KR102465049B1 - Serving robot for serving and leaving food - Google Patents

Abstract

One embodiment of the present invention provides a serving robot for easily serving and leaving food in a restaurant where height or arrangement of a table are different. According to the embodiment of the present invention, the serving robot for serving and leaving food comprises: a housing having a plurality of wheels; a plurality of storage units formed inside the housing and storing a tray; a gripper positioned inside the storage units and moving the tray into the storage units or moving the tray to the outside of the storage units; and a distance sensor provided on a side surface of the housing and recognizing a distance from the table.

Description

Serving robot for serving and leaving food}

The present invention relates to a serving robot for serving and eating out, and more particularly, to a serving robot that easily serves and eats food at a restaurant having a different table height or arrangement.

Conventional serving robots load a tray with food and move it to the side of a customer's table, and there is an inconvenience in that a restaurant employee puts down the food or the customer has to unload the food himself. As the serving robot is in charge, it is limited to an auxiliary role for field staff.

As for the serving speed of the serving robot, in a small restaurant with a short movement line, the serving robot has acceleration and deceleration at the time of departure and arrival, so the processing speed is significantly lower than that of the field staff, so the speed that field staff can handle is lower than that of the serving robot. However, as customers order through the staff and order using a tablet at each table or using a kiosk has become more common, it is possible to use a buffet or family restaurant that has a longer movement than a regular restaurant and has plenty of table rotation. Serving robots can be efficient.

However, in such a conventional serving robot, after a customer has finished eating, the serving robot is directly called by pressing a call bell on each table, and an empty bowl is placed on the tray of the serving robot, or an on-site staff member has an empty bowl after the customer has finished eating. There is a problem in having to transfer the data to the serving robot.

In addition, in order to apply the serving robot, there is a problem that the table and interior of the restaurant must be rearranged, there is a problem that the tray cannot be eroded if the tray is positioned crookedly, and when the table height is different or the arrangement of the table is changed There is a problem that this does not go smoothly.

Republic of Korea Patent Registration No. 10-1083700 (Title of the invention: robot system for restaurant serving) has an upper part; lower part; And it is fixed to the lower end, the upper end is rotatably connected, and the signal cable connected to the upper end and the signal cable connected to the lower end are connected to both sides of the connection PCB, the middle portion is provided on the inside. characterized by; The upper part includes an ordering device for outputting a menu to an orderer, selecting and receiving a menu from the orderer, and is provided at an arbitrary position in the upper part to photograph a corresponding area in response to a photographing signal input from the outside, A photographing device for outputting an image signal, and a pair of articulated robot arms provided on both sides of the upper end and driven synchronously; are disclosed.

However, since the tray containing the food is open in these devices, foreign substances such as dust can enter the food while the serving robot is serving food, and in an unexpected situation, a person can directly contact the food, causing the food to become contaminated or spilled. There is a problem that secondary pollution occurs.

Therefore, a serving robot that can serve easily regardless of the height and arrangement of the table, can be easily removed regardless of the angle of the tray, can be put directly into a general restaurant, and does not cause secondary pollution. do.

Republic of Korea Patent No. 10-1083700

An object of the present invention for solving the above problems is to provide a serving robot applicable to an already built restaurant.

It is also an object of the present invention to easily wear out the tray even when the tray is placed crookedly.

In addition, an object of the present invention is to prevent secondary contamination due to dust and foreign substances in food during serving of the serving robot.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. There will be.

The configuration of the present invention for achieving the above object is a housing having a plurality of wheels; a plurality of accommodating portions formed inside the housing and accommodating trays; a gripper positioned inside the accommodating part and moving the tray into the accommodating part or moving the tray to the outside; and a distance sensor provided on the side of the housing and recognizing the distance from the table, wherein the distance sensor recognizes the height of the table, and the gripper places the tray located inside the accommodating part on the table having different heights, respectively. It is characterized in that by moving or moving the tray located on the outside to the inside of the receiving part to facilitate the serving and removal of the tray.

In an embodiment of the present invention, the housing, provided on the upper surface of the housing, a marker sensor that recognizes a marker attached to the target point and moves closer to the target point; may be provided.

In an embodiment of the present invention, the distance sensor may be moved up and down to adjust the height.

In an embodiment of the present invention, the distance sensor may measure a distance between the target point and the housing by recognizing a reflector attached to the target point.

In an embodiment of the present invention, the gripper may be capable of three-dimensional movement.

In an embodiment of the present invention, the accommodating part may include a transparent plate positioned on the side of the accommodating part and formed to be transparent to easily observe the inside of the accommodating part.

In an embodiment of the present invention, the transparent plate may be made of at least one material selected from among acrylic, glass, vinyl chloride, polystyrene, and polyethylene.

In an embodiment of the present invention, the housing, a plurality of cameras provided in a downward direction from the upper edge of the housing, for recognizing an object; may further include.

In an embodiment of the present invention, the housing, is formed in the upper direction from the lower edge of the housing, the driving unit for operating the serving robot; may further include.

In an embodiment of the present invention, the housing, provided in the upper direction from the lower edge of the housing, the control unit for controlling the movement of the sensor and the serving robot; may further include.

The effect of the present invention according to the configuration as described above, even when the height of the table is different, there is an advantage of easily serving and eating food.

In addition, the effect of the present invention has the advantage of easily serving and serving food even when the shape of the table is different.

In addition, the effect of the present invention has the advantage of easily serving and serving food even when the arrangement of the table is different.

In addition, the effect of the present invention has the advantage of easily serving and serving food even when the size of the table is different.

In addition, the effect of the present invention is advantageous in that the tray is easily worn out even when the tray is placed crookedly.

In addition, the effect of the present invention has an advantage in that the housing is formed to surround the tray to prevent secondary contamination due to dust and foreign substances in the food during serving of the serving robot.

The effects of the present invention are not limited to the above effects, and it should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a front view of a serving robot for serving and eating food according to an embodiment of the present invention.
Figure 2 is a side view of a serving robot for serving and eating food according to an embodiment of the present invention.
3 is a perspective view of a serving robot for serving food and eating out according to an embodiment of the present invention.
4 is an enlarged view of a rail according to an embodiment of the present invention.
5 is an enlarged view of a gripper according to an embodiment of the present invention.
6 is a perspective view of a tray according to an embodiment of the present invention.
7 is a perspective view of a table and a serving robot according to an embodiment of the present invention.
8 is a view in which a serving robot according to an embodiment of the present invention aligns a tray placed crookedly.
9 is a view showing the movement of the serving robot according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be embodied in several different forms, and thus is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is "connected (connected, contacted, coupled)" with another part, it is not only "directly connected" but also "indirectly connected" with another member interposed therebetween. "Including cases where In addition, when a part "includes" a certain component, this means that other components may be further provided without excluding other components unless otherwise stated.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a front view of a serving robot 100 for serving and eating food according to an embodiment of the present invention, and FIG. 2 is a side view of a serving robot 100 for serving and eating food according to an embodiment of the present invention. 3 is a perspective view of the serving robot 100 for serving and eating food according to an embodiment of the present invention, and FIG. 4 is an enlarged view of the rail 220 according to an embodiment of the present invention, and FIG. is an enlarged view of the gripper 230 according to an embodiment of the present invention.

Figure 6 is a perspective view of a tray 800 according to an embodiment of the present invention, Figure 7 is a perspective view of the table 900 and the serving robot 100 according to an embodiment of the present invention, Figure 8 is a perspective view of the present invention It is a view in which the serving robot 100 according to an embodiment aligns the tray 800 placed crookedly, and FIG. 9 is a view showing the movement of the serving robot 100 according to an embodiment of the present invention.

1 to 2, the serving robot 100 for serving and serving food is a housing 200 having a plurality of wheels, a plurality of formed inside the housing 200, and accommodating the tray 800 The receiving unit, located inside the receiving unit, is provided on the side of the gripper 230 and the housing 200 for moving the tray 800 into the receiving unit or moving the tray 800 to the outside, and includes the table 900 and It may include a distance sensor 300 for recognizing the distance of.

The serving robot 100 of this embodiment is applied to a restaurant where it is built and sold to easily serve food to a user regardless of the height of the table 900, the arrangement state of the table 900, and the shape of the table 900, or can be withdrawn

As shown in FIG. 6 , the tray 800 may have an overall rectangular shape, and the cross-sectional shape of the tray 800 may be formed in a trapezoidal shape having a lower edge shorter than an upper edge. The tray 800 may have a tray groove formed in a downward direction from an upper edge.

The tray 800 may include a flange formed outwardly from the upper edge of the tray 800 . The length of the horizontal edge may be smaller than the length of the vertical edge of the tray 800, and the gripper is mounted on the lower surface of the flange and the outer surface of the tray 800 formed from the upper edge to the lower edge of the tray 800 A gripper holder 810 may be formed. A holding groove 811, which is a groove formed in an engraved shape, may be formed in the gripper holder 810, and when the tray 800 is heavy or the tray 800 is slippery, the holder groove formed in the gripper holder 810 is slippery. The protrusion formed on the gripper is drawn into the 811 so that the gripper can easily transport the tray 800 .

As shown in FIG. 7 , the shape of the table 900 may be circular or polygonal, and the height and size of the table 900 may be different from each other. The tray storage unit 910 formed in the inward direction from the upper edge of the table 900 may be formed as a tray 800 storage place for serving and disposing of the serving robot 100 .

The tray storage unit 910 may be formed in a plate shape, and the material of the tray storage unit 910 may be formed of any one or more materials selected from rubber, silicone, leather, solid wood, and cloth. Since the tray storage unit 910 is not fixed to the table 900 , the user can easily move the tray storage unit 910 to a desired position.

The table 900 may include a distance reflection plate 920 formed on a side surface of the table 900 positioned in a direction perpendicular to the edge of the tray storage unit 910 . The distance reflector 920 may be provided as many as the number of distance sensors 300 . The material of the distance reflector 920 may be formed of any one or more materials selected from aluminum, copper, iron, and glass. The shape of the distance reflector 920 may be circular or polygonal.

The surface of the distance reflector 920 can easily reflect light by being provided with a gloss. The distance reflector 920 reflects light generated from the distance sensor 300 so that the distance sensor 300 can measure the length with the distance reflector 920 , and the distance reflector 920 and the distance sensor 300 are By measuring the distance between the table 900 and the serving robot, the serving robot can serve food regardless of the height of the table 900 .

As shown in FIGS. 1 to 3 , the housing 200 includes a receiving part configured in the form of a groove in the upper direction of the driving part 600 , and a plurality of fasteners may be provided on the left and right side portions of the receiving part, and a plurality of fasteners The tray 800, the storage plate 210 may be fixed in contact with the upper portion. For this reason, it is possible to prevent secondary contamination due to dust and foreign substances in food during serving of the serving robot 100 by locating the tray 800 inside the receiving unit.

The tray 800 storage plate 210 may be formed in a plate shape, and the tray 800 may be in contact with the upper surface of the tray 800 storage plate 210 , and the tray 800 storage plate 210 may be A weight sensor 211 may be provided at the center of the tray 800 and the storage plate 210 . For this reason, when the tray 800 is inserted into the storage plate 210 of the tray 800, the weight sensor 211 detects the weight of the tray 800 and transmits a signal to the control unit 700 so that the control unit 700 The serving robot 100 may be operated.

The housing 200 is formed in the upper direction of the driving unit 600 and may have an entrance formed by being opened on the front side of the housing 200, whereby the tray 800 can easily enter and exit the receiving unit.

The accommodating unit may include a plurality of rails 220 inside the accommodating unit, and the rail 220 is a plurality of trays 800 in the upper direction of the corners of the storage plate 210 of the tray 800 and the storage plate 210 . A plurality of first rails 221 formed in parallel to the left corner may be provided, and a second rail 222 formed perpendicular to the first rail 221 may be provided, and the tray 800 storage plate. A plurality of third rails 223 formed in parallel to the right edge of the tray 800 storage plate 210 may be provided in the upper direction of the edge of the 210, and formed vertically from the third rail 223 A fourth rail 224 may be provided.

In one embodiment, when two trays 800 and storage plates 210 are provided in the accommodating part so that a total of three trays 800 can be located in the accommodating part, it is located on the left side of the accommodating part and the tray 800 is stored Three first rails 221 formed in parallel from the left edge of the plate 210 and one second rail 222 may be provided in an 'E' shape.

A point where the first rail 221 and the second rail 222 meet in the 'A' shape may be provided with a pin 225, and the pin 225 serves as a temporary wall to move up and down on the second rail 222. The moving gripper 230 may easily move to the other first rail 221 . At this time, the gripper 230 pushes the pin 225 formed in a vertical direction from the first rail 221 to move the pin 225 parallel to the first rail 221 to move to the first rail 221 . have. When the gripper 230 moves up and down, it pushes the pin 225 formed in a direction perpendicular to the second rail 222 and moves the pin 225 in a horizontal direction to the second rail 222 to move the second rail ( 222) can be moved up or down.

Located on the right side of the receiving unit and formed in parallel from the right edge of the tray 800 and the storage plate 210, three third rails 223 are provided and one fourth rail 224 is provided to form an 'E' shape. can be provided.

A point where the third rail 223 and the fourth rail 224 meet in the 'A' shape may be provided with a pin 225, and the pin 225 serves as a temporary wall to move up and down on the fourth rail 224. The moving gripper 230 may easily move to another third rail 223 . At this time, the gripper 230 pushes the pin 225 formed in the vertical direction from the third rail 223 to move the pin 225 parallel to the fourth rail 224 to move to the third rail 223 . have. When the gripper 230 moves up and down, it pushes the pin 225 formed in a direction perpendicular to the fourth rail 224 and moves the pin 225 in a direction horizontal to the fourth rail 224 to move the fourth rail ( 224) can be moved up or down.

For this reason, the gripper 230 is drawn into the receiving part to grip the tray 800 located on the tray 800 storage plate 210 , and moves up and down according to the height of the table 900 to serve and eat food. can facilitate

As shown in FIG. 2 , the housing 200 may include a transparent plate 240 that is formed to be transparent on the left and right sides and can easily observe the inside of the receiving part, and the material of the transparent plate 240 is It may be formed of at least one material selected from among acrylic, glass, vinyl chloride, polystyrene, and polyethylene.

3 to 5 , the gripper 230 may be formed by combining a first plate formed in a rectangular plate shape and a second plate formed in a rectangular plate shape to form an obtuse angle. The material of the gripper 230 may be formed of any one or more materials selected from rubber, iron, aluminum, plastic, and copper.

The gripper 230 may include a plurality of grip protrusions 236 formed in a protrusion shape on the first plate and the second plate contacting the gripper holder 810 formed on the tray 800 , and the grip protrusions 236 . ) is drawn into the protrusion groove formed in the gripper holder 810 so that the tray 800 does not slip when the gripper 230 grips the tray 800 , so that food can be easily served and served.

A plurality of grippers 230 may be provided, and the gripper 230 may include a first gripper 231 provided on a left side of the receiving unit and a second gripper 232 provided on a right side of the receiving unit. The gripper 230 is coupled with the linear motor 231 to move left and right on the linear guide 234 , and thereby the tray 800 is located in the storage plate 210 and the tray storage unit 910 . can be easily gripped.

When the gripper 230 grips the tray 800 , the tray 800 is positioned between the first gripper 231 and the second gripper 232 , the first gripper 231 is moved to the right, and the second gripper The tray 800 can be gripped by moving 232 to the left.

As shown in FIG. 8, when the tray storage unit 910 and the tray 800 are not positioned in parallel but are positioned crookedly, the first gripper 230 and the upper left end of the tray 800 come into contact with the second gripper ( 230) and the lower right end of the tray 800 are in contact, and when the gap between the first gripper 230 and the second gripper 230 is narrowed, the upper left portion of the tray 800 rotates to the right and the lower right portion moves to the left. By rotating, the tray 800 may be easily gripped by the gripper 230 .

As shown in FIG. 3 , the housing 200 may include a marker sensor 400 provided on the upper surface of the housing 200 and moving closer to the target point by recognizing the marker attached to the ceiling of the target point. have.

As shown in FIG. 9 , when the marker sensor 400 recognizes a marker attached to the ceiling of the target point and transmits a recognition signal to the control unit 700 , the control unit 700 connects the serving robot 100 with the marker sensor 400 . You can move to a nearby location. Due to this, the marker sensor 400 changes the position of the marker without a separate map update even when the size, shape, position, direction, and arrangement of the table 900 are changed so that the serving robot can easily serve food and can be withdrawn

In another embodiment, the housing 200 includes a plurality of cameras 500 and LiDAR (Light Detection And LiDAR) sensors formed in a downward direction from the upper corners of the front, rear, left and right surfaces of the housing 200 . can be provided The serving robot 100 detects the surrounding terrain features through the lidar sensor and the location information and images obtained from the camera 500 of the slope, and transmits it to the control unit 700, based on the keyframe of the local environment, SLAM (simultaneous localization and mapping) ) to update the map. Due to this, when the arrangement of the table 900 is changed, it is possible to easily serve food to the target point.

The distance sensor 300 formed in the left and right directions of the doorway formed of the housing 200 and formed on the outer surface of the housing 200 may be formed of an infrared sensor (IR Sensor), and the distance sensor 300 is It may be composed of a light emitting unit that generates infrared rays and a light receiving unit that detects infrared rays, and the amount of voltage changes according to the amount of infrared rays emitted from the light emitting unit reflected by the object and entered into the light receiving unit. The distance between the robots 100 may be measured.

The distance sensor 300 may move up and down depending on the position of the distance reflector 920 located on the side of the table 900 to adjust the height, and the position of the distance reflector 920 may be higher than the existing distance sensor 300 . When the distance sensor 300 moves upward to measure the distance, when the position of the distance reflector 920 is lower than the existing distance sensor 300, the distance sensor 300 moves downward to measure the distance. can be measured

When the distance sensor 300 measures the distance between the table 900 and the serving robot 100 and sends a signal to the controller 700 , the controller 700 may move the gripper 230 . At this time, when the gripper 230 is positioned lower than the table 900 , the gripper 230 can be moved upward to match the height of the table 900 , and when the gripper 230 is positioned higher than the table 900 , the gripper 230 is positioned higher than the table 900 . By moving 230 to the lower part, it is possible to match the table 900 and the height. For this reason, the distance sensor 300 measures the distance between the table 900 and the serving robot 100 so that food can be served and eaten regardless of the height of the table 900 .

The first distance sensor 300 formed on the left side of the housing 200 recognizes the first distance reflector 920, measures the distance between the table 900 and the left side of the serving robot 100, and controls the first measurement data 700 . The second distance sensor 300 formed on the right side of the housing 200 recognizes the second distance reflector 920 and measures the distance between the table 900 and the right side of the serving robot 100 to receive the second measurement data. It can be transmitted to the control unit 700 .

If the values of the first measurement data and the second measurement data are different by comparing the first measurement data of the first distance sensor 300 and the second measurement data of the second distance sensor 300 transmitted to the control unit 700, If the first measurement data is greater than the measurement value of the second measurement data, the interval between the left side of the serving robot 100 and the table 900 can be narrowed to make the values of the first measurement data and the second measurement data the same, If the second measurement data is greater than the measurement value of the first measurement data, the interval between the right side of the serving robot 100 and the table 900 may be narrowed to make the values of the first measurement data and the second measurement data the same. The distance sensor forms the same values of the first measurement data and the second measurement data, so that the serving robot can move in parallel with the table 900 .

For this reason, the measured values of the first distance sensor 300 and the second distance sensor 300 are equally controlled so that the serving robot 100 is parallel from the tray storage unit 910 regardless of the shape of the table 900 . It is possible to easily remove the tray 800 located in the tray storage unit 910 and easily serve the tray 800 placed on the tray 800 storage plate 210 in the tray storage unit 910 or The tray 800 located in the tray storage unit 910 may be eroded.

The housing 200 may be formed in the form of a quadrangular pole, and may be easily moved by providing a plurality of wheels at the lower portion. The housing 200 may include a driving unit 600 in an upward direction from a lower edge of the housing 200 , and the driving unit 600 includes a wheel, a gripper 230 , a distance sensor 300 , and a marker sensor 400 . and a driving force may be transmitted to the gripper 230 .

The housing 200 may include a control unit 700 in an upward direction from a lower edge, and the control unit 700 includes a weight sensor 211 , a marker sensor 400 , a camera 500 , a distance sensor 300 and The serving robot 100 may be controlled based on the information transmitted from the gripper 230 .

The control unit 700, when the tray 800 is inserted into the storage plate 210 of the tray 800 having the weight sensor 211, the weight sensor 211 detects the weight of the tray 800, and the control unit When transmitting a signal to the 700, the control unit 700 can operate the serving robot 100, the marker sensor 400 recognizes the marker attached to the ceiling of the target point and transmits the recognition signal to the control unit 700 The control unit 700 may move the serving robot 100 to a position close to the marker sensor 400 .

In addition, by transmitting the location information and image obtained from the camera 500 located on the slope of the serving robot 100 to the controller 700, the keyframe-based SLAM (simultaneous localization and mapping) map of the local environment can be updated, and the distance When the height of the sensor 300 and the distance reflector 920 is different, the vertical position of the distance sensor 300 can be adjusted, and when the measured distances of the first distance sensor 300 and the second distance sensor 300 are different, serving By controlling the robot, the measurement data of the first distance sensor 300 and the second distance sensor 300 may be equally controlled.

In addition, the control unit 700 serves the tray 800 provided in the receiving unit according to the height of the table 900 measured by the distance sensor 300 , or removes the tray 800 located in the tray storage unit 910 . It is possible to control the movement of the gripper 230 for this purpose.

The serving method of the serving robot 100 includes the steps of inserting the tray 800 into the receiving unit, setting the target point to which the serving robot 100 moves, and the marker sensor 400 recognizes the marker attached to the ceiling. The step of moving closer to the target point, the distance sensor 300 recognizing the distance reflector 920 attached to the table 900 and calculating the distance and angle to the target point, the camera 500 for serving The step of confirming the target point, the step of the gripper 230 gripping the tray 800 located in the receiving portion, the step of moving the gripper 230 up and down according to the height of the table 900, the gripper 230 is the tray It may consist of a step of placing the 800 at a target point and a step of moving the gripper 230 to the charging location.

Here, in the step of inserting the tray 800 into the receiving unit, the user places the tray 800 in the kitchen tray 800 unit provided in the kitchen after cooking the food, and enters the table 900 number in the call unit located in the kitchen. Upon input, the serving robot 100 may move to the kitchen tray 800 unit.

The serving robot 100 may recognize the marker attached to the ceiling of the kitchen tray 800 by the marker sensor 400 and move closer to the target point. The distance sensor 300 recognizes the distance reflector 920 provided in the vertical direction from the corner of the kitchen tray 800, and the control unit 700 calculates the distance between the kitchen tray 800 and the serving robot 100. have.

The driving force is applied from the driving unit 600 to the rail wheel 235 formed in the linear guide 234 of the gripper 230, which was drawn into the receiving unit, so that the first rail 221 and the third rail 223 are moved. You can move to the end. When the gripper 230 moves on the second rail 232 and the fourth rail 234 , the horizontal sensor formed on the gripper 230 measures the level and sends a signal to the control unit, and the control unit sends a signal to the linear guide 234 . The level of the gripper 230 may be adjusted by adjusting the formed motor. Due to this, the gripper 230 can move up and down horizontally with the tray 800 and the storage plate 210 on the second rail 222 and the fourth rail 224 to the height of the table 900 . Due to this, the gripper 230 can grip the tray 800 regardless of the height of the table 900 .

The gripper 230 moving horizontally with the tray 800 storage plate 210 on the second rail 222 and the fourth rail 224 holds the tray 800 between the first gripper 231 and the second gripper ( 232 , the tray 800 may be gripped by moving the first gripper 231 to the right and the second gripper 232 to the left. For this reason, the gripper 230 may grip the tray 800 located in the kitchen tray 800 part and lead it into the receiving part.

In the step of moving closer to the target point, the call unit and the control unit 700 communicate, so that the serving robot 100 can easily communicate with the server. The serving robot 100 may recognize the marker attached to the ceiling of the target point as the marker sensor 400 and autonomously move to move closer to the target point.

In the step of calculating the distance and angle to the target point, the distance sensor 300 may be formed of an infrared sensor (IR Sensor), and the distance sensor 300 includes a light emitting unit generating infrared rays and a light receiving unit sensing infrared rays. It can be configured and the amount of voltage is changed according to the amount of infrared rays emitted from the light emitting unit reflected by the object and entering the light receiving unit, so that the distance between the table 900 and the serving robot 100 can be measured by the amount of voltage.

In the step of the gripper 230 holding the tray 800, the gripper 230 moved horizontally with the tray 800 and the storage plate 210 on the second rail 222 and the fourth rail 224, the tray 800 is positioned between the first gripper 231 and the second gripper 232 , the first gripper 231 is moved to the right, and the second gripper 232 is moved to the left to move the tray 800 storage plate. The tray 800 located at 210 may be gripped.

In the step of moving the gripper 230 up and down, the gripper 230 located inside the accommodating part grips food and a driving force is applied from the driving part 600 to the rail wheel 235 formed in the linear guide 234. It can move to the ends of the first rail 221 and the third rail 223 by the When the gripper 230 moves on the second rail 232 and the fourth rail 234 , the horizontal sensor formed on the gripper 230 measures the level and sends a signal to the control unit, and the control unit sends a signal to the linear guide 234 . The level of the gripper 230 may be adjusted by adjusting the formed motor. Due to this, the gripper 230 can move up and down horizontally with the tray 800 and the storage plate 210 on the second rail 222 and the fourth rail 224 to the height of the table 900 . Due to this, the gripper 230 can easily serve food regardless of the height of the table 900 .

The method of decay of the serving robot 100 includes the steps of setting a target point to which the serving robot 100 moves according to the call of a call bell, and the marker sensor 400 recognizes a marker attached to the ceiling and moves closer to the target point step, the distance sensor 300 recognizes the distance reflector 920 attached to the table 900 and calculates the distance and angle to the target point, the camera 500 selects the target point for serving or eating Confirmation step, the step of moving the gripper 230 up and down according to the height of the table 900, the step of the gripper 230 gripping the tray 800, the gripper 230 holding the tray 800 in the receiving part It may be composed of a step of retracting and a step of moving the gripper 230 to the evacuation site.

Here, in the step of setting the target point to which the serving robot 100 is to move according to the call of the call bell, when the call bell calls, a call signal is transmitted to the controller 700 of the robot, and the controller 700 controls the serving robot 100 ) can give a movement command, thereby setting a target point to which the serving robot 100 moves. Thereafter, the driving unit 600 may operate to move the serving robot 100 .

In the step of moving closer to the target point, the call unit and the control unit 700 communicate, so that the serving robot 100 can easily communicate with the server. The serving robot 100 may recognize the marker attached to the ceiling of the target point as the marker sensor 400 and autonomously move to move closer to the target point.

In the step of calculating the distance and angle to the target point, the distance sensor 300 may be formed of an infrared sensor (IR Sensor), and the distance sensor 300 includes a light emitting unit generating infrared rays and a light receiving unit sensing infrared rays. It can be configured and the amount of voltage is changed according to the amount of infrared rays emitted from the light emitting unit reflected by the object and entering the light receiving unit, so that the distance between the table 900 and the serving robot 100 can be measured by the amount of voltage.

Here, when the measured values of the first distance sensor 300 and the second distance sensor 300 are different, the controller 700 controls the measured values of the first distance sensor 300 and the second distance sensor 300 to be the same. can do. Due to this, the serving robot 100 may be positioned parallel to the tray storage unit 910 .

In the step of the gripper 230 gripping the tray 800, a driving force is applied from the driving unit 600 to the rail wheel 235 formed in the linear guide 234 to the first rail 221 and the third rail ( 223), and the gripper 230 moves up and down horizontally with the tray 800 and the storage plate 210 on the second rail 222 and the fourth rail 224 to move to the height of the table 900. can

The gripper 230 moving horizontally with the tray 800 storage plate 210 on the second rail 222 and the fourth rail 224 holds the tray 800 between the first gripper 231 and the second gripper ( 232 , the tray 800 may be gripped by moving the first gripper 231 to the right and the second gripper 232 to the left. For this reason, the gripper 230 may grip the tray 800 located in the tray storage unit 910 and lead it into the receiving unit.

When the gripper 230 grips the tray 800 placed on the tray storage unit 910, the gap between the first gripper 230 and the second gripper 230 is greater than the gap between the tray 800, so the tray ( 800 may be easily positioned between the first gripper 230 and the second gripper 230 . For this reason, the tray 800 located parallel to the tray storage unit 910 and the tray 800 located not parallel to the tray storage unit 910 can be easily gripped.

Here, when the tray storage unit 910 and the tray 800 are not positioned in parallel but are positioned crookedly, the first gripper 230 and the upper left end of the tray 800 come into contact with the second gripper 230 and the tray 800 . ) the lower right part is in contact, and when the gap between the first gripper 230 and the second gripper 230 is narrowed, the upper left part of the tray 800 moves to the right and the lower right part moves to the left so that the tray 800 is It may be easily gripped by the gripper 230 .

In the step of moving the gripper 230 up and down, a driving force is applied from the driving unit 600 to the rail wheel 235 formed on the linear guide 234 so that the gripper 230 moves the second rail 222 and the fourth On the rail 224 , the tray 800 may move up and down horizontally with the storage plate 210 to move to the height of the tray 800 storage plate 210 . Thereafter, after moving to the ends of the first rail 221 and the third rail 223 , the first gripper 231 is moved to the left, and the second gripper 232 is moved to the right to remove the tray 800 from the tray. (800) can be drawn into the storage plate (210).

The serving robot for food serving and eating out can easily serve and eat food even when the height of the table 900 is different, and can easily serve and eat food even when the shape of the table 900 is different. Also, even when the arrangement of the table 900 is different, food can be easily served and served, and there is an advantage of easily eroding the tray 800 even when the tray 800 is placed crookedly, and the housing is the tray It is formed to surround the 800 and has the advantage of preventing secondary contamination due to dust and foreign substances in the food during serving of the serving robot.

The foregoing description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and likewise components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention.

100: serving robot 200: housing
210: tray storage plate 211: weight sensor
220: rail 221: first rail
222: second rail 223: third rail
224: fourth rail 230: gripper
231: first gripper 232: second gripper
233: linear motor 234: linear guide
235: rail wheel 236: grip projection
240: transparent plate 300: distance sensor
400: marker sensor 500: camera
600: driving unit 700: control unit
800: tray 810: gripper holder
811: mounting groove 900: table
910: tray storage 920: distance reflector

Claims (12)

a housing having a plurality of wheels;
a plurality of accommodating portions formed inside the housing and accommodating trays;
and a first gripper positioned inside the accommodating part and provided on a left side of the accommodating part and a second gripper provided on a right side of the accommodating part, wherein the tray is moved into the accommodating part or the tray is moved outward. moving gripper;
a distance sensor provided on the side of the housing and recognizing the distance to the table; and
a linear motor coupled to the gripper, having a linear guide, and moving the gripper left and right on the linear guide; and
The tray is positioned between the first gripper and the second gripper, and the first gripper and the second gripper are moved left and right on the linear guide to grip the tray,
The distance sensor recognizes the height of the table so that the gripper moves the tray located inside the accommodating part to the outside, or moves the tray located outside the accommodating part into the accommodating part to facilitate serving and disposing of the tray Serving robot for food serving and eating, characterized in that.
The method according to claim 1,
The housing is
Serving robot for serving and serving food, characterized in that it further comprises; a marker sensor for recognizing a marker attached to the target point to move closer to the target point.
The method according to claim 1,
The distance sensor is a serving robot for serving and eating food, characterized in that it is possible to adjust the height by moving up and down.
The method according to claim 1,
The distance sensor, by recognizing a reflector attached to the target point, a serving robot for serving and serving food, characterized in that for measuring the distance between the target point and the housing.
The method according to claim 1,
The gripper is a serving robot for serving and eating food, characterized in that three-dimensional movement is possible.
The method according to claim 1,
The receiving unit,
Serving robot for serving and serving food, characterized in that it comprises; a transparent plate that is located on the side of the accommodating part and is formed to be transparent to easily observe the inside of the accommodating part.
7. The method of claim 6,
The transparent plate is made of at least one material selected from among acrylic, glass, vinyl chloride, polystyrene and polyethylene.
The method according to claim 1,
The housing is
A plurality of cameras are provided in a downward direction from the upper edge of the housing, and a camera for recognizing an object.
The method according to claim 1,
The housing is
Serving robot for serving and serving food, characterized in that it further comprises; is formed in the lower portion of the housing, the driving unit for operating the serving robot.
The method according to claim 1,
The housing is
Serving robot for serving and serving food, characterized in that it further comprises; provided under the housing, the control unit for controlling the movement of the sensor and the serving robot.
In the serving method of the serving robot by the serving robot for food serving and eating out according to any one of claims 1 to 10,
retracting the tray into the receiving unit;
setting a target point to which the serving robot will move;
Recognizing the marker attached to the ceiling by the marker sensor and moving it closer to the target point;
calculating, by the distance sensor, a distance and an angle to a target point by recognizing a reflector attached to the table;
Checking the target point by the camera for serving;
the gripper gripping the tray located in the receiving part;
moving the gripper up and down according to the height of the table;
the gripper placing the tray on a target point; and
Serving method of a serving robot comprising a; the step of moving the gripper to the erosion location.
In the erosion method of the serving robot by the serving robot for food serving and evacuation according to any one of claims 1 to 10,
setting a target point to which the serving robot will move according to the call of the call bell;
Recognizing the marker attached to the ceiling by the marker sensor and moving it closer to the target point;
calculating, by the distance sensor, a distance and an angle to a target point by recognizing a reflector attached to the table;
checking the target point by the camera for serving or serving;
moving the gripper up and down according to the height of the table;
the gripper gripping the tray;
drawing, by the gripper, the tray into the accommodating part; and
Removal method of a serving robot comprising a; the step of moving the gripper to the evacuation location.

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