KR20230149349A - System and Method for Providing Logistics Service based on Interlocking Between Delivery Robot and Elevator system - Google Patents

Abstract

Discloses a system and method for providing logistics services based on linkage between delivery robots and elevators.
According to one aspect of the present invention, a delivery robot that provides a delivery service based on interworking with an elevator system in a building, comprising: an input unit that receives delivery information including destination floor, destination point, and recipient information; A sensing unit that senses the current floor, current location, surrounding objects, and surrounding environment of the delivery robot; a communication unit that transmits an elevator call command including the current floor of the delivery robot and the destination floor to an elevator control unit that controls the elevator unit; And controlling the movement of the delivery robot based on the previously stored indoor map information and the sensing information, moving the delivery robot to the destination point of the destination floor using the elevator unit, and delivering the goods to the recipient at the destination point. Provides a delivery robot including a control unit provided to.

Description

{System and Method for Providing Logistics Service based on Interlocking Between Delivery Robot and Elevator system}

Embodiments of the present invention relate to a system and method for providing logistics services using delivery robots, particularly to a system and method for providing logistics services based on linkage between delivery robots and elevators.

The content described below simply provides background information related to this embodiment and does not constitute prior art.

As e-commerce is developing rapidly around the world and online or non-face-to-face delivery technology is growing, a logistics industry that provides digital-based consumer convenience services is emerging. As the 4th Industrial Revolution accelerates the convergence trend utilizing data-based core technologies such as IoT, big data, AI, and 5G, the logistics industry is undergoing a paradigm shift to Logistics 4.0. Here, Logistics 4.0 goes beyond mechanization and automation of logistics and applies cutting-edge ICT technologies such as IoT, big data, artificial intelligence, blockchain, robots, and self-driving cars to realize unmanned logistics centers and standardization of logistics functions in the supply chain. It means to do.

Logistics 4.0 has characteristics such as a fully integrated supply chain, interconnected systems, and perfect coordination. In order to implement these features, it is necessary to automate and unmanned logistics using AGV (Automated guided vehicle), unmanned transport robots, or drones, and provide data-based services from product warehousing to customer ordering and delivery. Fulfillment, a batch processing service, is required.

Considering the problems of current logistics services, Logistics 4.0 is essential for the development of the logistics industry. As a problem with current logistics services, due to the rapid increase in demand for logistics services, conflicts of interest occur between the shipper who delivers the goods, the sender who applied for delivery of the goods, and the recipient who receives the goods. For example, delivery drivers are prohibited from entering apartment complexes, and various problems such as delivery location problems, illegal parking problems, and delivery errors occur in the last mile delivery section. In addition, there is a problem that delivery people avoid providing delivery services to mountainous islands and high-rise buildings. The problem of uneven quality of logistics services arises as delivery people avoid areas that are difficult to move to or places that take a long time to deliver.

Therefore, research is needed to enable efficient delivery of goods in the last mile delivery section by automating and unmanning logistics services using AGVs, unmanned transport robots, or drones. Furthermore, for smooth delivery, research is also needed on ways to build big data related to logistics services on a regional basis by tracking, collecting, and analyzing the movement paths of not only the delivered goods but also the devices that transport the goods.

Embodiments of the present invention are mainly about providing a logistics service provision system and method related to the last mile digital logistics service standard applicable to various regions, in which logistics delivery is performed from the loading of delivery items to the delivery location based on an autonomous robot. There is a purpose.

Other embodiments of the present invention work to provide a logistics service provision system and method for enabling an indoor autonomous robot to deliver goods to the location of the recipient by moving between various floors in connection with the elevator system in the building. There is a purpose.

Other embodiments of the present invention work to provide a logistics service provision system and method for dividing autonomous robots into indoor-only robots and outdoor-only robots and providing efficient logistics services using appropriate dedicated robots in various situations. There is a purpose.

According to one aspect of the present invention, a delivery robot that provides a delivery service based on interworking with an elevator system in a building, comprising: an input unit that receives delivery information including destination floor, destination point, and recipient information; A sensing unit that senses the current floor, current location, surrounding objects, and surrounding environment of the delivery robot; a communication unit that transmits an elevator call command including the current floor of the delivery robot and the destination floor to an elevator control unit that controls the elevator unit; And controlling the movement of the delivery robot based on the previously stored indoor map information and the sensing information, moving the delivery robot to the destination point of the destination floor using the elevator unit, and delivering the goods to the recipient at the destination point. Provides a delivery robot including a control unit provided to.

According to another aspect of the present embodiment, a delivery method of a delivery robot based on interworking with an elevator system in a building includes the steps of receiving delivery information including destination floor, destination point, and recipient information; Sensing the current floor, current location, surrounding objects, and surrounding environment of the delivery robot; transmitting an elevator call command including the current floor of the delivery robot and the destination floor to an elevator control unit that controls the elevator unit; moving the delivery robot to the destination point of the destination floor using the elevator unit, based on pre-stored indoor map information and the sensing information; and providing the goods to the recipient at the destination point.

According to another aspect of the present embodiment, a digital logistics system based on a delivery robot and an elevator system includes: an elevator unit configured to enable boarding of at least one delivery robot that provides a service on at least one floor among a plurality of floors in a building; and an elevator system connected to the elevator unit and including a control unit that moves the elevator unit between the plurality of floors by raising and lowering the elevator unit. and an input unit that receives delivery information including the destination floor and destination point. a communication unit that communicates with the elevator system based on the delivery information; A sensing unit that senses surrounding objects and the surrounding environment while driving; and a digital delivery robot including a control unit that moves the delivery robot to the destination floor using the elevator system and moves the delivery robot to the destination point using pre-stored indoor map information and the sensing information. Provides a logistics system.

As described above, according to an embodiment of the present invention, it is possible to increase the efficiency of logistics services and resolve regional differences through last-mile logistics services of drones and robots for non-urban areas where logistics delivery routes are inefficient and are located on the outskirts. there is.

According to another embodiment of the present invention, even when the recipient of the product to be delivered is absent at the delivery location, it is possible to safely receive the product to be delivered using the recipient's vehicle.

According to another embodiment of the present invention, the cost and labor for delivering goods from the delivery vehicle to the recipient's address can be reduced by completely unmanning the logistics service in the last mile including the interior of the building.

Figure 1 shows a digital logistics system according to an embodiment of the present invention.
Figure 2 is a diagram showing components of a digital logistics system according to an embodiment of the present invention.
Figure 3 shows a configuration diagram of a delivery device according to an embodiment of the present invention.
Figure 4 is a diagram showing a digital logistics service process based on drone-robot linkage according to an embodiment of the present invention.
Figures 5a, 5b, and 5c are diagrams showing delivery robot-based delivery scenarios according to an embodiment of the present invention.
Figure 6 is a diagram for explaining an elevator-linked delivery service according to an embodiment of the present invention.
Figure 7 is a flowchart of a delivery service method according to an embodiment of the present invention.

Hereinafter, some embodiments of the present disclosure will be described in detail using exemplary drawings. When adding reference signs to components in each drawing, it should be noted that the same components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, in describing the present disclosure, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present disclosure, the detailed description will be omitted.

In describing the components of the embodiment according to the present disclosure, symbols such as first, second, i), ii), a), and b) may be used. These codes are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the code. In the specification, when a part is said to 'include' or 'have' a certain element, this means that it does not exclude other elements, but may further include other elements, unless explicitly stated to the contrary. .

Each component of the device or method according to the present invention may be implemented as hardware or software, or may be implemented as a combination of hardware and software. Additionally, the function of each component may be implemented as software and a microprocessor may be implemented to execute the function of the software corresponding to each component.

Figure 1 shows a digital logistics system according to an embodiment of the present invention.

Referring to FIG. 1, an urban area 100, a suburban area 102, a digital logistics center 110, a plurality of drones 120, 122, 124, and a plurality of autonomous robots 130, 132 are shown. It is done.

The digital logistics center 110 is the starting point of digital logistics services and is a place where large quantities of delivered goods are unloaded. Delivery items unloaded at the digital logistics center 110 are loaded onto a delivery vehicle by a delivery person, such as a delivery driver, and delivered to the recipient through the delivery vehicle.

At this time, there is a problem that delivery is not efficient at the last-mile stage. Within the urban area (100), delivery of goods may not be smooth due to issues with delivery locations, illegal parking, etc. Likewise, in outlying areas 102, the delivery process may be inefficient due to lack of infrastructure such as roads.

Therefore, a logistics system that can efficiently perform delivery at the last mile stage is required. To this end, the digital logistics system according to an embodiment of the present invention uses drones and autonomous robots.

In Figure 1, a plurality of drones 120, 122, 124 and a plurality of autonomous robots 130, 132 enable efficient delivery in areas where it is difficult or inconvenient to provide delivery services. For example, the third drone 124 can quickly deliver goods from the digital logistics center 110 to the outskirts 102. When the delivery person transports goods from the digital logistics center 110 to the drone base, the third drone 124 can deliver the goods from the drone base to the outlying area 102. As another example, the second drone 122 delivers goods from the digital logistics center 110 or the drone base to the waiting location of the first autonomous robot 130, and the autonomous robot 130 delivers the goods from the waiting location to the recipient. It can be delivered to your location. Additionally, the autonomous robot 130 can deliver goods in conjunction with an elevator system within a multi-story building.

As such, the digital logistics system according to an embodiment of the present invention uses drones and autonomous robots to minimize human intervention for delivery at the last mile stage, thereby solving various problems that occur at the last mile stage in urban areas ( Delivery efficiency can be increased in 100) and outlying areas (102).

Figure 2 is a diagram showing components of a digital logistics system according to an embodiment of the present invention.

Referring to FIG. 2, the digital logistics system includes at least one of a logistics management server 210, a control server 220, an Intelligent Transport System (ITS) server 230, a delivery drone 240, or a delivery robot 250. Includes.

In the digital logistics system, the delivery drone 240 and the delivery robot 250 communicate with the logistics server 210, the control server 220, and the ITS server 230 through a wireless communication network. The delivery drone 240 and the delivery robot 250 can receive various information from servers for driving to the delivery destination.

Specifically, the delivery drone 240 and the delivery robot 250 can communicate with the logistics server 210 to transmit and receive delivery information. Here, delivery information includes sender information, delivery person information, recipient information, pickup location, pickup time, product type, etc. The sender is the person who wants to send the goods, the shipper is the person who delivers the goods, and the recipient is the person who wants to receive the goods.

The delivery drone 240 shares the location, direction, and route of the delivery drone 240 through communication with the control server 220, and can deliver goods to the delivery destination to avoid collision by taking into account the movement of other delivery drones. there is. At this time, the control server 220 may be a drone control system.

The delivery robot 250 can receive surrounding traffic information from the ITS server 230. When the delivery robot 250 is driven outdoors, the delivery robot 250 receives surrounding signal information, surrounding vehicle information, etc. through the ITS server 230, and can safely drive to the delivery destination based on the received information. When the delivery robot 250 drives indoors, the delivery robot 250 receives the building's indoor map information, elevator information, and various facility information from the control server 220, and uses this to deliver goods.

In addition, the delivery drone 240 and the delivery robot 250 can share various information.

Figure 3 shows a configuration diagram of a delivery device according to an embodiment of the present invention.

Referring to FIG. 3, the delivery device 300 includes at least a communication unit 310, a sensing unit 320, a storage unit 330, a driving unit 340, an input unit 350, a display unit 360, or a control unit 370. It can contain one.

The delivery device 300 is used to provide a delivery service that transports goods to various locations.

The delivery device 300 may be implemented as either a delivery drone or a delivery robot. Here, a delivery drone refers to a device that delivers goods using aerial movement. A delivery robot is a device that is equipped with a power source and sensors and can move autonomously. Delivery robots can perform delivery tasks through outdoor and indoor driving.

Hereinafter, the delivery device 300 will be described as a delivery robot.

The communication unit 310 is a module for communicating with external devices. Here, the external device may be a server, sender terminal, delivery terminal, recipient terminal, other delivery devices 300, or an elevator control system.

The communication unit 310 may include at least one of a transmitting antenna, a receiving antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

The communication unit 310 can perform short range communication, GPS signal reception, V2X communication, optical communication, broadcast transmission and reception, and ITS communication functions.

As short-range communication, the communication unit 310 includes Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), and Wi-Fi ( At least one of Wireless-Fidelity (V2X) communication, V2X (Vehicle-to-Everything) communication, and WAVE (Wireless Access in Vehicular Environment) communication technology can be used.

The communication unit 310 may include a Global Positioning System (GPS) module or a Differential Global Positioning System (DGPS) module for acquiring location information of the delivery device 300. The communication unit 310 can confirm the location of the delivery device 300, and the location confirmation method is not particularly limited. As an example, the delivery device 300 can confirm its own location based on signals transmitted from a plurality of roadside devices installed nearby. At this time, the wireless transmitter can be selected from known communication standards such as WiFi, Bluetooth, Zigbee, UWB, etc., considering the surrounding area, accuracy, etc. As another example, you can recognize a marker installed on the ceiling or wall of a site with a camera or recognize an RF tag, etc. and then compare it with the map of the site to determine your location.

The communication unit 310 may include an ITS communication module that exchanges information, data, or signals with the transportation system. The ITS communication module can provide acquired information and data to the transportation system. The ITS communication module may receive information, data or signals from the transportation system. For example, the ITS communication module may receive road traffic information, that is, real-time traffic information, from the traffic system and provide it to the control unit 370. For example, the ITS communication module may receive a control signal from the transportation system and provide it to the control unit 370 or an internal processor.

Depending on the embodiment, the overall operation of each module of the communication unit 310 may be controlled by a separate processor provided within the communication unit 310. The communication unit 310 may include a plurality of processors or may not include any processors. When the communication unit 310 does not include a processor, the communication unit 310 may be operated under the control of a processor of another device or the control unit 370.

The sensing unit 320 senses information about surrounding objects or the surrounding environment.

The sensing unit 320 can sense the internal environment and external environment. The sensing unit 320 can detect the status of the delivery item placed inside the delivery device 300 and the status of various equipment mounted on the delivery device 300. The sensing unit 320 detects an object located outside the delivery device 300 and can detect the presence of the object, the location and distance of the object, etc. At this time, the object may be an obstacle, road, lane, pedestrian, traffic signal, sign, vehicle, structure, etc.

The sensing unit 320 may include various sensors such as a camera, depth camera, radar, lidar, ultrasonic sensor, infrared sensor, and vision sensor. In addition, the sensing unit 320 includes a posture sensor (e.g., yaw sensor, roll sensor, pitch sensor), collision sensor, wheel sensor, and speed sensor. , an inclination sensor, a weight sensor, a heading sensor, a gyro sensor, a position module, a battery sensor, a fuel sensor, a tire sensor, a temperature sensor, an illumination sensor, etc. .

The storage unit 330 stores an autonomous driving program including a location confirmation function, a route search function, and a following driving function, map information received from the server, and user information to use logistics services.

The storage unit 330 is identification information of the delivery device 300 and can store ID (identification), MAC (Media Access Control) address, etc.

The storage unit 330 stores at least one of map information of the service area, indoor map information of the building, navigation information, high definition map (HD map) information, and infrastructure information. Here, the navigation information may include at least one of map information, set destination information, route information according to the destination setting, information on various objects on the route, lane information, and current location information of the vehicle. The precise map information may include a route on which the delivery device 300 can travel. Infrastructure information may include traffic information, weather information, and passengers. Additionally, the storage unit 330 may store sensing information detected by the sensing unit 320. Some of the information stored in the storage unit 330 may be pre-stored, and additional information in addition to some of the pre-stored information may be provided from an external server, updated in real time, and stored.

The driving unit 340 may include a speed control unit and a steering control unit necessary for movement of the delivery device 300. For example, the driving unit 340 is a component necessary for moving the delivery device 300 and includes a motor, wheels, etc. In another embodiment, when the delivery device 300 is a delivery drone, the driving unit 340 may include a propeller.

A wheel refers to a round-shaped object installed on an axle for the purpose of rotation, but the shape of the wheel is not limited in the present invention, and various shapes such as a polygonal shape installed on an axle for the purpose of rotation are of course applicable. .

In addition, it is possible to move the delivery device 300 by touching the wheels directly to the floor, but it is also possible to move the delivery device 300 by rotating other components such as caterpillars or tracks.

In addition, the motor is configured to rotate the wheel, and can directly rotate the wheel, but can also rotate indirectly using gears, etc. If it can rotate the wheel, of course, various structures can be applied.

The input unit 350 is a part of the user interface through which the sender or deliverer inputs delivery information, or the recipient inputs delivery completion information. The input unit 350 may use a touch screen, keypad, buttons, etc.

The display unit 360 displays the status of the delivery device 300 and may include a flat panel display, a 7-segment display, or a light emitting device such as an LED. The display unit 360 indicates the current status of the delivery device 300 (on duty, on standby, charging, malfunction, etc.). Additionally, the display unit 360 may serve to receive map information, location information of each robot, status information, etc. and display them on the screen. The user can intuitively check the work status of the delivery device 300 through the display unit 360 of the delivery device 300.

The control unit 370 controls the overall operation of the delivery device 300. In particular, the control unit 370 controls the delivery device 300 so that the product is delivered to the destination based on delivery information.

When the destination is input, the control unit 370 calculates the optimal route from the starting point to the destination and controls the delivery device 300 to arrive at the destination along the optimal route. At this time, the control unit 370 frequently checks the location information and status information of the delivery device 300.

The control unit 370 extracts at least one driving path based on sensing information, received information, and stored information. At this time, the driving path refers to the path from the current location of the delivery device 300 to the destination, that is, the path from the starting point to the destination point. The control unit 370 may control the delivery device 300 to move along a path. The control unit 370 calculates an optimal route using the location and destination information of the delivery device 300, and can also calculate an avoidance route when an obstacle is encountered while driving.

The control unit 370 may perform tracking control instead of movement control according to the path. Tracking control controls the delivery device 300 to follow the location of the tracking target. The delivery device 300 can follow the follower while maintaining a certain distance from the follower. As an example, the control unit 370 may control the delivery device 300 to follow the tracking target while maintaining a distance of 1 m from the tracking target. As another example, the control unit 370 may calculate the tracking path by checking the location of the tracking target in real time or periodically.

After calculating the route, the control unit 370 may calculate the expected arrival time required to travel along the route and transmit it to the recipient's terminal or server.

The control unit 370 reflects real-time traffic information and infrastructure information received from the server through the communication unit 310 on the previously determined optimal route, thereby updating the optimal route and optimal route driving information according to traffic conditions that change in real time. You can control each configuration so that you can

If the driving environment sensed through the sensing unit 320 is different from the optimal route driving information, the control unit 370 may control the operation of the delivery device 300 based on the information sensed from the sensing unit 320. .

Meanwhile, in order to efficiently move the delivery device 300 and prevent collisions, the control unit 370 can recognize the environment including obstacles based on the information obtained from the sensing unit 320. The control unit 370 can recognize the environment regarding static and dynamic obstacles. In other words, it is possible to distinguish each object and recognize whether each object is a static obstacle that does not move, such as a pillar, or a dynamic obstacle that moves, such as a person. Classification of static obstacles can be confirmed by comparison with pre-entered map information, etc. Classification of dynamic obstacles can be confirmed with information such as whether information about movement has been detected.

Meanwhile, according to an embodiment of the present invention, the delivery device 300 can provide an artificial intelligence-based voice service.

Machine Learning refers to a field that defines various problems dealt with in the field of artificial intelligence and studies methodologies to solve them. Artificial Neural Network (ANN) is a model used in machine learning and can refer to an overall model with problem-solving capabilities that is composed of artificial neurons (nodes) that form a network through the combination of synapses. An artificial neural network may include an input layer, an output layer, and optionally one or more hidden layers. In an artificial neural network, each neuron can output the function value of the activation function for the input signals, weight, and bias input through the synapse. The purpose of artificial neural network learning can be seen as determining model parameters that minimize the loss function. The loss function can be used as an indicator to determine optimal model parameters in the learning process of an artificial neural network.

The model being learned may be composed of a deep neural network and may have various neural network structures. For example, the detection model can have various neural network structures that can implement image processing techniques, such as a Recurrent Neural Network (RNN), a Convolutional Neural Network (CNN), or a combined structure of RNN and CNN. there is.

Machine learning can be classified into supervised learning, unsupervised learning, and reinforcement learning depending on the learning method.

The delivery device 300 according to an embodiment of the present invention provides an optimal AI voice service that can create synergy at each stage in the process of a predefined robot last mile service to improve logistics delivery efficiency, enhance delivery safety, and provide useful information services. can be provided. Delivery robot AI voice service is provided at points where delivery personnel meet such as delivery and receipt of the delivery device 300, safe delivery AI voice service is provided in the moving section, and the robot last is provided so that AI voice guidance service can be used in all areas. It can be configured in conjunction with the overall mile service.

The delivery robot AI voice service is a service implemented to make it easy to use delivery functions that can be processed through voice commands to improve the efficiency of robot delivery. For example, when the delivery person inputs a delivery command including delivery information into the delivery device 300 by voice, the delivery device 300 provides the received delivery information to the delivery person by voice and then starts delivery. As another example, completion of receipt can be confirmed by voice from the recipient.

The safe delivery AI voice service is a service that provides advance voice guidance on risky elements and ensures safety through voice by combining it with the safe operation function of self-driving robots. For example, when the delivery device 300 recognizes an obstacle or person while moving, it may output a recognition guidance message through voice. As another example, when a delivery-related question is input to the delivery device 300 within a security range using a random voice, the delivery device 300 may output a guidance voice.

Informational AI voice service is a service that greets citizens kindly and provides necessary information. The delivery device 300 can provide services for communicating with random people, such as weather and conversation.

Figure 4 is a diagram showing a digital logistics service process based on drone-robot linkage according to an embodiment of the present invention.

The digital logistics system may deliver goods using either drones or robots, but may also deliver goods based on the linkage between drones and robots according to an embodiment of the present invention.

Referring to FIG. 4, in step S400, the delivery person delivers the goods from the digital logistics center to the drone takeoff point. In another embodiment, if a digital logistics center is equipped with a drone, the delivery process by the shipper can be omitted.

In step S402, the delivery person loads the goods into the drone and transmits a delivery request to the integrated logistics management system. Here, the integrated logistics management system is a system that manages delivery processes between shippers, drones, robots, and recipients. Specifically, loading of goods may be performed by a deliverer or automatically by a loading device. Afterwards, the delivery person requests the integrated logistics management system to deliver the goods to the drone using the delivery terminal or a terminal provided on the drone. The terminal transmits delivery information including invoice number, sender's name, sender's address, sender's contact information, recipient's name, recipient's address, recipient's contact information, etc. to the integrated logistics management system. The terminal can further deliver information about the product, such as the type of product and handling precautions. The integrated logistics management system assigns drones to deliver goods according to delivery requests. At this time, the integrated logistics management system can check the status of the drone, such as whether it is defective, battery charging status, and whether it can be operated, and assign it to product delivery. The integrated logistics management system transmits information about the landing site, which is the destination of the drone, to the drone central control system, allowing the drone central control system to operate the drone to its destination.

In step S404, the drone carries the goods and moves to the drone landing site. At this time, the drone central control system creates a route based on the destination information and controls the drone to move along the route. The drone receives destination information, route information, and control signals according to the route through communication with the drone central control system, and transmits information collected during operation.

In step S406, the goods loaded on the drone at the drone landing site are loaded into the delivery robot. Similar to step S402, the loading process of articles may be performed automatically by an auxiliary device or manually by a person. According to one embodiment of the present invention, goods may be loaded through a vertiport.

In step S408, the delivery robot requests delivery information about the product from the integrated logistics management system. The integrated logistics management system confirms the request for delivery information and then transmits the delivery information to the delivery robot. At this time, the integrated logistics management system can transmit recipient information along with delivery information.

In step S410, the delivery robot moves to the delivery destination with the goods loaded. Delivery robots can move to the delivery destination using directly collected sensing information, traffic information, and environmental information received from the ITS server.

In step S412, the delivery robot sends a product receipt information message to the recipient after arriving at the delivery destination. The product receipt information message is a message that notifies the recipient that the product has arrived and informs the recipient of the location of the product. The product receipt information message can be transmitted to the recipient's terminal or output using the display and speaker provided in the delivery robot.

In step S414, the recipient receives the goods loaded on the delivery robot and notifies the integrated logistics management system of the receipt. The recipient can transmit the receipt of the goods to the integrated logistics management system using the input unit provided in the delivery robot or the recipient terminal.

In step S416, the delivery robot returns to the waiting area and prepares for the next delivery. When the robot is capable of outdoor driving, the delivery robot can move to the drone landing site in step S406. When the robot is designed exclusively for indoor driving, the delivery robot moves to the waiting area of the building. Delivery robots can be charged in waiting areas.

Figures 5a, 5b, and 5c are diagrams showing delivery robot-based delivery scenarios according to an embodiment of the present invention.

In each delivery scenario, an integrated logistics management system is used. The integrated logistics management system manages the logistics service process in an integrated manner, including logistics list management, transfer and loading base management, loading and unloading management, and robot delivery orders. The integrated logistics management system can manage delivery history and further manage interfaces between the integrated logistics management system and terminals/delivery devices.

Referring to FIG. 5A, a delivery scenario based on a delivery robot traveling outdoors is shown.

The delivery person loads the goods into the delivery vehicle at the digital logistics center and uses the delivery vehicle to transport the goods to the transfer and loading base. Here, the transfer and loading base refers to the point where goods are loaded from one means of transport to another means of transport.

After transfer, the shipper transmits the invoice number, sender information, and recipient information to the integrated logistics management system using the shipper terminal. The delivery person transfers the goods to the delivery robot. The integrated logistics management system confirms that goods are loaded on the delivery robot. The integrated logistics management system can receive a loading completion message from a delivery terminal or a loading completion message from a loading confirmation device installed in a delivery robot. The integrated logistics management system transmits a delivery completion notification to the deliverer's terminal indicating that the delivery has been completed for the corresponding invoice number. Additionally, the integrated logistics management system transmits delivery information to delivery robots.

Delivery robots deliver goods to the delivery destination based on delivery information. Delivery robots can move not only outdoors but also indoors to the pickup location or recipient's location. According to one embodiment of the present invention, a delivery robot can deliver goods to and from multiple floors in conjunction with an elevator system in a building.

When the recipient receives the goods, the integrated logistics management system receives notification from the delivery robot or the recipient terminal that delivery for the corresponding invoice number has been completed. As an example, the integrated logistics management system receives a loading completion message from the delivery robot, transmits URL (uniform resource locator) information to the recipient's terminal, and the recipient can access the URL to notify the integrated logistics management system of receipt. there is.

Meanwhile, referring to FIG. 5b, a delivery scenario based on a delivery robot that follows the driving path is shown.

The tracking driving of a delivery robot refers to a driving method in which the delivery robot moves along the target to be followed. For this purpose, an assistant courier is required.

After the goods are loaded onto the delivery robot at the transfer and loading base, the integrated logistics management system assigns an auxiliary delivery person to be followed by the delivery robot. Delivery robots can perform follow-up driving based on the voice or image of the assistant delivery person. Otherwise, the delivery robot may perform follow-up driving using the auxiliary delivery person's terminal or the terminal's RFID (Radio Frequency Identification).

The auxiliary delivery person can use the terminal to check that the goods are loaded on the delivery robot and report it to the integrated logistics management system, and can also confirm and report that the goods are being received by the recipient.

Referring to Figure 5c, a delivery scenario based on drone-robot linkage is shown.

Drones transport goods from the drone take-off point to the drone loading dock, and delivery robots deliver them from the drone loading dock to the pickup location. At this time, the delivery robot may drive autonomously or follow an auxiliary delivery person.

The integrated logistics management system can track and manage the delivery history and delivery process of drones and delivery robots.

Figure 6 is a diagram for explaining an elevator-linked delivery service according to an embodiment of the present invention.

Referring to FIG. 6, a delivery robot 610, a repeater 620, an elevator unit 630, and an elevator control unit 640 are shown. The elevator system includes a repeater 620, an elevator unit 630, and an elevator control unit 640.

The delivery robot 610 communicates with the elevator control unit 640 through the repeater 620 and calls the elevator unit 630 based on the communication with the elevator control unit 640. The delivery robot 610 can move to various floors in the building using the elevator unit 630. The delivery robot 610 can load goods at the drone landing site and move to the building, or it can load goods at the building location.

The elevator control unit 640 is electrically connected to the elevator unit 630 and moves the elevator unit 630 between a plurality of floors by raising and lowering the elevator unit 630. The elevator unit 630 is configured to accommodate at least one delivery robot that provides services on at least one floor among a plurality of floors in the building.

Specifically, first, the delivery robot 610 enters the building with loaded goods or loads the goods within the building. The delivery robot 610 receives delivery information including destination, destination, and recipient information. At this time, the destination floor or destination point may be received from either the delivery person or an external server.

The delivery robot 610 creates a movement path based on indoor map information, sensing information, and communication information, and moves along the created movement path. Here, the indoor map information may be a precision map. If the destination point is on the current floor of the delivery robot 610, the delivery robot 610 sets a route from the current location to the destination point based on indoor map information and moves. The destination point is the location of the delivery location or recipient terminal within the relevant floor. On the other hand, if the destination point is on a different floor, the delivery robot 610 moves to a position where it can board the elevator unit 630.

The delivery robot 610 transmits an elevator call signal to the elevator control unit 640 through the repeater 620. Here, the elevator call signal includes one or more of the destination floor or destination point of the delivery robot 610. The elevator call signal may be the same as the signal transmitted to the elevator control unit 640 by a person pressing an elevator call button. The elevator control unit 640 moves the elevator unit 630 to the floor where the delivery robot 610 is located according to the elevator call signal.

The delivery robot 610 may transmit an arrival notification signal to the elevator control unit 640 to notify that it has arrived at the elevator boarding location instead of an elevator call signal.

According to one embodiment of the present invention, the elevator call signal may include information regarding the degree of urgency. When the urgency level of the elevator call signal of the delivery robot 610 is high, processing of the elevator call signal of the delivery robot 610 takes priority over the elevator call button or the call signal by another delivery robot. That is, even if there are other call signals received first, the elevator control unit 640 moves the elevator unit 630 to the floor of the delivery robot 610 according to the elevator call signal of the delivery robot 610.

The delivery robot 610 boards the elevator unit 630 and moves to the destination floor. The delivery robot 610 can be moved together with the passengers within the elevator unit 630. The delivery robot 610 can inform the passengers of the destination floor of the delivery robot 610 through voice or video.

At this time, the delivery robot 610 can move to a designated location within the elevator unit 630. Otherwise, the elevator control unit 640 may specify a location within the elevator unit 630 to the delivery robot 610.

After the elevator unit 630 arrives at the destination floor of the delivery robot 610, the delivery robot 610 gets off.

According to one embodiment of the present invention, the delivery robot 610 may transmit an unloading incomplete signal to the elevator control unit 640 so that the door of the elevator unit 630 does not close while the delivery robot 610 is getting off. Alternatively, if it is confirmed that there is a delivery robot 610 in the elevator unit 630, the elevator control unit 640 prevents the door of the elevator unit 630 from closing until it receives an unloading completion signal from the delivery robot 610. The unit 630 can be controlled.

After disembarking the delivery robot (610). The delivery robot 610 sets a route from the current floor and current location to the destination point based on indoor map information and moves.

The delivery robot 610 can transmit an arrival information message to the recipient terminal while moving to the destination point, and can transmit an arrival information message after arriving at the destination point.

The recipient confirms the pre-designated destination point or the current location of the delivery robot 610 and receives the goods loaded on the delivery robot 610. According to one embodiment of the present invention, the delivery robot 610 can perform a recipient authentication procedure. For example, the delivery robot 610 may perform an authentication procedure using the recipient's mobile authentication procedure, biometric information authentication procedure, etc. The delivery robot 610 allows the recipient to take the goods after completing the authentication process. For example, if the delivery robot 610 is equipped with a locking device, the delivery robot 610 can deliver the goods to the storage space in a locked state and make the goods detachable after completion of authentication. As another example, if the delivery robot 610 is not equipped with a locking device and someone takes the item before completing the authentication process, the delivery robot 610 sends a warning notification to the integrated logistics management system, the recipient, etc.

The recipient sends a receipt completion message to the integrated logistics management system. The integrated logistics management system transmits a return signal to the delivery robot 610.

The delivery robot 610 returns to the waiting area according to the return signal.

According to one embodiment of the present invention, when the delivery robot 610 is in a returning state, the urgency level of the elevator call signal of the delivery robot 610 is set low. In this way, by treating the urgency level of the elevator call signal differently in the delivery stage and the return stage of the delivery robot 610, goods can be delivered quickly without deteriorating elevator operation efficiency.

Meanwhile, according to one embodiment of the present invention, the goods may be received by a secondary recipient. Specifically, when the integrated logistics management system receives a delivery request, it may receive auxiliary recipient information along with recipient information. Secondary recipient information can be entered by either the sender or the recipient. When the authentication process is triggered due to an external input after the delivery robot 610 reaches the destination, the delivery robot 610 performs the recipient authentication process. At this time, in the recipient authentication process, if the person who wishes to receive the goods is not the recipient, the delivery robot 610 performs the auxiliary recipient authentication process. If it is confirmed that the person who wishes to receive the goods is a secondary recipient, the delivery robot 610 provides the goods to the secondary recipient. In this embodiment, if the recipient is unable to receive the product, the product can be delivered efficiently by allowing an auxiliary recipient to receive the product, thereby reducing the waiting time for the recipient.

According to another embodiment of the present invention, if the recipient is unable to receive the product, the delivery robot 610 may provide the product to the authenticated person after going through a predetermined authentication procedure with a person located near the destination point. . Specifically, the delivery robot 610 moves to the destination point. When the recipient does not receive the product at the destination point for a predetermined period of time, the delivery robot 610 requests a person located around the destination point (hereinafter referred to as proxy recipient) to respond regarding whether or not the product will be received on behalf of the recipient. At this time, the recipient terminal is notified that proxy receipt is in progress. When the proxy recipient transmits the proxy recipient's intention to receive the product to the delivery robot 610 through the interface, the delivery robot 610 provides a proxy receipt authentication procedure to the proxy recipient. The proxy receipt authentication process can proceed in various ways. For example, when receiving information about the recipient, such as the recipient's name, age, and address, from the proxy recipient, the delivery robot 610 determines that the proxy recipient is authenticated. As another example, the authentication procedure can be performed by receiving a reply from the recipient terminal to proceed with proxy receipt, or by receiving and comparing answers to the same question from the recipient and proxy recipient.

In addition, the delivery robot can obtain information about status information, estimated arrival time, etc. and transmit it to the recipient terminal.

In the above, it has been explained that the delivery robot 610 directly communicates with the elevator control unit 640, senses surrounding information, and moves on its own, but according to an embodiment of the present invention, it may be performed by a robot control system. . The delivery process using the robot control system is as follows. For example, a delivery person loads goods into the delivery robot 610 and transmits loading completion and delivery information to the integrated logistics management system. The integrated logistics management system transmits delivery information to the robot control system, and the robot control system controls the delivery robot 610 based on the received delivery information. The delivery robot 610 calculates the driving route to the set destination, moves autonomously along the calculated route, and when the recipient receives the cargo at the destination, it moves to the set waiting position and waits for the next call. When the delivery robot 610 is indoors, the delivery robot 610 can use an elevator system to move to the destination.

Figure 7 is a flowchart of a delivery service method according to an embodiment of the present invention.

Referring to Figure 7, the delivery robot receives delivery information including destination floor, destination point, and recipient information (S700).

The delivery robot senses the delivery robot's current floor, current location, surrounding objects, and surrounding environment (S702).

The delivery robot transmits an elevator call command including the current floor and destination floor of the delivery robot to the elevator control unit that controls the elevator unit (S704).

The delivery robot uses the elevator unit to move the delivery robot to the destination point of the destination floor based on pre-stored indoor map information and sensing information (S706).

The delivery robot provides the goods to the recipient at the destination point (S708).

According to one embodiment of the present invention, the delivery robot performs an authentication process with the recipient at the destination point, and the delivery robot can provide goods according to the authentication result. Accordingly, it is possible to prevent items from being stolen or incorrectly delivered by someone other than the designated recipient.

According to one embodiment of the present invention, the delivery robot may transmit a door closing prevention signal to the elevator control unit before the delivery robot gets off from the elevator unit. Accordingly, it is possible to prevent the delivery robot from colliding with the door of the elevator unit and breaking down.

According to one embodiment of the present invention, the delivery robot can transmit a product arrival message to the recipient terminal. When a response to the product arrival message is not received within a preset time, the delivery robot requests one of the nearby people to receive the product on its behalf. The delivery robot performs an authentication process with the proxy recipient. The delivery robot can perform the authentication process using the proxy recipient's mobile authentication procedure, biometric information authentication procedure, etc. The delivery robot provides goods to proxy recipients according to the authentication results. Accordingly, when the recipient is unable to receive the product due to an unexpected situation when the recipient is scheduled to receive the device, the waiting time of the delivery robot can be reduced and the efficiency of the logistics service can be increased by proceeding with the proxy pickup.

Various implementations of the systems and techniques described herein may include digital electronic circuits, integrated circuits, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), computer hardware, firmware, software, and/or these. It can be realized through combination. These various implementations may include being implemented as one or more computer programs executable on a programmable system. The programmable system includes at least one programmable processor (which may be a special purpose processor) coupled to receive data and instructions from and transmit data and instructions to a storage system, at least one input device, and at least one output device. or may be a general-purpose processor). Computer programs (also known as programs, software, software applications or code) contain instructions for a programmable processor and are stored on a "computer-readable medium."

Computer-readable recording media include all types of recording devices that store data that can be read by a computer system. These computer-readable recording media are non-volatile or non-transitory such as ROM, CD-ROM, magnetic tape, floppy disk, memory card, hard disk, magneto-optical disk, and storage device. It may be a medium, and may further include a transitory medium such as a data transmission medium. Additionally, the computer-readable recording medium may be distributed in a computer system connected to a network, and the computer-readable code may be stored and executed in a distributed manner.

In the flowchart/timing diagram of this specification, each process is described as being executed sequentially, but this is merely an illustrative explanation of the technical idea of an embodiment of the present disclosure. In other words, a person skilled in the art to which an embodiment of the present disclosure pertains may change the order described in the flowchart/timing diagram and execute one of the processes without departing from the essential characteristics of the embodiment of the present disclosure. Since the above processes can be applied in various modifications and variations by executing them in parallel, the flowchart/timing diagram is not limited to a time series order.

The above description is merely an illustrative explanation of the technical idea of the present embodiment, and those skilled in the art will be able to make various modifications and variations without departing from the essential characteristics of the present embodiment. Accordingly, the present embodiments are not intended to limit the technical idea of the present embodiment, but rather to explain it, and the scope of the technical idea of the present embodiment is not limited by these examples. The scope of protection of this embodiment should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of rights of this embodiment.

300: delivery device
310: Department of Communications
320: Sensing unit
330: storage unit
340: driving unit
350: input unit
380: display unit
370: control unit

Claims (9)

In a delivery robot that provides delivery services based on linkage with the elevator system in the building,
An input unit that receives delivery information including destination, destination, and recipient information;
A sensing unit that senses the current floor, current location, surrounding objects, and surrounding environment of the delivery robot;
a communication unit that transmits an elevator call command including the current floor of the delivery robot and the destination floor to an elevator control unit that controls the elevator unit; and
The movement of the delivery robot is controlled based on the previously stored indoor map information and the sensing information, the delivery robot is moved to the destination point of the destination floor using the elevator unit, and the goods are delivered to the recipient at the destination point. Control unit provided
Delivery robots including. According to paragraph 1,
The control unit,
A delivery robot that performs an authentication process with the recipient at the destination point and provides the goods according to the authentication results. According to paragraph 1,
The control unit,
A delivery robot that transmits a door closing prevention signal to the elevator control unit before getting off from the elevator unit. According to paragraph 1,
The control unit,
Send a product arrival message to the recipient terminal, request proxy pickup from one of the nearby people when a response to the product arrival message is not received within a preset time, perform an authentication procedure with the proxy recipient, and submit the authentication result. A delivery robot that provides the goods to the proxy recipient. In the delivery method of the delivery robot based on linkage with the elevator system in the building,
A step of receiving delivery information including destination, destination, and recipient information;
Sensing the current floor, current location, surrounding objects, and surrounding environment of the delivery robot;
transmitting an elevator call command including the current floor of the delivery robot and the destination floor to an elevator control unit that controls the elevator unit;
moving the delivery robot to the destination point of the destination floor using the elevator unit, based on pre-stored indoor map information and the sensing information; and
Providing goods to the recipient at the destination point
Shipping method including. According to clause 5,
The steps provided above are:
performing an authentication procedure with the recipient at the destination point; and
Step of providing the goods according to the authentication results
Shipping method including. According to clause 5,
Transmitting a door closing prevention signal to the elevator control unit before the delivery robot gets off from the elevator unit.
Shipping methods including: According to clause 5,
The steps provided above are:
Transmitting a product arrival message to the recipient terminal;
When a response to the product arrival message is not received within a preset period of time, requesting one of the people nearby to receive the product on behalf of the user;
performing authentication procedures with a representative payee; and
Providing the goods to the representative recipient according to the authentication result
Shipping method including. In a digital logistics system based on delivery robots and elevator systems,
An elevator unit configured to enable boarding of at least one delivery robot that provides services on at least one floor among a plurality of floors in the building; and
A control unit connected to the elevator unit and moving the elevator unit between the plurality of floors by raising and lowering the elevator unit.
an elevator system comprising; and
An input unit that receives delivery information including the destination floor and destination point;
a communication unit that communicates with the elevator system based on the delivery information;
A sensing unit that senses surrounding objects and the surrounding environment while driving; and
A control unit that moves the delivery robot to the destination floor using the elevator system and moves the delivery robot to the destination point using pre-stored indoor map information and the sensing information.
Delivery robots including;
Digital logistics system including.

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