KR102376299B1 - Moving robot ha and method thereof - Google Patents

Abstract

According to embodiments, a moving robot for transporting foods comprises: a communication unit for communicating with an external device; a driving unit for controlling movement of the robot; a storage unit for accommodating objects; an infrared sensor unit provided on an upper side of the inside of the storage unit, and for emitting infrared rays at regular intervals and detecting reflected infrared rays that are reflected from the objects; a memory for storing one or more instructions; and a processor controlling the moving robot by executing the one or more instructions. The infrared sensor unit emits infrared rays at the objects if the objects are accommodated in the storage unit, and detects the reflected infrared rays to measure the distances from the infrared sensor unit to the surfaces of the foods included in the objects. The processor can identify whether the objects corresponding to cooked foods are accommodated in the storage unit, and can control the moving speed of the driving unit based on the distances. Therefore, the moving robot can quickly serve foods to customers using stores such as restaurants without spilling the same.

Description

A mobile robot that transports food and its operation method {MOVING ROBOT HA AND METHOD THEREOF}

Embodiments of the present disclosure relate to a mobile robot serving food to customers in a store and an operating method thereof.

Embodiments of the present disclosure relate to a mobile robot that efficiently serves food to customers without spilling food using an infrared camera and an operating method thereof.

Since social distancing due to Corona 19 was implemented, sales at most stores where people meet face to face have decreased significantly, and many stores have closed. In particular, for restaurant companies, labor costs account for the largest portion of store operating costs. Accordingly, restaurant companies have started to use mobile robots that can drive themselves in order to minimize contact with people and reduce the burden of labor costs.

As the robot directly plays the role of serving, which is the largest contact with people in a restaurant, technology development for mobile robots is being actively carried out. Recently, a mobile robot may recognize a work space for movement by using a plurality of sensors, determine a travel path within the recognized work space, and move by itself according to the determined travel path.

However, since the currently implemented autonomous mobile robot moves without considering the stored food, there is a problem in that it is not possible to quickly serve food without spilling soup-like food or spilling food to customers in the process of serving food.

Korean Patent Publication No. 10-2019-0092337 discloses a serving robot and a customer hospitality method using the same.

The above document relates to a serving robot and a customer hospitality method using the same, a camera for acquiring image data including at least one of a customer's facial expression and gesture related to food, and acquiring voice data including a customer's voice related to the food to obtain customer response data including at least one of the image data and the voice data through a microphone, and at least one of the camera and the microphone, and the customer's reaction to the food from the acquired customer response data and a processor for estimating and generating or updating customer management information corresponding to the customer based on the estimated response. According to an embodiment, the serving robot discloses that the customer's response can be estimated from the customer response data through an artificial intelligence-based learning model.

Accordingly, the present invention intends to propose a mobile robot that transports an enhanced object.

Domestic Patent Publication No. 10-2019-0092337

Embodiments of the present disclosure may provide a mobile robot that quickly provides food to customers using a store, such as a restaurant, without spilling, and an operating method thereof.

The technical problems to be achieved in the embodiments are not limited to the matters mentioned above, and other technical problems not mentioned are clearly made by those of ordinary skill in the art from the various embodiments to be described below. can be understood

According to an embodiment of the present invention, a mobile robot for transporting food and an operating method thereof are provided. The mobile robot and its operating method may include: a mobile robot for transporting an object to a customer, comprising: a communication unit configured to communicate with an external device; a driving unit for controlling the movement of the robot; a accommodating unit for accommodating the object; an infrared sensor unit provided on the inner upper side of the accommodating unit, emitting light-emitting infrared rays at regular intervals, and sensing reflected infrared rays reflected back by the infrared rays on the object; a memory storing one or more instructions; and a processor for controlling the mobile robot by executing the at least one instruction. Including, wherein the infrared sensor unit emits the light-emitting infrared light toward the object when the object is accommodated in the receiving unit, detects the reflected infrared light, from the infrared sensor unit of the food contained in the object Measuring the distance to the surface, the processor checks whether the object corresponding to the cooked food is accommodated in the receiving unit, based on the distance, a moving robot for transporting food that controls the moving speed of the driving unit suggest

According to embodiments, the processor may calculate a surface gradient of the object based on the distance, and control the moving speed of the driving unit based on the surface gradient of the object.

The processor may decrease the moving speed of the driving unit when the surface inclination of the object exceeds the reference value, and increase the moving speed of the driving unit when the surface inclination of the object is equal to or less than the reference value.

The processor receives customer order information from an external server, calculates a food urgency based on the received customer order information, and when the mobile robot is located within a preset distance range from another mobile robot, based on the food urgency Thus, it is possible to control the moving speed of the mobile robot through the driving unit.

The received customer order information may include at least one of an entrance time, the number of customers located in the store, a call frequency of the customer, and a sales amount of the object.

According to embodiments, the mobile robot and method can reduce labor costs and minimize human-to-human contact to reduce concerns about infection with pathogens such as corona, cold, flu, and the like.

According to embodiments, a mobile robot and method can efficiently transport food to a customer without spilling it.

According to embodiments, the mobile robot and method may interact with other mobile robots inside the store to transport food.

Effects obtainable from the embodiments are not limited to the effects mentioned above, and other effects not mentioned are clearly derived and understood by those of ordinary skill in the art based on the detailed description below. can be

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included as part of the detailed description to aid understanding of the embodiments, provide various embodiments and, together with the detailed description, explain technical features of the various embodiments.
1 is a schematic diagram illustrating a store system including a mobile robot according to an embodiment of the present invention.
2 is a block diagram of a mobile robot according to an embodiment.
3 is a flowchart illustrating a method of controlling a moving speed of a mobile robot according to an exemplary embodiment.
4 is a diagram illustrating a method of measuring a surface inclination of an object accommodated in an accommodating unit through an infrared sensor unit according to an exemplary embodiment.
5 is a diagram illustrating a method of controlling a movement speed based on an interaction of a mobile robot according to an exemplary embodiment.
6 is a diagram illustrating a method for calculating a mutual movement safety level for controlling the movement speed of a mobile robot.

The following embodiments combine elements and features of the embodiments in a predetermined form. Each component or feature may be considered optional unless explicitly stated otherwise. Each component or feature may be implemented in a form that is not combined with other components or features. In addition, various embodiments may be configured by combining some components and/or features. The order of operations described in various embodiments may be changed. Some features or features of one embodiment may be included in another embodiment, or may be replaced with corresponding features or features of another embodiment.

In the description of the drawings, procedures or steps that may obscure the gist of various embodiments are not described, and procedures or steps that can be understood at the level of those of ordinary skill in the art are also not described. did

Throughout the specification, when a part is said to "comprising or including" a certain component, it does not exclude other components unless otherwise stated, meaning that other components may be further included. do. In addition, terms such as "...unit", "...group", and "module" described in the specification mean a unit that processes at least one function or operation, which is hardware or software or a combination of hardware and software. can be implemented as Also, "a or an," "one," "the," and like related terms are used herein in the context of describing various embodiments (especially in the context of the claims that follow). Unless indicated otherwise or clearly contradicted by context, it may be used in a sense including both the singular and the plural.

The present invention relates to a mobile robot 100 serving food and/or beverages to customers in a restaurant and an operating method thereof. The mobile robot 100 according to various embodiments of the present invention may recognize the food being served in the process of serving the object and perform an operation of controlling the movement speed so as not to spill the food. Here, the object may include food ordered by the customer and a container containing the food. For example, when food is stored in the mobile robot 100 , the mobile robot 100 may recognize that the food and the container containing the food are accommodated through a weight sensor (not shown). In addition, the mobile robot 100 may identify the food contained in the bowl. The mobile robot 100 may identify the inclination and/or dispersion of the food while moving to the table position where the customer who ordered the food is located. The mobile robot 100 may control the moving speed according to the inclination and/or dispersion of the food. Through this, the mobile robot 100 and its operation method can be quickly delivered to the customer without spilling the food contained in the bowl.

Hereinafter, embodiments according to various embodiments will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION The detailed description set forth below in conjunction with the appended drawings is intended to describe exemplary embodiments of various embodiments, and is not intended to represent the only embodiments.

In addition, specific terms used in various embodiments are provided to help the understanding of various embodiments, and the use of these specific terms may be changed to other forms without departing from the technical spirit of various embodiments. .

1 is a schematic diagram illustrating a store system 1 including a mobile robot 100 according to an embodiment of the present invention.

Referring to FIG. 1 , the store system 1 may include a mobile robot 100 , a central server 200 , an external server 300 , and at least one first terminal 400 . In the present invention, a store may mean a store in which no employees reside or a store in which serving is not performed by the employees. Here, the store may include a cafe that provides drinks, meals, and other goods, a merchandise store, or a restaurant such as a restaurant or bar.

In one embodiment, the customer may order food using the first terminal 400 provided for each table in the store, and the central server 200 receives the customer menu information ordered by the customer from the first terminal 400 . can Also, the communication unit 110 of the mobile robot 100 may receive customer order information from the central server 200 . Here, the customer order information may include food menu information and table location information where the customer is seated. The mobile robot 100 may receive food in the kitchen based on the food menu information and the table position information on which the customer is seated, and may move to the table (the corresponding position) where the customer is located.

In one embodiment, the mobile robot 100 may be provided with a moving means through the driving unit 120 . For example, the mobile robot 100 may include a main wheel, an auxiliary wheel, and at least one shaft serving as a rotation axis of the wheel (ie, a mechanical element that transmits power or inserts a part that transmits power). The processor 160 of the mobile robot 100 controls the driving unit 120 to move from a current point (eg, a position where a mobile robot in a standby state is waiting or charging power) to a specific point in the store (eg, a table where a customer is located). position corresponding to ). In addition, the serving robot can set a movement path from the current point to a specific point and move according to the set movement path.

In one embodiment, the central server 200 receives weather information and season information from the external server 300, and generates a recommended menu list based on the received weather information, season information, and store sales information stored in the database. can do. The store sales information may include food menu information accumulated in the store for a predetermined period of time. In addition, the central server transmits the generated recommended menu list to the first terminal 400 , and the first terminal 400 may display the recommended menu list to recommend a food menu to the customer.

In an embodiment of the present invention, the first terminal 400 may include all types of devices including a function of displaying an image screen and a user input interface. For example, the first terminal 400 may be a smartphone, a tablet PC, a PC, a smart TV, a mobile phone, a personal digital assistant (PDA), a laptop, a media player, a micro server, a global positioning system (GPS) device, an e-book terminal , digital broadcast terminals, navigation devices, kiosks, MP3 players, digital cameras, home appliances, and other mobile or non-mobile computing devices.

2 is a block diagram of a mobile robot 100 according to an embodiment of the present invention.

The mobile robot 100 according to an embodiment of the present invention includes a communication unit 110 for communicating with an external device, a driving unit 120 for moving the position of the mobile robot 100, and food cooked in the kitchen (and/or A storage unit 130 that can accommodate tableware and other items), an infrared sensor unit 140 provided on an upper side inside the storage unit 130, a memory 150 for storing one or more instructions, and the at least one It may include a processor 160 that controls the mobile robot 100 by executing instructions. The accommodating unit 130 may accommodate a transport target object (eg, a container containing food, cooked food, other tableware, etc.).

In addition, the reference mobile robot 401 or the plurality of mobile robots 402, 403, 403, 405 described in the present invention includes communication units 411, 412, 413, 414, 415, and a driving unit, similarly to the mobile robot 100. (421, 422, 423, 424, 425), receiving unit (431, 432, 433, 434, 435), infrared sensor unit (441, 442, 443, 444, 445), memory (451, 452, 453, 454) , 455) and processors 461, 462, 463, 464, and 465, respectively. Also, in the present invention, the plurality of mobile robots 402 , 403 , 403 , 405 may be referred to as other mobile robots.

On the other hand, the mobile robot 100 described in the present invention includes a weight sensor (not shown) that detects the weight of cooked food and a container containing food and/or an alarm unit (not shown) that generates an alarm with lighting or sound. may include more. The weight sensor may be interpolated (and/or installed) under the receiving unit 130 . Also, the weight sensor may correspond to a piezoelectric sensor. In this case, the piezoelectric sensor may include a device that converts and measures changes in pressure, acceleration, temperature, deformation, and/or force into electric charges using the piezoelectric effect. However, the present invention is not limited thereto, and various sensors capable of measuring weight may be used as the weight sensor.

3 is a flowchart illustrating a method of controlling the moving speed of the mobile robot 100 according to an exemplary embodiment.

Referring to FIG. 3 , in step S001 , the weight sensor of the mobile robot 100 may detect the weight of an object placed inside the accommodating unit 130 . When the object is accommodated in the accommodating unit 130 , the weight sensor may measure a physical quantity (eg, weight) by converting an applied pressure, force, etc. into an electrical signal. Here, the method of accommodating the object may be performed by an employee existing in the store putting the object into the receiving unit 130 of the mobile robot 100 .

In step S002 , a weight sensor (not shown) of the mobile robot 100 may detect the weight of the object and transmit a reception signal of the object to the processor 160 . For example, the reception signal of the object may include weight information of the object (eg, food 500g, bowl 800g) and information on food included in the object. In this case, the object may be food, tableware, or other articles.

In step S003 , the processor 160 of the mobile robot 100 may receive customer order information from the central server 200 . The customer order information may include the food ordered by the customer, the time when the order is requested, the table number and location where the customer is seated, and the number of the customer. Here, the table number may be a predetermined number assigned to each of the plurality of tables in the store based on the table arrangement of the store.

4 is a diagram illustrating a method of measuring a surface inclination of an object accommodated in the accommodating unit 130 through the infrared sensor unit 140 according to an exemplary embodiment.

Referring to FIG. 4 , in step S004 , the processor 160 may transmit an infrared light emission signal to the infrared sensor unit 140 . When the infrared sensor unit 140 receives the infrared light emission signal, the infrared light emitting unit may emit infrared light toward the object through the infrared light emission unit (step S005).

Here, referring to FIG. 4A , the infrared light emitting unit may emit infrared rays in parallel at regular intervals. In addition, the time point at which the infrared light emission signal is received may correspond to a time point before the mobile robot 100 accommodates the object and moves.

Referring back to FIG. 3 , in step S006 , the infrared light receiving unit included in the infrared sensor unit 140 may detect the reflected infrared light emitted from the infrared light emitting unit and reflected from the object.

In step S007, the infrared sensor unit 140 may measure the distance from the infrared sensor to a plurality of points on the surface of the food included in the object. The plurality of points may mean a plurality of points located on the surface of the food. For example, the infrared sensor unit 140 emits infrared light for 100 points located on the surface of the food, detects the reflected infrared light, and the distance from the infrared sensor unit 140 to the corresponding point for each 100 points can be calculated for each point. The plurality of points at which the infrared sensor unit 140 measures the distance may correspond to 100 points, but the number of the plurality of points is not limited thereto.

In step S008, the processor 160 may determine whether the broth is included in the food stored in the receiving unit 130 based on the customer order information. For example, if it is judged as a soup-type food that contains soup, the food ordered by the customer is 'gopchang hotpot', 'budaejjigae', 'seafood ramen', 'rice noodles', 'kimchi stew' and It may be a case of 'soybean paste stew'. In addition, when it is determined as non-soup logistics food, the food ordered by the customer may correspond to 'tofu kimchi', 'cream risotto', 'pad thai', 'bibimbap', and the like.

In step S009 , the infrared sensor unit 140 may transmit distance information to the processor 160 . The distance information may include a distance calculated for each of the plurality of points.

In step S010, when the food included in the object is determined to be broth-type food, the processor 160 may calculate the surface gradient of the object in real time. The processor 160 may calculate a surface gradient of the object based on the distance information received from the infrared sensor unit 140 . A method of calculating the surface gradient of the object will be described in detail with reference to FIG. 4 to be described later.

In step S011, when the food included in the object is determined to be non-soup logistics food, the processor 160 may calculate the degree of dispersion of the object in real time. For example, when food is placed in a flat bowl, by detecting infrared rays through the infrared sensor unit 140 , the mobile robot 100 calculates the degree of dispersion of food before moving, and the mobile robot 100 moves After starting, the dispersion of food can be calculated in real time. When calculating the dispersion of food, the infrared sensor unit 140 measures the distance to a plurality of points located within a preset radial distance from the center of the object, and based on the distance to the measured plurality of points, The variance can be calculated.

In step S012, the processor 160 may adjust the moving speed of the driving unit 120 based on the surface gradient of the object or the dispersion of food. Specifically, when the food included in the object is broth, the processor 160 may control the moving speed of the mobile robot 100 based on the surface inclination of the food. When the food included in the object is non-soup logistics, the processor 160 may control the moving speed of the mobile robot 100 based on the degree of dispersion of the food.

Through this, the mobile robot 100 of the present invention can provide soup and/or non-soup food to the customer without spilling out of the container containing the bowl. Through this process, customer satisfaction with food and service quality can be improved, and sales of restaurants can be increased.

Referring to FIG. 4 , when an object is accommodated in the receiving unit 130 of the mobile robot 100, a method of calculating the inclination of food included in the object will be described in detail. Here, the object may include broth-type food.

4A shows the appearance of the object before the mobile robot 100 moves. The infrared sensor unit 140 may receive an infrared light emission signal from the processor 160 (S004), and may emit infrared light toward the object (S005). As shown in (a) of Figure 4, since the mobile robot 100 is before moving, the surface gradient of the food included in the object may converge to zero.

In this case, the infrared sensor unit 140 calculates the surface slope of the food, the infrared sensor unit 140 emits light-emitting infrared rays toward a plurality of points, detects reflected infrared rays from the infrared sensor to a plurality of points. distance can be measured. Here, the plurality of points may correspond to portions of the surface of the food in contact with the bowl. The processor 160 may specify a point closest to and a point farthest from the infrared sensor unit 140 among distances measured with respect to each of the plurality of points. The nearest point may correspond to a point where the height of the surface of the food is highest. In addition, the furthest point may correspond to a point where the height of the food surface is the lowest.

As another example, the infrared sensor unit 140 may include a plurality of infrared light emitting units (not shown) for measuring the height of the plurality of food surfaces. Each of the plurality of infrared light emitting units may be installed at the upper end of the accommodating unit 130 and installed at positions and directions for emitting infrared rays in a vertical downward direction. By using each of the plurality of infrared light emitting units to collect the reflected signals of infrared rays emitted vertically downward, the infrared sensor unit 140 measures the height of the food surface located under the plurality of infrared light emitting units. will be able Through this, the infrared sensor unit 140 may calculate (and/or obtain) a plurality of food surface heights measured through each of the plurality of infrared light emitting units.

The processor 160 may determine whether the food stored in the accommodating unit 130 is a soup category or a non-soup category in consideration of the heights of the plurality of food surfaces. For example, the processor 160 may identify the highest food surface height and the lowest food surface height among the plurality of food surface heights, and the highest food surface height (eg, the height of the highest point (B) of the food) ) and the lowest height of the food surface (eg, the height of the lowest point C), it is possible to calculate the slope of the surface of the food accommodated in the accommodating unit 130 (ie, the food surface). For example, the processor 160 determines that the food stored in the accommodating unit 130 is non-soup logistics when the slope of the food surface exceeds a preset food surface inclination criterion, and the inclination of the food surface is the preset When the food surface inclination is less than the standard, the food stored in the accommodating unit 130 may be determined to be broth.

In addition, when information indicating whether the food stored in the accommodating unit 130 is broth or non-soup is input to the mobile robot 100 and/or the central server 200, the information and the processor 160 When the matching (matching) ratio is lower than a predetermined threshold ratio, a message requesting to reset the preset food surface gradient criterion or reset the preset food surface gradient criterion can be transmitted to the central server 200 there is.

Next, the processor 160 is based on the central point (A) of the food surface before the mobile robot 100 moves, the highest point (B) of the food identified through the infrared sensor unit 140 and It is possible to calculate the slope when the point (C) of the lowest height is connected in a straight line in two dimensions, and recognize the slope as the slope of the food surface.

The processor 160 may receive distance information for a plurality of points in real time from the infrared sensor unit 140 , and may calculate in real time a slope of the food surface included in the object based on the received distance information.

FIG. 4B shows an object in a state in which the mobile robot 100 accelerates and moves (in the right direction). In an embodiment, the processor 160 may reduce the moving speed of the driving unit 120 when the surface inclination of the food exceeds a preset reference value.

Specifically, as the surface slope of the food is shown in Fig. 4 (b), since the surface of the food is inclined downward to the right, the processor 160 interprets the inclination of the surface of the food as having a negative slope. can do. At this time, when the analyzed slope of the surface of the food corresponds to the preset reference value or less, the processor 160 may control the moving speed of the driving unit 120 so that the slope of the surface of the food corresponds to the preset first inclination. . The processor 160 calculates the moving speed of the driving unit 120, the analyzed slope of the food surface (eg, -30), the pre-stored weight of the mobile robot 100, the weight of the object measured through the weight sensor, the current It may be determined based on the moving speed and acceleration of the mobile robot 100 .

Conversely, as shown in (c) of FIG. 4, when the slope of the surface of the food is interpreted as a positive slope, the processor 160 determines the moving speed of the driving unit 120 as the slope of the surface of the food. The moving speed of the driving unit 120 may be increased so as to have a set second inclination. The processor 160 calculates the moving speed of the driving unit 120, the analyzed slope of the surface of the food (eg, +45), the pre-stored weight of the mobile robot 100, the weight of the object measured through the weight sensor, the current It may be determined based on the moving speed and acceleration of the mobile robot 100 . The present invention accurately controls the speed of the mobile robot 100 by controlling the moving speed based on the inclination of the food surface and reduces abrupt speed changes. In addition, the contents of the food included in the object can be quickly delivered to the customer without spilling on the tray, and the customer's service satisfaction can be improved.

5 is a diagram illustrating a movement speed control method based on the interaction of the mobile robot 100 according to an embodiment, and FIG. 6 is a method for calculating a mutual movement safety degree for controlling the movement speed of the mobile robot 100 is a diagram showing Hereinafter, a method of calculating the mutual movement safety level will be described in detail with reference to FIGS. 5 and 6 .

Referring to FIG. 5 , the mobile robot 401 of the present invention may control the moving speed by interacting with a plurality of mobile robots 402 , 403 , 404 , and 405 moving in the store. As a factor for controlling the speed of the mobile robot 100, a method for calculating the mutual movement safety level will be described in detail.

In one embodiment, the present invention, based on the reference mobile robot 401, the preceding mobile robot 405, the following moving robot 402, and the preceding moving robot 403 affecting the mobile robot 401, the next line ), it is possible to calculate the mutual movement safety level in consideration of the following moving robot 404, and control the movement speed based on the mutual movement safety level.

Here, the linear distance between the reference mobile robot 401 and the preceding mobile robot 405 is S _t (1), the linear distance between the reference mobile robot 401 and the following moving robot 402 is S _t (2), The linear distance between the reference mobile robot 401 and the preceding moving robot 404 of the next line is S _t (3), and the linear distance between the reference moving robot 401 and the following moving robot 403 of the next line is St ( 4) was defined.

Referring to FIG. 6 , the communication unit 411 of the reference mobile robot 401 receives the plurality of mobile robots 402, 403, 404, and 405 from the plurality of mobile robots 402, 403, 404, and 405 moving in the store. Each trajectory data may be received. The trajectory data of the mobile robot includes the movement speed (V ₁ , V ₂ , V ₃ , V ₄ ) of each of the plurality of mobile robots (402, 403, 404, 405) and the distance between the mobile robots (S _t (1), S _t (2), S _t (3), S _t (4)). The processor 461 of the reference mobile robot 401 may calculate a real-time risk exposure level and a real-time risk severity level based on the trajectory data of the mobile robots 402 , 403 , 404 , and 405 .

In one embodiment, the processor 461 calculates the real-time risk exposure level as a Breaking Distance (BD), a Stopping Safety Index (SSI), an SSI convergence time (Time SSI to equal Zero, TSZ) and a collision. It can be calculated based on Crash Potential.

First, the braking distance BD for each of the reference mobile robot 401 and the plurality of mobile robots 402 , 403 , 404 and 405 may be calculated. A method of calculating BD may be according to Equation 1 below.

[Equation 1]

Here, BD is the braking distance, V ₁ is the movement speed of the reference mobile robot 401 at time t, pt is the perception time for another mobile robot 405, and α is the movement speed of the reference mobile robot 401 at time t. It could be the speed.

Also, the processor 461 may calculate a stopping safety index (SSI) for each of the plurality of mobile robots 402 , 403 , 404 , and 405 . SSI is when the reference mobile robot 401 and the preceding mobile robot 405 are separated by S _t (1) at time t, the reference mobile robot 401 and the preceding mobile robot 405 are separated by S t (1). It may correspond to a quantified index for the collision stability of the reference mobile robot 401 by calculating the braking distance. A method of calculating the SSI may be according to Equation 2 below.

[Equation 2]

는 기준 이동 로봇(401)의 최소 제동 거리,

는 선행 이동 로봇(405)의 최소 제동 거리, L_S는 기준 이동 로봇(401)의 길이를 의미할 수 있다.where SSI is an indicator for collision stability, S _t (1) is the preceding distance at time t,

is the minimum braking distance of the reference mobile robot 401,

may mean the minimum braking distance of the preceding mobile robot 405 , and L _S may mean the length of the reference mobile robot 401 .

After that, the SSI convergence time (Time SSI to equal Zero, TSZ) may be calculated. TSZ may correspond to the remaining time until the SSI becomes 0, assuming that the reference mobile robot 401 moves with the acceleration equal to 0 at the current time t. When the SSI is 0, for example, the reference mobile robot 401 may mean a state in which a collision with the preceding mobile robot 405 cannot be avoided. The processor 461 may calculate TSZ by Equation 3 below.

[Equation 3]

Here, TSZ is the time until SSI becomes 0, SSI is an index for collision stability, and V ₁ may correspond to the speed of the reference mobile robot 401 at time t.

Also, the SSI convergence time may mean a remaining time until the reference mobile robot 401 is placed in a state where it cannot avoid a dangerous situation ahead. In addition, the SSI convergence time may mean a time for recognizing that the reference mobile robot 401 is in a situation in which the reference mobile robot 401 may collide with the preceding mobile robot 405 and taking an avoidance action.

In an embodiment, the processor 461 may convert the probability of collision into a probability value between 0 and 1 by applying the calculated SSI convergence time to an Exponential Decay Function (EDF). Here, the transformed probability value may correspond to a collision potential and a real-time risk exposure level.

) 및 충돌 심각도(Crash Severity)에 기반하여 산출할 수 있다.In one embodiment, the processor 461 reduces the real-time risk severity level to a Time for Deceleration Braking Distance (TDBD), a Predicted Crash Speed (PCS), a plurality of mobile robots 402, 403, 404, 405) the difference in collision speed between (

) and crash severity.

In order to calculate the real-time risk severity level, first, the processor 461 starts braking for each of the reference mobile robot 401 and the plurality of mobile robots 402, 403, 404, and 405, so that the distance between the mobile robots (St(1) ), St(2), St(3), St(4)) can predict the remaining time TDBD.

를 산출할 수 있다. 이 후

와 각각의 복수의 이동 로봇(402, 403, 404, 405)의 최대 속도 차이

를 활용하여, 충돌 심각도에 해당하는 0~1 사이의 확률 값(Probability Value)으로 변환할 수 있다. 위 변환된 확률 값은 실시간 위험 심각도 레벨에 해당할 수 있다.Next, the processor 461 may estimate the amount of deceleration acceleration of the moving speed when the reference mobile robot 401 brakes by using the TDBD. And the reference mobile robot 401 and the plurality of mobile robots (402, 403, 404, 405) representing the collision speed difference

can be calculated. after

and the maximum speed difference of each of the plurality of mobile robots 402, 403, 404, and 405

can be used to convert it into a probability value between 0 and 1 corresponding to the collision severity. The above transformed probability value may correspond to a real-time risk severity level.

In one embodiment, the processor 461 of the mobile robot 401 may calculate the mutual movement safety Φ based on the real-time risk exposure level and the real-time risk severity level. Here, the processor 461 may calculate the mutual movement safety Φ by multiplying the real-time risk exposure level and the real-time risk severity level.

In one embodiment, the processor 461 of the mobile robot 401 calculates a mutual movement safety level based on trajectory data of other mobile robots 402, 403, 404, 405, and the surface inclination and mutual movement safety degree of the object Based on the , the moving speed of the driving unit 421 may be controlled. The mobile robot 401 of the present invention controls the moving speed of the mobile robot 401 in consideration of the mutual movement safety as well as the surface inclination of the object, thereby providing both stability and transport efficiency in transporting food inside the store. Food serving can be performed.

In one embodiment, the processor 461 of the mobile robot 401 for transporting food receives customer order information from the central server 200, calculates a food urgency based on the received customer order information, and the When the mobile robot 401 is located within a preset distance range from another mobile robot, the moving speed of the mobile robot 401 may be controlled through the driving unit 421 based on the food urgency. Here, other mobile robots may correspond to the plurality of mobile robots 402, 403, 404, 405, and the like with reference to FIG. 5 .

In addition, the customer order information may include at least one of an entrance time, the number of customers located in the store, a call frequency of the customer, and a sales amount of the object. In addition, the customer order information may further include an order time when the customer orders food using the first terminal 400 . The number of customers located in the store may correspond to the calculated number of people classified by tables located inside the store. In addition, the number of customers located in the store may include a table number where the customer is seated and the number of customers seated at the corresponding table.

The customer's calling frequency may refer to the frequency of calling the clerk through the first terminal 400 after the customer enters the store and orders food using the first terminal 400 . Also, the sales amount of the object may correspond to payment amounts for a plurality of objects.

Also, referring to FIG. 5 , the processor 461 of the mobile robot 401 may calculate the food urgency by considering the temperature of the object in addition to the customer order information received from the central server 200 . Here, the temperature of the object may be measured by the infrared sensor unit 140 of the mobile robot 401 . The infrared sensor unit 441 may emit light-emitting infrared rays, detect reflected infrared rays reflected from food included in an object, and monitor and/or measure the temperature of the food in real time based on the reflected infrared rays. In addition, the measured temperature of the food may be transmitted to the processor 461 . The processor 461 may calculate the food urgency by considering the measured temperature of the food together with customer order information.

Here, the food urgency calculated by the processor 461 may have a grade of 1 to n (n is an integer greater than 2). In addition, the food urgency may be determined as an improved grade in real time based on the temperature of the food being monitored in real time. For example, even if the food urgency is calculated as 2nd grade, when the temperature of the food measured in real time falls below the preset food temperature while the mobile robot 401 is moving, the food urgency is 1st grade. can be improved By calculating the food urgency in consideration of the temperature of the food, it is possible to deliver food in a state having an optimal temperature to the customer. Through this, it is possible to improve customer service satisfaction.

In one embodiment, the mobile robot 401 transmits and receives location coordinate information to and from other mobile robots 402, 403, 404, and 405 in real time, and within each store of the other mobile robots 402, 403, 404, 405. Real-time location can be identified. The location coordinate information may include two-dimensional coordinate information of X and Y axes.

The mobile robot 401 is based on the real-time location coordinate information received from the other mobile robots 402, 403, 404, and 405, and the other mobile robots 402, 403, 404, and 405 are located within a preset distance range. can judge Here, the preset distance range may correspond to a radius of 10 m or the like.

In one embodiment, referring to FIG. 5 , the processor 461 of the mobile robot 401 may control the moving speed of the mobile robot 401 through the driving unit 421 based on the food urgency. For example, if another mobile robot (eg, 405) is located within a radius of 10 m, and it is determined that the food urgency of the mobile robot 401 is higher than that of the other mobile robot 405, the processor 461 ) may accelerate the moving speed of the mobile robot 401 to a preset first reference speed. In addition, the mobile robot 401 may avoid other mobile robots 405 and move to a side road (eg, Side Lane in FIG. 5 ) of the road on which the mobile robot 405 is moving.

In one embodiment, when the food urgency of the mobile robot 401 is lower than the food urgency of the other mobile robots 405 , the processor 461 determines the moving speed of the mobile robot 401 through the driving unit 421 . You can decelerate at the set second movement speed.

The various embodiments described above may be embodied in other specific forms without departing from the technical idea and essential characteristics thereof. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of the various embodiments should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the various embodiments are included in the scope of the various embodiments. In addition, claims that are not explicitly cited in the claims may be combined to form an embodiment, or may be included as new claims by amendment after filing.

Claims (5)

A mobile robot for transporting an object to a customer, comprising:
a communication unit for communicating with an external device;
a driving unit for controlling the movement of the robot;
a accommodating unit for accommodating the object;
an infrared sensor unit provided on the inner upper side of the accommodating unit, emitting light-emitting infrared rays at regular intervals, and sensing reflected infrared rays reflected back by the infrared rays on the object;
a memory storing one or more instructions; and
a processor for controlling the mobile robot by executing the one or more instructions; including,
The infrared sensor unit:
The object includes a plurality of infrared light emitting units provided on the inner upper side of the accommodating unit,
The plurality of infrared light emitting units:
When the object is accommodated in the accommodating part, each of the light-emitting infrared rays is emitted in a vertical direction toward the object,
Measuring the distance from each of the plurality of infrared light emitting units to the surface of the food contained in the object by detecting the reflected infrared,
The processor is:
Distinguish a first point corresponding to the highest food surface and a second point corresponding to the lowest food surface among the distances from each of the plurality of infrared light emitting units to the surface of the food contained in the object,
Check the slope between the first point and the second point,
When the slope exceeds a preset reference value, the food included in the object is classified as a non-soup category,
When the slope is less than a preset reference value, the food included in the object is classified into a soup category,
Controlling the moving speed of the driving unit based on the inclination, calculating the collision stability in consideration of the length of the mobile robot, the minimum braking distance of the mobile robot, the minimum braking distance of other moving means, and the distance between the moving means,
The processor is:
Receive customer order information from an external server;
Calculate the food urgency based on the customer order information,
When the mobile robot is located within a preset distance range from the other moving means, further considering the food urgency to control the moving speed of the driving unit,
A mobile robot that transports food.
delete delete delete According to claim 1,
The customer order information includes at least one of an entrance time, the number of customers located in the store, a call frequency of the customer, and a sales amount of the object,
A mobile robot that transports food.

Images