KR102088415B1 - Unmanned Transport System Using Autonomous Delivery Robot And Method of Transport Using Unmanned Transport System - Google Patents

Abstract

The present invention includes at least one delivery robot that delivers the goods, and a delivery management server that communicates with the delivery robot based on the delivery information of the goods and manages a delivery process, wherein the delivery management server requests the delivery It relates to an unmanned delivery system and a delivery method using the same, which determines the number of inputs of the delivery robot and sets a delivery route of the input delivery robot.

Description

Unmanned Transport System Using Autonomous Delivery Robot And Method of Transport Using Unmanned Transport System}

The present description relates to an unmanned delivery system using a delivery robot and a delivery method using the unmanned delivery system.

In general, the courier service refers to a service that, upon receipt of a request for the delivery of a customer's goods or documents, the sender visits and takes over the goods, documents, and recipient information to be delivered, and then visits the recipient's home and delivers the goods directly.

In the delivery process of goods carried out in such a courier service, all courier goods requested for shipment are first assembled at the head office, and then sorted by destination at the headquarters to send the courier goods to each local sales office, and the courier staff at each local sales office The goods are delivered to the address of the addressee using a vehicle or the like.

However, in the absence of a consignee or a proxy consignee during this delivery process, you can complete the delivery of the goods through a proxy receipt, such as leaving the goods in a neighbor's house or guard room by contacting the consignee separately. If it is difficult to collect the item, after returning to the local sales office, the product will be delivered to the recipient again by contacting the recipient.

However, when goods are directly delivered using human resources, time and money are wasteful, and there is a risk of information leakage. In particular, as the courier service is becoming more common, excessive workload of courier staff is a problem.

One aspect of the present invention is to provide an unmanned delivery system that can safely deliver goods to a delivery destination even in the absence of a recipient.

One aspect of the present invention, to provide a delivery method using an unmanned delivery system that can prevent the product from being damaged by the impact on the product during the loading / unloading or delivery process by the delivery robot of the unmanned delivery system.

An unmanned delivery system according to an embodiment of the present invention includes at least one delivery robot that delivers goods, and a delivery management server that communicates with the delivery robot based on delivery information of the goods and manages a delivery process, The delivery management server determines the number of inputs of the delivery robot required for the delivery and sets a delivery path of the delivery robot to be input.

According to an embodiment of the present invention, the delivery robot includes a first sensing unit that generates a first image signal by photographing the product, and a second sensing that generates a second image signal by photographing a situation around the delivery path. A communication unit for controlling the delivery robot by transmitting a sensor unit including a unit and at least one of the video signals received from the sensor unit to the delivery management server, and receiving a command signal calculated from the delivery management server. It may include.

According to an embodiment of the present invention, the communication control unit, the communication unit that exchanges signals with the delivery management server, and the delivery robot using the command signal and the video signals received from the communication unit and the sensor unit, respectively. It may include a control unit for controlling the.

According to an embodiment of the present invention, the delivery robot is provided on both sides of the main body part, the main body part, and a pair of manipulator parts for unloading the article, provided on one side of the main body part and loaded by the manipulator part Further provided in the lower portion of the base portion and the main body portion to which the article is mounted further includes a traveling portion for moving the main body portion, the manipulator portion and the traveling portion can be controlled according to the command signal.

According to an embodiment of the present invention, the support portion may be formed to protrude perpendicular to one side of the body portion and extend in the width direction of the body portion.

According to an embodiment of the present invention, an auxiliary driving part supporting the support part with respect to the ground and assisting the movement of the driving part may be provided below the support part.

According to an embodiment of the present invention, the manipulator portion includes an arm portion connected to both sides of the main body portion and a grip portion connected to a free end of the arm portion and gripping the article, wherein the arm portion includes the command signal Accordingly, the grip portion may be moved to the gripping position of the article.

According to an embodiment of the present invention, the grip portion includes a first grip portion having an 'a' shape so as to wrap one side edge of the article having a hexahedral shape and a second grip portion gripping the article by a vacuum adsorption method. In addition, one of the first grip portion and the second grip portion may selectively grip the article according to the shape of the article identified based on the first image signal.

According to an embodiment of the present invention, the arm portion is made of a multi-joint structure to move the grip portion to a gripping position of the article, and may be a stretchable structure.

According to an embodiment of the present invention, the driving unit may move by avoiding an obstacle existing on the delivery route based on the second image signal.

According to an embodiment of the present invention, the delivery robot may include a first delivery robot to an Nth delivery robot (N is a natural number of 2 or more) input to cooperatively deliver the product.

According to an embodiment of the present invention, each of the delivery robots may include a GPS unit receiving location information and a shared communication unit sharing the location information with another delivery robot.

According to an embodiment of the present invention, the delivery management server, based on the location information of each delivery robot, can calculate the relative position between the delivery robots so that N delivery robots can cooperatively deliver.

On the other hand, another embodiment of the present invention, as a delivery method using an unmanned delivery system including at least one delivery robot for delivering the goods and a delivery management server for communicating with the delivery robot and managing the delivery process, (a) The delivery management server confirms the delivery information of the goods, (b) the delivery management server determines whether to cooperative delivery between delivery robots based on the delivery information, (c) the delivery according to the determination result The management server may include determining the number of inputs of the delivery robot, and (d) the delivery management server may include setting a delivery route of the input delivery robot.

According to an embodiment of the present invention, the step (c), when the number of input of the delivery robot is 1, further comprising the step of additionally determining whether or not the auxiliary transport means to assist the delivery of the delivery robot You can.

According to an embodiment of the present invention, when the number of inputs of the delivery robot in the step (c) is N (N is a natural number of 2 or more), the delivery management server after the step (d), the delivery robot being input Based on each location information, relative positions between delivery robots can be calculated so that N delivery robots can cooperatively deliver.

According to an embodiment of the present invention, in step (d), the delivery management server may reset the delivery route using information received from the delivery robot being input.

According to an embodiment of the present invention, the delivery robot, the body portion, a pair of manipulator portions provided on both sides of the body portion and unloading the article, protrudes perpendicular to one side of the body portion and the manipulator portion Includes a support portion on which the loaded article is seated and a traveling portion provided below the main body portion to move the main body portion, and each of the manipulator portions includes an arm portion connected to both sides of the main body portion, and a free end of the arm portion. It is connected to the 'a' shaped grip portion for gripping the article, and the arm portion can move the grip portion to the gripping position of the article.

According to an embodiment of the present invention, after the step (d), (e1) the delivery robot, the center of the horizontal, vertical, height of the article having a hexahedral shape as the origin, the horizontal, vertical, height Setting a coordinate system having a direction parallel to the x-axis, y-axis, and z-axis, respectively, (e2) moving each of the grip portions to a gripping position calculated based on the coordinate system to grip the edge of the article to grip the support The step of seating on the portion, (e3) may further include the step of dropping the article seated on the support to the delivery destination.

Another embodiment of the present invention relates to a delivery robot that delivers an article, wherein the delivery robot is provided on both sides of the body portion, the body portion, and a pair of manipulator portions unloading the article, and one side of the body portion It is provided in a structure that includes a support portion for seating the article loaded by the manipulator portion, a driving portion provided below the body portion to move the body portion, and a control unit for controlling the operation of the manipulator portion and the driving portion.

According to an embodiment of the present invention, the manipulator portion includes an arm portion connected to both sides of the main body portion, and a grip portion connected to a free end of the arm portion and gripping the article, wherein the arm portion includes the grip portion It is made of a multi-joint structure so as to be moved to the gripping position of the article, it may be a stretchable structure, the arm portion may be controlled to move the grip portion to the gripping position of the article by the control unit.

According to an embodiment of the present invention, the grip portion includes a first grip portion having an 'a' shape so as to wrap one side edge of the article having a hexahedral shape and a second grip portion gripping the article by a vacuum adsorption method. And, any one of the first grip portion and the second grip portion may be controlled to selectively grip the article by the control unit.

According to an embodiment of the present invention, the delivery management server determines and determines the number of delivery robots to be input based on the shape and / or weight of the goods, and when a plurality of delivery robots are input, delivery through cooperation between delivery robots By performing the above, it is possible to provide an unmanned delivery system that can be operated with minimal manpower.

According to one embodiment of the present invention, the grip portion of the delivery robot includes a first grip portion for gripping a hexahedral shape article and a vacuum gripping and gripping an amorphous article having a light weight that does not require high adsorption force. It is composed of 2 grip parts, so it is possible to increase the efficiency of delivery by selectively holding the item according to the appearance and weight of the item.

1 and 2 is a block diagram schematically showing the configuration of an unmanned delivery system according to an embodiment of the present invention.
3 is a perspective view of a delivery robot according to an embodiment of the present invention.
4 is a block diagram schematically showing the configuration of an unmanned delivery system according to another embodiment of the present invention.
5 is a flowchart of a delivery method using an unmanned delivery system according to an embodiment of the present invention.
6 is a flowchart of a loading method of an article in a delivery method using an unmanned delivery system according to an embodiment of the present invention.
7 to 11 is a schematic view of the loading process of the article in an embodiment of the present invention.
12 is a flowchart of a method for unloading goods in a delivery method using an unmanned delivery system according to an embodiment of the present invention.
13 to 16 are schematic views of an unloading process of an article according to an embodiment of the present invention.
17 to 21 are schematic views of a loading process of an article according to another embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains can easily practice. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. In the drawings, parts not related to the description are omitted in order to clearly describe the present invention, and the same reference numerals are attached to the same or similar elements throughout the specification.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only "directly connected" but also "indirectly connected" with another member in between.

In addition, when a part is said to "include" a certain component, this means that other components may be further included instead of excluding other components, unless specifically stated otherwise.

Hereinafter, the present invention will be described with reference to drawings for describing an unmanned delivery system according to an embodiment of the present invention.

1 and 2 is a block diagram schematically showing the configuration of an unmanned delivery system according to an embodiment of the present invention.

Referring to Figures 1 and 2, the unmanned delivery system according to an embodiment of the present invention, at least one delivery robot 100 for performing the delivery of goods, and the delivery robot 100 and the signal delivery and delivery It may include a delivery management server 1000 for managing.

The delivery management server 1000 may receive delivery information, such as a delivery destination, a volume or a weight of the goods, from the sender for delivery of the goods.

Therefore, the delivery management server 1000 determines whether delivery is required through collaboration between N (N is a natural number of 2 or more) delivery robots 100 based on the above information, and delivers according to the determination result. The number of inputs of the robot 100 may be determined, and an optimal delivery route according to the input delivery robot 100 may be set.

The delivery management server 1000 may reset a preset delivery route based on information received from the delivery robot 100 while continuously communicating with the delivery robot 100 being input, and the delivery robot 100 may By performing the delivery according to the reset delivery route, it is possible to manage the overall process of delivery.

3 is a perspective view of a delivery robot according to an embodiment of the present invention.

Referring to FIG. 3 together with FIG. 2, the delivery robot 100 may be configured to include a body portion 110, a manipulator portion 120, a support portion 130, and a traveling portion 140, A sensor unit 500 for controlling the operation of the delivery robot 100 and a communication control unit 600 may be further included.

First, the sensor unit 500 is provided at the top of the main body 110 as a sensing device for obtaining external information of the delivery robot 100, the first sensing unit 510 and the second sensing unit 520 It may include.

The first sensing unit 510 captures the shape of the article 10, the state in which the article 10 is placed, etc. by photographing the article 10 to be delivered, and generates a first image signal 511 for the article 10 can do. The first sensing unit 510 may transmit the generated first image signal 511 to the communication control unit 600. The first sensing unit 510 is a sensing device required in the unloading process by the delivery robot 100.

The second sensing unit 520 photographs an external environment around the delivery route, recognizes information on obstacles that may occur in the course of the delivery robot 100, and generates a second image signal 521 for the obstacle. can do. The second sensing unit 520 may transmit the generated second image signal 521 to the communication control unit 600.

The second sensing unit 520 is a sensing device necessary to prevent a collision with an obstacle that may occur in the course of moving the delivery robot, for example, a collision between a delivery robot and a person or vehicle.

The communication control unit 600 receives the video signals 511 and 521 from the first sensing unit 510 and the second sensing unit 520, and manages the delivered video signals 511 and 521 through the delivery It can be transmitted to the server 1000. In addition, the communication control unit 600 may receive a command signal calculated from the delivery management server 1000 and control the delivery robot 100 accordingly.

That is, the communication control unit 600 includes a communication unit 610 that exchanges signals with the delivery management server 1000 and a command signal of the delivery management server 1000 received through the communication unit 610 and the It may include a control unit 620 for controlling the delivery robot 100 using the image signals (511, 521) received from the sensor unit 500.

The control unit 620 may control the manipulator unit 120 and the driving unit 140 that are components of the delivery robot 100.

Referring to FIG. 3, the manipulator unit 120 is provided as a pair on both sides of the main body unit 110 to perform a loading / unloading function for loading or unloading the article 10.

The manipulator unit 120 may include a structure including an arm unit 121 connected to both sides of the body unit 110 and a grip unit 125 connected to a free end of the arm unit 121. First, the arm unit 121 is configured to perform the robot arm function of the delivery robot 100, and is made of a multi-joint structure so that the grip unit 125 can be moved to the gripping position X of the article. It can be made of a stretchable structure for length adjustment.

The grip unit 125 is configured to perform the robot hand function of the delivery robot 100, and may be formed in a structure capable of selecting a gripping method according to the weight, shape, or volume of the product 10 to be delivered. , In the field of logistics delivery, a grip method by vacuum adsorption is widely used to grip irregular items having various shapes.

This adsorption grip method, when the weight or volume of the article is large, can be gripped by applying a high adsorption force, but requires additional equipment such as a compressor in the process of generating the adsorption force, and the article is damaged in the loading or unloading process. There are possible problems.

That is, there are safety problems such as excessive energy use and maintenance cost in the process of loading / unloading by the vacuum adsorption only, and damage to items in the loading / unloading or delivery process.

To solve this problem, the grip portion 125 may include a first grip portion 126 and a second grip portion 127 that can be selectively gripped according to the weight, shape, or volume of the article 10. The first grip portion 126 is rotatably connected to the free end of the arm portion 121 and may be formed in an 'a' shape to cover one side of an edge of the article 10 having a hexahedral shape. .

In one specific example, the first grip portion 125 is moved to the gripping position X of the article 10 by the arm portion 121 and only covers the edge of the article 10 ( Since it is made of a passive gripper) structure, a separate driving device for operating the first grip unit 125 is not required, and accordingly, use of unnecessary energy can be reduced.

The second grip portion 127 may be provided on an upper side of the first grip portion 126 to vacuumly grip and hold an irregular article 10 ′ having an external shape or shape.

Therefore, the grip part 125 grasps the shape of the article 10 based on the first image signal 511, and the article 10 having an hexahedral shape is used by using the first grip portion 126. Gripping, having a light weight that does not require a high adsorption force, and the irregular shape of the irregular article 10 'can be held by vacuum adsorption with the second grip portion 127.

In this way, the energy efficiency of the delivery robot is increased through the structure of selectively gripping the article according to the appearance or weight of the article, and it is possible to secure safety such as damage to the article during the delivery process.

On the other hand, a lower portion of the body portion 110 may be provided with a traveling portion 140 that can move the body portion 110 in a pair. The driving unit 140 may be controlled by the control unit 620 so as to avoid obstacles existing on the delivery route and move according to the command signal calculated based on the second image signal 521. .

The support 130 may be provided on one side of the main body 110 to perform a support function in which the article 10 loaded by the manipulator 120 is seated. The supporting portion 130 may be vertically protruding from one side facing the article 10 from the body portion 110 and extending in the width direction of the body portion 110.

In the lower portion of the supporting portion 130, an auxiliary traveling portion 141 may be provided to support the supporting portion 130 with respect to the ground and to assist the movement of the traveling portion 140.

4 is a block diagram schematically showing the configuration of an unmanned delivery system according to another embodiment of the present invention.

The delivery robot 100 may include a plurality of delivery robots 100A, 100B, and 100C that are input to cooperatively deliver the product 10. Accordingly, the delivery management server 1000, the delivery robots so that a plurality of delivery robots (100A, 100B, 100C) can cooperatively deliver based on the location information of each delivery robot (100A, 100B, 100C) The relative positions between (100A, 100B, 100C) can be calculated.

To this end, each of the delivery robots 100A, 100B, and 100C shares a GPS unit for receiving location information and location information received from the GPS unit to share with other delivery robots 100A, 100B, and 100C. It may include a communication unit.

Meanwhile, FIG. 5 is a flowchart of a delivery method using an unmanned delivery system according to an embodiment of the present invention.

Referring to Figure 5, the delivery method using the unmanned delivery system according to an embodiment of the present invention, the delivery information check step of the goods (S10), determining whether the cooperative delivery between delivery robots (S20), of the delivery robot It may include an input number determining step (S30), a delivery route setting step (S40).

The delivery information checking step (S10) of the article is a step in which the delivery management server 1000 receives delivery information regarding the delivery destination, the volume or weight of the article, and confirms it from the sender for delivery of the scheduled delivery article. .

In the step S20 of determining whether cooperative delivery between the delivery robots is performed, whether the delivery management server 1000 needs delivery through cooperation between a plurality of delivery robots 100A, 100B, and 100C based on the above delivery information. It is a step to judge.

The delivery robot input number determining step (S30) is a step of determining the number of inputs of the delivery robot 100 required for delivery by the delivery management server 1000 according to the determination result of cooperative delivery as described above.

The delivery route setting step (S40) is a step in which the delivery management server 1000 sets an optimal delivery route of a delivery robot that is input for efficient delivery.

In the step (S30) of determining the number of delivery robots input according to an embodiment of the present invention, when the number of inputs of the delivery robot 100 is determined as one, the auxiliary transport means assisting delivery of the delivery robot 100 It can be judged additionally. When considering the shape or weight of the product, it is possible to deliver it with only one delivery robot, but if there are multiple such products, the efficiency of delivery can be increased by input of an auxiliary transport means.

In the step S30 of determining the number of delivery robots input according to an embodiment of the present invention, when two or more delivery robots 100 are input, the delivery management server after the delivery route of the delivery robot 100 is set (1000) can calculate the relative position between the delivery robots.

The delivery management server 1000 calculates the relative position between the delivery robots 100A, 100B, and 100C, where the location information of the delivery robot 100A and another delivery robot 100B, 100C inputted to the delivery are mutually This is to enable cooperation between the delivery robots 100A, 100B, and 100C during the unloading process of goods while being shared with each other.

In the delivery route setting step (S40) according to an embodiment of the present invention, the delivery management server may reset the delivery route using information received from the delivery robot 100 put into delivery.

The re-establishment of the delivery route is to cope with an unexpected failure in the process of delivering along the route set based on the delivery information input to the delivery management server 1000 in the delivery start step.

Since it is common for articles containing contents in a cube-shaped box to be delivered, a process of loading and unloading articles having a cube shape will be described.

First, FIG. 6 is a flowchart of a loading method of an article in a delivery method using an unmanned delivery system according to an embodiment of the present invention.

Referring to Figure 6, the loading of the article, calculating the gripping position of the article (S100), moving the first grip portion to the gripping location (S200), loading the article to the delivery robot using the grip portion It may be made through the step (S300).

7 to 11 is a schematic view of the loading process of the article according to an embodiment of the present invention.

First, referring to FIG. 7, referring to the step S100 of calculating the gripping position of the article, the delivery robot 100 may set a coordinate system to the article 10 having a hexahedral shape. The delivery robot 100 sets a coordinate system in which the centers of the horizontal, vertical, and height of the article 10 are the origin, and the directions parallel to the horizontal, vertical, and height are the x-axis, y-axis, and z-axis, respectively. You can.

Based on the coordinate system, the x-y plane of the coordinate space is parallel to the ground, and the x-z plane and y-z plane are orthogonal to the ground.

The plane facing the delivery robot 100 among the x-z planes is referred to as a first surface 11 and a surface facing the first surface 11 is referred to as a second surface 12. That is, the first surface 11 means a surface facing the delivery robot 100 among the six surfaces of the article 10, and the second surface 12 is a direction away from the delivery robot 100 It means the side located on.

In the area where x <0 and z> 0 in the first surface 11, an edge parallel to the x-axis is calculated as the first gripping position 1100, and x> 0 and z <in the second surface 12. In the region of 0, an edge parallel to the z-axis may be calculated as the second gripping position 1200.

Next, referring to Figure 8 to look at the step (S200) of moving the first grip portion to the gripping position, the delivery robot 100 is the first gripping position 1100 and the second gripping position 1200 respectively 1 The grip parts 126a and 126b can be moved. Hereinafter, for convenience, the first grip portion moved to the first gripping location 1100 is the eleventh grip portion 126a, and the first grip portion is moved to the second gripping location 1200 as a twelfth grip portion 126b. Explain. In summary, the delivery robot 100 may move the eleventh grip portion 126a to the first gripping location 1100 and the twelfth gripping portion 126b to the second gripping location 1200.

The delivery robot 100 performs a next step after being wrapped in close contact with the gripping positions 1100 and 1200 of the elbows 126a and twelfth grip portions 126b. .

Referring to FIGS. 9 to 11 together, a step (S300) of loading the article 10 into the delivery robot 100 will be described.

First, referring to FIG. 9, the delivery robot 100 applies a force to push the eleventh grip portion 126a surrounding the first gripping position 1100 toward the positive y-axis direction, and the second gripping position The area where z <0 and y <0 of the first surface 11 is generated by pulling the twelfth grip portion 126b surrounding the 1200 toward the negative y-axis direction to generate a moment in the article 10 Let the edges parallel to the x axis be heard.

At this time, the delivery robot 100 is moved forward in the positive y-axis direction so that a portion of the article 10 is placed on one side of the support 130.

Next, referring to Figure 10, the delivery robot 100, the article 10 in the state across the receiving portion 130, the eleventh grip portion 126a and the twelfth grip portion (126b) the second surface (12) Move to both corners of the upper end to grip.

Next, referring to FIG. 11, the delivery robot 100 pulls the eleventh grip portion 126a and the twelfth grip portion 126b toward the delivery robot 100 while holding the article 10. By pulling and seating the article 10 on the supporting portion 130 of the delivery robot 100, the loading process of the article is completed.

As described above, after the goods are loaded onto the delivery robot, the discharging process of dropping the goods by the delivery robot reaching the delivery destination will be described.

12 is a flowchart of an unloading method of an article in a delivery method using an unmanned delivery system according to an embodiment of the present invention, and FIGS. 13 to 16 are schematic views of the unloading process of the article.

Referring to FIG. 12, the unloading of the article includes a step of putting a part of the article on the ground (S400), separating the article from the delivery robot (S500), and seating the article on the ground (S600). It can be done through.

First, referring to Figure 13 to look at the step (S400) of putting a portion of the article on the ground, the delivery robot 100, the delivery robot 100 using the eleventh grip portion 126a and the twelfth grip portion 126b ) Or by gradually reducing the magnitude of the force pulled toward the negative y-axis, a portion of the article 10 seated on the pedestal 130 is spread over the ground.

Next, referring to Figures 13 to 15 to look at the step of separating the article from the delivery robot (S500), as described above, in a state where a part of the article 10 spans the ground, the delivery robot 100 is made The grip portions 126b and 12 grip portions 126b are moved to both corners of the bottom of the first surface 11 to be gripped.

Next, referring to FIG. 15, the delivery robot 100 gradually moves backward while the article 10 is supported by the eleventh grip portion 126a and the twelfth grip portion 126b to move the article 10 ) Is separated from the delivery robot 100, and when the space for the article 10 is secured, the backward movement is stopped.

Next, referring to Figure 16 to look at the step (S600) of seating the article on the ground, the delivery robot 100, the eleventh grip portion 126a and the twelfth grip portion supporting the article 10 ( After moving 126b) to the ground, the eleventh grip portion 126a and the twelfth grip portion 126b that supported the article 10 are slowly separated from the article 10, so that the article is seated on the ground. Thereby, the unloading process of the article is completed.

17 to 21 are schematic views of a loading process of an article according to another embodiment of the present invention.

Referring to FIGS. 17 to 19, the delivery management server determines that delivery through cooperative operation between a plurality of delivery robots is necessary, and the two delivery robots 100 and 200, that is, the first delivery robot 100 and The loading process of the goods by the second delivery robot 200 is schematically illustrated.

First, referring to FIG. 17, after the first delivery robot 100 and the second delivery robot 200 move to one side and the other side of the article 20, respectively, the first delivery robot 100 has a first grip portion. The upper edge of the first side 21 of the article 20 is gripped with (126), and the second delivery robot 200 is the first grip portion 226 with the second side 22 of the article 20. Wraps the corners on both sides.

Here, when the first surface 21 and the second surface 22 are based on the coordinate system described in FIGS. 7 to 11, the first surface 21 is the first surface among the six surfaces of the article 20. 1 means a surface facing the delivery robot 100, and the second surface 22 means a surface facing the second delivery robot 200.

Next, referring to FIG. 18, the first delivery robot 100 applies a pushing force in the positive y-axis direction while holding the article 20, and the second delivery robot 200 supplies the article 20 ) In the gripped state by applying a pushing force in the negative y-axis direction to generate a moment in the article 20, parallel to the x-axis in the region of z <0 and y <0 of the first surface 21. Make sure the corners are raised.

Next, referring to FIG. 19, the first delivery robot 100 moves forward in the positive y-axis direction, moves forward in the negative y-axis direction of the second delivery robot 200, or the first delivery The robot 100 and the second delivery robot 200 move toward each other so that a portion of the article 20 is placed on one side of the support 130 of the first delivery robot 100.

Next, referring to FIG. 20, the first delivery robot 100 moves and grips the first grip portion 126 to both corners of the first surface 21, and the second delivery robot 200 is The first grip portion 226 is moved to the upper edge of the second surface 22 to be gripped.

Next, referring to FIG. 21, the first delivery robot 100 and the second delivery robot 200 move forward toward each other, and the article spanning the supporting portion 130 of the first delivery robot 100 ( After placing one side of 20) on the supporting portion 130, the other side of the article 20 is mounted on the supporting portion 230 of the second delivery robot 200, thereby completing the loading process of the article.

Although the preferred embodiment of the present invention has been described through the above, the present invention is not limited thereto, and it is possible to carry out various modifications within the scope of the claims and detailed description of the invention and the accompanying drawings. Naturally, it is within the scope of the invention.

10: item 100: delivery robot
110: body portion 120: manipulator portion
121: arm portion 125: grip portion
126: first grip portion 127: second grip portion
130: base 140: running portion
141: auxiliary driving unit 500: sensor unit
600: communication control unit 510: first sensing unit
520: second sensing unit 610: communication unit
620: control unit 1000: delivery management server

Claims (22)

At least one delivery robot that delivers the goods; And
A delivery management server that communicates with the delivery robot and manages a delivery process based on delivery information of the article;
Including,
The delivery management server,
Determining the number of inputs of the delivery robot required for the delivery and setting a delivery route of the input delivery robot,
The delivery robot includes a support part and a manipulator part on which at least a part of the product is seated,
In the loading process of the article, in the article having a hexahedral shape, the lower edge of the second side located on the opposite side of the delivery robot remains in contact with the ground, and the lower edge of the first side facing the delivery robot is lifted. A control unit for controlling the manipulator unit to rotate the article to be raised, and to perform a process of positioning the lower edge of the first surface on the pedestal at a position higher than the bottom of the article. system. The method of claim 1,
The delivery robot,
A sensor unit including a first sensing unit that photographs the product to generate a first image signal, and a second sensing unit that photographs a situation around the delivery path and generates a second image signal; And
A communication control unit transmitting at least one of the video signals received from the sensor unit to the delivery management server, and receiving the command signal calculated from the delivery management server to control the delivery robot;
Unmanned delivery system comprising a. According to claim 2,
The communication control unit,
It includes a communication unit and the control unit for sending and receiving signals to and from the delivery management server,
The control unit is an unmanned delivery system that controls the delivery robot using the command signal and the video signals received from the communication unit and the sensor, respectively. According to claim 2,
The delivery robot,
Main body; And
A driving unit provided below the main body to move the main body;
Further comprising,
The manipulator parts are provided in a pair, respectively disposed on both sides of the main body part, and loading or unloading the article,
The support portion is provided on one side of the body portion,
The manipulator unit and the driving unit are unmanned delivery systems controlled according to the command signal. The method of claim 4, wherein
The support portion,
An unmanned delivery system protruding perpendicular to one side of the main body and extending in the width direction of the main body. The method of claim 5,
In the lower portion of the base,
An unmanned delivery system that supports the support portion with respect to the ground and is provided with an auxiliary traveling portion to assist movement of the traveling portion. The method of claim 4, wherein
The manipulator unit,
Arm portions connected to both side portions of the main body portion; And
A grip portion connected to the free end of the arm portion and gripping the article;
Including,
The arm portion,
Unmanned delivery system for moving the grip portion to the gripping position of the article according to the command signal. The method of claim 7,
The grip portion,
A first grip portion in the shape of a letter 'a' so as to cover one edge of the article; And
A second grip portion for holding the article in a vacuum adsorption method;
Including,
An unmanned delivery system in which one of the first grip portion and the second grip portion selectively grips the article according to the shape of the article identified based on the first image signal. The method of claim 7,
The arm portion,
An unmanned delivery system having a multi-joint structure and a stretchable structure to move the grip portion to a gripping position of an article. The method of claim 4, wherein
The driving unit,
An unmanned delivery system moving based on the second video signal to avoid an obstacle existing on the delivery route. The method of claim 1,
The delivery robot,
An unmanned delivery system including a first delivery robot to an Nth delivery robot (N is a natural number of 2 or more) input to cooperatively deliver the goods. The method of claim 11,
Each of the delivery robots,
GPS unit for receiving location information; And
A shared communication unit that shares the location information with another delivery robot;
Unmanned delivery system comprising a. The method of claim 12,
The delivery management server,
An unmanned delivery system that calculates a relative position between delivery robots so that N delivery robots can cooperatively deliver based on the location information of each delivery robot. A delivery method using an unmanned delivery system including at least one delivery robot that delivers goods and a delivery management server that communicates with the delivery robot and manages a delivery process,
(a) the delivery management server confirming delivery information of the article;
(b) the delivery management server determining whether cooperative delivery between delivery robots is based on the delivery information;
(c) determining the number of inputs of the delivery robot by the delivery management server according to the determination result; And
(d) the delivery management server setting a delivery route of the delivered delivery robot;
Including,
The delivery robot includes a support part and a manipulator part on which at least a part of the product is seated,
After step (d),
(e1) the delivery robot comprises: setting a coordinate system of the article having a hexahedral shape; And
(e2) Each grip portion is moved to a gripping position calculated based on the coordinate system to grip the edge of the article, and the bottom edge of the second surface located on the opposite side of the delivery robot maintains a state in contact with the ground. Rotating the article so that the lower edge of the first surface facing the delivery robot is lifted, and placing the lower edge of the first surface on the pedestal at a position higher than the bottom of the article;
Delivery method using an unmanned delivery system further comprising a. The method of claim 14,
Step (c) is,
When the number of inputs of the delivery robot is 1, additionally determining whether an auxiliary transport means to assist the delivery of the delivery robot is input,
Delivery method using an unmanned delivery system further comprising a. The method of claim 14,
When the number of inputs of the delivery robot in step (c) is N (N is a natural number of 2 or more),
After the step (d), the delivery management server calculates a relative position between the delivery robots so that N delivery robots can cooperatively deliver based on the location information of each of the input delivery robots,
Delivery method using an unmanned delivery system further comprising a. The method of claim 14,
The step (d),
The delivery management server resets the delivery route using the information received from the delivery robot being input,
Delivery method using an unmanned delivery system further comprising a. The method of claim 14,
The delivery robot,
Main body; And
A driving unit provided below the main body to move the main body;
Further comprising,
The manipulator parts are provided in a pair, respectively disposed on both sides of the body part, and the article is loaded or unloaded,
The support portion protrudes perpendicular to one side of the body portion, and the article loaded by the manipulator portion is seated,
Each of the manipulator parts,
An arm portion connected to both side portions of the main body portion, and an 'a'-shaped grip portion connected to a free end of the arm portion to grip the article, wherein the arm portion is unmanned to move the grip portion to a gripping position of the article. Delivery method using the system. The method of claim 18,
In the step (e1), the delivery robot is a coordinate system having a center of the horizontal, vertical, and height of the base article as an origin, and a direction parallel to the horizontal, vertical, and height as the x-axis, y-axis, and z-axis, respectively. And set
The step (e2) further includes a process of lifting the lower edge of the second surface and seating the article on the support portion while the lower edge of the first surface is located on the supporting portion,
After the step (e2),
(e3) placing the article seated on the pedestal at a delivery destination;
Delivery method using an unmanned system further comprising a. As a delivery robot that delivers goods,
Main body;
A pair of manipulator parts provided on both sides of the body part and unloading the article;
A support portion provided on one side of the main body portion and seated with the article loaded by the manipulator portion;
A driving unit provided below the main body to move the main body; And
A control unit controlling operation of the manipulator unit and the traveling unit;
Including,
The control unit, in the loading process of the article, in the article having a hexahedral shape, the lower edge of the second side located on the opposite side of the delivery robot maintains a state in contact with the ground, and the first side facing the delivery robot The lower edge of the delivery robot to rotate the article to be lifted, and to perform the process of placing the lower edge of the first surface on the pedestal at a position higher than the bottom of the article, the delivery robot controlling the manipulator portion. The method of claim 20,
The manipulator unit,
Arm portions respectively connected to both side portions of the main body portion; And
A grip portion connected to the free end of the arm portion and gripping the article;
Including,
The arm portion,
It is made of a multi-joint structure to move the grip portion to the gripping position of the article, and is a stretchable structure,
Controlled by the control unit to move the grip portion to the gripping position of the article,
Delivery robot. The method of claim 21,
The grip portion,
A first grip portion having an “A” shape to cover one side edge of the article having a hexahedral shape; And
A second grip portion for holding the article in a vacuum adsorption method;
Including,
One of the first grip portion and the second grip portion, the delivery robot is controlled to selectively grip the article by the control unit.

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