KR102504941B1 - Object address based delivery method and apparatus using autonomous driving robot - Google Patents

Abstract

The present invention relates to a delivery method and apparatus based on an object address using an autonomous robot, which includes constructing a walking obstacle DB, constructing a network DB for setting a delivery route for a droid, and requesting delivery from a user terminal. As a response to the delivery request, the step of receiving the droid, the step of determining the delivery droid to be in charge of processing the delivery request, the step of retrieving the starting point and the visiting point from the network DB, the step of creating a delivery route from the starting point to the visiting point, and the delivery request. and remotely controlling the delivery droid to travel along the delivery route.

Description

Delivery method and device based on object address using autonomous driving robot

The present invention relates to a delivery technology using a self-driving robot, and more particularly, based on a database of path failure data, an autonomous robot or mobility robot that can provide delivery service by performing autonomous driving in reality. It relates to a delivery method and device based on an object address using

The national geospatial data integration system is a project promoted by the government and started when the need for government-wide integrated management and joint utilization of geospatial data commonly used by various institutions emerged. This national geospatial information integration system reduces the cost of constructing and updating duplicate spatial information, and enables various users to see at a glance various land-related information such as land use and regulatory information of each ministry, thereby improving public services and providing scientific and We support rational policy establishment.

On the other hand, despite the provision of such integrated information, a system for supporting walking for a specific class or for a specific purpose, such as the transportation vulnerable and droids, is still in short supply, and available information is also very limited.

Therefore, it is required to develop a technology for providing space services such as autonomous driving control of droids by constructing a support model by converting address-based path failure data types into a DB to support autonomous driving of robots, and utilizing this.

Korean Patent Registration No. 10-1515496 (2015.04.21)

An embodiment of the present invention is an object address-based delivery method and apparatus using an autonomous robot that can provide a delivery service by allowing the autonomous robot or mobility to perform autonomous driving in reality based on a database of path failure data. want to provide

An embodiment of the present invention utilizes a previously built network DB for droids to provide an unmanned delivery service and updates the walking obstacle DB and network DB based on information collected during the driving process, thereby maintaining the up-to-date information. It is intended to provide a delivery method and device based on an object address using an autonomous robot.

An embodiment of the present invention provides an object address-based delivery method and device using an autonomous robot that can effectively provide space services through a mobile phone or a machine with a dedicated app installed while maintaining existing electric wheelchairs and mobility equipment. want to do

Among embodiments, an object address-based delivery method using an autonomous robot includes the steps of constructing a walking obstacle DB for a walking obstacle object in a specific area, and constructing a network DB for setting a delivery route for a droid based on the walking obstacle DB. The step of constructing, the step of receiving a delivery request including information on delivery details, starting points and visiting points from a user terminal, the step of determining a delivery droid to be in charge of processing the delivery request among a plurality of droids, the step of determining the network DB Retrieving the starting point and the visiting point from, generating a delivery route from the starting point to the visiting point based on the network DB, and driving the delivery droid along the delivery route as a response to the delivery request. It should include the step of remotely controlling to do.

The step of constructing the pedestrian obstacle DB is the step of acquiring address data, spatial information data, and subject map data as reference data for a specific area from a pre-built address DB, and analyzing the reference data to obtain object addresses for the specific area. Defining at least one gait disorder object for constructing gait disorder data as a step, obtaining actual measurement data on the at least one gait disorder object through MMS (Mobile Mapping System) survey and cadastral survey in the specific area. and constructing a gait obstacle DB for the at least one gait disorder object by using the measured data.

In the step of defining the at least one gait disability object, the pedestrian road boundary stone, the ramp entrance, the lift entrance, the slope section, the gradient value, the speed bump, the pedestrian road bollard, the pedestrian road height/real width, and the visit point are set to the at least one gait disabled object. It may include the step of defining as.

The step of constructing the network DB includes constructing a route network for a pedestrian priority zone in the specific area by applying the walking obstacle DB based on background data generated by processing and editing the reference data, A path network is movement route information composed of nodes and links, and the node may correspond to a change occurrence point of movement and the link may correspond to a connection between nodes.

The generating of the delivery route may include generating a normal delivery route from the starting point to the visiting point, calculating a driving obstruction rate for the object with a walking disability based on the type and size of the delivery droid, and the driving Classifying a gait impediment object whose obstruction rate exceeds a preset reference value as a driving impediment, extracting information about the impediment from the network DB and determining the impediment to the impediment existing on the normal delivery route. , generating an avoidance route avoiding the driving obstacle, and updating the normal delivery route by reflecting the avoidance route.

The remotely controlling step includes monitoring the location of the delivery droid during the driving process, detecting a driving abnormality based on a rate of change of the location of the delivery droid, and driving via a corresponding detection location when the driving abnormality is detected. Moving the delivery droid by determining the starting point of the abnormal road as the driving resume point, and updating the delivery route from the driving resume point to the visit point to meet the condition of avoiding the abnormal road, and then driving the delivery droid. It may include a step of controlling.

The remotely controlling step may include collecting spatial information near the delivery route through a plurality of sensors installed in the delivery droid, and updating the walking obstacle DB based on the spatial information when processing of the delivery request is completed. and updating the network DB based on the walking obstacle DB.

Among the embodiments, a delivery device based on an object address using an autonomous driving robot includes a walking obstacle DB construction unit for constructing a walking obstacle DB for objects with walking obstacles in a specific area, and setting a delivery route for a droid based on the walking obstacle DB. A network DB construction unit that builds a network DB for a network DB, a delivery request receiving unit that receives a delivery request including information about delivery details, starting point, and visiting point from a user terminal, and a delivery that will handle the processing of the delivery request among a plurality of droids. A delivery droid assignment unit that determines a droid, a service search unit that searches the starting point and the visiting point from the network DB, a delivery route creation unit that creates a delivery route from the starting point to the visiting point based on the network DB, and and a delivery service provider remotely controlling the delivery droid to travel along the delivery route as a response to the delivery request.

The disclosed technology may have the following effects. However, it does not mean that a specific embodiment must include all of the following effects or only the following effects, so it should not be understood that the scope of rights of the disclosed technology is limited thereby.

An object address-based delivery method and apparatus using an autonomous driving robot according to an embodiment of the present invention utilizes a previously built network DB for droids to provide unmanned delivery service, and provides walking obstacles based on information collected in the course of driving. Up-to-date information can be maintained by updating the DB and network DB.

An object address-based delivery method and device using an autonomous robot according to an embodiment of the present invention maintains existing electric wheelchairs, mobility equipment, etc., and provides space services effectively through a machine or mobile phone with a dedicated app installed. .

1 is a diagram illustrating an unmanned delivery system according to the present invention.
FIG. 2 is a diagram illustrating the physical configuration of the unmanned delivery device of FIG. 1 .
FIG. 3 is a diagram illustrating a functional configuration of the unmanned delivery device of FIG. 1 .
4 is a flowchart illustrating an embodiment of an operation performed by the unmanned delivery device of FIG. 1 .
5 is a diagram illustrating a DB configuration and service provision system for droids according to the present invention.

Since the description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, since the embodiment can be changed in various ways and can have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, the scope of the present invention should not be construed as being limited thereto.

Meanwhile, the meaning of terms described in this application should be understood as follows.

Terms such as "first" and "second" are used to distinguish one component from another, and the scope of rights should not be limited by these terms. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element.

It should be understood that when an element is referred to as being “connected” to another element, it may be directly connected to the other element, but other elements may exist in the middle. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that no intervening elements exist. Meanwhile, other expressions describing the relationship between components, such as “between” and “immediately between” or “adjacent to” and “directly adjacent to” should be interpreted similarly.

Expressions in the singular number should be understood to include plural expressions unless the context clearly dictates otherwise, and terms such as “comprise” or “having” refer to an embodied feature, number, step, operation, component, part, or these. It should be understood that it is intended to indicate that a combination exists, and does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

In each step, the identification code (eg, a, b, c, etc.) is used for convenience of explanation, and the identification code does not describe the order of each step, and each step clearly follows a specific order in context. Unless otherwise specified, it may occur in a different order than specified. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

The present invention can be implemented as computer readable code on a computer readable recording medium, and the computer readable recording medium includes all types of recording devices storing data that can be read by a computer system. . Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices. In addition, the computer-readable recording medium may be distributed to computer systems connected through a network, so that computer-readable codes may be stored and executed in a distributed manner.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless defined otherwise. Terms defined in commonly used dictionaries should be interpreted as consistent with meanings in the context of the related art, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present application.

An explanation of key terms related to the concept of address information is as follows. The basic number corresponds to the number assigned to the road section at a specific interval, the road name address corresponds to the address indicated by the road name, building number, and detailed address, and the national basic district is divided into eup, myeon, and dong areas based on the road name address. It corresponds to an area divided by setting a boundary smaller than the area, and the national branch number corresponds to the number assigned to each point that divides the national land and the adjacent sea in a grid pattern, and the object address uses the foundation number and road name to Corresponds to information specifying the location of facilities that do not correspond. For example, the object address may include location information of elevators installed in outdoor facilities such as overpasses and railroads, outdoor shelters, bus and taxi stops, parking lots, and other facilities deemed necessary for location guidance.

In addition, the transportation vulnerable may correspond to people who experience inconvenience in daily life, such as the disabled, the elderly, pregnant women, people accompanied by infants and young children, and children, and the droid may correspond to a robot driven by wheels for the purpose of delivery, A pedestrian priority zone is an area designated by a mayor or county governor and may correspond to a certain section of a road designated for a safe and convenient walking environment for pedestrians, including the transportation vulnerable.

In addition, pedestrian safety facilities are facilities installed to allow pedestrians to walk safely and conveniently in pedestrian priority zones, such as speed reduction facilities, crossing facilities, traffic guidance facilities such as public transportation information notification facilities, traffic signals for pedestrian priority passage, and vehicle entry. It may include restraint stakes and sidewalk guard fences. The road name address base map may correspond to a drawing prepared by using drawings and cadastral studies to include road names, building numbers, etc., and other data, and the address DB is an address for providing addresses, buildings, road name codes, electronic maps, etc. It may correspond to a DB of an information system (eg, KAIS). The delivery point (destination point) may correspond to a place where users of electric wheelchairs (disabled persons) often go and convenience facilities, and the slope section may correspond to the starting point and ending point of the road where the slope starts through the measurement of the altitude value.

1 is a diagram illustrating an unmanned delivery system according to the present invention.

Referring to FIG. 1 , the unmanned delivery system 100 may include a user terminal 110, an unmanned delivery device 130, a database 150, and a droid 170.

The user terminal 110 may correspond to a computing device capable of requesting a delivery service using the droid 170 and checking delivery-related information, and may be implemented as a smartphone, laptop, or computer, but is not necessarily limited thereto. It can also be implemented with various devices such as , tablet PC, etc. Here, the delivery service may correspond to a spatial service capable of enhancing public convenience by utilizing various pre-established spatial information.

To this end, the user terminal 110 may install and execute a dedicated program or dedicated application. The user terminal 110 may be connected to the unmanned delivery device 130 through a network, and a plurality of user terminals 110 may be simultaneously connected to the unmanned delivery device 130 .

The unmanned delivery device 130 may be implemented as a server corresponding to a computer or program capable of providing an unmanned delivery service using the droid 170 based on pre-established spatial information. The unmanned delivery device 130 may be connected to the user terminal 110 and the droid 170 through a network and exchange information.

In one embodiment, the unmanned delivery device 130 may perform an object address-based database building operation that can be used for various purposes in conjunction with an external system as needed, and the built information is a database corresponding to a physical storage device ( 150) and may be stored. Meanwhile, unlike FIG. 1 , the unmanned delivery device 130 may be implemented by including the database 150 therein. In addition, the unmanned delivery device 130 may be implemented by including a processor, a memory, a user input/output unit, and a network input/output unit as a physical component constituting the system, which will be described in more detail in FIG. 2 .

The database 150 may correspond to a storage device for storing various information necessary for the operation of the unmanned delivery device 130 . The database 150 may store national space-based data and may store the latest data built by the unmanned delivery device 130, but is not necessarily limited thereto, and the unmanned delivery device 130 may store the object address-based database. In the process of constructing and utilizing it to provide unmanned delivery service, information collected or processed in various forms can be stored.

The droid 170 may correspond to a device capable of autonomous driving according to a specific purpose. For example, the droid 170 may correspond to an unmanned robot that operates wheels as a driving means for delivery purposes. The droid 170 may be implemented by including a control system for autonomous driving, the droid 170 may be connected to the unmanned delivery device 130 through a network, and the plurality of droids 170 may be connected to the unmanned delivery device 130. ) can be connected at the same time.

In one embodiment, the droid 170 may be implemented by including a plurality of sensors for collecting nearby spatial information while driving. For example, the droid 170 may include a camera sensor, an infrared sensor, a motion sensor, a radar/lidar sensor, an ultrasonic sensor, and the like. Spatial information on the driving route collected by the droid 170 may be utilized in the process of updating a pre-built DB.

FIG. 2 is a diagram illustrating the physical configuration of the unmanned delivery device of FIG. 1 .

Referring to FIG. 2 , the unmanned delivery device 130 may be implemented by including a processor 210, a memory 230, a user input/output unit 250 and a network input/output unit 270.

The processor 210 may execute a procedure for processing each step in the operation of the unmanned delivery device 130, manage the memory 230 that is read or written throughout the process, and the memory 230 ), you can schedule the synchronization time between volatile memory and non-volatile memory. The processor 210 can control the overall operation of the unmanned delivery device 130, and is electrically connected to the memory 230, the user input/output unit 250, and the network input/output unit 270 to control data flow between them. can The processor 210 may be implemented as a central processing unit (CPU) of the unmanned delivery device 130 .

The memory 230 may include a secondary storage device implemented as a non-volatile memory such as a solid state drive (SSD) or a hard disk drive (HDD) and used to store all data necessary for the unmanned delivery device 130, It may include a main memory implemented as a volatile memory such as RAM (Random Access Memory).

The user input/output unit 250 may include an environment for receiving user input and an environment for outputting specific information to the user. For example, the user input/output unit 250 may include an input device including an adapter such as a touch pad, a touch screen, an on-screen keyboard, or a pointing device, and an output device including an adapter such as a monitor or touch screen. In one embodiment, the user input/output unit 250 may correspond to a computing device connected through a remote connection, and in such a case, the unmanned delivery device 130 may be implemented as a server.

The network input/output unit 270 includes an environment for connecting to an external device or system through a network, and includes, for example, a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), and a VAN ( An adapter for communication such as Value Added Network) may be included.

FIG. 3 is a diagram illustrating a functional configuration of the unmanned delivery device of FIG. 1 .

Referring to FIG. 3 , the unmanned delivery device 130 includes a walking obstacle DB construction unit 310, a network DB construction unit 320, a delivery request receiving unit 330, a delivery droid allocation unit 340, and a service search unit 350. ), a delivery route creation unit 360, a delivery service provider 370, and a control unit 380 may be included.

The gait obstacle DB construction unit 310 may construct a gait obstacle DB related to a gait obstacle object in a specific area. The walking obstacle DB may correspond to a systematized DB for new data types not provided by the national space-based data, and may be constructed and managed by the unmanned delivery device 130 . The gait obstacle DB may be constructed for each gait disorder object, and at this time, the gait disorder object may form a data structure including object name, format, field name, field description, value legend, value description, etc. as item data. The unmanned delivery device 130 may increase data usability by adding a new layer corresponding to the walking obstacle object to the existing address DB based on the walking obstacle DB.

In one embodiment, the walking obstacle DB construction unit 310 obtains address data, spatial information data, and topic map data as reference data on a specific area from a pre-built address DB, analyzes the reference data, and analyzes the reference data on the specific area. Define at least one gait disorder object for constructing gait disorder data as an object address, acquire actual measurement data for at least one gait disorder object through MMS (Mobile Mapping System) survey and cadastral survey in a specific area, and actually measure A gait obstacle DB for at least one gait disorder object may be constructed using the data.

More specifically, the walking obstacle DB construction unit 310 may obtain address data, spatial information data, and topic map data as reference data for a specific region from a pre-built address DB, and may obtain data stored in the database 150. Corresponding data may be obtained as a response by reading or querying related information through an external system.

In addition, the gait obstacle DB construction unit 310 may analyze reference data and define at least one gait obstacle object for constructing gait obstacle data as an object address for a specific area. The walking obstacle DB construction unit 310 not only provides effective walking support for the elderly and other transportation vulnerable people, but also systematically manages obstacles that autonomous robots and mobility need to recognize in order to perform autonomous driving in reality. The data classification system can be advanced by defining new data objects and subdividing them elaborately. Here, the gait disorder object may correspond to an obstacle that may hinder movement or give inconvenience to a person with reduced mobility or autonomous driving of the droid 170, and may include road facilities or environmental elements.

In addition, the walking obstacle DB construction unit 310 may obtain actual measurement data on at least one walking obstacle object through MMS (Mobile Mapping System) survey and cadastral survey in a specific region. That is, the walking obstacle DB builder 310 may obtain actual measurement data measured by a measurement device in order to minimize a difference with actual information that may occur due to failure to be reflected in the national space-based data.

Here, MMS (Mobile Mapping System) is an advanced information system to increase efficiency in terms of cost and time compared to existing surveying methods. It can correspond to a new technology integrated solution that integrates navigation technology, photogrammetry technology, and image processing technology for building a high-quality spatial information DB.

That is, the walking obstacle DB construction unit 310 may operate in conjunction with a field survey vehicle (MMS) and the like, and may control the execution of a dedicated process for this purpose. In addition, the walking obstacle DB construction unit 310 utilizes data obtained as a result of cadastral surveying, such as digital elevation model (DEM) data as well as actual data acquisition in a specific area for location accuracy, to obtain national space-based data can be supplemented.

In addition, the gait obstacle DB construction unit 310 may construct a gait obstacle DB for at least one gait obstacle object using actually measured data. The walking obstacle DB construction unit 310 may build a walking obstacle DB after correcting the measured data by adapting them to the reference data. The walking obstacle DB construction unit 310 may construct a walking obstacle DB using the measured data as it is, or correct the measured data according to the reference data provided by the national space-based data and then construct the DB to ensure the accuracy of the data. can improve

In one embodiment, the walking obstacle DB construction unit 310 sets the pedestrian road boundary stone, the ramp entrance, the lift entrance, the slope section, the slope value, the speed bump, the pedestrian road bollard, the pedestrian road height/real width, and the visit point to at least one walking obstacle. It can be defined as an object. Here, the sidewalk boundary stone may correspond to a boundary stone separating the sidewalk and the road, and the ramp may be installed instead of stairs for the transportation vulnerable as an inclined movement passage. The slope value may correspond to a numerical value of the slope of the slope, and the speed bump may correspond to a bump installed to forcibly lower the driving speed of the vehicle. A pedestrian road bollard may correspond to a structure installed at a boundary between a roadway and a sidewalk in order to prevent vehicles from entering the sidewalk.

That is, the walking obstacle DB building unit 310 provides data of high importance among obstacles on the road that are not provided in the existing vehicle navigation, but must be secured for smooth movement of the transportation vulnerable or safe autonomous driving of the droid 170. It can be defined and used as a failure object. For example, data on objects with walking disabilities can be used to search for POIs linked to address electronic maps or to build a route network.

The network DB construction unit 320 may build a network DB for setting a delivery route for the droid based on the walking obstacle DB. That is, the network DB may be used as basic data for a delivery route provided for autonomous driving of the droid 170 providing an unmanned delivery service. In addition, the network DB may be constructed by including information about nodes and links constituting the path network. At this time, nodes and links may form a data structure including category, field name, field description, value, description, and the like as item data. The unmanned delivery device 130 may contribute to building a support model for providing a delivery route for a droid by linking the network DB built by the network DB building unit 320 with an external system.

In an embodiment, the network DB builder 320 may build a path network for a pedestrian priority zone in a specific area by applying a walking obstacle DB based on background data generated by processing and editing reference data. At this time, the path network is movement path information composed of nodes and links, and the node may correspond to a change occurrence point of movement and the link may correspond to a connection between nodes. For example, a node may correspond to a crosswalk, a bridge, a stairway, an underpass, an overpass, and the like, and a link may correspond to a connection between them. That is, the route network for providing a delivery route for the droid may be formed along the pedestrian priority zone, and may include information on a driving route capable of avoiding pedestrian obstacles existing in the pedestrian priority zone based on the pedestrian obstacle DB. there is.

The delivery request receiving unit 330 may receive a delivery request including information about delivery contents, a starting point, and a visiting point from the user terminal 110 . Here, the delivery contents may include information about the purpose of delivery, goods, delivery costs, and the cumulative number of deliveries as details of the delivery request. The starting point may correspond to a delivery starting location, the visiting point may correspond to a delivery destination, and in the case of the droid 170, it may correspond to a concept including an accessible building entrance, external ramp or external elevator for delivery of delivery items. there is.

As a configuration for this, a dedicated program or dedicated application used to input a location associated with a delivery request may be installed and executed in the user terminal 110 . The user may input information about the location of the desired delivery item or destination information where delivery is desired through the user terminal 110 . Destination information may include address information or building information associated with the destination. A dedicated program or dedicated application may provide an interface for searching for a starting point and a visiting point based on an address, or may provide an interface for inputting a desired point on an electronic map by touching it.

The delivery droid allocator 340 may determine a delivery droid to be in charge of processing a delivery request from among the plurality of droids 170 . The delivery droid allocation unit 340 may allocate a delivery droid from among a plurality of pre-registered droids 170 in order to process a delivery request. Criteria for assigning droids may include a moving distance to the starting point, an estimated delivery time from the starting point to the delivery point, a cost required to process a delivery request, an altitude difference between the starting point and the delivery point, and the delivery droid allocation unit 340 Among the droids 170 currently available for delivery, a delivery droid may be determined for each delivery request according to a set criterion.

The service search unit 350 may search a starting point and a visiting point from the network DB. When both the starting point and the visiting point are received from the user terminal 110, the service search unit 350 may query a search result by inputting the starting point and the visiting point as a search key into a pre-established network DB, and responding to the response As , it is possible to obtain coordinate information for the corresponding point and road information between the corresponding points. Road information between points may be expressed as a network composed of a starting point and a visiting point as respective end points.

The delivery route creation unit 360 may generate a delivery route from the starting point to the visiting point based on the network DB. The delivery route creation unit 360 may receive a response from the network DB and generate a delivery route based on node and link information from the starting point to the visiting point. At this time, a plurality of delivery routes from the starting point to the visiting point may be generated, and the delivery route creation unit 360 may determine the delivery route corresponding to the optimal selection after arranging the plurality of delivery routes according to various criteria. there is. For example, the delivery route generation unit 360 may determine the optimal delivery route by applying various criteria such as the shortest time, shortest distance, minimum number of objects with walking disabilities, and minimum altitude difference among delivery routes from the starting point to the visiting point. there is.

In one embodiment, the delivery route creation unit 360 generates a normal delivery route from the starting point to the visiting point, calculates the driving obstacle rate for the gait impaired object based on the type and size of the delivery droid, and the driving obstacle rate. Gait obstacle objects that exceed the preset reference value are classified as driving obstacle elements, and information on driving obstacle elements is extracted from the network DB to determine driving obstacle elements existing on the normal delivery route, and avoiding the driving obstacle elements. An avoidance route can be created, and the normal delivery route can be updated by reflecting the avoidance route. Here, the avoidance route may correspond to a delivery route in which there is no gait disorder object on the route.

More specifically, the delivery route creation unit 360 may generate a normal delivery route from a starting point to a visiting point, and walking existing within a predetermined distance in the network DB based on node and link information constituting the normal delivery route. The object of failure can be determined. At this time, the reference distance for determining the gait disorder object may be set in advance by the unmanned delivery device 130.

In addition, the delivery route creation unit 360 may calculate a driving obstruction rate for an object with a gait disorder based on the type and size of the delivery droid. That is, the driving obstruction rate may correspond to the degree to which the delivery droid is obstructed from driving by the corresponding gait-impaired object. For example, when the size of the delivery droid is large and there is a relatively small sized gait disorder object on the driving path, the driving obstacle rate may be calculated low, reflecting the fact that it is difficult to affect the driving. In addition, it goes without saying that the driving obstruction rate for the same gait impaired object may be calculated differently according to the driving method of the delivery droid.

In addition, the delivery route creation unit 360 may classify objects with a gait disturbance whose driving obstruction rate exceeds a predetermined reference value as a driving obstacle. The reference value may be set in advance by the unmanned delivery device 130 and used, and the delivery route creation unit 360 may determine a walking obstacle object that is a driving obstacle through a comparison between the reference value and the driving obstacle rate. That is, the driving impediment factor may correspond to a gait impediment object that may reduce the overall quality of the delivery service by directly affecting the driving process of the delivery droid.

In addition, the delivery route creation unit 360 may extract information about driving obstacles from the network DB and determine driving obstacles existing on the normal delivery route. Through this, the delivery route generator 360 may secondarily perform an update operation to avoid driving obstacles after primarily deriving a normal delivery route for a delivery request.

In addition, the delivery route creation unit 360 may generate an avoidance route avoiding driving obstacles, and may update the normal delivery route by reflecting the avoidance route. The delivery route creation unit 360 may repeatedly perform an operation of creating an avoidance route and updating a normal delivery route for each driving obstacle. As another embodiment, the delivery route generator 360 may update the normal delivery route by generating an avoidance route for avoiding the respective driving obstacles at once when the avoidance routes for each driving obstacle overlap each other. To this end, the delivery route creation unit 360 may group driving obstacles with overlapping avoidance routes, and may perform an operation of generating an avoidance route and updating a normal delivery route for each group.

The delivery service provider 370 may remotely control the delivery droid to travel along the delivery route as a response to the delivery request. Meanwhile, the delivery service provider 370 may provide a navigation service for a delivery route and a real-time location tracking function for a delivery droid. Therefore, the user can check the delivery process requested by the user through the user terminal 110 in real time.

In one embodiment, the delivery service provider 370 monitors the location of the delivery droid in the course of driving, detects a driving anomaly based on a rate of change of the location of the delivery droid, and passes through a corresponding detection location when an abnormal driving is detected. The starting point of the abnormal driving road is determined as the driving resume point, the delivery droid is moved, and the delivery route from the driving resume point to the visit point is updated to meet the conditions for avoiding the abnormal driving road, and then the driving of the delivery droid can be controlled. . Meanwhile, the delivery service provider 370 may provide a monitoring result related to the location of the delivery droid together with a navigation service.

In addition, the delivery service provider 370 may measure the driving speed and driving distance of the delivery droid through monitoring, and may calculate a position change rate based on this. In the course of driving the delivery droid, various unexpected variables such as intrusion of a person or animal or falling of a flying object may occur, which may affect the driving of the delivery droid. The delivery service provider 370 can detect whether the delivery droid is normally driving based on the position change rate, and if a problem occurs in driving, it can be moved to a safe location through remote control to restore autonomous driving. .

More specifically, the delivery service provider 370 may determine the starting point of the road section where the driving abnormality is detected as a driving resume point and remotely control the delivery droid to move to the corresponding point. Through this, the delivery droid can move in the direction opposite to the obstacle existing in the driving direction. Thereafter, the delivery service provider 370 may restore the driving of the delivery droid by updating the delivery route between the driving resume point and the delivery point in real time to avoid the road section where the driving abnormality is detected. Meanwhile, the delivery service provider 370 may secure real-time spatial information by updating the walking obstacle DB and the network DB based on the information collected during the driving process.

In one embodiment, the delivery service provider 370 collects spatial information near the delivery route through a plurality of sensors installed on the delivery droid, and updates the walking obstacle DB based on the spatial information when the delivery request is completed. , the network DB can be updated based on the walking obstacle DB. For example, the droid 170 may collect a forward image of the driving direction through a camera sensor, and the delivery service provider 370 may extract a walking disorder object present on the driving route through video and image analysis. can The delivery service provider 370 compares and analyzes the information about the walking obstacle object derived through the collected image analysis and the information of the walking obstacle DB, and when new information is detected, it may perform an update operation to the latest information. In addition, the delivery service provider 370 may sequentially perform an update operation of the network DB based on the updated walking obstacle DB when the walking obstacle DB is updated.

The controller 380 controls the overall operation of the unmanned delivery device 130, and includes a walking obstacle DB builder 310, a network DB builder 320, a delivery request receiver 330, a delivery droid allocator 340, A control flow or data flow between the service search unit 350, the delivery route generator 360, and the delivery service provider 370 may be managed.

4 is a flowchart illustrating an embodiment of an operation performed by the unmanned delivery device of FIG. 1 .

Referring to FIG. 4 , the unmanned delivery device 130 may construct a walking obstacle DB related to a walking obstacle object in a specific area through the walking obstacle DB construction unit 310 (step S410). The unmanned delivery device 130 may build a network DB for setting a delivery route for the droid based on the walking obstacle DB through the network DB construction unit 320 (step S420).

In addition, the unmanned delivery device 130 may receive a delivery request including information about delivery contents, a starting point, and a visiting point from the user terminal 110 through the delivery request receiving unit 330 (step S430). The unmanned delivery device 130 may determine a delivery droid to be in charge of processing the delivery request from among the plurality of droids 170 through the delivery droid allocator 340 (step S440).

In addition, the unmanned delivery device 130 may search a starting point and a visiting point from the network DB through the service search unit 350 (step S450). The unmanned delivery device 130 may generate a delivery route from the starting point to the visiting point based on the network DB through the delivery route generating unit 360 (step S460). The unmanned delivery device 130 may remotely control the delivery droid to travel along the delivery route as a response to the delivery request through the delivery service provider 370 (step S470).

5 is a diagram illustrating a DB configuration and service provision system for droids according to the present invention.

Referring to FIG. 5, the unmanned delivery device 130 may construct data by determining road name address data, basic spatial information (NGIS) data, and administrative subject map data, which are national spatial data, as reference data of the entire data, Processing and editing can be performed by acquiring object address data, route data, facility and obstacle data through field investigation including MMS survey, etc.

In addition, the unmanned delivery device 130 may generate route guidance data for autonomous driving to a departure point and a destination point according to a delivery request in order to provide an unmanned delivery service. To this end, the unmanned delivery device 130 may operate in conjunction with a separate server in charge of navigation service, and may be implemented by including the server therein.

The unmanned delivery device 130 may transmit route guidance data to a delivery droid that will process a delivery request, and the delivery droid may autonomously drive to a delivery point based on the route guidance data. The unmanned delivery device 130 may monitor the autonomous driving process of the delivery droid through remote communication with the delivery droid, and may process data collection and response to abnormal situations during the autonomous driving process.

On the other hand, the unmanned delivery device 130 can perform a data conversion task to visually express in the background in order to service the transportation vulnerable, and also convert route data, facility data and search data for route guidance and search for the transportation vulnerable It is possible to build a data form that can be used in a navigation service for the transportation vulnerable. A space service such as a navigation service provided by the unmanned delivery device 130 may be provided as a mobile service through a dedicated application (or program) running on the user terminal 110 .

In addition, the unmanned delivery device 130 may provide the user with real-time monitoring information on the delivery process of the delivery droid, and the user may use the user terminal 110 for delivery including expected delivery time, current location, delivery route, and the like. Details can be checked in real time. In addition, the user may request a change of delivery address through the user terminal 110, and when the change of delivery address is approved, the unmanned delivery device 130 re-searches the delivery route to the changed delivery address based on the current location of the delivery droid, autonomous driving can be remotely controlled.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the claims below. You will understand that it can be done.

100: unmanned delivery system
110: user terminal 130: unmanned delivery device
150: database 170: droid
210: processor 230: memory
250: user input/output unit 270: network input/output unit
310: walking obstacle DB construction unit 320: network DB construction unit
330: Delivery request reception unit 340: Delivery droid allocation unit
350: service search unit 360: delivery route generation unit
370: delivery service provider 380: control unit

Claims (8)

Object address-based delivery using an autonomous robot performed in a delivery device including a walking obstacle DB construction unit, network DB construction unit, delivery request reception unit, delivery droid allocation unit, service search unit, delivery route generation unit, and delivery service provider unit. in the method,
constructing a walking obstacle DB related to a walking obstacle object in a specific area through the walking obstacle DB building unit;
constructing a network DB for setting a delivery route for a droid corresponding to the self-driving robot based on the walking obstacle DB through the network DB construction unit;
receiving a delivery request including information about delivery contents, a starting point, and a visiting point from a user terminal through the delivery request receiving unit;
determining a delivery droid by selecting a droid to be in charge of processing the delivery request from among a plurality of droids through the delivery droid allocation unit;
searching for the starting point and the visiting point from the network DB through the service search unit;
generating a delivery route from the starting point to the visiting point based on the network DB through the delivery route generating unit; and
Remotely controlling the delivery droid to travel along the delivery route as a response to the delivery request through the delivery service provider,
The step of constructing the walking obstacle DB is
Address data, geospatial information data, and subject map data as reference data for a specific region are extracted from a pre-established address DB including national spatial data, NGIS data, and administrative subject map data. obtaining;
At least one object address for constructing walking disability data as an object address of the specific area by analyzing the reference data - the object address corresponds to information for specifying the location of a facility that does not correspond to a building by using a base number and a road name. Defining a gait disorder object of the object - the gait disorder object corresponds to an obstacle element that may hinder movement or give inconvenience to a person with reduced mobility or autonomous driving of a droid;
obtaining actual measurement data on the at least one gait impaired object through MMS (Mobile Mapping System) survey and cadastral survey in the specific area; and
Constructing a gait obstacle DB for the at least one gait disorder object as the gait disorder data using the measured data;
Defining the at least one gait disorder object
Defining a curbstone, a ramp entrance, a lift entrance, a slope section, a slope value, a speed bump, a pedestrian road bollard, and a pedestrian road height/real width as the at least one walking obstacle object,
The step of building the network DB is
Constructing a route network for a pedestrian priority zone in the specific area by applying the gait obstacle data of the gait obstacle DB to background data generated by processing and editing the reference data;
The step of creating the delivery route is
generating a normal delivery route from the starting point to the visiting point;
Calculating a driving obstruction rate for the object with a walking disability based on the type and size of the delivery droid;
Classifying a gait disorder object in which the driving obstruction rate exceeds a predetermined reference value as a driving disorder element;
extracting information on the driving obstacles from the network DB and determining driving obstacles existing on the normal delivery route;
In order to create an avoidance path avoiding the driving obstacles, and if the avoidance paths for each driving obstacle overlap with each other, to create an avoidance path that avoids the driving obstacles at once, the driving obstacles with overlapping avoidance paths are grouped, and then generating an avoidance path for each group; and
Updating the normal delivery route by reflecting the avoidance route;
The remote control step is
monitoring the location of the delivery droid while the delivery droid travels;
Through the monitoring, the driving speed and mileage of the delivery droid are measured, and based on the driving speed and mileage, a rate of change in position is calculated, and based on the rate of change in position, the delivery droid determines whether or not the delivery droid is running normally. detecting;
moving the delivery droid by determining a starting point of a driving abnormal road including the detected location as a driving resume point when the driving abnormality is detected;
controlling driving of the delivery droid after updating a delivery route from the driving resume point to the visiting point to satisfy a condition for avoiding the abnormal road;
Collecting spatial information near the delivery route through a plurality of sensors installed in the delivery droid;
updating the walking obstacle DB based on the spatial information when processing of the delivery request is completed; and
Updating the network DB based on the walking obstacle DB;
The route network is movement route information composed of nodes and links, wherein the node corresponds to a change point of movement and the link corresponds to a connection between nodes.
delete delete delete delete delete delete a walking obstacle DB construction unit for constructing a walking obstacle DB for objects of walking obstacles in a specific area;
a network DB construction unit for constructing a network DB for setting a delivery route for a droid corresponding to an autonomous robot based on the walking obstacle DB;
a delivery request receiving unit for receiving a delivery request including information about delivery contents, a starting point, and a visiting point from a user terminal;
a delivery droid allocator for determining a delivery droid by selecting a droid to be in charge of processing the delivery request from among a plurality of droids;
a service search unit for searching the starting point and the visiting point from the network DB;
a delivery route generating unit generating a delivery route from the starting point to the visiting point based on the network DB; and
In response to the delivery request, including a delivery service provider remotely controlling the delivery droid to travel along the delivery route;
The pedestrian obstacle DB constructing unit addresses data and spatial information as standard data for a specific area from a previously constructed address DB including national spatial data, namely address data, basic geospatial information (NGIS) data, and administrative subject map data. obtaining data and thematic data; At least one object address for constructing walking disability data as an object address of the specific area by analyzing the reference data - the object address corresponds to information for specifying the location of a facility that does not correspond to a building by using a base number and a road name. Defining a gait disorder object of the object - the gait disorder object corresponds to an obstacle element that may hinder movement or give inconvenience to a person with reduced mobility or autonomous driving of a droid; obtaining actual measurement data on the at least one gait impaired object through MMS (Mobile Mapping System) survey and cadastral survey in the specific area; and constructing a gait obstacle DB for the at least one gait disorder object as the gait disorder data using the measured data;
The walking obstacle DB construction unit defines a pedestrian road boundary stone, a ramp entrance, a lift entrance, an inclined section, a slope value, a speed bump, a pedestrian road bollard, and a pedestrian road height/real width as the at least one walking obstacle object,
The network DB construction unit constructs a route network for a pedestrian priority zone in the specific area by applying the gait obstacle data of the gait obstacle DB to the background data generated by processing and editing the reference data;
generating a normal delivery route from the starting point to the visiting point; Calculating a driving obstruction rate for the object with a walking disability based on the type and size of the delivery droid; Classifying a gait disorder object in which the driving obstruction rate exceeds a predetermined reference value as a driving disorder element; extracting information on the driving obstacles from the network DB and determining driving obstacles existing on the normal delivery route; In order to create an avoidance path avoiding the driving obstacles, and if the avoidance paths for each driving obstacle overlap with each other, to create an avoidance path that avoids the driving obstacles at once, the driving obstacles with overlapping avoidance paths are grouped, and then generating an avoidance path for each group; and updating the normal delivery route by reflecting the avoidance route;
monitoring, by the delivery service providing unit, a location of the delivery droid while the delivery droid is traveling; Through the monitoring, the driving speed and mileage of the delivery droid are measured, and based on the driving speed and mileage, a rate of change in position is calculated, and based on the rate of change in position, the delivery droid determines whether or not the delivery droid is running normally. detecting; moving the delivery droid by determining a starting point of a driving abnormal road including the detected location as a driving resume point when the driving abnormality is detected; controlling driving of the delivery droid after updating a delivery route from the driving resume point to the visiting point to satisfy a condition for avoiding the abnormal road; Collecting spatial information near the delivery route through a plurality of sensors installed in the delivery droid; updating the walking obstacle DB based on the spatial information when processing of the delivery request is completed; and updating the network DB based on the walking obstacle DB,
The route network is movement route information composed of nodes and links, wherein the node corresponds to a change point of movement and the link corresponds to a connection between nodes.

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