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WO2025143399A1 - Système de prélèvement logistique utilisant des robots - Google Patents

Système de prélèvement logistique utilisant des robots Download PDF

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Publication number
WO2025143399A1
WO2025143399A1 PCT/KR2024/008865 KR2024008865W WO2025143399A1 WO 2025143399 A1 WO2025143399 A1 WO 2025143399A1 KR 2024008865 W KR2024008865 W KR 2024008865W WO 2025143399 A1 WO2025143399 A1 WO 2025143399A1
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WO
WIPO (PCT)
Prior art keywords
robot
transfer robot
call
picking
node
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/KR2024/008865
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English (en)
Inventor
Eun Sol Choi
Dongjun Shin
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Twinny Co Ltd
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Twinny Co Ltd
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Filing date
Publication date
Application filed by Twinny Co Ltd filed Critical Twinny Co Ltd
Publication of WO2025143399A1 publication Critical patent/WO2025143399A1/fr
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/667—Delivering or retrieving payloads
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/686—Maintaining a relative position with respect to moving targets, e.g. following animals or humans
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/692—Coordinated control of the position or course of two or more vehicles involving a plurality of disparate vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G05D1/6987—Control allocation by centralised control off-board any of the vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the present invention relates to a logistics picking system using a robot, and more particularly relates to a logistics picking system using a tracking robot that tracks workers within a workspace and a transport robot that takes items from the tracking robot and moves the taken items to a lowering site, and that can perform logistics utilization such as packaging, unloading, transporting, storage and communication of materials and products more easily.
  • the picking process means that accurate products are brought from places where the products are located by an accurate quantity according to the order quantity, and the packing process means that the ordered products are collected and packaged in an appropriate manner.
  • the above-described method of picking up and packaging directly by hand suitable for a small online store is referred to as piece picking.
  • piece picking there is a method of processing the corresponding product by the administrator at once, that is, batch picking, which is used when sufficient order quantity is generated for a single or a small number of products handled by the store.
  • zone picking method which is a method of picking up and delivering only the corresponding product. Although it can operate efficiently, systematic cooperation is required, and additional means for rapid delivery of the picked-up product may be required.
  • wave picking method in which a zone picking method and a batch picking method are combined, and this is operated in a method of collectively picking up the same product in one area and delivering the same product to the next area for a large quantity order of small items.
  • robots e.g., automated guided vehicles (AGV), autonomous mobile robots (AMR), and the like, which are present at a force advantage than a person, are recently used in the process of picking up the items and delivering the picked up items.
  • AGV automated guided vehicles
  • AMR autonomous mobile robots
  • the limit weight means a weight that can safely transfer the item loaded in the loading means for the logistics, and for example, 80% to 90% of the maximum loading possibility of the loading means may be set as the limit weight.
  • it may be sufficiently changed according to the specifications of the robot and the acceptable specifications of the loading means.
  • a stacking box providing a stacking space may be stacked in the stacking means, and products may be stacked or stored in the stacking box.
  • Each of the picking robot 30 and the transfer robot 20 may further include an input and output means.
  • the picking robot 30 and the transfer robot 20 may output the sensed weight information through the input and output means such as the display means when the weight information of the loading means sensed by the sensor means is equal to or greater than the threshold weight.
  • the worker located in the work space may easily know that the weight information of the loading means of the corresponding picking robot 30 is equal to or greater than the threshold weight.
  • the integrated server 10 may receive the weight information of the loading stage from the picking robot 30, and if the weight information exceeds the loading threshold weight, the integrated server 10 may perform subsequent measures for this.
  • the subsequent measures may be for outputting the current weight information through the input and output means included in the picking robot 30 or may be for transmitting the current weight information to the terminal means carried by the worker.
  • the picking robot 30 and the transfer robot 20 may meet at the call node set based on the setting by the worker or the setting by the integrated server 10. The setting operation of the call node will be described in detail later.
  • the picking robot 30 and the transfer robot 20 may be controlled to move to a pre-set direction such that the worker easily works in a situation where the worker transfers the products loaded in the picking robot 30 to the transfer robot 20.
  • the picking robot 30 and the transfer robot 20 may further include at least one recognition means for recognizing the robot included in a different robot group, wherein the robot is located around the picking robot 30 and the transfer robot 20.
  • the recognition means may be positioned at a surface of each of picking robot 30 and the transfer robot 20.
  • the picking robot 30 may include a recognition means for recognizing the transfer robot 20 located around the periphery, and the transfer robot 20 includes a recognition means for recognizing a picking robot 30 located around the periphery.
  • the recognition means may be a means for recognizing a robot, and is not limited to the means itself.
  • the integrated server 10 may control the transfer robot 20 to face a pre-set direction.
  • the integrated server 10 may control the transfer robot 20 to face a pre-set direction based on the fact that the picking robot 30 is fixedly controlled to face the preset direction while following the worker when the picking robot 30 moves to the set call node. It is for that the worker can easily transfer the logistics loaded on the picking robot 30 to the transfer robot 20.
  • the transfer robot 20 may recognize the direction of the picking robot 30 through a marker (an embodiment of the recognition means) formed in the picking robot 30, recognizes which surface the recognized marker corresponds to a front surface, a rear surface, a left side surface, or a right side surface of the picking robot 30, and adjusts the posture of the transfer robot 20 so that the pre-set surfaces face each other.
  • a marker an embodiment of the recognition means
  • following stop command information may be inputted to the corresponding picking robot 30 by the integrated server 10, so that the picking robot 30 does not move for following the worker during the worker moves between the transfer robot 20 from the picking robot 30.
  • the integrated server 10 may receive the command information and generate the command information.
  • the picking robot 30 may transmit the input command information to the integrated server 10, and the integrated server 10 may receive the command information and generate the command information.
  • the integrated server 10 may be connected, through a network, to at least one robot (hereinafter referred to as a picking robot 30) included in the robot group corresponding to the picking robot 30 and at least one robot (hereinafter referred to as a transfer robot 20) included in the robot group corresponding to the transfer robot 20, respectively, and generates commands for controlling the picking robot 30 and the transfer robot 20.
  • a picking robot 30 included in the robot group corresponding to the picking robot 30
  • a transfer robot 20 included in the robot group corresponding to the transfer robot 20, respectively, and generates commands for controlling the picking robot 30 and the transfer robot 20.
  • the integrates server 10 may generate preparation command for the transfer robot 20 in operation 105a, and the transfer robot 20 may recognize node location information in operation 107a.
  • the transfer robot 20 may recognize location information of all nodes set in the work space, when the preparation command information is input by the integrated server 10.
  • the logistics picking system using the robot is preferably a first process of starting logistics work, and input preparation command information to the transfer robot 20 through the integrated server 10.
  • the preparation command information may be generated by receiving the input of the work in the work space from the integrated server 10 itself, or if the preparation command information is inputted through the terminal means owned by the worker located in the work space. Or if the preparation command information is inputted through the input/output means of the transfer robot 20, the integrated server 10 may receive the input of the preparation command information and generate the command information.
  • the transfer robot 20 recognizes the location information about all the nodes, the time of the work itself may be delayed. So it is most preferable that, if the work is scheduled in any work space in the integrated server 10, before the worker is located in the work space, the integrated server 10 inputs the preparation command information to the transfer robot 20 as a so-called "preparation" process, and the transfer robot 20 recognizes the location information about all the nodes based on the preparation command information.
  • the location information of the nodes may include information about the indoor side, or information about a preset cycling order based on the nodes set/arranged in the work space in advance, rather than the location information including the GPS coordinates, because the operation is performed in the logistics warehouse rather than the open space by the characteristics of the present invention.
  • the location information may include any information capable of distinguishing each node.
  • the picking robot 30 and the transfer robot 20 may be used to be compatible with each other. Based on this point, the following description will be given.
  • the picking robot 30 may follow the worker in the work space and may continuously load the picked products from the rack (the shipboard) located in the work space by the worker.
  • the transfer robot 20 may take the products loaded in the picking robot 30 and may move to the preset un-loading node to take the picked items.
  • the transfer robot 20 may perform a simple circular movement until the worker located in the work space starts the work and may load the products as much as the limit weight in the loading means of the picking robot 30 or before receiving the un-loading movement command information by the integrated server 10.
  • the integrates server 10 may generate a basic operation command for the transfer robot 20 in operation 105b, and the transfer robot 20 may perform a circular movement and stop for a certain time period in operation 107b.
  • the transfer robot 20 may perform a circular movement operation for a moving in one direction along a plurality of stop nodes set by using the location information about all the nodes set in the work space by receiving the preparation command information, when the basic operation command is inputted by the integrated server 10.
  • the transfer robot 20 may perform a circular movement operation in one direction by using the location information about the stop nodes set in the work space.
  • the stop node means a node formed at points where the paths between two or more nodes located adjacent to intersect in different directions. In other words, a node formed at a point where two different passages intersect among the plurality of nodes may beset as a stop node.
  • the transfer robot 20 may perform a circular movement operation while stopping each stop node by a predetermined time.
  • the transfer robot 20 may perform a movement operation along a circular path set by the integrated server 10 using the stop nodes and may stop at each of the stop nodes for a predetermined time, and the logistics in the picking robot 30 may be transferred to the transfer robot 20 during the time the transfer robot 20 is stopped.
  • the transfer robot 20 may only stop at the stop nodes during the circular movement.
  • the transfer robot 20 may comprise at least one robot, e.g., two or more robots, as described above. If two or more robots circularly moves all nodes located in the work space in different directions, problems occur, such as overlapping movement paths. Even though they have a default obstacle avoidance function, if they move circularly while avoiding other robots with overlapping moving paths, they are inevitably ineffective.
  • the two or more transfer robots may sequentially circularly move in a preset direction along the set circulation path using the stop nodes.
  • the following robot may flexibly react with the sudden change of the route of the preceding robot and the avoidance of the obstacle by spacing a predetermined distance between each robot.
  • the basic operation command information may be generated in accordance with the set schedule of the work performed in the work space in the integrated server 10 itself, or may be generated as command information when the integrated server 10 receives it through the terminal means owned by the worker located in the work space.
  • the integrated server 10 may receive a following stop command inputted by an external input E in operation 201, and may generate a stop command for the picking robot 30 in operation 203.
  • the external input E may include an input by the terminal means owned by the worker and/or the input/output means of the transfer robot 20/the picking robot 30.
  • the integrated server 10 may receive a call command inputted by an external input E in operation 205, may analyze a location based on the picking robot 30 of which movement is stopped in operation 207, may set a call node and extract a closest transfer robot 20, and control the extracted transfer robot to move in operation 211.
  • the integrated server 10 may analyze the call command information for the input transfer robot 20 and determines whether to include specific location information, which is location-related information.
  • the adjacent node may be extracted based on the specific location information and may be set as the call node. Thereafter, the integrated server 10 may extract the transfer robot 20 located closest to the set call node, and may control the extracted transfer robot 20 to move to the call node along the call driving path.
  • the integrated server 10 may generate the location information of the picking robot 30 following the worker as the specific location information.
  • the location-related information may include at least one of current location information of the picking robot 30, location information of nodes set in the operating space, or preset area information in the work space.
  • the location-related information may be information that can specify the location at which the transfer robot 20 must arrive.
  • the integrated server 10 may generate the location information of the picking robot 30 based on the corresponding time point, may extract the generated location information and the nearest node to set as the call node, may extract the transfer robot 20 located nearest to the call node, and may control the extracted transfer robot 20 to move to the call node based on the driving path.
  • the integrated server 10 may transmit information about the controlled transfer robot 20 to a terminal owned by a worker.
  • the integrated server 10 may transmit the information about the controlled transfer robot 20 that starts in response to the worker's call command information along with the call node, e.g., the node closest to the location information of the picking robot 30, that the corresponding transfer robot 20 will arrive.
  • the worker may input the call command information after completing the picking operation, or may input the call command information in the middle of the picking operation.
  • the transfer robot 20 may arrive at the call node through the call driving path generated based on the location information of the picking robot 30 generated at the time of the calling command information or the inputted specific location information.
  • the scenario can be constructed more easily.
  • the integrated server 10 may receive a following stop command inputted by an external input E in operation 301, and may generate a stop command for the picking robot 30 in operation 303.
  • the external input E may include an input by the terminal means owned by the worker and/or the input/output means of the transfer robot 20/the picking robot 30.
  • the integrated server 10 may receive a call command inputted by an external input E in operation 305, may analyze location related information, set a call node, and extract closest transfer robot in operation 307, and control the extracted transfer robot to move in operation 309.
  • the integrated server 10 may receive a termination command for the following stop inputted by an external input E in operation 311, may generate the following command for the picking robot 30 in operation 313.
  • the transfer robot 20 may move to the call node in operation 315.
  • the integrated server 10 may receive a following stop command in operation 317, may generate a stop command for the picking robot 30 in operation 319. And then, in operation 321, the loaded product in the picking robot 30 is transferred to the transfer robot 20.
  • the integrated server 10 may extract the closest nodes and may set them as call nodes based on the specific location information, the location of the picking robot 30, the specific node information, and the preset area information, e.g., information about racks in the work space, information about passage in the work space, included in the call command information, may extract the transfer robot 20 located closest to the set call nodes, and may control the extracted transfer robot 20 so that the extracted transfer robot 20 can move to the call nodes along the call driving path.
  • the preset area information e.g., information about racks in the work space, information about passage in the work space, included in the call command information
  • the scenario of FIG. 2 and the scenario of FIG. 3 may perform the operation under the assumption that the picking robot 30 and the loading means of the transfer robot 20 have the same limit weight.
  • the inputting of the following stop command information for the corresponding picking robot 30 to the integrated server 10 means that the picking robot 30 is loaded with a logistics equal to or greater than the loading limit weight or the picking operation is finished, it is necessary to have the transfer robot 20 that can sufficiently transfer and store the logistics carried in the picking robot 30.
  • the operation may be performed in another scenario to be described later.
  • the worker may input not only the location-related information in the call command information, but also the number of transfer robot 20 necessary.
  • the integrated server 10 may set the number of a plurality of transfer robots matching one picking robot 30 by using the difference between the limit weights of the picking robot 30 and the transfer robot 20.
  • the integrated server 10 may calculate and set the extraction number of the plurality of transfer robots necessary by using the difference between the limit weights of the picking robot 30 and the transfer robot 20, or may analyze the requested number of the transfer robot 20 included in the call command information to set the extraction number of the plurality of transfer robots necessary.
  • the integrated server 10 may receive a following stop command inputted by an external input E in operation 401, and may generate a stop command for the picking robot 30 in operation 403.
  • the external input E may include an input by the terminal means owned by the worker and/or the input/output means of the transfer robot 20/the picking robot 30.
  • the integrated server 10 may receive a call command inputted by an external input E in operation 405, may analyze a location based on the picking robot 20 in operation 407, set a call node in operation 409, and extract the needed number of transfer robots and extract the transfer robots as needed number based on the location of the set call node in operation 411 and control the extracted transfer robot to move in operation 413.
  • the integrated server 10 may receive a termination command for the following stop inputted by an external input E in operation 415, may generate the following command for the picking robot 30 in operation 417. And, the transfer robot 20 may move to the call node in operation 419. And, the integrated server 10 may receive a following stop command in operation 421, may generate a stop command for the picking robot 30 in operation 423. And then, in operation 425, the loaded product in the picking robot 30 is transferred to the transfer robot 20.
  • the integrated server 10 may stop the movement at the current location for the corresponding picking robot 30, and if the call command information for the transfer robot 20 is inputted, the integrated server 10 may generate the location information of the picking robot 30 based on the corresponding time point, may extract the generated location information and the nearest node, set the extracted node as the call node, and may extract the plurality of transfer robots located closest to the set call node.
  • the integrated server 10 may control the extracted transfer robots to move to the extracted call node, and to transmit the information about the transfer robots that are moved controlled, e.g., the information about the transfer robots that start corresponding to the call command information of the worker, together with the node, e.g., the node nearest to the location information of the picking robot 30, that the corresponding transfer robot 20 will arrive to the terminal carried by the worker.
  • the information about the transfer robots that are moved controlled e.g., the information about the transfer robots that start corresponding to the call command information of the worker, together with the node, e.g., the node nearest to the location information of the picking robot 30, that the corresponding transfer robot 20 will arrive to the terminal carried by the worker.
  • the integrated server 10 may control the extracting of the transfer robots by the set needed number by using the analyzed distance information in ascending order, and may control the extracted transfer robots to move to the call node.
  • the call node preferably consists of combinations of a plurality of nodes.
  • the integrated server 10 may receive a following stop command inputted by an external input E in operation 501, and may generate a stop command for the picking robot 30 in operation 503.
  • the external input E may include an input by the terminal means owned by the worker and/or the input/output means of the transfer robot 20/the picking robot 30.
  • the integrated server 10 may receive a call command inputted by an external input E in operation 505, may analyze location related information in operation 507, set a call node in operation 509, and extract the needed number of transfer robots and extract the transfer robots as needed number based on the location of the set call node in operation 511 and control the extracted transfer robot to move in operation 513.
  • the integrated server 10 may receive a termination command for the following stop inputted by an external input E in operation 515, may generate the following command for the picking robot 30 in operation 517. And, the transfer robot 20 may move to the call node in operation 519. And, the integrated server 10 may receive a following stop command in operation 521, may generate a stop command for the picking robot 30 in operation 523. And then, in operation 525, the loaded product in the picking robot 30 is transferred to the transfer robot 20.
  • the integrated server 10 may stop the movement at the current position for the corresponding picking robot 30. And when the call command information for the transfer robot 20 is inputted, the integrated server 10 may extract the closest node based on the location-related information included in the call command, may set the extracted node as the call node, and may extract the plurality of transfer robots located closest to the set call node. The control may be performed to move the extracted transfer robots to the call node.
  • the following stop command information for the corresponding picking robot 30 may be input to the integrated server 10 by using the terminal means owned by the worker or through the input/output means included in the picking robot 30 following themselves.
  • the integrated server 10 may stop the movement at the current position for the corresponding picking robot 30.
  • the integrated server 10 may receive at least one of the node information set in the region where the worker is currently located in the call command information, or the predetermined area information, e.g., information about racks such as shelves in the work space, information about the passages in the work space, as the location information that can know the location in which the picking robot 30 is stopped, may analyze the corresponding location information, extracts the closest node, and may set the closest node as the call node.
  • the predetermined area information e.g., information about racks such as shelves in the work space, information about the passages in the work space, as the location information that can know the location in which the picking robot 30 is stopped
  • the integrated server 10 may calculate the number of the needed transfer robots to be extracted by using the difference between the limit weights of the picking robot 30 and the transfer robot 20, or may analyze the number of the requested transfer robot 20 included in the call command information, and may set the number of the necessary transfer robots to be extracted.
  • the integrated server 10 may extract the needed number of the transfer robots based on the setting of the number of the necessary transfer robots to be extracted. And the integrated server 10 may extract the needed number of the transfer robots according to the call node by using the analyzed distance information in ascending order, and may control the extracted transfer robot 20 to move to the extracted node.
  • the loading means of the transfer robot 20 preferably may have a larger limited weight than the loading means of the picking robot 30, and the integrated server 10 may calculate the number of the plurality of picking robots matched with one transfer robot 20 by using the difference in the amount of loading, and may set the limit processing number.
  • one transfer robot 20 may correspond to the plurality of call command information. Based on this, the scenario of FIG. 6 to FIG. 8 can be performed when the plurality of picking robots follow one worker, or when a plurality of workers are in the work space and each of the picking robots follows each of the workers.
  • the integrated server 10 may receive a plurality of following stop commands inputted by an external input E in operation 601, and may generate each of a plurality of stop commands for the picking robot 30 in operation 603.
  • the external input E may include a plurality of inputs by the terminal means owned by the plurality of worker and/or the input/output means of the plurality of picking robots.
  • the integrated server 10 may receive a call command inputted by an external input E in operation 605, may analyze location based on each of the plurality of picking robots in operation 607, set each of a plurality of call nodes in operation 609.
  • the integrated server 10 may determine whether there are existing overlapping nodes in operation 611, and when there are overlapping nodes (611-Y) integrated server 10 may determine whether the number of picking robots related to the overlapping call nodes is less than the limit processing number in operation 613. And, when the number of picking robots related to the overlapping call nodes is less than the limit processing number (613-Y), the integrated server 10 may extract a transfer robot closest from the overlapping nodes in operation 615. And referring to FIG. 8, when the number of picking robots related to the overlapping call nodes is greater than the limit processing number (613-N), the integrated server 10 may set the needed number of the transfer robots, and may extract the transfer robots as need number in order of distance in operation 801.
  • the limit processing number may be set based on a limit weight difference between the transfer robot 20 and each loading space of the picking robot 30, and may be arbitrarily set by the worker.
  • the integrated server 10 may receive at least one of the node information set in the area currently located by the worker or the predetermined area information, e.g., information about racks in the work space, information about passages in the work space as the location-related information for each of the plurality of call command information, may analyze the corresponding location-related information, may extract the closest node, and may set the closest node as the call node. Since FIG. 7A and FIG. 7B differ only in which the location-related information for setting the call node is included in the call command information, the follows will be simultaneously described for ease of explanation.
  • the integrated server 10 may determine whether the overlapping call node exists using the extracted closest call nodes.
  • the existence of the overlapping call node means that the existence of the overlapping picking robots. Accordingly, picking robots associated with overlapping nodes may be calculated.
  • the integrated server 10 may transmit information about the controlled transfer robot 20 to a terminal owned by a worker associated with a corresponding picking robot 30, e.g., a worker followed by a picking robot 30 associated with overlapping call nodes.
  • information about the transfer robot 20 departing in response to the worker's call command information is transmitted along with information about the node, e.g., overlapping call node, that the corresponding transfer robot 20 will arrive.
  • the integrated server 10 may generate the shortest path for moving the overlapping call node extracted from the current location information using the current location information of the corresponding transfer robot 20, and may control the transfer robot 20 to move to the overlapping call node through the shortest path.
  • the integrated server 10 may set the needed number of transfer robots by using the calculated number of transfer robots, the number of picking robots associated with overlapping nodes, if the calculated number of transfer robots is equal to or larger than the set limit processing number, that is, if the amount of loading of corresponding picking robots cannot be processed by one transfer robot 20, may analyze distance information of each transfer robot 20 based on the overlapping call nodes, may extract transfer robots by the set needed number of transfer robots by using the analyzed distance information in ascending order, may control the extracted transfer robots to move to the extracted overlapping call nodes, and may transmit information about the extracted transfer robots to a terminal owned by a worker.
  • the number of picking robots that are associated with overlapping call nodes and the limited processing number set by the transfer means are used to set the number of transfer robots that are additionally needed, that is, the needed number of transfer robots.
  • the distance information of each transfer robot 20 may be analyzed based on the overlapping call nodes, the transfer robots may be extracted by the set needed number by using the analyzed distance information in ascending order, and the extracted transfer robots may be controlled to move to the overlapping call nodes extracted.
  • the integrated server 10 may control the transfer robot 20 to move through all the matching call nodes by using the location information for the matching call nodes, and thus may allow the transfer robots to process the loading amount of all the matching picking robots.

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Abstract

La présente invention concerne un système de prélèvement logistique utilisant un robot. En détail, il s'agit d'une technologie qui effectue un prélèvement logistique dans un espace de travail prédéfini à l'aide d'au moins deux groupes de robots, comprenant chacun au moins un robot, par commande du fonctionnement des robots pour diverses conditions sans liaison avec un système de gestion d'entrepôt.
PCT/KR2024/008865 2023-12-27 2024-06-26 Système de prélèvement logistique utilisant des robots Pending WO2025143399A1 (fr)

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KR10-2023-0192179 2023-12-27
KR1020230192179A KR102777714B1 (ko) 2023-12-27 2023-12-27 로봇을 이용한 물류 피킹 시스템

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WO2025143399A1 true WO2025143399A1 (fr) 2025-07-03

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102248439B1 (ko) * 2020-01-22 2021-05-06 주식회사 티라유텍 물류로봇장치, 이를 포함하는 물류창고 관리시스템 및 관리방법
KR20220010883A (ko) * 2020-07-20 2022-01-27 현대자동차주식회사 이동로봇 군집주행 시스템 및 그 제어 방법
JP2023004755A (ja) * 2021-06-28 2023-01-17 株式会社東芝 ハンドリングシステム、指示装置、ハンドリング方法、プログラム、及び記憶媒体
KR102496447B1 (ko) * 2022-01-19 2023-02-06 주식회사 트위니 사람 추종 물류 운송 로봇
KR102508289B1 (ko) * 2022-09-19 2023-03-09 흥일기업주식회사 이송 로봇을 이용한 물류 시장 내 물류 자동화 시스템 및 방법과 이를 수행하기 위한 물류 관리 장치

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102585469B1 (ko) 2023-04-03 2023-10-05 동명대학교산학협력단 피킹로봇을 포함한 물류 이송 시스템

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102248439B1 (ko) * 2020-01-22 2021-05-06 주식회사 티라유텍 물류로봇장치, 이를 포함하는 물류창고 관리시스템 및 관리방법
KR20220010883A (ko) * 2020-07-20 2022-01-27 현대자동차주식회사 이동로봇 군집주행 시스템 및 그 제어 방법
JP2023004755A (ja) * 2021-06-28 2023-01-17 株式会社東芝 ハンドリングシステム、指示装置、ハンドリング方法、プログラム、及び記憶媒体
KR102496447B1 (ko) * 2022-01-19 2023-02-06 주식회사 트위니 사람 추종 물류 운송 로봇
KR102508289B1 (ko) * 2022-09-19 2023-03-09 흥일기업주식회사 이송 로봇을 이용한 물류 시장 내 물류 자동화 시스템 및 방법과 이를 수행하기 위한 물류 관리 장치

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