KR102551538B1 - Mobile robot with easy function expansion and providing method thereof - Google Patents

Abstract

A mobile robot with easy function expansion and a method for providing the same are disclosed. A mobile robot whose function can be easily expanded according to an embodiment of the present invention includes a frame of the mobile robot, at least one tray connected to the frame on which loads can be loaded, and controlling the operation of the mobile robot. and at least one expansion terminal connected to the control unit and exposed to the outside at a predetermined position, wherein the at least one expansion terminal is connected to the at least one expansion terminal through a connecting device. It is characterized in that it is provided at the predetermined position to detect the state information of the load loaded on the tray.

Description

Mobile robot with easy function expansion and providing method thereof

The present invention relates to a mobile robot with easy function expansion and a method for providing the same, and more particularly, to a mobile robot (e.g., a serving robot) provided with an expansion terminal for power connection and data transmission/reception, and various connection devices as needed. It is about a technical idea that can improve the usability of a mobile robot by easily expanding the function of the mobile robot by enabling easy additional installation of accessories.

With the development of autonomous driving or robot technology, research on mobile robots capable of autonomous driving is being actively conducted.

For example, by serving food at a store such as a restaurant with a serving robot, it is possible to provide various services to customers while reducing workload in the store.

Serving robots drive along a set route in a store instead of humans, or recognize obstacles on the driving route, load cooked food, and serve customers.

These serving robots are mainly provided in food service establishments (hereinafter referred to as stores) to perform predetermined functions, and various requirements in the field are increasing in addition to serving simply loading and carrying food.

However, in order to add a separate function to a conventional mobile robot such as a serving robot, it is necessary to change the external and/or internal hardware of the mobile robot, which requires enormous development costs and time, so that the mobile robot can provide customized services according to various needs. is difficult to provide.

For example, in the case of the serving robot described above, it may be difficult to provide a customized service for each store because it is difficult to add other functions than a simple function of loading and serving food on a tray provided in the serving robot.

Conventionally, it is possible to change the drive unit firmware and user interface through an external engineering port or wireless connection to these mobile robots, but there is no expansion port for power supply or data exchange, so functions that require additional hardware of the mobile robot are added. There was a problem with not being able to do it.

Therefore, a technical idea is needed to diversify the functions of mobile robots by enabling users to simply and easily install/remove hardware for additional functions in mobile robots, and to provide customized services for each situation/place. do.

Patent Document 1. Korean Registered Patent (Registration No. 10-1083700, "Robot system for restaurant serving")

The problem to be solved by the present invention is to provide a technical idea that allows easy installation and / or removal of hardware or accessories for various additional functions by installing an extension terminal for power and data connection in a mobile robot. .

In the mobile robot, which is easy to expand functions according to an embodiment of the present invention for solving the technical problem, in the mobile robot, a frame of the mobile robot, at least one tray connected to the frame and capable of loading loads, It includes a controller for controlling the operation of the mobile robot, and at least one extension terminal connected to the controller and exposed to the outside at a predetermined position, wherein the mobile robot is connected through the at least one extension terminal. Depending on the connection device to be used, it may be characterized in that a function corresponding to the connection device can be added.

In addition, the at least one expansion terminal may be provided at a predetermined sensing position to detect state information of the load loaded on the tray through a connection device connected to the at least one expansion terminal. .

In addition, the at least one extension terminal may be located within a predetermined range from a contact point between the frame and the tray.

In addition, the connection device is a first type that is connected to the control unit to transmit and receive predetermined data, a second type that operates independently of the control unit, or performs communication with a predetermined external system and transmits and receives predetermined data. It may be characterized as any one of the third types.

In addition, the connection device includes a weight sensor capable of detecting weight on the tray, and the control unit is configured to detect an event in which a predetermined weight on the tray increases as a result of detection by the weight sensor or the weight sensor to detect the weight on the tray. It may be characterized in that each detects an event in which a predetermined weight on the tray decreases, and controls the mobile robot to perform a weight-based motion corresponding to the detected event.

In addition, the weight-based operation may be characterized in that the mobile robot is controlled to move to a predetermined destination.

In addition, the control unit determines that a load is loaded on the tray when an event in which a predetermined weight increases on the tray is detected, and controls the mobile robot to move toward a destination corresponding to the load, , When an event in which a predetermined weight decreases on the tray is detected, it is determined that the load loaded on the tray has been received, and the mobile robot can be controlled to move toward a predetermined waiting place.

In addition, the control unit may be characterized in that it detects that an event has occurred only when a weight change of a predetermined range or more is detected as a result of the detection of the weight sensor.

In addition, the control unit may be characterized in that the weight change range is set in advance for each type of load, and an event is detected only when a weight change corresponding to a predetermined type of load is detected as a result of detection by the weight sensor. can

In addition, the position is a position where the temperature of the load on the tray can be sensed through a temperature sensor capable of detecting the temperature, and the control unit operates a predetermined temperature based operation based on the temperature sensed through the temperature sensor. It may be characterized in that for controlling the mobile robot to perform.

In addition, the temperature-based operation is characterized in that, after the mobile robot moves to the destination corresponding to the load, predetermined guidance information is output from the mobile robot based on the temperature sensed by the temperature sensor. can do.

In addition, the mobile robot may be characterized in that it is a serving robot.

A method for providing a mobile robot with easy function expansion according to an embodiment of the present invention for solving the above technical problem is through at least one expansion terminal formed so that the mobile robot is exposed to the outside at a predetermined position of the mobile robot. Connecting with the connection device, detecting the occurrence of an event based on the output information of the connection device after the mobile robot is connected to the connection device, and detecting the occurrence of the event when the mobile robot detects the occurrence of the connection device. A step of performing an operation corresponding to the texted event may be included.

In addition, after the mobile robot is connected to the connection device, the step of detecting the occurrence of an event based on the output information of the connection device is the state information of the load loaded on the tray provided in the mobile robot through the connection device. and detecting the occurrence of the event based on the state information by detecting.

In addition, the step of detecting the occurrence of the event based on the state information by detecting the state information of the load loaded on the tray provided in the mobile robot through the connection device allows the mobile robot to detect the weight. detecting the weight on a tray connected to the frame through the connecting device therein, and detecting the occurrence of an event based on the detection result by the mobile robot, when the mobile robot detects the occurrence of the event The step of performing an operation corresponding to the detected event includes performing, by the mobile robot, a weight-based operation corresponding to the detected event, wherein the event is a case where a predetermined weight on the tray increases. An event or an event in which a predetermined weight on the tray is reduced by the weight sensor may be included.

In addition, the step of performing the weight-based operation corresponding to the detected event by the mobile robot includes moving the mobile robot to a predetermined destination, wherein the moving of the mobile robot to a predetermined destination includes the tray When an event in which a predetermined weight increases on the tray is detected, the mobile robot determines that a load is loaded on the tray and moves toward a destination corresponding to the load, or when a predetermined weight on the tray is When a decreasing event is detected, the mobile robot may determine that the load loaded on the tray has been received and move toward a predetermined waiting area.

In addition, the step of detecting the occurrence of the event based on the state information by detecting state information of the load loaded on the tray provided in the mobile robot through the connection device, wherein the mobile robot detects the connection device. A result may include detecting that the event has occurred only when a weight change of a predetermined range or more is detected.

In addition, the step of detecting the occurrence of the event based on the state information by detecting the state information of the load loaded on the tray provided in the mobile robot through the connection device, the mobile robot weighs each type of load. Setting a change range in advance, and detecting that an event has occurred only when a weight change corresponding to a predetermined type of load is detected as a result of the detection of the connection device.

In addition, the step of detecting the occurrence of the event based on the state information by detecting the state information of the load loaded on the tray provided in the mobile robot through the connection device allows the mobile robot to sense the temperature. Sensing the temperature of the load through a connection device located thereon, and detecting the occurrence of the event based on the sensing result, corresponding to the detected event when the mobile robot detects the occurrence of the event. The step of performing the operation includes performing, by the mobile robot, a predetermined temperature-based operation based on the sensed temperature, wherein the mobile robot performs a predetermined temperature-based operation based on the sensed temperature. may include moving the mobile robot to a destination corresponding to the load, and outputting predetermined guide information based on the temperature detected by the connection device by the mobile robot.

A computer program installed in the data processing device and stored in a recording medium to perform the above-described method may be provided.

According to an embodiment of the present invention, users can easily and easily install/remove hardware (connecting devices) for additional functions in mobile robots to further diversify the functions of mobile robots and provide customized services for each user There are effects that can be done.

In order to more fully understand the drawings cited in the detailed description of the present invention, a brief description of each drawing is provided.
1 shows a schematic configuration of a mobile robot whose functions can be easily expanded according to an embodiment of the present invention.
2 schematically shows a configuration diagram of an expansion terminal for adding functions to a mobile robot in which function expansion is easy according to an embodiment of the present invention.
3 shows an example of the position of an expansion terminal provided in a mobile robot that can easily expand functions according to another embodiment of the present invention.
FIG. 4 is a diagram for explaining types of connection devices connected to a mobile robot whose functions are easily expanded according to an embodiment of the present invention.
5 to 7 show an example of a case in which a weight sensor is connected to a mobile robot that can easily expand functions according to an embodiment of the present invention.
8 to 9 show an example of a case in which a temperature sensor is added to a mobile robot whose function can be easily expanded according to an embodiment of the present invention.
10 to 11 show a schematic flow of a method for providing a mobile robot with easy function expansion according to an embodiment of the present invention.

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, it should be understood that this is not intended to limit the present invention to specific embodiments, and includes all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the present invention, if it is determined that a detailed description of related known technologies may obscure the gist of the present invention, the detailed description will be omitted.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this specification, terms such as "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other It should be understood that the presence or addition of features, numbers, steps, operations, components, parts, or combinations thereof is not precluded.

1 shows a schematic configuration of a mobile robot whose functions can be easily expanded according to an embodiment of the present invention.

Referring to FIG. 1, a mobile robot (100, hereinafter referred to as a 'mobile robot') that can easily expand functions according to an embodiment of the present invention is connected to a frame 110 of the mobile robot and the frame 110. At least one tray 120 on which loads can be loaded, a control unit (not shown) for controlling the operation of the mobile robot 100, and connected to the control unit (not shown) to be exposed to the outside at a predetermined position. It may include at least one extension terminal 130 formed.

The mobile robot 100 may refer to a movable robot including a driving unit. For example, the mobile robot 100 may be a robot capable of autonomously driving along a set path including an autonomous driving function. The driving unit may include any device that may be provided to move the robot, such as a wheel, a power engine, and a wheel. Since the configuration of such a driving unit is well known, a detailed description thereof will be omitted.

The control unit may perform a function of controlling calculations and other configurations for implementing the technical concept of the present invention. The controller may include a processor, a storage device, and a program stored in the storage device and executed by the processor. Hereinafter, when the mobile robot 100 and/or the control unit perform a predetermined operation in this specification, it can be performed by a series of data processing and/or control performed by the processor executing the program of the present invention. The average expert in a technical field of .

Hereinafter, a case in which the mobile robot 100 is a serving robot serving food to customers in a store will be described as an example in the present specification, but the scope of the present invention is not necessarily limited thereto. For example, the mobile robot 100 may be implemented as a delivery robot capable of loading predetermined items and delivering them to customers or predetermined destinations while driving on outdoor routes as well as indoors such as stores, and each within a predetermined building. It may also be implemented as a robot that moves between floors and performs predetermined tasks (eg, cleaning, delivering newspapers, etc.).

Various connection devices may be connected to the at least one expansion terminal 130 as needed. For example, if there is a function that the user wants to add to the mobile robot 100, it can be used by connecting a predetermined connection device including the corresponding function to the extension terminal 130. That is, the mobile robot 100 may have functions corresponding to the corresponding connection device added according to the connection device connected through the extension terminal 130 .

The extension terminal 130 may be connected to the control unit (not shown) and/or a predetermined power supply device to receive power required for driving, and depending on the implementation example, power as well as data required to implement a predetermined function. The technical idea of the present invention may be implemented while transmitting and receiving the control unit (not shown). The expansion terminal 130 will be described with reference to FIG. 2 .

2 schematically shows a configuration diagram of an expansion terminal for adding functions to a mobile robot in which function expansion is easy according to an embodiment of the present invention.

Referring to FIG. 2 , the expansion terminal 130 according to an embodiment of the present invention may be connected to the mobile robot 100 or a control unit (not shown) of the mobile robot 100 as described above. In the drawing, there is shown a case in which one data input/output terminal is configured for data input/output, but the data input/output terminal may be configured with a plurality of lines depending on the interface type.

In addition, the extension terminal 130 may be implemented to have a waterproof/dustproof function. This may be to prevent the mobile robot 100 from generating vibration while transporting loads or causing a short circuit by splashing water or contaminants while carrying loads. In particular, when the load is food, it is highly likely that liquid such as water, soup, seasoning, etc. may splash during food serving, so it may be preferable that the terminal be implemented as a waterproof/dustproof terminal. In addition, when the expansion terminal 130 is not connected to a connection device and is not in use, a predetermined cover may be used to cover and protect the expansion terminal 130 .

According to the technical idea of the present invention, the mobile robot ( 100) may be provided at the predetermined location.

The status information may include, for example, information about the weight and/or temperature of the load.

For example, the connection device may be connected to the at least one expansion terminal 130 to sense the weight and/or temperature of the load loaded on the tray 120 . In this case, the connection device may include a weight sensor capable of detecting weight and/or a temperature sensor capable of detecting temperature. This will be described later.

Of course, in addition to the weight or temperature of the load, various information related to the load may be included in the status information as needed.

To this end, the at least one expansion terminal 130 may be preferably located within a predetermined range from the contact point 140 of each of the frame 110 and the at least one tray 120, as shown in FIG. there is. That is, the predetermined position may mean within a predetermined range from the contact point 140 of each of the frame 110 and the at least one tray 120 .

In one embodiment, the at least one extension terminal 130 may be formed to be located at the lower side of the tray 120 at each of the contact points 140 as well.

This is because the expansion terminal 130 is exposed to the outside for easy connection or disconnection of the connection device, but it is not visible to the outsiders (eg, store customers, passersby, etc.) It may be that it is not easily visible. In particular, as described above, it is preferable that the extension terminal 130 is positioned close to the tray 120 to facilitate acquisition of state information of the load loaded on the tray 120 .

Of course, the formation position of the expansion terminal 130 is not necessarily limited to the contact point 140 between the frame 110 and the tray 120 described above. For example, the formation position of the extension terminal 130 can be implemented in various positions according to the design status of the mobile robot 100 or other conditions, which is easily accessible to experts with average knowledge in the technical field to which the present invention belongs. can be inferred. An example of this is shown in FIG. 3 .

3 shows an example of the position of an expansion terminal provided in a mobile robot that can easily expand functions according to another embodiment of the present invention.

Referring to FIG. 3 , the expansion terminal 130 includes a frame 110 of the mobile robot 100, a contact point 140 of each of at least one tray 120 connected to the frame 110, and/or Alternatively, it may be installed not only at the bottom of the tray 120, but also at the uppermost tray 120 among the trays 120 as shown in the drawing, and the mobile robot (not the tray 120 of the mobile robot 100) 100) may be installed at the location of the driving unit. Alternatively, when the mobile robot 100 is equipped with a display device, the extension terminal 130 may be formed on the rear surface of the display device.

In addition to this, the expansion terminal 130 may be formed in various positions on the mobile robot 100 as needed.

For example, when the connection device is a weight sensor, at least one of the expansion terminals 130 may be provided at a suitable position to sense the contact point between the tray 120 and the frame 110 or the weight of other loads.

For example, when the connection device is a temperature sensor, at least one of the extension terminals 130 is positioned at a predetermined position (eg, the tray 120) at which the load can be photographed so that the temperature of the load loaded on the tray 120 can be measured. Each may be provided at a predetermined position of the frame 110 capable of photographing the upper portion of the tray 120).

Meanwhile, when a plurality of trays 120 are provided in the mobile robot 100, the expansion terminals 130 may also be formed at least in number corresponding to the number of the trays 120.

In this case, different functions may be added to each of the trays 120 through the expansion terminals 130 .

Meanwhile, the connection device connected through the expansion terminal 130 can be classified into various types according to functions to be added to the mobile robot 100 . An example of this is shown in FIG. 4 .

FIG. 4 is a diagram for explaining types of connection devices connected to a mobile robot whose functions are easily expanded according to an embodiment of the present invention.

Referring to FIG. 4 , the connection device according to an embodiment of the present invention is directly connected to the control unit (not shown) of the mobile robot 100 as shown in FIG. 4A to transmit/receive predetermined data. Type, as shown in FIG. 4B, a second type that operates independently of the control unit (not shown), or as shown in FIG. 4C, performs communication with a predetermined external system 200 and transmits and receives predetermined data It can be divided into a third type that Among them, in the case of the second type connection device, when connected through the expansion terminal 130, power for driving can be supplied from the control unit (not shown), but other functions of the connection device are described above. It may not be directly related to the operation of the mobile robot 100. In addition, even in the case of the third type, power can be supplied from the controller (not shown), but data or signals necessary for functions and operations can be transmitted and received through communication with the external system 200 .

Hereinafter, in the present specification, a case in which a weight sensor and/or a temperature sensor are included in the connection device will be described as an example. Of course, in addition to the described weight sensor and temperature sensor, various devices (eg, display devices, etc.), sensors, and accessories may be implemented as connection devices and connected through the extension terminal 130 .

The control unit of the mobile robot 100 may be set in advance to perform a corresponding operation for each connected device by utilizing the output information of the connected device.

For example, in a first state in which a predetermined connection device is not connected to the mobile robot 100, the controller may control the mobile robot 100 to perform a predefined operation in the first state.

Then, it can be connected to a predetermined connection device through at least one expansion terminal 130 formed to be exposed to the outside at a predetermined position of the mobile robot 100 . This state will be defined as the second state.

Then, the control unit can control the operation and function of the mobile robot 100 by further using the output information of the connection device. That is, it is possible to control an operation that could not be controlled in the first state by using the output information obtained through the connection device.

For example, the control unit detects the occurrence of an event based on output information of the connection device after being connected to the connection device, and when the occurrence of such an event is detected, the mobile robot ( 100) can be controlled. Of course, an operation corresponding to the event may be predetermined for each connected device.

The user who manages the mobile robot 100 decides that an event has occurred when a connection device outputs what kind of output information when the connection device is connected, and/or what the mobile robot 100 does when an event occurs. Whether or not to perform an operation may be defined in advance, and such information may be stored in the control unit. Of course, the user may modify the definition of the event stored in the control unit and/or information about an operation corresponding to the event.

The event may be defined in various ways.

For example, the fact that a predetermined connection device is connected to the expansion terminal 130 may itself be defined as an event.

The controller may control the mobile robot 100 to perform a different operation from before the connection device is connected, when an event of connection of the connection device occurs.

Alternatively, the controller may define an event based on output information output from the connection device after the connection device is connected. For example, when the connection device is a weight sensor, various events may be defined according to output information output from the connection device, such as when the weight changes or changes over a certain range. In the case of a temperature sensor, various events may be defined, such as when the sensed temperature changes or when the temperature falls within a certain range.

An operation performed by the mobile robot 100 according to the occurrence of each event may also be defined in various ways. An example of such an operation will be described later.

Meanwhile, different types of connection devices may be connected to the mobile robot 100 through extension terminals 130 . In this case, the connection itself to the mobile robot 100 of each of the different types of connection devices may be defined as an event.

Alternatively, output information of each of the connected devices may be used to define an event together. For example, when a first connection device (eg, a weight sensor) is connected, an event (eg, when a weight changes by more than a predetermined value) may be defined based on first output information output from the first connection device.

In this state, when the second connection device (eg, temperature sensor) is further connected to the mobile robot 100, an event may be further defined based on second output information output from the second connection device. That is, an event may be defined based on both the first output information and the second output information. For example, it may be defined that an event occurs when the weight changes by more than a predetermined value and the temperature of the load is above (or below) a predetermined temperature.

As such, even when there are a plurality of types of connection devices connected to the mobile robot 100, events may be defined in advance for each type of the plurality of connection devices, and operations according to the defined events may also be defined in advance in the control unit.

According to the technical idea of the present invention, the mobile robot 100 is not provided with complicated or expensive devices by default, but dynamically defines events and actions corresponding to the events according to a connection device or a combination of connection devices. By allowing maintenance or modification, effective function expansion and/or cost reduction may be possible.

In addition, according to the technical concept of the present invention, the connection device connected through the expansion terminal 130 may be various, but hereinafter, mainly to detect the state information of the load loaded on the tray 120 provided in the mobile robot 100 An example of a possible connection device will be mainly described.

5 to 7 show an example of a case in which a weight sensor is connected to a mobile robot that can easily expand functions according to an embodiment of the present invention.

Referring to FIG. 5 , the weight sensor 10 may be connected to a first extension terminal 131 that is any one of at least one extension terminal 130 formed in the mobile robot 100 .

If the connection device includes the weight sensor 10 as described above, it may be for detecting the weight of the load (eg, food) loaded on the tray 120 . Accordingly, in this case, the connection device may be a tray mat including the weight sensor 10 .

At this time, when the connection device is the first type described above, the control unit (not shown) can detect whether or not food, which is a load, is loaded on the tray 120 through the weight sensor 10 .

According to an embodiment of the present invention, the control unit (not shown) does not measure the exact weight of the load through the weight sensor 10, but is used to determine whether or not the load is loaded on the tray 120. The weight sensor 10 may be utilized. This may be more effective when the mobile robot 100 is implemented as a serving robot serving food in a store as described above.

To this end, the controller (not shown) may detect an event occurring on the tray 120 . The event may include, for example, an event in which a predetermined weight on the tray 120 increases and/or an event in which a predetermined weight decreases on the tray 120 .

When an event is detected as such, the controller (not shown) may control the mobile robot 100 to perform a weight-based motion corresponding to the detected event.

The weight-based motion may be various motions and functions that the mobile robot 100 can perform. For example, the weight-based operation may mean that the mobile robot 100 moves toward a predetermined destination. Of course, the weight-based operation is not necessarily limited to moving to a specific destination, and any operation that the mobile robot 100 can perform when a predetermined weight on the tray 120 increases or decreases as needed ( For example, outputting predetermined audio information, etc.) can be easily inferred by an average expert in the technical field to which the present invention belongs.

For example, the control unit (not shown) may detect an event in which a predetermined weight increases on the tray 120 as a result of the detection of the weight sensor 10 . In this case, the controller (not shown) may control the mobile robot 100 to perform a weight-based motion corresponding to an event in which the weight increases.

According to an embodiment, the controller (not shown) determines that a load is loaded on the tray 120 when detecting an event in which a weight increases, and moves the mobile robot 100 toward a destination corresponding to the load. ) can be controlled to move.

Alternatively, when an event in which the weight decreases on the tray 120 is detected, the controller (not shown) determines that the load loaded on the tray 120 has been received, and sets up a predetermined waiting area. It is also possible to control the mobile robot 100 to move towards.

Assuming that the mobile robot 100 is a serving robot serving at a store such as a restaurant, when an event of increasing weight is detected, the controller (not shown) places food to be served on the tray 120. It is determined that the food is loaded, and the mobile robot 100 can be controlled to move toward a specific table (the table where the food is ordered), which is the destination where the corresponding food is to be served. At this time, the mobile robot 100 may receive order information from an in-store POS, a prescribed ordering system, or a prescribed external system in advance, and when it is determined that food is loaded, the mobile robot 100 automatically moves to a table corresponding to the received order information. can move

In addition, the control unit (not shown) determines the weight loaded on the tray 120 when a predetermined weight on the tray 120 is reduced by the weight sensor 10 after arriving at a predetermined destination (eg, an order table). It is determined that food has been received, and the mobile robot 100 may be controlled to move toward a designated waiting area. In this case, a predetermined waiting area may be set so that the mobile robot 100 stands by when not serving. Such a waiting area may be a distribution outlet where food is cooked in the store's kitchen, or may be a separate space that does not interfere with people's traffic or the work flow of employees.

In this way, when the weight sensor 10 is connected through the extension terminal 130 to determine whether or not the load (food) is loaded on the tray 120, the store manager or employee loads the food and then the mobile robot 100 ), even if a separate operation or signal is not sent to the mobile robot 100, it can have an effect of increasing work efficiency because the mobile robot 100 can automatically serve.

Meanwhile, a criterion for the controller (not shown) to determine whether the event has occurred may be set in advance. This criterion may be the degree of change in weight when the weight is increased or decreased.

For example, the controller (not shown) may not detect an increase or decrease in a relatively light weight as an event, but may detect as an event only a change in weight within a certain range.

This is because when the mobile robot 100 is implemented as a serving robot in a store, loaded objects may be food and tableware accommodating the food, which basically has a weight above a certain level. If the control unit (not shown) detects even a minute weight change in the unit of several grams as an event, there is a risk of causing the mobile robot 100 to malfunction even if objects other than food are incorrectly loaded or contacted by passers-by. may exist.

According to an embodiment, as described above, when the mobile robot 100 can receive order information from an in-store ordering system (eg, POS, etc.), each order menu sold in the store (ie, each load type) ) to set the weight range in advance.

In this case, the control unit (not shown) receives information about an order menu to be served soon from the ordering system, and only when a weight change corresponding to the weight range of the corresponding menu is detected based on the weight range of the corresponding menu. Detecting as an event, it is possible to control the performance of the weight sensing operation of the mobile robot 100.

In this case, when weight ranges are set for each order menu, the control unit (not shown) can determine whether the food to be served currently fits the order information through weight change, thereby reducing serving errors and providing improved service. can have possible effects.

Meanwhile, a case in which a temperature sensor is included in the connection device will be described with reference to FIGS. 8 and 9 .

8 to 9 show an example of a case in which a temperature sensor is added to a mobile robot whose function can be easily expanded according to an embodiment of the present invention.

Referring to FIG. 8 , a temperature sensor 20 capable of detecting a temperature on a tray 120 provided in the mobile robot 100 may be connected to the first expansion terminal 131 .

In this way, when the connection device including the temperature sensor 20 is connected, the position of the at least one expansion terminal 130 is the temperature of the load on the tray 120 through the temperature sensor 20 can be sensed. Location may be preferred.

For example, as shown in the drawing, the first expansion terminal 131 is formed at a position as high as a predetermined height from the tray 120 on the frame 110 of the mobile robot 100, and the first expansion terminal ( The temperature sensor 20 connected to 131 may be implemented to sense the upper surface of the tray 120 .

In this way, when the temperature sensor 20 is connected to the first expansion terminal 131 of at least one expansion terminal 130, as shown in FIG. 9, when a load is loaded on the tray 120, the loaded load The temperature of may be sensed by the temperature sensor 20.

When the temperature of the load on the tray 120 is sensed in this way, the controller (not shown) can control the mobile robot 100 to perform a predetermined temperature-based operation based on the sensed temperature.

The temperature-based operation may be predetermined guide information (eg, voice information, text information, video information, etc.) that is selectively output according to the sensed temperature. It can be performed after moving to the destination corresponding to the load.

If the food loaded in the serving robot of the store is relatively hot, there is a risk of burns when the customer receives the food from the mobile robot 100, that is, the serving robot.

Therefore, when the temperature detected by the temperature sensor 20 is higher than a certain temperature, the control unit (not shown) transports (serves) the loaded goods (food) to the destination, that is, the mobile robot 100 After moving to the destination corresponding to the load, predetermined guidance information ("Please be careful because the food is hot", etc.) can be output to call the customer's attention.

The guide information may be audio information as shown in the drawing, and may be implemented as text information and/or image information when the mobile robot 100 is equipped with a display device.

If the connection device includes the weight sensor 10 and the temperature sensor 20 together, when food is loaded on the tray 120, the mobile robot 100 automatically serves, and the destination After arriving at the (order table), guidance information can be output according to the detected temperature, providing a more convenient and improved service.

In this way, the case in which the operation of the mobile robot 100 can be controlled through the connection device connected through the expansion terminal 130 may be possible when the connection device is the first type or the third type. That is, the control unit (not shown) and the connection device can directly transmit and receive data or transmit and receive data through communication with a predetermined external system to control the operation of the mobile robot 100 .

If the connecting device is of the third type, the weight sensor 10 and a predetermined paging device may be included in the connecting device. In this case, if there is a change (increase or decrease) of a certain level or more in the weight detected on the tray 120, the call function of the connection device operates, and the mobile robot 100 is remotely called, and the mobile robot 100 ) can be moved to a fixed position.

On the other hand, when the connection device includes the weight sensor 10 and is the aforementioned second type, the weight sensed by the weight sensor 10 may not be transmitted to the control unit (not shown). In this case, the connection device may output various effects according to the weight sensed by the weight sensor 10 .

For example, when the connection device includes the weight sensor 10 and the LED and is of the second type, it may not have a direct relationship with the operation of the mobile robot 100.

In this case, when a predetermined load is loaded on the tray 120, when the weight detected through the weight sensor 10 exceeds a certain weight, the LED may be turned on to indicate a warning. Accordingly, the tray 120 and/or the frame 110 of the mobile robot 100 may be damaged or the mobile robot 100 may be overturned by loading an excessive load on the tray 120 of the mobile robot 100. can prevent

10 to 11 show a schematic flow of a method for providing a mobile robot with easy function expansion according to an embodiment of the present invention.

Referring to FIG. 10, the mobile robot 100, which can easily expand functions according to an embodiment of the present invention, can detect the weight on the tray connected to the frame (s100) through the weight sensor 10 capable of detecting the weight. there is.

Further, the mobile robot 100 may detect the occurrence of an event based on the detection result (s110). In this case, the event may include an event in which a predetermined weight on the tray 120 increases or an event in which a predetermined weight decreases on the tray 120 by the weight sensor, as described above.

Thereafter, the mobile robot 100 may perform a weight-based motion corresponding to the detected event (s120).

Referring to FIG. 11 , the mobile robot 100 may sense (s200) the temperature on the tray 120 connected to the frame through the temperature sensor 20 capable of sensing the temperature.

Further, the mobile robot 100 may perform a predetermined temperature-based operation based on the sensed temperature (S210).

On the other hand, the method for providing a mobile robot with easy function expansion according to an embodiment of the present invention may be implemented in the form of computer-readable program commands and stored in a computer-readable recording medium. A control program and a target program may also be stored in a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices in which data that can be read by a computer system is stored.

Program commands recorded on the recording medium may be specially designed and configured for the present invention, or may be known and usable to those skilled in the software field.

Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, floptical disks and Hardware devices specially configured to store and execute program instructions, such as magneto-optical media and ROM, RAM, flash memory, and the like. In addition, the computer-readable recording medium is distributed in computer systems connected through a network, so that computer-readable codes can be stored and executed in a distributed manner.

Examples of program instructions include high-level language codes that can be executed by a device that electronically processes information using an interpreter, for example, a computer, as well as machine language codes generated by a compiler.

The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

The above description of the present invention is for illustrative purposes, and those skilled in the art 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, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts thereof should be construed as being included in the scope of the present invention. .

Claims (20)

In mobile robots,
a frame of the mobile robot;
At least one tray connected to the frame and capable of receiving loads;
a controller for controlling the operation of the mobile robot; and
It includes at least one expansion terminal connected to the control unit and formed to be exposed to the outside at a predetermined position,
The mobile robot,
Characterized in that it is a serving robot,
The at least one expansion terminal,
It is provided at a predetermined sensing position to detect state information of the load loaded on the tray through a connection device connected to the at least one expansion terminal,
The sensing location is
The sensing location is
Characterized in that it is located on the contact point of the frame and the tray,
The mobile robot,
A mobile robot that is easy to expand functions, characterized in that a function corresponding to the connection device can be added according to a connection device connected through the at least one extension terminal.
delete delete The method of claim 1, wherein the connection device,
One of the first type that is connected to the control unit to transmit and receive predetermined data, the second type that operates independently of the control unit, and the third type that communicates with a predetermined external system and transmits and receives predetermined data A mobile robot that is easy to expand functions, characterized in that.
The method of claim 1, wherein the connection device,
It includes a weight sensor capable of detecting weight on the tray,
The control unit,
As a result of the detection of the weight sensor, an event in which a predetermined weight increases on the tray or an event in which a predetermined weight decreases on the tray by the weight sensor is detected, respectively, and a weight-based operation corresponding to the detected event is performed. A mobile robot that is easy to expand functions, characterized in that for controlling the mobile robot to perform.
The method of claim 5, wherein the weight-based operation,
A mobile robot that is easy to expand functions, characterized in that the mobile robot is controlled to move to a predetermined destination.
The method of claim 6, wherein the control unit,
When an event in which a predetermined weight increases on the tray is detected, it is determined that a load is loaded on the tray, and the mobile robot is controlled to move toward a destination corresponding to the load,
A mobile robot with easy function expansion that determines that the load loaded on the tray has been received and controls the mobile robot to move toward a designated waiting area when an event in which a predetermined weight decreases on the tray is detected. .
The method of claim 5, wherein the control unit,
A mobile robot that is easy to expand functions, characterized in that it detects that an event has occurred only when a weight change of a predetermined range or more is detected as a result of the detection of the weight sensor.
The method of claim 5, wherein the control unit,
Function expansion is easy, characterized in that the weight change range is set in advance for each type of load, and an event is detected as occurring only when a weight change corresponding to a predetermined type of load is detected as a result of the detection of the weight sensor. robot.
The method of claim 1, wherein the sensing position,
It is a position where the temperature of the load on the tray can be sensed through a temperature sensor capable of detecting the temperature,
The control unit,
A mobile robot that is easy to expand functions, characterized in that for controlling the mobile robot to perform a predetermined temperature-based operation based on the temperature sensed through the temperature sensor.
The method of claim 10, wherein the temperature-based operation,
After the mobile robot moves to the destination corresponding to the load, based on the temperature detected by the temperature sensor, the mobile robot is controlled to output predetermined guide information. .
delete In the method of providing a mobile robot with easy function expansion,
connecting the mobile robot to a connecting device through at least one extension terminal formed to be exposed to the outside at a predetermined position of the mobile robot;
detecting an occurrence of an event based on output information of the connection device after the mobile robot is connected to the connection device; and
When the mobile robot detects the occurrence of the event, performing an operation corresponding to the detected event,
The mobile robot,
Characterized in that it is a serving robot,
The at least one expansion terminal,
It is provided at a predetermined sensing position to detect state information loaded on a tray connected to the frame of the mobile robot through a connection device connected to the at least one expansion terminal,
The sensing location is
A method for providing a mobile robot that is easy to expand functions, characterized in that it is located on the contact point of the frame and the tray.
The method of claim 13, wherein after the mobile robot is connected to the connection device, detecting the occurrence of an event based on output information of the connection device comprises:
A method for providing a mobile robot that is easy to expand functions, comprising detecting state information of a load loaded on a tray of the mobile robot through the connection device and detecting the occurrence of the event based on the state information.
The method of claim 14, wherein the step of detecting the occurrence of the event based on the state information by detecting state information of a load loaded on a tray of the mobile robot through the connection device,
The mobile robot detects the weight on the tray connected to the frame through the connection device capable of detecting the weight, and the mobile robot detects the occurrence of an event based on the detection result,
The step of performing an operation corresponding to the detected event when the mobile robot detects the occurrence of the event,
Performing, by the mobile robot, a weight-based motion corresponding to the detected event;
The event,
A method for providing a mobile robot with easy functional expansion, including an event in which a predetermined weight on the tray increases or an event in which a predetermined weight decreases on the tray by a weight sensor.
The method of claim 15, wherein the step of the mobile robot performing a weight-based motion corresponding to the detected event,
Including the step of moving the mobile robot to a predetermined destination,
The step of moving the mobile robot to a predetermined destination,
When an event in which a predetermined weight increases on the tray is detected, the mobile robot determining that a load is loaded on the tray and moving toward a destination corresponding to the load; or
When an event of a predetermined weight reduction on the tray is detected, the mobile robot determines that the load loaded on the tray has been received and moves toward a predetermined waiting area. How to provide a mobile robot.
The method of claim 15, wherein the step of detecting the occurrence of the event based on the state information by detecting state information of a load loaded on a tray of the mobile robot through the connection device,
and detecting, by the mobile robot, that the event has occurred only when a change in weight within a predetermined range is detected as a result of the detection of the connecting device.
The method of claim 15, wherein the step of detecting the occurrence of the event based on the state information by detecting state information of a load loaded on a tray of the mobile robot through the connection device,
Functional expansion including the step of allowing the mobile robot to set a weight change range for each type of load in advance and detecting that an event has occurred only when a weight change corresponding to a predetermined type of load is detected as a result of the detection of the connection device A method for providing this easy mobile robot.
The method of claim 14, wherein the step of detecting the occurrence of the event based on the state information by detecting state information of a load loaded on a tray of the mobile robot through the connection device,
Sensing the temperature of the load through a connection device capable of sensing the temperature of the mobile robot and detecting the occurrence of the event based on the sensing result,
The step of performing an operation corresponding to the detected event when the mobile robot detects the occurrence of the event,
Including the step of the mobile robot performing a predetermined temperature-based operation based on the sensed temperature,
The step of the mobile robot performing a predetermined temperature-based operation based on the sensed temperature,
moving the mobile robot to a destination corresponding to the load; and
A method for providing a mobile robot with easy function expansion comprising the step of outputting, by the mobile robot, predetermined guide information based on the temperature sensed by the connection device.
A computer program installed in a data processing device and stored in a recording medium to perform the method according to any one of claims 13 to 19.

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