Method and system for controlling mobile robot

Abstract

A method for controlling a mobile robot according to the present invention is a method for controlling a mobile robot moving in a first direction or a second direction perpendicular to the first direction on a mobile platform including a plurality of rails. The method comprises the steps of: specifying a movement path of the mobile robot so that the mobile robot moves to a destination; and controlling the movement of the mobile robot so that the mobile robot reaches the destination while moving in the first direction or the second direction along the movement path. The step of controlling the movement of the mobile robot may include a step of sensing a tag located along the first direction or the second direction from the mobile robot if an intersection area, in which a change of direction from one of the first direction or the second direction to the other occurs, is present on the movement path.

Description

Mobile robot control method and system

[0001] The present invention relates to a method and system for controlling a mobile robot equipped on a mobile platform.

[0002] A mobile platform is a system that transports specific items loaded onto a transport vehicle to a specific location. Mobile platforms can be used, for example, in logistics facilities.

[0003] In conventional mobile platforms, technologies have been developed to form a movement path for a material transporter using a rail structure. These rail structures can be installed on shelves made of profiled structures that form a loading space for materials. Furthermore, the path of the material transporter using the rail structure can include intersection points, and a mechanism may be required to change the direction of the material transporter at these intersection points.

[0004] For these mobile platforms, accurate positioning and motion control of the mobile robot are crucial. While methods exist for performing positioning and motion control using the motor encoder values ​​provided by the mobile robot, errors can arise due to issues such as backlash between the motor and rail or gear backlash.

[0005] Accordingly, there still exists a need for accurate positioning and motion control of mobile robots on mobile platforms.

[0006] The present invention relates to a mobile robot control method and system for controlling a mobile robot included in a mobile platform.

[0007] More specifically, the present invention relates to a method and system for controlling a mobile robot capable of performing positioning and motion control of a mobile robot moving along a plurality of rails.

[0008] In particular, the present invention relates to a method and system for controlling a mobile robot for controlling a change of direction of the mobile robot on a rail.

[0009] A method for controlling a mobile robot according to the present invention is a method for controlling a mobile robot moving in a first direction or a second direction perpendicular to the first direction on a mobile platform including a plurality of rails, the method comprising the steps of: specifying a movement path of the mobile robot so that the mobile robot moves to a destination; and controlling the movement of the mobile robot so that the mobile robot moves in the first direction or the second direction along the movement path and reaches the destination. The step of controlling the movement of the mobile robot may include the step of sensing a tag located along the first direction or the second direction in the mobile robot when there is an intersection area on the movement path where a direction change occurs from one of the first direction and the second direction to the other.

[0010] Meanwhile, a mobile robot control system according to the present invention is a mobile robot control system that moves in a first direction or a second direction perpendicular to the first direction on a mobile platform including a plurality of rails, wherein a control unit of the system specifies a movement path of the mobile robot so that the mobile robot moves to a destination, and controls the movement of the mobile robot so that the mobile robot moves in the first direction or the second direction along the movement path and reaches the destination, and when an intersection area exists on the movement path where a direction change occurs from one of the first direction and the second direction to the other, the mobile robot can be controlled to sense a tag located along the first direction or the second direction.

[0011] Meanwhile, a program according to the present invention is a program stored in a computer-readable medium that is executed by one or more processes in an electronic device, wherein the program includes commands for controlling a mobile robot that moves in a first direction or a second direction perpendicular to the first direction on a mobile platform that includes a plurality of rails, and the commands may include commands for performing a step of specifying a movement path of the mobile robot so that the mobile robot moves to a destination, and a step of controlling the movement of the mobile robot so that the mobile robot moves in the first direction or the second direction along the movement path and reaches the destination.

[0012] A method and system for controlling a mobile robot according to the present invention are for controlling a mobile robot moving in a first direction or a second direction perpendicular to the first direction on a mobile platform including a plurality of rails, and can specify a movement path of the mobile robot so that the mobile robot moves to a destination, and control the movement of the mobile robot so that the mobile robot moves in the first direction or the second direction along the movement path and reaches the destination. Through this, the mobile platform of the present invention is configured simply by increasing the degree of freedom of the rail structure, so that it can be installed even in a relatively narrow space, and various robot services, such as transporting goods, can be provided through the mobile robot.

[0013] Furthermore, the method and system for controlling a mobile robot according to the present invention can sense a tag located along the first direction or the second direction in the case where an intersection area exists on the movement path where a direction change occurs from one of the first direction and the second direction to the other, in the mobile robot. In the present invention, the position of the mobile robot can be determined based on tag sensing, and the mobile robot can be accurately positioned in the intersection area. Therefore, in the present invention, the mobile robot can safely rotate and change direction from one of the first direction and the second direction to the other.

[0014] Figure 1a is a conceptual diagram illustrating a mobile platform according to the present invention.

[0015] Figure 1b is a conceptual diagram for explaining a mobile robot control system according to the present invention.

[0016] Figure 1c is a conceptual diagram for explaining the goods transport service of a mobile robot provided on a mobile platform according to the present invention.

[0017] FIG. 2a, FIG. 2b, FIG. 2c, FIG. 2d, FIG. 2e, FIG. 2f, FIG. 2g, FIG. 2h and FIG. 2i are conceptual diagrams for explaining a mobile platform according to the present invention.

[0018] Figure 3 is a conceptual diagram for explaining a tag equipped on a mobile platform in the present invention.

[0019] Figures 4a and 4b are conceptual diagrams for explaining tag sensing in the present invention.

[0020] Figure 5 is a flowchart for explaining a method for controlling a mobile robot according to the present invention.

[0021] Figures 6a and 6b are conceptual diagrams for explaining a method of controlling a mobile robot in the present invention.

[0022] Figure 7 is a conceptual diagram for explaining a method for generating a movement path of a mobile robot in the present invention.

[0023] Figures 8a and 8b are conceptual diagrams for explaining a method for controlling a robot arm of a mobile robot in the present invention.

[0024] Figure 9 is a flowchart for explaining a method for transporting goods by a mobile robot in the present invention.

[0025] The present invention relates to a method and system for controlling a mobile robot for positioning and controlling a mobile robot including a mobile platform. As illustrated in FIG. 1A, a mobile platform (100) according to the present invention may be configured to include at least one of a plurality of rails (110, 120), a mobile robot (130), and a tag (150). In the present invention, the mobile robot (130) may perform a role of transporting an item while moving along the plurality of rails (110, 120). The mobile robot (130) may be longitudinal (longitudinal direction) or transverse (lateral direction) along the rails (110, 120), and may be capable of turning for a direction change in an intersection area where the rails intersect. At this time, it is very important that the mobile robot (130) is accurately positioned in the intersection area, and in the present invention, by recognizing a tag, the mobile robot (130) can be controlled to change direction while being accurately positioned in the intersection area.

[0026] As illustrated in FIG. 1b, the mobile robot control system (200) according to the present invention may be configured to control a mobile robot (130) moving on a rail included in a mobile platform (100). The robot control system (200) according to the present invention may be configured to include at least one of a communication unit (210), a storage unit (220), and a control unit (230).

[0027] The communication unit (210) may be configured to enable communication with at least one of the mobile robot (130) and the cloud server (20). For example, the communication unit (210) may transmit a control command to the mobile robot (130). The communication method of the communication unit (210) may be at least one of wired communication and wireless communication, and may support various communication methods depending on the communication standards of the communicating device or server.

[0028] The storage unit (220) may store various information for controlling the mobile robot (130) in the present invention. In the present invention, the storage unit (220) may be provided in the robot control system (200) itself. Alternatively, at least a portion of the storage unit may refer to at least one of a cloud server and a database. In other words, the storage unit (220) may be sufficient as long as it stores information necessary for robot control according to the present invention, and it can be understood that there are no restrictions on physical space. Hereinafter, the storage unit, cloud server, or database will not be separately distinguished, and will all be referred to as the storage unit.

[0029] The control unit (230) may be configured to perform control on the mobile robot (130). The control unit (230) may transmit a control command to the mobile robot (130) so that the mobile robot (130) moves in a first direction or a second direction along the rail.

[0030] In the present invention, the “first direction” corresponds to the longitudinal direction of the longitudinal rails (601, 603, 605), and may be named “first direction” or “vertical direction”, “longitudinal direction” or “column direction”, etc.

[0031] And in the present invention, the “second direction” corresponds to the longitudinal direction of the transverse rail (602, 604, 606), and may be named “second direction”, “transverse direction”, “horizontal direction”, or “row direction”.

[0032] The control unit (230) can control the mobile robot (130) to change direction on the rail when the mobile robot (130) needs to change direction from one of the first direction or the second direction to another direction. More specifically, the control unit (230) can control the driving drive unit (131) of the mobile robot (130) to rotate the cross-shaped rail when the mobile robot (130) is docked on the cross-shaped rail.

[0033] In this case, the control unit (230) can determine the position of the mobile robot (130) based on the relative distance between the tag equipped on the mobile platform (100) and the mobile robot (130) and control the mobile robot (130) to accurately dock with the cross-shaped rail. The control unit (230) can activate a camera (upper camera or loading tray camera (133d1 and 133d2) equipped on the mobile robot (130) to control the tag located in the moving direction of the mobile robot (130) to be recognized. The control unit (230) can perform detailed control based on the tag recognition result so that the mobile robot (130) is accurately docked with the cross-shaped rail (120).

[0034] The mobile platform (100) of the present invention can be configured to enable the rotation of the mobile robot (130) while the hooking projection (132c3) of the mobile robot (130) is hooked to the cross-shaped rail (120) of the mobile platform (100). Therefore, precise control of the mobile robot (130) is very important in the present invention. Hereinafter, the structure of the mobile platform of the present invention will be first described with reference to the attached drawings, and a method of controlling the mobile robot (130) on the mobile platform (100) will be described in more detail.

[0035] FIG. 1C is a conceptual diagram for explaining an item transport service of a mobile robot provided on a mobile platform according to the present invention. FIGS. 2A, 2B, 2C, 2D, 2E, 2F, 2G, 2H, and 2I are conceptual diagrams for explaining a mobile platform according to the present invention, FIG. 3 is a conceptual diagram for explaining a tag provided on a mobile platform in the present invention, FIGS. 4A and 4B are conceptual diagrams for explaining tag sensing in the present invention, FIG. 5 is a flowchart for explaining a method for controlling a mobile robot according to the present invention, FIGS. 6A and 6B are conceptual diagrams for explaining a method for controlling a mobile robot in the present invention, FIG. 7 is a conceptual diagram for explaining a method for generating a movement path of a mobile robot in the present invention, FIGS. 8A and 8B are conceptual diagrams for explaining a method for controlling a robot arm of a mobile robot in the present invention, and FIG. 9 is a flowchart for explaining a method for transporting items of a mobile robot in the present invention.

[0036] As illustrated in FIG. 1c, the mobile platform (100) according to the present invention is capable of loading and storing items (G), and the mobile robot (130) can perform the task of transporting items from a specific location to another location. The mobile platform (100) of the present invention can be applied to logistics facilities requiring the loading of items, etc.

[0037] Items loaded onto the mobile platform (100) may be in the form of boxes having a certain volume, such as parcels. These items may be placed at specific locations on a shelf (101) made of a profile structure. The shelf (101) may be formed to have a structure extending in the longitudinal and transverse directions with respect to the ground. Here, the transverse and longitudinal directions may refer to the Y-axis direction and the Z-axis direction, respectively, as illustrated in FIG. 1A. At this time, a plurality of tags (e.g., April Tags, barcodes, or QR codes) having location information of the shelf (101) recorded thereon may be attached to the ends of the transverse and longitudinal structures of the shelf (101).

[0038] Meanwhile, the items to be loaded can be placed on a loading tray (102) and placed at a specific location on the shelf (101). The shelf (101) can be equipped with a loading tray holder (103) that provides a seating space for the loading tray (102) at each location where the loading tray (102) is located. In addition, the user of the mobile platform (100) can place items that need to be transported on the loading tray (102) and place them on the loading tray holder (103) at a specific location.

[0039] As illustrated in FIG. 1C, items placed on the loading tray holder (103) of the shelf (101) may be moved from the loading tray holder (103) to the ground robot (140) while being contained in the loading tray (102), and may be transported to the delivery destination by the ground robot (140). The ground robot (140) may be provided with an item receiving space of the loading tray (102). In addition, a plurality of ground robots (140) may be provided, and may be configured to be individually movable along the ground. In addition, a moving platform (100) may also be provided at the delivery destination where the items are transported by the ground robot (140), and may be configured to transport the items received by the ground robot (140) to a preset specific location, such as an item storage facility provided at the delivery destination.

[0040] In this way, in order to perform the task of moving the loaded tray (102) placed on the loaded tray holder (103) placed at a specific position of the shelf (101) to a ground robot (140) or moving the loaded tray (102) placed at a specific position of the shelf (101) to another position of the shelf (101), the mobile platform (100) of the present invention includes a rail (110, 120) forming a movement path and a mobile robot (130) that picks up the loaded tray (102) while moving along the rail (110, 120) and moves it to another position.

[0041] Here, the rails (110, 120) forming the movement path of the mobile robot (130) may be installed on one side of the shelf (101). The loading tray holders (103) of the shelf (101) may be exposed and arranged between the rails (110, 120). Meanwhile, the structure of the shelf (101) and the rails (110, 120) is not limited to the vertical structure illustrated in the drawings of the present invention, and may be formed to have a horizontal structure or a form in which a vertical structure and a horizontal structure are combined. When the shelf (101) and the rails (110, 120) are formed in a horizontal structure, the structure of the ground robot (140) and the structures related to picking up the loading tray (102) of the mobile robot (130) may be implemented in a correspondingly modified form.

[0042] The mobile platform (100) of the present invention may include a plurality of straight rails (110) and cross-shaped rails (120) to increase the degree of freedom of the rail structure forming the movement path of the mobile robot (130).

[0043] As illustrated in FIG. 2A, a plurality of straight rails (110) and a cross-shaped rail (120) can be combined to form a single movement path along which a mobile robot (130) can move. The plurality of straight rails (110) can be spaced apart from each other with the cross-shaped rail (120) as the center. The plurality of straight rails (110) and the cross-shaped rails (120) can be fixedly installed on one side of a shelf (101). Here, the shelf (101) can form a loading space for items except for the portion where the straight rails (110) and the cross-shaped rails (120) are installed.

[0044] In the mobile platform (100) of the present invention, a plurality of linear rails (110) may extend in a first direction and a second direction perpendicular to the first direction based on an intersection area where the movement paths of the mobile robots (130) intersect. That is, among the plurality of linear rails (110), adjacent linear rails (110) may be arranged to form a right angle with each other. Here, the first direction and the second direction may refer to the Z-axis direction and the Y-axis direction illustrated in FIG. 2A, respectively.

[0045] Meanwhile, as illustrated in FIG. 2b, the cross-shaped rail (120) in the moving platform (100) of the present invention may include a fixed plate (121) and a direction-changing rail (122). The cross-shaped rail (120) may be formed to have an overall cross shape. Here, the fixed plate (121) may be positioned in an intersection area where the moving paths intersect, and may be formed to maintain a fixed state without a rotatable structure.

[0046] Specifically, a rotation center (121a) that is combined with a direction-changing rail (122) to form a rotation axis may be formed on the fixed plate (121). The rotation center may be formed to protrude from one surface facing the direction-changing rail (122).

[0047] Meanwhile, the fixed plate (121) may be provided with a plurality of stoppers (121b) spaced apart from each other at a predetermined interval within the rotation center (121a). In addition, the plurality of stoppers (121b) may include a first stopper (121b1), a second stopper (121b2), a third stopper (121b3), and a fourth stopper (121b4) spaced apart from each other at 90 degrees at the center of the cross rail (120). A further description of the plurality of stoppers (121b) will be provided later along with other related configurations.

[0048] Meanwhile, the direction change rail (122) may be formed to be rotatable with respect to the fixed plate (121). A cross roller bearing (124) for the rotation of the direction change rail (122) may be provided between the fixed plate (121) and the direction change rail (122). In addition, the direction change rail (122) may form a movement path connected to the linear rail (110). That is, the direction change rail (122) may be formed to have a cross shape, and may be configured to form a movement path selectively connected to the linear rail (110) extending in either of the first direction and the second direction.

[0049] In addition, the direction changing rail (122) may include a base portion (122b), a protrusion portion (122c), and a cover portion (122d). Here, the base portion (122b) may be arranged to face the fixed plate (121), the protrusion portion (122c) may be formed to protrude from both sides of the base portion (122b), and the cover portion (122d) may be arranged to extend inward from the protrusion portion (122c) and be level with the base portion (122b). That is, the direction changing rail (122) may be formed to have a C-shaped cross-section. In addition, in the case of a plurality of straight rails (110), they may be formed to have a C-shaped cross-section as illustrated in the drawings of the present invention, and may be formed to be engaged with the mobile module (131).

[0050] Meanwhile, one end (122f) of the direction change rail (122) may be formed to be rounded outward. In addition, one end (112f) of the straight rail (110) facing one end (112f) of the direction change rail (122) may be formed to be rounded inward, thereby forming a more stable structure in a state where the movement paths of the straight rail (110) and the cross rail (120) are connected to each other.

[0051] The fixed plate (121) of the present invention is illustrated as having a cross shape corresponding to the direction changing rail (122), but is not limited to the cross shape, and may be formed in another shape that is fixed without rotation as a counterpart for the rotation of the direction changing rail (122). For example, the fixed plate (121) may be installed fixedly on one side of the shelf (101) in a form in which the remaining parts except for the parts necessary for the rotation of the direction changing rail (122) are removed.

[0052] The mobile platform (100) according to the present invention may include a mobile robot (130) capable of traveling along a straight rail (110) or a direction-changing rail (122). As illustrated in FIG. 2c, the mobile robot (130) may be configured to include a mobile module (or traveling drive unit, 131), a rotation module (or rotation drive unit, 132), and a robot arm (or joint drive unit, 133).

[0053] The mobile module (131) of the mobile robot (130) of the present invention can travel along at least one of a straight rail (110) or a direction-changing rail (122). That is, the mobile module (131) can perform the travel function of the mobile robot (130) on the rail forming the travel path.

[0054] Specifically, as illustrated in FIGS. 2d and 2e, the mobile module (131) in the present invention may include a driving drive unit (131a) and a plurality of wheels (131b, 131c, 131d), and may be formed to engage with at least one of a straight rail (110) or a direction-changing rail (122). Here, the driving drive unit (131a) may be configured to provide driving force for driving, and may be mounted on the mobile module (131). For example, the driving drive unit (131a) may be configured as a motor, and the driving drive unit (131a) may provide driving force to a plurality of wheels (131b, 131c, 131d) provided on the mobile module (131), so that the wheels may be rotatable while being grounded on at least one surface of the direction-changing rail (122) or the straight rail (110).

[0055] Specifically, the first wheel (131b) may be connected to the driving drive unit (131a) to transmit driving force from the driving drive unit (131a). The first wheel (131b) may be formed to contact one side of the turning rail (122) and / or the straight rail (110). In addition, the first wheel (131b) may be equipped with a second driving pulley (131b2), a third driving pulley (131b3), and a driving roller (131b4).

[0056] The second driving pulley (131b2) can be connected to the first driving pulley (131a1) by a first driving pulley belt (131a2) to transmit the rotational power of the driving drive unit (131a).

[0057] The third driving pulley (131b3) may be connected to the rotational axis of the second driving pulley (131b2) to receive rotational force from the second driving pulley (131b2). In addition, the third driving pulley (131b3) may be formed to mesh with the second driving pulley belt (131b1) to rotate the second driving pulley belt (131b1). Here, the second driving pulley belt (131b1) may be formed to contact one side of the direction change rail (122) and / or the straight rail (110).

[0058] The driving roller (131b4) may be formed to be rotatable while in contact with the driving second pulley belt (131b1). The driving roller (131b4) may be formed to mesh with the driving second pulley belt (131b1) like the driving third pulley (131b3). In addition, the driving roller (131b4) may be provided in multiple numbers and arranged to be spaced apart from each other along the longitudinal direction of the mobile module (131).

[0059] In this way, the first wheel (131b) may be configured with a structure similar to a caterpillar. In addition, the first wheel (131b) may be additionally equipped with devices, such as idlers, for controlling the tension of the second drive pulley belt (131b1), thereby controlling the ground contact force.

[0060] Meanwhile, the second wheel (131c) and the third wheel (131d) may be formed to be grounded, together with the first wheel (131b), on at least one side of the turning rail (122) or the straight rail (110). That is, the first to third wheels (131d) may be formed to be rotatable while being grounded on one side of the turning rail (122) and / or the straight rail (110). In addition, the mobile module (131) may be equipped with a driving wheel base (131f) that provides a space in which the second wheel (131c) and the third wheel (131d) are mounted. The driving wheel base (131f) may be formed to be spaced at a constant distance from the mobile module body (131e).

[0061] Specifically, the second wheel (131c) may be formed to be able to adjust its relative gap with the first wheel (131b). For example, the second wheel (131c) may be mounted on a driving wheel base (131f), and the driving wheel base (131f) may be provided with a second wheel gap adjustment member (131c1) that is connected to a mobile module body (131e) and moves the driving wheel base (131f) closer to or farther away from the mobile module body (131e).

[0062] Meanwhile, the third wheel (131d) may be formed so as to be able to adjust the degree of lateral protrusion. For example, the third wheel (131d) may be mounted on a driving wheel base (131f) together with the second wheel (131c). Here, the third wheel (131d) may be formed so as to be able to move laterally on the driving wheel base (131f), and the driving wheel base (131f) may be provided with a third wheel gap adjustment member (131d1) that is connected to the driving wheel base (131f) and is formed so as to be able to adjust the lateral position of the third wheel (131d).

[0063] Furthermore, the mobile module (131) may be configured to be movable by using a magnet while in contact with the linear rail (110) and the direction change rail (122).

[0064] Meanwhile, the rotation module (132) of the mobile robot (130) of the present invention is coupled to the mobile module (131) so as to be relatively rotatable, and can be configured to rotate the mobile module (131) and the direction change rail (122) engaged with the mobile module (131) together when the mobile robot (130) is docked to the cross rail (120) or the fixed plate (121). Here, the “state of being docked to the fixed plate (121)” can be understood as a state in which the rotational motion of a part of the mobile robot (130) is restricted while it is positioned on the cross rail (120) or the fixed plate (121). In the docked state, the part of the mobile robot (130) whose rotation is restricted can be the rotation module (132). In addition, the operation of restricting the rotation of the rotation module (132) can be implemented by a structure in which a part of the rotation module (132) is caught on the fixed plate (121).

[0065] Referring to FIGS. 2F and 2G, specifically, the rotation module (132) may be configured to be restricted from rotating by being caught on the fixed plate (121) during relative rotation, and after the rotation is restricted, the mobile module (131) and the direction change rail (122) interlocked with the mobile module (131) may be rotated together. Furthermore, a cross roller bearing (132d) for the rotation module may be provided between the relative rotating rotation module (132) and the mobile module (131).

[0066] Meanwhile, the rotation module (132) may include a rotation drive unit (132a), a worm gear unit (132b), and a rotation base unit (132c). Here, the rotation drive unit (132a) may be formed to be mounted on the mobile module (131) and provide a driving force required for the rotation of the worm gear unit (132b). The rotation drive unit (132a) may be mounted on the mobile module body (131e) of the mobile module (131).

[0067] The rotational drive unit (132a) may be formed of a motor that generates rotational force. Furthermore, the rotational drive unit (132a) may be equipped with a first rotational pulley (132a1) that receives rotational force from the rotational drive unit (132a) and is used as a driving force required for the rotation of the worm gear unit (132b).

[0068] Meanwhile, the worm gear unit (132b) may be rotatably installed on the mobile module (131). Specifically, the worm gear unit (132b) may be formed to rotate around a first rotation axis (132b1). In addition, the worm gear unit (132b) may be connected to the rotation drive unit (132a) so as to receive driving force from the rotation drive unit (132a).

[0069] Meanwhile, a second pulley for rotation (132b2) may be connected to the worm gear unit (132b). The second pulley for rotation (132b2) may be configured to rotate together with the worm gear unit (132b) about the first rotation axis (132b1). Here, the second pulley for rotation (132b2) may be connected to the first pulley for rotation (132a1) by a pulley belt (132a2) for rotation so as to receive the rotational force of the drive unit for rotation (132a).

[0070] Meanwhile, the rotary base unit (132c) may be provided with a worm wheel (132c2) that engages with the worm gear unit (132b). Furthermore, the rotary base unit (132c) may be configured to be restricted from rotating by being caught by a fixed plate (121) when rotating by a predetermined angle while docked to a cross rail (120). The worm wheel (132c2) may be configured to rotate around a second rotation axis (132c2a).

[0071] In addition, the rotary base unit (132c) may have a rotary base unit body (132c1), and the worm wheel (132c2) may be formed on the rotary base unit body (132c1). Furthermore, the robot arm (133) of the mobile robot (130) may be mounted on the rotary base unit (132c). For example, the robot arm (133) may be formed on the rotary base unit body (132c1) of the rotary base unit (132c).

[0072] Meanwhile, a plurality of stoppers (121b) provided on the fixed plate (121) are each formed to protrude from one surface facing the rotating base unit (132c) and can be spaced apart from each other at a certain interval.

[0073] In addition, the mobile robot (130) may further include a plurality of hooking protrusions (132c3). For example, the plurality of hooking protrusions (132c3) may be provided on the rotary base unit (132c). The rotary base unit (132c) may be provided with a hooking protrusion base (132c4) that forms a mounting space for the plurality of hooking protrusions (132c3). The hooking protrusion base (132c4) may be positioned at a predetermined distance from the rotary base unit body (132c1), and the hooking protrusion base (132c4) may be coupled to the rotary base unit body (132c1) at a predetermined distance from the rotary base unit body (132c1) by a plurality of extension members (132c5).

[0074] In addition, a plurality of catch protrusions (132c3) may be arranged between two adjacent stoppers (121b) among a plurality of stoppers (121b) when the mobile robot (130) is docked to the cross rail (120). Here, the plurality of catch protrusions (132c3) may be arranged so that the mobile robot (130) passes between the two stoppers (121b) when moving in the first direction or the second direction, and is caught by one of the two stoppers (121b) when the rotary base unit (132c) rotates by a predetermined angle. Furthermore, the plurality of catch protrusions (132c3) are arranged between two adjacent stoppers (121b) among the plurality of stoppers (121b), and may include first to fourth catch protrusions (132c3a, 132c3b, 132c3c, 132c3d) formed to be movable in the first direction or the second direction.

[0075] Meanwhile, the first rotation axis (132b1) of the worm gear unit (132b) and the second rotation axis (132c2a) of the worm wheel (132c2) may be formed to be orthogonal to each other. In addition, the first rotation axis (132b1) and the second rotation axis (132c2a) may be formed to form rotation axes that are arranged parallel to each other rather than having a structure that is orthogonal to each other. In other words, the worm gear unit (132b) and the worm wheel (132c2) may be formed of gears having a structure other than the general worm gear structure in which the rotation axes of each are orthogonal to each other.

[0076] Meanwhile, the robot arm (133) of the present invention can perform a function of picking up an item (G). The robot arm (133) can be configured to pick up a loading tray (102) containing the item (G) when the mobile robot (130) is moved to a specific location by the mobile module (131). Here, the robot arm (133) can be configured as a SCARA (Selective Compliance Articulated Robot Arm) structure having a plurality of rotation axes perpendicular to the ground, and can be mounted on a rotation module (132).

[0077] Meanwhile, the robot arm (133) of the present invention may be provided with a loading gripper drive unit (134) for picking up the loading tray (102). The robot arm (133) may be mounted on the loading tray (102) by docking the loading gripper drive unit (134) to a docking slot of the loading tray (102).

[0078] Meanwhile, the robot arm (133) of the present invention may be equipped with a first camera (or upper camera, 133d1) and a second camera (or loading tray camera, 133d2), and at least one of the first camera (133D1) or the second camera (133d2) may perform a task of recognizing a tag. The tag may be attached to a shelf (101), a loading tray (102), a ground robot (140), etc., and may include various pieces of information related to the operation of the mobile platform (100).

[0079] Specifically, a tag containing location information of the shelf (101) can be attached to the shelf (101), and the first camera (133d1) and the second camera (133d2) provided on the robot arm (133) can recognize the tag and determine the relative location of the mobile robot (130) running on the rail of the shelf (101).

[0080] In addition, the second camera (133d2) may be configured to recognize information related to the loading tray (102). For example, the information related to the loading tray (102) may include location information of the loading tray (102) and information about the item (G) contained in the loading tray (102). In addition, the tag may be attached to the loading tray (102) on which location information of the loading tray (102) and information about the item (G) contained in the loading tray (102) are recorded.

[0081] Furthermore, the first camera (133d1) and the second camera (133d2) of the present invention are installed on the robot arm (133) so as to be rotatable, so as to easily recognize tags attached to both ends of the shelf (101) in the horizontal and vertical directions.

[0082] In the present invention, the mobile robot (130) can travel along a movement path formed by at least one of a straight rail (110) or a cross-shaped rail (120), and can perform a task of rotating the direction-changing rail (122) while docked to the cross-shaped rail (120) or the direction-changing rail (122).

[0083] As an example, referring to FIG. 2h, when describing a process in which a mobile robot (130) rotates counterclockwise in an intersection area of ​​a movement path, the mobile robot (130) may be positioned in a docked state while being positioned at the center of a cross-shaped rail (120) or a direction change rail (122) while moving in the first direction, meaning the Z-axis direction. As described above, the docked state of the mobile robot (130) may mean a state in which a rotational motion of a part of the mobile robot (130) is restricted while the mobile robot (130) is placed on the cross-shaped rail (120) or the fixed plate (121). At this time, docking of the mobile robot (130) can be achieved by the mobile robot (130) having a plurality of catch protrusions (132c3) positioned between two adjacent stoppers (121b) among the plurality of stoppers (121b) provided on the fixed plate (121) being caught by one of the two stoppers (121b) when the mobile robot (130) rotates at a predetermined angle. Here, the plurality of catch protrusions (132c3) can be provided on the rotation base unit (132c) of the rotation module (132). In addition, the plurality of catch protrusions (132c3) can be configured to pass between two adjacent stoppers (121b) among the plurality of stoppers (121b) while the mobile robot (130) moves in the first or second direction. That is, the plurality of catch protrusions (132c3) may be configured to allow the movement of the mobile robot (130) by passing through the space formed by the gap between the two stoppers (121b) when moving in the first direction or the second direction. On the other hand, when the direction of the mobile robot (130) is changed, the rotation may be restricted by being caught on one end of one of the two stoppers (121b).

[0084] As shown in (a) of FIG. 2h, when the rotation base unit (132c) of the rotation module (132) rotates clockwise, the worm wheel (132c2) provided on the rotation base unit (132c) also rotates clockwise by a predetermined angle and is then caught on the fixed plate (121) so that the rotation is restricted.

[0085] Next, as illustrated in (b) of FIG. 2h, after the mobile robot (130) is placed in a docking state on the cross-shaped rail (120) or the fixed plate (121), the mobile robot (130) is configured to rotate the direction change rail (122) of the cross-shaped rail (120). For example, the rotation module (132) of the mobile robot (130) may be configured to be restricted from rotation by being caught on the fixed plate (121) in the docked state of the mobile robot (130). Thereafter, the rotation module (132) may be configured to rotate the mobile module (131) and the direction change rail (122) engaged with the mobile module (131) together in the restricted rotation state.

[0086] More specifically, the rotation module (132) may include the rotation drive unit (132a), the worm gear unit (132b), and the rotation base unit (132c) described above. Furthermore, the rotation base unit (132c) may include a worm wheel (132c2) that is engaged with the worm gear unit (132b). Here, the worm gear unit (132b) may be configured to move along the outer circumference of the worm wheel (132c2) when the mobile robot (130) is docked to the direction change rail (122) and the rotation of the worm wheel (132c2) is restricted, thereby rotating the mobile module (131) and the direction change rail (122) that is engaged with the mobile module (131) together.

[0087] In (b) of FIG. 2h, after the rotation base unit (132c) has been rotated counterclockwise by a predetermined angle, the worm gear unit (132b) is shown rotating counterclockwise with the worm wheel (132c2) as the rotation axis while the rotation is restricted. At this time, the worm gear unit (132b) rotatably installed on the mobile module (131) of the mobile robot (130) can be configured to rotate the mobile module (131) and the direction change rail (122) engaged with the mobile module (131) together in the counterclockwise direction.

[0088] Finally, as shown in (c) of FIG. 2h, the mobile robot (130) rotates 90 degrees counterclockwise from the state before the initial rotation, thereby changing direction to the second direction.

[0089] Meanwhile, Fig. 2i shows an example of a process of rotating clockwise in an intersection area of ​​a movement path of a mobile robot (130). For reference, the mobile robot (130) illustrated in Fig. 2i rotates in a direction opposite to that of the mobile robot (130) illustrated in Fig. 2h when changing directions, and a detailed description thereof will be omitted as it overlaps with the description in Fig. 2h.

[0090] As shown in (a) of FIG. 2i, the mobile robot (130) is placed in a docked state at the center of the cross rail (120) or the direction change rail (122) while moving in the first direction. At this time, the rotation base unit (132c) of the rotation module (132) rotates clockwise, and the worm wheel (132c2) provided on the rotation base unit (132c) also rotates clockwise by a predetermined angle and is then caught on the fixed plate (121) so that the rotation is restricted.

[0091] Next, as illustrated in (b) of FIG. 2i, the mobile robot (130) is placed in a docking state on the cross-shaped rail (120) or the fixed plate (121), and then the direction change rail (122) of the cross-shaped rail (120) is rotated clockwise. Here, after the rotation base unit (132c) is rotated clockwise by a predetermined angle, and its rotation is limited, the worm gear unit (132b) rotates clockwise with the worm wheel (132c2) as the rotation axis. At this time, the worm gear unit (132b) is configured to rotate the mobile module (131) and the direction change rail (122) engaged with the mobile module (131) together in the clockwise direction.

[0092] Finally, as shown in (c) of Fig. 2i, the mobile robot (130) is rotated 90 degrees clockwise from the state before the initial rotation, so that the direction is changed to the second direction.

[0093] Meanwhile, referring to FIGS. 2h and 2i, the rotation base unit (132c) is configured to not rotate together with the mobile module (131) while the direction of the mobile robot (130) is changed, and to maintain a state in which rotation is restricted. Accordingly, the robot arm mounted on the rotation module (132) can be configured to not rotate together with the mobile module (131) while the direction of the mobile robot (130) is changed, and to maintain a state in which rotation is restricted. Furthermore, the robot arm (133) mounted on the rotation module can stably maintain a horizontally arranged state on the mobile robot (130), and thus stably perform its main function of picking up the item (G).

[0094] According to the configuration of the mobile platform (100) described above, the mobile robot (130) can move along the movement path connected by a single line, and can be switched in the first direction or the second direction at the intersection area of ​​the movement path. Accordingly, it becomes possible to design the movement path of the mobile robot (130) more simply, thereby increasing the degree of freedom of the rail structure composed of the straight rail (110) and the cross-shaped rail (120).

[0095] In addition, the direction changing rail (122) of the cross-shaped rail (120) through which the movement path of the mobile robot (130) is changed to the first direction or the second direction is formed to have a cross shape, and the mobile robot (130) is configured to rotate the direction changing rail (122) while docked to the cross-shaped rail (120) or the fixed plate (121). Accordingly, the mobile platform (100) can more effectively change the movement path of the mobile robot (130) in a manner in which the mobile robot (130) rotates the direction changing rail (122) of the cross-shaped rail (120) without separately having a configuration for actually rotating the direction changing rail (122). In addition, even after the direction change rail (122) is rotated and the movement path of the mobile robot (130) is changed, the movement path in the intersection area is not blocked and remains connected, making it possible to simultaneously operate multiple mobile robots (130) moving along the movement path on the mobile platform (100).

[0096] Meanwhile, the moving platform (100) may include a plurality of tags (150). Each of the plurality of tags (150) may be matched to a plurality of linear rails (110).

[0097] In the present invention, the tag (150) may include at least one of i) April Tag, ii) bar code, and iii) QR code. For the convenience of explanation, the present invention will be described assuming that the type of tag attached to the moving platform (100) is April Tag. Here, “Tag” is a 2D bar code system widely used in computer vision and robotics, and may mean a visual tag that can be quickly and accurately detected in an image captured by a camera. The tag (150) of the present invention is configured in a square shape, has a unique binary pattern, and the control unit can detect the pattern to recognize the identity of the tag and calculate the position and direction of the tag.

[0098] A plurality of tags (150) may be positioned at each end of the matched straight rails (110). For example, as illustrated in FIG. 3, the plurality of tags (150) may be positioned in areas corresponding to both ends (or either one of the both ends) of the plurality of straight rails. More specifically, tags (151, 153, 155) matched to each of the transverse rails (111, 113, 115) may be positioned at each end of the longitudinal rails (110) extending in the first direction, and tags (112, 114) matched to each of the transverse rails (112, 114) may be positioned at each end of the transverse rails (112, 114) extending in the second direction.

[0099] Each of the plurality of tags (150) may include information about a matching linear rail (110). That is, the plurality of tags (150) may include information about the linear rail on which the tag is located.

[0100] Here, information about the straight rail may vary. For example, information about the straight rail may include information about whether the straight rail is a longitudinal rail extending along the first direction, information about whether the straight rail is a transverse rail extending along the second direction, and information about which axis the straight rail corresponds to.

[0101] For example, based on the direction in which the enlarged tags in Fig. 3 are located, let us assume that the plurality of longitudinal rails (111, 113, 115) are the first longitudinal rail (111), the second longitudinal rail (113), and the third longitudinal rail (115). The tags (151, 153, 155) located at one end of each of the first longitudinal rail (111), the second longitudinal rail (113), and the third longitudinal rail (115) may include information about which longitudinal rail each of the corresponding rails is.

[0102] In the robot control system (200) according to the present invention, through sensing of the mobile robot (130) for at least one of a plurality of tags (150), it is possible to specify the type of rail on which the mobile robot (130) is positioned (whether it is a horizontal rail or a vertical rail), the number of the rail on which the mobile robot (130) is positioned, the point on which the mobile robot (130) is positioned on the rail, and the degree of rotation of the mobile robot (130).

[0103] Meanwhile, in the present invention, by using multiple tags of different sizes together, errors occurring when using a single tag can be reduced, and the accuracy of calculating the position and direction of the tag can be improved.

[0104] As illustrated in FIG. 3, the tag (150) of the present invention has a total of eight tags, including four large tags and four small tags, and a 12-bit number is encoded for each tag to include various information for controlling the mobile robot (130). For example, the information included in the tag may be various, such as i) horizontal / vertical axis information of the rail on which the mobile robot (130) is currently located, ii) distance information to the tag (150) attached to the axis on which the mobile robot (130) is located, iii) 3D coordinate values ​​for each tag, and iv) CRC (Cyclic redundancy Check) tag value for error detection. Here, the “tag value” is a tag for determining whether the tag is recognized incorrectly, and can be understood as a tag value entered by performing an XOR operation on seven 12-bit tag values ​​excluding the CRC tag.

[0105] Specifically, when the first camera (133d1) or the second camera (133d2) of the mobile robot (130) of the present invention recognizes a tag, the robot control system can detect a tag recognition error by checking whether the recognized CRC tag value and the tag value calculated using 7 tags are the same.

[0106] In addition, the control unit (230) can improve the tag recognition accuracy by correcting the camera distortion of the cameras (133d1, 133d2) of the mobile robot (130). Specifically, the control unit (230) can recognize a plurality of reference tag images using the cameras (133d1, 133d2) of the mobile robot (130) and extract the tag value and corner coordinates of the tag from the recognized images. The control unit (230) can use the extracted information to extract the internal parameter information of the camera and perform camera distortion correction (or camera calibration) to improve the tag recognition accuracy.

[0107] The robot control system (200) according to the present invention can recognize the X, Y, Z axis movement direction or the ROLL, PITCH, YAW axis rotation direction of the three-dimensional coordinate system of the tag by using the information included in the tag (150), and can measure the distance from the mobile robot (130) to the tag in the X, Y, Z axis direction and the ROLL, PITCH, YAW axis rotation angle of the mobile robot (130).

[0108] Furthermore, the control unit (230) can control the movement and rotation of the mobile robot (150) by using the position of the mobile robot (130) in the X, Y, and Z axes with respect to the measured tag (150) and the rotation angles of the ROLL, PITCH, and YAW axes.

[0109] The control unit (230) according to the present invention can control the mobile robot (150) to move in at least one direction among the longitudinal direction and the transverse direction by using the tag (150). Specifically, the control unit can detect the information of the tag with the installed camera (133d1, 133d2) of the mobile robot (150), measure the distance between the mobile robot (150) and the tag, and control the mobile robot (130) to move to the target position.

[0110] For example, the control unit (230) can measure the distance between the mobile robot (150) and the tag using the triangulation principle. Here, the “triangulation principle” is a principle that can calculate the distance between the mobile robot and the tag (150) using the internal parameters of the camera (e.g., focal length, sensor size, etc.), the actual size of the tag, and the size of the tag observed in the image captured by the camera. The distance (D) between the mobile robot (130) and the tag (150) can be expressed as in [Mathematical Formula 1] below.

[0111] [Mathematical Formula 1]

[0112]

[0113] Here, W is the actual size of the tag, w is the size of the tag measured using the corner coordinates of the tag recognized in the camera image, and f can be understood as the focal length, which is an internal camera parameter measured by performing camera distortion correction.

[0114] As another example, the control unit (230) can measure the distance between the mobile robot (130) and the tag (150) using the PnP (Perspective-n-Point) algorithm. Here, the PnP algorithm is an algorithm that calculates the position of the camera using the coordinates of n points in 3D space and the coordinates of the points projected onto a 2D image, and the control unit (230) can calculate the position of the mobile robot (130) using the PnP algorithm and calculate the distance vector from the center of the tag to the cameras (133d1, 133d2) of the mobile robot (130).

[0115] Next, the control unit (230) according to the present invention can control the mobile robot (150) to rotate in at least one direction among the longitudinal direction and the transverse direction by using the tag (150). Specifically, the control unit (230) can detect the information of the tag using the installed cameras (133d1, 133d2) of the mobile robot (150), measure the angle at which the mobile robot (130) rotates, and control the mobile robot (130) to rotate in a target direction. For example, the control unit (230) can measure the angle at which the mobile robot (130) rotates by using the PnP (Perspective-n-Point) algorithm.

[0116] As in the distance measurement method described above, the control unit (230) can measure the rotation angle of the mobile robot (130) using the internal parameters of the camera (e.g., focal length, sensor size, etc.), the actual size of the tag, and the size of the tag observed in the image captured by the camera, using a method using the PnP algorithm.

[0117] Specifically, the control unit (150) can extract the corner coordinates of the tag (150) recognized by the camera (133d1, 133d2) of the mobile robot (130) and use the PnP algorithm for the information of the extracted tag. Furthermore, the control unit (230) can convert the rotation vector of the mobile robot (130) calculated by the PnP algorithm into a rotation matrix to measure the plane angle between the mobile robot (130) and the tag (150). Accordingly, the control unit (230) can control the mobile robot (130) to rotate to a target state using the measured ROLL, PITCH, and YAW axis rotation angles of the mobile robot (130).

[0118] Meanwhile, as previously described, the mobile robot (130) may be equipped with multiple cameras (133d1 and 133d2). The control unit (230) may control the tag (150) to be sensed by at least one of the multiple cameras (133d1 and 133d2) equipped on the mobile robot (130).

[0119] The control unit (230) can activate a specific camera among the plurality of cameras (133d1 and 133d2) depending on which direction the mobile robot (130) moves in among the first direction and the second direction, and control the tag to be sensed. In this case, the plurality of cameras (133d1 and 133d2) can be provided in the mobile robot (130) so as to facilitate sensing of a tag located in either the first direction or the second direction. That is, the control unit (230) can activate a specific camera so that a tag located in front of the mobile robot (130) is sensed depending on which direction the mobile robot (130) moves in among the first direction and the second direction.

[0120] For example, as illustrated in FIG. 4a, when the mobile robot (130) moves in a first direction (longitudinal direction or vertical direction), the control unit (230) can control the mobile robot (130) so that a tag (155) located in the first direction is sensed by a first camera (ex: upper camera, 133d1) among the plurality of cameras. In contrast, as illustrated in FIG. 4b, when the mobile robot (130) moves in a second direction (lateral direction or horizontal direction), the control unit (230) can control the mobile robot (130) so that a tag (152) located in the second direction is sensed by a second camera (ex: upper camera, 133d2) among the plurality of cameras.

[0121] Hereinafter, a method for determining the location of a mobile robot (130) on a mobile platform (100) and controlling longitudinal / lateral movement and rotation of the mobile robot (130) based on tag sensing of the mobile robot (130) will be described in more detail.

[0122] In the present invention, a process may be performed in which a movement path of a mobile robot is specified so that the mobile robot moves to a destination (S410, see FIG. 4).

[0123] The control unit (230) can generate a movement path of the mobile robot (130) on its own, or can generate a movement path from a server (e.g., cloud server, 20). In the present invention, the entity that generates the movement path is not specifically distinguished, and the following description will be unified as the control unit (230). However, at least some functions of the mobile robot control system (200) according to the present invention can be performed by the cloud server (20), and thus, in the present invention, the mobile robot control system (200) and the cloud server (20) can be used interchangeably.

[0124] When movement of the mobile robot (130) is required, the control unit (230) can specify a movement path (610) of the mobile robot (130) that includes at least one of a plurality of rails. For example, as shown in (a) of FIG. 6, assume that the mobile robot (130) must move from a first position to a second position (A) different from the first position. The control unit (230) can specify a movement path (610) that includes a third longitudinal rail (605) among the first to third longitudinal rails (601, 603, 605) and a third transverse rail (606) among the first to third transverse rails (602, 604, 606).

[0125] The control unit (230) can specify the movement path of the mobile robot (130) by considering various information. The control unit (230) can specify the movement path of the specific mobile robot (130) by considering a mobile robot other than the specific mobile robot (130). Furthermore, the control unit (230) can specify the movement path by considering a change in direction in a specific movement direction. More specifically, the control unit (230) can specify the movement path of the mobile robot (130) so that the change in direction of the mobile robot (130) is minimized in the intersection area. For example, even if the movement path of the first path is longer than the movement path of the second path, if the change in direction is less in the intersection area, the control unit (230) can specify the first path as the movement path of the mobile robot (130). Details related to generation of the movement path of the mobile robot (130) will be described later.

[0126] In the present invention, a process of controlling the movement of a mobile robot so that the mobile robot moves in a first direction or a second direction along a movement path and reaches a destination can be performed (S420, see FIG. 4).

[0127] In the present invention, the “first direction” can be understood to correspond to the longitudinal direction of the longitudinal rails (601, 603, 605). In the present invention, the direction of movement of the mobile robot (130) moving on the longitudinal rails (601, 603, 605) can be referred to as the “first direction” or “vertical direction”, “longitudinal direction” or “column direction”.

[0128] And in the present invention, the “second direction” can be understood to correspond to the longitudinal direction of the transverse rail (602, 604, 606). In the present invention, the direction of movement of the mobile robot (130) moving on the transverse rail (602, 604, 606) can be named “second direction,” “transverse direction,” “horizontal direction,” or “row direction.”

[0129] The control unit (230) can control the mobile robot (130) to move in a first direction or a second direction depending on whether the type of rail included in the movement path is a longitudinal rail or a longitudinal rail. As illustrated in (a) of FIG. 6A, the control unit (230) can control the mobile robot (130) to move in a first direction (longitudinal direction) on a longitudinal rail (605) included in the movement path (610), and can control the mobile robot (130) to move in a second direction (transverse direction) on a transverse rail (606) included in the movement path (610).

[0130] Meanwhile, the control unit (230) can control the movement direction of the mobile robot (130) to be changed from one of the first direction and the second direction to the other based on the occurrence of a direction change event (or rotation event) of the mobile robot (130) moving in one of the first and second directions.

[0131] As illustrated in (a) of FIG. 6A, in the present invention, the area where the longitudinal rail (605) and the transverse rail (606) intersect may be referred to as an intersection area (C). When the mobile robot (130) is moving in either the first or second direction and the intersection area (C) appears, it needs to change direction to the other direction, and this situation may be referred to as a “direction change event (or rotation event)” in the present invention.

[0132] The control unit (230) can control the mobile robot (130) to change direction in the intersection area based on the occurrence of a direction change event.

[0133] As described above, the moving platform (100) of the present invention includes a straight rail (110) and a cross-shaped rail (120), and the cross-shaped rail (120) can be configured to be rotatable.

[0134] The control unit (230) can control the mobile robot (130) so that the mobile robot (130) docks onto the cross-shaped rail (120). In addition, the control unit (230) can control the mobile robot (130) so that the direction of the mobile robot (130) changes by rotating the cross-shaped rail (120) while the mobile robot (130) is docked onto the cross-shaped rail (120).

[0135] In the present invention, “docking of the mobile robot (130) and the cross-shaped rail (120)” may mean a state in which the rotational motion of a portion of the mobile robot (130) is restricted while the mobile robot (130) is positioned on the cross-shaped rail (120) or the fixed plate (121). In the docking state, the portion of the mobile robot (130) whose rotation is restricted may be the rotation module (132). In addition, the operation in which the rotation of the rotation module (132) is restricted may be implemented by a structure in which a portion of the rotation module (132) is caught on the fixed plate (121).

[0136] As described above, in the present invention, the mobile robot (130) and the cross-shaped rail (120) may be configured to be hooked to each other. The mobile robot (130) may include a plurality of hooking projections (132c3), and the cross-shaped rail (120) may include a stopper (121b) on which the hooking projections (132c3) are hooked. In the present invention, when the hooking projections (132c3) of the mobile robot (130) are hooked to the stoppers (121b) of the cross-shaped rail, the rotation of the rotation module (132) of the mobile robot (130) is restricted, and this state may be referred to as “docking,” “hooking,” “parking,” and “alignment.”

[0137] In the present invention, based on the occurrence of a direction change event of the mobile robot (130), the mobile robot (130) can be controlled so that the hooking projection (132c3) of the mobile robot (130) is hooked to the stopper (121b).

[0138] More specifically, a plurality of stoppers (121b) may be arranged at regular intervals to form a space through which a catch protrusion (132c3) of a mobile robot (130) can pass. The control unit (230) may control the catch protrusion (132c3) of the mobile robot (130) to pass through the plurality of stoppers (121b) of the cross-shaped rail (120) when the mobile robot (130) moves straight in the intersection area. On the other hand, the control unit (230) may control the mobile robot (130) to catch the catch protrusion (132c3) of the mobile robot (130) on the stopper (121b) of the cross-shaped rail (120) when a direction change event of the mobile robot (130) occurs in the intersection area.

[0139] In order for the hooking projection of the mobile robot (130) to be hooked on the stopper of the cross-shaped rail (120), the mobile robot (130) must be positioned in the correct docking area, and errors may occur in the position control of the mobile robot (130) due to external factors such as the weight of the item loaded on the mobile robot (130), slippage between the mobile robot (130) and the rail, or backlash of the gear. Therefore, in the present invention, in a situation where docking is required, a tag provided on the mobile platform (100) can be used to precisely and accurately control the mobile robot (130) so that the hooking projection of the mobile robot (130) is accurately hooked on the stopper of the cross-shaped rail (120) and docked.

[0140] If there is an intersection area on the movement path where a direction change occurs from one of the first direction and the second direction to the other, the control unit (230) can control the mobile robot (130) so that a tag located along the first direction or the second direction based on the intersection area is sensed.

[0141] As illustrated in (b) of FIG. 6a, when a direction change event occurs while the mobile robot (130) is moving in a specific movement direction (first direction, longitudinal axis direction) along a movement path, the control unit (230) can control the mobile robot (130) so that a tag (T5) located at one end of the rail on which the mobile robot (130) is located is sensed. That is, the control unit (230) can control the mobile robot (130) so that a tag (T5) located at the front of the mobile robot (130) is sensed. The tag (T5) located at the front of the mobile robot (130) may be a tag matched to the rail (605) on which the mobile robot (130) is located.

[0142] As described above, the control unit (230) can control the mobile robot (130) to recognize a specific tag (T5) by activating a camera equipped in the mobile robot (130). In this case, the control unit (230) can control either the first camera (e.g., an upper camera) or the second camera (e.g., a loading tray camera) to be activated depending on the movement direction of the mobile robot (130), so that the tag (T5) located in the movement direction of the mobile robot (130) can be sensed.

[0143] The control unit (230) can control the mobile robot (130) to accurately dock on the cross-shaped rail (120) located in the intersection area (C) based on tag recognition.

[0144] The control unit (230) can perform positioning of the mobile robot (130) based on tag recognition. The control unit (230) can check the relative distance between the recognized tag (T5) and the mobile robot (130) and determine the location of the mobile robot (130) based on the relative distance. In this case, the control unit (230) can also determine the relative location of the mobile robot (130) and the cross-shaped rail (120) based on the relative distance between the tag (T5) and the mobile robot (130).

[0145] More specifically, the control unit (230) can obtain distance information about the distance that the mobile robot (130) is from the sensed tag from the sensing information sensed through tag sensing located in the moving direction of the mobile robot (130). Furthermore, the control unit (230) can specify the location of the mobile robot (130) on a specific rail based on the distance information.

[0146] The control unit (230) can control the movement of the mobile robot (130) based on a specific location of the mobile robot (130) so that the mobile robot (130) moves in a specific direction along a straight rail and parks at a rotational intersection in an intersection area where a cross-shaped rail is located.

[0147] The control unit (230) can update the position of the mobile robot (130) on the straight rail through specific tag sensing until the mobile robot (130) completes parking at the rotary intersection. In addition, the control unit (230) can complete parking at the rotary intersection when the mobile robot (130) is positioned at the correct position of the rotary intersection.

[0148] As illustrated in (a) of FIG. 6b, the control unit (230) can move the position of the mobile robot (130) based on the relative distance between the recognized tag (T5) and the mobile robot (130), so that the mobile robot (130) is located at the center of the cross-shaped rail (120) located in the intersection area (C) and docked.

[0149] The control unit (230) can specify coordinate information of the mobile robot (130) from the tag (T5) and control the mobile robot (130) to be accurately positioned in the intersection area. For example, the control unit (230) can specify Z-axis position coordinate information of the mobile robot (130) based on the relative distance between the tag (T5) and the mobile robot (130), and the control unit (230) can control the mobile robot (130) to be accurately positioned in the intersection area based on the Z-axis position coordinate information.

[0150] Meanwhile, the control unit (230) can control the mobile robot (130) to park (or dock) in a state where the hooking projection (132c3) of the mobile robot (130) is hooked to the stopper (121b) of the cross-shaped rail (120) based on the position of the mobile robot (130).

[0151] The control unit (230) can move the mobile robot (130) so that the hook projection (132c3) of the mobile robot (130) is hooked to the stopper (121b) of the cross-shaped rail (120) located in the intersection area based on the recognized tag (T5).

[0152] More specifically, the control unit (230) can move the mobile robot (130) so that the catch (132c3) of the mobile robot (130) is positioned in an area corresponding to the stopper (121b) of the cross-shaped rail (120) based on the relative distance between the tag (T5), the mobile robot (130) and the cross-shaped rail (120) located in the intersection area. For example, as illustrated in (a) of FIG. 6b, the control unit (230) can move the mobile robot (130) so that the mobile robot (130) is positioned in the center of the intersection area (or the cross-shaped rail). The control unit (230) can control the mobile robot (130) so that the rotation module (132) of the mobile robot (130) rotates by a predetermined angle so that the hooking protrusion (132c3) of the mobile robot (130) is hooked to the stopper (121b) of the cross-shaped rail (120) when the hooking protrusion (132c3) of the mobile robot (130) is located in an area corresponding to the stopper (121b) of the cross-shaped rail (120).

[0153] That is, the control unit (230) can control the position and operation of the mobile robot (130) using the tag (T5) so that the mobile robot (130) and the cross-shaped rail are interlocked with each other. In this way, when the mobile robot (130) is docked to the cross-shaped rail (120), the rotation of the rotation module (132) of the mobile robot (130) can be restricted.

[0154] The control unit (230) can rotate the mobile robot (130) from the first direction to the second direction based on the completion of parking of the mobile robot (130). The control unit (230) can be performed while the mobile robot (130) is docked to a cross-shaped rail (120) corresponding to a rotational intersection.

[0155] As described above, the cross rail (120) included in the mobile platform (100) of the present invention may include a fixed plate (121) arranged in a cross area, and a direction change rail (122) formed to be rotatable with respect to the fixed plate (121) and forming a movement path connected to the linear rail. The "* change rail (122) is formed to be rotatable with respect to the fixed plate (121), and the fixed plate (121) may include a stopper (121b) on which a hook projection (132c3) of the mobile robot (130) is hooked.

[0156] Furthermore, the mobile robot (130) may include a mobile module (131) that is formed to be capable of traveling while grounded on a rail, and a rotation module (132) that is coupled to the mobile module so as to be able to rotate relative to the mobile module. In the present invention, when the mobile robot (130) and the cross-shaped rail (120) are docked, the rotation of the rotation module (132) may be restricted.

[0157] The control unit (230) can control the mobile robot (130) so that the mobile module (133) of the mobile robot (130) and the direction change rail (122) of the cross-shaped rail (120) interlocked with the mobile module (133) rotate together while the rotation of the rotation module (132) of the mobile robot (130) is fixed and limited.

[0158] That is, in the present invention, the direction change of the mobile robot (130) can be achieved by rotating the mobile module (131) of the mobile robot (130) and the direction change rail (122) of the cross rail (120) together while the mobile robot (130) is docked to the cross rail (120) and the rotation module (132) of the mobile robot (130) is fixed.

[0159] Meanwhile, the control unit (230) can control the rotation of the mobile robot (130) in the intersection area through tag sensing.

[0160] Specifically, the control unit (230) can extract rotation angle information about the rotation of the mobile robot (130) from the tag sensed by the mobile robot (130). Then, the control unit (230) can use the extracted rotation angle information to rotate the mobile robot (130) clockwise or counterclockwise according to the movement path of the mobile robot (130).

[0161] Furthermore, the control unit (230) can rotate the mobile robot (130) until the rotation angle of the mobile robot (130) becomes a preset angle (e.g., 90 degrees). In addition, the control unit (230) can control the mobile robot (130) to move along a straight rail in a direction different from the original direction when the rotation is completed. For example, as illustrated in (b) of FIG. 6B, the control unit (230) can control the mobile robot (130) to move in a second direction along the transverse rail (606) after rotating the mobile robot (130) that was moving in a first direction (longitudinal direction) along the longitudinal rail (605) counterclockwise.

[0162] The control unit (230) can extract rotation angle information of the mobile robot (130) based on sensing information sensed from each of the tags (T5) located at one end of the longitudinal rail (605) and the tags (T2) located at one end of the transverse rail (606) during the process of the mobile robot (130) rotating in the intersection area.

[0163] That is, the control unit (230) can specify the rotation angle of the mobile robot (130) by using the tag (T5) located in the movement direction of the mobile robot (130) before rotation and the tag (T2) located in the movement direction of the mobile robot (130) after rotation.

[0164] Hereinafter, for the convenience of explanation, the direction of movement before rotation is referred to as the first direction (longitudinal direction), and the direction of movement of the mobile robot (130) after rotation is referred to as the second direction (horizontal direction). In addition, the rail corresponding to the first direction is referred to as the first linear rail (605), and the tag located at one end of the first linear rail (605) is referred to as the first tag (T5), and the rail corresponding to the second direction is referred to as the second linear rail (606), and the tag located at one end of the second linear rail (606) is referred to as the second tag (T2).

[0165] The control unit (230) can determine the rotation angle of the mobile robot (130) based on the degree of rotation of the mobile robot from the first tag (T5) and, if the degree of rotation of the mobile robot (130) from the first tag (T5) satisfies a preset standard after the rotation is performed based on the degree of rotation of the mobile robot from the second tag (T2).

[0166] The control unit (230) can primarily determine the degree of rotation of the mobile robot (130) based on the rotation angle information extracted from the first tag (T5). In addition, the control unit (230) can control the mobile robot (130) so that the second tag (T2) is sensed based on the degree of rotation of the mobile robot (130) satisfying a preset standard based on the first tag (T5). The control unit (230) can secondarily determine the rotation angle at which the mobile robot (130) rotates based on the second tag (T2).

[0167] Here, the preset criteria can be set in various ways. For example, if the degree to which the mobile robot (130) has rotated with respect to the first tag (T5) is preset, the control unit (230) can determine that the preset criteria has been satisfied based on the fact that the mobile robot (130) has rotated by the preset angle. As another example, the control unit (230) can determine whether the preset criteria have been satisfied based on the inclusion of the second tag in the detectable area of ​​the cameras (133d1, 133d2) mounted on the mobile robot (130).

[0168] When the rotation of the mobile robot (130) in the intersection area is completed, the control unit (230) can sense the second tag (T2) located at one end of the second linear rail to determine the position of the mobile robot on the second linear rail. Then, the control unit (230) can control the mobile robot (130) to move to the destination based on the position of the mobile robot (130) on the second linear rail. For example, as illustrated in (b) of FIG. 6B, the control unit (230) can control the mobile robot (130) to move to the destination based on sensing of the tag (T2) located in the second direction when the mobile robot (130) has completed rotation from the first direction to the second direction.

[0169] Meanwhile, in the present invention, the movement path of the mobile robot (130) can be specified so that the mobile robot (130) moves along a plurality of linear rails (110). As described above, the movement path of the mobile robot (130) in the present invention can be generated by the control unit (230) of the robot control system (200) or the cloud server (20) linked to the robot control system (200). For convenience of explanation, the following description will focus on the control unit (230) of the robot control system (200).

[0170] The control unit (230) can control at least one tag to be sensed by a specific mobile robot (130) in order to specify the location of a specific mobile robot (130) that is a moving target.

[0171] The control unit (230) can receive sensing information based on the tag being sensed by the camera (133d1, 133d2) of a specific mobile robot (130). The control unit (230) can specify the starting position of the mobile robot (130) based on the sensing information (e.g., whether the rail on which the mobile robot (130) is located is a horizontal rail or a vertical rail, and which rail it is and at which point on the rail it is located, etc.). The method for specifying the starting position of the mobile robot (130) using the sensing information sensed by the tag is the same as described above, and therefore, detailed descriptions thereof will be omitted.

[0172] The control unit (230) can specify at least one linear rail (110) including the starting position and destination of a specific mobile robot (130), and generate a movement path of the mobile robot (130) using the specified linear rail.

[0173] In this case, the control unit (230) can generate a movement path of a specific mobile robot (130) by considering a different mobile robot (130) than the specific mobile robot (130). For example, as illustrated in (a) of FIG. 7, the control unit (230) can generate a movement path (710) of a specific mobile robot (130) so as to avoid another mobile robot (130a).

[0174] Furthermore, the control unit (230) can generate a movement path of a specific mobile robot (130) so that the number of direction changes (or rotations) of the specific mobile robot (130) is minimized. That is, the control unit (230) can generate a movement path of a specific mobile robot (130) so that the number of intersection areas requiring wandering changes of the specific mobile robot (130) is minimized. For example, as shown in (b) of FIG. 7, assume that the shortest movement path (720) from the starting position of the specific mobile robot (130) to the destination includes “four” intersection areas (C). The control unit (230) can generate a movement path (reference numeral “710” in (a) of FIG. 7) that includes fewer intersection areas as the movement path of the specific mobile robot (130), even if it takes a turn compared to the shortest movement path (720).

[0175] The control unit (230) according to the present invention can control the robot arm (133) to recognize the loading tray (102) and attach the loading gripper drive unit (134) to the loading tray (102). Furthermore, the control unit (230) can move the loading tray (102) attached to the robot arm (133) to a specific position, and repeat the process of detaching the loading tray from the target position, thereby performing an item loading operation.

[0176] Referring to FIGS. 8 and 9, the robot control system (200) can apply power to the mobile robot (130) to perform an item loading task (S911). Furthermore, when power is applied to the mobile robot (130), the robot control system (200) can initialize the drive unit of the mobile robot (130) (S912). Specifically, when the drive unit is initialized, the control unit (230) rotates the robot arm (133) and the loading gripper drive unit (134) in the same direction, and when the robot arm (133) stops at a specific location due to mechanical interference, and the torque increases above a certain level, the location can be specified as the initial point.

[0177] Meanwhile, the robot control system (200) can input a target position to the mobile robot (130) so that the mobile robot (130) located at the initial point can perform the task of loading goods (S913).

[0178] As described above, the control unit (230) according to the present invention can move the mobile robot (130) that has received the target position to the target position (S914).

[0179] Furthermore, when the mobile robot (130) reaches the target position, the control unit (230) can move the robot arm (133) to fix the mobile module (131) to the rail (110, 120) and fasten the loading gripper drive unit (134) to the target loading tray (S915).

[0180] Furthermore, the control unit (230) can recognize the target loading tray (102) to load an item, and control the posture of the loading gripper driving unit (134) to dock the loading gripper to the docking slot of the loading tray (102) of the target item (S916). Specifically, the control unit (230) can recognize information related to the loading tray (102) using the second camera (or loading tray camera, 133d2) mounted on the robot arm (133). Here, “information related to the loading tray (102)” can include various information such as i) information about the item contained in the loading tray, and ii) location information of the loading tray (102). In addition, the loading tray (102) can be provided with a fixing bracket capable of attaching the tag on which the location information of the loading tray (102) and information about the item contained in the loading tray (102) are recorded.

[0181] Specifically, the control unit (230) can recognize a tag attached to the fixed bracket using the second camera (133d2). Furthermore, if the information of the recognized tag matches the target information, the control unit (230) can perform a tray fastening operation. Here, the tray fastening operation can be understood as the control unit (230) docking the loading gripper of the robot arm (133) to the docking slot of the loading tray (102).

[0182] Furthermore, the control unit (230) can measure the distance and the fastening entry angle between the loading gripper drive unit (134) and the loading tray (102) using the tag attached to the loading tray (102) and the second camera (133d2) to perform the tray fastening operation.

[0183] As described above, the control unit (230) can recognize the X, Y, Z axis movement direction or the ROLL, PITCH, YAW axis rotation direction of the three-dimensional coordinate system of the tag using the information included in the tag, and measure the distance in the X, Y, Z axis direction from the loading gripper drive unit (134) to the loading tray (102) and the ROLL, PITCH, YAW axis rotation angle of the loading gripper drive unit (134).

[0184] Specifically, the control unit can measure the position of the loading gripper drive unit (134) in the X, Y, and Z axes and the rotation angles of the ROLL, PITCH, and YAW axes with respect to the tag (150) and the second camera (133d2) installed in the mobile robot (130), and control the movement and rotation of the loading gripper drive unit (134).

[0185] The control unit (230) of the present invention can measure the distance and rotation angle between the loading gripper drive unit (134) and the loading tray (102) using a PnP (Perspective-n-Point) algorithm using tags and cameras, similar to the method used when the mobile robot (130) is driven. As described above, the PnP algorithm is an algorithm that calculates the position of the camera using the coordinates of n points in 3D space and the coordinates of the points projected onto a 2D image. Specifically, the control unit (230) can calculate the position of the loading gripper drive unit (134) and calculate the distance vector and rotation vector from the center of the tag to the second camera (133d2) of the mobile robot (130) using the internal parameters of the camera (e.g., focal length, sensor size, etc.), the actual size of the tag, and the size of the tag observed in the image captured by the camera) using the PnP algorithm.

[0186] Accordingly, the control unit (230) can measure the distance in the X, Y, and Z axes from the loading gripper drive unit (134) to the loading tray (102) and the ROLL, PITCH, and YAW axes rotation angles of the loading gripper drive unit (134) using the above calculated values. Furthermore, the control unit (230) can perform a tray locking operation by controlling the distance and locking entry angle so that the loading gripper is docked to the docking slot of the loading tray (102) (S917).

[0187] Meanwhile, the control unit (230) can control the mobile robot (130) to move to the desired target location when the target loading tray (102) is fastened to the loading gripper driving unit (134) (S918).

[0188] Specifically, the control unit (230) can control the shape and position of the robot arm (133) to stably move an object for the dynamic stability of the mobile platform (100) and the mobile robot (130) when the mobile robot (130) is driving.

[0189] Referring to FIG. 8, the control unit (230) according to the present invention can control the shape of the robot arm (133) when the mobile robot (130) moves in a straight line or rotates on the rail (110, 120) of the mobile platform (100), thereby ensuring the dynamic stability of the mobile platform (100) and the mobile robot (130).

[0190] Specifically, when the control unit (230) controls the mobile robot (130) to move linearly or rotately on the rails (110, 120) of the mobile platform (100), the moment of inertia value of the mobile robot (130) may vary depending on the shape of the robot arm (133). As a result, vibration may be induced in the mobile robot (130) and the mobile platform (100) or a high torque (or rotational force) may be applied to the rotation module (132) due to the change in the moment of inertia of the mobile robot (130). Here, the “moment of inertia value of the mobile robot (130)” is a physical quantity indicating the degree to which the robot arm (133) loaded with an item resists rotation when the mobile robot (130) moves linearly or rotates, and it can be understood that the moment of inertia value of the robot arm (133) increases as it moves away from the rotation axis of the rotation module (132).

[0191] Accordingly, the control unit (230) can control the shape of the robot arm (133) when the mobile robot (130) moves in a straight line or rotates, thereby reducing the moment of inertia value of the mobile robot (130), and can secure the dynamic stability of the mobile platform (100) and the mobile robot (130) along with vibration suppression.

[0192] For example, as illustrated in (a) of FIG. 8A, when the robot arm (133) is in an unfolded state, the center of mass (810) of the robot arm (133) is far from the rotation axis (830) of the rotation module (132), so that the moment of inertia of the mobile robot (130) may have a relatively large value. Accordingly, when the mobile robot (130) moves in a straight line or rotates by the control unit (230), the moment of inertia may have a large value, causing vibration and applying a high torque to the rotation module (132), so that the dynamic stability of the mobile platform (100) and the mobile robot (130) may deteriorate.

[0193] On the other hand, as illustrated in (b) of FIG. 8a, when the shape of the robot arm (133) is folded, the center of mass (820) of the robot arm (133) is close to the rotation axis (830) of the rotation module (132), so that the moment of inertia value of the mobile robot (130) can have a relatively small value. Accordingly, when the mobile robot (130) moves in a straight line or rotates by the control unit (230), vibration is suppressed, and the torque acting on the rotation module (132) is minimized, so that the dynamic stability of the mobile platform (100) and the mobile robot (130) can be secured.

[0194] Accordingly, the control unit (230) of the present invention controls the shape of the robot arm (133) so that the distance between the center of mass of the robot arm (133) and the rotation axis of the rotation module (132) is minimized when the mobile robot (130) moves straight or rotates in a vertical or horizontal direction on the rail (110, 120) of the mobile platform (100), thereby ensuring the dynamic stability of the mobile platform (100) and the mobile robot (130).

[0195] Meanwhile, the control unit (230) according to the present invention can control the position of the robot arm (133) when the mobile robot (130) is docked to the direction change rail (122) of the mobile platform (100) and rotates, thereby ensuring the dynamic stability of the mobile platform (100) and the mobile robot (130).

[0196] Specifically, when the control unit (230) controls the mobile robot (130) to dock on the direction change rail (122) of the mobile platform (100) and rotate, the torque applied to the rotation module (132) may vary depending on the position of the robot arm (133). As a result, an excessive load may be applied to the rotation module (132), or when the control unit (230) controls the mobile robot (130) to move straight or rotate on the rail (110, 120) of the mobile platform (100), a high torque may be applied to the rotation module (132), which may deteriorate the dynamic stability of the mobile platform (100) and the mobile robot (130).

[0197] Accordingly, the control unit (230) of the present invention can reduce the load applied to the rotation module (132) of the mobile robot (130) and control the robot arm (133) to maintain a counter balance for stable rotational movement of the mobile robot (130). Here, “counter balance” may refer to a force applied in the opposite direction of rotation to maintain balance during the rotational movement of the mobile robot (130). Furthermore, the counter balance can provide dynamic stability by offsetting the influence of gravity in various machines and structures or dispersing a force excessively applied to a specific part.

[0198] For example, as illustrated in (a) of FIG. 8b, when the mobile robot (130) is docked to the direction change rail (122) of the mobile platform (100) by the control unit (230) and rotates, if the direction of gravity for the robot arm (133) and the direction of rotation of the mobile robot (130) are the same, the direction of the torque generated by gravity acting on the robot arm (133) and the direction of the torque acting on the rotation module (132) when the mobile robot (130) rotates may become the same. As a result, an excessive load may be applied to the rotation module (132), which may deteriorate the dynamic stability of the mobile robot (130).

[0199] On the other hand, as illustrated in (b) of FIG. 8b, when the mobile robot (130) is docked to the direction change rail (122) of the mobile platform (100) and rotates by the control unit (230), if the direction of gravity for the robot arm (133) is opposite to the direction of rotation of the mobile robot (130), the torque generated by the gravity acting on the robot arm (133) can act as a counter balance during the rotational movement of the mobile robot (130).

[0200] Specifically, the torque generated by gravity acting on the robot arm (133) can act in the opposite direction to the torque acting on the rotation module (132) when the mobile robot (130) rotates. This reduces the load acting on the rotation module (132), allows the mobile robot (130) to rotate with a relatively small torque, and reduces vibrations generated during rotation, thereby ensuring the dynamic stability of the mobile robot (130).

[0201] Accordingly, the control unit (230) of the present invention can control the position of the robot arm (133) so that the torque generated by gravity acting on the robot arm (133) and the torque acting on the rotation module (132) when the mobile robot (130) is docked to the direction change rail (122) of the mobile platform (100) and rotates in a vertical or horizontal direction act in opposite directions. Through this, the control unit (230) can cancel out the torque acting in opposite directions on the rotation module (132), thereby reducing the load applied to the rotation module (132), and perform the rotational motion of the mobile robot (130) with a small torque, thereby ensuring the dynamic stability of the mobile platform (100) and the mobile robot (130) along with vibration suppression.

[0202] In this way, the control unit (230) can control the mobile robot (130) to stably move the loaded item to the target location.

[0203] Meanwhile, the control unit (230) can move the robot arm (133) to separate the loading tray (102) from the loading gripper drive unit (134) of the mobile robot (130) located at the target (S919).

[0204] Furthermore, the control unit (230) can perform the tray fastening operation in the reverse direction to separate the loading gripper from the docking slot of the loading tray (102) (S920).

[0205] Meanwhile, when the separation task of the loading tray (102) is completed, the control unit (230) can control the mobile robot (130) to be aligned to the initial position so as to perform the next item loading task by initializing the drive unit for the mobile robot (130) again (S921).

[0206] Meanwhile, a method and system for controlling a mobile robot according to the present invention are for controlling a mobile robot moving in a first direction or a second direction perpendicular to the first direction on a mobile platform including a plurality of rails, and a movement path of the mobile robot is specified so that the mobile robot moves to a destination, and the movement of the mobile robot can be controlled so that the mobile robot moves in the first direction or the second direction along the movement path and reaches the destination. Through this, the mobile platform of the present invention is configured simply by increasing the degree of freedom of the rail structure, so that it can be installed even in a relatively narrow space, and various robot services, such as transporting goods, can be provided through the mobile robot.

[0207] Furthermore, the mobile robot control method and system according to the present invention can sense a tag located along the first direction or the second direction in the case where an intersection area exists on the movement path where a direction change occurs from one of the first direction and the second direction to the other. In the present invention, the location of the mobile robot can be identified based on tag sensing, and the mobile robot can be accurately positioned in the intersection area. Therefore, in the present invention, the mobile robot can safely rotate and change direction.

[0208] The method and system for controlling a mobile robot according to the present invention are for controlling a mobile robot moving in a first direction or a second direction perpendicular to the first direction on a mobile platform including a plurality of rails, wherein a movement path of the mobile robot is specified so that the mobile robot moves to a destination, and the movement of the mobile robot can be controlled so that the mobile robot moves in the first direction or the second direction along the movement path and reaches the destination. Through this, the mobile platform of the present invention is configured simply by increasing the degree of freedom of the rail structure, so that it can be installed even in relatively narrow spaces, and various robot services, such as transporting goods, can be provided through the mobile robot.

[0209] Furthermore, the mobile robot control method and system according to the present invention can sense a tag located along the first direction or the second direction in the case where an intersection area exists on the movement path where a direction change occurs from one of the first direction and the second direction to the other. In the present invention, the location of the mobile robot can be identified based on tag sensing, and the mobile robot can be accurately positioned in the intersection area. Therefore, in the present invention, the mobile robot can safely rotate and change direction.

[0210] Meanwhile, the present invention discussed above can be implemented as a program that is executed by one or more processes on a computer and can be stored on a medium that can be read by the computer.

[0211] Furthermore, the present invention discussed above can be implemented as computer-readable code or instructions on a program-recorded medium. That is, the various control methods according to the present invention can be provided in the form of programs, either integrated or individually.

[0212] Meanwhile, computer-readable media include all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include hard disk drives (HDDs), solid-state disk drives (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices.

[0213] Furthermore, the computer-readable medium may include a storage device and may be a server or cloud storage device accessible via communication. In this case, the computer may download the program according to the present invention from the server or cloud storage device via wired or wireless communication.

[0214] Furthermore, in the present invention, the computer described above is an electronic device equipped with a processor, i.e., a CPU (Central Processing Unit), and there is no particular limitation on its type.

[0215] Meanwhile, the above detailed description should not be construed as limiting in any respect and should be considered illustrative. 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. A method for controlling a mobile robot moving in a first direction or a second direction perpendicular to the first direction on a mobile platform including a plurality of rails, A step of specifying a movement path of the mobile robot so that the mobile robot moves to a destination; and A step of controlling the movement of the mobile robot so that the mobile robot moves in the first direction or the second direction along the movement path and reaches the destination, The step of controlling the movement of the above mobile robot is: A method for controlling a mobile robot, characterized in that it comprises a step of sensing a tag located along the first direction or the second direction in the case where, on the movement path, there exists an intersection area where a direction change occurs from one of the first direction and the second direction to the other.

2. In paragraph 1, The above plurality of rails are, It comprises a plurality of straight rails and a plurality of cross rails arranged in the above intersection area, The above straight rail, It is configured to be spaced apart from each other with respect to the cross-shaped rail, and includes a plurality of first straight rails extending in the first direction based on the intersection area and a plurality of second straight rails extending in the second direction, The above cross rail, It includes a fixed plate arranged in the above cross-section area, and a direction change rail formed to be rotatable with respect to the fixed plate and forming a movement path connected to the linear rail, The above mobile robot, It is formed to interlock with the straight rail and the direction change rail, and moves to the destination along at least one of the straight rail and the cross rail, A method for controlling a mobile robot, characterized in that when a change of direction is required from one of the first direction and the second direction to the other, the direction change rail is rotated while docked to the cross rail.

3. In paragraph 2, The above tag is, A method for controlling a mobile robot, characterized in that it is positioned at one end of each of the first linear rails and one end of each of the second linear rails.

4. In paragraph 3, The above mobile robot is equipped with a camera configured to sense the tag, In the step of sensing the above tag, A method for controlling a mobile robot, characterized in that, in the above-mentioned intersection area, at least one of a tag located at one end of the first linear rail and a tag located at one end of the second linear rail is sensed.

5. In paragraph 4, In the step of sensing the above tag, When the mobile robot moves in the first direction along the first straight rail and then needs to change direction in the second direction in the intersection area, the mobile robot is configured to sense a first tag located at one end of the first straight rail in the intersection area. A mobile robot control method characterized in that information on the distance at which the mobile robot is separated from the first tag is acquired through information sensed through the first tag sensing.

6. In paragraph 5, The step of controlling the movement of the above mobile robot is: A step of specifying the position of the mobile robot on the first linear rail based on the distance information; and A method for controlling a mobile robot, characterized in that it further comprises the step of moving in the first direction along the first linear rail and parking at a rotational intersection of the intersection area where the direction change rail is located, based on the position of the specified mobile robot.

7. In paragraph 6, In the above parking step, Until the mobile robot is parked at the rotary intersection, the position of the mobile robot on the first straight rail is updated through sensing of the first tag, A mobile robot control method characterized in that when the mobile robot is positioned at the correct position of the rotary intersection, parking for the rotary intersection is completed.

8. In paragraph 7, The step of controlling the movement of the above mobile robot is: A mobile robot control method, characterized in that it further includes a step of rotating the mobile robot from the first direction to the second direction based on the completion of the parking.

9. In paragraph 8, A method for controlling a mobile robot, characterized in that the rotation from the first direction to the second direction is performed while the mobile robot is docked to a direction change rail corresponding to the rotation intersection.

10. In paragraph 8, In the above rotating step, By sensing the first tag by the mobile robot, the angle information of rotation of the mobile robot is extracted from the first tag, A mobile robot control method characterized in that the mobile robot is rotated clockwise or counterclockwise based on the movement path using the above angle information.

11. In paragraph 10, In the above rotating step, Rotate the mobile robot until the rotation angle of the mobile robot becomes a preset angle, A method for controlling a mobile robot, characterized in that when the rotation of the mobile robot is completed, the mobile robot moves to the destination by moving in the second direction along the second linear rail.

12. In paragraph 9, The rotation angle of the above mobile robot is, A mobile robot control method characterized in that the rotation angle information is specified based on the rotation angle information for each of the first tag located at one end of the first linear rail and the second tag located at one end of the second linear rail.

13. In paragraph 12, The specific rotation angle of the above mobile robot is, A mobile robot control method characterized in that, after the degree of rotation of the mobile robot from the first tag is performed, if the degree of rotation of the mobile robot from the first tag satisfies a preset standard, the method is performed based on the degree of rotation of the mobile robot from the second tag.

14. In paragraph 13, A method for controlling a mobile robot, wherein the above-described preset criterion is related to the inclusion of the second tag in the camera angle of the mobile robot.

15. In paragraph 10, When the rotation of the above mobile robot is completed, the above mobile robot, By sensing a second tag located at one end of the second linear rail, the position of the mobile robot on the second linear rail is determined, A method for controlling a mobile robot, characterized in that the mobile robot moves to the destination based on the position of the mobile robot on the second linear rail.

16. In paragraph 2, A mobile module formed to interlock with the linear rail and the direction change rail and configured to travel along the movement path; A rotation module that is coupled to the mobile module so as to be relatively rotatable, and is configured to rotate the mobile module and the direction change rail interlocked with the mobile module together after the rotation is restricted by being caught by the fixed plate during the relative rotation; and Including a robot arm mounted on the above rotating base unit, A method for controlling a mobile robot, characterized in that the robot arm is aligned so that the center of gravity of the robot arm becomes closer to the mobile robot while the mobile robot rotates on the direction change rail.

17. In paragraph 16, A method for controlling a mobile robot, characterized in that the alignment position of the robot arm changes depending on the rotation direction of the mobile robot.

18. In paragraph 1, The above tag is, Contains information about the straight rail on which the above tag is located, Information about the rails for the above straight rails is: Information on whether the straight rail is a transverse rail extending along the first direction, or whether the straight rail is a longitudinal rail extending along the second direction; A method for controlling a mobile robot, characterized in that the linear rail includes information on which axis the linear rail corresponds to.

19. In a mobile robot control system that moves in a first direction or a second direction perpendicular to the first direction on a mobile platform including a plurality of rails, The control unit of the above system is, Specifying the movement path of the mobile robot so that the mobile robot moves to the destination, Controlling the movement of the mobile robot so that the mobile robot moves in the first direction or the second direction along the movement path and reaches the destination, A mobile robot control system characterized in that, when there is an intersection area on the movement path where a direction change occurs from one of the first direction and the second direction to the other, the mobile robot is controlled to sense a tag located along the first direction or the second direction.

20. A program stored on a computer-readable medium that is executed by one or more processes on an electronic device, The above program includes commands for controlling a mobile robot to move in a first direction or a second direction perpendicular to the first direction on a mobile platform including a plurality of rails, The above commands are, A step of specifying a movement path of the mobile robot so that the mobile robot moves to a destination; and A program characterized by including commands for performing a step of controlling the movement of the mobile robot so that the mobile robot moves in the first direction or the second direction along the movement path and reaches the destination.

Images