity, weight, or mass of items stored on a shelf while autonomously moving along a passageway inside the shelf, rather than a robot that moves along a walkway between shelves. Here, the mobile measuring robot may include a robot in which the main body moves along a passageway, lifts an item by means of an elastic arm extending downward from the main body at a stationary position, and measures the inventory quantity using a measuring member installed at the end of the arm.

[0047] A robot swarm refers to a combination of robots that perform collaborative operations through swarm control to lift and measure items stored inside a shelf.

[0048] A support structure is a structure that actually supports stored items, and it supports robots and items.

[0049] The support surface refers to the surface of a support body that actually supports the robot, and the loading surface refers to the surface of a support body that actually supports the item, and the support surface and the loading surface have a height difference that allows the robot to move.

[0050] A movement passage refers to a space within a support structure that has a height difference between the support surface and the loading surface, and includes a passage where robots move autonomously or move downwards over items.

[0051] The lift member is mounted on a mobile measuring robot and is movable by the robot; it is a member that lifts up or lifts down a measuring member to the height of the moving process and the height of the measuring process. That is, by the raising of the lift member, the item to be measured is lifted from the height of the storage state on the loading surface and performs a loading operation to raise it to the height of the measuring state by the upper surface of the measuring member, and an unloading operation to lower it to its original position.

[0052] A measuring member refers to a sensor that measures the load or weight of a stored item, such as a force sensor, pressure sensor, load cell, strain gauge, weight sensor, weight sensor, load sensor, or torque sensor.

[0053] Meanwhile, if an embodiment can be implemented differently, a function or operation specified within a particular block may occur differently from the order specified in the flowchart. For example, two consecutive blocks may actually be executed substantially simultaneously, or, depending on the related function or operation, said blocks may be executed in reverse order.

[0054] Hereinafter, preferred embodiments of the present invention will be further described with reference to the attached drawings. Identical components in the drawings are given the same reference numerals, and redundant descriptions of identical components are omitted.

[0055] [Example]

[0056] FIG. 1 is a perspective view for explaining the configuration of a preferred embodiment of a smart shelf based on a moving measuring robot according to the present invention, and FIG. 2 is a plan view of one layer for explaining the configuration of the smart shelf of FIG. 1.

[0057] Referring to the drawing, the smart shelf (100) includes a frame (110), a plurality of supports (120), a plurality of movement passages (130), a plurality of movement measuring robots (140), and an upper movement passage (150).

[0058] The frame (110) forms a rectangular frame structure assembled from vertical frames (112), horizontal frames (114), and connecting frames (116). The storage space is limited to the internal space of the rectangular frame structure. Here, the frame (110) forms three layers by arranging assembly structures of two horizontal frames (114) and two connecting frames (116) on four vertical frames (112) at predetermined intervals. A roof layer (118) may be further formed on the upper part of the three layers. Support members (120) are assembled on each layer and supported by the frame (110). Here, the assembly structure of the frame (110) is illustrated as one example and is not limited thereto, and can have various assembly structures. The mobile measuring robot (140) is capable of rotating, moving in the x-axis direction, and moving in the y-axis direction along the movement path (130) in the xy plane. In addition, the mobile measuring robot (140) can move up and down to another floor using the vertical movement passage (150) provided on one side of the frame (110).

[0059] The support members (120) are intended to support the load of the stored items and can be classified into light shelves and heavy shelves depending on the weight of the stored items. The support members (120) are supported to withstand the total load of the stack of items by an assembly structure of horizontal frames (114) and connecting frames (116) of the frame (110). Each support member (120) has a predetermined width (y-axis direction) and extends in the left-right direction (x-axis direction).

[0060] FIG. 3 is a perspective view of a preferred embodiment for explaining the configuration of the support of FIG. 1.

[0061] Referring to FIG. 3, the support body (120) includes a bottom plate (122) and a support member (124).

[0062] The upper surface of the bottom plate (122) is provided as a support surface (122a) that supports a plurality of moving measuring robots (140) within the support body (120) and provides a space for forming a moving passage (130).

[0063] The support member (124) is composed of a plurality of protruding plates (126) that protrude a predetermined height (h) in the height direction (z-axis direction) from the upper surface of the bottom plate (122), extend in the y-axis direction, and are arranged in the x-axis direction. The upper surfaces of the plurality of protruding plates (126) substantially contact the bottom surface of the stored items and are provided as the loading surface (126a) of the stored items. The length (l2) of the space where the protruding plates (126) are arranged is configured to be shorter than the length (l1) of the bottom plate (122), and the left and right gaps are provided as a passageway for the mobile measuring robot (140). The height (h1) of the protruding plate (126) has a height greater than the height (h0) of the mobile measuring robot (140) so that the mobile measuring robot (140) can move in the y-axis direction. The width (w2) of the protruding plate (126) has a length shorter than the depth width (w1) of the bottom plate (122). The passage width (w3) between the depth width (w1) of the bottom plate (122) and the width width (w2) of the protruding plate (126) constitutes the width of the passage (130), i.e., the size in which the mobile measuring robot (140) can move in the x-axis direction. The spacing (s1) between the protruding plates (126) has a wider spacing than the width (w0) of the mobile measuring robot (140) so that the mobile measuring robot (140) can move in the y-axis direction. Therefore, when viewed in a planar view as shown in FIG. 2, the support member (124) appears as a stripe pattern of protruding plates (126) arranged in the x-axis direction. It is preferable that the thickness (t1) of the protruding plate (126) be configured to be as small as possible compared to the spacing between the protruding plates (126). The upper surface of each protruding plate (126) is provided as a loading surface (126a) that supports the item by contacting the bottom surface of the item.

[0064] The movement passage (130) is provided as an upper surface space of the bottom plate (122) excluding the formation space of the support member (124) and is a passage for the mobile measuring robot (140) to move in the x-axis direction or y-axis direction, and includes a main passage (132) extended in the x-axis direction, a connecting passage (134) provided at the left and right edges of the support member (124), and a measuring passage (136) provided in the gap space between the protruding plates (126). The main passage (132) is connected to a plurality of measuring passages (136) and is a passage for the mobile measuring robot (140) to move to the measuring passage (136). The connecting passage (134) is also provided at the left and right edges of the formation space of the support member (124) and is provided as a passage for the mobile measuring robots to move to the upper movement passage (150) or to move to the same floor of an adjacent shelf. In addition, the measurement passage is a channel designed so that the mobile measurement robot is positioned below the item to be measured. Measurement of the item to be measured is performed while stationary on these measurement passages.

[0065] Accordingly, as illustrated in FIG. 2, the minimum width (wm) for storing items may be limited to at least two pitches of the pitch (p1) of the protruding plates (126). Items with a width of less than two pitches are stored in a storage container (bin). This limitation is intended to prevent items with a narrow width from being stored in a tilted state, with one corner slipping out through the gaps, when they are not placed stably on the protruding plates (126).

[0066] In the case of items in such poor storage conditions, measurement may be made impossible by obstructing the movement of the mobile measurement robot through the measurement passage or by preventing the mobile measurement robot from entering below the item to be measured.

[0067] For example, if the height (h1) of the protruding plate (126) is designed to be 50mm, the spacing (s1) to be 60mm, and the thickness (t1) to be 10mm, the minimum width (wm) of an item that can be stored without using a storage container (bin) is calculated as wm = 2s1 + 2t1 = 2*60mm + 2*10mm = 140mm. Therefore, the width of an item that can be stored in its packaging box state is limited to at least 140mm.

[0068] FIG. 4 is a drawing for explaining another preferred embodiment of the support member (124) according to the present invention. Referring to FIG. 4, the support member (125) is an uneven structure formed by bending a steel plate to form a protruding plate (126) as a protruding part (125a) and a supporting surface (122a) of a bottom plate (122) as a recessed part (125b). The upper surface of the protruding part (125a) of the support member (125) is provided as a loading surface (126a). Such an uneven structure increases the durability to withstand loads while reducing the manufacturing cost of the support body (120), and enables replacement with the smart shelf of the shelf inside robot method of the present invention simply by placing the support body on each layer of a standard shelf without assembly at the site.

[0069] FIG. 5 is a drawing of an exemplary embodiment for explaining the configuration of the mobile measuring robot of FIG. 1, and FIG. 6 is a drawing for explaining the measurement operation of the mobile measuring robot of FIG. 1.

[0070] Referring to the drawings, the mobile measuring robot (140) includes a mobile body (142), a lift member (144), a measuring member (146), and a display (148). The mobile measuring robot (140) is designed to be sized to move along the movement path (130) of the support body (120). Referring to FIG. 3, the length (l0), width (w0), and height (h0) must satisfy the conditions l0 < s1 ≤ w3, w0 < s1 ≤ w3, and h0 < h1. Therefore, the size of the mobile measuring robot (140) is limited to l0 * w0 * h0. For example, it may have a size of 50mm * 40mm * 40mm.

[0071] The moving body (142) includes a housing (142a), a plurality of electric wheels (142b), and a plurality of cameras (142c). The housing (142a) contains a battery, a control board, and sensors. The moving body (142) captures surrounding images through the plurality of cameras (142c) to acquire image information. The moving body (142) combines the command information, the acquired image information, and the sensor information to drive the plurality of electric wheels (142b) according to movement processes such as rotation, movement in the x-axis direction, movement in the y-axis direction, movement between floors, and movement between shelves, thereby performing an operation to move to a designated position. Each of the plurality of electric wheels (142b) may include a wheel motor (M1) that rotates the wheel and a z-axis motor (M2) that rotates the wheel module around the z-axis. A lift member (144) is installed on the upper part of the housing (142a).

[0072] The lift member (144) includes a pair of left and right X-shaped lifts (144a, 144b) and a lifting plate (144c). The pair of left and right X-shaped lifts (144a, 144b) are connected in an L-shape with the lifting plate (144c) in between. Each of the X-shaped lifts (144a, 144b) includes a lower guide, an upper guide, links that cross in an X shape, and a driving unit that extends and retracts the links. The upper guides of the X-shaped lifts (144a, 144b) are connected to each other at a certain distance through the lifting plate (144cd). Each of the X-shaped lifts (144a, 144b) has links that cross in an X shape and their centers connected by a rotation axis, and the lower end of one link is assembled to be movable along one side of the lower guide's elongated hole, and the upper end is assembled to be movable along the other side of the upper guide's elongated hole. Likewise, the lower end of another link is assembled to be movable along the other side of the lower guide's elongated hole, and the upper end is assembled to be movable along the one side of the upper guide's elongated hole. And, between the two sides of the lower guide's elongated holes, a driving unit is assembled to extend and retract between the lower ends of the links. One lower guide is fixed along one side edge of the housing (142a), and another lower guide is fixed along the other side edge of the housing (142a). One upper guide is fixed along one side edge of the lifting plate (144c), and another upper guide is fixed along the other side edge of the lifting plate (144c). A measuring member (146) is attached to the lifting plate (144e).

[0073] The measuring member (146) can be configured as a compression type load cell. For example, considering existing inventory management by human labor, if the appropriate weight that an average worker can withstand during the process of lifting and placing items onto a shelf or, conversely, lifting and taking them down is, for instance, around 30 to 50 kg, then the load of the item to be measured is divided and distributed among multiple mobile measuring robots. Therefore, the maximum load that each robot can withstand can be set by dividing it by the number of robots mobilized to measure simultaneously. For example, assuming that four robots are grouped together to measure simultaneously, the load distributed to each robot for an item to be measured weighing 40 kg would be 10 kg. Therefore, in the present invention, the maximum measuring load of each robot's measuring member can be reduced to 1 / n. In addition to the compression type load cell, the measuring member (146) can use various weight sensors such as beam type load cells and pressure sensors.

[0074] The display (148) is composed of an LCD panel fixed to the upper front edge of the movable body (142), and can display text such as weight or stock quantity, a flashing light for position indication, etc.

[0075] Referring to FIG. 6, the mobile measuring robot (140) is positioned below the item to be measured (10) along the measuring passage. The mobile measuring robot (140) in the moving state maintains a lift-down state at a height (h01) lower than the height (h1) of the protruding plate (126). The load on the bottom surface of the item to be measured (10) is supported by the upper surface of the protruding plate (126), i.e., the loading surface (126a). When the mobile measuring robot (140) reaches the measurement position, it stops and performs the measurement process. When the mobile measuring robot (140) pulls the links on both sides through the drive unit of the lift member (144) while in a stopped state, the lower ends of the links on both sides move along the elongated hole in a direction facing each other, i.e., towards the center. Accordingly, one link rotates clockwise and the other rotates counterclockwise around the central axis, so the upper guide rises. Likewise, the upper ends of the links are moved facing each other along the elongated holes formed in the upper guide. Accordingly, the measuring member (146) mounted on the lifting plate (144c) is raised, and when the upper part of the measuring member (146) is raised to a height (h1), it comes into contact with the bottom surface of the item to be measured (10). When it is raised further, it lifts the item to be measured (10) from the loading surface (126a) and stops the upward movement at a measuring height (h02) that is higher than the height (h1). When the measuring height (h02) is reached, the load of the item to be measured acts on the measuring member (146) through the measuring member (146). Therefore, the load of the item to be measured (10) acts on the support surface (122a) of the floor plate (122) through the mobile measuring robot (140). When the measurement is finished, the drive unit of the lift member (144) pushes the lower ends of both links in opposite directions. Accordingly, the links rotate around the rotation axis, and the lifting plate (144c) is lowered. When the height is lowered to a height h1, the bottom surface of the item to be measured (10) comes into contact with and is supported by the loading surface (126a). When it is lowered further and reaches a moving height h01, the lowering operation of the lift member (1440) is terminated.

[0076] The upper movement passage (150) may be configured as a ramp installed between floors to allow the mobile measuring robots (140) to move to another floor. Since the movement between floors is achieved by the energy of the robots themselves, the shelf does not require any electrical configuration, thus facilitating the application of the present invention to existing general shelves. The upper movement passage (150) extends to the roof floor (118), and the mobile measuring robots (140) can move to the roof floor (118).

[0077] FIG. 7 is a block diagram of a preferred embodiment for explaining the configuration of the control circuit of a mobile measuring robot (140).

[0078] Referring to the drawing, the control circuit board of the movable body (142) includes a control unit (143). Additionally, the control circuit board includes an input unit (143c), a display unit (143d), a communication unit (143e), a power supply unit (143f), a movement driving unit (143g), and an information acquisition unit (143h).

[0079] The control unit (143) includes a memory (143b) for storing processor-executable instructions and at least one processor (143a) connected to the memory (143b) to execute instructions. The control unit (143) is connected to a measurement sensor (146a) through a measurement sensor driving unit (146b) of a measurement member (146) and can obtain the stock quantity of an item by receiving a measurement value. The processor (143a) executes a command to control the loading of the item to be measured (10) into a measurement state through the lift drive unit (144d) of the lift member (144), controls the completion of loading in response to the measurement sensor (146a), obtains the measurement value of the measurement sensor (146a) as the stock quantity of the loaded item to be measured (10) in the completed loading state, and, when the measurement is completed, controls the unloading of the item to be measured (10) into a loading state on the loading surface (126a) through the lift drive unit (144d). Additionally, the processor (143a) may further perform the operation of obtaining at least one of identification information and location information of the item to be measured by analyzing image information captured from the camera (142c) through the information acquisition member (143h), and the operation of combining the obtained information with the measured stock quantity.

[0080] The input unit (143c) may include a touch sensor or a dip switch connected to the LCD panel (148). The input unit (143c) can set the robot's unique identification code or input various commands such as work commands and test commands.

[0081] The display unit (143d) interfaces control commands, display information, etc., such as an LCD panel and LED lighting lamp constituting the display (148) to the control unit (143).

[0082] The communication unit (143e) receives commands and information from the outside through a wireless communication channel such as Wi-Fi communication, wireless LAN communication, and Bluetooth communication, or interfaces acquired inventory information, image information, and sensor information, etc., to the control unit (143).

[0083] The power supply unit (143f) includes a rechargeable battery and supplies the driving power required for the control circuit. The power supply unit (143f) can charge the battery by receiving external energy in a contact- or non-contact manner.

[0084] The movement drive unit (143g) drives the wheel motor (M1) and the z-axis motor (M2) to drive the rotation of the wheel and the z-axis rotation of the wheel module. Then, rotation speed information and rotation direction information are interfaced to the control unit (143) through the motor encoder.

[0085] The information acquisition unit (143h) provides the control unit (143) with image information captured by the camera (142c) as well as sensor information obtained through the sensor. The sensor may include various sensors for autonomous movement, such as a gyroscope or multi-axis sensor for attitude control, a delta GPS sensor for position control, and an ultrasonic sensor or optical sensor as a proximity sensor for collision prevention. Additionally, the information acquisition unit (143h) may interface identification information from a barcode or QR code scanner, a character scanner, or an RFID reader to the control unit (143) for the identification of the item to be measured.

[0086] The control circuit board described above may be composed of a commercially available Raspberry Pi one-chip microprocessor board. The robots can perform mutual wireless communication with an external management server and adjacent robots through the communication unit (143e) for formation control or swarm control.

[0087] FIG. 8 is a flowchart of a preferred embodiment for explaining the control operation of the mobile measuring robot of FIG. 7, and FIG. 9 is a diagram for explaining the autonomous driving coordinate values ​​of a robot formation.

[0088] Referring to the drawing, when a command is received by the control unit (143) (S100), it sets autonomous driving coordinate values ​​in response to the received command (S102). At this time, the formation robots are set to their respective autonomous driving coordinate values ​​as shown in FIG. 9. For example, if the storage location coordinate value of the item to be measured (10) is P1(xm, yn), the formation robots (140a, 140b, 140c, 140d, 140e) may be given the following target coordinate values.

[0089] Pa(xm, 0)

[0090] Pb(xm - Δx, yn - Δy)

[0091] Pc(xm - Δx, yn + Δy)

[0092] Pd(xm + Δx, yn - Δy)

[0093] Pe(xm + Δx, yn + Δy)

[0094] The formation robots (140a, 140b, 140c, 140d, 140e) each move in formation to a given coordinate (S104). Check whether they have reached their respective target positions (S106), and perform steps S104 and S106 until they reach the target coordinate.

[0095] Here, the robot (140a) is a squadron leader robot that moves to the coordinate Pa(xm, 0), which is the front edge of the shelf, and performs the task of identifying the item to be measured (10) by photographing the front of the item to be measured with a camera, identifying identification information included in the label, such as a barcode or QR code, or identifying characters within the image information (S110). Here, the squadron leader robot (140a) may also perform cluster control of the measurement operations of the squadron robots (140b, 140c, 140d, 140e) by relaying commands from the outside.

[0096] The formation robots (140b, 140c, 140d, 140e) calculate the center of gravity of the item to be measured (10) (S110), and fine-tune the target coordinate values ​​to the measurement position coordinate values ​​at the site based on the calculated center of gravity (S112). Here, the target coordinate values ​​are values ​​generated under the assumption that the front edge of the item to be measured (10) is aligned with the front edge of the support body (120). However, in the actual site, it may be in the correct position, or it may be less or more recessed than the correct position, or rotated to the left or right by a certain angle. Not all items can be stored in a uniformly correct position, and there is a high probability that they will be loaded out of alignment to some extent.

[0097] Therefore, appropriate fine adjustments are required at the site according to the loading condition of the item so that the item to be measured (10) is lifted in a stable state rather than being measured in an unstable state where it is tilted to one side. As an algorithm for fine adjustment, a virtual diagonal line is drawn from the center of gravity of the item to each corner, and by making a fine movement so that the center of the measurement area of ​​the measurement sensor coincides with the virtual diagonal line, a formation of four robots will be positioned around the center of gravity of the item.

[0098] When fine adjustment is completed (S113), robot formation synchronization is performed with each other for simultaneous lifting of the formation of robots (140b, 140c, 140d, 140e) (S114). Through the synchronization of the robot formations, the lifting motion can be timed to simultaneously lift up the item to be measured (10) (S116). By lifting simultaneously, the load of the item to be measured (10) can be distributed evenly, and accurate weight measurement is possible.

[0099] As the lift member (144) rises, at the moment the bottom of the item (10) is detached from the loading surface (126a), the load of the item is transferred to the robot formation, and the measurement value of each robot will increase significantly. Using this amount of change, the control unit (143) can recognize that the item has been loaded (S118).

[0100] When loading occurs, the control unit (143) stops the lifting operation of the lift member (144) and measures the inventory quantity (S120). It is preferable for the control unit (143) to sample the measurement values ​​provided by the measurement sensor (144a) for a predetermined period and determine the final measurement value from the average of these values. Since the values ​​measured by the measurement sensor may fluctuate depending on ambient vibrations, temperature, humidity, etc., a measurement algorithm is required to obtain stable measurement values. The inventory quantity information obtained from each robot can be transmitted to the management server individually, or collected through the platoon of robots and then collectively transmitted to the management server.

[0101] When the robots complete the acquisition of the inventory (S122), they control their respective lift members (144) to descend (S124). As the lift members (144) descend, at the moment the bottom of the item (10) comes into contact with the loading surface (126a), the load of the item is transferred from the robot formation to the loading surface (126a) of the protruding plate (126), and the measurement value of each robot will decrease significantly. Using this amount of change, the control unit (143) can recognize that the item has been loaded (S126).

[0102] When the unloading of the item to be measured (10) is completed, each robot stops the lowering operation of the lift member (144), transmits the acquired inventory information (S128), and returns to a waiting state.

[0103] As such, in this invention, the shelving inside moving measurement robots move in formation toward the item to be measured through formation movement and swarm control, and the weight is measured through swarm measurement. This enables the miniaturization of each robot through load distribution and allows for more accurate weight measurement. Furthermore, since multiple weight sensors are not required to measure the weight of each stored item in real time, it is possible to implement a smart shelf at a low cost.

[0104] [Example of Shelf Line Configuration]

[0105] FIG. 10 is a perspective view showing a preferred example of a storage line structure in which a plurality of smart shelves (100) according to the present invention are connected in series, and FIG. 11 is a partial plan view to explain the connection relationship between the shelves.

[0106] Referring to the drawing, the serial storage line structure of FIG. 10 is a line structure in which five smart shelves (100A, 100B, 100C, 100D, 100E) are connected in series, and the shelves are connected by shelf connecting plates (160). The connecting plates (160) serve as connecting passages through which a mobile measuring robot (140) moves between the shelves on the same floor. In other words, the serial storage line structure is a line structure suitable for a narrow and long warehouse space. In this structure, it is desirable to place a set of robots on each floor.

[0107] For example, assuming that the maximum number of items that can be stored on one shelf is 10, a robot squadron will be responsible for 10 items * 5 shelves = 50 items on each floor per line. If it takes 1 minute of movement / measurement time per item, each robot squadron can measure the inventory of 50 items on each floor at 50-minute intervals. If the robot squadron consists of 4 robots, 5 floors * 5 robots = 25 robots are required.

[0108] Therefore, if a single robot squadron is responsible for the entire floor of the line, 5 floors * 50 items = 250 minutes of movement measurement time will be required. A full cycle for minimum inventory checks will take at least 4.5 hours. Therefore, it is necessary to design the system by considering efficiency and cost issues between the inventory measurement cycle of 1 hour and 4.5 hours and the number of movement measurement robots of 5 and 25.

[0109] FIG. 12 is a perspective view showing another preferred example of a storage line structure in which a plurality of smart shelves (100) according to the present invention are connected in series and parallel.

[0110] Another line structure of FIG. 12 is a series-parallel structure in which pairs of shelves (100A, 100B), (100C, 100D), and (100E, 100F) are connected in series to each line (L1, L2, L3), and the roof layers (118) of each line are connected in parallel through a line connecting plate (170). Mobile measuring robots can move to a roof layer (118) and then move to a roof layer (118) of another line through the line connecting plate (170). For example, if 5 robot squadrons measure 10 items on each layer, the measurement time per line is LT = (10 items * 2 shelves) * 5 layers = 100 minutes. If one robot squadron is formed per line, and assuming a measurement cycle of approximately 2 hours per line, it is possible to measure the inventory of all items at 2-hour intervals using 3 squadrons of 15 mobile measuring robots. If the total inventory is measured by a single robot squadron in the same structure, considering the total measurement time of 300 minutes, as well as the time spent moving between shelves and between lines, the measurement cycle can be calculated to be approximately 5.5 hours.

[0111] As such, in the present invention, depending on the shape of the storage space of the warehouse, the connection structure of smart shelves in series, parallel, or series-parallel can be appropriately configured to maximize space utilization by simply adding a shelf connection plate (160) or a line connection plate (170). That is, the shelves can be upgraded to smart shelves by mobile measuring robots without installing any electrical components or cables.

[0112] [Other Examples]

[0113] FIG. 13 is a perspective view illustrating the configuration of another preferred embodiment of a smart shelf based on a moving measuring robot according to the present invention.

[0114] Referring to the drawings, another embodiment (200) differs from the above-described embodiment (100) in that the upper passageway (150) is configured as an elevator (190) instead of a ramp and is further equipped with a line display (210), and the remaining components are identical, so a detailed description of the symbols is omitted.

[0115] The elevator (190) includes an elevator that moves from the first floor to the roof floor, and robots move by riding the elevator when moving to other floors. Although a separate driving mechanism and power configuration are required to drive the elevator (190) compared to the ramp (150), since the robot moves by riding the elevator rather than moving to another floor by its own power, there are advantages such as saving battery consumption and high-speed movement between floors.

[0116] The line display (210) includes picking targets / picking quantity / picking status for each floor item, etc., for the convenience of the worker at the site when picking is performed by a worker, and includes worker graphic interface functions.

[0117] [Method to acquire stock]

[0118] FIG. 14 is a conceptual diagram illustrating a method for obtaining the inventory amount of a smart shelf based on a mobile measuring robot according to the present invention.

[0119] Referring to FIG. 14, the method for obtaining the inventory quantity of each item on a moving measurement-based storage shelf loaded with items involves autonomously moving a robot platoon to the area below the item to be measured in response to target position coordinates (S200). Subsequently, upon reaching the area below the item to be measured, one robot identifies whether the item to be measured is the designated measurement target (S202). If it is identified that the item to be measured is the designated measurement target, each robot in the robot platoon moves to a specific lifting position to confirm the lifting position (S204). Once the lifting position is confirmed, the item to be measured is loaded from the loading state to the measurement state by a simultaneous lifting-up operation of the robot platoon (S206). When loading is complete, the robot platoons measure the load of the assigned item to be measured through their respective measurement sensors, and each measured value is obtained as the inventory quantity of the item to be measured by swarm control (S208). When the inventory quantity acquisition is complete, the robot fleet unloads the item to be measured from the measurement state to the loading state by simultaneous lifting down (S210). When unloading is complete, the acquired inventory quantity information is transmitted to the upper level or the management server (S212).

[0120] [Inventory Management System]

[0121] FIG. 15 is a drawing illustrating the configuration of a preferred embodiment of an inventory management system based on a mobile measuring robot according to the present invention.

[0122] The inventory management system of the present invention includes a management server (300) and a shelving system (400). The shelving system (400) is configured by connecting at least one mobile measurement robot-based smart shelving unit (100) in series, in parallel, or in series-parallel. The management server (300) transmits and receives information via a network with at least one mobile measurement robot (140) within the shelving system (400). The management server (300) has a robot list for each mobile communication robot, a line list of connected smart shelving units, and a shelf list. The entire shelving system (400) manages an integrated coordinate system that integrates the coordinate systems of each line and shelf within a single overall xy coordinate system. Accordingly, the management server performs position control of the mobile measurement robot through the integrated coordinate system.

[0123] At least one mobile measuring robot (140) moves autonomously along the movement paths formed on each shelf (100) in response to an inventory count command issued from the management server (300). At least one mobile measuring robot obtains the inventory quantities of stored items by measuring the inventory quantity at one item's storage location and then moving to another item's storage location, and transmits the results to the management server (300).

[0124] At least one mobile measuring robot (140) can be adaptedly operated according to the line connection structure of the shelf system. That is, the number of mobile measuring robots or the number of robot formations can be determined according to the inventory management by line and the inventory management by floor. A robot formation can be composed of at least three robots, and preferably, it is desirable to be composed of one formation leader robot and four measuring robots. The formation leader robot can perform roles such as identifying the item to be measured, determining the loading status of the item through image identification, and relaying communication between the measuring robots and the management server.

[0125] The management server (300) receives inventory information provided by the mobile measuring robot and manages the inventory database of items. The item list of the management server (300) may include information such as item name, item unique code, barcode or QR code, inventory quantity, unit weight, storage location (line / shelf / floor number / xy coordinate value), manufacturer, manufacturing date, and receiving date.

[0126] The management server remotely controls the autonomous movement of mobile measurement robots within the shelves based on the storage location information of the items.

[0127] FIG. 16 is a flowchart of a preferred example for explaining the operation of the management server of FIG. 15.

[0128] Referring to the drawing, the management server (300) performs a regular survey routine if the inventory survey mode is a regular survey, and performs a special survey routine if it is a special survey (S300).

[0129] If it is a regular inspection, a regular inspection order is issued to the robot squadron (S302). Here, the regular inspection order can be automatically generated at a predetermined inspection time on a daily, weekly, monthly, or yearly basis. When the reception of information from the robot squadron is confirmed, the received information from the robot squadron is processed (S306). The received information may include robot ID, location, item ID, container information, image information, inventory measurement information, etc. If measurement information exists among the received information (S308), the inventory quantity is calculated (S310). The calculated inventory quantity is updated in the database of the related item. If it differs from the existing inventory quantity, the change status is displayed (S312).

[0130] When the inventory count for all stored items is completed by repeating the steps S304 to S312 described above (S314), the periodic inventory count is terminated (S316).

[0131] If a specific investigation mode is selected at step S300, a specific investigation routine is executed. Here, the specific investigation may include spatially limited investigations such as specific lines, specific shelves, or specific floor numbers, and designated investigations based on items such as specific goods, specific categories, specific receiving dates, goods from specific manufacturers, or goods from specific locations.

[0132] The management server (300) issues a special investigation order to a specific robot squadron (S318). When information of the robot squadron is received in accordance with the special investigation order (S320), the received information of the robot squadron is processed (S322). The received information may include a robot ID, location, item ID, container information, image information, inventory quantity measurement information, etc. When the specified investigation is completed by repeating the steps S320 to S322 described above (S324), the periodic inventory investigation is terminated (S326).

[0133] FIG. 17 is a flowchart of a preferred example for explaining the operation of the moving measurement robot of FIG. 15.

[0134] Referring to the drawing, when the robot squadron receives a periodic inspection command (S400), it receives periodic inventory inspection instruction information and starts counting the items to be inspected (S402). Then, it performs autonomous squadron movement to the storage location of the first item (S404). Upon reaching the location (S406), it takes a picture with a camera to determine the loading status of the item (S408). If the item to be measured is loaded in an overlapping manner with adjacent items, weight measurement by lifting with the measurement sensor is impossible. Therefore, the presence or absence of overlap is detected.

[0135] If an overlap state is not detected (S410), the item at the corresponding location is photographed to identify the item from the item label image, and the center of gravity is calculated (S412). Based on the read center of gravity, the measuring robots move finely to their respective measurement positions (S414). Once the measurement position is determined, the measuring robot platoon simultaneously lifts up by swarm control (S416) to load the item to be measured from the loading state to the measurement state (S420). When loading is complete (S422), the robot platoon simultaneously measures the weight by swarm control (S424). The measured measurement information is transmitted to the management server (300) (S426). When measurement is complete, the robot platoon simultaneously performs a lift-down operation by swarm control (S428). When unloading is complete (430), the inventory count of the first item is terminated, and the count value is increased by 1 (S432).

[0136] If an overlap is detected in step S410, the management server (300) is notified that the inventory quantity of the item at the corresponding location cannot be measured (S420), and step S432 is performed to measure the next item.

[0137] In step S432, the inventory quantity is investigated by repeating steps S404 through S432 until the count value is equal to the count value of all items. When the inventory quantity investigation for all items is completed (S434), a periodic inventory investigation report is prepared and the periodic investigation is terminated (S436).

[0138] In the various embodiments of the present invention described above, the mobile measuring robot is interconnected with a management server through a network.

[0139] The network may be, for example, a local area network (LAN), a communication network, a wide area network (WAN) such as the Internet, or any combination thereof, and includes wired, wireless, or fiber optic connections. Generally, according to an embodiment of the present invention, the network may be any combination of connections and protocols that support communication between a mobile measuring body and / or a shelf control unit and a management server.

[0140] In the present invention, the control unit of the mobile measuring robot may be an industrial computing device, such as a Raspberry Pi. The control unit may be any electronic device capable of executing computer-readable program commands or a combination thereof. The control unit includes a user interface and an application. A user interface is a program that provides an interface between a user of a computing device and multiple applications residing on the device (e.g., applications). A user interface refers to the information (e.g., graphics, text, sound) that a program provides to the user and the control sequences that the user uses to control the program. Various types of user interfaces exist. In one embodiment, the user interface is a graphical user interface. A graphical user interface (GUI) is a type of user interface that enables interaction with electronic devices, such as a computer keyboard and mouse, through graphic icons and visual indicators, such as secondary notation, as opposed to text-based interfaces, typed command labels, or text navigation. Operations in a GUI are often performed through the direct manipulation of graphic elements. In another embodiment, the user interface is a script or an application programming interface (API).

[0141] The management server may be a desktop computer, a computer server, or another computer system known in the art. In certain embodiments, the management server represents a computer system utilizing clustered computers and components (e.g., a database server computer, an application server computer, etc.) that act as a single pool of seamless resources when accessed by components of a data processing environment (e.g., a computing device). Generally, the management server represents any electronic device or combination of electronic devices capable of executing computer-readable program instructions. The management server includes an inventory management program and a storage device containing inventory data and shelf registration data. In various embodiments of the invention, regarding data from a plurality of moving objects, such as moving objects, the management server operates as a computing system that hosts and / or manages data related to executing the inventory management program. In one embodiment, the management server is associated with an enterprise or service provider (e.g., an e-commerce platform, a weather service, a product database system, a customer support platform, etc.) that interacts with a user (e.g., a user of a computing device or another user / device not illustrated) who can transmit and / or request information.

[0142] It should be understood that the implementation of the control unit and management server according to the present invention is merely an example and does not imply any limitations regarding the environment in which the above-described embodiment may be implemented. Many modifications may be made to the illustrated environment.

[0143] The control unit includes a processor, a cache, memory, a permanent storage unit, a communication unit, an input / output (I / O) interface, and a communication protocol. The communication protocol provides communication between the cache, memory, permanent storage unit, the communication unit, and the input / output (I / O) interface. The communication protocol may be implemented in any architecture designed to transmit data and / or control information between the processor, system memory, peripheral devices, and other hardware components within the system.

[0144] Memory and permanent storage devices are computer-readable storage media. In this embodiment, memory includes random access memory (RAM). Generally, memory may include any suitable volatile or non-volatile computer-readable storage media. A cache is a high-speed memory that improves processor performance by holding recently accessed data and data near recently accessed data from memory.

[0145] Program instructions and data used to execute embodiments of the present invention (e.g., software and data may be stored in a permanent storage device and memory via a cache for execution by one or more of the respective processors. In one embodiment, the permanent storage device may include a solid-state hard drive, a semiconductor storage device, read-only memory (ROM), eraseable and programmable read-only memory (EPROM), flash memory, or other computer-readable storage media capable of storing program instructions or digital information. The media used in the permanent storage device may also be removable. For example, a removable hard drive may be used as the permanent storage device. Other examples include optical and magnetic disks, thumb drives, and smart cards inserted into a drive to transfer to other computer-readable storage media that are also part of the permanent storage device. Software and data may be stored in the permanent storage device via a cache for access and / or execution by one or more of the respective processors. In relation to the control unit and shelf control unit, the software and data include a user interface and an application.

[0146] The I / O interface, which serves as both an input and display section, allows for data input and output with other devices that can be connected to each computer system. For example, the I / O interface can provide connections to external devices such as keyboards, keypads, touch screens, and / or other suitable input devices. The I / O interface is also connected to the display.

[0147] Computer-readable program instructions can also be applied to a computer, another programmable data processing device, or another device to generate processes implemented in the computer, whereby a series of operational steps performed on the computer, other programmable device, or other device, thereby enabling the instructions executed on the computer, other programmable device, or other device to implement functions / operations specified in blocks or blocks of a flowchart and / or block diagram.

[0148] In the drawings, flowcharts and block diagrams illustrate the structure, function, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block of a flowchart or block diagram may represent a module, vector, or part of an instruction, which includes one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions indicated in the blocks may occur in the order shown in the drawings. For example, two consecutively indicated blocks may actually be executed as a single step, or executed simultaneously, substantially simultaneously, partially or entirely in a temporally overlapping manner, or the blocks may sometimes be executed in reverse order according to the related functions. Additionally, it should be noted that each block of the block diagram and / or flowchart, and combinations of blocks of the block diagram and / or flowchart, may be implemented by a special-purpose hardware-based system that performs a specific function or performs or operates a combination of special-purpose hardware and computer instructions.

[0149] As described above, although the present invention has been explained with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the invention as set forth in the following claims. Explanation of the symbols

[0150] 10 : Item to be measured 100, 200: Mobile measurement robot-based smart lathe 110 : Template 120 : Support 122 ; Floor plate 122a ; Support surface 124, 125 ; Support member 126 ; protruding plate 126a ; Loading surface 130 : Movement path 140 : Mobile measuring robot 142 ; Mobile body 143 ; Control unit 144 ; Ritzt absence 146 ; Measuring member 148 ; Display 150 : Shanghai East Passage 160 ; Shelf connecting plate 170 ; Line connection plate 180 ; Elevator 190 ; Line display 300 ; Management Server 400 ; Shelf system

Claims

Claim 1 A smart shelf based on a mobile measuring robot for storing items and measuring inventory, comprising: a frame constituting the shelf; a plurality of support members each supported on the frame so as to be arranged in an up-down direction (z-axis direction) (-each of the plurality of support members has a predetermined width (y-axis direction) and extends in a left-right direction (x-axis direction)-); a plurality of movement passages extending in a left-right direction on each of the plurality of support members; and at least one mobile measuring robot that moves downward along the plurality of movement passages toward an item to be measured and lifts the item to be measured located above from a storage state to a measurement state to measure inventory. Claim 2 A smart shelf based on a mobile measuring robot according to claim 1, wherein each of the at least one mobile measuring robot comprises: a mobile body configured to rotate, move in the X-direction, and move in the Y-direction; a lift member coupled to the mobile body and loading (measuring state) / unloading (supporting state) the item to be measured by lifting in the Z-direction from below the item to be measured; and a measuring member coupled to the lift member and for measuring the inventory quantity of the item to be measured lifted by the lift member. Claim 3 In paragraph 2, the moving body is configured to set each of the plurality of supports in an xy coordinate system and to control rotation, X-direction movement, and Y-direction movement in the xy coordinate system, and the lift member extends downward from the body to lift the article, a smart shelf based on a moving measuring robot. Claim 4 A smart shelf based on a mobile measuring robot according to paragraph 3, wherein at least one mobile measuring robot forms a robot formation comprising at least two mobile measuring robots, the robot formation moves autonomously along the movement path by swarm control, is distributed below a single item to be measured, and simultaneously lifts the item to be measured by swarm control through each lifting member by cooperatively, and measures the inventory quantity of the item to be measured by swarm control through each measuring member. Claim 5 In claim 1, the smart shelf further comprises an up-and-down passage between a plurality of vertically arranged supports through which at least one mobile measuring robot can move up and down, and the up-and-down passage is either a ramp or an elevator that interconnects the passages of vertically adjacent supports, thereby forming a mobile measuring robot-based smart shelf. Claim 6 A smart shelf based on a mobile measuring robot according to claim 1, wherein each of the at least one mobile measuring robot further comprises: at least one camera for capturing an image of an item to be measured; and a display for displaying text or an image, wherein at least one of identification information, storage location information, center of gravity information, and storage status information of the item to be measured is obtained from an image captured through the at least one camera, and at least one of weight, quantity, and location information of the item to be measured is displayed through the display. Claim 7 In claim 1, each of the at least one moving measuring robot measures the inventory of all stored items while periodically traversing the moving passages, a moving measuring robot-based smart shelf. Claim 8 In paragraph 2, each of the plurality of supports comprises a bottom plate supported by the frame and a support member formed on the upper surface of the bottom plate to support an article, and the support member protrudes in the z-axis direction from the upper surface of the bottom plate and is composed of a plurality of protruding plates arranged in the x-axis direction, thereby forming a smart shelf based on a mobile measuring robot. (Here, the height (h1) of the protruding plate is higher than the height (h0) of the mobile measuring robot's movement process, and the spacing (s1) between the protruding plates is greater than the length (l0) and width (w0) of the mobile measuring robot.) Claim 9 A smart shelf based on a moving measuring robot according to claim 8, wherein the minimum width of an item stored in a box state without a container on the shelf is at least twice the arrangement pitch (P = spacing (s1) + thickness (t1)) of the protruding plate. Claim 10 In claim 9, a mobile measuring robot-based smart shelf in which, when the minimum width of the stored items is less than 2 pitches, the items are stored in a storage container (bin) with a width of 2 pitches or more. Claim 11 In claim 8, the above-mentioned at least one moving measuring robot is a smart shelf based on a moving measuring robot, wherein the height (h01) during the moving process is lower than the height (h1) of the protruding plate, and the height (h02) during the measuring process lifted up to the measuring position is higher than the height (h1) of the protruding plate. Claim 12 In paragraph 2, the mobile body comprises a communication unit and a control unit, wherein the control unit comprises a memory for storing processor-executable instructions and at least one processor connected to the memory to execute the instructions, and when the instructions are executed, the processor controls the movement to move downward of a given item to be measured by autonomous movement; the loading control operation to raise the lift member from below the item to be measured to lift the item to be measured from the height of the storage state to the height of the measurement state; the operation to control the measurement of the inventory quantity through the measuring member at the height of the measurement state when the loading is completed; the unloading control operation to lower the lift member to lower the item to be measured from the height of the measurement state to the height of the storage state when the inventory quantity measurement is completed; and the operation to control the transmission of the measured inventory quantity information through the communication unit. Claim 13 An inventory management system for managing weight-based inventory quantities of items stored on smart shelves based on mobile measuring robots, comprising a shelf system and a management server in which at least one mobile measuring robot-based smart shelf is connected in series, in parallel, or in series-parallel, wherein the shelf system acquires the inventory quantities of stored items by means of at least one mobile measuring robot that autonomously moves along a passage formed in each shelf, measures the inventory quantity at one item's storage location, and then moves to another item's storage location, and transmits the results to the management server, wherein the management server receives the inventory quantity information provided from the shelf and manages an inventory quantity database of items. Claim 14 In claim 13, the above shelf system is an inventory management system comprising a shelf connecting plate that connects the passageways between shelves when shelves are connected in series, and a line connecting plate that connects the passageways between lines when shelf lines are connected in parallel. Claim 15 In claim 13, the above-mentioned at least one mobile measuring robot comprises: a mobile body configured to rotate, move in the X-direction, and move in the Y-direction; a lift member coupled to the mobile body and loading (measuring state) / unloading (supporting state) the item to be measured by Z-direction lifting from below the item to be measured; and a measuring member coupled to the lift member and for measuring the inventory quantity of the item to be measured lifted by the lift member, wherein the mobile body comprises a communication unit and a control unit, and the control unit comprises a memory for storing processor-executable instructions and at least one processor connected to the memory to execute the instructions, wherein when the instructions are executed, the processor controls the movement to move to the lower side of the given inventory item by autonomous movement when an inventory count command is received from the management server through the communication unit; and a loading control operation to raise the lift member from below the inventory item to lift the inventory item from the height of the storage state to the height of the measurement state. A mobile measuring robot-based inventory management system comprising: an operation to control the measurement of an inventory quantity through a measuring member at a height of the measurement state when the above loading is completed; an operation to control the unloading of an inventory item by lowering a lift member to bring the inventory item down from the height of the measurement state to the height of the storage state when the above inventory quantity measurement is completed; an operation to control the transmission of the measured inventory quantity information to a management server through a communication unit; and an operation to control the completion of an inventory count for all inventory items by repeating the above operations. Claim 16 A method for obtaining the inventory quantity of each item on a smart shelf based on a moving measuring robot loaded with items comprises: a step of autonomously moving a robot squadron to the lower side of the item to be measured in response to a target position coordinate value; a step of loading the item to be measured by lifting it from the height of the storage state to the height of the measurement state by simultaneous lift-up by swarm control of the robot squadron; a step of measuring the weight of the item to be measured by swarm control of the robot squadron; a step of unloading the item to be measured by lowering it from the height of the measurement state to the height of the storage state by simultaneous lift-down by swarm control of the robot squadron; and a step of transmitting the measured weight information through a communication unit.

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