KR102592802B1 - Self-driving Delivery Method - Google Patents

Abstract

The present invention relates to a self-driving delivery method, in which a delivery robot automatically collects goods from a departure point and delivers them to a delivery destination. The present invention collects the goods separately when a delivery order is input, and without a system to recognize an invoice, collects the goods on its own through interaction with the robot arm and conveyor in the space where the goods are temporarily placed by a delivery man, and delivers the goods by traveling to the delivery destination through self-driving.

Description

Self-driving delivery method {Self-driving delivery method}

The present invention relates to an autonomous delivery method in which a delivery robot automatically collects goods from the departure point and delivers them to the delivery destination.

Recently, online product sales through e-commerce, TV home shopping, and mail order sales have been rapidly increasing.

Previously, especially when delivering within an apartment complex, delivery was done through a delivery driver. However, with recent restrictions on the movement of delivery vehicles on the ground, when a delivery driver loads goods into a carrier and delivers the goods to each household, one delivery driver is required to do so. If you are responsible for an entire apartment complex, problems such as delivery delays may arise.

To solve this problem, items to be delivered to each household are separately collected, a separate invoice recognition system is installed, and a technology to deliver goods discharged from this system to each household via a delivery robot was developed and piloted in an apartment complex. It is in operation.

However, because the sizes of goods vary, there may be goods that cannot be accommodated in the system, and when the delivery driver sequentially loads goods into the system, a problem arises in which goods cannot be stocked quickly.

For items that are additionally returned or items that need to be collected for delivery to other areas, there is a problem that it is not realistic because the costs would be quite large if each unit in an apartment complex were equipped with a system.

Therefore, there is a need for a delivery method in which the delivery robot determines the size of the product, the invoice, etc., collects the product on its own, and delivers the product to the delivery location without the above-mentioned system.

The matters described as background technology above are only for the purpose of improving understanding of the background of the present invention, and should not be taken as acknowledgment that they correspond to prior art already known to those skilled in the art.

The present invention was proposed to solve the above problem, and collects the goods separately without a system to recognize the invoice, recognizes the waybill attached to the goods, selects the optimal route to the delivery destination, and delivers the goods unmanned. It provides a new, autonomous delivery method.

According to at least one embodiment of the present invention, a moving step in which a delivery robot receives a delivery command and moves to a location where the goods are located; A size recognition step in which the delivery robot, which has arrived at the location where the product is located, recognizes the size of the product using a first camera; A waybill recognition step in which the delivery robot collects delivery address information through a waybill attached to the article using the first camera when the size of the article is recognized and determined to be a size that can accommodate the article: The delivery robot When the size of the product is recognized and the delivery address information is collected, the robot arm provided in the delivery robot is driven to bring at least a portion of the product into contact with the conveyor provided inside the delivery robot and the conveyor is driven to move the product inside. A loading step of loading goods; and a delivery step in which, when loading of the goods is completed, the delivery robot delivers the goods from the current location to the delivery location based on the delivery address information collected in the waybill recognition step.

In at least one embodiment of the present invention, the delivery robot includes a support frame; a loading portion supported by the support frame and connected to move up and down; first and second moving frames respectively connected to the support frame so as to be slidable in a first direction at a position below the loading unit to secure space for downward movement of the loading unit; At least one first electric wheel installed on the first moving frame; At least one second electric wheel installed on the second moving frame; a first steering unit that steers the first electric wheel; and a second steering unit that steers the second electric wheel independently of the first steering unit.

In at least one embodiment of the present invention, the first and second moving frames protrude from the inside of the support frame in the first direction by the first electric wheel and the second electric wheel, and the first and second moving frames protrude from the inside of the support frame in the first direction. When the first and second moving frames are protruded, the steering directions of the first steering unit and the second steering unit may be opposite to each other.

In at least one embodiment of the present invention, the loading unit includes a loading frame; Includes, the conveyor may be installed at the lower part of the loading frame, and the robot arm may be installed at the upper part of the loading frame.

In at least one embodiment of the present invention, the robot arm includes: a first arm part installed and driven on an upper part of the loading frame; a second arm part installed and driven in the first arm part; and a third arm unit installed and driven on the second arm unit, wherein at least one of an adsorption unit and a tong for adsorbing the article may be provided at an end of the third arm unit.

In at least one embodiment of the present invention, the second arm portion and the third arm portion are located on the front side of the loading frame that is open to accommodate the article when the delivery robot is moving while accommodating the article. can be located

In at least one embodiment of the present invention, the loading step includes moving the first and second moving frames in the first direction; moving the loading frame downward; When the loading frame is moved downward, bringing the article into close contact with a conveyor roller provided on the loading frame through the robot arm: and as the conveyor roller rotates, the article is moved by friction between the article and the conveyor. It includes; a step of one side being seated on the upper surface of the conveyor.

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In at least one embodiment of the present invention, the loading step includes moving the first and second moving frames in the first direction; moving the loading frame downward to match the floor height of the uppermost article among the at least two articles stacked on the ground of a space for temporarily storing articles; And when the loading frame is moved downward to match the floor height of the products stacked on the top, the conveyor is driven, and the products are pushed out through the robot arm and placed on the conveyor.

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In at least one embodiment of the present invention, the loading step further includes the step of the robot arm pushing the article placed on the conveyor inward so that the article is further accommodated inside the loading frame.

In at least one embodiment of the present invention, in the moving step, when collecting the product for return, information on the return collection location is input when receiving a collection command from the user, and the product is delivered to the delivery address. In this case, the delivery robot scans the waybill attached to the product and receives information about the delivery address.

In at least one embodiment of the present invention, the delivery command is performed through any one of a mobile terminal and an interphone.

In at least one embodiment of the present invention, the delivery robot is connected to at least one of the mobile terminal and the interphone through a wireless network, and the wireless network includes at least one of LTE and 5G.

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In at least one embodiment of the present invention, the waybill may further include return information.

In at least one embodiment of the present invention, in the delivery step, the delivery robot may deliver in a SLAM method through a second camera and lidar.

When a delivery order is received, the courier automatically collects the goods in the space where the goods are temporarily placed without a separate storage or invoice recognition system through interaction with the robot arm and conveyor, and moves autonomously to the delivery location to deliver the goods. Achieve delivery effect.

In addition, it is possible to achieve the effect of calling a delivery robot to collect goods when returning goods or sending them to another area through a mobile terminal or intercom provided in the household.

The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

1 is a diagram illustrating a delivery robot delivering goods in an autonomous delivery method according to an embodiment of the present invention.
Figure 2 is a diagram showing the first and second electric wheels of a delivery robot that delivers goods in an autonomous delivery method according to an embodiment of the present invention.
Figure 3 is a diagram showing the position of the robot arm when the delivery robot is traveling in the autonomous delivery method according to an embodiment of the present invention.
Figure 4 is a diagram illustrating a process in which a delivery robot communicates with a mobile terminal or interphone in the autonomous delivery method according to an embodiment of the present invention.
Figure 5 is a front view showing a delivery robot in close contact with a conveyor to collect a box in the autonomous delivery method according to an embodiment of the present invention.
Figure 6 is a cross-sectional view taken along line A-A of Figure 5.
Figure 7 is a front view showing one side of an item being lifted while the conveyor rotates in the autonomous delivery method according to an embodiment of the present invention.
Figure 8 is a cross-sectional view taken along line B-B of Figure 7.
Figure 9 is a front view showing an item being placed on a conveyor in an autonomous delivery method according to an embodiment of the present invention.
Figure 10 is a cross-sectional view taken along line C-C of Figure 9.

Since the present invention can be subject to various changes and can have various embodiments, specific embodiments will be illustrated and described in the drawings. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

Terms containing ordinal numbers, such as “first”, “second”, etc., may be used to describe various components, but the components are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

The term “and/or” is used to include any combination of multiple items. For example, “A and/or B” includes all three cases: “A”, “B”, and “A and B”.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

In the description of the embodiments, each layer (film), region, pattern or structure is “on” or “under” the substrate, each layer (film), region, pad or pattern. The description of being formed includes all being formed directly or through another layer. The standards for “top/top” or “bottom/bottom” are based on the figures shown in the drawings for convenience, and are only used to indicate the relative positional relationship between components for convenience, and are used to limit the positions of actual components. It should not be understood. For example, “B on top” simply indicates that B is shown on top of A in the drawing, unless otherwise stated or in cases where A must be placed on top of B due to the properties of A or B. In actual products, etc., B It may be located under A, or B and A may be placed side to side.

Additionally, the thickness or size of each layer (film), region, pattern, or structure in the drawings may be modified for clarity and convenience of explanation, and therefore does not entirely reflect the actual size.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

Hereinafter, embodiments will be described in detail with reference to the attached drawings, but identical or corresponding components will be assigned the same reference numbers regardless of reference numerals, and duplicate descriptions thereof will be omitted.

Before explaining the autonomous delivery method according to an embodiment of the present invention, the delivery robot 100 that delivers the goods 10 through the autonomous delivery method will first be described with reference to FIGS. 1 to 3.

The delivery robot 100 includes a support frame 110, a loading unit, a first moving frame 120, a second moving frame 130, a first electric wheel 140, a second electric wheel 160, and a first steering wheel. It includes a unit 200 and a second steering unit.

The support frame 110 is a frame composed of horizontal beams and vertical beams.

The loading part is supported by the support frame 110 and is connected to be movable up and down.

The first moving frame 120 and the second moving frame 130 are each connected to the support frame 110 so as to be slidable in the first direction (A) at the lower position of the loading part to secure space for downward movement of the loading part. .

The first moving frame 120 and the second moving frame 130 protrude from the inside of the support frame 110 in the first direction A by the first electric wheel 140 and the second electric wheel 150. . And, when the first moving frame 120 and the second moving frame 130 are protruded, the first steering unit 200 and the second steering unit (the first steering unit shown in FIG. 2, which is provided on the second electric wheel) The moving directions of the first wheel motor 160 and the second wheel motor 161 (same as the unit 200) may be steered to be opposite to each other.

Two first electric wheels 140 may be provided in the first moving frame 120.

Referring to FIG. 2, the first electric wheel 140 includes a first wheel bracket 170 and a first wheel support portion 180.

A first wheel motor 160 is installed in the first wheel support part. A first suspension 190 is provided between the first wheel bracket 170 and the first wheel support 180. The first suspension 190 is coupled to the inside of the first wheel bracket 170 and moves back and forth inside the first wheel bracket 170 according to the contraction of the first suspension line 190, which will be described later, and moves the first electric wheel 140. support. Through this, the first suspension 190 plays a role in alleviating shock transmitted from the ground.

The first steering unit 200 is fixed to the first moving frame 120 and rotates the first wheel bracket 170 to steer the first wheel motor 160.

Two second electric wheels 150 may be provided on the second moving frame 130.

The second electric wheel 150 includes a second wheel bracket 171 and a second wheel support portion 181, as shown in FIG. 2.

A second wheel motor 161 is installed in the second wheel support unit 181. A second suspension 191 is provided between the second wheel bracket 171 and the second wheel support 181. The second suspension 191 is coupled to the inside of the second wheel bracket 171 and moves back and forth inside the second wheel bracket 171 according to the contraction of the second suspension line 191, which will be described later, and moves the second electric wheel 150. support. Through this, the second suspension 191 serves to alleviate the shock transmitted from the ground.

The second steering unit 201 is fixed to the second moving frame 130 and rotates the second wheel bracket 171 to steer the second wheel motor 161.

The loading unit includes a loading frame 210, a conveyor 220, and a robot arm 250.

The loading frame 210 is composed of horizontal beams and vertical beams and has a rectangular parallelepiped shape.

The conveyor 220 is installed at the bottom of the loading frame 210. In this embodiment, there is one conveyor 220, but depending on the embodiment, three conveyors may be provided on the bottom of the loading frame 210 to adjust the spacing of the plurality of loaded items 10.

The robot arm 250 is installed on the loading frame 210.

The robot arm 250 includes a first arm 260 to a third arm 280 .

The first arm 260 is installed and driven on the upper part of the loading frame 210.

The second arm unit 270 is installed and driven in the first arm unit 260.

The third arm 280 is installed and driven in the second arm 270.

The first arm 260 to the third arm 280 each include a driving unit (not shown), and the driving unit may be a servo motor.

The end of the third arm 280 includes a tong 290 for holding the article 10. The clamp 290 may further include a protrusion that presses the elevator button. The protrusion may be in a fixed state as in the present invention, or depending on the embodiment, may be accommodated inside the third arm portion 280 at normal times and then protrude when the elevator button or automatic door button is pressed. In another embodiment, although not shown in the drawings, an adsorption unit that adsorbs the article 10 may be provided instead of the tongs 290.

The second arm 270 and the third arm 280 are located on the front side of the loading frame 210 as shown in FIG. 3 when the delivery robot 100 is moving while accommodating the article 10. It can be. Through this, the delivery robot 100 achieves the effect of preventing the goods 10 loaded on the loading frame 210 from falling out of the loading frame 210 when the delivery robot 100 suddenly starts while moving.

Although not shown in the drawing, the delivery robot 100 includes a communication unit (not shown) to be connected to the wireless network 320. The delivery robot 100 equipped with a communication unit is linked to a wireless network 320 as shown in FIG. 4, and the wireless network 320 includes at least one of LTE and 5G.

Next, an autonomous delivery method according to an embodiment of the present invention will be described. The self-driving delivery method includes a movement step, size recognition step, loading step, waybill recognition step, and delivery step.

The movement stage is a stage in which the delivery robot 100 moves to the location where the goods 10 are located after receiving a delivery command.

In this step, the delivery robot 100, which has received a delivery order, determines the location of the product 10 and moves, and the location of the product 10 is a space where the user temporarily loads the product 10 within the apartment complex. It may be in front of the entrance where another user leaves the item (10) when returning the item. Here, the user includes at least one of the following: a courier, a customer who requested delivery of the product to another area, and a customer who received the product and then requested a return.

The space for temporarily loading the goods 10 may be provided within an apartment complex, and any space where the delivery robot 100 can enter and collect the goods 10 may be used.

When a delivery order is given to the delivery robot 100 through a terminal provided in the space where the goods 10 are temporarily loaded or a mobile terminal 300 owned by the delivery person, the delivery robot 100 delivers the goods. Move (10) to the space where it is temporarily stored.

Another delivery order is to send goods (10) from each household to another area or leave them in front of the entrance to return the delivered goods if they are defective, and use the intercom (310) or the mobile terminal (300) of a resident living inside the apartment complex. ), when a delivery command is issued through the wired network 330 or wireless network 320, the delivery robot 100 is moved to the front door of the household where the goods 10 are located.

In the movement stage, when collecting goods for return, information on the return collection location can be input when receiving a delivery order from the user. When giving a delivery order through an app for a return, the user enters the location of the item, such as the Afit building number, and sends it to the delivery robot, and the delivery robot moves to collect the return.

When a delivery robot delivers goods brought by a courier to each household, the delivery robot scans the waybill attached to the goods loaded in the temporary loading space using a first camera (not shown) and provides information on the delivery destination, such as an apartment. When the unit number of is entered, the goods are delivered to the delivery destination based on the entered information. Although not shown, the first camera may be installed in any part of the delivery robot as long as it can recognize the delivery address information or the size of the product.

The size recognition step is a step in which the delivery robot 100, which has arrived at the location where the product 10 is located, recognizes the size of the product 10. The article 10 includes at least one of a box, a shopping bag, and a packaging plastic containing the article.

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The waybill recognition step is a step in which the delivery robot collects delivery address information through the waybill attached to the article 10 using the first camera when the size of the article is recognized and determined to be large enough to accommodate the article 10.

The waybill includes at least one of the delivery address and return information. The waybill includes address information where the goods 10 will be finally delivered. The waybill can be obtained as an address in a human-visible text format through the first camera, or it can be obtained by converting the address in the form of a barcode or QR code into a text format address.

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In the loading step, when the size of the product 10 is recognized and it is determined that the size can accommodate the product 10, the product 10 is loaded into the delivery robot 100.

The method of loading the goods 10 by the delivery robot 100 is, for example, the robot arm 250 directly picks up a box that is large enough to be picked up through the tongs 290 and places it on the conveyor 220 of the loading frame 210. A laying method may be used.

In the case of an item 10 that is too large to be picked up by the tongs 290, referring to FIG. 5, in the loading step, the first moving frame 120 and the second moving frame 130 are first moved in the first direction. Here, the first direction refers to a direction in which the first movable frame 120 and the second movable frame 130 protrude from the support frame 110 on both sides.

When the first moving frame 120 and the second moving frame 130 protrude from the support frame 110 on both sides, the loading frame 210 moves downward.

When the loading frame 210 is moved downward, as shown in FIG. 6, the article 10 is brought into close contact with the conveyor roller 240 provided on the loading frame 210 in the direction a through the robot arm 250.

When the side of the product 10 is brought into close contact with the conveyor roller 240, the conveyor roller 240 rotates in the b direction as shown in FIGS. 7 and 8, and the friction force between the conveyor belt 230 and the product 10 When one side of the article 10 is lifted from the ground and placed on the upper surface of the conveyor 220 as shown in FIGS. 9 and 10, the article 10 moves in the c direction.

In another embodiment, when goods are stacked, the loading frame 210 is not completely moved downward while the first moving frame 120 and the second moving frame 130 are protruding from the support frame 110 and the conveyor Lower the item (220) to the same height as the stacked item (10) and drive the conveyor (220) in the direction in which the item (10) moves inside the loading frame (210) to transport the item (220) through the robot arm (250). 10) is pushed toward the conveyor 220 and a part of the article 10 is seated on the conveyor 220. The article 10 may be moved through the conveyor 220 and accommodated in the loading frame 210.

The delivery stage is a stage in which the goods (10) are delivered from the current location to the delivery destination once the delivery address information is collected.

In this step, when the delivery robot 100 collects delivery address information through a waybill, it moves to the delivery location through pre-stored location information of the delivery address and route information to the location information.

The route information is, for example, first route information, which is the route from the space where the item (10) is temporarily stored to the front door of the apartment complex, or second route information, which is the route from the front door to the space where the item (10) is temporarily stored. You can. The first route information is route information when the courier delivers the goods (10) delivered to the apartment complex to each household, and the second route information is route information when each household delivers or returns items to another area. am. The method for the delivery robot 100 to check the current location and the location of the delivery destination is SLAM (Simultaneous Localization and Mapping) technology using a second camera (not shown) and LiDAR (not shown) installed on the delivery robot 100. Through this, the delivery robot 100 can perform delivery while measuring (measuring) its own location during the current time and simultaneously creating a 3D map of the surrounding environment, confirming the current location and identifying the route. The installation location of the second camera and LiDAR in the delivery robot 100 may be any location as long as it is a location where it is easy to create a 3D map of the environment around the delivery robot 100. Since the specific details of the SLAM technology mentioned above are self-evident to those with ordinary knowledge, detailed description will be omitted.

The delivery robot 100, which has scanned all information about the area where delivery will be performed through SLAM technology, includes the location information of the return collection point or delivery destination, the location information of the delivery robot 100, and the current product ( When the location information of 10) is input, the optimal route is set and moved from the current location of the delivery robot 100 through the location information of the area where the goods 10 are located, and when the goods 10 are collected, the delivery robot 100 is moved using the location information of the delivery destination. You can move by setting the optimal route to the delivery destination.

Although the above description focuses on examples, this is only an example and does not limit the present invention, and those skilled in the art will understand that the examples are as follows without departing from the essential characteristics of the present example. You will see that various variations and applications are possible. For example, each component specifically shown in the examples can be modified and implemented. And these variations and differences in application should be construed as being included in the scope of the present invention as defined in the appended claims.

10: Goods
100: Delivery robot
110: support frame
120: first moving frame
130: Second moving frame
140: First electric wheel
150: Second electric wheel
160: 1st wheel motor
161: Second wheel motor
170: first wheel bracket
171: Second wheel bracket
180: first wheel support
181: second wheel support
190: first suspension
191: second suspension
200: first steering unit
201: second steering unit
210: loading frame
220: conveyor
230: conveyor belt
240: conveyor roller
250: Robot arm
260: 1st dark part
270: Second dark part
280: Third dark part
290: tongs
291: protrusion
300: mobile terminal
310: Interphone
320: wireless network
330: Wired network

Claims (15)

A movement step in which the delivery robot receives a delivery command and moves to the location where the goods are located;
A size recognition step in which the delivery robot, which has arrived at the location where the product is located, recognizes the size of the product using a first camera;
When the size of the product is recognized and it is determined that the size can accommodate the product, the delivery robot collects delivery address information through the waybill attached to the product using the first camera: Waybill recognition step:
The delivery robot includes a support frame, and when the size of the product is recognized and the delivery address information is collected, the first and second moving frames provided in the support frame protrude on both sides to secure space inside the support frame. Accordingly, when the loading frame located on the upper part of the support frame moves downward and the conveyor provided in the loading frame is located in the lower part of the supporting frame, the robot arm provided in the delivery robot is driven to place the goods on the upper part of the conveyor. When loaded, the loading frame is moved to the upper part of the support frame, and the first and second moving frames are moved inside the support frame; and
A delivery step in which, when loading of the goods is completed, the delivery robot delivers the goods from the current location to the delivery destination based on the delivery address information collected in the waybill recognition step;
Including,
Self-driving delivery method. According to paragraph 1,
The first and second moving frames are,
At least one first electric wheel installed on the first moving frame;
At least one second electric wheel installed on the second moving frame;
a first steering unit that steers the first electric wheel; and
A second steering unit that steers the second electric wheel independently of the first steering unit.
Including,
Self-driving delivery method. According to paragraph 2,
The first and second moving frames are,
Protruding from the inside of the support frame to both sides by the first electric wheel and the second electric wheel,
When the first and second moving frames are protruded, the steering directions of the first steering unit and the second steering unit are opposite to each other,
Self-driving delivery method. According to paragraph 1,
The conveyor is installed at the lower part of the loading frame,
The robot arm is installed on the upper part of the loading frame,
Self-driving delivery method. According to paragraph 4,
The robot arm is,
a first arm unit installed and driven on an upper portion of the loading frame;
a second arm part installed and driven in the first arm part; and
a third arm part installed and driven in the second arm part;
Including,
The end of the third arm is provided with at least one of an adsorption unit and a tong for adsorbing the article,
Self-driving delivery method. According to clause 5,
The second arm portion and the third arm portion,
When the delivery robot is moving while accommodating the article, it is located on the front side of the loading frame that is open to accommodate the article,
Self-driving delivery method. According to paragraph 4,
The loading step is,
The first and second moving frames protrude on both sides and
When the loading frame is moved downward, bringing the goods into close contact with the conveyor roller provided in the loading frame through the robot arm: and
As the conveyor roller rotates, one side of the product is seated on the upper surface of the conveyor due to friction between the product and the conveyor;
Including,
Self-driving delivery method. According to paragraph 4,
The loading step is,
When the first and second moving frames protrude on both sides, the loading frame moves downward to match the floor height of the uppermost article among the articles stacked at least two or more on the ground of the space for temporarily storing articles. stage of becoming; and
When the loading frame is moved downward to match the floor height of the items stacked on the top, the conveyor is driven, pushing the items through the robot arm and seating them on the conveyor;
Including,
Self-driving delivery method. According to any one of paragraphs 7 and 8,
The loading step is,
The robot arm pushing the article placed on the conveyor inward so that the article is further accommodated inside the loading frame;
Containing more,
Self-driving delivery method. According to paragraph 1,
The waybill recognition step is,
When collecting the above items for return, information on the return collection location is entered when receiving a collection order from the user.
When delivering the product to the delivery address, the delivery robot scans the waybill attached to the product and receives information about the delivery address.
Self-driving delivery method. According to clause 10,
The above collection order is:
Performed through either a mobile terminal or an intercom,
Self-driving delivery method. According to clause 11,
The delivery robot is connected to at least one of the mobile terminal and the intercom through a wireless network,
The wireless network is,
Containing at least one of LTE and 5G,
Self-driving delivery method. delete According to paragraph 1,
The waybill,
Containing more return information,
Self-driving delivery method. According to paragraph 1,
The delivery step is,
The delivery robot delivers in SLAM method through the second camera and lidar,
Self-driving delivery method.

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