Logistics robot and transportation means

Abstract

Provided is a logistics robot connected to a rolltainer including a metal part and a coupling block on the front side and towing the rolltainer, the robot comprising: a body; a driving unit disposed on a lower side of the body; and a docking unit disposed on the body and coupled to the metal part and the coupling block of the rolltainer, wherein the docking unit includes: an electromagnet disposed on the body, the magnetism of which changes depending on whether power is applied, and to which the metal part is selectively attached depending on the change in magnetism; and a docking bracket disposed on the body adjacent to the electromagnet and into which the coupling block is inserted, wherein the docking bracket includes: a pair of side wall portions covering the left and right sides of the coupling block; and an upper surface portion covering the upper portion of the coupling block.

Description

Logistics robots and transportation

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

[0002] Robots have been developed for industrial use to fulfill a portion of factory automation. Recently, the scope of robotics applications has expanded, with developments not only of medical and aerospace robots but also of robots for everyday use.

[0003] Among industrial robots, robots that perform precise assembly work have been developed for automation because they perform the same movements repeatedly and repeat the same movements in a fixed location without any unexpected situations.

[0004] However, the transportation sector, including driving, which requires the ability to assess emergencies, has not yet seen widespread commercialization of robots. However, with the recent advancements in sensors capable of perceiving the surroundings and the advancements in computer power capable of quickly processing and responding to perceived information, the number of autonomous robots is increasing.

[0005] Industrially, robots that perform transportation functions are attracting attention, and competition is intensifying. When moving large quantities of goods, loading and unloading them takes significant time, so having the robot transport a roll carrier loaded with goods is more efficient than loading the goods onto the logistics robot itself.

[0006] In this case, the logistics robot and the roll container must be securely connected to each other to prevent separation when moving on slopes or uneven surfaces. This necessitates a stable connection structure. Furthermore, manual connection between the roll container and the logistics robot requires human intervention, necessitating automation of the connection and separation process.

[0007] The present invention relates to a logistics robot that moves by pulling a cart, and aims to provide a logistics robot and transportation means that detects the position of the cart, calculates a driving path, and drives.

[0008] A logistics robot is provided that is connected to a roll container including a metal part and a coupling block on the front and tows the roll container, the logistics robot comprising: a body; a driving part arranged on the lower part of the body; and a docking part arranged on the body and coupled to the metal part and the coupling block of the roll container, wherein the docking part comprises: an electromagnet arranged on the body, the magnetism of which changes depending on whether power is applied, and to which the metal part is selectively attached depending on the change in magnetism; and a docking bracket arranged adjacent to the electromagnet on the body, into which the coupling block is inserted, wherein the docking bracket comprises a pair of side wall parts covering the left and right directions of the coupling block and an upper surface part covering the upper part of the coupling block.

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

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

[0011] The above electromagnets face the back of the body and can be arranged in parallel in the horizontal direction to the left and right of the docking bracket.

[0012] The above body may include a vertical bracket protruding upwardly; a rear camera positioned to face rearward on the vertical bracket and recognizing an identification code positioned on the roll container; and a control unit that controls the driving unit so that the coupling block is inserted into the docking bracket based on the position of the identification code recognized by the rear camera.

[0013] The above control unit can control the power applied to the electromagnet to remove the magnetic force of the electromagnet when the location of the identification code is within a specified distance.

[0014] The above-mentioned roll container includes a fastening sensor that detects whether the coupling block is inserted into the docking bracket, and the control unit can control the power applied to the electromagnet when the fastening sensor is turned on to restore the magnetic force of the electromagnet.

[0015] The above docking part may include a guide bracket that is positioned on the left and right of a guide protrusion protruding downward from the above coupling block and expands in the rear direction.

[0016] The height of the above guide bracket may be lower than the above joining block.

[0017] The front end of the above guide bracket may include a straight section arranged on the lower side of the docking bracket, and may include a fastening sensor that detects whether the guide protrusion is positioned in the straight section.

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

[0019] The above docking portion may include a guide bracket extending rearward from the pair of side walls of the docking bracket and having a widened gap.

[0020] According to another aspect of the present invention, there is provided a logistics robot including a roll container including a metal part and a coupling block arranged on the front; and a body, a driving part arranged on the lower part of the body, and a docking part arranged on the body and fastened to the metal part and the coupling block, wherein the docking part includes an electromagnet arranged on the body and having a magnetism that changes depending on whether power is applied, and to which the metal part is selectively attached depending on the change in magnetism; and a docking bracket into which the coupling block is inserted, wherein the docking bracket may include a pair of side wall parts covering the left and right directions of the coupling block and an upper surface part covering the upper portion of the coupling block.

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

[0022] The above body may include a vertical bracket protruding upwardly; a rear camera positioned to face rearward on the vertical bracket and recognizing an identification code positioned on the roll container; and a control unit that controls the driving unit so that the coupling block is inserted into the docking bracket based on the position of the identification code recognized by the rear camera.

[0023] The above control unit can control the power applied to the electromagnet to remove the magnetic force of the electromagnet when the location of the identification code is within a specified distance, and can restore the magnetic force of the electromagnet when the coupling block of the roll container is inserted into the docking bracket.

[0024] The above-mentioned joining block includes a guide protrusion fixed to the front of the metal part and protruding downward, the metal part is arranged on the lower side of the joining block and includes an opening having a predetermined width, the docking part is arranged on the left and right of the guide protrusion and widens in the rear direction and includes a guide bracket, and when the joining block and the docking bracket are fastened, the guide bracket can be arranged to penetrate the opening.

[0025] The above coupling block includes a first block coupled to the roll container at the rear; a second block disposed below the first block; and a connecting portion connecting the first block and the second block, wherein side wall portions of the docking bracket are disposed on both sides of the second block, an upper surface of the docking bracket is opened at a position corresponding to the connecting portion, and the docking portion may include a guide bracket extending rearward from the pair of side wall portions of the docking bracket and having a widened gap.

[0026] The above roll container includes a lower loading shelf on which the coupling block and the metal part are arranged at the front; and a cart stopper arranged at the lower portion of the lower loading shelf, wherein the docking bracket is arranged at the front portion of the upper surface of the body, and a portion of the body is arranged at the lower portion of the lower loading shelf when the coupling block is inserted into the docking bracket, and the cart stopper can be in contact with the upper surface of the body.

[0027] The above cart stopper may include an elastic member fitted to a support bar disposed at the bottom of the lower loading shelf.

[0028] The docking part of the logistics robot of the present invention can be connected to the joint part of the roll container at an accurate position, so that it can be automatically connected to the roll container without manual work.

[0029] In addition, the logistics robot of the present invention provides power only when the roll container is coupled and separated through an electromagnet that loses its magnetic force when power is supplied, thereby reducing power consumption and facilitating detachment.

[0030] Additionally, the docking bracket, which limits the horizontal and vertical movement of the joint of the roll container, can prevent shaking and pushing during driving.

[0031] In addition, the anti-slip section can prevent the phenomenon of the roll container being pushed due to inertia when passing through a slope or protrusion or when accelerating or decelerating the logistics robot.

[0032] The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention belongs from the description below.

[0033] FIG. 1 is a diagram illustrating a cloud system based on a 5G network according to one embodiment of the present invention.

[0034] Figure 2 is a block diagram illustrating the configuration of a logistics robot according to one embodiment of the present invention.

[0035] FIG. 3 is a diagram illustrating a robot control system according to one embodiment of the present invention.

[0036] Figures 4 and 5 are perspective views of a logistics robot and a roll container according to one embodiment of the present invention.

[0037] FIG. 5 is a drawing showing a state in which a logistics robot of a transportation means according to one embodiment of the present invention is connected to a roll container.

[0038] FIG. 6 is a drawing showing a state in which a logistics robot of a transportation means according to one embodiment of the present invention is connected to a roll container.

[0039] Figure 7 is an enlarged view of part A of Figure 6.

[0040] Figure 8 is a perspective view from above of the logistics robot of Figure 7 connected to a roll container.

[0041] FIG. 9 is a side view of a transportation means according to one embodiment of the present invention.

[0042] FIG. 10 and FIG. 11 are drawings illustrating a process of fastening a logistics robot of a transportation means to a roll container according to another embodiment of the present invention.

[0043] Fig. 12 is a perspective view showing a state in which a logistics robot of a transportation means according to another embodiment of the present invention is connected to a roll container.

[0044] Figure 13 is a BB cross-sectional view of Figure 12.

[0045] FIG. 14 and FIG. 15 are drawings showing a fastening part of a transportation means according to another embodiment of the present invention.

[0046] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components will be given the same reference numbers, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

[0047] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0048] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0049] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0050] In this application, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0051] A robot is a mechanical device capable of automatically performing certain tasks or operations. Robots may be controlled by an external control device or may have built-in control devices. They can perform tasks difficult for humans, such as performing repetitive, preset movements, lifting heavy objects, performing precision tasks, or operating in extreme environments.

[0052] It can perform various physical actions, such as moving robot joints, by having a driving unit including an actuator or motor to perform tasks.

[0053] Due to the high manufacturing cost and operational expertise, industrial and medical robots, which have specialized appearances for specific tasks, were developed first. Industrial and medical robots perform the same movements repeatedly in a designated location.

[0054] Recently, mobile robots have emerged. They can perform exploration tasks, particularly on distant planets where humans would be difficult to reach, such as in the aerospace industry. These robots are equipped with navigational capabilities.

[0055] In order to perform the driving function, it is equipped with a driving unit and may include wheels, brakes, casters, motors, etc., and robots equipped with artificial intelligence are appearing to identify obstacles in the surroundings and drive to avoid them.

[0056] Artificial intelligence (AI) is the study of artificial intelligence or the methodologies for creating it, while machine learning (ML) defines various problems in the field of AI and studies the methodologies for solving them. Machine learning is also defined as an algorithm that improves performance on a task through consistent experience.

[0057] An artificial neural network (ANN) is a model used in machine learning. It can refer to a model with problem-solving capabilities, comprised of artificial neurons (nodes) formed by the connection of synapses. An ANN can be defined by the connection patterns between neurons in different layers, the learning process that updates model parameters, and the activation function that generates output values.

[0058] An artificial neural network may include an input layer, an output layer, and optionally one or more hidden layers. Each layer contains one or more neurons, and the artificial neural network may include synapses connecting neurons.

[0059] In an artificial neural network, each neuron can output a function value of an activation function for input signals, weights, and biases received through synapses.

[0060] Model parameters are parameters determined through learning, including synaptic connection weights and neuron biases. Hyperparameters are parameters that must be set before learning in machine learning algorithms, including the learning rate, number of iterations, mini-batch size, and initialization function.

[0061] The goal of artificial neural network learning can be seen as determining model parameters that minimize a loss function, based on the robot's purpose or application. The loss function can be used as an indicator for determining optimal model parameters during the artificial neural network learning process.

[0062] Machine learning can be classified into supervised learning, unsupervised learning, and reinforcement learning depending on the learning method.

[0063] Supervised learning refers to a method for training an artificial neural network when given labels for the training data. The labels can refer to the correct answer (or output value) that the artificial neural network must infer when the training data is input to the artificial neural network. Unsupervised learning can refer to a method for training an artificial neural network when the training data is not given labels. Reinforcement learning can refer to a learning method in which an agent defined within a given environment is trained to select actions or action sequences that maximize the cumulative reward in each state.

[0064] Machine learning implemented with a deep neural network (DNN) containing multiple hidden layers among artificial neural networks is also called deep learning, and deep learning is a subset of machine learning. Hereinafter, the term "machine learning" is used to encompass deep learning.

[0065] Robots can be implemented as guide robots, transport robots, cleaning robots, wearable robots, entertainment robots, pet robots, and unmanned flying robots by applying AI technology.

[0066] The robot may include a robot control module for controlling movements, and the robot control module may mean a software module or a chip that implements the same as hardware.

[0067] Robots can use sensor information acquired from various types of sensors to obtain status information about the robot, detect (recognize) the surrounding environment and objects, generate map data, determine movement paths and driving plans, determine responses to user interactions, or determine actions.

[0068] A robot can perform the aforementioned actions using a learning model comprised of at least one artificial neural network. For example, the robot can use the learning model to recognize its surroundings and objects, and use the recognized information about the surroundings or objects to determine actions. The learning model may be learned directly by the robot or from an external device, such as an AI server.

[0069] At this time, the robot can perform actions by generating results using a direct learning model, but it can also transmit sensor information to an external device such as an AI server and perform actions by receiving the results generated accordingly.

[0070] Artificial intelligence enables robots to perform autonomous driving. This refers to technology that enables them to independently determine the optimal path and avoid obstacles. Currently applied autonomous driving technologies can include technologies that maintain lanes, technologies that automatically adjust speed like adaptive cruise control, technologies that automatically drive along a set route, and technologies that automatically set a route when a destination is set.

[0071] To perform autonomous driving, a vehicle may incorporate numerous sensors to perceive its surroundings. These sensors include proximity sensors, light sensors, accelerometers, magnetic sensors, gyro sensors, inertial sensors, RGB sensors, IR sensors, fingerprint recognition sensors, ultrasonic sensors, light sensors, microphones, lidar, and radar.

[0072] In addition to information collected from sensors, autonomous driving can be achieved using image data collected through RGBC cameras, infrared cameras, and audio data collected through microphones. Furthermore, driving can be based on information entered through the user input interface. Map data, location information, and surrounding information collected through the wireless communication unit are also essential for autonomous driving.

[0073] Map data may include object identification information for various objects located in the space where the robot moves. For example, map data may include object identification information for fixed objects such as walls and doors, as well as movable objects such as flower pots and desks. Object identification information may include name, type, distance, and location.

[0074] Therefore, robots must be equipped with sensors, various input devices, and wireless communication devices to collect data for AI learning. They can synthesize various information to perform optimal operations. The learning processor that performs AI can be embedded in the robot's control unit to perform learning. Alternatively, the collected information can be transmitted to servos, trained via a server, and the results of the learning can be transmitted back to the robot, enabling autonomous driving.

[0075] Robots equipped with artificial intelligence can collect information about their surroundings even in new locations and create a complete map. Furthermore, the larger the accumulated information in key areas of activity, the more accurate autonomous driving can be achieved.

[0076] A touchscreen or buttons may be provided to receive user input, and commands may be received by recognizing the user's voice. The processor may use at least one of a STT (Speech-To-Text) engine to convert voice input into a string, or a Natural Language Processing (NLP) engine to obtain intent information in natural language, thereby obtaining intent information corresponding to the user input.

[0077] At this time, at least one of the STT engine or NLP engine may be configured with an artificial neural network, at least in part, trained according to a machine learning algorithm. Furthermore, at least one of the STT engine or NLP engine may be trained by a learning processor, by a learning processor of an AI server, or by distributed processing of these.

[0078] FIG. 1 illustrates a 5G network-based cloud system (1000) according to one embodiment of the present invention.

[0079] Referring to FIG. 1, a cloud system (1000) may include a logistics robot (100), a mobile terminal (300), a robot control system (200), various devices (400), and a 5G network (50).

[0080] A logistics robot (100) is a robot that transports goods from a point of origin to a destination. The logistics robot (100) can move directly from a logistics center to a destination, or it can load goods onto a vehicle and move them around the destination, then unload them around the destination and move them to the destination.

[0081] Additionally, the logistics robot (100) can move items to their destination not only outdoors but also indoors. The logistics robot (100) can be implemented as an Automated Guided Vehicle (AGV), and the AGV can be a transport device that moves using sensors, magnetic fields, vision devices, etc. on the floor.

[0082] A logistics robot (100) may include a storage area for storing items. The storage area may be divided to accommodate various items, and various types of items may be placed in the multiple divided partial storage areas. Accordingly, mixing of items may be prevented.

[0083] The mobile terminal (300) can communicate with the logistics robot (100) via the 5G network (50). The mobile terminal (300) may be a device carried by a user who installs a partition in a storage area to load goods, or a device carried by a recipient of loaded goods. The mobile terminal (300) may provide information based on images, and the mobile terminal (300) may include mobile devices such as a mobile phone, a smart phone, a wearable device (e.g., a smartwatch, a smart glass, a head mounted display (HMD)).

[0084] The robot control system (200) can remotely control the logistics robot (100) and respond to various requests from the logistics robot (100). For example, the robot control system (200) can perform calculations using artificial intelligence based on requests from the logistics robot (100).

[0085] In addition, the robot control system (200) can set the movement path of the logistics robot (100), and when there are multiple destinations, the robot control system (200) can set the movement order of the destinations.

[0086] The various devices (400) may include a personal computer (PC, 400a), an autonomous vehicle (400b), a home robot (400c), etc. When the logistics robot (100) arrives at the transport destination of the goods, it can directly deliver the goods to the home robot (400c) through communication with the home robot (400c).

[0087] Various devices (400) can be connected wirelessly or wiredly to logistics robots (100), mobile terminals (300), robot control systems (200), etc. through a 5G network (50).

[0088] The above logistics robot (100), mobile terminal (300), robot control system (200), and various devices (400) are all equipped with 5G modules to transmit and receive data at speeds of 100 Mbps to 20 Gbps (or higher), enabling transmission of large-capacity video files to various devices and minimizing power consumption by operating at low power. However, the transmission speed may be implemented differently depending on the embodiment.

[0089] The 5G network (50) may include a 5G mobile communication network, a local area network, the Internet, etc., and may provide a communication environment for devices with or without wires.

[0090] FIG. 2 is a drawing for explaining the configuration of a logistics robot (100) according to one embodiment of the present invention. The description will be made with reference to FIGS. 3 to 5, which illustrate a logistics robot (100) according to one embodiment of the present invention.

[0091] Referring to FIG. 2, the logistics robot (100) may include a body (101, see FIG. 3) including a storage area (50), and the components described below may be included in the body. The logistics robot (100) may include a communication unit (110), an input unit (120), a sensing unit (140), an output unit (150), a memory (185), a wheel drive unit (170), a control unit (180), and a power supply unit (190). The components illustrated in FIG. 2 are not essential for implementing the logistics robot (100), and thus, the logistics robot (100) described in this specification may have more or fewer components than the components listed above.

[0092] The communication unit (110, Transceiver) may include a wired or wireless communication module capable of communicating with the robot control system (200).

[0093] As an optional example, the communication unit (110) may be equipped with a module for GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Bluetooth®, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, and NFC (Near Field Communication) communication.

[0094] The input unit (120) may include a user input unit (122) for receiving information from a user. As an optional embodiment, the input unit (120) may include a camera (121) for inputting a video signal and a microphone (123, hereinafter referred to as “microphone”) for receiving an audio signal. Here, the camera (121) or the microphone (123) may be treated as a sensor, and a signal acquired from the camera (121) or the microphone (123) may be referred to as sensing data or sensor information.

[0095] The input unit (120) can obtain input data to be used when obtaining output using learning data and a learning model for model learning. The input unit (120) can also obtain unprocessed input data, in which case the control unit (180) can extract input features as preprocessing for the input data.

[0096] A camera (121) is positioned forward to detect obstacles ahead, and multiple cameras may be positioned at different angles as illustrated in Fig. 5. Multiple cameras (121) with different shooting directions, such as a camera that recognizes the front widely and a camera that photographs the floor, may be provided.

[0097] Alternatively, you can use a camera that takes a picture of the rear or scan a code that contains specific information, such as a barcode or QR code.

[0098] Alternatively, cameras with different functions may be provided. For example, a wide-angle camera, an infrared camera, etc. may be provided. The camera may function as a sensing unit (140) to detect surrounding objects.

[0099] The user input unit (122) may be equipped with a button or a touch panel for touch input. Alternatively, user commands may be input remotely via a communication unit (110). In this case, the user input unit (122) may include a personal computer (400) or remote control device separately provided from the logistics robot (100).

[0100] The user input unit (122) includes all methods for receiving user commands, and thus can recognize user commands through voice recognition. In other words, a voice recognition device that analyzes voice collected from a microphone (123) to extract user commands can also function as the user input unit (122).

[0101] The input unit (120) may include a code scanner, which may receive information by photographing a code including information on the roll container, size information on the goods, weight information, destination information, information on the transport requester, etc. In this case, the goods information input unit may include a code reader.

[0102] The sensing unit (140) can obtain at least one of internal information of the logistics robot (100), information about the surrounding environment of the logistics robot (100), and user information using various sensors.

[0103] At this time, the sensing unit (140) may include various types of sensors for recognizing the surroundings for autonomous driving. Representative examples include a distance detection sensor or proximity sensor (141) and a lidar (142).

[0104] The proximity sensor (141) may include an ultrasonic sensor that recognizes nearby objects and determines the distance to the objects based on the time it takes for an emitted ultrasonic wave to return. A plurality of proximity sensors may be provided along the perimeter, and one may also be provided on the upper side to detect obstacles above.

[0105] Lidar (142) is a device that precisely maps its surroundings by emitting laser pulses and receiving the light reflected from surrounding objects. While similar in principle to radar, it utilizes different electromagnetic waves, resulting in different technologies and applications.

[0106] Lasers can damage human eyesight because they use light with a wavelength of 600–1000 nm. Lidar (342) uses a longer wavelength and is used to measure not only the distance to a target object, but also its speed and direction, temperature, and the analysis and concentration of surrounding atmospheric substances.

[0107] In addition, the sensing unit (140) may include a light sensor, an acceleration sensor, a magnetic sensor, a gyro sensor, an inertial sensor, an RGB sensor, an infrared sensor, a fingerprint recognition sensor, an ultrasonic sensor, a light sensor, a Hall sensor, etc.

[0108] The output unit (150) can generate output related to vision, hearing, or touch, etc., and the output unit (150) can include an optical output unit that outputs visual information, a display (151), etc., a speaker (152) that outputs auditory information, an ultrasonic output unit that outputs an ultrasonic signal belonging to an inaudible frequency, etc., and can include a haptic module that outputs tactile information.

[0109] The memory (185) stores data supporting various functions of the logistics robot (100). The memory (185) can store a number of application programs (or applications) running on the logistics robot (100), data for the operation of the logistics robot (100), and commands.

[0110] Additionally, the memory (185) can store information necessary for performing operations using artificial intelligence, machine learning, and artificial neural networks. The memory (150) can store a deep neural network model. The deep neural network model can be used to infer result values ​​for new input data other than training data, and the inferred values ​​can be used as a basis for judgment to perform a certain action.

[0111] The power supply unit (190) receives external power and internal power under the control of the processor (190) and supplies power to each component of the logistics robot (100). The power supply unit (190) includes a battery (191), which may be a built-in battery or a replaceable battery. The battery may be charged using a wired or wireless charging method, and the wireless charging method may include a magnetic induction method or a magnetic resonance method.

[0112] The driving unit (170) is a means for moving the logistics robot (100), and may include wheels or legs, and may include a wheel drive unit and a leg drive unit that control the wheels or legs. The logistics robot (100), including the body, can be moved by controlling a plurality of wheels provided on the bottom surface of the wheel drive unit.

[0113] The wheel may include a main wheel for fast driving and an axle on which the wheel rotates, a caster including a main shaft that rotates in combination with the body (101), and an auxiliary caster (173) that reinforces support to prevent the loaded item (L) from falling during driving.

[0114] The leg drive unit (not shown) can control a plurality of legs to move the body under the control of the control unit (180). The plurality of legs may correspond to a configuration formed to enable the logistics robot (100) to walk or run. The plurality of legs may be implemented as four, but the embodiment is not limited thereto. The plurality of legs may be formed as an integral part by being joined to the body, or may be implemented in a form that is attachable to the body.

[0115] A logistics robot (100) can move its body through a driving unit (170) equipped with at least one of a wheel driving unit and / or a leg driving unit. However, in this specification, an example in which a wheel driving unit is mounted on a mobile robot (100) is mainly described.

[0116] The control unit (180) is a module that controls the components of the logistics robot (100). The control unit (180) may refer to a data processing device built into hardware that has a physically structured circuit to perform a function expressed by a code or command included in a program. Examples of such data processing devices built into hardware include processing devices such as a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), and a field programmable gate array (FPGA), but the scope of the present invention is not limited thereto.

[0117] The control unit (180) may, for example, collect the above information through the input unit (120). The input of the input unit (120) may also include a touch input on the display.

[0118] Based on the collected information, the control unit (180) can transmit information on the goods (L) loaded in the loading area (50) to the mobile terminal (200 in FIG. 1) through the communication unit (110).

[0119] The logistics robot (100) of the present invention is a means of transportation that moves goods by pulling a roll container (500, see FIG. 4), and may include a docking unit (130) for coupling with the roll container (500). The docking unit (130) is firmly coupled with the roll container (500), so that it can maintain a stable coupling state even on slopes or uneven surfaces on the travel path during movement.

[0120] In addition, the docking unit (130) of the present invention and the coupling unit (530, see FIG. 4) of the roll container (500) may include a configuration that guides the coupling so that the coupling is performed automatically rather than manually.

[0121] Referring to FIG. 3, the robot control system (200) may include an AI server. The AI ​​server may refer to a device that trains an artificial neural network using a machine learning algorithm or utilizes a trained artificial neural network. Here, the robot control system (200) may be comprised of multiple servers to perform distributed processing, and may be defined as a 5G network. In this case, the AI ​​server may be included as part of the logistics robot (100) and may perform at least a portion of the AI ​​processing within the logistics robot (100).

[0122] The robot control system (200) may include a communication unit (210), memory (230), a learning processor (240), and a processor (260).

[0123] The communication unit (210) can transmit and receive data with external devices such as a logistics robot (100).

[0124] The memory (230) may include a model storage unit (231). The model storage unit (231) may store a model (or artificial neural network, 231a) being learned or learned through the learning processor (240).

[0125] The learning processor (240) can train an artificial neural network (231a) using learning data. The learning model can be used while mounted on the robot control system (200) of the artificial neural network, or can be mounted on an external device such as a logistics robot (100).

[0126] The learning model may be implemented in hardware, software, or a combination of hardware and software. If part or all of the learning model is implemented in software, one or more instructions constituting the learning model may be stored in memory (230).

[0127] The processor (260) can use a learning model to infer a result value for new input data and generate a response or control command based on the inferred result value.

[0128] Figures 4 and 5 are perspective views of a logistics robot (100) and a roll container (500) of a transportation means (100, 500) according to one embodiment of the present invention. The logistics robot (100) of the present invention includes a body (101) with components mounted therein. The body (101) can move via a driving unit (170) disposed at the bottom.

[0129] The body (101) of the logistics robot (100) may have a box shape including a space for mounting components, as illustrated in FIG. 4, without a region for loading items. Components such as a circuit board assembly are mounted on the body (101), which includes a driving unit (170), a power supply unit (190), and a control unit (180). For stable driving, the height of the body unit (101) may be formed to be no higher than the width of the floor surface.

[0130] In order to secure a field of view of the camera (121) observing the front, the position of the camera (121) can be raised by using a vertical bracket (102) extending upward from the body (101) as shown in FIG. 5.

[0131] In addition, a touch screen (151) is provided on the upper side of the vertical bracket (102) so that the user can check the status information of the logistics robot (100) and control the logistics robot (100) through touch input.

[0132] The height of the touch screen (151) can be placed on the upper side of the vertical bracket (102) considering the user's eye height. The vertical bracket (102) can be equipped with a speaker (152), and by placing the speaker (152) above a predetermined height, the sound output from the speaker (152) can be transmitted to a long distance.

[0133] A logistics robot (100) is connected to a wheeled roll container (500) and transports goods loaded on the roll container (500). The logistics robot (100) includes a driving unit (170) and has sufficient power to pull a roll container (500) loaded with goods.

[0134] A roll container (500) includes a loading shelf (520) capable of loading goods, and may include a frame (510) arranged in a grid to support the loading shelf (520). The frame is arranged at the bottom of the loading shelf (520) and can support the weight of goods loaded on the loading shelf (520).

[0135] The roll container (500) may be equipped with a roll container wheel (540) at the bottom for ease of transportation.

[0136] The roll container (500) includes a coupling part (530) for coupling with the logistics robot (100), and the logistics robot (100) may include a docking part (130) coupled with the coupling part (530) of the roll container (500). The coupling structure of the coupling part (530) and the docking part (130) must be stably maintained even on slopes or uneven surfaces of the moving section.

[0137] As illustrated in FIG. 4, the docking unit (130) of the logistics robot (100) can be positioned on the upper surface of the body (101), and the coupling unit (530) of the roll container (500) is positioned at the front. The docking unit (130) positioned on the upper surface of the body (101) can be fastened to the coupling unit (530) positioned at the front of the roll container (500).

[0138] Referring to FIG. 6, when the docking part (130) and the coupling part (530) are connected, a part of the body (101) can be inserted into the lower part of the roll container, and the lower part of the coupling part (530) of the roll container (500) can include an open space so that the rear of the body (101) can be inserted.

[0139] In particular, the transport means (100, 500) of the present invention is characterized by having a fastening structure that enables automatic fastening and separation of the logistics robot (100) and the roll container (500) without manpower input. The logistics robot (100) can move backwards so that the roll container (500) is placed at the rear of the logistics robot (100) to fasten the coupling portion (530) and the docking portion (130) of the roll container (500).

[0140] As shown in Fig. 4, when the logistics robot (100) approaches the roll container (500) that needs to be moved and transported through the front camera (121), the rear of the logistics robot (100) can be rotated 180° as shown in Fig. 5 so that it faces the roll container (500).

[0141] At this time, a rear camera (138) that photographs the rear of the logistics robot (100) to confirm the position of the joint (530) of the roll container (500) may be further included. The rear camera (138) may be positioned on the vertical bracket (102), and may be positioned close to the docking unit (130) to photograph only the joint (530) of the roll container (500) rather than photographing a wide area.

[0142] The rear camera (138) may be positioned adjacent to the lower side of the vertical bracket (102) and positioned relatively lower than the front camera (121).

[0143] The coupling part (530) of the roll container (500) may include an identification code (535) to control the position of the rear camera (138) so that the docking part (130) of the logistics robot (100) can be connected to the coupling part (530).

[0144] The identification code (535) can identify information through an image such as a QR code or barcode, as illustrated in FIG. 4. Not only can information about the roll container (500) be confirmed through the identification code (535) of the roll container (500), but the location of the coupling portion (530) of the roll container (500) can also be confirmed. The rear camera (138) moves backward while confirming the location of the identification code (535) so that the coupling portion (530) and the docking portion (130) are aligned.

[0145] Although the hooking method using a hook or the like has a strong fastening force, it has the problem that it is difficult to automatically select an accurate position and must be performed manually. To enable automatic fastening and separation of the logistics robot (100) and the roll container (500), the docking unit (130) of the present invention may include an electromagnet (131) having magnetic force.

[0146] The electromagnet (131) can control its magnetic force depending on whether power is supplied, so that the roll container (500) can be selectively coupled and separated by controlling the power supplied to the electromagnet (131). A conventional electromagnet (131) generates magnetic force when power is supplied, and when a conventional electromagnet (131) is used, continuous power supply is required to maintain the logistics robot (100) coupled to the roll container (500).

[0147] Accordingly, the present invention can utilize an electromagnet (131) to maintain a fastening force while minimizing power consumption. The electromagnet (131) is similar to a conventional electromagnet in that its magnetic force changes depending on whether power is applied.

[0148] However, the electromagnet (131) may cause metallic substances to stick to the permanent magnet due to its magnetic force if power is not applied, including the permanent magnet. The magnetic coil placed parallel to the permanent magnet may form a magnetic field opposite to the magnetic field of the permanent magnet when power is applied, thereby canceling out the magnetic force of the permanent magnet.

[0149] That is, the electrostatic magnet (131) loses its magnetic force when power is applied, and recovers its magnetic force when power is stopped. The electrostatic magnet (131) can be configured by arranging the magnetic coil in parallel with the pole direction of the permanent magnet so that the magnetic field of the permanent magnet and the magnetic field formed by the magnetic coil overlap. As illustrated in Fig. 5, since the metal part (531) of the roll container (500) is coupled in the rear direction of the electrostatic magnet (131), the electrostatic magnet (131) can be arranged with the magnetic coil in the front and the permanent magnet in the rear.

[0150] The coupling portion (530) of the roll container (500) may include a metal portion (531) arranged on the front of the roll container (500) to couple with the electromagnet (131). The metal portion (531) may be formed of a plate-shaped member as illustrated in FIG. 5, and the metal portion (531) may have a larger size than the electromagnet (131) so that it can be attached even within a predetermined error range.

[0151] The electromagnet (131) is attached to the metal part (531) on the front of the roll container (500) by magnetic force and can restrict the roll container (500) from moving in the forward and backward direction (y-axis direction). The electromagnet (131) can include a left and right pair as shown in Fig. 4, thereby increasing the fastening force and minimizing left and right twisting.

[0152] The front of the roll container (500) is arranged perpendicular to the direction of movement of the logistics robot (100), and the back of the electromagnet (131) is arranged on the same line in the horizontal direction (x-axis direction) and can be arranged side by side. The center of the roll container (500) must be aligned with the center of the logistics robot (100) to enable stable movement when the logistics robot (100) is driven.

[0153] To align the position in the horizontal direction (x-axis direction), the coupling part (530) may include a coupling block (532) protruding from the front of the roll container (500), and the docking part (130) may include a docking bracket (132) placed between a pair of electromagnets (131).

[0154] Fig. 6 is a drawing showing a state in which a logistics robot (100) of a transportation means (100, 500) according to one embodiment of the present invention is connected to a roll container (500). Fig. 7 is an enlarged view of part A of Fig. 6, and Fig. 8 is a perspective view from above showing a state in which the logistics robot (100) of Fig. 7 is connected to a roll container (500).

[0155] The coupling block (532) may have a box shape by protruding from the front of the roll container (500). The metal part (531) of the present embodiment has a size that covers both the left and right pairs of electromagnets (131), and the coupling block (532) is coupled to the front of the metal part (531). The metal part (531) may be supported so as to be firmly fixed to the roll container (500).

[0156] The docking bracket (132) includes an internal space in which a box-shaped coupling block (532) can be inserted, and may include side wall portions (1321) located on the left and right sides of the coupling block (532) and an upper surface portion (1322) located on the upper side.

[0157] The side wall portion (1321) restricts the horizontal movement (x-axis direction) of the coupling block (532), and the upper surface portion (1322) restricts the vertical movement (z-axis direction) of the coupling block (532), thereby enhancing the fastening force. Since the electromagnet (131) restricts the movement in the forward / backward direction (y-axis direction), the roll container (500) can move together with the logistics robot (100).

[0158] The control unit (180) can control the driving unit (170) to move backwards along the identification code (535) recognized by the rear camera (138) so that the coupling block (532) is accurately coupled to the docking bracket (132).

[0159] The identification code (535) may be located on the upper side of the coupling block (532). When the logistics robot (100) moves backward while maintaining the rear camera (138) and the identification code (535) in a parallel state, the coupling block (532) may be inserted into the docking bracket (132).

[0160] However, when the logistics robot (100) moves backwards, if the electromagnet (131) is positioned within a predetermined distance from the metal part (531), the metal part (531) may be pulled by the magnetic force of the electromagnet (131), and the electromagnet (131) and the metal part (531) may be connected before alignment. To prevent this, if the rear camera (138) detects that the identification code (535) is positioned within a predetermined distance, the control unit (180) may apply power to the electromagnet (131) to remove the magnetic force of the electromagnet (131).

[0161] A fastening sensor (135) may be provided inside the docking bracket (132) to detect whether the coupling block (532) is correctly inserted into the docking bracket (132). In the present embodiment, a limit switch (135) is used as the fastening sensor, and when the coupling block (532) presses the limit switch (135), the driving unit can stop moving backward.

[0162] In addition, when the limit switch (135) is pressed, the power applied to the electromagnet (131) is cut off, and the magnetic force of the electromagnet (131) is restored so that it can be connected to the metal part (531).

[0163] The docking portion (130) is positioned forward on the upper surface of the body (101), and a portion of the upper surface of the body (101) overlaps with the roll container (500) as illustrated in FIG. 6. Accordingly, the coupling portion (530) is positioned forward of the lowest shelf (521) of the roll container (500), and the lower surface of the body (101) can enter the lower side of the lowest shelf (521).

[0164] Fig. 9 is a side view of a transportation means (100, 500) according to one embodiment of the present invention. It may include a pipe-shaped support frame (511) that supports the lower portion of the lowest shelf (521), and the lower surface of the support frame (511) may be in contact with the upper surface of the body (101) of the logistics robot (100).

[0165] When the logistics robot (100) is driven while connected to the roll container (500) and accelerates or decelerates, the roll container (500) may slide. When the roll container (500) slides, the upper surface and docking part (130) of the logistics robot (100) may be damaged, and the roll container (500) may tilt and overturn. To prevent such accidents, the lower part of the lowest shelf (521) of the roll container (500) that comes into contact with the upper surface of the logistics robot (100) may be provided with a cart stopper (513) to prevent sliding.

[0166] The cart stopper (513) of the present embodiment may include an elastic rubber that wraps around the lower portion of the support frame (511) placed under the lowermost shelf (521). The cart stopper (513) may be in close contact with the upper surface of the logistics robot (100) to increase the bonding force between the roll container (500) and the logistics robot (100).

[0167] In addition, the cart stopper (513) including elastic rubber is elastic and can cushion the impact applied to the upper surface of the body (101) of the logistics robot (100) when passing over bumps or steps on the driving path, thereby preventing the logistics robot (100) from being damaged.

[0168] When aligning the position using the rear camera (138) described above, there is an advantage in that precise fastening is possible because the image information can be used to control the software. However, there is a disadvantage in that proximity must be detected and power must be supplied to the electromagnet (131), and a calculation process is required in the control unit (130) or server (200) to align the docking unit (130) and the coupling unit (530), which takes time to fasten the logistics robot (100) and the roll container (500).

[0169] If a guide structure is provided that physically induces the connection of the docking block (532) and the docking bracket (132), the docking unit (130) and the connection unit (530) can be connected in a shorter time.

[0170] FIG. 10 and FIG. 11 are drawings illustrating a process in which a logistics robot (100) of a transportation means (100, 500) according to another embodiment of the present invention is connected to a roll container (500).

[0171] The docking unit (130) of the present embodiment may further include a guide bracket (133) that physically guides the process of fastening the coupling block (532) to the docking bracket (132). The guide bracket (133) includes an extension unit (1331), which is a pair of side wall structures that become wider as they move toward the rear, and the gap between the forward-entering extension units becomes narrower, so that the logistics robot (100) and the roll container (500) can be aligned at the fastening position.

[0172] As shown in Fig. 11, the guide bracket (133) extends rearward from the docking bracket (132), so that when the coupling block (532) is fastened to the docking bracket (132), it is positioned rearward from the coupling block (532).

[0173] If the left and right parts of the joining block (532) of the metal part (531) are deleted to allow the guide bracket (133) to pass through, the rigidity of the joining block (532) is reduced, and the metal part (531) to which the joining block (532) is joined may bend.

[0174] Accordingly, in order not to omit the lateral direction of the coupling block (532), the height of the guide bracket (133) is formed lower, and the guide protrusion (533) protruding from the lower side of the coupling block (532) can be used to guide the connection between the roll container (500) and the logistics robot (100).

[0175] As illustrated in Fig. 11, the guide bracket (133) may include a straight section (1332) at the front end so that the guide protrusion (533) is positioned in the correct position, and may include an extended section (1331) that widens the gap rearward from the straight section (1332). A pair of guide brackets (133) may be arranged to form a Y shape. The straight section (1332) may be positioned at the lower side of the docking bracket (132).

[0176] When the logistics robot (100) approaches the roll container (500), if there is no rear camera, the docking bracket (132) and the coupling block (532) may not be aligned. At this time, if the guide protrusion (533) is positioned between the extension section (1331) of the guide bracket (133), it moves along the slope of the extension section (1331) of the guide bracket (133) and is positioned in the straight section (1332). When the guide protrusion (533) enters the straight section (1332), the logistics robot (100) and the roll container (500) can be aligned so that the coupling block (532) can be inserted into the docking bracket (132).

[0177] FIG. 12 is a perspective view showing a state in which a logistics robot (100) of a transportation means (100, 500) according to another embodiment of the present invention is connected to a roll container (500), and FIG. 13 is a BB cross-sectional view of FIG. 12.

[0178] When the coupling block (532) is inserted into the docking bracket (132), the guide protrusion (533) is located in the straight section (1332) of the guide bracket (133), and the coupling block (532) turns on the limit switch (135), which is a fastening sensor (135) located within the docking bracket (132), to stop the backward movement of the logistics robot (100).

[0179] Unlike the previously described embodiment, even if the electromagnet (131) pulls the metal part (531) of the roll container (500) with its magnetic force, the guide projection (533) and the guide bracket (133) can be aligned in position, so there is no need to remove the magnetic force of the electromagnet (131). Rather, if the roll container (500) is pulled with the magnetic force of the electromagnet (131), faster fastening is possible.

[0180] Referring to Fig. 10, the metal part (531) may utilize a wide plate-shaped member so that it can be fastened to the left and right electromagnets (131). The fastening part (530) can be easily mounted on the roll container (500) by placing a fastening block (532) on the metal part (531) and fastening the metal part (531) to the frame (511) of the roll container (500).

[0181] The metal part (531) can support the load applied to the coupling block (532) during acceleration / deceleration or inclined travel of the logistics robot (100), thereby preventing the coupling block (532) from being separated from or damaged by the roll container (500). However, as described above, in order to position a part of the extended portion of the guide bracket (133) behind the coupling block (532) when the coupling portion (530) and the docking portion (130) are fastened, the metal part (531) can be provided with an opening (5315) at the bottom of the coupling block (532), as illustrated in FIG. 10.

[0182] The metal part (531) can be configured to have an open portion (5315) by forming a step at the lower part of the central portion where the connecting block (532) is coupled and at the portion where the electromagnets (131) on both sides are fastened. To configure it without a step, the electromagnet (131) can be positioned so as to be spaced upward from the upper surface of the body (101). However, in order for the bracket that fixes the electromagnet (131) to stably support the load of the roll container (500), it is advantageous for it to be adjacent to the upper surface of the body (101) of the logistics robot (100). Therefore, as illustrated in FIG. 10, the open portion (5315) can be implemented by forming a step at the lower part of the metal part (531).

[0183] Figures 14 and 15 are drawings illustrating a fastening portion of a transportation means (100, 500) according to another embodiment of the present invention. This embodiment is an embodiment in which a docking bracket (134) and a guide bracket (133) are integrated.

[0184] The docking bracket (134) of the above-described embodiment was provided separately in a form that covers the upper part of the straight section (1332) of the guide bracket (133), but in the present embodiment, as shown in FIG. 15, an upper surface (1342) extending from the upper part of the straight section (1332) of the guide bracket (133) is formed so that the straight section (1332) can be used as the docking bracket (134).

[0185] The coupling block (532) may include a first block (5321) attached to the front of the roll container (500), a second block (5322) positioned below the first block (5321), and a connecting portion (5323) connecting the first block (5321) and the second block (5322). A slit is formed in the upper surface (1342) of the docking bracket (134) of the present embodiment so that the connecting portion (5323) can pass through it.

[0186] As illustrated in Fig. 15, the width of the connecting portion (5323) can be formed to be smaller than that of the second block (5322) so as to be configured to be hooked to the upper surface (1342) of the docking bracket (134). The second block (5322) and the connecting portion (5323) of the present embodiment restrict the horizontal (x-axis direction, Fig. 6) and vertical (z-axis direction, Fig. 6) movements of the roll container (500), thereby allowing the roll container (500) to be stably coupled to the logistics robot (100).

[0187] The second block (5322) of the present embodiment is a locking structure that restricts the horizontal and vertical movements of the roll container (500), and also serves as a guide block (133) that moves along the guide bracket (133) so that the roll container (500) enters the docking bracket (134).

[0188] Fig. 15 illustrates another example of the arrangement of the fastening sensor (135). The fastening sensor (135) of this embodiment is arranged on the side wall (1341) of the docking bracket (134), so that the second block (5322) can detect the entry of the docking bracket (134).

[0189] Although not shown in Fig. 14, a docking bracket (132) that surrounds the first block (5321) of the coupling block (532) as shown in Fig. 12 may also be provided at the same time.

[0190] It may include a first docking bracket (132) that surrounds the first block (5321) and a second docking bracket (134) that surrounds the second block (5322) implemented by modifying the straight section (1332) of the guide bracket (133). In this case, the docking bracket (134) and the coupling block (532) are coupled together, thereby improving the coupling strength.

[0191] As seen above, the docking part (130) of the logistics robot (100) of the present invention can be connected to the coupling part (530) of the roll container (500) at an accurate position, so that it can be automatically connected to the roll container (500) without manual work.

[0192] In addition, the logistics robot (100) of the present invention provides power only when separated from the joint (530) of the roll container (500) through an electromagnet (131) that loses its magnetic force when power is supplied, thereby reducing power consumption and facilitating detachment.

[0193] In addition, the phenomenon of shaking or pushing during driving can be prevented through the docking bracket (134) that limits the horizontal and vertical movement of the joint (530) of the roll container (500).

[0194] In addition, the sliding phenomenon caused by the inertia of the roll container (500) when passing through a slope or protrusion or when accelerating or decelerating the logistics robot (100) can be prevented through the sliding prevention unit.

[0195] The above detailed description should not be construed as limiting in any respect and should be considered illustrative only. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. In a logistics robot that is connected to a roll container including a metal part and a connecting block on the front and tows the roll container, body; A driving part arranged at the lower part of the above body; and It is disposed on the above body and includes a docking part that is connected to the metal part of the roll container and the joining block, The above docking part, An electromagnet whose magnetism changes depending on whether power is supplied, and to which the metal part is selectively attached depending on the change in magnetism; and A docking bracket is disposed adjacent to the electromagnet and into which the coupling block is inserted, The above docking bracket, A pair of side walls covering the left and right directions of the above-mentioned connecting block and an upper surface covering the upper portion of the above-mentioned connecting block. Logistics robot.

2. In paragraph 1, The above electromagnet includes a magnetic coil and a permanent magnet, The electromagnet is characterized in that when power is applied to the magnetic coil, a magnetic field opposite to that of the permanent magnet is formed, thereby reducing the magnetic force of the electromagnet. Logistics robot.

3. In paragraph 2, The above docking unit is characterized in that it includes a control unit that applies power to the magnetic coil when separated from the roll container. Logistics robot.

4. In paragraph 1, The above electromagnet is characterized in that it faces the back of the body and is arranged in parallel in the left and right directions in the horizontal direction of the docking bracket. Logistics robot.

5. In paragraph 1, A vertical bracket protruding upward from the above body; A rear camera positioned so as to face rearward on the vertical bracket and recognizing an identification code positioned on the roll container; and A control unit that controls the driving unit so that the coupling block is inserted into the docking bracket based on the position of the identification code recognized by the rear camera. Logistics robot.

6. In paragraph 5, The above control unit When the location of the above identification code is within a specified distance, the power applied to the electromagnet is controlled to remove the magnetic force of the electromagnet. Logistics robot.

7. In paragraph 6, The above-mentioned roll container includes a fastening sensor that detects whether the connecting block is inserted into the above-mentioned docking bracket, The above control unit When the above-mentioned fastening sensor is turned on, the power applied to the electromagnet is controlled to restore the magnetic force of the electromagnet. Logistics robot.

8. In paragraph 1, The above docking part It is characterized by including a guide bracket that is arranged on the left and right of the guide protrusion protruding downward of the above-mentioned combination block and expands in the rear direction. Logistics robot.

9. In paragraph 8, The height of the above guide bracket is characterized by being lower than that of the above joining block. logistics robots 10. In paragraph 8, The front end of the above guide bracket includes a straight section arranged on the lower side of the above docking bracket, It is characterized by including a fastening sensor that detects whether the guide protrusion is located in the straight section. logistics robots 11. In paragraph 1, The above combination block is The rear is a first block coupled to the above roll container; A second block positioned below the first block; and Includes a connecting portion connecting the first block and the second block. The side wall portions of the above docking bracket are arranged on both sides of the second block, The upper surface of the above docking bracket is characterized in that a position corresponding to the above connecting portion is open. Logistics robot.

12. In paragraph 11, The above docking part characterized in that it includes a guide bracket extending rearward from the pair of side walls of the docking bracket and having a widened gap. logistics robots 13. A roll container including a metal part and a connecting block arranged at the front; and A logistics robot comprising a body, a driving part disposed at the lower part of the body, and a docking part disposed at the body and connected to the metal part and the coupling block, The above docking part, An electromagnet whose magnetism changes depending on whether power is supplied, and to which the metal part is selectively attached depending on the change in magnetism; and Includes a docking bracket into which the above-mentioned combination block is inserted, The above docking bracket, A pair of side walls covering the left and right directions of the above-mentioned connecting block and an upper surface covering the upper portion of the above-mentioned connecting block. Means of transportation.

14. In paragraph 13, The above electromagnet includes a magnetic coil and a permanent magnet, When power is applied to the magnetic coil, a magnetic field opposite to that of the permanent magnet is formed, thereby including an electromagnet in which the magnetic force of the electromagnet is reduced. The above docking unit is characterized in that it includes a control unit that applies power to the magnetic coil when separated from the roll container. Means of transportation.

15. In paragraph 13, A vertical bracket protruding upward from the above body; A rear camera positioned to face the rear of the vertical bracket and recognizing an identification code positioned on the roll container; and A control unit that controls the driving unit so that the coupling block is inserted into the docking bracket based on the position of the identification code recognized by the rear camera. means of transportation 16. In paragraph 15, The above control unit If the location of the above identification code is within the specified distance, power is applied to the electromagnet to remove the magnetism of the electromagnet, When the coupling block of the above roll container is inserted into the docking bracket, the power supply to the electromagnet is stopped to restore the magnetic force of the electromagnet. Means of transportation.

17. In paragraph 13, The above-mentioned joining block is fixed to the front of the metal part and includes a guide protrusion protruding downward, The above metal part is placed on the lower side of the above joining block and includes an opening having a predetermined width, The above docking part It is arranged on the left and right of the above guide protrusion, expands in the rear direction, and includes a guide bracket. When the above-mentioned combination block and the above-mentioned docking bracket are connected, the guide bracket is characterized in that it is positioned to penetrate the opening. means of transportation 18. In paragraph 13, The above combination block is The rear is a first block coupled to the above roll container; A second block positioned below the first block; and Includes a connecting portion connecting the first block and the second block. The side wall portions of the above docking bracket are arranged on both sides of the second block, The upper surface of the above docking bracket is opened at a position corresponding to the above connecting portion, The above docking portion is characterized by including a guide bracket extending rearward from the pair of side walls of the docking bracket and having a widened gap. Means of transportation.

19. In paragraph 13, The above roll container, A lower loading shelf on which the above-mentioned combination block and the above-mentioned metal part are arranged in the front; and Includes a cart stopper placed at the bottom of the above lower loading shelf, The above docking bracket is placed on the upper front part of the body, A part of the above body is placed on the lower side of the lower loading shelf when the above combination block is inserted into the above docking bracket, A means of transportation characterized in that the cart stopper is in contact with the upper surface of the body.

20. In paragraph 19, The above cart stopper It is characterized by including an elastic member fitted to a support frame arranged at the bottom of the lower loading shelf. Means of transportation.

Images