KR102486848B1 - an autonomous mobile transport service robot with protect a customer - Google Patents

Abstract

An autonomous transportation service robot of the present invention provides a transport service task at a set time, then provides a space to board the transportation service robot at night or during a reservation time or by an emergency request, and follows through an autonomous driving function or allows customers to board, thereby providing customer protection work for students, women, and the elderly people. The service robot of the present invention includes an image camera; an embedded computer; a lidar sensor; and a speaker.

Description

An autonomous mobile transport service robot with protect a customer}

The present invention relates to a transportation service robot equipped with an autonomous driving function and capable of protecting customers in addition to transportation service.

[Document 1] Republic of Korea Invention Patent No. 10-1184012 Intelligent robot for school violence prevention and child protection

[Document 2] Republic of Korea Invention Publication Patent No. 10-2021-0020585 Robot boarding system and its control method

[Document 3] Republic of Korea Invention Registration Patent 10-1779963 Performance improvement method of learning-based road environment recognizer and apparatus therefor

[Document 4] Korean Invention Patent No. 10-2201384 System and method for longitudinal response control of electric self-driving vehicle

Document 1 discloses an intelligent robot for preventing school violence and protecting children. An intelligent robot for preventing school violence and protecting children according to an embodiment of the present invention can recognize long-distance and short-distance video and voice, has a built-in voice recognition unit to carry out a conversation with a person, and has a head that can rotate left and right. ; a body coupled to a lower part of the head, displaying a plurality of contents that can be selected by a user, outputting an image or audio recognized by the head, detecting an obstacle, and discharging gas in case of emergency; a pair of arm portions provided on both sides of the body portion; a driving unit that is coupled to the lower part of the body to avoid obstacles, to prevent collisions and falls of obstacles, and to autonomously sense a charging position and move the head, body, and arm so as to be charged; and a control unit built into the rear surface of the torso and integrally controlling the head, torso, arm and driving unit.

Document 2 relates to a robot boarding system and its control method, and particularly relates to a robot boarding system and its control method that support PUI through user authentication to provide convenience to users. The present invention, a server for transmitting and receiving authentication information with the robot; A mobile that includes an app that works with a server to use a robot, reserves user information through the app, and calls a waiting robot through the app; And a robot that stores authentication information, authenticates the user through the authentication information when there is a mobile call, transforms the structure according to the user's body size included in the usage information, and moves the user to the destination by riding the user. It relates to a boarding system of a robot and a control method thereof.

Document 3 relates to a method for improving the performance of a learning-based road environment recognizer and an apparatus therefor. The method for improving the performance of a learning-based road environment recognizer includes obtaining road data and information acquisition time to generate matched data; extracting global/regional features of the road based on the matching data; detecting a current driving mode of the vehicle and transmitting the detected information to a learning-based recognition information processing unit; and determining whether an environment recognizer has learned based on the global/regional characteristics and the driving mode, and providing recognition information on the driving environment recognized by the learned environment recognizer to an intelligent vehicle. .

Document 4 is a PID automatic control system and method for electric vehicle speed control, commercial vehicle-based autonomous driving system and controller design for development of semi-autonomous driving acceleration/deceleration controller, development of driving priority decision algorithm based on V2X communication,

Self-driving navigation correction and location accuracy improvement technology development, self-driving road environment recognition technology development using cognitive sensors, driving habit improvement algorithm application plan using learning, driving habit improvement algorithm development using learning, semi-autonomous driving technology It relates to technology for developing AEB functions for applied commercial vehicles.

[Document 1] Republic of Korea Invention Patent No. 10-1184012 Intelligent robot for school violence prevention and child protection [Document 2] Republic of Korea Invention Publication Patent No. 10-2021-0020585 Robot boarding system and its control method [Document 3] Republic of Korea Invention Registration Patent 10-1779963 Performance improvement method of learning-based road environment recognizer and apparatus therefor [Document 4] Korean Invention Patent No. 10-2201384 System and method for longitudinal response control of electric self-driving vehicle

There was a problem that the transport service robot to which the autonomous driving function of the robot was applied was mainly used only during daytime hours.

When there was a disorder such as drunkenness in hospitals or nursing homes, security guards could not directly attack, so security guards were often injured, and countermeasures were needed.

In addition, transport robots are connected to customers while in operation, so additional service tasks such as occasional delivery service and customer safety management are required.

Therefore, in order to solve the above problems, the present invention recognizes a person using an image camera installed in a robot and adjusts not to interfere with a person's passage, and a transportation service equipped with a function of guiding or alerting a person through a display device or speaker. It is to provide customer goods delivery service and customer protection technology that can be implemented with the smart phone application of business service companies using autonomous driving technology of robots.

Another object of the present invention is to provide a technology related to a service robot for transportation mainly performing transportation-related service work during the daytime and protecting people during late night hours or at specific times.

And another object of the present invention is to provide a technology that allows a customer to avoid danger directly by providing a space for a person to ride in a transport service robot and applying an autonomous driving technology including a driving device.

That is, the present invention can provide a service technology that protects a person by following a person or riding a person to avoid danger using autonomous driving technology in addition to a transportation service.

According to one embodiment of the present invention, the present invention relates to an autonomous transportation service robot equipped with an embedded computer including an image camera and a GPU (Graphic Processing Unit) for fast image image processing and including a laser sensor. As such, an autonomous driving function can be performed by reading an obstacle using the image camera and determining a distance by including a laser sensor. In addition, a camera equipped with an infrared function is provided so that a person can be easily recognized.

In addition, according to the present invention, the self-driving transport service robot has a function of adopting AI software customized for each purpose depending on the case of an underground parking lot or an apartment road, a hospital, or a nursing home, so that the self-driving transport service robot can be operated according to the purpose.

In addition, when a person or an obstacle is recognized using the function of the image camera and the infrared camera, a guide sound and a warning sound may be generated and voice recognition may be performed through a microphone.

In addition, the embedded computer includes a communication unit and is connected to a smartphone application operated by the service company for customer protection, follows the customer after confirming the registered customer, and warns or warns dangerous persons through the speaker and warning light provided in the transportation service model. And the self-driving transport service robot can do the job of protecting people. The smartphone application includes a customer reservation system including customer registration and customer reservation functions so that customers can use the transport service robot.

That is, the self-driving transportation service robot of the present invention is provided with the customer reservation system using the smartphone application to provide transportation service work at a fixed time, and customer protection work for reservation customers of the weak such as students or women at night or during reservation time. can provide.

More specifically, many accidents occur because managers and security personnel of hospitals and nursing homes cannot legally directly harm people who engage in riots, such as drunken guests. Therefore, the transportation service robot of the present invention has a role of blocking dangerous people in addition to transportation work, a technology that can follow a customer or ride it out of danger, such as generating a warning light with attention and warning sound through a speaker or reporting to the police. to provide.

In addition, the self-driving transportation service robot of the present invention is provided with a driving device capable of providing a boarding space for customers and driving in an emergency situation, serving as a handle that is advantageous for customers to safely board the transportation service robot, and also providing an autonomous driving function of the robot. Together with, we can provide technology that allows customers to drive themselves and get out of danger.

In addition, the driving device enables only the direction to be changed, and the rest of the speed or stop is provided with a function to be adjusted by an autonomous driving function and a voice recognition function, so that the customer can easily drive the transport service robot to provide customer safety. can

The present invention is a technology related to a service robot for self-driving transport that applies the existing self-driving technology for road driving of an electric vehicle to suit the purpose of the robot. Customer reservation system and customer identification technology through voice recognition function or face recognition function to follow and protect customers, including customer boarding space, driving function, and self-driving function, by avoiding danger by customers It has the effect of providing customer safety.

1 is a basic embodiment diagram of the present invention
Figure 2 is an embodiment diagram explaining in detail the transportation business and customer protection business of the invention

The present invention relates to a service robot for self-driving transportation, which is mainly applied to apartments, hospitals, and nursing homes, and relates to a technology capable of protecting customers in addition to robot transportation work services. The main differences and effects of the present invention from the existing technology can be explained as follows.

1) Application of customer protection management technology by time zone: The present invention provides a transport service technology using autonomous driving technology during general daytime hours or at a fixed time, and provides a customer protection service technology that protects customers at specific times or nighttime hours. It provides customer protection technology differentiated from transportation service robots.

2) Application of emergency life protection technology: Existing self-driving life protection service robots simply applied life protection technology. It provides emergency life protection technology that enables customers to evacuate to a place they want by using it.

1 is a basic embodiment diagram of the present invention

The present invention is provided with a Lidar sensor (Light Detection And Ranging Sensor, 400) capable of measuring the distance between an image camera 200 and an obstacle,

The transport service robot 100 of the present invention includes an embedded computer 300 having an artificial intelligence software module 340 in a memory 330. Therefore, the transportation service robot 100 moves by itself through the self-driving function of the artificial intelligence software module 340 and has a service function of transporting goods by being placed in an underground parking lot of a building, a road in an apartment, a hospital or a nursing home for each purpose. provides

The embedded computer 300 includes a CPU 300, a memory 330, and a GPU (Graphic Processing Unit, 320) for processing a plurality of image images.

An artificial intelligence software module 340, which is an artificial intelligence software program capable of operating an image recognition function and an autonomous driving function in connection with this, is included.

In addition, it has an I/O (350) such as GPIO (General Purpose Input/Output), and an infrared function is included to facilitate human recognition, an image camera (200), a lidar sensor (400), a voice recognition microphone (600) The artificial intelligence software module 340 of the embedded computer 300 controls each of the peripheral devices by being connected to peripheral devices such as a speaker 700 that generates guidance or warning sounds.

The service area of the transport service robot 100 may be divided into a building underground parking lot, an apartment road, a hospital or a nursing home, and the like for each purpose.

In addition, sensor operation of the transport service robot 100 may vary according to the service area.

That is, since the vehicle is mainly operated as an obstacle in an apartment or underground parking lot, a warning message and a warning sound can be issued using the speaker 700 and the display device 360 to give attention to a moving vehicle.

Likewise, on the road in the apartment, a warning notice is displayed on the display device 360 for the vehicle, and a warning sound is generated using the speaker 700 and a warning light 800 is operated to give attention to prevent the risk of an accident with the vehicle and encounter For a person, a guide sound may be emitted through the speaker 700 to give a warning when the transportation service robot 100 passes by.

In the present invention, since the contact with the customer is more close in a hospital or nursing home, the customer's cargo transportation or customer protection can be supported through voice recognition using the microphone 600 or the customer's smartphone application connected to the service provider server 900. . In this case, using the image camera 200 and the artificial intelligence software module 340 of the embedded computer 300, the customer's face or identity registered in advance by face recognition technology or other biometrics or customer identification technology using a smartphone application After confirming, it is possible to proceed with the cargo transportation service or customer protection.

In addition, since security personnel in hospitals or nursing homes are usually legally stipulated not to actively attack drunken guests or outside intruders, there is only a passive defense and there is a high risk of injury, so the transport service robot (100 ) can serve to protect the elderly and weak by blocking drunken guests or outside intruders instead of security personnel, and since the transport service robot 100 is not seriously injured like a person, it can be a good countermeasure.

In addition, the artificial intelligence software module 340 of the transport service robot 100 recognizes the customer's voice and allows the customer to designate as a dangerous person in real time on the spot or to notify the customer of people registered as a dangerous person in advance through a smartphone application function. When attempting to inflict harm, the customer can be protected by blocking the dangerous person, and the customer can be protected by issuing a warning message on the display device 360 and issuing a warning command or sound through the speaker 800 to warn the dangerous person. .

The artificial intelligence software module 340 of the present invention is connected to the service company server 900 connected to the wireless communication network 900 mainly using the mobile phone network in addition to the regular transportation service work of the transportation service robot 100 of the present invention. A transport module 341 that is connected and mainly supported by a smartphone application to support the customer's transport business that the customer can register and reserve using the smartphone application and operate

A customer protection module 342 for protecting customers who have registered and made a reservation in the service provider server 1000 using the smartphone application is included.

In the present invention, a warning light 800 is provided to operate the warning light 800 with a warning sound using the speaker 700 at the request of a customer or an autonomous driving program in case of emergency when transporting parcels or protecting customers. This can alert the surroundings of dangerous situations.

In addition, the customer protection module 342 is divided into time zones, and a regular protection module 342A that protects people mainly at night when the operation time of the transportation module 341 is over or at a specific reservation time

It includes an emergency situation module 342B that protects customers in an emergency situation.

The emergency module 342B includes a boarding space A and a driving device 500 in which the customer can be loaded in addition to the space where the transport service robot 100 loads goods, so that the customer's service company server 900 The self-driving function of the driving device 500 and the transportation service robot 100 that can be driven in the desired direction by customers registered in advance by customer identification such as smartphone application or customer voice recognition operated in connection with Provide technology that can be used to get customers out of harm's way.

That is, the customer can hold the driver's device 500 with his or her hand so that he or she can safely board the driver's device, and the driver's device 500 can be operated only in a direction without worrying that the customer will collide with nearby facilities or obstacles in an emergency. The present invention provides a technology that allows the customer to safely and easily avoid danger by allowing the service robot 100 for transportation to operate through an autonomous driving function. And additionally, it provides technology that can adjust the speed, stop, or drive to the desired destination through the customer's voice recognition function.

And, without using the driving device 500, the transportation service robot 100 provides a technology for boarding a customer to a customer's desired destination and driving through an autonomous driving function.

Figure 2 is an embodiment diagram explaining in detail the transportation business and customer protection business of the invention,

The artificial intelligence software module 340 of the present invention includes a delivery module 341 that operates a delivery service under a more special environment while providing a delivery service in a general situation and a customer protection module 342 that protects customers.

The transportation module 341 uses the service company server 1000 to allow customers who have signed a contract with the transportation service robot 100 in advance to use the customer's smartphone application that can use the transportation service robot 100. The transport service robot 100 is called. (100S)

After the call, the transport service robot 100 responds that the transport service is possible if the customer transport service is possible. (200S)

When the answer is that the transportation service is available, the transportation service robot 100 goes to the customer using the autonomous driving function and identifies the customer through the customer's smartphone application customer confirmation signal or customer's face or voice recognition. (300S)

After the customer confirmation, the robot confirms the loading of the parcel by the customer's voice recognition or the smartphone application's parcel delivery completion signal. (400S)

When the delivery item is loaded, the delivery item is delivered to the delivery destination reserved by the customer, or the customer follows the customer using the artificial intelligence object multi-recognition function and voice recognition function using the image camera 200 to deliver the delivery item. .(500S)

Adding a voice recognition function in step 200 is often difficult to follow when a customer moves to a place with many people, so it is desirable to add a voice recognition function so that the customer can frequently check and follow.

And the customer protection module 342 is a regular protection module (342A) that can protect customers at night time other than the pre-determined transportation service business

It includes an emergency module (342B) that protects the customer by calling a smartphone application or customer voice recognition in an emergency situation of the customer.

If the regular protection module 342A is described in detail

Outside of regular transport service hours, at night or at a specific time reserved for the customer, the transport service robot 100 identifies the customer at the reserved place by recognizing the customer's face or a confirmation signal from the smartphone application. (1000S)

The customer selects whether to move while following the customer using the voice recognition function of the transport service robot 100 or whether the customer rides on the transport service robot 100 and moves. (1100S)

When the selection is completed, the transportation service robot 100 proceeds with customer protection work to the destination. (1200S)

And if the emergency situation module (342B) is described in detail

The transport service robot 100 is called by a customer's smartphone application signal or customer's voice recognition. (2000S)

After the call, the customer is identified by one or more methods of customer voice recognition, face recognition, or customer's smartphone application confirmation signal. (2100S)

The customer uses the voice recognition function of the transport service robot 100 or a smartphone application to select whether or not to protect the customer by getting on the boarding space (A) of the transport service robot 100 (2200S).

In the above step (2200S), if “No” is selected through the voice recognition function or the smartphone application, the transportation service robot 100 follows the customer and performs the task of protecting the customer. (2300S)

In the above step (2200S), if Yes is selected through the voice recognition function or the smartphone application, the customer gets on the transport service robot 100 and the customer selects whether to drive it himself. (2400S)

If No is selected in the step (2400S), the transportation service robot 100 drives the customer to a predetermined destination by autonomous driving. (2500S)

If Yes is selected in the above step (2400S), the service robot 100 for transportation continues until there is an end command from the customer using the voice recognition function that the customer's work has ended or an end signal of the smartphone application. Using this driving device (500A) and autonomous driving function, it drives directly and protects customers so that they can escape from danger. (2600S)

100 Transport service robot 200 Imaging camera
300 Embedded Computer
400 Lidar (Light Detection And Ranging) sensor
500 drive
600 Mic 700 Speaker
800 warning light
900 Wireless communication network 1000 Service company server

Claims (6)

an image camera 200; Embedded computer 300; Lidar sensor 400; In the service robot 100 for transportation equipped with an autonomous driving function including a speaker 700
A GPU 320 capable of multi-image processing is provided
In addition to the space for loading things, including the customer's boarding space (A) for customer protection service
Including a driving device 500 that allows the customer to drive and set the direction in an emergency
When using the driving device 500, only the direction in which the customer drives is set, and obstacle avoidance is executed using an autonomous driving function to easily avoid danger.
When the driving device 500 is not used, the transport service robot 100 includes an artificial intelligence software module 340 capable of protecting customers by blocking dangerous people.
delete delete delete an image camera 200; Embedded computer 300 including GPU 320; lidar sensor 400; speaker 700; multi-image image processing including boarding space A and service robot 100 for transportation equipped with autonomous driving function In the service method to protect customers
Calling the transportation service robot 100 by a smartphone application signal or customer voice recognition; (2000S)
Confirming the customer by one or more methods of customer voice recognition, face recognition, or smartphone application confirmation signal after the call; (2100S)
After confirming the customer, the customer uses the voice recognition function of the transport service robot 100 or the smart phone application to determine whether the customer gets on the transport service robot 100 and protects the boarding space (A) or not. Step of selecting; (2200S) and
If No is selected through the voice recognition function or the smartphone application in the step (2200S), the transportation service robot 100 follows the customer and protects the customer by blocking dangerous persons; (2300S)
In the step (2200S), if the customer selects Yes through the voice recognition function or the smartphone application, after the customer boards the service robot 100 for transportation, the customer selects whether to drive himself; (2400S)
If No is selected in the step (2400S), the transportation service robot 100 drives the customer to a predetermined destination by autonomous driving; (2500S) and
If Yes is selected in the above step (2400S), the service robot 100 for delivery is driven by the customer until there is an end command from the customer using the voice recognition function that the customer's work has ended or a signal to end the smartphone application. Instructing only the direction to the device 500A and protecting the customer so that the service robot 100 can escape from danger by using the self-driving function; An autonomous transport service robot including the method of (2600S).
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