KR20180031114A - Robot delivery system and control method of robot moving using the same - Google Patents

Abstract

According to the present invention, a robot cooperation system comprises: a plurality of unmanned transport robots including a first position checking means and a route search means for autonomous driving; a server including a first monitoring means to periodically check position information and state information of the robots, a command means to transmit a call command to a robot selected among the plurality of robots, and a map providing means to supply a map of a work space to the plurality of robots; and a user terminal including a second position checking means, a second monitoring means to receive the position information and the state information of the plurality of robots from the server to display the position information and the state information, and a robot call means to transmit a call request signal for calling at least one among the plurality of robots checked by the second monitoring means to the server. According to the present invention, distribution efficiency and user convenience can be greatly improved in an environment where multiple unmanned transport robots are used. Specifically, positions and states of the unmanned transport robots can be intuitively checked to conveniently select a desired robot from the point of view of a sender. From the point of view of a recipient, since whether cargo is shipped and estimated time of arrival can be known in advance, delivery delay time can be reduced to increase distribution efficiency. Also, since a sender or a recipient can be tracked to deliver an article, a speed and accuracy of distribution can be increased.

Description

Technical Field [0001] The present invention relates to a logistics delivery robot system and a movement control method of the robot using the same,

The present invention relates to a robot collaboration system using a plurality of robots. More specifically, the present invention relates to a robot collaboration system in which a user can intuitively confirm the position and state of the robot, thereby improving ease of use and improving logistics efficiency, ≪ / RTI >

In recent industrial fields, AGV (Automatic guided vehicles), conveying pipes, air shutters, self-propelled vehicles and the like are widely used as a means of transport on behalf of people.

However, since the AGV moves along guide structures such as an induction tape and a magnet, it takes a lot of cost to install these structures. If the logistics after the installation needs to be changed, additional costs are required for repositioning and reinstalling the guide structure There is a disadvantage that maintenance and management costs are high.

In addition, the transmission pipes and the aft shutters have a considerable cost for initial installation, and a large number of malfunctions due to the deterioration of the facility, which is costly for maintenance, thereby lowering overall efficiency.

In addition, since AGVs, transmission pipes, etc. are fixed in the starting point, the destination, and the moving route, it is difficult to apply them in an environment where frequent user or cargo location fluctuates.

Recently, there has been a growing interest in unmanned aerial vehicles that transport objects using autonomous navigation technology. For example, an unattended robot can be used when a hospital needs to transport blood, tissue samples, etc. safely and quickly, or when carrying heavy surgical tools. In addition, in the case of factory where the layout is changed frequently, such an unmanned carrying robot can be used as a transport means for replacing an AGV, a conveyor, and the like.

Since the automatic guided robot moves by judging the traveling route by itself, it is not necessary to provide a separate guide structure, so that the cost due to the installation and change of the guide structure can be saved, and the advantage can be used regardless of the change of the physical distribution line .

The cargo transfer method using the unmanned carrying robot is roughly as follows. For example, when the sender presses the pager, the robot directly receives the pager's signal or receives a call request signal from the management server, and then moves to the sending position. The sender loads the load to the robot and sets the destination (or recipient) do.

Then, the robot calculates the traveling route to the set destination, moves to the autonomous traveling mode along the calculated route, and waits for the next call after moving to the set standby position when the recipient receives the cargo at the destination.

However, the conventional cargo transportation system using the unmanned carrying robot has several problems as follows.

First, since the sender does not have a way to check the status of the robot (whether it is in the standby state or the position) or the position thereof, it is difficult to predict the arrival time of the robot, and therefore it is inconvenient to wait until the robot arrives.

Secondly, in the prior art, since the sending position corresponding to the identification information of the pager has been set in advance, the sender moves to the preset sending position even if the sender is at another place, There is a problem that the usability is low.

Third, since there is no way to know the fact that the recipient has shipped the cargo, the receiver frequently vacates the place when the robot arrives at the destination, which causes the delivery efficiency to deteriorate overall .

Registration No. 10-1104010 (Announcement of Jan. 20, 2012)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to improve user convenience and logistics efficiency in an environment using several unmanned transportation robots.

Specifically, the sender intuitively confirms the position and the state of the unmanned carrying robot and can easily select a desired unmanned carrying robot. Further, the object of the present invention is to enable the unmanned carrying robot to track and move the sender or the recipient so that the load can be transferred more quickly and accurately.

Also, it is aimed to prevent the delay of transportation and increase the efficiency of logistics by making it possible for the recipient to know the shipment of the cargo and the estimated time of arrival.

In order to achieve the above object, one aspect of the present invention is a robot control system comprising: a plurality of unmanned conveying robots including first position determining means for determining a position of the robot and path searching means for autonomous running; A first monitoring means for periodically checking position information and status information of the plurality of unmanned carrying robots, a command means for transmitting a paging command to a robot selected from the plurality of unmanned carrying robots, A server including map providing means provided by a carrying robot; Second monitoring means for receiving and displaying the position information and status information of the plurality of unmanned carrying robots from the server and for displaying the plurality of unmanned carrying robots, And a robot calling means for transmitting a call request signal for calling at least one of the unmanned carrying robots to the server, wherein the server receives a call request signal from the user terminal, And the selected robot moves to the position of the user terminal along the route calculated using the position information of the selected user and the position information of the user terminal And a robot collaboration system.

In the robot collaboration system according to the present invention, the user terminal includes mode selection means, wherein the mode selection means includes a manual mode in which a user selects an unmanned carrying robot to perform a mission, an unmanned carrying robot to perform a mission, Provides a user interface for selecting at least one of an automatic selection mode selected by the selected robot, a tracking mode in which the selected robot moves while tracking the sender terminal, and a tracking delivery mode in which the selected robot moves while tracking the recipient terminal, The mode information selected by the mode selecting means may be included.

According to another aspect of the present invention, there is provided a method for acquiring position information and status information of a plurality of unmanned carrying robots in a server, The user terminal receiving location information and status information of the plurality of unmanned transportation robots from the server and displaying the information on the screen; Transmitting the call request signal including the location information of the user terminal to the server; Transmitting, by the server, a paging command including location information of the user terminal to a robot selected among the plurality of unmanned transportation robots; And moving the selected robot to a position of the user terminal along a calculated path using the position information of the selected robot and the position information of the user terminal.

In the robot movement control method according to the present invention, the call request signal includes robot selection information input by the user, and the server can select the robot corresponding to the robot selection information and transmit the call command.

Also, in the robot movement control method according to the present invention, the call request signal includes the automatic selection mode information, and the server selects at least one robot according to the set reference among the plurality of unmanned transportation robots, .

Also, in the robot movement control method according to the present invention, the call request signal includes tracking mode information, the user terminal periodically transmits its position information to the server, and the server transmits a call And transmits the command to the selected robot while periodically acquiring position information of the user terminal and transmits the command to the selected robot. The selected robot can move while tracking the user terminal by resetting the path when the position of the user terminal changes have.

Also, the call request signal includes tracking delivery mode information, and the server periodically acquires position information of the recipient terminal while transmitting a call command including tracking delivery mode information to the selected robot, and transmits the position information to the selected robot , The selected robot can move while tracking the recipient terminal by resetting the path when the position of the recipient terminal changes.

Further, in the robot movement control method according to the present invention, the robot may calculate the estimated arrival time using the location information of the user and the location information of the user terminal after receiving the call command, and transmit the estimated arrival time to the user terminal.

Further, in the robot movement control method according to the present invention, when the user loads the cargo into the selected robot and inputs a start command after the selected robot arrives at the user terminal, the selected robot transmits its position information and the position of the recipient The estimated delivery time can be calculated using the information and transmitted to the recipient terminal.

According to the present invention, it is possible to greatly improve the efficiency of the logistics and the usability in an environment using several unmanned transportation robots. In particular, the sender can intuitively check the position and state of the unmanned carrying robot to select the desired robot easily. In the case of the recipient, the delivery delay time can be reduced because the user can know in advance whether the freight is to be shipped or not, This can increase the efficiency of logistics. It can also track the sender or recipient and deliver the goods, which can improve the speed and accuracy of the logistics. Also, by monitoring the status of the robot on the server, it is possible to substitute the new robot quickly when the robot in charge of the mission fails. Therefore, it is possible to increase the logistics efficiency by reducing the delay time.

1 is a schematic configuration diagram of a robot collaboration system according to an embodiment of the present invention;
2 is a block diagram of an unmanned carrying robot according to an embodiment of the present invention.
3 is a block diagram of a server according to an embodiment of the present invention;
4 is a view illustrating a monitoring screen of the server;
5 is a block diagram of a user terminal according to an embodiment of the present invention.
6 is a diagram illustrating a screen of a user terminal
FIG. 7 is a flowchart illustrating a method of calling a robot according to an embodiment of the present invention.
8A and 8B are diagrams illustrating various screens of the sender terminal
9 is a flowchart illustrating a method of calling a robot according to another embodiment of the present invention
10 is a flowchart showing a method of transmitting the delivery information to the recipient terminal
11 is a view illustrating a screen of a recipient terminal

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

Note that, in this specification, when an element is connected to, coupled with, or communicates with another element, it is understood that the element may be directly connected, coupled, or communicated with another element, Or indirectly connecting, combining, or communicating. Also, when an element directly connects, combines, or communicates with another element, it means that no other element intervenes. Also, it is to be understood that a part including or including an element does not exclude other elements, but may further include or be equipped with other elements, unless specifically stated otherwise. Further, it should be noted that the drawings attached hereto are only illustrative for easy understanding of the gist of the invention, and thus the scope of the present invention should not be limited thereby.

1, the robot collaboration system according to the embodiment of the present invention includes an autonomous traveling unmanned carrying robot 100, a server 200, a sender terminal 300a, A recipient terminal 300b, and the like. The sender terminal 300a and the recipient terminal 300b are classified according to the role of the user so they are collectively referred to as a user terminal 300. The user terminal 300 and the sender terminal 300a, , And the recipient terminal 300b.

2, the robot 100 includes a positioning unit 110, a route search unit 120, a display unit 130, an input unit 140, a storage unit 150, A driving unit 160, a driving unit 170, a control unit 180, and the like.

The position checking means 110 is means for confirming the position of the robot 100, and the position checking method is not particularly limited. As an example, based on signals transmitted from a plurality of wireless transmitters installed in the field, its position can be confirmed through a known wireless positioning technology. At this time, the radio transmitter can be selected from among well-known communication standards such as WiFi, Bluetooth, ZigBee, UWB, etc. in consideration of field size, accuracy and the like. As another example, a marker installed on a ceiling or a wall of a site may be recognized by a camera, or an RF tag may be recognized, and then a position of the marker may be determined in comparison with a map of a scene.

The route search unit 120 calculates an optimal route by using its own location and destination information when receiving a paging command from the server 200, and calculates an avoidance route when an obstacle is encountered while driving. Also, when a tracking mode or a tracking distribution mode for tracking the user terminal 300 is set, the position of the sender terminal 300a or the receiver terminal 300b is checked in real time or periodically to calculate a tracking path.

Meanwhile, the route search unit 120 may calculate the estimated time required to travel along the route after calculating the route, and may transmit the estimated time to the user terminal 300 or the server 200. For example, after receiving the call command, the route to the sender terminal 300a and the estimated arrival time can be calculated, or the route from the sender to the receiver terminal 300b and the estimated arrival time can be calculated.

The display means 130 displays the state of the robot 100 and may include a flat panel display, a 7-segment, a light emitting means such as an LED, and the like. The display means 130 may indicate the current state (mission, wait, charge, failure, etc.) of the robot 100 or display the menu for the sender to select the destination (recipient). In addition, the display means 130 may receive the map information, the position information of each robot, the status information, and the like from the monitoring means 210 of the server 200 and display the received information on the screen. The operation status of the entire robot 100 can be intuitively confirmed through the display means 130 of the robot 100.

The input means 140 may be one or more of a touch screen, a keypad, a button, and the like, as the sender inputs the recipient (destination) information or departure command, the recipient inputs the delivery completion signal, have.

The storage means 150 stores an autonomous running program including a position checking means 110 and a route searching means 120, map information received from the server 200, user information for using the logistics service, and the like.

The communication means 160 includes a wireless communication interface with the server 200, and the communication standard is not particularly limited. The communication means 160 may also include a communication interface for communicating directly or via another path with the registered user terminal 300. The communication means 160 may also include a communication interface with the positioning radio transmitter.

The driving means 170 includes a motor or the like necessary for moving the robot 100.

The control means 180 controls the overall operation of the robot 100. Particularly, in the embodiment of the present invention, the position information is periodically checked by controlling the position checking means 110, and the position information and status information (during the mission, waiting, charging, send. Upon receipt of a paging command from the server 200, the mobile terminal 100 confirms its position through the position checking means 110 and calculates the optimal route from the position of the mobile terminal 300a to the sender terminal 300a through the route searching means 120, . Also, when the sender inputs the destination (recipient), it controls to calculate and travel the optimal route from the origin to the destination (recipient) or the recipient terminal 300b.

3, the server 200 includes a monitoring means 210, a command means 220, a map providing means 230, a route search means 240, a display means 250, (260), a storage means (270), a communication means (280), a control means (290), and the like.

The monitoring means 210 receives the positional information and status information of each robot 100 so that the manager can intuitively confirm the position and state of the plurality of robots 100 operating in the field, It serves to display information. For example, as shown in Fig. 4, a map may be displayed on the screen of the display means 250 and an identification display may be made for each position where the robot 100 is identified. The identification may include the ID of the robot, status information (during mission, waiting, charging, failure, etc.), mission contents (for example, the cargo sent by A is being transferred to B). Although the state information is displayed as text in the drawings, the state information is not limited thereto, and may be displayed in different colors, symbols, and icons depending on each state.

The command means 220 serves to transmit a paging command to the robot 100 to perform a mission in response to a call request signal of the sender terminal 300a. At this time, if the call request signal includes the robot selection information, the call command is transmitted to the selected robot 100. If the robot selection information is not included, the robot 100 closest to the sender terminal 300a or the robot 100 The robot 100 is selected and a call command is transmitted.

The call command includes identification information (ID, MAC address, etc.) of the selected robot, position information of the sender, tracking mode selection information, etc., and the position information of the sender may be position information of the sender terminal 300a, Or may be position information previously stored in advance.

On the other hand, when the tracking mode is selected in the sender terminal 300a, the command means 220 transmits a paging command including the tracking mode to the selected robot 100, and then periodically checks the position information of the sender terminal 300a To the selected robot (100). Upon receipt of the tracking mode calling command, the robot 100 periodically compares the current position and the position information of the sender terminal 300a, and if necessary, moves the robot while resetting the path.

In addition, when the sender requests the tracking delivery or the tracking delivery mode is set, the command means 220 periodically confirms the position information of the recipient terminal 300b and transmit it to the robot 100 being delivered, The control unit 100 moves while reconfiguring the delivery route in case of necessity in preparation for the current route and the location information of the recipient terminal 300b.

On the other hand, when a failure occurs during execution of the mission by the sender or automatically selected by the robot 100, the command means 220 requests the sender terminal 300a to reselect or selects another robot 100 according to the set criteria The same command can be transmitted.

The map providing means 230 responds to the request of the robot 100 and / or the user terminal 300 and provides the field map in a push manner when necessary.

The path search means 240 calculates the path between the robot 100 and the sender terminal 300a and / or the recipient terminal 300b on behalf of the selected robot 100 and transmits the calculated path information to the selected robot 100 You can send it. On the other hand, if necessary, the path between the selected robot 100 and the sender terminal 300a and the estimated arrival time, or the path from the sender to the robot 100 and the recipient terminal 300b, .

In addition, the path search means 240 calculates the path between the robot 100 and the sender terminal 300a in the standby state when the sender calls the robot 100 in the automatic selection mode, The robot 100 having the shortest time may be searched.

The display means 250 displays the information of each robot 100 acquired by the monitoring means 210 so that the manager can know the information.

The input means 260 is means for the administrator to input a predetermined command, and one or more of a touch screen, a keypad, and a button may be used.

The storage means 270 stores identification information (ID, MAC address, etc.) of each robot 100 in operation, map information, user information to use the logistics service, user terminal 300 information, history information, and the like.

The communication unit 280 provides a wireless communication interface with the robot 100 and the using terminal 300. At this time, the communication standard between the robot 100 and the user terminal 300 may be different from each other or may be the same.

The control means 290 controls the overall operation of the server 200.

The user terminal 300 includes a dedicated application 310, a display means 320, an input means 330, a storage means 340, a communication means 350, a control means (not shown) 360) and the like.

The user terminal 300 is preferably a portable device such as a smart phone, a tablet PC, a handheld PC, and the like, but is not limited thereto, and may be a stand-alone computer such as a desktop computer, a notebook computer, or the like.

The dedicated application 310 includes a position checking means 312, a monitoring means 314, a mode selecting means 316, a robot calling means 318, and the like.

The location checking means 312 periodically checks the location of the user terminal 300 and transmits the location information to the server 200. The location determination method is not particularly limited. For example, based on a signal transmitted from a plurality of wireless transmitters installed in the field, the location can be confirmed through a known wireless positioning technology. At this time, the radio transmitter can be selected from among well-known communication standards such as WiFi, Bluetooth, ZigBee, UWB, etc. in consideration of field size, accuracy and the like.

If the user terminal 300 includes a mobile communication module such as a smart phone, a wireless positioning technique using a mobile communication signal of a base station or a repeater may be applied. In case of being located outdoors, a wireless positioning technique using GPS may be applied.

The monitoring means 314 receives information on the state information of the robot 100, in particular, the position, the estimated arrival time, and the estimated delivery time of the robot 100 that received the paging command from the server 200, And so on.

The mode selection means 316 provides an interface for the user to select the manual mode or the automatic selection mode. The manual mode is a mode in which the user directly selects the robot 100 to perform the task, and the automatic selection mode is a mode in which the server 200 selects the robot 100 to perform the task.

Meanwhile, the mode selection means 316 may provide an interface by which the user selects the tracking mode, and the tracking mode may include a sender tracking mode and / or a tracking delivery mode. The sender tracking mode is a mode in which the robot 100 receiving a call command from the server 200 sets a tracking of the sender terminal 300a and the tracking delivery mode is a mode in which the robot 100, 300b are traced and set to be delivered.

The robot call means 318 provides an interface for receiving a user's call command and transmitting it to the server 200. For example, when the user selects one of the plurality of robots 100 displayed on the display means 320 as illustrated in FIG. 6 after selecting the manual mode, the call request signal including the robot selection information is transmitted to the server 200 send. If the user selects the automatic selection mode, the call request signal including the automatic selection mode information is transmitted to the server 200.

Meanwhile, the user terminal 300 may provide an interface for the sender to select or input the recipient or destination. When the recipient or destination is selected or input, the robot call means 318 transmits the recipient or destination selection information to the server 200 send.

As shown in FIG. 6, the display means 320 serves to display a scene map, position information of the robot 100, state information, and the like.

The input means 330 may be provided in the form of a touch screen, a touch pad, a keypad or the like through which a user inputs a predetermined command.

The storage unit 340 stores a dedicated application, identification information (ID, MAC address, etc.) of the user terminal 300, map information, user information, and the like.

The communication means 350 includes a wireless communication interface with the server 200 and may include a wireless communication interface for communicating directly with the robot 100 or via another path. The communication means 350 may also include a communication interface with the positioning radio transmitter.

The control means 360 controls the overall operation of the user terminal 300.

Meanwhile, the components of the robot 300, the server 200, and the user terminal 300 may be implemented by hardware, software, and / or a combination thereof.

Hereinafter, a method of calling a robot in a robot collaboration system according to an embodiment of the present invention will be described.

First, FIG. 7 relates to a method in which a user selects a manual mode and calls a robot.

As described above, the robot 100 periodically confirms its position through the position checking means 110 and transmits the position information to the server 200. At this time, it is preferable to transmit the information of the status information of the user (during the mission, waiting, charging, failure, etc.) together. (ST11, ST12)

The monitoring means 210 of the server 200 updates the location information and the state information of each robot 100 and displays the map on the screen of the display means 250, the position of each robot 100, Status, and the like. (ST13)

In this state, the sender who desires to deliver the cargo executes the dedicated application 310 of the sender terminal 300a and selects the manual mode through the mode selection means 316. [

In the manual mode, the user has to directly select the robot 100. For example, as shown in FIG. 6, the robot 100 can be selected by touching the image or the icon of the robot 100 in the map displayed on the screen. Although the figure shows that the sender selects the robot 100 in the standby state, it may select the robot 100 in the mission as required.

The manner of selecting the robot 100 is not particularly limited. For example, the sender terminal 300a may display a list of all robots via the display means 320, and the sender may select a desired robot 100 from the displayed list.

The sender directly inputs the recipient or destination information (name, name, identification code, telephone number, etc.) by using the input means 330 of the sender terminal 300a after selecting the robot 100, 320). ≪ / RTI > The sender may also select a tracking mode in which the robot 100 traces and moves to the sender terminal 300a or a tracking delivery mode in which the recipient terminal 300b is traced and delivered. (ST14, ST15)

When the sender selects the robot 100 as described above, the sender terminal 300a transmits a call request signal to the server 200. [ At this time, information on robot selection information, sender information, tracking mode, tracking delivery mode, and the like should be transmitted. When the recipient or the destination information is input, the information is also transmitted together.

Meanwhile, after the dedicated application 310 is executed, the sender terminal 300a obtains its own location information and transmits it to the server 200. [ If the tracking mode is selected, it periodically acquires its own location information and transmits it to the server 200. (ST16)

The server 200 transmits a call command to the selected robot 100 after receiving the call request signal of the sender terminal 300a. The call command may include sender information, location information of the sender terminal 300a, and the like. When the recipient information is input from the sender terminal 300a, the recipient information, the information of the recipient terminal 300b, and the like may be included in the call command. In addition, when the tracking mode, the tracking delivery mode, and the like are input in the sender terminal 300a, the corresponding information may be included in the call command. (ST17)

When receiving the paging command in the waiting state, the robot 100 that has received the paging command updates its state information from the standby mode to the mission mode, and notifies the server 200 of the mode update. (ST18)

The robot 100 receiving the paging command also calculates the path using the current position of the robot 100 and the position information of the sender terminal 300a included in the paging command. (ST19)

Then, the robot 100 calculates a time to arrive at the sender using the location of the robot 100 and the location information of the sender terminal 300a, and transmits the estimated time to the sender terminal 300. [ If location information of the sender terminal 300a is not included in the call command, the server 200 can request the information. Also, when the robot 100 receiving the paging command is currently performing another task, the total time required for the robot 100 to complete the current task and the time required to move to the sender terminal 300a are all included in the estimated arrival time .

Meanwhile, the robot 100 may transmit the estimated arrival time information by using direct communication with the sender terminal 300a or using another communication path. Alternatively, when the robot 100 transmits the estimated arrival time to the server 200, the server 200 may transmit the estimated arrival time to the sender terminal 300a.

The dedicated application 310 of the sender terminal 300a can display the expected arrival time together with the current robot position and status information through the display means 320 as shown in FIG.

In the above description, the robot 100 calculates the estimated time of arrival and transmits the information to the sender terminal 300a. However, the present invention is not limited to this, and thus the robot 200 selected after the server 200 transmits the call command The estimated arrival time may be calculated using the location information of the sender terminal 300 and the location information of the sender terminal 300a and may be transmitted to the sender terminal 300a. (ST20, ST20a)

The robot 200 moves to the sender terminal 300a after calculating the path. If the call command includes the tracking mode, the location information of the sender terminal 300a is periodically received from the server 200 and compared with the calculated route. If necessary, the route is reset to the location of the sender terminal 300a Move. (ST21)

After arriving at the location of the sender terminal 300a, the robot 100 notifies the server 200 of the arrival of the arrival, and the server 200 notifies the sender terminal 300a of the arrival of the robot. Alternatively, the robot 100 may directly transmit the arrival information to the sender terminal 300a using direct communication with the sender terminal 300a or another communication path without passing through the server 200. [

Meanwhile, the robot 100 may output an arrival message through the display means 130, a speaker, or the like after arriving at the location of the sender terminal 300a. (ST22, ST22a)

When the called robot 100 arrives by this process, the sender loads the cargo into the robot 100 and inputs a start command. Then, the robot 100 calculates the delivery route using the position of the sender terminal 300a and the position information of the recipient / destination, and moves along the calculated route. The receiver / destination may be previously input when the robot 100 is called from the sender terminal 300a or may be selected by the sender using the input means 140 of the robot 100 when the load is loaded on the robot 100 Or may be stored in the robot 100 in advance. The sender may change the recipient / destination information inputted when calling the robot 100 through the input means 140 when the cargo is loaded on the robot 100.

Although not shown in the drawing, the robot 100 calculates a scheduled delivery time using the location information of the user and the destination when the user takes over the cargo from the sender, and transmits the estimated delivery time to the sender terminal 300a, Lt; / RTI > In this case as well, it is possible to transfer the data to the sender terminal 300a via the server 200, or directly through the server 200 without passing through the server 200 or via another communication path. Alternatively, the server 200 receiving the departure notification from the sender terminal 300a may calculate the scheduled delivery time using the departure position of the robot 100 and the position information of the recipient / destination, and may transmit the estimated delivery time to the sender terminal 300a .

The dedicated application 310 of the sender terminal 300a can display the current scheduled time along with the current robot position and status information through the display means 320 as shown in FIG. 8B. At this time, the location of the sender terminal 300a and the receiver terminal 300b may be displayed on the screen.

As described later, when the robot 100 starts, the robot 100 can directly transmit the delivery information including the scheduled delivery time, the sender information, and the cargo information to the recipient terminal 300b or via the server 200 It is possible. Alternatively, the server 200 receiving the start notification may notify the delivery information to the recipient terminal 300b.

Fig. 9 relates to a method in which the user selects the automatic selection mode to call the robot. Steps ST11 to ST14 and ST18 to ST22a are the same as those in Fig. 8, and therefore only the parts different from the flowchart in Fig. 8 will be described below.

That is, when the sender executes the dedicated application 310 of the sender terminal 300a and selects the automatic selection mode through the mode selection means 316, the sender terminal 300a transmits a call request signal to the server 200 . At this time, it is necessary to transmit the automatic selection mode information and the sender information together, and it is also possible to transmit the information such as the tracking mode and the tracking delivery mode according to the selection of the sender. (ST16a)

When the automatic selection mode call request signal is received from the sender terminal 300a, the command means 220 of the server 200 selects a robot which can arrive at the earliest or closest time to the sender terminal 300a among all the robots , And transmits a paging command to the selected robot (100).

The call command may include sender information, location information of the sender terminal 300a, recipient information entered by the sender, information of the recipient terminal 300b, and the like. In addition, when the tracking mode, the tracking delivery mode, and the like are input in the sender terminal 300a, the corresponding information may be included in the call command. (ST17a)

Then, steps ST18 to ST23 are performed in the same manner as described above.

In the above description, only one robot is selected in the sender terminal 300a or the server 200. However, if necessary, two or more robots 100 may be selected at a time. In this case, The movement control method is not different from that described above.

In the above description, the sender calls at least one robot among a plurality of robots to deliver the cargo. However, if the recipient is not aware of the shipment, there is a problem that the shipment is delayed due to the vacant position of the receiver and the overall logistics efficiency is deteriorated. In order to prevent such problems, it is desirable to notify the recipient of the delivery information when the sender delivers the goods.

FIG. 10 shows a method of notifying delivery information to the recipient terminal 300b.

First, when the sender loads the cargo into the robot 100 and inputs a start command, the robot 100 calculates the delivery route using the position of the sender terminal 300a and the position information of the receiver / destination. It is to be noted that the recipient / destination may have been previously inputted at the time of calling the robot 100 at the sender terminal 300a and may have been inputted directly by the sender through the input means 140 of the robot 100, same. (ST31, ST32)

Then, the robot 100 calculates a scheduled delivery time using the starting position and the position information of the recipient / destination, and transmits the delivery information including the scheduled delivery time to the recipient terminal 300b. The delivery information may include sender information, cargo information, and the like in addition to the scheduled delivery time.

The robot 100 may transmit the delivery information to the recipient terminal 300b via direct communication or another communication path without passing through the server 200 or may transmit the recipient information to the recipient terminal 300b via the server 200 have. However, even when the delivery information is transmitted without passing through the server 200, the robot 100 can notify the delivery start notification to the server 200 at the start.

Alternatively, the robot 100 may calculate the estimated time of arrival and transmit the estimated arrival time to the server 200, and the server 200 may transmit the delivery information including the estimated arrival time to the recipient terminal 300b. The server 200 may also calculate the scheduled delivery time and the server 200 may transmit the information to the robot 100, the sender terminal 300a, the recipient terminal 300b, and the like.

On the other hand, when the robot 100 or the server 200 transmits a scheduled delivery time to the recipient terminal 300b, the robot 100 or the server 200 may transmit the scheduled delivery time to the sender terminal 300a. (ST33, ST33a)

The dedicated application 310 of the recipient terminal 300b receives the delivery information and then displays the delivery information message, the scheduled delivery time, etc. together with the current robot position and status information via the display means 320 as shown in Fig. Can be displayed. At this time, the location of the sender terminal 300a and the receiver terminal 300b may be displayed on the screen. (ST34)

Meanwhile, when the tracking delivery mode is set, the robot 100 periodically receives the location information of the receiver terminal 300b from the server 200, and if necessary, moves the robot 100 while resetting the route Of course.

When the robot 100 arrives at the position of the receiver terminal 300b, the robot 100 notifies the server 200 of the arrival, and the server 200 notifies the receiver terminal 300b of the arrival of the robot. The robot 100 may notify the arrival at the recipient terminal 300b of the recipient terminal 300b via the server 200 if direct communication between the robot 100 and the recipient terminal 300b or communication via another path is possible. Further, after the robot 100 arrives, the robot 100 may output an arrival message through the display means 130, a speaker, or the like. (ST35, ST36, ST36a)

When the robot 100 arrives via the above process, it is preferable that the receiver inputs the delivery completion signal through the input means 140 of the robot 100 after taking over the cargo. When the delivery completion signal is inputted, the robot 100 transmits the delivery completion information to the server 200, and then the server 200 notifies the shipping terminal 300a of the completion of the delivery.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is to be understood that the invention is not limited to the disclosed embodiments.

100: an unmanned carrying robot 200: a server
300: user terminal 310: dedicated application
312: Position checking means 314: Monitoring means
316: Mode selection means 318: Robot calling means
320: display means 330: input means
340: storage means 350: communication means
360: control means

Claims (9)

A plurality of unmanned transportation robots including first position determination means for determining their own position and route search means for autonomous travel;
A first monitoring means for periodically checking position information and status information of the plurality of unmanned carrying robots, a command means for transmitting a paging command to a robot selected from the plurality of unmanned carrying robots, A server including map providing means provided by a carrying robot;
Second monitoring means for receiving and displaying the position information and status information of the plurality of unmanned carrying robots from the server and for displaying the plurality of unmanned carrying robots, And a robot calling means for transmitting a call request signal for calling at least one of the unmanned carrying robots to the server,
/ RTI >
The server transmits a paging command including position information of the user terminal to a robot selected from the plurality of unmanned transportation robots after receiving a paging request signal from the user terminal,
Wherein the selected robot moves to a location of the user terminal along a route calculated using its own location information and location information of the user terminal. The method according to claim 1,
Wherein the user terminal comprises mode selection means, wherein the mode selection means comprises a manual mode in which the user selects the unmanned carrying robot to perform the mission, an automatic selection mode in which the server selects the unattended carrying robot to perform the mission, A tracking mode in which the robot moves while tracking the sender terminal, and a tracking delivery mode in which the selected robot moves while tracking the recipient terminal,
Wherein the call request signal includes mode information selected by the mode selection means. Acquiring position information and status information of a plurality of unmanned carrying robots in a server;
The user terminal receiving location information and status information of the plurality of unmanned transportation robots from the server and displaying the information on the screen;
Transmitting the call request signal including the location information of the user terminal to the server;
Transmitting, by the server, a paging command including location information of the user terminal to a robot selected among the plurality of unmanned transportation robots;
Wherein the selected robot moves to a position of the user terminal along a path calculated using its own location information and location information of the user terminal
A robot movement control method The method of claim 3,
The call request signal includes robot selection information input by the user,
Wherein the server selects the robot corresponding to the robot selection information and transmits the paging command. The method of claim 3,
Wherein the call request signal includes automatic selection mode information and the server selects at least one robot according to a set reference among the plurality of unmanned transportation robots and transmits the paging instruction The method of claim 3,
The call request signal including tracking mode information,
The user terminal periodically transmits its location information to the server,
The server transmits a paging command including tracking mode information to the selected robot while periodically acquiring position information of the user terminal and transmits the position information to the selected robot,
Wherein the selected robot moves while tracing the user terminal by resetting the path when the position of the user terminal changes. The method of claim 3,
Wherein the call request signal includes tracking delivery mode information,
The server transmits a paging command including tracking delivery mode information to the selected robot while periodically acquiring position information of the receiver terminal and transmits the position information to the selected robot,
Wherein the selected robot moves while tracing the recipient terminal by resetting the path when the position of the recipient terminal is changed. The method of claim 3,
Wherein the robot calculates a scheduled arrival time using the location information of the user and the location information of the user terminal after receiving the paging command and transmits the estimated arrival time to the user terminal The method of claim 3,
When the user loads the cargo into the selected robot and inputs a start command after the selected robot arrives at the user terminal,
Wherein the selected robot calculates a scheduled delivery time using the location information of the robot and the recipient's location information, and transmits the calculated estimated time to the recipient terminal

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