KR102411053B1 - a delivery robot with two carts and delivering method thereof - Google Patents

Abstract

The present invention relates mainly to a delivery robot that has been developed in recent years, the main content of which is that a delivery person puts parcels into several cargo carts and delivers them through barcode readers attached to the cargo carts, or writes the customer's destination on the keypad. When each entry is made, the communication unit of the cargo cart informs the communication unit of the robot that the parcel delivery product has been delivered together with the information of the parcel delivery product, and the robot connects the cargo cart to the upper part of the robot's pedestal with an electronic locking device, and then It is about a technology that connects another cargo cart with an electronic lock and delivers two cargo carts to a customer with a single robot to each destination. It relates to technology having a delivery structure.

Description

{a delivery robot with two carts and delivering method thereof}

The present invention relates to a delivery robot and a delivery method that operate by linking a separate cart without directly loading the cargo.

[Document 1] Korean Invention Patent Publication No. 10-2015-0126096 Cart robot driving system

[Document 2] Korean Patent Laid-Open Patent Publication No. 10-2020-0008134 A robot arm cart having a locking swivel joint and other positioning features and use thereof

[Document 3] Korean Patent Laid-Open Patent Publication No. 10-2016-0129515 Transport robot for logistics transport linked to cargo cart

[Document 4] Korean Invention Patent 10-1319045 Unmanned Cargo Transport Robot

The document 1 relates to a cart-robot driving system that can reduce the effort of manually moving a cart and enable automatic driving without the need for returning the cart. The cart robot driving system is based on a tracking driving mode that drives while maintaining a certain distance from the user or an autonomous driving mode that returns to the alignment area, a camera that captures the driving situation of the cart robot, and an image received from the camera. It relates to a technology including a central control device that creates a driving route so that the cart robot, which has ended the autonomous driving mode, returns to the alignment area, and provides it to the cart robot.

Document 2 relates to an arm cart for transporting and securing a robotic arm to an operating table. In some embodiments, the arm cart may include an arm support having two joints that may be manipulated to move the arm into a position where the coupler of the arm is engageable with an engagement site of the operating table. In some embodiments, the armcart may include a rotatable and translatable arm support to receive an engagement site of an operating table and allow movement of the attachment region for attaching it to a coupler attached to the arm. In some embodiments, the arm cart includes an arm support releasably coupled to an intermediate segment of the arm positioned at least two segments away from the end of the arm having a coupler for coupling to an engagement site of an operating table. will be.

Document 3 discloses a transport robot for transporting goods in conjunction with a cargo cart, comprising: a docking unit coupled to the cargo cart; a docking plate supporting the docking unit; In combination with the docking plate, a docking rise and fall for moving the docking unit and the docking plate; And it relates to a transfer robot comprising a; and a wheel drive unit for moving the transfer robot in one or more directions.

Document 4 discloses a body portion forming a base frame; a wheel driving part disposed under the main body part and including a driving wheel for moving the main body part and a driving motor for rotating the driving wheel; An obstacle detecting sensor mounted on the main body and detecting an external obstacle, a lift driving part that is disposed on the upper part of the main body and driven by lifting up and down, and the lower surface of a pallet mounted on the upper end of the lift driving part and loaded with cargo A lifting unit including a support plate for supporting the; a wireless communication unit mounted on the main body and transmitting and receiving a manipulation signal of a host terminal and a detection result of the sensor unit; a main control unit mounted on the main body and configured to establish a work plan of the transport robot according to the operation signal received through the wireless communication unit and the sensor detection result of the obstacle detection sensor; And it relates to an unmanned cargo transport robot comprising a; and a motion control unit for generating a control signal for controlling the robot movement according to the operation plan of the main control unit.

Korea Invention Patent Publication No. 10-2015-0126096 Cart robot driving system Korean Patent Laid-Open Patent Publication No. 10-2020-008134 Robotic arm cart with locking swivel joint and other positioning features and use thereof Korean Patent Laid-Open Patent Publication No. 10-2016-0129515 Transport robot for logistics transport linked to cargo cart Republic of Korea Invention Patent No. 10-1319045 Unmanned cargo transfer robot

In the above documents and the applicant's patent application ( 10-2021-0067382: delivery device detachable delivery robot and delivery method), there was a problem in the efficient use of the delivery robot because the delivery robot could only operate one cart.

And in the delivery robot, a delivery staff puts delivery goods into several cargo carts, and the delivery robot connects one or more cart robots for delivery.

Therefore, in order to solve the above problem, the present invention enters the lower part of the cargo cart by detecting the position of the support part of the robot with the lidar sensor mounted on the robot, and when the support part of the robot enters the lower part of the cargo cart, it is installed The electronic locking device is operated so that the robot and the cargo cart are coupled, and the electronic locking part is provided at the rear of the cargo cart, and the electronic locking part is provided at the rear of the cargo cart fastened with the robot by having a locking hole in the front. and the locking hole provided in the front of another cargo cart is locked and moved, thereby providing a technology in which the robot can move two cargo carts.

And another object of the present invention is that the courier puts the parcel in several cargo carts and inputs information about the parcel, that is, the customer address, through the key input unit of the keypad provided in the cargo cart or provided in the cargo cart. When customer information is input through a barcode reader, it is transmitted to each robot in the order entered, and the robot is equipped with an autonomous driving function, an image camera, and a laser sensor device. It is to provide a way to deliver two freight carts combined with a customer.

According to one embodiment of the present invention, when a courier puts a parcel into a cargo cart and inputs parcel information using a key input unit of a barcode reader or keypad, the robot equipped with an autonomous function receives the parcel information into the cargo cart After confirming and entering, a space is provided under the cargo cart, and a laser sensor device equipped with a lidar (Light Detection And Range) sensing function and an image camera mounted on a robot equipped with an autonomous driving function into the space are used for the robot. The pedestal enters. And when the robot enters to the end of the support part by the laser sensor device, the robot gives a signal to the MCU of the cargo cart, and the MCU gives a command to the proximity sensor mounted on the rear bottom of the cargo cart, the robot Detect the end face of the support part of When the end line of the support part is sensed, the locking device is operated and the lock bar enters the lock hole so that the cargo cart is locked to the support part so that the robot can easily transport the cargo cart,

In a state in which the cargo cart is coupled to the robot, access the cargo cart using a camera and a laser sensor device provided in front and behind the robot, and wireless communication of the cargo cart using the communication unit of the wireless system to the cargo cart When a signal is given to the MCU of the keypad provided in the cargo cart using a module, the MCU uses the locking device provided in the rear center of the cargo cart as a proximity sensor provided in the locking device to the front center of another cargo cart. To provide a technology for easily transporting two cargo carts by sensing the recognition mark installed in the provided locking hole and operating the locking device to be engaged with the locking hole.

According to another embodiment of the present invention, a courier puts a parcel in several cargo carts and delivers delivery information (mainly apartment number, hotel room number, delivery information, etc.) using a barcode reader provided in each cargo cart. Alternatively, if the delivery information is transmitted by entering the delivery information using the key input unit of the keypad provided in the Huacool Cart, the cargo cart is equipped with a wireless communication module to deliver the destination information to the robot, and the robot transmits the destination information to the two cargo carts. to transport the cargo cart to each destination, and the robot notifies each customer that the parcel has arrived and delivers the parcel to the customer.

The present invention improves the inefficiency of the robot in delivering many parcels because it has to connect one cargo cart to one existing courier robot to deliver parcels, so that the robot connects two cargo carts at once and It has the effect of delivering each parcel to two customers by transporting it.

1 is a diagram illustrating a basic embodiment of the present invention;
Figure 2 is an exemplary view of connecting another cargo cart to the cargo cart of Figure 1;
Figure 3 is an exemplary view of the delivery method of the robot of the present invention

The present invention relates mainly to a robot for parcel delivery, which has been developed in recent years, and the main content is that a courier puts parcels into several cargo carts and uses the key input unit or barcode reader of each keypad attached to the cargo carts to provide delivery information When each is input, the communication module of the cargo cart informs the communication unit of the robot that the location of the cargo cart and the parcel have been delivered, and the robot approaches the cargo cart and places the cargo cart on the upper part of the support part of the robot. Connect with the electronic locking device provided in the cargo cart, and then connect another cargo cart with the electronic lock provided in the cargo cart and the lock hole provided in the front of the another cargo cart to use the courier information It is about the technology to deliver to customers to their respective destinations.

The main differences and effects of the present invention from the prior art can be explained as follows.

1) Operating two cargo carts with one robot: Applicant's patent application (10-2021-0067382) and prior patent documents (10-1319045 Unmanned Cargo Transport Robot, 10-2016-0129515 Cargo Cart Linked Logistics Transport Robot ) of the cargo cart and the lower part of the robot with an electronic locking device so that the robot can transport the cargo cart one by one. Technology capable of operating more cargo carts even with a small number of robots by fastening the electronic locking unit and the locking hole provided in the front of the other cargo cart to transport two cargo carts. provides

1 illustrates a technology in which a cargo cart and a robot are combined as a basic road of the present invention. That is, the robot 100 is provided with image cameras 1100 and 1110 and laser sensor devices 900 and 910 in front and back and has an autonomous driving function. ), the robot 100 is provided with laser sensing devices 900 and 910 each including a lidar sensing function in front and back for an autonomous driving function, and image cameras 1100 and 1110 in front and back respectively. It has a configuration that makes it easy to detect the object behind and observe the distance.

And the robot 100 is provided with a support part 200 of a low position that can place the cargo cart 500 on top.

And the courier puts the parcel in the cargo cart 500 and can read the barcode registered in the parcel with the barcode reader 1060 connected to the keypad 1000 provided in the cargo cart 500, The robot 100 transmits the location information of the cargo cart 500 registered in advance to the robot 100 by transferring the delivery information to the robot 100 or directly inputting the delivery information on the keypad 1000 and transferring the delivery information to the robot 100. Using the image cameras 1100 and 1110, the laser sensor devices 900 and 910, and the autonomous driving function of the robot 100, the position of the cargo cart 500 is identified and approached.

In the case of using the barcode reader 1060, by using the wireless communication module 1050 in advance, the delivery information provided by the service company connected to the barcode is received in real time, or the delivery information is frequently received and stored in the memory 1040. should be saved

And since the cargo cart 500 is provided with a key input unit 1010 of the keypad 1000, the courier does not operate the barcode reader 1060, but a direct touch method or a key input method is applied using the key input unit 1010. Delivery information can be entered

And the support part 200 of the robot 100 is provided with a Lidar (Light Detection And Range) sensing function provided at the rear of the support part 200 under the bottom part 510 of the cargo cart 500. It enters using the laser sensor device 910 and the autonomous driving function.

And when the support end line 210 located at the rear upper end of the support part 200 of the robot 100 is detected by the proximity sensor 600 provided in the cargo cart 500, a program command set in advance When the proximity sensor 600 notifies the microcontroller 1020 of the detection by the 100) receives the detection signal using the communication unit 410 configured in a wireless communication method, the robot 100 is stopped by the received detection signal, and an electronic locking device mounted on the rear of the cargo cart 500 (700) is operated and is coupled to the central locking hole (300B) and the locking part (710) located in the center of the rear lower end of the support part (200), and the cargo cart (500) is fixed to the bottom part (200).

Accordingly, when the robot 100 moves, the cargo cart 500 also moves. In this case, the locking part 710 has a suitable length and width so as not to be shaken or twisted even when moving because it receives all the loads of the cargo cart 500 in the state in which the robot 100 is coupled to the cargo cart 500. It is preferable to have That is, in order to do so, since the central locking hole 300B must be precisely aligned, the signal of the proximity sensor mainly applied to the infrared sensor and the operation and position of the electronic locking device 700 must exactly match. However, the robot also has wheels 220 and the cargo cart 500 also has wheels 800 to reduce the load, and since there is no heavy object that is usually a problem with courier cargo, the wheels 800 of the cargo cart 500 ), when designed in connection with the driving load of the electronic locking device 700, some degree of shaking of the coupling portion has a margin.

In addition, the electronic locking device 700 may be applied to two places on the left and right sides of the cargo cart 500 rather than the center of the rear lower end for safety when the electronic locking device 700 is unstable. That is, when the two electronic locking devices 700 are applied to the two rear left and right sides of the cargo cart 500, the left locking hole 300A and the right locking hole 300C of the support part 200 of the robot 100 are provided and may be coupled to each other. And the electronic locking device 700 may be provided in the center of the front lower end of the cargo cart 500. In this case, the front central locking hole 300E is aligned with the position of the electronic locking device 700 on the support portion 200. should be provided Similarly, the electronic locking device 700 can be installed in two places: the front lower left and the front lower right, not installed in the center of the front lower end of the cargo cart 500 . In this case, the front left lock hole 300D and the front right lock hole 300F are provided and can be coupled to each other. And if necessary, the electronic locking device 700 may be applied to the front and rear of the cargo cart 500 .

And the keypad 1000 is provided with a microcontroller (Micro Controller Unit, 1020) to control the electronic lock device 700, the proximity sensor 600, and the barcode reader 1060 by using the input/output units (IO, 1030). In addition, the keypad 1000 is provided with a communication module 1050 capable of mutual wireless communication with the communication unit 410 of the robot 100 . Also, as described above, a memory 1040 capable of storing a peripheral device management program, communication commands, barcode information, and the like is provided.

And an image camera 1110 and a laser sensor device 910 are provided at the rear of the support unit 200 of the robot 100, and an electronic lock unit 1200 is provided at the rear of the freight cart 500, so that several freight carts (500-1,5002..500-n), the MPU 400 of the robot 100 can be connected to another cargo cart 500-1 loaded with another courier item. An autonomous driving technology that can be approached in detail for connection with another cargo cart 500-1 with an artificial intelligence object recognition technology using an image camera 1110 and proximity detection technology using a laser sensing device 910 to provide.

Figure 2 is an exemplary view for connecting another cargo cart to the cargo cart of Figure 1

In FIG. 1, one cargo cart 500 is put on the support unit 200 of the robot 100 and combined, and then the robot 100 is delivered to the customer by the robot 100 and the courier delivers the parcel. Using the image camera 1200 and the laser sensor device 900 provided in front of the robot 100 to another cargo cart 500-1 that has sent a delivery order along with customer information using 1000 After approaching with the autonomous driving function, measure the distance using an image camera 1110 and a laser sensor device 910 provided at the rear of the support unit 200 of the robot 100 to approach and approach the cargo cart 500 rear The electronic locking part 1200 provided in the another cargo cart 500-1 approaches the upper part of the locking hole 1400 provided in the front, and the electronic locking part 1200 is positioned above the locking hole 1400. When the proximity sensor unit 1300 provided at the rear of the cargo cart 500 recognizes the recognition mark 1500 installed to detect an accurate position, the electronic lock unit 1200 is operated and combined with the lock hole unit 1400 The robot 100 is provided with a technology capable of transporting the two cargo carts (500, 500-1).

That is, to explain in more detail, the courier puts the parcels in each of several cargo carts (500,500-1,500-2..500-n) and puts information in each of the cargo carts (500,500-1,500-2,..500-n). When (destination address, etc.) is transmitted using the barcode reader 1060 or inputted using the key input unit 1010 of the keypad 1000,

Using the communication module 1050 of the keypad 1000 in the order in which the courier puts the parcel and delivers it through the barcode reader 1060 or enters customer information through the key input unit 1010 of the keypad 100, The robot 1000 informs that the parcel delivery goods are received in each cargo cart (500, 500-1, ..500-n) together with the customer information.

Then, the robot 100 combines the two cargo carts (500, 500-1) in the order in which the courier puts the parcel into the cargo cart (500,500-1,500-2, ..500-n) and enters the delivery information. to deliver the parcel to the customer. Then, after delivering the parcel to the customer, the two cargo carts (500, 500-1) are returned, and then the two cargo carts containing the parcel are coupled to the robot 100 and the method of delivering to the customer is repeated.

And since the robot 100 mainly drives in many places with narrow corridors, such as apartments or officetels, there is a case where there is no space to rotate the narrow corridor by dragging the cargo cart 500-1 coupled to the rear. At this time, the robot 100 with the autonomous driving function of the present invention unlocks the electronic lock unit 1200 to release the coupling with the cargo cart 500-1, and the robot 100 performs the artificial intelligence autonomous driving function. The proximity sensor unit 1300 recognizes the rear recognition mark 1500-1 on the rear of the cargo cart 500-1 using the image cameras 1100, 1110 and the laser sensor device 900, 910 and locks the rear. It operates so that the hole part 1400-1 and the electronic lock part 1200 of the cargo cart 500 can be coupled.

As described above, when connecting with the cargo cart 500-1 at the back upside down, a problem may occur because the electronic locking unit 1200 located in the center overlaps each other.

Therefore, give a slight deviation from the center so that they can be connected smoothly, and adjust the rear recognition mark 1500-1 so that the proximity sensor unit 1300 can recognize it so that the rear lock hole 1400-1 can be coupled. Also, the rear locking hole 1400-1 should be designed to fit the electronic locking part 1200.

That is, the rear locking hole 1400-1 and the rear recognition mark 1500-1 are the same as the height of the existing locking hole 1400 and the recognition mark 1500 to the left or right with the electronic locking unit 1200 as the center. Although it can be designed, the electronic locking unit 1200 and the locked position are locked by moving slightly to the left or right as much as the lockable margin avoiding the horizontal thickness of the electronic locking unit 1200 .

In addition, there is a slight deviation in the center so that there is no problem in operation, so that the width and depth of the electronic locking part 1200 and the rear locking hole 1400-1 can be adjusted so that it can be operated even if there is shaking. It is preferable to design

As described above, if the cargo cart 500-1 can be connected to the opposite side to be operated, a problem occurs due to a narrow road in the middle or a problem occurs on the road surface, so when it is difficult to drive the cargo cart 500-1 at the rear, change it frequently The present invention provides a technology that can solve the problem by connecting and driving.

Figure 3 is an embodiment of a method of delivering a parcel delivery robot of the robot.

The courier puts the parcel in the cargo cart 500 and uses the barcode reader 1060 to deliver customer information (mainly apartment number, hotel room number, and parcel information to the customer's address) or use the keypad 1000 Enter the customer information, put the parcel in another cargo cart 500-1, and use the barcode reader 1060 of the cargo cart 500-1 or the key input unit 1010 of the keypad 1000 to Enter your information. (100S)

When the customer information is input, the microcontroller 1020 of each keypad 1000 of the several input cargo carts 500, 500-1..500-n uses the communication module 1050 to transmit the customer information to the robot ( 100) transmits the location and customer information of each of the cargo carts 500, 500-1..500-n to the MPU 400 of the robot 100 through the communication unit 410 of the 100). (200S)

The MPU (Micro Prossor Unit, 400) of the robot 100 to which the destination has been delivered approaches the cargo cart 500 using the image cameras 1100 and 1110 and the laser sensor devices 900 and 910 and the autonomous driving function to access the When the support part 200 of the robot 100 enters the bottom part 510 of the cargo cart 500 under the proximity sensor 600 of the cargo cart 500 detects the support end line 210, the proximity sensor 600 transmits a detection signal to the microcontroller 1200, the microcontroller 1200 transmits the detection signal to the robot 100, and the robot 100 that has received the detection signal stops entering and the The electronic locking device 700 of the cargo cart 500 is operated and coupled to the cargo cart 500 . (300S)

When the robot 100 is combined with the one cargo cart 500, the robot 100 uses an autonomous driving function, image cameras 1100 and 1110 and laser sensor devices 900 and 910 to send customer information to the courier. Approaching another cargo cart (500-1) entered

The electronic locking part 1200 provided at the rear of the cargo cart 500 approaches the upper locking hole 1400 provided in the front of another cargo cart 500-1, and the robot 100 sets the corresponding position on the keypad. When transmitted to 1000 using the communication unit 410, the MCU 1020 of the keypad 1000 has a recognition mark 1500 installed so that the electronic lock unit 1200 detects the exact position on the lock hole unit 1400. ) when the proximity sensor unit 1300 provided at the rear of the cargo cart 500 recognizes that the electronic locking unit 1200 is operated and combined with the locking hole unit 1400 to provide another cargo cart 500-1. ) to enable the robot 100 to operate. (400S)

When the robot 100 is combined with the two cargo carts 500 and 500-1, the robot 100 drives to the address of the customer using the customer information of the cargo carts 500 and 500-1 in the received order. (500S)

And when arriving at the destination, the robot 100 delivers the parcel of the cargo cart 500 to the customer. (600S)

And, the robot 100 drives to the address of the customer by using the customer information of the other received freight cart 500-1 to deliver the parcel of the freight cart 500-1 to the customer. (700S)

The robot 100, which delivered the parcels of the two cargo carts 500 and 500-1 to the customer, places the cargo carts 500, 500-1 at a predetermined return place,

When the robot 100, which has placed the cargo cart 500 and 500-1 at the return location, first sends a signal to the cargo cart 500-1 behind, the cargo cart 500-1 is an electronic locking unit 1200. The robot 100 is separated from the robot 100 by releasing separated from (800S)

100 Robot 200 Support part (Robot's cargo cart support part)
300 Locking groove (for locking electronic locks) 400 Robot MPU (Micro Procwssing Unit)
500 Cargo Cart 600 Proximity Sensor
700 Electronic Lock 800 Cargo Cart Wheels
900,910 Laser sensor device with LIDAR (Light Detection and Range) sensing function
1000 keypad
1100 video camera
1200 electronic lock
1300 Proximity sensor unit
1400 Lock hole 1400-1 Rear lock hole
1500 Recognition mark 1500-1 Rear recognition mark

Claims (6)

A robot 100 having an autonomous driving function; Cargo cart with keypad 1000; and a support part 200 of the robot 100 is provided.
In operating the robot 100 by connecting the cargo carts after the courier puts the parcels into several of the cargo carts,
The cargo cart is provided with an electronic locking device 700 at the lower end of the rear central load,
The electronic locking device ( 700) and includes a central locking hole (300B) of the support part (200) coupled to
The robot 100 is provided with an electronic lock 1200 at the rear of the cargo cart,
A lock hole 1400 is provided in the front of the cargo cart,
In a state in which the robot 100 is coupled to the cargo cart
The robot 100 approaches another cargo cart and
By coupling the electronic locking part 1200 and the locking hole part 1400 of the another cargo cart with the signal of the microcontroller 1020, it is connected to the other cargo cart.
A plurality of cargo cart-linked delivery robots capable of delivering parcels to customers by combining two cargo carts with one robot (100).
The method of claim 1,
The left locking hole 300A and the right locking hole 300C to which two electronic locking devices 700 are respectively coupled by replacing the central locking hole 300B that is coupled to and released from the electronic locking device 700 or the front left A plurality of locking holes (300D) and the front right locking hole (300F) or the front central locking hole (300E) and the central locking hole (300B) provided with the support part 200 of the robot 100 including any one Cargo cart linkage delivery robot.
The method of claim 1,
When a courier puts parcels into several of the cargo carts and inputs delivery information using the barcode reader 1060 or the key input unit 1010 of the keypad 1000 provided in the cargo cart, the robot ( 100), the keypad 1000 including the communication module 1050 and the 'communication unit 410 are included in the cargo cart so that the robot 100 delivers the parcels to the customer. A plurality of cargo cart interlocking courier robots including MPU (400).
The method of claim 1,
The cargo cart interlocks a plurality of cargo carts including an identification mark 1500 and a proximity sensor part 1300 so that the electronic locking part 1200 can be accurately fastened with the lock hole part 1400 of the another cargo cart. Delivery robot.
The method of claim 1,
The cargo cart releases the coupling with the other cargo cart, and the electronic locking unit 1200 of the cargo cart is coupled in the opposite direction to the other cargo cart using the autonomous driving function of the robot 100. A plurality of cargo cart interlocking courier robot including a rear lock hole (1400-1) that enables.
A robot 100 having an autonomous driving function; Cargo cart with keypad 1000; and a support part 200 of the robot 100 is provided.
In the method for the robot 100 to connect and operate the cargo cart after the courier puts the parcels into several of the cargo carts,
A step in which a courier enters customer information using the barcode reader 1060 of the cargo cart or the key input unit 1010 of the keypad 1000; (100S)
When the customer information is input, the microcontroller 1020 of each keypad 1000 of the plurality of cargo carts transmits the customer information using the communication module 1050 through the communication unit 410 of the robot 100. Transmitting the location and customer information of each of the cargo carts to the MPU 400 of the robot 100; (200S)
The MPU 400 of the robot 100 to which the customer information has been transmitted approaches the cargo cart using the image cameras 1100 and 1110 and the laser sensor devices 900 and 910 to access the support part 200 of the robot 100. ) into the bottom 510 of the cargo cart 500, when the proximity sensor 600 of the cargo cart 500 detects the support end line 210, the proximity sensor 600 transmits a detection signal to the microcontroller 1200, the microcontroller 1200 transmits the detection signal to the robot 100, and the robot 100 receiving the detection signal stops the entry and the electronic locking device of the cargo cart 500 (700) is operated and combined with the cargo cart (500); (300S)
When the robot 100 is combined with the cargo cart, the robot 100 uses an autonomous driving function, image cameras 1100 and 1110 and laser sensor devices 900 and 910 to provide another cargo to which the courier has entered customer information. access the cart
The electronic locking unit 1200 provided in the rear of the cargo cart approaches the upper locking hole 1400 provided in the front of the other cargo cart, and the robot 100 transmits the corresponding position to the keypad 1000 through the communication unit 410 ), the MCU 1020 of the keypad 1000 places an identification mark 1500 installed so that the electronic lock 1200 detects the correct position on the lock hole 1400 on the back of the cargo cart. When the proximity sensor unit 1300 provided on the step; (400S) and
When the robot 100 is combined with the two cargo carts, the robot 100
A delivery method of a plurality of cargo cart-linked delivery robots including (500S);

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