KR20200013135A - Unmanned Transport System Using Autonomous Delivery Robot And Method of Transport Using Unmanned Transport System - Google Patents

Abstract

The present invention relates to an unmanned delivery system and a delivery method using the same, comprising: at least one delivery robot which delivers a product; and a delivery management server which communicates with the delivery robot based on the delivery information of the product and manages a delivery process. The delivery management server determines the number of inputs of the delivery robot required for the delivery and sets a delivery route of the inputted delivery robot.

Description

Unmanned delivery system using delivery robot and delivery method using same {Unmanned Transport System Using Autonomous Delivery Robot And Method of Transport Using Unmanned Transport System}

The present disclosure relates to an unmanned delivery system using a delivery robot and a delivery method using the unmanned delivery system.

In general, the courier service is a service that receives a request for the delivery of goods or documents by the sender, and delivers the goods or documents and the recipient information to be delivered by the sender, and then delivers them to the recipient's home.

The delivery process of the goods carried out by such a courier service is to first collect all the courier items requested for shipment to the head office, and then send the courier items to each local office by categorizing them by the recipient. The goods are delivered to the addressee's address by car or the like.

However, in the case of the delivery process, in the absence of the addressee or the surrogate, the delivery of the goods can be completed through surrogate receipt such as contacting the addressee and leaving the goods in a neighbor's house or security office. If it is difficult to receive it, it will return to the local office and then contact the recipient and return to the destination to deliver the goods.

However, in the case of direct delivery of goods using human resources, there is a large waste of time and money, and there is a risk of information leakage. In particular, as the courier service has recently become more common, excessive work load of courier employees is a problem.

One aspect of the present invention is to provide an unmanned delivery system that can safely deliver the goods to the delivery destination even in the absence of the recipient.

One aspect of the present invention is to provide a delivery method using an unmanned delivery system that can be prevented from being damaged due to impact on the goods during loading / unloading or delivery process by the delivery robot of the unmanned delivery system.

The unmanned delivery system according to an embodiment of the present invention includes at least one delivery robot for delivering the goods, and a delivery management server for communicating with the delivery robot and managing a delivery process based on the delivery information of the goods, The delivery management server determines the number of inputs of the delivery robot required for the delivery and sets a delivery route of the delivery robot to be input.

According to an embodiment of the present invention, the delivery robot, the first sensing unit for photographing the article to generate a first image signal and the second sensing for photographing the surrounding situation of the delivery path to generate a second image signal A communication control unit for transmitting the at least one of a sensor unit including a unit and the image signals received from the sensor unit to the delivery management server, and receiving a command signal calculated from the delivery management server to control the delivery robot. It may include.

According to an embodiment of the present invention, the communication control unit, the delivery robot using a communication unit for transmitting and receiving a signal with the delivery management server and the command signal and the image signals received from the communication unit and the sensor unit, respectively It may include a control unit for controlling.

According to an embodiment of the present invention, the delivery robot is provided with a main body portion, a pair of manipulator portions provided at both sides of the main body portion and unloading the article, and provided on one side of the main body portion and loaded by the manipulator portion. The apparatus may further include a support part on which the article is mounted and a driving part provided below the main body part to move the main body part, and the manipulator part and the running part may be controlled according to the command signal.

According to an embodiment of the present invention, the support portion may protrude perpendicularly to one side of the main body portion and extend in the width direction of the main body portion.

According to an embodiment of the present invention, a lower driving portion may be provided with an auxiliary driving portion supporting the supporting portion with respect to the ground and assisting the movement of the driving portion.

According to an embodiment of the present invention, the manipulator portion includes an arm portion connected to both side portions of the main body portion and a grip portion connected to free ends of the arm portion and holding the article, and the arm portion includes the command signal. The grip can be moved to the gripping position of the article.

According to an embodiment of the present invention, the grip part includes a first grip part having a '-' shape and a second grip part for holding the article by a vacuum suction method so as to surround one side edge of the article having a hexahedron shape. The first grip part and the second grip part may selectively grip the article according to the shape of the article determined based on the first image signal.

According to one embodiment of the present invention, the arm portion is made of a multi-joint structure to move the grip portion to the holding position of the article, it may be a flexible structure.

According to an embodiment of the present disclosure, the driving unit may move by avoiding obstacles existing on the delivery route based on the second image signal.

According to an embodiment of the present invention, the delivery robot may include a first delivery robot to an Nth delivery robot (N is a natural number of two or more), which is input to cooperatively deliver the article.

According to an embodiment of the present invention, each of the delivery robots may include a GPS unit for receiving location information and a sharing communication unit for sharing the location information with another delivery robot.

According to one embodiment of the invention, the delivery management server, based on the location information of each delivery robot, it is possible to calculate the relative position between the delivery robots so that N delivery robots can cooperatively deliver.

On the other hand, another embodiment of the present invention, a delivery method using an unmanned delivery system including at least one or more delivery robot for delivering goods and a delivery management server for communicating with the delivery robot and managing the delivery process, (a) Determining, by the delivery management server, the delivery information of the article; (b) determining, by the delivery management server, whether cooperative delivery between delivery robots is performed based on the delivery information, and (c) the delivery according to the determination result. The management server may determine the number of input of the delivery robot, and (d) The delivery management server may include the step of setting the delivery path of the delivery robot is injected.

According to an embodiment of the present invention, the step (c) may further include a step of additionally determining whether or not an auxiliary vehicle for assisting the delivery of the delivery robot is added when the number of the delivery robots is one. Can be.

According to an embodiment of the present invention, when the number of inputs of the delivery robot in the step (c) is N (N is a natural number of 2 or more), after the step (d), the delivery management server is added to the delivery robot Based on each location information, the relative positions between the delivery robots can be calculated so that N delivery robots can cooperatively deliver.

According to an embodiment of the present invention, the step (d), the delivery management server may reset the delivery route using the information received from the delivery robot is injected.

According to an embodiment of the present invention, the delivery robot is provided with a main body, a pair of manipulators provided on both sides of the main body and unloading the article, protrude perpendicular to one side of the main body, and the manipulator. And a traveling part provided below the main body part to which the article loaded thereon is seated and a moving part for moving the main body part, wherein each of the manipulator parts includes an arm part connected to both sides of the main body part, and a free end of the arm part. A grip portion of a '-' shape connected to the gripper to hold the article, and the arm portion may move the grip portion to a grip position of the article.

According to an embodiment of the present invention, after the step (d), (e1) the delivery robot, the center of the horizontal, vertical, height of the article having a hexahedron shape as the origin, the horizontal, vertical, height Setting coordinate systems having x, y, and z axes in parallel to each other; (e2) each of the grip parts is moved to a grip position calculated based on the coordinate system to grip an edge of the article, The method may further include the step of (e3) putting the article seated on the support to the delivery destination.

Another embodiment of the present invention relates to a delivery robot for delivering an article, wherein the delivery robot includes a main body, a pair of manipulators provided at both sides of the main body, and a side of the main body, for unloading the article. It is provided in the structure is provided in the support portion is mounted to the article loaded by the manipulator portion, the traveling portion provided in the lower portion of the main body portion and the control unit for controlling the operation of the manipulator portion and the running portion.

According to an embodiment of the present invention, the manipulator portion includes an arm portion connected to both side portions of the main body portion, and a grip portion connected to a free end of the arm portion and holding the article, wherein the arm portion includes the grip portion. It may have a multi-joint structure and moveable structure to move the grip to the gripping position of the article, the arm portion may be controlled by the control unit to move the grip to the gripping position of the article.

According to an embodiment of the present invention, the grip part includes a first grip part having a '-' shape and a second grip part for holding the article by a vacuum suction method so as to surround one side edge of the article having a hexahedron shape. In addition, any one of the first grip part and the second grip part may be controlled to selectively grip the article by the controller.

According to an embodiment of the present invention, the delivery management server determines and determines the number of delivery robots based on the shape and / or weight of the goods, and when a plurality of delivery robots are input, delivery through cooperation between the delivery robots By doing this, it is possible to provide an unmanned delivery system that can be operated with a minimum of manpower.

According to an embodiment of the present invention, the grip portion of the delivery robot, the first grip portion for holding a cube-shaped article, and the agent that can be vacuum-adsorbed gripping an amorphous article having a light weight that does not require high adsorption force Consists of two grips to increase the efficiency of delivery by selectively holding the goods according to the appearance and weight of the goods.

1 and 2 is a block diagram schematically showing the configuration of an unmanned delivery system according to an embodiment of the present invention.
3 is a perspective view of a delivery robot according to an embodiment of the present invention.
Figure 4 is a block diagram schematically showing the configuration of an unmanned delivery system according to another embodiment of the present invention.
5 is a flow chart of a delivery method using an unmanned delivery system according to an embodiment of the present invention.
6 is a flowchart illustrating a method for loading goods in a delivery method using an unmanned delivery system according to an exemplary embodiment of the present invention.
7 to 11 are schematic views of the loading process of the article in one embodiment of the present invention.
12 is a flowchart illustrating a method of getting off an article in a delivery method using an unmanned delivery system according to an exemplary embodiment of the present invention.
13 to 16 is a schematic view of the unloading process of the article according to an embodiment of the present invention.
17 to 21 are schematic views of the loading process of the article according to another embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted to clearly describe the present invention, and like reference numerals designate like elements throughout the specification.

Throughout the specification, when a part is "connected" to another part, this includes not only "directly connected" but also "indirectly connected" with another member in between.

In addition, when a part is said to "include" a certain component, this means that it may further include other components, except to exclude other components unless otherwise stated.

Hereinafter, with reference to the drawings for explaining the unmanned delivery system according to an embodiment of the present invention will be described for the present invention.

1 and 2 is a block diagram schematically showing the configuration of an unmanned delivery system according to an embodiment of the present invention.

1 and 2, the unmanned delivery system according to an embodiment of the present invention, at least one delivery robot 100 for performing the delivery of the goods, and sending and receiving signals to and from the delivery robot 100 It may include a delivery management server 1000 for managing.

The delivery management server 1000 may receive delivery information such as a delivery destination, a volume or a weight of the article, etc. from the sender for the delivery of the article.

Therefore, the delivery management server 1000 determines whether delivery is necessary through collaboration between delivery robots 100 of N units (N is a natural number of 2 or more) based on the above information, and delivers it according to the determination result. The number of inputs of the robot 100 may be determined, and an optimal delivery path may be set according to the delivery robot 100 that is injected.

The delivery management server 1000 may reset the preset delivery route based on the information received from the delivery robot 100 while continuously communicating with the delivery robot 100 that is inputted, and the delivery robot 100 may By performing the delivery according to the reset delivery route, it is possible to manage the overall process of delivery.

3 is a perspective view of a delivery robot according to an embodiment of the present invention.

Referring to FIG. 3 together with FIG. 2, the delivery robot 100 may have a structure including a main body unit 110, a manipulator unit 120, a support unit 130, and a driving unit 140. It may further include a sensor unit 500 and a communication control unit 600 for controlling the operation of the delivery robot 100.

First, the sensor unit 500 is provided on the upper end of the main body unit 110 as a sensing device for obtaining external information of the delivery robot 100, the first sensing unit 510 and the second sensing unit 520 It may include.

The first sensing unit 510 photographs the object 10 to be delivered to determine the shape of the article 10, a state in which the article 10 is placed, and generates a first image signal 511. can do. The first sensing unit 510 may transmit the generated first image signal 511 to the communication controller 600. The first sensing unit 510 is a sensing device required during the unloading process by the delivery robot 100.

The second sensing unit 520 recognizes information on obstacles that may occur during the movement of the delivery robot 100 by photographing the surrounding external environment of the delivery route, and generates a second image signal 521 therefor. can do. The second sensing unit 520 may transmit the generated second image signal 521 to the communication controller 600.

The second sensing unit 520 is a sensing device necessary to prevent a collision with an obstacle that may occur during the movement of the delivery robot, for example, a collision between the delivery robot and a person or a vehicle.

The communication controller 600 receives image signals 511 and 521 from the first sensing unit 510 and the second sensing unit 520, and manages the delivery of the received image signals 511 and 521. It may transmit to the server 1000. In addition, the communication control unit 600 may receive a command signal calculated from the delivery management server 1000 and control the delivery robot 100 accordingly.

That is, the communication control unit 600, the communication unit 610 that communicates with the delivery management server 1000 and the command signal of the delivery management server 1000 received through the communication unit 610 and the It may include a control unit 620 for controlling the delivery robot 100 by using the image signals 511, 521 received from the sensor unit 500.

The control unit 620 may control the manipulator unit 120 and the driving unit 140, which are components of the delivery robot 100.

Referring to FIG. 3, the manipulator part 120 may be provided as a pair at both sides of the main body part 110 to perform a loading and unloading function of loading or unloading the article 10.

The manipulator part 120 may have a structure including an arm part 121 connected to both sides of the main body part 110, and a grip part 125 connected to a free end of the arm part 121. . First, the arm portion 121 is configured to perform the robot arm function of the delivery robot 100, so as to move the grip portion 125 to the gripping position (X) of the article, is made of a multi-joint structure It can be made of a flexible structure for length adjustment.

The grip part 125 is configured to perform a robot hand function of the delivery robot 100, and may be formed in a structure in which a grip method may be selected according to a weight, a shape, or a volume of the goods 10 to be delivered. In the field of logistics delivery, a grip method by vacuum adsorption is widely used to grasp atypical articles having various shapes.

Such a suction grip method can be gripped by applying a high adsorption force when the weight or volume of the article is large, but requires additional equipment such as a compressor in the process of generating the adsorption force, and the article may be damaged during the loading or unloading process. There may be problems.

That is, the grip method by vacuum adsorption alone has safety problems such as excessive energy usage and maintenance costs in the process of loading / unloading, and damage of articles during loading, unloading or delivery.

In order to solve this problem, the grip part 125 may include a first grip part 126 and a second grip part 127 that can be selectively gripped according to the weight, shape, or volume of the article 10. The first grip part 126 is rotatably connected to the free end of the arm part 121 and may be formed in a '-' shape so as to surround one side of an edge of the article 10 having a hexahedral shape. .

In one specific example, the first grip portion 125 is moved by the arm portion 121 to the gripping position (X) of the article 10 to pass around the edge of the article 10 of the passive gripber ( Because it is made of a passive gripper) structure, a separate driving device for operating the first grip part 125 is not required, thereby reducing unnecessary use of energy.

The second grip part 127 may be provided on an upper side of the first grip part 126 to vacuum-suck and hold an amorphous article 10 ′ having an irregular shape or shape.

Accordingly, the grip unit 125 may determine the shape of the article 10 based on the first image signal 511, and the article 10 having an outer hexahedral structure may be formed using the first grip unit 126. Amorphous article 10 ′ having a light weight that does not require high adsorption force and whose appearance is not constant may be gripped by vacuum suction with the second grip portion 127.

As such, the structure of selectively holding the article according to the appearance or weight of the article increases the energy efficiency of the delivery robot and ensures safety such as damage to the article during the delivery process.

On the other hand, the lower portion of the main body 110 may be provided with a pair of traveling unit 140 for moving the main body 110. The driving unit 140 may be controlled by the control unit 620 to move to avoid an obstacle existing on a delivery route according to the command signal calculated based on the second image signal 521. .

The support 130 may be provided at one side of the main body 110 to perform a support function on which the article 10 loaded by the manipulator 120 is seated. The support 130 may protrude vertically from one side of the main body 110 facing the article 10 to extend in the width direction of the main body 110.

An auxiliary driving unit 141 may be provided below the supporting unit 130 to support the supporting unit 130 with respect to the ground and to assist the movement of the driving unit 140.

Figure 4 is a block diagram schematically showing the configuration of an unmanned delivery system according to another embodiment of the present invention.

The delivery robot 100 may include a plurality of delivery robots 100A, 100B, and 100C that are input to cooperatively deliver the article 10. Accordingly, the delivery management server 1000, the delivery robots so that a plurality of delivery robots (100A, 100B, 100C) can cooperate to ship based on the location information of each delivery robot (100A, 100B, 100C). The relative position between (100A, 100B, 100C) can be calculated.

To this end, the delivery robot (100A, 100B, 100C), each of the GPS unit for receiving the location information and sharing for sharing the location information received from the GPS unit with another delivery robot (100A, 100B, 100C) It may include a communication unit.

On the other hand, Figure 5 is a flow chart of a delivery method using an unmanned delivery system according to an embodiment of the present invention.

Referring to Figure 5, the delivery method using the unmanned delivery system according to an embodiment of the present invention, the step of confirming the delivery information of the goods (S10), determining whether the cooperative delivery between the delivery robot (S20), the delivery of the robot It may include the input number determination step (S30), the delivery route setting step (S40).

The delivery information confirmation step (S10) of the goods, the delivery management server 1000 is a step of receiving the delivery information about the delivery destination, the volume or weight of the goods from the shipper for the delivery of the goods to be delivered, and confirms this .

In the step S20 of cooperative delivery between the delivery robots, whether the delivery management server 1000 requires cooperative delivery between a plurality of delivery robots 100A, 100B, and 100C based on the above delivery information. Determining the steps.

The delivery robot input number determination step (S30) is a step in which the delivery management server 1000 determines the input number of the delivery robot 100 required for delivery, according to the determination result of the cooperative delivery as described above.

The delivery route setting step (S40) is a step in which the delivery management server 1000 sets an optimal delivery route of a delivery robot that is input for efficient delivery.

In the step of determining the number of delivery robots input according to an embodiment of the present invention (S30), when the number of inputs of the delivery robot 100 is determined as one, of the auxiliary transport means to assist the delivery of the delivery robot 100 Additional inputs can be determined. Considering the shape or weight of the article, it is possible to deliver only one delivery robot, but if there are a plurality of such articles, the input of the auxiliary transport means can increase the efficiency of delivery.

In the step of determining the number of delivery robots input according to an embodiment of the present invention (S30), when two or more delivery robots 100 are input, the delivery management server after the delivery route of the delivery robot 100 is set 1000 may calculate a relative position between the delivery robots.

The delivery management server 1000 calculates a relative position between the delivery robots 100A, 100B, and 100C, wherein the location information of the delivery robot 100A and another delivery robot 100B and 100C that are put into the delivery are mutually mutual. This is to enable cooperation between the delivery robots 100A, 100B, and 100C in the process of unloading the goods while being shared between them.

In the delivery route setting step (S40) according to an embodiment of the present invention, the delivery management server may reset the delivery route using the information received from the delivery robot 100 put into the delivery.

The resetting of the delivery path is to cope with an unexpected failure in the process of delivering along the path set based on the delivery information input to the delivery management server 1000 at the start of delivery.

Since items containing contents are generally shipped in a box of a hexahedron shape, a process of loading and unloading an article having a hexahedron shape will be described.

First, Figure 6 is a flow chart of the method of loading the goods in the delivery method using the unmanned delivery system according to an embodiment of the present invention.

Referring to Figure 6, the loading of the article, the step of calculating the grip position of the article (S100), the step of moving the first grip portion to the gripping position (S200), loading the article on the delivery robot using the grip portion It may be made through the step (S300).

7 to 11 is a schematic view of the loading process of the article according to an embodiment of the present invention.

First, referring to FIG. 7, the gripping position calculation step (S100) of the article may be set. The delivery robot 100 may set a coordinate system on the article 10 having a hexahedron shape. The delivery robot 100 sets the center of the horizontal, vertical, and height of the article 10 as an origin, and sets a coordinate system having x, y, and z axes in directions parallel to the horizontal, vertical, and height, respectively. Can be.

Based on the coordinate system, the x-y plane of the coordinate space is parallel to the ground, and the x-z plane and the y-z plane are orthogonal to the ground.

A plane facing the delivery robot 100 among the x-z planes is called a first surface 11 and a surface facing the first surface 11 is called a second surface 12. That is, the first surface 11 refers to a surface facing the delivery robot 100 among six surfaces of the article 10, and the second surface 12 is a direction away from the delivery robot 100. Means the side located on.

In the region where x <0 and z> 0 on the first surface 11, an edge parallel to the x axis is calculated as the first gripping position 1100, and on the second surface 12, x> 0 and z < An edge parallel to the z-axis in the region of 0 may be calculated as the second gripping position 1200.

Next, referring to FIG. 8, the step of moving the first grip part to the gripping position (S200), wherein the delivery robot 100 is made of the first gripping position 1100 and the second gripping position 1200, respectively; One grip part 126a, 126b can be moved. Hereinafter, for convenience, the first grip part moved to the first gripping position 1100 may be the eleventh grip part 126a and the first grip part moved to the second gripping position 1200 to the twelfth grip part 126b. Explain. In summary, the delivery robot 100 may move the eleventh grip part 126a to the first gripping position 1100 and move the twelfth grip part 126b to the second gripping position 1200.

The delivery robot 100 performs a next step after wrapping the bent portion of the eleventh grip part 126a and the twelfth grip part 126b in close contact with the respective grip positions 1100 and 1200. .

With reference to Figures 9 to 11 together look at the step (S300) for loading the article 10 in the delivery robot (100).

First, referring to FIG. 9, the delivery robot 100 applies a force for pushing the eleventh grip part 126a surrounding the first gripping position 1100 toward the positive y-axis direction, and the second gripping position. A region of z <0 and y <0 of the first surface 11 by generating a moment in the article 10 by pulling the twelfth grip portion 126b surrounding the 1200 in the negative y-axis direction. Make sure you hear the edge parallel to the x-axis.

At this time, the delivery robot 100 is moved forward in the positive y-axis direction so that a portion of the article 10 on one side of the support 130.

Next, referring to FIG. 10, the delivery robot 100 faces the eleventh grip part 126a and the twelfth grip part 126b in a state in which the article 10 spans the support part 130. It moves to both edges of the upper end of (12), and grips it.

Next, referring to FIG. 11, the delivery robot 100 pulls the eleventh grip part 126a and the twelfth grip part 126b toward the delivery robot 100 while holding the article 10. By pulling the article 10 to the support 130 of the delivery robot 100, the loading process of the article is completed.

As described above, after the goods are loaded into the delivery robot, the delivery robot reaching the delivery destination will be described.

12 is a flowchart illustrating a method of getting off an article in a delivery method using an unmanned delivery system according to an embodiment of the present invention, and FIGS. 13 to 16 are schematic views of a process of getting off the article.

Referring to FIG. 12, the discharging of the article may include attaching a portion of the article to the ground (S400), separating the article from the delivery robot (S500), and placing the article on the ground (S600). It can be done through.

First, referring to FIG. 13, a step (S400) of attaching a part of an article to the ground is performed. The delivery robot 100 includes a delivery robot 100 using an eleventh grip part 126a and a twelfth grip part 126b. Or by gradually decreasing the magnitude of the force pulling towards the negative y-axis, so that a portion of the article 10 that has been seated on the support 130 is spread over the ground.

Next, referring to FIGS. 13 to 15, the step of separating the article from the delivery robot (S500), as described above, in the state in which a part of the article 10 spans the ground, the delivery robot 100 may be configured. The 11 grip part 126b and the 12 grip part 126b are moved to both edges of the lower end of the 1st surface 11, and are gripped.

Next, referring to FIG. 15, the delivery robot 100 gradually moves backward while supporting the article 10 by the eleventh grip part 126a and the twelfth grip part 126b to move the article 10. ) Is separated from the delivery robot 100 and stops the backward movement when the space for the article 10 is secured.

Next, referring to FIG. 16, the step of mounting the article on the ground (S600), the delivery robot 100 includes an eleventh grip part 126a and a twelfth grip part (supporting the article 10). After moving 126b to the ground, the article is seated on the ground by slowly leaving the eleventh grip portion 126a and twelfth grip portion 126b that were supporting the article 10 from the article 10. This completes the discharging process of the article.

17 to 21 are schematic views of the loading process of the article according to another embodiment of the present invention.

17 to 19, two delivery robots 100 and 200, that is, the first delivery robot 100 and inputted by the delivery management server determine that delivery through cooperation between a plurality of delivery robots is necessary. The loading process of the goods by the second delivery robot 200 is schematically illustrated.

First, referring to FIG. 17, the first delivery robot 100 and the second delivery robot 200 move to one side and the other side of the article 20, respectively, and the first delivery robot 100 is the first grip part. The upper edge of the first side 21 of the article 20 is gripped with 126, and the second delivery robot 200 is the second side 22 of the article 20 with the first grip 226. Wrap both edges of the edge.

Here, when the first face 21 and the second face 22 are based on the coordinate system described with reference to FIGS. 7 to 11, the first face 21 is the sixth face of the article 20. 1 refers to a surface facing the delivery robot 100, the second surface 22 means a surface facing the second delivery robot 200.

Next, referring to FIG. 18, the first delivery robot 100 applies a pushing force in a positive y-axis direction while holding the article 20, and the second delivery robot 200 supplies the article 20. ) By applying a pushing force in the negative y-axis direction in the state of holding g)), parallel to the x-axis in the region z <0 and y <0 of the first surface 21. Make sure you hear the edges.

Next, referring to FIG. 19, the first delivery robot 100 moves forward in a positive y-axis direction, the forward movement in a negative y-axis direction of the second delivery robot 200, or the first delivery. The robot 100 and the second delivery robot 200 move toward each other so that a portion of the article 20 is placed on one side of the support 130 of the first delivery robot 100.

Next, referring to FIG. 20, the first delivery robot 100 moves and grips the first grip part 126 to both side edges of the first surface 21, and the second delivery robot 200 is gripped. The first grip part 226 is moved to a corner of the upper end of the second surface 22 to be gripped.

Next, referring to FIG. 21, the first delivery robot 100 and the second delivery robot 200 move forward toward each other to cover the article 130 of the support 130 of the first delivery robot 100 ( One side of the 20 is seated on the support 130, and then the other side of the article 20 is seated on the support 230 of the second delivery robot 200, thereby completing the loading process of the article.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited thereto, and various modifications and changes can be made within the scope of the claims and the detailed description of the invention and the accompanying drawings. Naturally, it belongs to the scope of the invention.

10: Item 100: Shipping Robot
110: main body 120: manipulator
121: arm portion 125: grip portion
126: first grip part 127: second grip part
130: support portion 140: running portion
141: auxiliary driving unit 500: sensor unit
600: communication control unit 510: first sensing unit
520: second sensing unit 610: communication unit
620: control unit 1000: delivery management server

Claims (22)

At least one delivery robot for delivering the goods; And
A delivery management server communicating with the delivery robot based on the delivery information of the goods and managing a delivery process;
Including,
The delivery management server,
Unmanned delivery system for determining the number of the delivery robot required for the delivery and set the delivery route of the delivery robot to be input. The method of claim 1,
The delivery robot,
A sensor unit including a first sensing unit configured to photograph the article to generate a first image signal, and a second sensing unit configured to photograph a surrounding situation of the delivery path and generate a second image signal; And
A communication control unit which transmits at least one of the image signals received from the sensor unit to the delivery management server, and receives a command signal calculated from the delivery management server to control the delivery robot;
Unmanned delivery system comprising a. The method of claim 2,
The communication control unit,
A communication unit for exchanging a signal with the delivery management server; And
A control unit for controlling the delivery robot using the command signals and the image signals received from the communication unit and the sensor unit, respectively;
Unmanned delivery system comprising a. The method of claim 2,
The delivery robot,
Main body;
A pair of manipulator parts provided at both sides of the main body part to unload the article;
A support part provided on one side of the main body part to seat the article loaded by the manipulator part; And
A traveling part provided below the main body to move the main body;
More,
The manipulator unit and the traveling unit are controlled according to the command signal. The method of claim 4, wherein
The support portion,
Unattended delivery system protruding perpendicular to one side of the body portion and extending in the width direction of the body portion. The method of claim 5, wherein
In the lower portion of the support,
And an auxiliary driving unit for supporting the support against the ground and assisting the movement of the driving unit. The method of claim 4, wherein
The manipulator part,
Arm portions respectively connected to both side portions of the main body portion; And
A grip portion connected to the free end of the arm portion and holding the article;
Including,
The arm part,
The unmanned delivery system for moving the grip to the gripping position of the article in accordance with the command signal. The method of claim 7, wherein
The grip part,
A first grip portion having a '-' shape so as to surround one side edge of the article having a hexahedron shape; And
A second grip portion for holding the article by a vacuum suction method;
Including,
And one of the first grip part and the second grip part selectively grips the article according to the shape of the article determined based on the first image signal. The method of claim 7, wherein
The arm part,
Unmanned delivery system made of a multi-joint structure and movable structure to move the grip to the gripping position of the article. The method of claim 4, wherein
The driving unit,
The unmanned delivery system that moves by avoiding obstacles existing on the delivery path based on the second video signal. The method of claim 1,
The delivery robot,
Unmanned delivery system including a first delivery robot to N-th delivery robot (N is a natural number of two or more) that is input to deliver the goods in cooperation. The method of claim 11,
Each of the delivery robots,
GPS unit for receiving location information; And
A sharing communication unit sharing the location information with another delivery robot;
Unmanned delivery system comprising a. The method of claim 12,
The delivery management server,
Based on the location information of each of the delivery robots, unmanned delivery system for calculating the relative position between the delivery robots so that the N delivery robots can cooperate to deliver. A delivery method using an unmanned delivery system including at least one delivery robot for delivering goods and a delivery management server communicating with the delivery robot and managing a delivery process,
(a) checking, by the delivery management server, delivery information of the article;
(b) the delivery management server determining whether cooperative delivery between delivery robots is based on the delivery information;
(c) determining, by the delivery management server, the number of input of the delivery robot according to the determination result;
(d) the delivery management server setting a delivery path of the delivery robot;
Delivery method using an unmanned delivery system comprising a. The method of claim 14,
Step (c) is,
If the number of input of the delivery robot is 1, additionally determining whether or not an auxiliary vehicle supporting the delivery of the delivery robot is inserted;
Delivery method using an unmanned delivery system further comprising. The method of claim 14,
In the step (c), if the number of inputs of the delivery robot is N (N is a natural number of 2 or more),
After the step (d), the delivery management server, calculating the relative position between the delivery robots so that N delivery robots can cooperate to deliver based on the location information of each of the delivery robots,
Delivery method using an unmanned delivery system further comprising. The method of claim 14,
Step (d) is,
The delivery management server resetting the delivery route by using the information received from the delivery robot,
Delivery method using an unmanned delivery system further comprising. The method of claim 14,
The delivery robot,
Main body;
A pair of manipulator parts provided at both sides of the main body part to unload the article;
A support portion protruding perpendicular to one side of the main body portion and seating the article loaded by the manipulator portion; And
A traveling part provided below the main body to move the main body;
Including,
Each of the manipulator parts,
An arm portion connected to both sides of the main body portion, and a 'g' shaped grip portion connected to a free end of the arm portion to hold the article, the arm portion being unmanned to move the grip portion to a holding position of the article. Delivery method using the system. The method of claim 18,
After step (d),
(e1) The delivery robot is a coordinate system in which the center of the horizontal, vertical and height of the article having a hexahedron shape is the origin, and the directions parallel to the horizontal, vertical and height are the x-axis, the y-axis, and the z-axis, respectively. Setting up,
(e2) gripping the corners of the article and moving them to the pedestal by moving each of the grip parts to a grip position calculated based on the coordinate system;
(e3) placing the item seated on the pedestal at a delivery destination;
Shipping method using an unmanned system further comprising. As a delivery robot for delivering goods,
Main body;
A pair of manipulator parts provided at both sides of the main body part to unload the article;
A support part provided on one side of the main body part to seat the article loaded by the manipulator part;
A traveling part provided below the main body to move the main body; And
A control unit controlling the operation of the manipulator unit and the driving unit;
Shipping robot including. The method of claim 20,
The manipulator part,
Arm portions respectively connected to both side portions of the main body portion; And
A grip portion connected to the free end of the arm portion and holding the article;
Including,
The arm part,
It is made of a multi-joint structure, and is a flexible structure to move the grip portion to the gripping position of the article,
Controlled by the controller to move the grip to a gripping position of an article,
Shipping robot. The method of claim 21,
The grip part,
A first grip portion having a '-' shape so as to surround one side edge of the article having a hexahedron shape; And
A second grip portion for holding the article by a vacuum suction method;
Including,
Any one of the first grip part and the second grip part is controlled by the control unit to grip the article selectively.

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