Mobility logistics robot and management system using same
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2026-02-04
- Publication Date
- 2026-08-13
Smart Images
Figure KR2026002092_13082026_PF_FP_ABST
Abstract
Description
Mobility logistics robots and management systems using the same
[0001] Various embodiments of the present disclosure relate to a mobility logistics robot and a management system using the same, and more specifically, to a mobility logistics robot and a management system using the same for placing cages in a warehouse.
[0002] Recently, the number of people needing to store belongings for extended periods due to reasons such as overseas business trips and residence renovations is increasing, and situations requiring short-term storage for moving or cleaning are also on the rise.
[0003] Consequently, the need to store belongings for short or long periods is growing, and for these people, storage systems for storing personal items are gaining increasing popularity.
[0004] These systems operated by having users directly transport and load items they wished to store into designated warehouse spaces, and in some systems, identification technologies such as barcodes or RFID tags were introduced to facilitate the management of stored items.
[0005] However, conventional storage systems had the disadvantage of requiring significant time and labor from users during the process of storing or retrieving items. In particular, when items were large and heavy, users faced significant difficulties in moving them directly, and there were limitations in organizing items and retrieving them quickly when needed.
[0006] Therefore, a new technological solution has become necessary to handle the movement and storage of goods more efficiently and safely.
[0007] Various embodiments of the present disclosure can provide a mobility logistics robot and management system that can efficiently move an item (e.g., a target cage) to a desired destination, thereby reducing the user's time and labor during the item storage and movement process.
[0008] A mobility logistics robot for moving a target cage to a desired destination according to one embodiment for achieving the aforementioned purpose comprises: a rectangular main body having a first direction as the length direction and a second direction perpendicular to the first direction as the width direction; a latch portion protruding from the upper surface of the main body and configured to engage with at least one ring formed on the lower part of the target cage; a plurality of first wheels mounted inside the main body and configured to protrude from the inside of the main body toward the lower side and rotate for forward and backward movement of the main body in the first direction; a plurality of second wheels mounted inside the main body and configured to protrude from the inside of the main body toward the lower side and rotate for forward and backward movement of the main body in the second direction; and a drive control unit configured to selectively protrude and rotate the first wheels and the second wheels along a movement path to the destination so as to pull the target cage in a desired direction of movement while the latch portion is engaged with the at least one ring.
[0009] In one embodiment, the mobility logistics robot further includes a distance measuring unit configured to measure the distance between the upper surface of the main body and the lower surface of the target cage, and the drive control unit can control the height of the main body by protruding the first wheel or the second wheel so that the distance measured by the distance measuring unit becomes a predetermined distance at which the latch part can protrude and be connected to the at least one ring.
[0010] In one embodiment, the first wheel or the second wheel may be protruded through a hydraulic cylinder.
[0011] In one embodiment, the latch portion may be fastened to a plurality of rings formed corresponding to each of the four sides of the cage.
[0012] In one embodiment, the latch portion is formed in an L shape and is connected to a ring through an opening area, and can be fastened to a plurality of rings such that the opening area faces outward from the main body.
[0013] In one embodiment, the latch portion is connected to the at least one ring, and when the cage is pulled to a destination through the ring, the height of the main body can be adjusted so that the vertical force transmitted to the cage through the ring becomes zero.
[0014] In one embodiment, after the latch is engaged with the at least one ring, the vertical drag force transmitted to the cage through the ring via the drive control unit during the movement initiation stage can be increased, and when the cage moves, the vertical drag force can be reduced to zero.
[0015] In one embodiment, the drive control unit can increase the vertical drag force by controlling the protrusion of both the first wheel and the second wheel during the movement initiation step.
[0016] In one embodiment, the drive control unit can increase the vertical drag force, then rotate one of the first wheel and the second wheel according to the desired direction of movement, and store the other one in the main body.
[0017] A management system for moving a target cage among a plurality of cages in a smart warehouse to a desired destination, according to one embodiment, comprises a plurality of cages that are stored in the smart warehouse with a loaded load and are movable via a plurality of wheels; a management server that designates the storage location of each of the plurality of cages in the smart warehouse and calculates a movement path to a destination for a target cage among the plurality of cages during inbound and outbound operations; and at least one mobility logistics robot that communicates with the management server to move the target cage to the destination. The at least one mobility logistics robot comprises: a rectangular main body having a first direction as the length direction and a second direction perpendicular to the first direction as the width direction; a latch portion protruding from the upper surface of the main body and configured to be coupled with at least one ring formed on the lower part of the target cage; a plurality of first wheels mounted inside the main body and configured to protrude from the inside of the main body toward the lower side and rotate for forward and backward movement of the main body in the first direction; a plurality of second wheels mounted inside the main body and configured to protrude from the inside of the main body toward the lower side and rotate for forward and backward movement of the main body in the second direction; and the latch portion coupled with the at least one ring. It may include a drive control unit configured to selectively extend and rotate the first and second wheels according to the movement path to the destination so as to drag and move the target cage in the desired direction of movement in the state.
[0018] As described above, according to various embodiments of the present disclosure, a mobility logistics robot can efficiently move a target cage to a desired destination within a smart warehouse by selectively driving a plurality of first wheels and second wheels to protrude and rotate through a drive control unit.
[0019] In addition, according to various embodiments of the present disclosure, a mobility logistics robot can overcome the initial static friction of a cage by increasing the vertical drag force during the movement initiation phase. Subsequently, as the cage begins to move, the vertical drag force is gradually reduced to minimize friction, thereby reducing energy consumption and enabling smoother and more stable movement.
[0020] In addition, according to various embodiments of the present disclosure, the mobility logistics robot can precisely adjust the height of the main body through a hydraulic cylinder. As a result, by setting the height of the main body to be slightly higher than the height between the bottom surface of the cage and the ground, the maximum friction force can be reduced by distributing some of the load of the cage from the ground to the robot.
[0021] Accordingly, an embodiment of the present invention can provide a mobility logistics robot configured to enable automated movement and control by including a latch portion capable of automatically grasping and moving an item and a wheel structure capable of moving in a first direction and a second direction, thereby enabling the safe movement of an item to a destination without user intervention.
[0022] The effects mentioned above are not limited to, and other unmentioned effects will be clearly understood by those skilled in the art to which this disclosure pertains from the description below.
[0023] FIG. 1 is a perspective view of a mobility logistics robot according to one embodiment of the present disclosure.
[0024] FIG. 2 is a block diagram illustrating a mobility logistics robot according to one embodiment of the present disclosure.
[0025] FIG. 3 is a drawing illustrating the state in which a mobility logistics robot moves a cage according to one embodiment of the present disclosure.
[0026] FIG. 4 is a drawing showing an embodiment in which a latch portion according to one embodiment of the present invention protrudes from the main body of a mobility logistics robot.
[0027] FIG. 5 is a drawing showing a state in which a latch portion according to one embodiment of the present invention is connected to a ring formed on the lower part of a cage.
[0028] FIG. 6 shows a perspective view of a latch portion according to one embodiment of the present invention.
[0029] FIG. 7 illustrates a management system for managing a mobility logistics robot according to one embodiment of the present invention.
[0030] The embodiments described in this specification and the configurations illustrated in the drawings are merely preferred examples of the disclosed invention, and various modifications that may replace the embodiments and drawings of this specification may exist at the time of filing this application, and the same reference numerals or symbols presented in each of the drawings represent parts or components that perform substantially the same function.
[0031] In addition, the suffix "~bu" for components used in the description of this specification is assigned or used interchangeably solely for the sake of ease of drafting the specification and does not inherently possess a distinct meaning or role. Furthermore, the "~bu" includes units realized by hardware, units realized by software, and units realized using both methods. Additionally, one unit may be realized using two or more hardware, and two or more units may be realized by one hardware.
[0032] In this specification, expressions such as "A and / or B," "at least one of A and B," etc., refer to all possible combinations of items listed together, and terms including ordinal numbers, such as first and second, etc., may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another.
[0033] Furthermore, in this specification, terms such as "comprising" and "may comprise" are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.
[0034] Furthermore, the terms used in this specification are used merely to describe specific embodiments and are not intended to limit the scope of other embodiments. A singular expression may include a plural expression unless the context clearly indicates otherwise. All terms used herein, including technical or scientific terms, may have the same meaning as generally understood by those skilled in the art to which this disclosure applies. Terms defined in commonly used dictionaries may be interpreted as having the same or similar meaning as they have in the context of the relevant technology and are not to be interpreted in an ideal or overly formal sense unless explicitly defined in this application. In some cases, even terms defined in this application may not be interpreted to exclude the embodiments of this disclosure.
[0035] Hereinafter, preferred embodiments of the present disclosure will be described in more detail with reference to the drawings.
[0036] FIG. 1 is a perspective view of a mobility logistics robot according to one embodiment of the present disclosure, and FIG. 2 is a block diagram of a mobility logistics robot according to one embodiment of the present disclosure. FIG. 3 is a diagram showing a state in which a mobility logistics robot according to one embodiment of the present disclosure moves a cage.
[0037] Referring to FIGS. 1 and 2, a mobility logistics robot (100) according to one embodiment is configured to efficiently move goods to a desired destination. The mobility logistics robot (100) is a device focused on reducing labor consumption that may occur during the process of moving goods and significantly improving work efficiency, and can play a key role in a logistics and storage system. The mobility logistics robot (100) reduces the user's time and labor during the process of storing and moving goods, and enables simpler goods management.
[0038] Specifically, the mobility logistics robot (100) can be configured to efficiently move a specific cage (200). The mobility logistics robot (100) operates on the ground (2) and may internally include all movement mechanisms necessary for moving the cage (200).
[0039] To efficiently move a specific cage (200), a mobility logistics robot (100) is positioned at the bottom of the cage (200) and can be stably coupled with the specific cage (200). After stably coupling with the specific cage (200), the mobility logistics robot (100) can transport the cage (200) to a desired destination. The mobility logistics robot (100) is configured to perform the role of moving the cage (200) without directly bearing the load of the cage.
[0040] Specifically, the cage (200) supports the load through its own attached wheels (210), and this load is transmitted directly to the ground (2) through the wheels. The center of gravity of the cage (200) is designed so that the load is distributed in the vertical direction, so that the load is not transmitted to the mobility logistics robot (100). Because the wheels (210) support the load by contacting the ground, excessive pressure is not applied to the mobility logistics robot (100) due to the weight of the cage.
[0041] The mobility logistics robot (100) may not directly support the load of the cage (200). The cage (200) may support the load of the wheels (210) attached to the cage (200). The weight of the cage (200) may be transferred to the ground (2) through the cage wheels (210). The mobility logistics robot (100) performs the role of moving the cage (200) without bearing the load of the cage (200).
[0042] That is, the mobility logistics robot (100) can move the cage (200) by pulling or pushing it without bearing the load of the cage (200). The mobility logistics robot is located at the bottom of the cage (200) and is stably connected to the cage (200) through a latch (70). In this connected state, the mobility logistics robot (100) can move the cage (200) in a desired direction using its own driving force. The mobility logistics robot (100) can move freely in the forward, backward, left, and right directions according to a predetermined path. As a result, the load of the cage is handled independently of the mobility logistics robot, and the mobility logistics robot can move the cage (200) without bearing an additional load.
[0043] The mobility logistics robot (100) induces movement by pulling or pushing the cage (200) using a ring or latch (70) connected to the cage. In this process, the role performed by the mobility logistics robot (100) is focused on transmitting force to the cage (200) to control direction or adjust speed. Therefore, the mobility logistics robot operates simply as a device that supports movement, and the structural load of the cage is entirely supported by the wheels.
[0044] Since the mobility logistics robot (100) does not support the weight of the cage (200), the structure of the robot itself can be simplified or made lighter. This can increase the energy efficiency of the robot and improve operational performance.
[0045] Since the load of the cage (200) is not transferred to the mobility logistics robot (100) but is distributed directly to the ground through the wheels (210) of the cage (200), excessive stress is not applied to the connection part between the mobility logistics robot (100) and the cage (200).
[0046] In conclusion, the mobility logistics robot (100) is configured to drag or move the cage (200) without bearing the load of the cage (200).
[0047] The configuration of the above mobility logistics robot (100) is explained with reference to FIGS. 2 and FIGS. 3.
[0048] Referring to FIGS. 2 and 3, the mobility logistics robot (100) may include a main body (102), a plurality of first wheels (10), a plurality of second wheels (20), a latch unit (70), a communication unit (110), a memory (120), a drive control unit (130), a first hydraulic cylinder (142), a second hydraulic cylinder (144), a first motor (152), a second motor (154), and a distance measuring unit (160).
[0049] The main body (102) of the mobility logistics robot (100) may have a rectangular shape with a rectangular cross-section. The width and length of the main body (102) may be designed differently depending on the size of the cage (200) to be transported by the mobility logistics robot (100). For example, the width and length of the main body (102) may be determined in proportion to the width and length of the lower surface of a specific cage (200). Additionally, it is preferable that the width and length of the main body (102) be smaller than the width and length of the lower surface of a specific cage (200).
[0050] The length direction (first direction) (12) of the main body (102) corresponds to the longest side of the rectangular prism that is the main body (102). The width direction (second direction) (22) of the main body (102) corresponds to a side that is orthogonal to the first direction. The rectangular prism structure helps to distribute the load evenly and maintains the center of gravity stably, thereby preventing lateral shaking or overturning during movement.
[0051] The height of the main body (102) can be appropriately determined by considering the arrangement of internal components. The height of the main body (102) provides space for efficiently arranging internal components, such as a battery, motor, sensor, etc., while keeping the center of gravity of the mobility logistics robot (100) low. This structure further enhances the stability of the mobility logistics robot (100) and, in particular, helps to move the cage (200) stably when moving the cage (200).
[0052] That is, the main body of the mobility logistics robot (100) can adopt a rectangular shape to ensure functionality and stability. This structure simultaneously ensures load distribution, movement efficiency, and mechanical stability, and provides a foundation for effective operation in various work environments.
[0053] A plurality of first wheels (10) and a plurality of second wheels (20) can be mounted inside the main body (102). The main body (102) of the mobility logistics robot (100) may have a receiving portion capable of accommodating a plurality of first wheels (10) and a plurality of second wheels (20), respectively.
[0054] A plurality of first wheels (10) may be configured to protrude from the inside of the main body (102) toward the bottom side and rotate for forward and backward movement of the main body (102) in the first direction (12). A plurality of first wheels (10) may be controlled to protrude through a first hydraulic cylinder (142).
[0055] A plurality of second wheels (20) may be configured to protrude from the inside of the main body (102) toward the bottom side and rotate for forward and backward movement of the main body (102) in the second direction (22). A plurality of second wheels (20) may be controlled to protrude through a second hydraulic cylinder (144).
[0056] The drive control unit (130) can control the first wheel (10) or the second wheel (20) to move the mobility logistics robot (100) to a desired location. In this case, the drive control unit (130) can control the first wheel (10) or the second wheel (20) to move the mobility logistics robot (100) to a first direction (120) or to a second direction (22).
[0057] Specifically, when the mobility logistics robot (100) moves in a first direction (12), the drive control unit (130) can cause a plurality of first wheels (10) to protrude from inside the main body (102) toward the bottom through a first hydraulic cylinder (142). In this case, the drive control unit (130) can control a second hydraulic cylinder (144) so that a second wheel (20) protrudes less than a plurality of first wheels (10).
[0058] For example, when the drive control unit (130) moves the mobility logistics robot (100) in the first direction (12), it can control the first hydraulic cylinder (142) to extend a plurality of first wheels (10) and control the second hydraulic cylinder (144) to store a plurality of second wheels (20) inside the main body (102).
[0059] The drive control unit (130) can cause a plurality of second wheels (20) to protrude from inside the main body (102) toward the bottom side through a second hydraulic cylinder (144) when the mobility logistics robot (100) moves in a second direction (22). In this case, the drive control unit (130) can control a plurality of first wheels (10) by controlling a first hydraulic cylinder (142) so that they protrude less than the plurality of second wheels (10).
[0060] For example, when the drive control unit (130) moves the mobility logistics robot (100) in the first direction (12), it can control the first hydraulic cylinder (142) to extend a plurality of first wheels (10) and control the second hydraulic cylinder (144) to store a plurality of second wheels (20) inside the main body (102).
[0061] In this way, the drive control unit (130) can selectively extend a plurality of first wheels (10) or a plurality of second wheels (20) by controlling the first hydraulic cylinder (142) and the second hydraulic cylinder (144) so that the mobility logistics robot (100) moves along a predetermined path.
[0062] Additionally, when moving the mobility logistics robot (100) to the first direction (12), the drive control unit (130) controls the first motor (152) to rotate a plurality of first wheels (10) so that the mobility logistics robot (100) can move to the first direction (12). Additionally, when moving the mobility logistics robot (100) to the second direction (22), the drive control unit (130) controls the second motor (154) to rotate a plurality of second wheels (20) so that the mobility logistics robot (100) can move to the second direction (12).
[0063] Meanwhile, the primary role of the mobility logistics robot (100) is to move the cage (200) by pulling or pushing it. To this end, the mobility logistics robot (100) is positioned at the bottom of the cage (200) and can be stably coupled to the cage (200). With the mobility logistics robot (100) and the cage (200) coupled, the mobility logistics robot (100) can move the cage (200) in a desired direction using its own driving force. The mobility logistics robot (100) can move freely in the forward, backward, left, and right directions according to a predetermined path.
[0064] Specifically, the drive control unit (130) can control the first wheel (10) or the second wheel (20) to position the mobility logistics robot (100) at the bottom of the cage (200). That is, the drive control unit (130) can selectively protrude and rotate the first wheel (10) or the second wheel (20) to position the mobility logistics robot (100) at the bottom of the cage (200).
[0065] When the mobility logistics robot (100) is positioned at the bottom of the cage (200), the mobility logistics robot (100) can be stably connected to the cage (200) through the latch portion (70).
[0066] The latch portion (70) may be configured to protrude from the upper surface of the main body (102) and to be connected to at least one ring formed on the lower part of the cage (200), for example, the bottom surface.
[0067] The latch portion (70) is a component designed to allow the mobility logistics robot (100) to stably fix and move the cage (200). The latch portion (70) may have a structure that is connected to a ring formed on the lower part of the cage (200).
[0068] Referring to FIGS. 4 to 6, the latch portion (70) will be described in detail.
[0069] FIG. 4 is a drawing showing a manner in which a latch portion according to an embodiment of the present invention protrudes from the main body of a mobility logistics robot, and FIG. 5 is a drawing showing a state in which a latch portion according to an embodiment of the present invention is connected to a ring formed on the lower part of a cage. FIG. 6 shows a perspective view of a latch portion according to an embodiment of the present invention.
[0070] Referring to FIGS. 4 through 6, the latch portion (70) is a component designed to securely fix the mobility logistics robot (100) to the cage (200). The latch portion (70) may have a structure that is connected to a ring formed at the bottom of the cage (200). The latch portion (70) can play an important role in distributing the load through the cage's own wheels (210) rather than the mobility logistics robot (100) directly supporting the load of the cage (200).
[0071] The latch portion (70) can be engaged and fastened with at least one ring (220) located at the bottom of the cage (200). FIG. 4(a) shows the state before the latch portion (70) is coupled with the ring (220) of the cage (200), and FIG. 4(b) shows the state after the latch portion (70) is coupled with the ring (220) of the cage (200).
[0072] The latch portion (70) can be accommodated in the main body (102) of the mobility logistics robot (100). When the mobility logistics robot (100) is positioned at the bottom of the cage (200), the latch portion (70) can be rotated and connected to a ring formed at the bottom of the cage (200).
[0073] The locking part (70) can be formed from a metal material with excellent wear resistance and durability. For example, the locking part (70) can be formed from stainless steel.
[0074] The latch portion (70) is stored in the main body (102), and when the mobility logistics robot (100) is located at the bottom of the cage (200), it can be rotated and engaged with the ring (220) located at the bottom of the cage (200) to be fastened.
[0075] To this end, the latch portion (70) may have a rotating portion (72) that acts as a central axis to allow the latch portion (70) to rotate, and a stop pin (74) that protrudes from the rotating portion (72) and engages with a ring (220) located at the bottom of the cage (200).
[0076] The rotating part (72) may have a cylindrical shape, and when rotated, the stop pin (74) connected to the rotating part (72) rotates. In this case, the rotating part (72) may further include a rotation axis member (not shown) to support the rotation of the rotating part (72). The rotating part (72) may be supported by the rotation axis member and rotated.
[0077] The stop pin (74) can limit the rotation angle of the latch portion (70) and serve to fix the latch portion (70) at a specific position. When the rotating portion (72) is rotated, the stop pin (74) connected to the rotating portion (72) is also rotated and can be connected to the ring (220) formed at the bottom of the cage (200).
[0078] The stop pin (74) of the latch portion (70) may be formed in an L-shape. Additionally, the stop pin (74) may have an opening area (76) that engages with the ring (220) of the cage (200). This opening area (76) may be fastened to the ring (220) of the cage (200).
[0079] According to one embodiment, the opening area (76) may be formed to face the inside of the main body (102) of the mobility logistics robot (100). In FIG. 4, the opening area (76) is shown facing the inside of the main body (102).
[0080] According to another embodiment, the opening area (76) may be formed to face outward from the main body (102). In this case, the opening area (76) may support the ring (220) of the cage (200) outward from the mobility logistics robot (100) so that it can be more stably fixed to the cage (200).
[0081] Meanwhile, the stop pin (74) may have a fastening area (78) into which the ring (220) of the cage (200) is inserted. At this time, the ring (220) of the cage (200) is supported within the fastening area (78), so that the mobility logistics robot (100) can be stably fixed to the cage (200).
[0082] The rotating part (72) allows the latch part (70) to rotate freely, and the stop pin (74) limits the rotation angle of the latch part (70) so that it can be fixed at a desired position.
[0083] According to one embodiment, four latch portions (70) may be formed adjacent to each side of a rectangle on the upper surface of the mobility logistics robot (100). In this case, the latch portions (70) may be fastened to a plurality of rings (220) formed corresponding to each of the four sides of the cage (200). According to the present invention, the number of latch portions (70) is not limited thereto and may increase or decrease depending on the size of the cage (200), which is obvious to those skilled in the art.
[0084] In this way, by fastening the latch portion (70) to the ring (220) formed on the lower part of the cage (200), the combined state of the mobility logistics robot (100) and the cage (200) can be stably maintained, and the cage (200) is not separated from the mobility logistics robot (100) even while the mobility logistics robot (100) is moving.
[0085] If the lower surface of the cage (200) is positioned slightly lower than the height of the mobility logistics robot, the vertical load of the cage (200) is transferred to the wheels (210) of the cage (200), and no load is transferred to the mobility logistics robot (100).
[0086] In this case, the drive control unit (130) can receive the distance between the upper surface (30) of the main body and the lower surface (202) of the cage (200) from the distance measuring unit (160).
[0087] The distance measuring unit (160) is installed on the upper part of the main body (102) and can measure the distance between the upper surface (30) of the main body and the lower surface (202) of the cage (200).
[0088] The drive control unit (130) can control the height of the main body by protruding the first wheel or the second wheel so that the distance measured by the distance measuring unit (160) becomes a predetermined distance at which the latch unit protrudes and can be connected to the at least one ring.
[0089] Additionally, the drive control unit (130) can extend the height of the mobility logistics robot (100) so that it does not receive the load of the cage (200) when the mobility logistics robot (100) selectively extends a plurality of first wheels (10) or a plurality of second wheels (20) by controlling the first hydraulic cylinder (142) and the second hydraulic cylinder (144). That is, when the drive control unit (130) selectively extends a plurality of first wheels (10) or a plurality of second wheels (20), it can extend a plurality of first wheels (10) or a plurality of second wheels (20) so that the height of the mobility logistics robot (100) corresponds to the height (H) between the bottom surface (202) of the cage (200) and the ground (2). In this case, the height of the mobility logistics robot (100) can be the height when the first wheels (10) or the second wheels (20) are extended for movement.
[0090] That is, the height (H) from the ground (2) to the top surface (30) of the mobility logistics robot (100) can be designed so that the mobility logistics robot (100) does not receive the load of the cage (200). In this case, when the mobility logistics robot (100) moves, the height (H) from the ground (2) to the top surface (30) of the mobility logistics robot (100) is configured to be approximately the same as the height (H) between the bottom surface (202) of the cage (200) and the ground (2). In this case, the height of the mobility logistics robot (100) can be the height when the first wheel (10) or the second wheel (20) is protruding for movement.
[0091] Meanwhile, when the mobility logistics robot (100) is positioned at the bottom of the cage (200) and stably coupled with the cage (200), the drive control unit (130) begins to move the cage (200). When the drive control unit (130) begins to move the cage (200), it can increase the vertical drag force by controlling both the first wheel (10) and the second wheel (20) to protrude. The vertical drag force refers to the force acting in a vertical direction (direction of gravity) on the first wheel (10) and the second wheel (20) of the mobility logistics robot (100).
[0092] To explain in detail, when the mobility logistics robot (100) starts moving the cage (200), the cage (200) is in a state where static friction force is applied to the ground (2).
[0093] Static friction is greater than kinetic friction. Specifically, static friction is the friction that occurs when an object attempts to move from a stationary state. This friction is greater than kinetic friction, and it must be overcome to move the object. Kinetic friction is the friction that occurs when an object is already in motion, and it is generally smaller than static friction.
[0094] According to the present invention, when a mobility logistics robot (100) starts moving a cage (200), static friction must be overcome. To reduce static friction, the normal force of the cage (200) must be reduced. The normal force affects the contact area and friction coefficient between the wheel and the ground, and as the contact area increases, the friction force also increases.
[0095] Accordingly, the driving force for the mobility logistics robot (100) to move the cage (200) can be increased to the maximum. In this case, to reduce the maximum friction force acting on the ground (2) of the cage (200), the drive control unit (130) can increase the vertical drag force by having the mobility logistics robot (100) control the first hydraulic cylinder (142) and the second hydraulic cylinder (144) to extend all of the plurality of first wheels (10) and the plurality of second wheels (20). The vertical drag force refers to the force acting in a vertical direction (direction of gravity) on the first wheels (10) and the second wheels (20) of the mobility logistics robot (100).
[0096] To reduce the maximum frictional force acting on the ground (2) of the cage (200), the drive control unit (130) can control the first hydraulic cylinder (142) and the second hydraulic cylinder (144) so that when the mobility logistics robot (100) has all of the plurality of first wheels (10) and the plurality of second wheels (20) protruding, the height of the mobility logistics robot (100) is slightly higher than the height (H) between the bottom surface (202) of the cage (200) and the ground (2). For example, the drive control unit (130) can perform control so that the height of the mobility logistics robot (100) is higher than the height (H) between the bottom surface (202) of the cage (200) and the ground (2) by a value in the range of about 0.5 cm to 2 cm. Accordingly, the maximum frictional force acting on the ground (2) of the cage (200) can be reduced.
[0097] In other words, the mobility logistics robot (100) can adjust the height of its body to reduce the maximum frictional force exerted by the cage on the ground (2) during the process of moving the cage (200). In this process, the drive control unit (130) extends all of the first wheels (10) and the second wheels (20) at the same time, controls the first hydraulic cylinder (142) and the second hydraulic cylinder (144) to adjust the height of the body of the mobility logistics robot so that it is slightly higher than the height (H) between the bottom surface (202) of the cage and the ground.
[0098] At this time, the height of the mobility logistics robot is controlled to be about 0.5 cm to 2 cm higher than the height (H) between the bottom surface (202) of the cage and the ground (2). Through this height adjustment, the mobility logistics robot (100) has the effect of slightly lifting the cage (200), and as a result, some of the load of the cage (200) is distributed from the ground to the mobility logistics robot (100). As a result, the normal force acting between the cage (200) and the ground (2) is reduced, and the maximum friction force is also reduced.
[0099] Accordingly, the mobility logistics robot (100) overcomes friction between the wheels (210) of the cage (200) and the ground to start moving the cage (200).
[0100] This method reduces the initial driving force required to move the cage (200), thereby increasing energy efficiency, and at the same time minimizes resistance caused by friction that may occur during the movement process, thereby ensuring smooth movement of the cage.
[0101] Additionally, the drive control unit (130) can increase the vertical force and then rotate one of the first wheel (10) and the second wheel (20) according to the desired direction of movement, and store the other one in the main body.
[0102] The drive control unit (130) can drive the first wheel (10) or the second wheel (20) to rotate so that the mobility logistics robot (100) moves along a predetermined path.
[0103] Specifically, the drive control unit (130) can extend the first wheel (10) through the first hydraulic cylinder (142) when moving the cage (200) in the first direction (12), that is, when the mobility logistics robot (100) moves in the first direction (12). In this case, the drive control unit (130) can make the second wheel (20) extend less than the first wheel (10) through the second hydraulic cylinder (144).
[0104] Additionally, the drive control unit (130) can extend the second wheel (20) through the second hydraulic cylinder (144) when moving the cage (200) in the second direction (22), that is, when the mobility logistics robot (100) moves in the second direction (22). In this case, the drive control unit (130) can make the first wheel (10) extend less than the second wheel (20) through the first hydraulic cylinder (142).
[0105] Specifically, the drive control unit (130) can adjust the height of the main body so that the vertical force transmitted to the cage (200) becomes zero when the cage (200) is pulled to a destination. In other words, the drive control unit (130) can extend the height of the mobility logistics robot (100) so that it does not receive the load of the cage (200) when the mobility logistics robot (100) controls the first hydraulic cylinder (142) and the second hydraulic cylinder (144) to selectively extend a plurality of first wheels (10) or a plurality of second wheels (20). That is, when the drive control unit (130) selectively extends a plurality of first wheels (10) or a plurality of second wheels (20), it can extend a plurality of first wheels (10) or a plurality of second wheels (20) so that the height of the mobility logistics robot (100) corresponds to the height (H) between the bottom surface (202) of the cage (200) and the ground (2). In this case, the height of the mobility logistics robot (100) may refer to the height when the first wheels (10) or the second wheels (20) are extended for movement.
[0106] In this case, when the mobility logistics robot (100) moves, the height (H) from the ground (2) to the top surface (top) of the mobility logistics robot (100) is approximately equal to the height (H) between the bottom surface (202) of the cage (200) and the ground (2). Accordingly, the mobility logistics robot (100) can move the cage (200) without bearing the load of the cage (200).
[0107] In this way, the mobility logistics robot (100) is positioned at the bottom of the cage (200) to efficiently move the specific cage (200), and after stably connecting with the specific cage (200), can transport the cage (200) to a desired destination.
[0108] Meanwhile, the communication unit (110) performs the function of communicating with an external electronic device, a user terminal, or an external server (not shown). The communication unit (110) can receive a path for the mobility logistics robot (100) to move or a command to control the mobility logistics robot (100) from an external device.
[0109] The communication unit (110) can be configured regardless of the mode of communication, such as wired or wireless, and can be configured with various communication devices such as a Personal Area Network (PAN) or a Wide Area Network (WAN). Additionally, the communication unit (210) can operate based on the known World Wide Web (WWW) and may use wireless transmission technologies used for short-range communication, such as Infrared Data Association (IrDA) or Bluetooth.
[0110] The memory (120) stores at least one instruction to control the drive control unit (130).
[0111] Memory (120) may mean any type of storage medium. For example, memory (220) may include at least one type of storage medium among flash memory type, hard disk type, multimedia card micro type, card type memory (e.g., SD or XD memory, etc.), RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic disk, and optical disk.
[0112] The drive control unit (130) can move the cage (200) by executing at least one command stored in the memory (120).
[0113] Accordingly, the present invention can provide a mobility logistics robot configured to enable automated movement and control by including a latch portion capable of automatically grasping and moving an item and a wheel structure capable of moving in a first direction and a second direction, thereby enabling the safe movement of an item to a destination without user intervention.
[0114] Meanwhile, the mobility logistics robot (100) according to the present invention can communicate with a predetermined management server (300) to move a target cage to a destination.
[0115] FIG. 7 illustrates a management system for managing a mobility logistics robot (100) according to one embodiment of the present invention.
[0116] Referring to FIG. 7, each component of FIG. 7 is generally connected through a network (400). For example, as illustrated in FIG. 7, at least one mobility logistics robot (100) can be connected to a management server (300) through the network (400). And, the management server (300) can be connected to at least one mobility logistics robot (100) through the network (400).
[0117] Here, the network (400) refers to a connection structure capable of exchanging information between each node, such as multiple terminals and servers. Examples of such a network include, but are not limited to, RF, 3GPP (3rd Generation Partnership Project) network, LTE (Long Term Evolution) network, 5GPP (5th Generation Partnership Project) network, WIMAX (World Interoperability for Microwave Access) network, Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), PAN (Personal Area Network), Bluetooth network, NFC network, satellite broadcasting network, analog broadcasting network, DMB (Digital Multimedia Broadcasting) network, etc.
[0118] In the following, the term "at least one" is defined as a term including both singular and plural forms, and it will be obvious that even if the term "at least one" is absent, each component may exist in a singular or plural form and may mean singular or plural. Furthermore, whether each component is provided in a singular or plural form may be changed according to the embodiment.
[0119] The above management server (300) includes, for example, a desktop, laptop, tablet PC, etc. equipped with a web browser, and the above portable terminal is a wireless communication device that ensures portability and mobility, and may include all kinds of handheld-based wireless communication devices such as a smartphone, PCS (Personal Communication System), GSM (Global System for Mobile communication), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), PDA (Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), Wibro (Wireless Broadband Internet) terminal, etc.
[0120] The above-mentioned at least one mobility logistics robot (100) can be operated within a smart warehouse. Multiple cages (200) can be stored within the smart warehouse. Multiple cages (200) are stored within the smart warehouse with loads loaded and can be moved via multiple wheels.
[0121] The management server (300) can designate the storage location of each of the plurality of cages within the smart warehouse and calculate the movement path to the destination for the target cage among the plurality of cages during inbound and outbound operations. The management server (300) can communicate with the mobility logistics robot (100) to move the target cage to the destination. That is, the management server (300) can control the mobility logistics robot (100) to move the target cage among the plurality of cages within the smart warehouse to the desired destination.
[0122] As described above, the functional operations of each configuration described according to various embodiments can be implemented in the form of program instructions and recorded on a computer-readable recording medium and / or memory, etc.
[0123] The aforementioned computer-readable recording medium may include program instructions, data files, data structures, etc., either alone or in combination. The program instructions recorded on the computer-readable recording medium may be those specifically designed and configured for the present invention, or they may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware device may be configured to operate as one or more software modules to perform processing according to the present invention, and vice versa.
[0124] Accordingly, although the present disclosure has been described above with reference to specific details such as specific components according to the various embodiments described above, such references are provided only to aid in a more comprehensive understanding and are not limited to the various embodiments; it is obvious that those skilled in the art can make various modifications and variations from such machines.
[0125] Accordingly, the concept described in this invention should not be limited to the embodiments described above, and not only the claims set forth below, but also all modifications equivalent to or equivalent to these claims shall be considered to fall within the scope of the concept of this invention.
[0126] [Explanation of the symbol]
[0127] 100: Mobility Logistics Robot
[0128] 102: Main body
[0129] 10: The First Wheel of Vengeance
[0130] 20: The Second Wheel of Vengeance
[0131] 70: Latch
[0132] 110: Communications Department,
[0133] 120: Memory
[0134] 130: Drive control unit
[0135] 142: 1st hydraulic cylinder
[0136] 144: Second hydraulic cylinder
[0137] 152: 1st motor
[0138] 154: Second motor
[0139] 160: Distance measuring unit
Claims
1. As a mobility logistics robot for moving a target cage to a desired destination, A rectangular main body having a first direction as the length direction and a second direction perpendicular to the first direction as the width direction; A latch portion protruding from the upper surface of the main body and configured to engage with at least one ring formed on the lower part of the target cage; A plurality of first wheels mounted inside the main body and configured to protrude from inside the main body toward the lower surface and rotate for forward and backward movement of the main body in the first direction; A plurality of second wheels mounted inside the main body and configured to protrude from inside the main body toward the lower surface and rotate for forward and backward movement of the main body in the second direction; A mobility logistics robot comprising a drive control unit configured to selectively protrude and rotate the first wheel and the second wheel along a travel path to a destination so as to pull and move the target cage in a desired direction of movement while the above-mentioned latch portion is engaged with the above-mentioned at least one ring.
2. In Paragraph 1, A distance measuring unit configured to measure the distance between the upper surface of the main body and the lower surface of the target cage; A mobility logistics robot characterized in that the above drive control unit controls the height of the main body by protruding the first wheel or the second wheel so that the distance measured by the distance measuring unit becomes a predetermined distance at which the latch unit protrudes and can be connected to the at least one ring.
3. In Paragraph 2, A mobility logistics robot characterized in that the first wheel or the second wheel is protruded through a hydraulic cylinder.
4. In Paragraph 1, A mobility logistics robot characterized in that the above-mentioned latch portion is each fastened to a plurality of rings formed corresponding to each of the four sides of the cage.
5. In Paragraph 4, A mobility logistics robot characterized in that the above-described latch portion is formed in an L-shape, is hooked through an opening area, and is fastened to a plurality of rings such that the opening area faces outward from the main body.
6. In Paragraph 2, A mobility logistics robot characterized in that the height of the main body is adjusted so that the vertical force transmitted to the cage through the ring becomes zero when the above-mentioned latch is connected to the above-mentioned at least one ring, and when the cage is pulled to a destination through the ring.
7. In Paragraph 6, A mobility logistics robot characterized by, after the above-mentioned latch is engaged with the above-mentioned at least one ring, increasing the vertical drag force transmitted to the cage through the ring via the above-mentioned drive control unit during the movement initiation stage, and controlling the vertical drag force to decrease to zero when the cage moves.
8. In Paragraph 7, A mobility logistics robot characterized in that the above drive control unit increases the vertical drag force by controlling the protrusion of both the first wheel and the second wheel during the movement initiation step.
9. In Paragraph 8, A mobility logistics robot characterized by the above-described drive control unit increasing the vertical force, then rotating one of the first wheel and the second wheel according to the desired direction of movement, and storing the other one in the main body.
10. A management system for moving a target cage among multiple cages in a smart warehouse to a desired destination, Multiple cages that are stored loaded within a smart warehouse and are movable via multiple wheels; A management server that designates the storage location of each of the plurality of cages within the smart warehouse and calculates the movement path to the destination for a target cage among the plurality of cages during inbound and outbound operations; It includes at least one mobility logistics robot for communicating with the management server to move the target cage to the destination, The above-mentioned at least one mobility logistics robot is, A rectangular main body having a first direction as the length direction and a second direction perpendicular to the first direction as the width direction; A latch portion protruding from the upper surface of the main body and configured to engage with at least one ring formed on the lower part of the target cage; A plurality of first wheels mounted inside the main body and configured to protrude from inside the main body toward the lower surface and rotate for forward and backward movement of the main body in the first direction; A plurality of second wheels mounted inside the main body and configured to protrude from inside the main body toward the lower surface and rotate for forward and backward movement of the main body in the second direction; A management system comprising a drive control unit configured to selectively protrude and rotate the first wheel and the second wheel along a path to a destination so as to pull and move the target cage in a desired direction of movement while the above-mentioned latch unit is engaged with the above-mentioned at least one ring.