Automated gas supply system including mobile robot

A gas supply system comprising:

• a cabinet in which a gas container is disposed;
• a fastening device movable with respect to the gas container and capable of detaching an end cap from a valve of the gas container or fastenable to the valve while aligned with the valve;
• a mobile robot device detachably connected to the fastening device and configured to move the fastening device;
• a three-dimensional (3D) vision camera configured to collect an image;
• and
• a processor configured to control an operation of the mobile robot device based on the image collected by the 3D vision camera,
• wherein the mobile robot device comprises:
• a body movable outside the cabinet;
• and
• a robot arm installed on an upper portion of the body, the robot arm comprising a multi-joint arm, and
• the processor is configured to generate a 3D model for the end cap mounted on the valve of the gas container through the 3D vision camera, match the generated 3D model of the end cap with any one reference image stored in a database, determine a position and angle state of the end cap mounted on the valve of the gas container based on the matched reference image, and operate the mobile robot device to align the fastening device in a state to be capable of detaching the end cap from the valve based on a result of the determining.

A gas supply system comprising:

• a clamping device configured to support a gas container, and rotate the gas container about a rotation axis perpendicular to a ground;
• a three-dimensional (3D) vision camera configured to collect an image;
• and
• a processor configured to control an operation of the clamping device,
• wherein the processor is configured to:
• operate to rotate the gas container about the rotation axis through the clamping device, collect an image of an end cap mounted on a valve of the gas container for each rotation angle of the gas container at a set point through the 3D vision camera, and select an end cap image having a highest similarity by comparing the end cap images for each rotation angle of the gas container with a reference image stored in a database, and
• control the clamping device so that the rotation angle of the gas container about the rotation axis is aligned with a rotation angle corresponding to the selected end cap image.