Logistics robot operating system for order picking and inventory replenishment, control method therefor and computer program

Abstract

The present embodiments propose a logistics robot operating system for order picking and inventory replenishment, a control method therefor and a computer program, the system controlling an inbound flow of transporting and loading a loading unit including transport items to a designated loading area through a loading robot, controlling, when inventory replenishment is required according to inventory monitoring in a storage area in which the transport items are disposed, an inventory replenishment flow of unloading the loading unit loaded in the loading area through a transport device and transporting the unloaded loading unit to the storage area through at least one task-performing robot, and managing, on the basis of user-specific transport information received through a warehouse management system, tasks of picking the transport items through the task-performing robot in the storage area and delivering the picked transport items to a packing position through the task-performing robot.

Description

Logistics robot operation system for picking and replenishing inventory, control method and computer program thereof

[0001] The present invention relates to a logistics robot operating system for picking items and replenishing inventory, a control method thereof, and a computer program.

[0002] The content described in this section merely provides background information regarding embodiments of the present invention and does not constitute prior art.

[0003] Order picking is a core process in logistics and warehouse operations that plays a key role in locating and gathering products from distribution centers or warehouses in response to customer orders. As robots can replace human-pulled picking carts in this process, leading to expectations of improved productivity, better workforce management, and enhanced safety, the use of robots is becoming increasingly common.

[0004] Accordingly, order picking systems utilizing robots are being introduced, with a representative method involving Autonomous Mobile Robots (AMRs) moving along designated paths within logistics centers to transport goods. However, in the past, the structure of directly loading cargo onto the robots resulted in inefficiencies, such as limitations on cargo capacity based on robot size and the need for robots to wait when tasks like packaging picked goods took a long time.

[0005] Furthermore, from the perspective of overall warehouse operations, the order picking service integrates with the Warehouse Management System (WMS) to enable real-time transfer and inventory management based on customer orders. In particular, since robots transport goods using detachable carts, it is necessary to integrate with a wireless-based order picking management system that works with GUI-based user interface devices—which are difficult to install on the robot's superstructure—or barcode readers capable of verifying the precise movement of inventory.

[0006] The main objective of the embodiments of the present invention is to provide a logistics robot operation system, a control method thereof, and a computer program that utilize a logistics robot for picking and replenishing inventory to dramatically improve the work efficiency, productivity, and safety of a logistics warehouse, and to optimize manpower management and overall logistics management.

[0007] Other unspecified objects of the present invention may be further considered to the extent that they can be easily inferred from the following detailed description and effects.

[0008] According to one aspect of the present invention, a logistics robot operating system for achieving the above objective comprises a memory for storing commands for performing operations of control, monitoring, or management for picking and replenishing inventory in conjunction with a warehouse management system, and a processor for performing operations according to said commands. The processor controls an incoming flow in which a loading unit containing a transfer item is transported and loaded to a designated loading area via a loading robot. When inventory replenishment is required through inventory monitoring within a storage area where the transfer item is placed, the processor controls an inventory replenishment flow by unloading the loading unit loaded in the loading area via the transfer device and transferring the unloaded loading unit to the storage area via at least one work execution robot. Furthermore, based on user-specific transfer information received through the warehouse management system, the processor manages the operation of picking a transfer item from the storage area via the work execution robot and delivering the picked transfer item to a packing location via the work execution robot.

[0009] Preferably, the processor controls the receiving flow by loading the received loading unit onto the loading robot and transporting and loading it to the designated loading area when the loading to the loading area is completed, and transmits a loading completion signal to the warehouse management system when the loading to the loading area is completed.

[0010] Preferably, the processor generates item list information for each work execution robot unit by analyzing user-specific transfer information received through the warehouse management system, and transmits and displays the generated item list information for each work execution robot unit to a terminal attached to each work execution robot.

[0011] Preferably, the processor receives the transfer information for each user, divides it into work units including a plurality of transferred items, and sets a movement order between the locations of transferred items for picking by the work performing robot according to the transfer information for each user by considering at least one of the loading capacity of the work performing robot, the picking ability of the worker, and the movement path of the work performing robot within the divided work units.

[0012] Preferably, the processor identifies the position of the worker in the storage area captured by a separate image capturing unit, and further considers the worker's movement path to a transport item located within a preset radius of the identified worker to set the movement sequence of the work performing robot between the transport item locations for picking.

[0013] Preferably, the processor analyzes the continuous position change of a worker obtained through the image capturing unit to calculate a movement vector including the direction and speed of movement of the worker, predicts an optimal contact point where the worker can be matched with the work performing robot without stopping while moving based on the calculated movement vector of the worker and the current position and speed of movement of the work performing robot, controls the work performing robot to move by setting the predicted optimal contact point as a primary target point, and when the work performing robot and the worker are matched at the primary target point, calculates a secondary target point that minimizes the distance the worker moves to pick the item by considering the location of the picking item assigned by the warehouse management system and the next expected movement path of the worker, and controls the work performing robot to move to the secondary target point, and finally, after all picking operations are completed, controls the work performing robot to move by setting the packing location as a final target point.

[0014] Preferably, the movement sequence of the above-mentioned work-performing robots is characterized by selecting the work-performing robot with the lowest standard cost to be combined with the mobile cart that has completed picking, and assigning it to the transfer task.

[0015] Preferably, the processor is characterized by using the identified location of the worker to provide a notification to the worker via a terminal or sound to move to the next work location when there are no more transport items to pick in the storage area where the worker is stationed.

[0016] Preferably, the task performing robot comprises: a trolley robot combined with a mobile trolley that moves to perform picking of the transported item through collaboration with a manager; or an automatic processing robot that moves to perform picking of the transported item through a robot arm mounted on a superstructure.

[0017] Preferably, the processor receives and manages a matching signal generated by matching markers formed on each of the trolley robot and the mobile shelf during the process of combining them, controls the combination of the trolley robot and the mobile shelf to occur after the charging of the trolley robot is completed, and controls the combination to be released during the picking or packaging process of the transported items.

[0018] Preferably, the processor receives a stock replenishment request including a required stock quantity and a stock replenishment location calculated based on the result of monitoring the stock quantity of a transfer item placed in the storage area, unloads the loading unit loaded in the loading area based on the stock replenishment request, and controls the unloaded loading unit to be transferred to the stock replenishment location via the work execution robot so that a worker can replenish the stock.

[0019] Additionally, according to another aspect of the present invention, a logistics robot operation method for achieving the above objective comprises: a receiving step for controlling a receiving flow in which a loading unit containing a transfer item is transported and loaded to a designated loading area via a loading robot; an inventory replenishment step for controlling an inventory replenishment flow in which, if inventory replenishment is required through inventory monitoring within a storage area where the transfer item is placed, the loading unit loaded in the loading area via the transfer device is unloaded, and the unloaded loading unit is transported to the storage area via at least one work execution robot; and an order picking and packing step for managing the operation of picking a transfer item from the storage area via the work execution robot and delivering the picked transfer item to a packing location via the work execution robot, based on user-specific transfer information received through the warehouse management system.

[0020] As described above, according to the embodiments of the present invention, the present invention has the effect of improving work efficiency and logistics processing capabilities through automatic transfer using a mobile trolley robot, improving the flexibility and safety of personnel management, and realizing real-time inventory management and data-based logistics optimization.

[0021] Even if an effect is not explicitly mentioned herein, the effects and potential effects described in the following specification expected by the technical features of the present invention are treated as described in the specification of the present invention.

[0022] FIG. 1 is a schematic diagram showing a logistics management system including a logistics robot operation system according to an embodiment of the present invention.

[0023] FIG. 2 is a block diagram showing the hardware configuration of a logistics robot operation system according to an embodiment of the present invention.

[0024] FIG. 3 is a block diagram schematically illustrating the operation method of a logistics robot operation system according to an embodiment of the present invention.

[0025] FIGS. 4 to 6 are flowcharts illustrating in detail the operation method of a logistics robot operation system according to an embodiment of the present invention.

[0026] FIG. 7 is a diagram showing the operation flow of a logistics robot in a logistics warehouse according to an embodiment of the present invention.

[0027] FIGS. 8 to 11 are flowcharts illustrating in detail the operation methods for receiving, replenishing stock, and order picking / packing, respectively, of a logistics robot operation system according to an embodiment of the present invention.

[0028] FIG. 12 is a diagram showing in detail the communication of a logistics warehouse robot of a logistics robot operation system according to an embodiment of the present invention.

[0029] FIGS. 13 to 16 are drawings showing a GUI through a logistics robot operation system according to an embodiment of the present invention.

[0030] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. The advantages and features of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described below in detail together with the attached drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0031] Unless otherwise defined, all terms used in this specification (including technical and scientific terms) may be used in a meaning that is commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0032] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to indicate the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0033] Terms including ordinal numbers, such as second, first, etc., may be used to describe various components, but said components are not limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the second component may be named the first component, and similarly, the first component may be named the second component. The term "and / or" includes a combination of a plurality of related described items or any of a plurality of related described items.

[0034] The present invention relates to a logistics robot operating system for picking items and replenishing inventory, a control method thereof, and a computer program.

[0035] The present invention proposes a system for order picking and replenishing inventory according to customer orders by utilizing mobile carts within a logistics warehouse.

[0036] Order picking is a core process in logistics and warehouse operations that refers to the process of locating and gathering products from distribution centers or warehouses in response to customer orders. As robots can replace human-pulled picking carts in this process, leading to expectations of improved productivity, better workforce management, and enhanced safety, the use of robots is becoming increasingly common.

[0037] In conventional cases, cargo is loaded directly onto the robot, so the loading capacity may be relatively small depending on the size of the robot, and problems may arise where continuous waiting is required when operations, such as packaging collected cargo, take a long time.

[0038] Furthermore, from the perspective of overall warehouse operations, transfer and inventory management are performed in real-time according to customer orders by linking with a Warehouse Management System (WMS). Since robots transport goods using detachable carts, it is necessary to integrate with a wireless-based order picking management system that works with GUI-based user interface devices—which are difficult to install on the robot's superstructure—or barcode readers that can verify the precise movement of inventory.

[0039] FIG. 1 is a schematic diagram showing a logistics management system including a logistics robot operation system according to an embodiment of the present invention.

[0040] Referring to FIG. 1, the logistics management system (1) includes a logistics robot operation system (10), a warehouse management system (20), and a logistics robot (30). The logistics management system (1) may omit some components among the various components exemplarily illustrated in FIG. 1 or may additionally include other components.

[0041] The logistics robot operation system (10) and the warehouse management system (20) can communicate through a network hub (2), and can communicate with at least one logistics robot through a wireless AP (4) connected to the network hub (2).

[0042] According to one embodiment of the present invention, the logistics robot (30) may include a loading robot and a task performing robot. Here, the loading robot includes a stacker robot, etc., and the task performing robot includes a manipulator robot, a trolley robot, etc., but is not necessarily limited thereto.

[0043] The task-performing robot of the logistics robot (30) may include a terminal (32) and a barcode scanner (34).

[0044] The terminal (32) can display information about the items to be picked up, for example, can display item list information for a unit of a work performing robot.

[0045] Specifically, the terminal (32) may display a unique number assigned to the trolley combined with the work performing robot, work step information, and the status of the robot, but is not necessarily limited thereto.

[0046] The barcode scanner (34) can collect information on the picked item and support handling out-of-stock items when there is no stock, but is not limited to this.

[0047] The logistics robot operation system (10) is described in detail with reference to the following drawings.

[0048] FIG. 2 is a block diagram showing the hardware configuration of a logistics robot operation system according to an embodiment of the present invention.

[0049] The logistics robot operation system (10) according to the present embodiment includes an input unit (12), an output unit (14), a processor (16), a neural network (17), a memory (18), and a database (19). The logistics robot operation system (10) of FIG. 2 is according to one embodiment, and not all blocks shown in FIG. 2 are essential components, and some blocks included in the logistics robot operation system (10) in other embodiments may be added, changed, or deleted. Meanwhile, the logistics robot operation system (10) may be implemented as a computing device, and each component included in the logistics robot operation system (10) may be implemented as a separate software device or as a separate hardware device combined with software.

[0050] The input unit (12) refers to a means for inputting or acquiring signals or data to perform operations for operating a logistics robot. The input unit (12) may input various types of signals or data in conjunction with a processor (16), or may acquire data directly in conjunction with an external device and transmit it to the processor (16).

[0051] The output unit (14) can output information provided to the GUI in conjunction with the processor (16).

[0052] The output unit (14) can provide information about the operation of the logistics robot generated by the processor (16) to an external device.

[0053] The input unit (12) and the output unit (14) may be connected to an input / output interface unit (not shown). The input / output interface unit may be configured to transmit information obtained from the input unit (12) to the processor (16), or to receive a control signal from the processor (16) and convert it into a signal for substantially controlling the input unit (12) and the output unit (14).

[0054] The processor (16) performs the function of executing at least one instruction or program contained in memory (18).

[0055] The processor (16) according to the present embodiment can perform operations for controlling a logistics robot for picking items and replenishing inventory in conjunction with a warehouse management system.

[0056] The processor (16) may also process operations for controlling the logistics robot in conjunction with the neural network (17).

[0057] Meanwhile, although the processor (16) and the neural network (17) are described as being different modules, they are not necessarily limited to this and may be implemented as a single module to perform their respective operations.

[0058] The neural network (17) performs neural network processing related to data generation and weight assignment related to logistics robot movement and placement based on artificial intelligence (AI).

[0059] The neural network (17) has input nodes, intermediate nodes, and output nodes, and has a structure determined by decision weights that have been learned in advance through training data as connection weights connecting each node. The output value of the neural network (17) may be the coordinate value of an expanded area or the coordinate value of a unit block area, and may be implemented in the form of a feature value matrix for the expanded area or the unit block area, but is not necessarily limited thereto.

[0060] The memory (18) includes at least one instruction or program executable by the processor (16). The memory (18) may include instructions or programs for logistics robot management operations, logistics robot movement information generation operations, etc. Additionally, the memory (18) may include instructions or programs for operations for preprocessing neural network learning results and input or output values ​​of the neural network.

[0061] A database (19) refers to a general data structure implemented in the storage space (hard disk or memory) of a computer system using a database management program (DBMS), and refers to a data storage form in which data can be freely searched (extracted), deleted, edited, or added. It can be implemented to suit the purpose of an embodiment of the present invention using relational database management systems (RDBMS) such as Oracle, Informix, Sybase, and DB2, object-oriented database management systems (OODBMS) such as Gemston, Orion, and O2, and XML native databases such as Excelon, Tamino, and Sekaiju, and has appropriate fields or elements to achieve its functions. Meanwhile, the database (19) may be implemented in the cloud, virtual memory, etc.

[0062] The database (19) according to the present embodiment can store and provide logistics robot management information, logistics robot movement information, etc.

[0063] The database (19) is described as being implemented within the logistics robot operation system (10), but is not necessarily limited thereto and may be implemented as a separate data storage device.

[0064] According to one embodiment of the present invention, a logistics robot operating system (10) includes a processor that performs operations according to commands for controlling, monitoring, or managing operations for picking items and replenishing inventory in conjunction with a warehouse management system; and a memory that stores said commands, but is not necessarily limited thereto.

[0065] A logistics robot operation system (10) controls the receiving flow of transporting and loading a loading unit containing a transport item to a designated loading area through a loading robot, and controls the inventory replenishment flow by unloading the loading unit loaded in the loading area through a transport device and transporting the unloaded loading unit to the storage area through at least one work performing robot based on user-specific transport information received through a warehouse management system, and can manage the work of picking the transport item from the storage area through a work performing robot and delivering the picked transport item to a packing location through a work performing robot.

[0066] The logistics robot operation system (10) controls the receiving flow by loading the received loading unit onto the loading robot and transporting and loading it to a designated loading area when the loading unit transferred from the transport means is received, and can transmit a loading completion signal to the warehouse management system when the loading to the loading area is completed.

[0067] The logistics robot operation system (10) generates item list information by analyzing user-specific transfer information received through the warehouse management system and can transmit and display the generated item list information for each work-performing robot unit to a terminal attached to each work-performing robot. Here, the user-specific transfer information may include personal information about the user (e.g., ID, order number, etc.), a list of items to be transferred as ordered by the user, location information where the items to be transferred are stored, etc., but is not necessarily limited thereto.

[0068] A logistics robot operating system (10) receives transfer information for each user and divides it into work units containing multiple transferred items, and within the divided work units, considers at least one of the loading capacity of the work performing robot, the picking ability of the worker, and the movement path of the work performing robot to set the order of movement between the locations of transferred items for picking by the work performing robot according to the transfer information for each user.

[0069] The logistics robot operation system (10) can determine the location of a worker in a storage area captured by a separate video capturing unit, and further consider the worker's movement path to a transport item located within a preset radius of the identified worker to set the order of movement of the robots performing work between the transport item locations for picking.

[0070] The separate video recording unit may be a CCTV within the logistics warehouse, but is not necessarily limited to this.

[0071] The movement sequence of the task execution robots can be assigned to the transfer task by selecting the task execution robot with the lowest standard cost so that it can be combined with the mobile trolley after picking is completed.

[0072] The reference cost serves as a quantitative judgment criterion used for robot task assignment, movement path optimization, or determining the movement sequence of logistics robots for tasks; it is a value calculated by considering the logistics robot's location, the travel distance to the target, the estimated time required, the charge status, and the robot's load capacity.

[0073] The logistics robot operation system (10) can use the identified location of the worker to provide a notification to the worker to move to the next work location via a terminal or sound when there are no more transport items to pick in the storage area where the worker is placed.

[0074] According to one embodiment of the present invention, a logistics robot operating system (10) analyzes a continuous change in the position of a worker obtained through an image capturing unit to calculate a movement vector including the direction and speed of movement of the worker, and predicts an optimal contact point where the worker can be matched with the work performing robot without stopping while moving based on the calculated movement vector of the worker and the current position and speed of the work performing robot, and controls the work performing robot to move by setting the predicted optimal contact point as the primary target point of the work performing robot, and when the work performing robot and the worker are matched at the primary target point, calculates a secondary target point that minimizes the distance the worker moves to pick the picking item by considering the location of the picking item assigned by the warehouse management system and the next expected movement path of the worker, and controls the work performing robot to move to the said secondary target point, and finally, after all picking operations are completed, controls the work performing robot to move by setting the packing location as the final target point. Here, the optimal contact point may be a point where the worker meets the robot in time while moving, but is not necessarily limited thereto.

[0075] When a work-performing robot and a worker are matched at a first target point, the logistics robot operation system (10) can calculate a second target point that minimizes the travel distance for picking items by considering the location of the picking items and the worker's next expected path. For example, it can re-predict the next expected path (e.g., moving from the right corridor to the front shelf to the left corridor) from the worker's current position and movement vector information, select points that the worker will pass through on the expected path as potential picking location candidates, select the item that the worker can reach first among the assigned picking items within the candidates as the highest priority picking target, and then dynamically calculate a second target point by moving the work-performing robot to the coordinates where the highest priority picking target is located. Additionally, information regarding this can be transmitted to the worker.

[0076] Accordingly, the logistics robot operation system (10) can avoid collisions between separate work-performing robots and workers through a primary target point and provide optimal movement, while simultaneously improving work efficiency through a secondary target point.

[0077] The work performing robot may include a trolley robot that is combined with a mobile trolley and moves by performing the picking of transported items through collaboration with a manager; or an automatic processing robot that moves by performing the picking of transported items through a robot arm mounted on a superstructure.

[0078] The logistics robot operating system (10) receives and manages a matching signal generated by matching the markers formed on each of the cart robot and the mobile shelf during the process of combining them, controls the combination of the cart robot and the mobile shelf to occur after the cart robot is fully charged, and controls the combination to be released during the picking or packaging process of the transported goods.

[0079] The logistics robot operation system (10) receives a stock replenishment request including the required stock quantity and stock replenishment location calculated based on the result of monitoring the stock quantity of the transported item placed in the storage area, and can unload the loading unit loaded in the loading area based on the stock replenishment request, and control the unloaded loading unit to be transferred to the stock replenishment location through a work execution robot so that a worker can replenish the stock.

[0080] FIG. 3 is a block diagram schematically illustrating the operation method of a logistics robot operation system according to an embodiment of the present invention. The logistics robot operation method of the present invention can be performed by a logistics robot operation system, and redundant descriptions are omitted.

[0081] Referring to FIG. 3, the logistics robot operation method includes a receiving step (S310), an inventory replenishment step (S320), and an order picking / packing step (S330).

[0082] The receiving step (S310) can control the receiving flow of transporting and loading a loading unit containing the transferred item to a designated loading area via a loading robot.

[0083] The inventory replenishment step (S320) can control the inventory replenishment flow by monitoring the inventory within the storage area where the transferred items are placed, and if inventory replenishment is required, unloading the loading unit loaded in the loading area through a transfer device and transferring the unloaded loading unit to the storage area through at least one work performing robot.

[0084] The order picking / packing step (S330) can manage the task of picking transfer items from a storage area using a work execution robot based on user-specific transfer information received through a warehouse management system, and transferring the picked transfer items to a packing location using a work execution robot.

[0085] Although each process in FIG. 3 is described as being executed sequentially, this is merely an illustrative example, and a person skilled in the art may modify and adapt it in various ways by changing the order described in FIG. 3, executing one or more processes in parallel, or adding other processes, without departing from the essential characteristics of the embodiment of the present invention.

[0086] FIGS. 4 to 6 are flowcharts illustrating in detail the operation method of a logistics robot operation system according to an embodiment of the present invention.

[0087] FIG. 4 is a flowchart illustrating the operation between a logistics robot operating system and a logistics robot for receiving according to an embodiment of the present invention.

[0088] Receiving refers to loading a loading unit unloaded from a means of transport into a loading area using a conveyor and a loading robot. Here, the means of transport may be a means of transporting a loading unit containing a transported item, such as a truck, but is not necessarily limited thereto.

[0089] The loading unit may be a pallet on which transported goods are stacked, but is not necessarily limited thereto.

[0090] Referring to Fig. 4, regarding receiving, the operation between the logistics robot operating system and the logistics robot can perform the following process when the receiving operation is started through the receiving work instruction step (S410).

[0091] The unloading and receiving of loading units can be initiated by a worker taking a loading unit off the transport vehicle and loading it onto a conveyor, entering the loading unit barcode and loading area into the order picking front-end, and clicking the "Start Receiving" button.

[0092] The receiving process includes the step of driving the conveyor (S420), the step of moving the loading robot to the conveyor (S430), the step of loading the loading unit on the conveyor (S440), the step of moving to the loading area (S450), and the step of loading the loading unit into the designated loading area (S460).

[0093] When the above-described steps are performed through the logistics robot (loading robot), the receiving completion process is performed through the receiving completion step (S470).

[0094] Therefore, during the receiving process, a conveyor drive operation is generated; when a loading unit moves to the end point of the conveyor, the conveyor stops and loads the loading unit into the loading area; upon completion of the conveyor drive operation, a task is generated to load the loading unit from the conveyor into the designated loading area using a loading robot; and upon completion of loading the loading unit into the loading area, the loading completion API call (set_highlack_location) of the warehouse management system can be performed.

[0095] FIG. 5 is a flowchart illustrating the operation between a logistics robot operating system and a logistics robot for inventory replenishment according to one embodiment of the present invention.

[0096] For inventory replenishment, when there is a shortage of stock in the storage area (shelf), loading units are unloaded from the loading area (high rack), and the goods from the unloaded loading units can be replenished to each shelf using a trolley.

[0097] Referring to FIG. 5, regarding the operation between the logistics robot operating system and the logistics robot for stock replenishment, the following process can be performed when the stock replenishment operation is started through the loading unit unloading operation instruction step (S510).

[0098] In the process of generating and delivering an inventory replenishment work order, when shelf inventory is insufficient, an operator can click the “Replenish Inventory” button on the terminal to execute a work order generation API call (make_sheet) from the logistics robot operation system to the warehouse management system. At this time, the warehouse management system can generate a work order based on the call.

[0099] According to the work order, the logistics robot (loading robot) can move the loading unit to the storage area.

[0100] The receiving process includes the step of moving the conveyor to the loading area (S520), the step of loading the loading unit in the designated loading area (S530), the step of moving to the storage area (S540), and the step of unloading the loading unit in the designated storage area (S550).

[0101] Steps S520 to S550 involve retrieving a work order (get_sheet, get_sheet_detail) from the warehouse management system and providing it to the logistics robot operation system, so that the loading robot moves to the high rack where the loading unit specified in the work order is located, loads the loading unit specified in the work order, moves to the unloading zone (storage area), and can unload the loading unit.

[0102] Once the above process is completed, the logistics robot operation system can call the warehouse management system's unloading completion API (set_def_location).

[0103] Loading inventory onto a go-cart includes a step of loading onto a cart (S580), a step of moving to an unloading zone (S582), and a step of completing the loading of inventory onto the cart (S584).

[0104] Steps S580 to S584 control the robot to move to the unloading zone and wait when it is idle or has finished picking operations through the logistics robot operation system, so that the worker can subdivide the goods of the unloaded loading unit onto a cart and click the loading complete button.

[0105] Shelf replenishment includes a shelf front node movement step (S570) and a shelf replenishment operation step (S572).

[0106] Steps S570 and S572 cause the goods loaded on the cart to move to the shelf where they will be placed and wait through the logistics robot operation system, and after the worker checks the replenishment items displayed on the tablet, replenishes the goods on the designated shelf and clicks the replenishment complete button on the tablet. The logistics robot operation system calls the inventory replenishment complete API (set_shelf_location) of the warehouse management system, and after repeating the task multiple times (e.g., 1 to 5 times), controls the worker whose inventory replenishment is complete to proceed with a new picking or replenishment task.

[0107] FIG. 6 is a flowchart illustrating the operation between a logistics robot operating system and a logistics robot for order picking / packing according to one embodiment of the present invention.

[0108] Product picking / packing can be assigned to idle robots by querying the product to be picked in the warehouse management system.

[0109] Product picking / packing can be performed using trolley robots or automated processing robots.

[0110] Product picking / packing using a trolley robot is explained below.

[0111] The trolley robot may include an order picking job step (S610), a packing job and a cart return job step (S620), and a work progress step (S630).

[0112] The order picking job step (S610) includes the step of loading goods onto a cart in the packing zone or parking zone (S612), the step of moving to the invoice printing area and waiting (S614), the step of the worker inserting the invoice (S616), the step of moving to the work target shelf and the worker performing the picking job (S618), and the step of moving to the packing waiting node (S619).

[0113] Invoice printing allows a worker to print invoices from the warehouse management system.

[0114] Order information lookup is performed by querying the warehouse management system for order information through the logistics robot operation system to obtain the list of products to be picked (get_list, get_detail), and picking tasks can be assigned to robots that are waiting or have finished picking.

[0115] The packing job and cart return job steps (S620) include a waiting step (S622) until a packing zone in an unoccupied state is created, a step of moving to the packing zone in an unoccupied state and unloading the cart (S624), a step of checking whether the job is finished (S626), and if the job is finished, a step of loading the packed items onto the cart, moving to the parking zone, and unloading the cart (S628).

[0116] The work progress step (S630) includes a dynamic plan execution step (S632), a battery charge status check step (S634), a step of moving to a charger if the battery is low (S636), and if the battery is sufficient, a step of selecting a waiting location near the trolley that does not block the path and moving, and a step of moving to a parking waiting node (S637), a waiting step until a workable trolley (parking complete) appears (S638), and a step of generating a packed trolley (S639).

[0117] The dynamic planning execution step (S632) can perform real-time work and path optimization. Specifically, the dynamic planning execution step (S632) can check order changes, update the list of locations of remaining items to be picked according to the available loading space per cart, collect the locations of currently available robots, calculate the minimum cost to move from each robot's current location to the list of items to be picked and then to the packing location, and then assign a robot to perform the work.

[0118] Therefore, the trolley robot can load a waiting trolley or a packed trolley, move to the invoice input area, and wait. At this time, the operator can check the basket locations displayed on the tablet to insert the printed invoice into each basket and click the "Invoice Input Complete" button on the order picking front-end. Afterward, the trolley robot moves to the shelf where the picking items are stored and waits. The operator can check the picking item information and shelf locations on the tablet, load the items into the trolley's baskets, and click the "Picking Complete" button. The trolley robot and the operator repeat the above process multiple times. Once all items are picked, the trolley robot can move to the packing zone and unload the trolley. The operator proceeds with the packing of the items loaded on the trolley, and upon completion of packing, can click the "Packing Complete" button on the tablet attached to the trolley. At this time, the logistics robot operation system can call the picking task completion API (complete_work) to the warehouse management system.

[0119] Product picking / packing using automated processing robots is described below.

[0120] The automatic processing robot and the trolley robot include an Order Picking Job step (S640), a waiting state until a packing zone in an unoccupied state is created (S650), a Packing Job step (S660), a Packing Completion step (S670), a step to check whether the battery is sufficient (S680), a step to move to a charger if the battery is insufficient (S682), and a step to check whether the job is finished if the battery is sufficient (S690).

[0121] The Order Picking Job step (S640) includes the step of moving to the invoice printing area and waiting (S642), the step of the worker inserting the invoice (S644), the step of moving to the shelf to be worked on, moving within the working distance, and performing the picking job (S646), and the step of moving to the packing waiting node (S648).

[0122] The step for checking whether the work is finished (S690) performs step S682 if the work is confirmed to be finished, and if the work is in progress, assigns a new picking work upon completion of the packing work and restarts from step S640.

[0123] Therefore, the automated processing robot moves to the invoice input area and waits. When the operator inserts the printed invoices into the basket in the order of left or right, and clicks "Invoice Input Complete" on the order picking front-end, the robot can move to the shelf where the picked items are stored. The automated processing robot moves close to the shelf, performs the picking operation, repeats the aforementioned process, and once all items are picked, moves to the packing zone and waits. The operator proceeds with packing the items loaded onto the automated processing robot, and after the work is completed, clicks "Packing Complete" on the order picking manager. At this point, the logistics robot operation system can call the picking operation completion API (complete_work) to the warehouse management system.

[0124] Therefore, the automated processing robot moves to the invoice input area and waits, while the operator inserts the printed invoices into the basket in the order of left and right, and can click "Invoice Input Complete" on the order picking front-end. The automated processing robot moves in front of the shelf where the picking items are stored, moves close to the shelf, and can perform the picking operation. After repeating the above process multiple times, once all items are picked, the automated processing robot moves to the packing zone and waits, while the operator proceeds with packing the items loaded on the robot and clicks "Packing Complete" on the order picking manager. At this time, the logistics robot operation system can call the picking operation completion API (complete_work) to the warehouse management system.

[0125] FIG. 7 is a diagram showing the operation flow of a logistics robot in a logistics warehouse according to an embodiment of the present invention.

[0126] Referring to FIG. 7, the logistics warehouse may include a High Rack Zone representing a loading area, a Low Rack Zone representing a storage area, and a Packing Zone. At this time, the storage area may also be represented as a Picking Zone.

[0127] In the order picking service, when a customer's order is received at the logistics warehouse, a request for the transfer of goods received from the warehouse management system (WMS) is transmitted to the logistics robot operation system (10), and the work can be assigned to a logistics robot that performs the order picking function.

[0128] According to one embodiment of the present invention, the time-series sequence of the order picking operation and the inventory replenishment operation can be synchronized and controlled so that the progress speed of the order picking operation is monitored to predict the time when the inventory of a specific item is depleted, and the loading robot completes the unloading of the loading unit of the item in advance to the unloading zone in accordance with the predicted time of inventory depletion. Specifically, the logistics robot operation system (10) collects real-time picking data including the picking rate per unit time from a plurality of work robots performing order picking operations, calculates the expected time of stock depletion of a specific item located in a specific storage area based on the collected picking data and the current inventory amount stored in the warehouse management system (WMS), calculates the expected time of completion of the unloading operation of a loading robot that transports a loading unit containing the item to an unloading zone before the expected time of stock depletion, and if the difference between the expected time of stock depletion and the expected time of completion of the unloading operation exceeds a threshold, it resets the work priority of the loading robot to accelerate the unloading operation, thereby actively scheduling and controlling the order picking operation and the inventory replenishment operation to minimize the occurrence of involuntary waiting time due to a shortage of inventory during the order picking operation.

[0129] When the logistics robot receives the location of the item ordered by the user from the Warehouse Management System (WMS) or the logistics robot operation system (10) and moves to the Low Rack Zone where the item to be picked is located, the worker picks up the item displayed on the tablet, scans the barcode, and places it in a designated basket or compartment, then moves to the next picking location, and when the picking operation is completed, it can move to the location for packaging the loaded items.

[0130] In the case of logistics robots, they may include a picking autonomous driving robot, which is a cart robot combined with a mobile cart that picks items in collaboration with a person as proposed in the present invention, and an automatic processing robot in which a manipulator is mounted on the robot's upper structure so that the robot can independently recognize, pick up, place on the robot, and move items. However, they are not necessarily limited thereto.

[0131] FIGS. 8 to 11 are flowcharts illustrating in detail the operation methods for receiving, replenishing stock, and order picking / packing, respectively, of a logistics robot operation system according to an embodiment of the present invention.

[0132] FIG. 8 is a diagram showing the process of picking items through a cart robot of a work-performing robot of a logistics robot operation system according to an embodiment of the present invention.

[0133] In the picking process using the trolley robot of the logistics robot operation system, information on the list of items requiring picking by customer is transmitted from the warehouse management system in trolley units. The trolley robot then combines with the trolley and moves to the invoice printing area, where a worker places the invoice into a basket. At this time, the trolley robot is controlled to move in front of the work shelf requiring picking, and product information to be picked is listed on the logistics robot operation system's UI, allowing the worker to verify the item information on the UI. During this process, the worker can check the shelf information via the UI each time an item is scanned and place the item on the shelf; if the item requiring picking is out of stock, the worker presses the "No Stock" button and instructs the next task.

[0134] In the item picking process using the cart robot of the logistics robot operation system, once the item is picked up, the cart robot moves to the picking zone, where a worker receives it and packages it.

[0135] The logistics robot operation system can control robot work management, traffic control, and charging management.

[0136] Since the trolley robot and the mobile trolley (shelf) for order picking are separate, the tablet attached to the mobile shelf assigns a unique number to the trolley and serves to easily inform the operator of the work stage, target, and robot status.

[0137] In addition, by matching artificial markers recognized during the joint process of lifting the movable shelf, the picking robot and the trolley of the movable shelf are matched within the logistics robot operation system.

[0138] The combination of the mobile shelf and the trolley robot occurs when they exit the charging station, and the combination can be released when a worker inserts an invoice or at the packing location.

[0139] To increase the efficiency of the picking operation, while the operator is inserting invoices or packing on the mobile shelf, the trolley robot disengages and moves to the next task or charging.

[0140] The control system can divide customer orders received so far into multiple (e.g., 100) rounds of picking items and optimize the order of movement between target items for each customer in each round to reduce the robot's movement path.

[0141] FIG. 9 is a diagram showing the process of picking items through an automatic processing robot of a work-performing robot of a logistics robot operation system according to an embodiment of the present invention.

[0142] The picking process, performed by the automated processing robots of the logistics robot operation system, involves identifying and assigning specific products from specific customers to a given basket based on information from the warehouse management system. After the automated processing robot moves to the invoice printing area, a worker places the invoice into the basket. The robot then moves to the shelf where the items are located, uses a robotic arm to pick the items, and repeats the process of placing them into the baskets assigned to each customer. Once the placement is complete, the automated processing robot moves to the packing location, allowing a person to receive and pack the items. When all products have been packed, the system can perform a packing completion process.

[0143] The logistics robot operation system can control robot work management, traffic control, and charging management.

[0144] FIG. 10 is a diagram showing the process of replenishing inventory through a logistics robot of a logistics robot operation system according to an embodiment of the present invention.

[0145] The inventory replenishment process using a logistics robot in the logistics robot operation system can execute a work instruction to unload a loading unit located in the loading area when shelf inventory is low in the warehouse management system. Upon receiving the work instruction, the loading robot moves to the loading area where the loading unit is located and can place the loading unit in a designated unloading zone. At this time, the unloading zone indicates the location where a worker sorts the items. In the unloading zone, the worker sorts the items requiring replenishment from the loading unit according to the work instruction; upon completion of sorting the replenishment items, the worker clicks the "Sorting Complete" button on the tablet attached to the cart, and the loading robot loads the sorted items and moves to the work shelf, allowing the worker to replenish the inventory.

[0146] For inventory replenishment, when the stock quantity of items to be sent to customers in a storage area becomes insufficient, the warehouse management system receives a replenishment request, unloads pallets from a loading area where items are stored in loading units (e.g., high rack), calls a trolley robot to the unloaded loading units to load the necessary items indicated on the tablet onto a movable shelf, and delivers the items to a worker in a storage area with insufficient stock (e.g., light rack).

[0147] The inventory replenishment function assumes that when products are received in loading units, a loading robot loads them onto a high rack.

[0148] FIG. 11 is a diagram showing the receiving process through the loading robot of a logistics robot of a logistics robot operating system according to an embodiment of the present invention.

[0149] In the receiving process of the logistics robot operating system using a loading robot, goods are received by truck via a conveyor in loading unit units, and a work instruction can be issued to load the received loading units into the loading area. The loading robot loads the received loading units, and after the loading robot approaches the loading area, it can load the loading units at a designated location.

[0150] FIG. 12 is a diagram showing in detail the communication of a logistics warehouse robot of a logistics robot operation system according to an embodiment of the present invention.

[0151] Referring to Fig. 12, the logistics robot operation system can automate the functions of a logistics warehouse, such as receiving, shipping, and inventory management, through logistics automation composed of a Warehouse Management System (WMS), Custom service, Warehouse Control System (WCS), Order picking frontend, and Tablet app, in which each module interacts.

[0152] Receiving can largely consist of conveyor loading and pallet picking.

[0153] Through the Order Picking Frontend, the barcode of the pallet to be received can be scanned, and the receiving operation can be instructed. At this time, the Custom service receives this request, sends a job request (req_compose_job) to the WCS OpenAPI to have the WCS move the pallet to the conveyor, and provides instructions to bring the pallet onto the conveyor.

[0154] The conveyor operation in WCS OpenAPI may include the process of calling the Start conveyor job to start the conveyor, setting the equipment's register value (set_register_value), and checking the equipment status (confirm_equipment).

[0155] When the conveyor job is completed, the WCS OpenAPI sends a job completion report (feedback report: finish) to the Custom service.

[0156] The Custom service then sends a second job request (req_compose_job) to the WCS OpenAPI to use a stacker crane to move the pallets on the conveyor to a designated rack.

[0157] For stacker operations, the WCS OpenAPI controls the stacker crane by calling Load pallet job(stacker) and can perform moves to the conveyor (move_node), berths to the conveyor (ready_to_load_pallet_shuttle), load pallets (load_pallet_shuttle), moves to the high rack (move_node), berths to the high rack (ready_to_unload_pallet_shuttle), and unload pallets (unload_pallet_shuttle).

[0158] When the stacker job is completed, the WCS OpenAPI sends a completion report (feedback report: finish) to the Custom service.

[0159] As described above, once all physical movement is completed, the Custom service can save the storage location of the pallet.

[0160] By calling the WMS set_highrack_location API, the barcode information and final storage location information of the corresponding pallet are recorded and updated in the WMS database, and the WMS can respond to the Custom service with the data update results.

[0161] When a request named make_sheet is made, a work order lookup may internally send a message named get_sheet. In this case, the message may include three parameters: creation date (crdtae), type, and status, but is not limited to these.

[0162] Based on the aforementioned parameters, a list of work orders matching the conditions can be retrieved from the database, and the retrieval result can be returned via a res message. This may include four pieces of information: the unique sequence number (seq), title, creation date (crdate), and status of the work order, but is not necessarily limited thereto.

[0163] To query work order details, a get_sheet_detail message can be sent to retrieve detailed information about a specific work order after querying the list of work orders. The details of the specified work order can be queried from the database, and the query result is returned via a res message. The details may include, but are not limited to, the unique sequence number (seq) of the work item, the work order sequence number (sheedSeq), the product identifier (productId), the barcode, the period sequence number (periodSeq), the status, the specified quantity (qty), the worked quantity (workQty), the location, and the place where the work was performed (workLocation).

[0164] When an unloading operation is instructed, a req_compose_job message is sent, which includes instructions to "move the pallets to be unloaded to the unloading zone." Upon receiving this request, the system (WCS) can start the Unload pallet job (stacker) operation for unloading.

[0165] The Unload pallet job(stacker) includes moving to a high rack (move_node), berthing to a high rack (ready_to_load_pallet_shuttle), loading pallets (load_pallet_shuttle), moving to a high rack for unloading (move_node), berthing to a high rack (ready_to_unload_pallet_shuttle), and unloading pallets (unload_pallet_shuttle).

[0166] When the aforementioned task is successfully completed, the feedback.report.finish message is sent to the upper system to report the completion of the task.

[0167] After the unloading operation is completed, the system sends a set_def_location message, which includes a unique identifier (productId), the quantity (qty) of the unloaded products, and a barcode.

[0168] Once the information settings are complete, a response is returned via a res message. This response includes an error and a msg, and can convey whether the operation succeeded or failed, along with the corresponding message.

[0169] For replenishment, a req_compose_job message is sent to instruct the picking robot to "move to the unloading zone and wait." Once this task is completed, a feedback-report-finish message is returned to indicate the completion of the task.

[0170] Upon receiving a response confirming that the replenishment goods have been loaded onto the trolley, the req_compose_job message can be sent again to instruct the "return the unloaded pallets to the unloading zone." Based on this instruction, the Return pallet job(stacker) operation can be executed.

[0171] The Return pallet job(stacker) operation includes moving to the unloading high rack (move_node), berthing to the high rack (ready_to_load_pallet_shuttle), loading pallets (load_pallet_shuttle), moving to the high rack (move_node), berthing to the high rack (ready_to_unload_pallet_shuttle), and unloading pallets (unload_pallet_shuttle). When all operations are completed, a feedback-report-finish message may be returned.

[0172] A req_compose_job message is sent to instruct the picking robot to "move to each shelf and replenish." Once this task is completed, a feedback-report-finish message may be returned.

[0173] A set_shelf_location message is sent to update the system with inventory information changed due to a replenishment operation. This message includes the unique identifier (productId) of the replenished product, the quantity (qty) of the replenished product, the barcode, and the location where the replenishment operation was performed (workLocation).

[0174] Once the information settings are complete, a res message is returned, which includes error and msg, and can convey whether the operation succeeded or failed and the corresponding message.

[0175] FIGS. 13 to 16 are drawings showing a GUI through a logistics robot operation system according to an embodiment of the present invention.

[0176] FIG. 13 is a drawing showing a GUI that monitors the process of logistics robots according to an embodiment of the present invention lifting and transporting a mobile cart or placing it down at a packaging location.

[0177] Referring to Fig. 13, when optimizing the order of movement between items to be picked, the location of the worker loading the items can be recognized using CCTV, etc., and the worker's movement path can also be considered to optimize the order so that items being transported near the worker are picked first. At this time, only items ordered by one customer should be placed in the basket loaded on the mobile cart, and the items in the basket should be packed together with the invoice during packaging, but are not necessarily limited to this.

[0178] Based on the identified worker's location, if there are no more items to pick in the picking area where the worker is located, a notification is sent to the next work location via a smartphone, smartwatch, or wireless microphone to instruct the worker to move to the next task location.

[0179] Subsequently, the logistics robot operation system assigns the task by allocating the robot with the lowest cost when the mobile cart is in a working state.

[0180] Tasks are assigned by assigning the robot with the lowest cost based on the travel distance between its current location and the mobile cart; in cases where the narrow corridors between light racks in the storage area are wide enough for only one robot to pass due to the characteristics of the logistics warehouse, a one-way traffic direction can be established, and the travel distance based on this direction can be calculated and matched.

[0181] According to one embodiment of the present invention, when robots are concentrated in a specific area, a logistics robot operation system assigns a congestion weight in real time to select a non-congested route even if it is far away, or to prioritize the assignment of robots that minimize waiting time. Specifically, the robot density within a specific storage area is calculated in real time, and if the density exceeds a preset threshold, a virtual penalty cost is applied to robots attempting to enter that area to bypass the route or rearrange the work order. In this case, the specific storage area may be a rack containing popular products, and in the case of a specific season, a storage area where seasonal items are located may be set as the specific area; however, it is not necessarily limited to this, and may be set when the status of packaging goods according to customer orders during a preset time exceeds a threshold.

[0182] FIGS. 14 to 16 are drawings illustrating communication of a logistics robot through a logistics robot operation system according to an embodiment of the present invention.

[0183] Since the mobile cart used for picking is not integrated with the cart robot, the tablet attached to the cart assigns a unique number, allowing the operator to easily identify the work stage, target, and robot status. Additionally, it is connected to a barcode scanner to collect information on picked items and supports out-of-stock processing if the target light rack is out of stock. Once the picking process is complete, it moves to the packing area, where one customer is matched per basket, enabling the operator to easily place the items and invoices into boxes and complete the packing quickly.

[0184] In addition, since the robot moves after unloading the trolley at the packaging location, it offers work efficiency by allowing the next task to be performed without the need to wait while the operator is doing the packaging work.

[0185] In addition, the upper shelves of the cart can be freely configured to transport a large number of items at once, and various sizes of baskets can be placed on each shelf to adjust the configuration according to the types and quantities of items and the number of customers transported in a single trip.

[0186] It is possible to configure the robot to move to an accurate location according to the item transfer instructions from the WMS by matching the current status of the logistics robot service, the map created by the robot, and the unique number distinguished by the WMS for each tier and compartment of the shelf where items are loaded.

[0187] Therefore, the present invention can be expected to have effects such as improved productivity, improved workforce management, improved safety, and optimized logistics management.

[0188] Specifically, productivity improvement may include the effect of increasing work efficiency, where the robot transports the cart so that the worker can focus solely on picking items, thereby increasing overall work efficiency; the effect of reducing travel time, where the robot moves along an optimized path to shorten order processing time; and the effect of enabling continuous operation, where the robot can operate continuously for 24 hours, thereby significantly improving logistics processing capacity.

[0189] In addition, improvements in workforce management may include the effect of reducing labor intensity by significantly reducing the physical burden on workers through the elimination of the need to pull heavy carts, the effect of workforce reallocation by freeing personnel from simple, repetitive transport tasks to reassign them to more valuable work, and the effect of reducing labor costs by saving on night work or hiring additional personnel.

[0190] In addition, safety improvements may include achieving an accident risk reduction effect that can significantly reduce the risk of safety accidents occurring during the transportation of heavy loads, and achieving a consistent work performance effect in which the robot performs tasks with consistent accuracy without fatigue or distraction, thereby reducing errors.

[0191] In addition, logistics management optimization may include deriving real-time inventory management effects by enabling real-time inventory management through the integration of robots and a Warehouse Management System (WMS); deriving flexible operational effects by easily adjusting robot operations according to fluctuations in order volume to flexibly respond to business changes; and deriving data-driven operational effects by analyzing robot operation data to continuously improve logistics processes.

[0192] The foregoing description is merely an illustrative explanation of the technical concept of the embodiments of the present invention, and those skilled in the art to which the embodiments of the present invention pertain will be able to make various modifications and variations within the scope that does not deviate from the essential characteristics of the embodiments of the present invention. Accordingly, the embodiments of the present invention are intended to explain, not limit, the technical concept of the embodiments of the present invention, and the scope of the technical concept of the embodiments of the present invention is not limited by these embodiments. The scope of protection of the embodiments of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the embodiments of the present invention.

Claims

1. A logistics robot operation system for picking and replenishing inventory, comprising a memory for storing commands for performing control, monitoring, or management operations for picking and replenishing inventory in conjunction with a warehouse management system, and a processor for performing operations according to said commands, The above processor is, It controls the incoming flow of transporting and loading a loading unit containing transported items to a designated loading area via a loading robot, and When inventory replenishment is required through inventory monitoring within the storage area where the above-mentioned transferred items are placed, the loading unit loaded in the loading area is unloaded through the transfer device, and the unloaded loading unit is transferred to the storage area through at least one work-performing robot, thereby controlling the inventory replenishment flow. A logistics robot operation system characterized by managing the task of picking transfer items from a storage area using the task execution robot based on transfer information for each user received through the warehouse management system, and transferring the picked transfer items to a packing location using the task execution robot.

2. In Paragraph 1, The above processor is, When a loading unit transported from a transport means is received, the receiving flow is controlled to load the received loading unit onto the loading robot and transport and load it to the designated loading area. A logistics robot operation system characterized by transmitting a loading completion signal to the warehouse management system upon completion of loading into the above loading area.

3. In Paragraph 1, The above processor is, Item list information generated by analyzing user-specific transfer information received through the above warehouse management system is generated at the work execution robot level, and A logistics robot operation system characterized by transmitting and displaying item list information of the generated task-performing robot unit to a terminal attached to each of the task-performing robots.

4. In Paragraph 3, The above processor is, The above-mentioned transfer information for each user is received and divided into work units including multiple transferred items, and within the divided work units, a movement sequence between the locations of transferred items for picking by the work performing robot according to the above-mentioned transfer information for each user is set by considering at least one of the loading capacity of the work performing robot, the picking ability of the worker, and the movement path of the work performing robot. A logistics robot operation system characterized by identifying the position of a worker in the storage area captured by a separate video capturing unit, and further considering the worker's movement path to a transport item located within a preset radius of the identified worker to set the movement sequence of the robot performing the task between the transport item locations for picking.

5. In Paragraph 4, The above processor is, The continuous position change of the worker acquired through the above-mentioned image capturing unit is analyzed to calculate a movement vector including the worker's direction of movement and speed of movement, and based on the calculated movement vector of the worker and the current position and speed of the work performing robot, an optimal contact position that can be matched with the work performing robot without the worker stopping during movement is predicted, and the predicted optimal contact position is set as the primary target point of the work performing robot and the robot is controlled to move. When the task execution robot and the worker are matched at the above first target point, considering the location of the picking item assigned by the warehouse management system and the worker's next expected movement path, a second target point that minimizes the movement distance for the worker to pick the item is calculated, and the task execution robot is controlled to move to the corresponding second target point. A logistics robot operation system characterized by controlling the robot to move to the packing location set as the final target point after all picking operations are finally completed.

6. In Paragraph 4, The movement sequence of the above task-performing robot is, A logistics robot operation system characterized by selecting the task-performing robot with the lowest standard cost to be combined with a mobile cart that has completed picking, and assigning it to a transfer task.

7. In Paragraph 4, The above processor is, A logistics robot operation system characterized by providing a notification to the worker via a terminal or sound to move to the next work location when there are no more transport items to pick in the storage area where the worker is stationed, using the worker's location identified above.

8. In Paragraph 1, The above task-performing robot is, A trolley robot that is combined with a mobile trolley and moves by performing the picking of the above-mentioned transported items through collaboration with a manager; or A logistics robot operation system comprising an automatic processing robot that performs picking and moves the above-mentioned transported items through a robot arm mounted on a superstructure.

9. In Paragraph 8, The above processor is, In the process of combining the above-mentioned trolley robot and the above-mentioned mobile shelf, the markers formed on each are matched with each other to receive and manage a matching signal generated, and A logistics robot operation system characterized by controlling the combination of the above-mentioned trolley robot and the above-mentioned mobile shelf to occur after the charging of the above-mentioned trolley robot is completed, and controlling the combination to be released during the picking or packaging process of the above-mentioned transported goods.

10. In Paragraph 1, The above processor is, A request for stock replenishment is received, including the required stock quantity and the stock replenishment location calculated based on the results of monitoring the stock quantity of the transferred items stored in the above storage area, and A logistics robot operation system characterized by unloading the loading unit loaded in the loading area based on the above-mentioned stock replenishment request, and controlling the unloaded loading unit to be transferred to the stock replenishment location via the above-mentioned task execution robot so that a worker can replenish the stock.

11. A method for operating a logistics robot performed by a logistics robot operating system, A receiving step that controls the receiving flow of transporting and loading a loading unit containing transferred items to a designated loading area via a loading robot; A stock replenishment step for controlling the stock replenishment flow by unloading a loading unit loaded in the loading area via the transfer device and transferring the unloaded loading unit to the storage area via at least one work-performing robot when stock replenishment is required through stock monitoring in the storage area where the above-mentioned transferred item is placed; and A logistics robot operation method comprising order picking and packing steps, which manage the task of picking transfer items from a storage area using the work execution robot based on transfer information for each user received through the warehouse management system, and transferring the picked transfer items to a packing location using the work execution robot.

12. In Paragraph 11, The above order picking and packing steps are, Item list information generated by analyzing user-specific transfer information received through the above warehouse management system is generated at the work execution robot level, and the generated item list information at the work execution robot level is transmitted to and displayed on a terminal attached to each of the above work execution robots. A logistics robot operation method characterized by receiving transfer information for each user, dividing it into work units including multiple transferred items, and within the divided work units, considering at least one of the loading capacity of the work performing robot, the picking ability of the worker, and the movement path of the work performing robot, to set a movement order between the locations of transferred items for picking by the work performing robot according to the transfer information for each user.

13. A computer program stored on a recording medium to execute a logistics robot operation method according to any one of paragraphs 11 to 12 on a computer.

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