KR20230116129A - Food delivery service robot using autonomous driving in school - Google Patents

Abstract

The present invention relates to an indoor delivery service robot using autonomous driving, comprising: a transfer part formed to perform transferring along a designated path using wheels; a loading part formed at the top of the transfer part and having a door on the front to store food therein; a sensing part formed in the transfer part and configured to detect surrounding environmental information and objects; and a control part determining the current location based on the information collected by the sensing part and controlling movement to a delivery point through 3D mapping, thereby capable of safely transferring food to the delivery point.

Description

Food delivery service robot using autonomous driving in school}

The present invention relates to a school delivery service robot using autonomous driving, and more particularly, to an indoor delivery service robot using autonomous driving that can safely deliver food to a designated location on campus using a robot capable of autonomous driving. .

In general, in the case of a service business such as a bar or restaurant, an employee hired to entertain customers is required.

Recently, in order to secure regular customers competitively, various training programs are being implemented for employees to provide the most friendly service to customers.

However, even if such training is provided, there are frequent cases in which customers are dissatisfied because employees do not respond appropriately depending on the customer reception situation, and business operators and consumers become dissatisfied with each other, resulting in huge losses in business.

In addition, employees working in large restaurants not only easily feel tired due to excessive workload servicing customers, but also sometimes cannot work for a long time due to physical strength, so entrepreneurs also had many difficulties in doing business.

Therefore, in recent years, a lot of research on robots has been conducted to develop and supply robots that serve instead of employees working in service companies.

In the case of such a serving robot, it is configured to move only in an indoor space, and as the food delivery industry developed due to the corona, a quick delivery service had to be used to deliver from the restaurant to the customer's location.

However, in the case of the quick delivery service, there are problems such as food cooling or deterioration in quality due to the absence or lack of a delivery driver, and there is also a cost problem that the restaurant and the customer have to bear the delivery fee.

In addition, the problem of the delivery driver touching the food while it is being delivered through quick delivery is constantly being raised, and as the food is packaged poorly while driving at high speed, customers are frequently disappointed after receiving the food.

Korean Patent Publication No. 10-2020-0097482

An object of the present invention to solve the above problems is to be formed to automatically locate a robot and map a route while driving autonomously in a school, thereby safely moving food to a delivery point. It is to provide a delivery service robot.

Another object of the present invention is to provide an indoor delivery service robot using autonomous driving capable of safely storing food and preventing the food from cooling down or changing its packaging state during movement.

Another object of the present invention is to provide an indoor delivery service robot using autonomous driving that automatically provides food through communication with a delivery orderer upon arrival at a delivery point, recognizes the delivery orderer, and delivers the food safely.

In order to solve the above problems, the indoor delivery service robot using autonomous driving of the present invention has a transfer unit formed to be transported along a designated path using wheels, formed on the upper part of the transfer unit, and a door formed on the front side, so that the interior A loading unit formed to store food in the transfer unit and a sensing unit formed to detect surrounding environmental information and objects, and a current location based on the information collected by the sensing unit and a three-dimensional image It is characterized in that it includes a control unit for controlling movement to a delivery point through mapping.

In addition, the transfer unit of the indoor delivery service robot using autonomous driving of the present invention has a plate-shaped support plate formed so that the loading unit can be coupled to an upper portion, and a plate-shaped support plate formed below the support plate so that the support plate can be maintained in a horizontal state. It is characterized in that it consists of a leveling unit for adjusting the equilibrium state of the support plate.

In addition, the sensing unit of the indoor delivery service robot using autonomous driving of the present invention captures images from the left and right lenses, respectively, calculates the depth of the object, and includes a camera for determining the location based on the captured information, and the transfer unit travels A lidar sensor that measures and collects surrounding objects and terrain information in real time to search for movable terrain, and a heat sensor used to determine the location of people or animals moving around when the transfer unit is running. Characterized in that it consists of a sensor.

In addition, the control unit of the indoor delivery service robot using autonomous driving of the present invention distinguishes obstacles or immovable areas on the path based on the information collected through the sensing unit and corrects the path so as to maneuver to avoid. .

In addition, the loading unit of the indoor delivery service robot using autonomous driving of the present invention is insulated to prevent the food from cooling or melting, and automatically adjusts the internal temperature according to the type of food.

In addition, the indoor delivery service robot using autonomous driving of the present invention further includes a kiosk formed on one side of the loading unit and used for authentication to open and close the door or to check order information, and the user authenticated through the kiosk. It is characterized in that the door is opened and closed so that food can be taken out inside the bay.

As described above, according to the indoor delivery service robot using autonomous driving according to the present invention, the location of the robot can be automatically grasped, and the route can be mapped while autonomously driving in the school, so that food can be safely moved to the delivery point. There are possible effects.

In addition, according to the indoor delivery service robot using autonomous driving according to the present invention, food can be safely stored and there is an effect of preventing food from cooling or changing its packaging state during movement.

In addition, according to the indoor delivery service robot using autonomous driving according to the present invention, when arriving at the delivery point, food is automatically provided through communication with the delivery orderer, and there is an effect of recognizing the delivery orderer and delivering it safely.

1 is a configuration diagram showing the overall configuration of an indoor delivery service robot using autonomous driving according to the present invention.
Figure 2 is a perspective view showing the appearance of an indoor delivery service robot using autonomous driving according to the present invention.
Figure 3 is a perspective view showing a state in which the door of the loading unit of the indoor delivery service robot using autonomous driving according to the present invention is open.
Figure 4 is a perspective view showing a state of taking out a tray from the loading unit of the indoor delivery service robot using autonomous driving according to the present invention.
Figure 5 is a perspective view showing the structure of the transfer unit of the indoor delivery service robot using autonomous driving according to the present invention.

Specific features and advantages of the present invention will be described in detail below with reference to the accompanying drawings. Prior to this, if it is determined that the detailed description of functions and configurations related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

The present invention relates to a school delivery service robot using autonomous driving, and more particularly, to an indoor delivery service robot using autonomous driving that can safely deliver food to a designated location on campus using a robot capable of autonomous driving. .

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

1 is a configuration diagram showing the overall configuration of an indoor delivery service robot using autonomous driving according to the present invention, Figure 2 is a perspective view showing the appearance of an indoor delivery service robot using autonomous driving according to the present invention, and FIG. It is a perspective view showing a state in which the door of the loading part of the indoor delivery service robot using autonomous driving according to the present invention is opened, and FIG. 4 is a perspective view showing a tray being taken out of the loading part of the indoor delivery service robot using autonomous driving according to the present invention. , Figure 5 is a perspective view showing the transport unit structure of the indoor delivery service robot using autonomous driving according to the present invention.

1 to 5, the indoor delivery service robot using autonomous driving according to the present invention includes a transfer unit 100 formed to be transported along a designated path using wheels 110, and a transfer unit 100 ) Is formed on the upper part and a door 220 is formed on the front side so that food can be stored therein, and the loading part 200 formed on the transfer part 100 is formed to detect surrounding environmental information and objects. It is characterized in that it includes a sensing unit 400 and a control unit 500 that determines the current location based on the information collected by the sensing unit 400 and controls the movement to the delivery point through 3D mapping.

The transfer unit 100 is formed to move along the ground using a plurality of wheels 110 rotated by the drive motor 120, and the drive motor 120 uses a speed reducer according to the topography of the ground to increase the speed. It is formed to be able to control, and it can move on various slopes as the torque is changed according to the speed control.

In addition, it is preferable that the transfer unit 100 is provided with a brake function to prevent the rotation shaft connected to the wheel 110 from rotating when the power to the drive motor 120 is cut off so that it can be maintained in a stopped state on the inclined surface. .

In addition, the transfer unit 100 is provided with a driving table 150 formed to support the wheel 110 and the driving motor 120, and the driving table 150 has a driving motor for rotating the wheel 110 on the inner surface. 120 is coupled, and a driving belt 160 is formed inside the driving table 150 to transmit the rotational force generated by the driving motor to the wheel 110.

That is, a drive belt 160 for power transmission is provided inside the drive unit 150, and the wheel 110 formed at a position spaced apart from the drive motor 120 can be rotated by the drive belt 160. .

The loading part 200 is formed on the upper part of the transfer part 100 and is formed to accommodate food inside the storage box 210 having a rectangular shape, and the food inside the storage box 210 is disposed on the front side of the storage box 210. A door 220 is provided so that it can be put in or taken out.

The door 220 is hinged to the lower part of the storage box 210 and is pivoted from the top to the bottom to open and close the inside of the storage box 210, and inside the storage box 210 in the front direction of the storage box 210 A sliding tray 211 is provided to store food.

At this time, the tray 211 is divided into an upper part and a lower part, so that the upper part is formed so that a beverage container can be placed and stored, and the lower part is formed so that a food container can be placed there.

With the door 220 open through the sliding tray 211 , food can be easily taken out by simply sliding the tray 211 to the outside without inserting a hand into the storage box 210 .

At this time, the loading unit 200 may be formed so that only one food can be delivered, but it can also accommodate a plurality of food at the same time if necessary. In this case, a plurality of compartments are formed inside the storage box 210, and each It is preferable that a door 220 capable of independently opening and closing the compartment is provided.

In addition, it is preferable that the door 220 of the loading unit 200 is maintained in a locked state by the locking unit 230 to prevent a third person from taking out the food when delivering food, and the door 220 is forcibly opened and closed. When the device is damaged or shocked, an alarm sounds and the theft report can be automatically reported to restaurants, customers and the police station.

When the transport unit 400 moves toward the delivery point, the sensing unit 400 is used to determine the current location using a feature on the route, and further detects obstacles, people, and animals to correct the transport route. used for

At this time, the information collected by the sensing unit 400 is transmitted to the control unit 500 and used by the control unit 500 to determine the current location and route of the transfer unit 100, and the information collected by the sensing unit 400 is used by the control unit 500. It will be stored in 500.

The control unit 500 is used to form a route for moving to the delivery point by using previously collected topography or location information since location information about the delivery point is stored.

At this time, the control unit 500 can detect the changed feature from the information collected by the sensor 400 while moving along the previous path, and based on the collected information, the 3D mapping unit 510 You can create maps.

The map information generated through the mapping unit 510 can be used as a reference when moving along a route next time.

In addition, a kiosk 300 formed on one side of the loading unit 200 and used for authentication to open and close the door 220 or confirmation of order information is further included, and only the user authenticated through the kiosk 300 is inside. It is characterized in that the door 220 is opened and closed so that food can be taken out.

The loading unit 200 is provided with a kiosk 300 capable of user authentication through a touch screen, and the robot arriving at the delivery point through the kiosk 300 enables customers to take out food from the loading unit 200 .

At this time, the kiosk 300 outputs the delivery address and customer information along with the order information so that the customer can confirm it, and user authentication can be completed by inputting the code transmitted to the customer's mobile terminal.

In addition, the kiosk 300 can make a video call with a customer who receives food from a restaurant through external communication, and when the customer is authenticated by the kiosk 300, the locking unit 230 is released and the door 220 is opened and the storage box ( 210) You can take out the food inside.

In addition, the control unit 500 preferably has a communication module 520 for video communication, and can be wirelessly connected to the restaurant through the communication module.

In addition, the transfer unit 100 includes a plate-shaped support plate 130 formed so that the loading unit 200 can be coupled to the upper portion, and a support plate formed below the support plate 130 so that the support plate 130 can be maintained in a horizontal state. It is characterized in that it consists of a horizontal adjustment unit 140 for adjusting the equilibrium state of (130).

The transfer unit 100 is provided with a leveling unit 140 to prevent the loading unit 200 from being tilted or shaken by impact when transported. ) is located at the bottom of the support plate 130 connecting between the support plate 130 is formed to adjust the inclination of the support plate 130 to be maintained in a horizontal state.

At this time, the leveling unit 140 can couple a plurality of cylinders to the lower edge of the support plate 130, and the piston formed in each cylinder protrudes or is inserted according to the inclination state of the support plate 130 to move the support plate 130. You can keep it in a horizontal position.

Through this, even when the transfer unit 100 moves along the inclined surface, the loading unit 200 is maintained in a horizontal state by the leveling unit 140, so that food does not slip inside the storage box 210 and the container is not crushed or the food inside is mixed. can be prevented from happening.

In addition, the leveling unit 140 can act as a buffer to attenuate or cancel vibrations caused by shocks, and through this, vibration generated while the transfer unit 100 is transported along the ground can be reduced to safely deliver food.

In addition, the sensor 400 captures images from the left and right lenses, respectively, to calculate the depth of an object, and the camera 410 to determine the location based on the captured information, and the transfer unit 100 to detect the surroundings while driving. A lidar sensor 420 that searches for movable terrain by measuring and collecting existing objects and terrain information in real time, and a lidar sensor 420 used to determine the position of a person or animal moving around when the transport unit 100 is driving It is characterized in that it consists of a thermal sensor 430.

The camera 410 has lenses formed on the left and right sides, so that the depth camera 410 capable of calculating the distance a person or object has fallen, that is, the depth, is used based on images captured by the two lenses.

At this time, the camera 410 can photograph the surrounding environment using the RealSense D435 Depth Camera, and it is possible to determine the current position of the robot while extracting feature points of the photographed object or feature, and the transfer unit 100 even indoors through depth calculation. ) can be identified based on surrounding objects.

The controller 500 can set a path for image information photographed by the camera 410 using the ORB SLAM2 algorithm for precision indoor driving.

The lidar sensor 420 is for detecting a distance to an object and various physical properties by irradiating a laser onto a target. 3D images can be modeled.

Since surrounding information can be acquired in 3D while driving based on the information measured through the lidar sensor 420, the control unit 500 can generate a 3D map through the mapping unit 510, Based on the map information obtained, the driving route can be more precisely planned when carrying out the next delivery.

The thermal sensor 430 is used to detect people or animals moving around when the transfer unit 100 is transported, and the transfer unit 100 driven in the school detects students and faculty members present in the school and moves in the direction It is used to predict and avoid.

In the case of the transfer unit 100, since the loading unit 200 may fall or be damaged while colliding with a person or animal when moving, it is preferable that a thermal sensor 430 is provided to detect a person or animal with high volatility.

The thermal sensor 430 detects the position of a person present on the route and controls the speed of the transfer unit 100 to prevent a collision or avoids the movement to ensure safe driving.

In addition, the control unit 500 is characterized in that based on the information collected through the sensing unit 400, it is characterized in that it corrects the path to maneuver to avoid by classifying obstacles or immovable areas existing on the path.

The control unit 500 generates a 3D map based on the information collected by the sensing unit 400, and the generated map information and data are continuously updated so that they can be used for route setting.

At this time, the route to the delivery point is set based on the 3D map, and the changed information during movement is transmitted to the controller 500 by the sensor 400, and then the controller 500 provides detailed routes for each section. It is possible to instruct to move by avoiding obstacles or immovable areas.

Through this, even if there are various obstacles generated during movement, a route for avoiding maneuver can be created in real time, so that the delivery point can be moved within a short time.

In addition, the loading unit 200 is insulated to prevent food from cooling or melting, and automatically adjusts the internal temperature according to the type of food.

The storage box 210 formed in the loading unit 200 has an insulated interior and supplies cold air or warm air using a thermoelectric element to keep the food warm, thereby maintaining the temperature of the food at a constant level.

In particular, in the case of cold noodles or iced drinks in the summer, the insulated storage box 210 prevents the ice from melting because an external heat source is not input, and cool air is supplied to the inside of the storage box 210 to lower the internal temperature to improve the quality of food. be able to keep

In addition, in winter, an external heat source is not input by the insulated storage box 210, so food can be prevented from cooling down, and hot air is supplied to the inside to keep the food warm.

Through this, even if the delivery time is delayed, the quality of food can be maintained constant, making long-distance delivery possible.

As described above, according to the indoor delivery service robot using autonomous driving according to the present invention, the location of the robot can be automatically grasped, and the route can be mapped while autonomously driving in the school, so that food can be safely moved to the delivery point. food can be safely stored, food can be prevented from cooling down or the packaging state is not changed during transportation, and when arriving at the delivery point, food is provided through communication with the delivery orderer automatically, and the delivery orderer is recognized and delivered safely. There are possible effects.

As described above, the present invention has been described with a focus on preferred embodiments, but those skilled in the art can make the present invention various within the range that does not deviate from the technical spirit and scope described in the claims of the present invention. It can be implemented by modifying or transforming accordingly. Accordingly, the scope of the present invention should be construed by the claims which are written to include examples of these many variations.

100: transfer unit
110: wheel
120: drive motor
130: support plate
140: horizontal adjustment unit
150: driving unit
160: drive belt
200: loading part
210: storage box
211: tray
220: door
230: locking unit
300: Kiosk
400: sensing unit
410: camera
420: lidar sensor
430: thermal sensor
500: control unit
510: mapping unit
520: communication module

Claims (6)

a transfer unit configured to be transported along a designated path using wheels;
a loading part formed on the upper part of the conveying part and having a door formed on the front thereof to store food therein;
a sensing unit formed in the conveying unit and configured to sense surrounding environment information and objects;
Characterized in that it comprises a; control unit for determining the current location based on the information collected by the sensing unit and controlling movement to the delivery point through 3D mapping
Indoor delivery service robot using autonomous driving.
According to claim 1,
the transfer unit
A plate-shaped support plate formed so that the loading part can be coupled to an upper portion;
Characterized in that it consists of; a horizontal adjustment unit formed on the lower part of the support plate to adjust the equilibrium state of the support plate so that the support plate can be maintained in a horizontal state.
Indoor delivery service robot using autonomous driving.
According to claim 1,
the sensing unit
A camera capable of calculating the depth of an object by taking images from the left and right lenses, respectively, and determining a location based on the captured information;
a lidar sensor that measures and collects surrounding objects and topographical information in real time while the transfer unit travels and searches for movable topography;
Characterized in that it consists of; a thermal sensor used to determine the position of a person or animal moving around when the transfer unit travels.
Indoor delivery service robot using autonomous driving.
According to claim 1,
The control unit
Based on the information collected through the sensor, it is characterized in that the path is modified to avoid maneuvering by distinguishing obstacles or immovable areas existing on the path
Indoor delivery service robot using autonomous driving.
According to claim 1,
The loading part
Characterized in that the inside is insulated to prevent the food from cooling or melting, and automatically adjusts the internal temperature according to the type of food
Indoor delivery service robot using autonomous driving.
According to claim 1,
A kiosk formed on one side of the loading unit and used for authentication to open and close the door or to check order information; further includes,
Characterized in that the door is opened and closed so that only the user authenticated through the kiosk can take out food therein.
Indoor delivery service robot using autonomous driving.