Service robot device

Abstract

A service robot apparatus is disclosed. The service robot apparatus includes a main body, a shelf horizontally supported by the main body, a first driving device configured to move the main body, a display including a front surface displaying an image and a rear surface disposed as a side surface facing the main body, a link member including one end connected to the main body and the other end connected to the rear surface of the display, and a second driving device configured to move the link member such that the display moves along the side surface of the main body.

Description

Technical Field

[0001] The present disclosure relates to a service robot apparatus, and more particularly, to a service robot apparatus having a display movable along a side surface of a main body so that the display faces a service position that is easy to interact with a customer. Background Art

[0002] With the development of robot technology, robots have been developed that carry objects to be served (e.g., food, food on plates or dishes, etc.) to designated locations in restaurants, etc. However, when tables in a restaurant are arranged at narrow intervals (i.e., narrow aisles, limited space with walls, etc.), robots that move between or beside tables may be restricted in movement (such as rotational movement) to avoid collision with the tables.

[0003] In addition, there is a problem in that, in order to allow the robot, which has reached a target table, to interact with a customer through a display fixed to the robot, the entire robot must be rotated within a narrow passage or space. Summary of the Invention

[0004] Technical issues

[0005] According to one aspect of the present disclosure, there is provided a service robot apparatus including a display which moves along a side surface of a main body so as to be guided to a service position where it is easy to interact with a customer.

[0006] Solution to the problem

[0007] According to an embodiment, the service robot device includes: a main body; a shelf horizontally supported by the main body; a first drive device configured to move the main body; a display including a front surface for displaying an image and a rear surface configured to face the side surface of the main body; a link member including one end connected to the main body and the other end connected to the rear surface of the display; and a second drive device configured to move or pivot the link member so that the display moves along the side surface of the main body.

[0008] The service robot apparatus may further include a guide rail provided along a side surface of the main body, and the link member may include a block member connected to a rear surface of the display and movably provided along the guide rail.

[0009] The guide rail may have a U-shape.

[0010] The second driving device may include: a rotary motor fixed to the main body, and the link member may include: a first link and a second link, the first link including one end connected to the rotary motor, the second link including one end slidably connected to the first link and the other end connected to the block member.

[0011] An upper surface of the first link may be disposed to face a lower surface of the second link.

[0012] The main body may include: first and second side walls disposed to face each other and horizontally support the shelf; a first body supporting upper ends of the first and second side walls; and a second body supporting lower ends of the first and second side walls.

[0013] The rear surface of the display may be disposed to face the side surface of the first body.

[0014] The body may include a slit formed along a side surface of the body, and the service robot apparatus may further include a cover member configured to close the slit and slidably supported by the body, and the block member may be provided to pass through the cover member.

[0015] The main body may include guide grooves into which upper and lower ends of the cover member are inserted.

[0016] The service robot device may also include: a third driving device, which is configured to tilt the display in a vertical direction, and the third driving device may include: a tilting motor, which is fixed to the block member; a first tilting link, which includes one end connected to the tilting motor and the other end connected to the rear surface of the display, and moves forward or backward by the tilting motor; and a second tilting link, which includes one end connected to the block member and the other end connected to the rear surface of the display in a tiltable manner.

[0017] The first tilt link may be disposed below the second tilt link.

[0018] The service robot apparatus may further include a processor configured to control the tilt motor so that a preload is applied to the first tilt link based on the movement of the main body by the first driving device.

[0019] The display may include: a stop protrusion formed in the rear surface and arranged between the first tilt link and the second tilt link, and the service robot device may also include: an elastic member arranged on the upper surface of the first tilt link, wherein the stop protrusion is operable to contact the elastic member.

[0020] The service robot apparatus may further include a cable member provided along the link member and electrically connected to the display.

[0021] The service robot device may also include: a processor, configured to control a first drive device so that the main body moves within a preset distance range from the service location based on a service command received from a user including a service location, and control a second drive device so that the front surface of the display faces the service location. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other aspects and features of certain embodiments of the present disclosure will become more apparent through the following description taken in conjunction with the accompanying drawings, in which:

[0023] Figure 1 is a perspective view of a service robot apparatus according to an embodiment of the present disclosure;

[0024] Figure 2 and Figure 3 is a diagram illustrating a process of moving a display along a side surface of a main body;

[0025] Figure 4 is a block diagram schematically illustrating a process of controlling a service robot device according to an embodiment of the present disclosure;

[0026] Figure 5 is a diagram illustrating a service robot device performing a service operation;

[0027] Figure 6 and Figure 7 is a cross-sectional view showing a display tilted in a vertical direction; and

[0028] Figure 8 and Figure 9 is a diagram illustrating the structure of a cover member that closes the slit of the main body. DETAILED DESCRIPTION

[0029] The examples described below are intended to facilitate understanding of the present disclosure, and it should be understood that various changes may be made to the examples described herein, and that the present disclosure may be implemented in different forms. In addition, in the following description, detailed descriptions of well-known functions or configurations will be omitted because they would unnecessarily obscure the subject matter of the present disclosure. In addition, it should be noted that the drawings are merely for ease of understanding of the present disclosure and are not shown to scale, and the sizes of some elements may be exaggerated.

[0030] The terms used in the present specification and claims are general terms that are considered according to the functions of the various embodiments of the present disclosure. However, these terms can be changed according to the intention of a person of ordinary skill in the art, the technical interpretation, the emergence of new technologies, and the like. The applicant can arbitrarily select some terms, and the meanings thereof will be described in the detailed description of the embodiments. Unless a specific definition is present, the terms can be interpreted based on the overall content and the technical understanding of a person of ordinary skill in the art.

[0031] In the present specification, the expressions "have," "may have," "include," or "may include" and the like indicate the presence of the corresponding features (for example, components such as numbers, functions, operations, or parts), and do not exclude the presence of additional features.

[0032] Since the components necessary for the description of each embodiment of the present disclosure have been described herein, the embodiments are not limited thereto. Accordingly, some components can be modified or omitted, and other components can be added. In addition, the components can be distributed and arranged in different independent devices.

[0033] Further, although the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings and the contents set forth in the drawings, the present disclosure is not limited to these embodiments.

[0034] Hereinafter, the present disclosure will be described in greater detail with reference to the accompanying drawings.

[0035] Figure 1 is a perspective view of a service robot apparatus 1 according to an embodiment of the present disclosure; Figure 2 and Figure 3 is a diagram illustrating a process of moving a display along a side surface of a main body. Although the operation of a service robot apparatus is described below, the present disclosure also includes other robots or other types of robots, including a delivery robot or any robot that transports any object from one location to another.

[0036] Referring to Figures 1 to 3 , a service robot apparatus 1 according to an embodiment of the present disclosure can include a main body 10, a shelf 20, a first driving device 30, a display 100, a link member 200, and a second driving device 300. In an embodiment, the shelf 20 can be a tray.

[0037] The main body 10 can include a first body 11, a second body 12, a first side wall 13, and a second side wall 14.

[0038] The first body 11 and the second body 12 can have a substantially cuboid shape, but they are not limited thereto. The first body 11 can be disposed above the second body 12. The first body 11 and the second body 12 can accommodate therein a plurality of electronic components for operating the service robot apparatus 1.

[0039] The first and second sidewalls 13 and 14 may be vertically disposed and may connect the first and second bodies 11 and 12. The first body 11 may support upper ends of the first and second sidewalls 13 and 14, and the second body 12 may support lower ends of the first and second sidewalls 13 and 14.

[0040] The first side wall 13 and the second side wall 14 may be arranged to face each other and may have the same height. The first side wall 13 and the second side wall 14 may support the shelf 20 disposed therebetween. The second side wall 14 may have a width smaller than that of the first side wall 13. That is, the width W2 of the second side wall 14 may be smaller than the width W1 of the first side wall 13.

[0041] The first side wall 13 may have a width W1 that is long enough so that the shelf 20 can be stably supported, and the second side wall 14 may have a width W2 that is small enough to allow the shelf 20 to be exposed to the outside and as unobstructed as possible so that objects to be supplied can be easily placed on and removed from the shelf 20.

[0042] Therefore, obstruction between the object to be supplied and the first side wall 13 and the second side wall 14 is minimized, and the user can place the object to be supplied on the upper surface of the shelf 20, or can easily pick up the object to be supplied that has been placed on the shelf 20. The user can also place the object to be supplied on the upper surface 12a of the second body 12.

[0043] The shelf 20 may be supported by the main body 10 or may be arranged horizontally. The shelf 20 may be arranged between the first side wall 13 and the second side wall 14, or may have a plate shape with an approximately rectangular cross-section. The shelf 20 may be arranged horizontally without being tilted, and thus may stably support the objects to be supplied that have been placed on the upper surface.

[0044] The shelf 20 may include a first shelf 21 and a second shelf 22. The first shelf 21 and the second shelf 22 may be arranged parallel to each other. However, the number of the shelves 20 is not limited to two, but three or more shelves 20 may be formed.

[0045] The first driving device 30 can move the service robot apparatus 1. The first driving device 30 can rotate the plurality of wheels 15 provided on the lower surface of the second body 12 to move the service robot apparatus 1 to a predetermined position. Therefore, the service robot apparatus 1 can transport the object to be supplied to a designated position.

[0046] The first driving device 30 may include a motor, a battery, an actuator, gears, bearings, etc., and may be accommodated in the second body 12 .

[0047] The display 100 may include a front surface 110 for displaying an image and a rear surface 120 disposed to face the side surface of the main body 10. The rear surface 120 of the display 100 may be disposed to face the side surface of the first body 11. The display 100 may be supported by the first body 11. The display 100 may be disposed outside the main body 10.

[0048] The display 100 may provide an image including information related to the supply of the object. For example, the display 100 may display a target table to which the service robot apparatus 1 will move and information corresponding to the object to be supplied.

[0049] The display 100 may be a touch screen. The user may touch the display 100 to input information about the target table to the service robot apparatus 1. The customer may touch the display 100 to provide the service robot apparatus 1 with an input indicating that the object to be supplied has been received.

[0050] The service robot device 1 may also include a sensor (not shown) for capturing the surrounding environment of the service robot device 1, such as a camera, a depth camera, etc. The service robot device 1 can recognize the surrounding environment based on the information collected by the camera, can be driven automatically, can collect information, and can send the information to the user. The camera can also detect the posture of the customer or the position of certain physical attributes of the customer.

[0051] The link member 200 may include one end 201 connected to the main body 10 and the other end 202 connected to the rear surface 120 of the display 100 .

[0052] The second driving device 300 may move the link member 200 so that the display 100 moves around the main body 10. In an exemplary embodiment, the display 100 moves along a side surface of the main body 10.

[0053] When the link member 200 pivots about one end 201, the display 100 connected to the other end 202 of the link member 200 can move along the side surface of the main body 10. In an exemplary embodiment, the link member 200 can rotate about the one end 201. For example, when the service robot device 1 receives information from a user or customer through the display 100 or provides information as an image, only the front surface 110 of the display 100 can move along the side surface of the main body 10 so that the front surface 110 of the display 100 faces the user or customer, without rotating or turning the main body 10. Therefore, the service robot device 1 according to an embodiment of the present disclosure can easily interact with the user or customer while minimizing its movement.

[0054] The service robot device 1 may further include a guide rail R provided along the side surface of the main body 10. The guide rail R may have a U-shape, but is not limited thereto. In an embodiment, the guide rail R may have any shape that allows the display 100 to move unimpeded without the rear surface 120 contacting the side surface of the main body 10. The guide rail R may form a non-circular path through which the block member 210 moves. In an embodiment, the guide rail R may have a closed loop shape, such as a runway shape, a circular shape, an elliptical shape, etc., whereby the link member 200 rotates around one end 201 to move the block member 210 along such a guide rail R, so that the display 100 can be moved around the entire periphery of the main body 10.

[0055] The guide rail R may be provided along an edge of the main body 10 .

[0056] The link member 200 may include a block member 210 connected to the rear surface 120 of the display 100 and provided to be movable along the guide rail R. A lower surface of the block member 210 may be slidably supported on the guide rail R. The block member 210 may have a shape engaged with the guide rail R.

[0057] Two stopping members S may be provided at both ends of the guide rail R. The block member 210 may pass through the stopping members S without being deviated from the guide rail R.

[0058] The display 100 can move integrally with the block member 210. Since the guide rail R and the block member 210 are provided adjacent to the side surface of the main body 10, the display 100 provided outside the main body 10 can be stably supported. Since the distance between the block member 210, whose lower surface is supported by the main body 10 (e.g., the guide rail R), and the display 100 is sufficiently short, the moment acting on the block member 210 due to the weight of the display 100 can be sufficiently small.

[0059] The second driving device 300 may include a motor 310 fixed to the body 10. The link member 200 may include a first link 220 and a second link 230.

[0060] The first link 220 may include one end 221 connected to the motor 310 and another end remote from the one end 221. The one end 221 of the first link 220 may be a rotation center of the first link 220. The first link 220 may pivot, for example, partially rotate, relative to a vertical axis (Z) defined by the motor 310. In an embodiment, the first link 220 is a slotted link.

[0061] The second link 230 may include one end 231 slidably connected to the first link 220 and the other end 232 connected to the block member 210. The upper surface 220a of the first link 220 may be disposed opposite to the lower surface 230a of the second link 230. In an embodiment, the one end 231 includes a pin or protrusion that fits into a groove of the first link 220.

[0062] The length of each of the first link 220 and the second link 230 may be fixed, but the second link 230 may be closer to or farther from the one end 221 of the first link 220 .

[0063] Therefore, since the second link 230 slides relative to the first link 220 and the overall length of the first link 220 and the second link 230 changes, the movement of the other end 232 can be non-circular. In other words, the first link 220 and the second link 230 operate to provide a variable stroke length for the link member 200. Therefore, the side surface of the main body 10 can be formed into a non-circular shape, and the guide rail R can provide a non-circular path, so that the block member 210 and the display 100 can be easily moved along the non-circular path.

[0064] The display 100 may be moved along the side of the main body 10 having various shapes, and the cross-sectional shape of the main body 10 may have a rectangular shape without being limited to a circular shape, so that the shelf 20 can carry more objects to be supplied.

[0065] The service robot device 1 may further include a cable member 600 provided along the link member 200 and electrically connected to the display 100. The cable member 600 may provide power and image signals to the display 100. The cable member 600 may be wired via one end 221 of the first link 220 as the rotation center of the link member 200.

[0066] Therefore, even if the link member 200 moves with a variable rotation radius, the length change of the cable member 600 can be minimized. The slack in the cable member 600 can be minimized, and the cable member 600 can be prevented from being accidentally twisted or damaged due to contact with other components.

[0067] Figure 4 is a block diagram schematically illustrating a process of controlling a service robot device according to an embodiment of the present disclosure; Figure 5 is a diagram illustrating a service robot device performing a service operation.

[0068] Reference Figure 4 and Figure 5 , the service robot device 1 may further include a processor 700 .

[0069] The processor 700 may control the first drive device based on a service command received from a user including a service location, so that the service robot device 1 moves within a preset distance range from the service location. The processor 700 may also control the second drive device 300 so that the front surface 110 of the display 100 faces the service location. The service location may refer to a location where a customer receives an object to be supplied.

[0070] For example, a plurality of tables (T1, T2, T3, T4) may be arranged in two rows and two columns, and the service robot apparatus 1 may be moved between the first table and the third table (T1, T3) and between the second table and the fourth table (T2, T4). Thereafter, the main body 10 may not be moved, and only the display 100 may be moved along the side surface of the main body 10 so that the front surface 100 faces the third table (T3) or the fourth table (T4).

[0071] When the service robot device 1 receives information from a user or a customer through the display 100 or provides information as an image, the front surface 110 of the display 100 can be moved along the side surface of the main body 10 so that the front surface 110 of the display 100 faces the user or the customer without rotating the main body 10. Therefore, the service robot device 1 according to an embodiment of the present disclosure can easily interact with the user or the customer.

[0072] Figure 6 and Figure 7 is a cross-sectional view showing that the display is tilted in the vertical direction.

[0073] Reference Figure 6 and Figure 7 , the service robot apparatus 1 according to the embodiment may further include a third driving device 400 to tilt the display 100 in the vertical direction.

[0074] The third driving device 400 may include a tilt motor 410 , a first tilt link 420 , and a second tilt link 430 .

[0075] The tilt motor 410 may be fixed to the block member 210 , may be operated based on an input signal, and may move integrally with the block member 210 .

[0076] The first tilt link 420 may include one end 421 connected to the tilt motor 410 and the other end 422 connected to the rear surface 120 of the display 100. The first tilt link 420 may be moved forward or backward by the tilt motor 410 and may push forward or pull backward the display 100. For example, the tilt motor 410 may move the rotation link 411 clockwise, and the first tilt link 420 connected to the rotation link 411 may be moved backward.

[0077] The second tilt link 430 may include one end 431 connected to the block member 210 and the other end 432 rotatably connected to the rear surface 120 of the display 100. The second tilt link 430 moves integrally with the block member 210, and the other end 432 of the second tilt link 430 may define a pitch axis of the display 100. The display 100 may be tilted in a vertical direction about the other end 432 of the second tilt link 430.

[0078] The first tilt link 420 may be disposed below the second tilt link 430 .

[0079] For example, when the first tilt link 420 moves forward, the front surface 110 of the display 100 may tilt upward, i.e., face an upward direction, and when the first tilt link 420 moves backward, the front surface 110 of the display 100 may tilt downward, i.e., be oriented in a downward direction.

[0080] Thus, the display 100 can interact with users or customers in various situations, whether sitting or standing. The customer's posture or gaze, or the position of various physical attributes of the customer (e.g., head, eyes, face, etc.) can be determined from the images captured by the camera. The amount of tilt of the display 100 can be based on the input signal provided to the tilt motor 410. The input signal can be generated based on the determined posture or gaze of the customer, or the position of various physical attributes of the customer, so that the customer can easily view the display 100.

[0081] The processor 700 may control the tilt motor 410 such that a preload is applied to the first tilt link 420 based on the body 10 being moved by the first driving device 30 .

[0082] When the service robot apparatus 1 moves, vibration of the first tilt link 420 and the display 100 , which may be generated by a backlash of the tilt motor 410 , may be minimized by applying a preload.

[0083] For example, when the front surface 110 of the display 100 faces forward (outward), as shown in FIG. Figure 6 As shown, the tilt motor 410 can generate a preload in the clockwise direction to allow the preload to be applied to the first tilt link 420 in the rearward direction. Figure 7 As shown, the tilt motor 410 may generate a preload in the counterclockwise direction to allow the preload to be applied in the forward (outward) direction to the first tilt link 420. Therefore, even when the main body 10 moves, vibration of the display 100 may be minimized.

[0084] The display 100 may include a stopping protrusion 130. The stopping protrusion 130 may be formed in the rear surface 120 of the display 100 and may be disposed between the first tilt link 420 and the second tilt link 430.

[0085] Since the stopping protrusion 130 is operable to come into contact with the first tilt link 420 or the second tilt link 430 , the display 100 may be tilted within a preset angle range in a vertical direction.

[0086] The service robot apparatus 1 may further include an elastic member 500 disposed on an upper surface of the first tilt link 420 and operably contacting the stopping protrusion 130. The elastic member 500 may be made of an elastomer, rubber, a rubber-like material, or may be a spring, but the type is not limited thereto.

[0087] The elastic member 500 may be two members, and one of the elastic members may be disposed on an upper surface of the first tilt link 420 , and the other may be disposed on a lower surface of the second tilt link 430 .

[0088] The stopping protrusion 130 does not directly collide with the first and second tilt links 420 and 430 but contacts the elastic member 500 , and thus, damage of components may be prevented, and noise unexpectedly occurring due to the collision may be prevented.

[0089] Figure 8 and Figure 9 is a diagram illustrating the structure of a cover member that closes the slit of the main body.

[0090] Reference Figure 8 and Figure 9 The main body 10 may include a slit 16 formed along a side surface of the main body 10. The slit 16 may be provided along a movement path of the display 100. The main body 10 may accommodate the link member 200 and the second driving device 300 therein, and the slit 16 may connect the inside and the outside of the main body 10, that is, the slit 16 may provide an opening on the first body 11.

[0091] The service robot apparatus 1 may further include a cover member C. The cover member C may close the slit 16 and may be slidably supported by the main body 10, and the block member 210 may be disposed through the cover member C. The cover member C may be formed of a thin film and may have an annular shape. For example, the cover member C may be formed of low-rigidity plastic, but the material is not limited thereto.

[0092] For example, when the link member 200 pivots, the block member 210 moving along the guide rail R may push the cover member C. Therefore, the cover member C may slide along the side surface of the body 10 and may still close the slit 16 .

[0093] By the cover member C, the link member 200 and the second driving device 300 may not be exposed to the outside, and the service robot apparatus 1 may have a compact and clean appearance.

[0094] The main body 10 may include a guide groove 17 into which the upper and lower ends of the cover member C are inserted. The guide groove 17 may provide a movement path for the cover member C. The guide groove 17 may have a portion corresponding to the slit 16 and a remaining portion accommodated in the main body 10. The remaining portion of the guide groove 17 may have a sufficiently large rotation radius so that friction between the cover member C and the guide groove 17 can be minimized.

[0095] While the present disclosure has been shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as claimed.

Claims

1. A service robot device, comprising: main body; a shelf horizontally supported by the main body; a first driving device configured to move the body; a display including a front surface and a rear surface, the display being configured to display an image at the front surface, and the rear surface being disposed to face the side surface of the main body; a link member including one end connected to the main body and the other end connected to the rear surface of the display; a second driving device configured to move the link member so that the display moves along a side surface of the main body so that the display moves to face a user without rotating or turning the main body; as well as a guide rail provided along a side surface of the main body, The link member further includes a block member connected to the rear surface of the display and movably disposed along the guide rail.

2. The service robot device according to claim 1, wherein: The guide rail includes a U-shape.

3. The service robot device according to claim 1, wherein: The second driving device includes a motor fixed to the main body, The connecting rod member further comprises: a first connecting rod and a second connecting rod, the first connecting rod comprising one end connected to the motor, the second connecting rod comprising one end slidably connected to the first connecting rod and the other end connected to the block member.

4. The service robot device according to claim 3, wherein: An upper surface of the first link is disposed to face a lower surface of the second link.

5. The service robot device according to claim 1, wherein: The subject includes: a first side wall and a second side wall, arranged to face each other and horizontally support the shelf; a first body supporting an upper end of the first side wall and an upper end of the second side wall; and The second body supports the lower end of the first side wall and the lower end of the second side wall.

6. The service robot device according to claim 5, wherein: The rear surface of the display is disposed to face the side surface of the first body.

7. The service robot device according to claim 1, wherein: The body includes: a slit formed along a side surface of the body, and Wherein, the service robot apparatus further includes: a cover member configured to close the slit and slidably supported by the main body, and Wherein, the block member is provided to pass through the cover member.

8. The service robot device according to claim 7, wherein: The main body further includes a guide groove into which an upper end of the cover member and a lower end of the cover member are inserted.

9. The service robot device according to claim 1, further comprising: a third driving device configured to tilt the display in a vertical direction, Wherein, the third driving device includes: a tilt motor secured to the block member; a first tilt link including one end connected to the tilt motor and the other end connected to the rear surface of the display, and configured to move forward or backward by the tilt motor; and A second tilt link includes one end connected to the block member and the other end to which the rear surface of the display is pivotally connected.

10. The service robot device according to claim 9, wherein: The first tilt link is disposed below the second tilt link.

11. The service robot device according to claim 9, further comprising: A processor is configured to control the tilt motor so that a preload is applied to the first tilt link based on movement of the main body by the first drive device.

12. The service robot device according to claim 10, wherein: The display further includes: a stopping protrusion formed at a rear surface and disposed between the first tilt link and the second tilt link, and the service robot apparatus further includes: an elastic member provided on an upper surface of the first tilt link, Wherein, the stopping protrusion is operable to contact the elastic member.

13. The service robot device according to claim 1, further comprising: A cable member is disposed along the link member and is electrically connected to the display.

14. The service robot device according to claim 1, further comprising: The processor is configured to control the first driving device to move the main body within a preset distance range from the service position based on receiving a service command including the service position, and control the second driving device to make the front surface of the display face the service position.

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