Food moving table and service robot including food moving table

Abstract

Disclosed is a food moving table. The food moving table includes a first plate having a plurality of recesses formed on an upper surface, a second plate having a lower surface disposed to face the upper surface of the first plate, a first support member connected to the upper surface of the first plate and disposed between the first plate and the second plate, a second support member connected to the lower surface of the second plate and disposed between the first plate and the first support member, a plurality of rolling members respectively disposed in the plurality of recesses and in contact with the lower surface of the second plate, and an elastic friction member disposed on an upper surface of the second support member and compressed and deformed by a lower surface of the first support member when the second plate and the second support member are raised.

Description

Technical Field

[0001] This disclosure relates to a food transport station and a service robot device including the food transport station, and more specifically, to a food transport station capable of safely transporting food by reducing vibration and a service robot device including the food transport station. Background Technology

[0002] With the development of robotics technology, robots have been developed to transport service objects (e.g., food) to designated locations in places such as restaurants. However, when service robots accelerate or decelerate rapidly, collide with obstacles, or when the ground is uneven, there may be problems with vibrations or sudden movements that can be transmitted to the service objects, causing containers holding food to fall or tip over, or food to fall out or spill from the containers. Summary of the Invention

[0003] Technical issues

[0004] The purpose of this disclosure is to provide a food transport platform that can safely transport food by damping vibrations, and a service robot device including the food transport platform.

[0005] Technical solution

[0006] The food moving platform according to an embodiment may include: a first plate having a plurality of recesses formed on its upper surface; a second plate having its lower surface configured to face the upper surface of the first plate; a first support member connected to the upper surface of the first plate and disposed between the first plate and the second plate; a second support member connected to the lower surface of the second plate and disposed between the first plate and the first support member; a plurality of rolling members disposed on each of the plurality of recesses and in contact with the lower surface of the second plate; and an elastic friction member disposed on the upper surface of the second support member and, based on the second plate and the second support member, being compressed and deformed by the lower surface of the first support member.

[0007] The second support member may be configured to pass through the central axis of the second plate, and the elastic friction member may include a first elastic friction member disposed at one end of the second support member and a second elastic friction member disposed at the other end of the second support member.

[0008] The food moving platform may further include: a support link configured to connect a second plate and a second support member, wherein a central portion of the second support member is rotatably connected to the support link.

[0009] The food moving platform may include: a plurality of first column members, which are respectively connected to the upper surface of a first plate and have the plurality of recesses formed thereon; and a plurality of second column members, which are respectively connected to the lower surface of a second plate and are configured to face the plurality of first column members so as to form a space in which the rolling member can move.

[0010] The second column member may include: an additional recess having a shape that is perpendicularly symmetrical to the plurality of recesses.

[0011] The plurality of recesses may include a first to a fourth recess arranged in a grid shape, the plurality of rolling members may include a first roller disposed in the first and second recesses and a second roller disposed in the third and fourth recesses, and the food moving table may further include a third plate, the upper surface of which is configured to face the lower surface of the first plate and has a fifth to an eighth recess respectively disposed at positions corresponding to the first to fourth recesses; a third roller disposed in the fifth and eighth recesses and in contact with the lower surface of the first plate; and a fourth roller disposed in the sixth and seventh recesses and in contact with the lower surface of the first plate.

[0012] The food moving platform may further include a locking device for selectively restricting the relative movement of the first plate and the second plate.

[0013] The locking device may include: a rotating link rotatably disposed on the upper surface of the first plate; and a first pressure link and a second pressure link connected to the rotating link to simultaneously press the side surfaces of the first and second column members by moving in opposite directions based on the rotation of the rotating link.

[0014] The locking device may further include: a first guide member and a second guide member, which are fixedly disposed on the upper surface of the first plate to guide the movement paths of the first pressure link and the second pressure link to rise as the first pressure link and the second pressure link move closer to the first column member and the second column member, respectively.

[0015] The locking device may include: an assembly member having a cross-sectional area that decreases towards one end; a first pressure link and a second pressure link disposed on the left and right sides of said one end of the assembly member, and, based on linear movement of the assembly member, the first pressure link and the second pressure link move in opposite directions by being pushed by said one end of the assembly member to simultaneously press the side surfaces of the first and second column members; and an elastic member for connecting the first pressure link and the second pressure link.

[0016] The locking device may include: a first block disposed on the upper surface of the first plate and including a first inclined surface; a second block including a second inclined surface engaging with the first inclined surface, and the second inclined surface being pressed by the first inclined surface and rising as the first block moves linearly; and a third block connected to the lower surface of the second plate such that the raised second block is assembled.

[0017] The service robot device according to an embodiment may include: a main body; a drive mechanism for moving the main body; a food moving platform including: a first plate having a plurality of recesses formed on its upper surface; a second plate having its lower surface facing the upper surface of the first plate; a plurality of rolling members disposed on each of the plurality of recesses and in contact with the lower surface of the second plate; and a locking mechanism for selectively restricting relative movement of the first plate and the second plate; at least one sensor for detecting the type of food placed on the second plate or an inclined surface in front of the service robot device; and a processor for controlling the locking mechanism to restrict relative movement of the first plate and the second plate based on information received by the at least one sensor.

[0018] The at least one sensor may include an acceleration sensor for detecting the first plate, and the processor may control the locking device to limit the relative movement of the first plate and the second plate based on identifying vibrations within a preset range in the vibrations of the second plate according to information received from the acceleration sensor.

[0019] The service robot device may further include: an input device for receiving information about the food to be served, and a processor for identifying, based on the information received by the input device, that the food placed on the second plate includes preset food, and a control locking device for restricting the relative movement of the first and second plates.

[0020] The at least one sensor may include: a tilt detection sensor for detecting a tilted surface in front of the service robot device, and the processor may control the locking device to limit the relative movement of the first plate and the second plate based on the information received by the tilt detection sensor to identify the presence of a tilted surface in front of the service robot device.

[0021] The at least one sensor may include: a camera for capturing food placed on a second plate, and a processor for identifying, based on information received from the camera, a preset food is placed on the second plate, and controlling a locking device to restrict the relative movement of the first plate and the second plate.

[0022] The food moving platform may further include: a first support member connected to the upper surface of the first plate and disposed between the first plate and the second plate; a second support member connected to the lower surface of the second plate and disposed between the first plate and the first support member; an elastic friction member disposed on the upper surface of the second support member and compressed and deformed by the lower surface of the first support member based on the elevation of the second plate and the second support member; and a damping force control device for changing the normal force applied to the elastic friction member by the first support member by adjusting the height of the first support member.

[0023] The processor can, based on information received from the camera, identify that the food placed on the second plate contains only beverages and no soup or stew, and control the damping force control device to increase the damping force proportionally to the amount of food within a first range.

[0024] The processor can identify, based on information received from the camera, that the food placed on the second plate includes soup or stew, and control the damping force control device to increase the damping force proportionally to the amount of food within a second range greater than the first range.

[0025] In one embodiment, a food moving platform is provided, comprising: a first plate including an upper surface and a plurality of recesses formed on the upper surface; a second plate including a lower surface configured to face the upper surface of the first plate; a first support member connected to the upper surface of the first plate and disposed between the first plate and the second plate; a second support member connected to the lower surface of the second plate and disposed between the first plate and the first support member; a plurality of rolling members disposed at the plurality of recesses and in contact with the lower surface of the second plate; and an elastic friction member disposed on the upper surface of the second support member and configured to be compressed and deformed by the lower surface of the first support member based on the second plate and the second support member.

[0026] In another embodiment, a service robot device is provided, comprising: a main body; a drive mechanism for moving the main body; a food moving platform, comprising: a first plate having a plurality of recesses formed on an upper surface of the first plate; a second plate having a lower surface of the second plate facing the upper surface of the first plate; a plurality of rolling members disposed at the plurality of recesses and in contact with the lower surface of the second plate; and a locking mechanism for selectively restricting the relative movement of the first plate and the second plate; at least one sensor for detecting the type of food placed on the second plate or an inclined surface in front of the service robot device; and a processor for controlling the locking mechanism to restrict the relative movement of the first plate and the second plate based on information received by the at least one sensor. Attached Figure Description

[0027] Figure 1 This is a perspective view of a food moving station according to an embodiment of the present disclosure;

[0028] Figure 2 yes Figure 1 An exploded perspective view of the food moving platform;

[0029] Figure 3 and Figure 4 This is a diagram illustrating the rotational operation of the rolling element;

[0030] Figure 5 This is a diagram showing a structure where multiple rolling components are implemented by four rollers;

[0031] Figure 6 and Figure 7 It is a diagram illustrating the compression process of an elastic friction member;

[0032] Figure 8 and Figure 9 This is a diagram illustrating the locking operation of a locking device according to an embodiment of the present disclosure;

[0033] Figure 10 and Figure 11 This is a diagram illustrating a locking device according to another embodiment of the present disclosure;

[0034] Figure 12 This is a perspective view of a service robot device according to an embodiment of the present disclosure;

[0035] Figure 13 This is a schematic diagram illustrating the control processing of a service robot device;

[0036] Figure 14 This is a cross-sectional view showing the structure of the damping force control device; and

[0037] Figure 15 This is a flowchart illustrating the process of controlling the damping force based on the type of food to be moved. Detailed Implementation

[0038] The examples described below are for ease of understanding of this disclosure, and it should be understood that various changes can be made to the examples described herein, and this disclosure can be implemented in different forms. Furthermore, detailed descriptions of well-known functions or structures will be omitted in the following description, as they would unnecessarily obscure the subject matter of this disclosure. Additionally, it should be noted that the accompanying drawings are for ease of understanding of this disclosure only and are not shown to actual scale, and the dimensions of some elements may be exaggerated.

[0039] The terminology used in this specification and claims are general terms determined in view of the functionality of the various embodiments of this disclosure. However, these terms may vary depending on the intent of those skilled in the art, technical interpretation, the emergence of new technologies, etc. Some terms may be arbitrarily chosen by the applicant, and their meanings will be described in the detailed description. Unless a specific definition of a term exists, it may be interpreted based on the overall content and the technical understanding of those skilled in the art.

[0040] In this specification, the terms "have", "may have", "include", or "may include" indicate the presence of a corresponding feature (e.g., a component such as a number, function, operation, or part) and do not exclude the presence of additional features.

[0041] While the components required to describe each embodiment of this disclosure have been described herein, the embodiments are not limited thereto. Therefore, some components may be modified or omitted, and other components may be added. Furthermore, components may be distributed and arranged in different independent devices.

[0042] Furthermore, although embodiments of the present disclosure will be described in detail with reference to the accompanying drawings and the content illustrated therein, the present disclosure is not limited to these embodiments.

[0043] The present disclosure will be described in more detail below with reference to the accompanying drawings.

[0044] Figure 1 This is a perspective view of a food moving station according to an embodiment of the present disclosure; Figure 2 yes Figure 1 An exploded perspective view of the food moving platform.

[0045] Reference Figure 1 and Figure 2 According to embodiments of the present disclosure, the food moving platform 1 may include a first plate 100, a second plate 200, a first support member 300, a second support member 400, a plurality of rolling members 500 and an elastic friction member 600.

[0046] The first plate 100 may have a plurality of recesses G1 formed on its upper surface. The plurality of recesses G1 may have a shape in which the height of the central portion of the plurality of recesses G1 is the lowest and the height increases with the distance from the central portion.

[0047] The second plate 200 can support an object (e.g., a container for food) that will be moved on the upper surface 201. The second plate 200 can be disposed parallel to the first plate 100 on the upper side of the first plate 100. The second plate 200 can be configured such that its lower surface 202 faces the upper surface 101 of the first plate 100.

[0048] Since the second plate 200 is not connected to the first plate 100 and is spaced apart from the first plate 100, the second plate 200 is movable relative to the first plate 100. A plurality of rolling members 500, which will be described later, are disposed between the second plate 200 and the first plate 100 such that the second plate 200 can move relative to the first plate 100 with sufficiently small rolling friction.

[0049] The first support member 300 may be arranged parallel to the first plate 100 and the second plate 200. The first support member 300 may be connected to the upper surface 101 of the first plate 100 via a second support link 40, so as to move integrally with the first plate 100. The first support member 300 may be supported by the second support link 40 which is vertically connected to the upper surface 101 of the first plate 100.

[0050] The second support links 40 can be arranged in pairs, and the lower end of the second support link 40 can be connected to the upper surface 101 of the first plate 100, and its upper end can be connected to the first support member 300. Therefore, the first support member 300 can be supported by the second support links 40 to move integrally with the first plate 100.

[0051] The first support member 300 may be disposed between the first plate 100 and the second plate 200. The first support member 300 may be spaced apart from the first plate 100 by the height of the second support link 40.

[0052] Two first support members 300 are shown, but the number is not limited to this, and the first support member 300 may be one or more than three.

[0053] The second support member 400 may be arranged parallel to the first plate 100, the second plate 200, and the first support member 300. The second support member 400 may be connected to the lower surface 202 of the second plate 200 and may move integrally with the second plate 200. The second support member 400 may be disposed between the first plate 100 and the first support member 300.

[0054] Multiple rolling members 500 may be respectively disposed in multiple recesses G1. The number of multiple rolling members 500 may be the same as the number of multiple recesses G1. The rolling members 500 may have a spherical shape, but the shape of the rolling members 500 is not limited to this, but may have a cylindrical shape as described below.

[0055] Multiple rolling members 500 may contact the lower surface 202 of the second plate 200. The rolling members 500 may be located at the lowest point of the recess G1 and may rotate or turn by the vibration or movement of the first plate 100 to move to a higher position. The second plate 200 may move relative to the first plate 100 with a sufficiently small coefficient of rolling friction (e.g., 0.001 to 0.01). In this case, the second plate 200 may move up and down via the rolling members 500.

[0056] Since the rolling member 500 is located at the lowest recess G1 in the central portion, it can rise higher as it moves away from the center of the recess G1. Therefore, since the lower surface 202 of the second plate 200 is supported by the rolling member 500, it can rise higher as it moves horizontally relative to the first plate 100, and as the second support member 400 moves further horizontally relative to the first plate 100, it can also rise higher, moving integrally with the second plate 200.

[0057] If the second plate 200 returns to its original position after one vibration without continuous vibration, damping of the vibration of the second plate 200 may be necessary. Specifically, considering the sufficiently low coefficient of rolling friction of the rolling member 500, the second plate 200 will certainly move relative to the first plate 100, but damping of the vibration may be necessary after it has moved more than a predetermined distance away from the center of the first plate 100. Therefore, the food moving table 1 may include an elastic friction member 600.

[0058] An elastic friction member 600 may be disposed on the upper surface 401 of the second support member 400. The elastic friction member 600 may be fixedly disposed at a predetermined position on the upper surface 401 of the second support member 400. When the elastic friction member 600 is pressed up or down, its elastic properties cause it to return to its original state. The elastic friction member 600 may have an elastic force that increases proportionally to the degree to which it is pressed upwards or downwards.

[0059] The elastic friction component 600 can be formed from a porous sponge, but the material is not limited to this.

[0060] When the second plate 200 and the second support member 400 rise, the elastic friction member 600 can be compressed and deformed on the lower surface of the first support member 300. Specifically, when the first plate 100 vibrates, the rolling member 500 can rise as it rotates on the recess G1, and thus the second plate 200 and the second support member 400 can rise while moving away from the center of the first plate 100.

[0061] As described above, when the second plate 200 moves away from the center of the first plate 100, the second plate 200 can rise further, such that the elastic friction member 600 disposed between the rising second support member 400 and the first support member 300 located at a fixed height can be further compressed proportionally to the horizontal movement distance of the second plate 200.

[0062] The elastic force generated by the compression of the elastic friction member 600 can act on the lower surface of the first support member 300, thus a normal force can be applied from the first support member 300 to the elastic friction member 600. The normal force applied to the elastic friction member 600 and the resulting frictional force can increase proportionally to the horizontal movement distance of the second plate 200. The frictional force applied to the elastic friction member 600 by the first support member 300 can be transmitted to the second plate 200.

[0063] Figure 3 and Figure 4 This is a diagram illustrating the rotational operation of the rolling element.

[0064] Reference Figure 3 and Figure 4 According to the embodiment, the food moving platform 1 may include a plurality of first column members 20 and a plurality of second column members 30.

[0065] Multiple first pillar members 20 may be connected to the upper surface 101 of the first plate 100, and multiple recesses G1 may be formed. The first pillar members 20 may be movable integrally with the first plate 100. The first pillar members 20 may protrude upward from the upper surface 101 of the first plate 100.

[0066] Multiple second column members 30 may be connected to the lower surface 202 of the second plate 200 and arranged to face the multiple first column members 20 respectively, thereby forming a space in which the rolling member 500 can move. The second column members 30 may move integrally with the second plate 200. The second column members 30 may protrude downward from the lower surface 202 of the second plate 200.

[0067] The first column member 20 and the second column member 30 may be spaced apart from each other, and a rolling member 500 is disposed between the first column member 20 and the second column member 30, such that the first column member 20 and the second column member 30 can move relative to each other. The first column member 20 and the second column member 30 may be spaced apart from each other by a distance smaller than the diameter of the rolling member 500, and the rolling member 500 may stop at the inner wall of the first column member 20 and the second column member 30 without leaving the recess G1.

[0068] The second column member 30 may include a recess G2 having a shape that is perpendicularly symmetrical to the shape of the recess G1. The recess G2 may have a concave shape such that the height of the central portion is the highest, and the height decreases as it moves away from the central portion.

[0069] Even if the rolling member 500 moves away from the center portion of the recess G1 and the additional recess G2, the rolling member 500 can still maintain an equilibrium state returning to the center portion. Therefore, even if the first plate 100 vibrates or moves, the second plate 200 can easily return to its initial position in an equilibrium state.

[0070] The rolling member 500 can be located at the lowest point of the recess G1, and then rotate due to the vibration or movement of the first plate 100, and can be moved to the higher point of the recess G1, and the second plate 200 can be moved upward by the rotation of the rolling member 500.

[0071] In this example, even if the rolling friction between the rolling member 500 and the recesses G1 and G2 is small, the vibration or movement of the second plate 200 caused by the vibration or movement of the first plate 100 can be damped. Therefore, the food container supported by the second plate 200 will not fall off, and the food will not separate from the container, so the food moving platform 1 can safely move the food.

[0072] Figure 5 This is a diagram illustrating a structure that utilizes four rollers (e.g., pins) to realize multiple rolling components.

[0073] Reference Figure 5 The plurality of recesses G1 may include first to fourth recesses G11, G12, G13 and G14 arranged in a grid shape. The cross-section of the first plate 100 has an approximately rectangular shape, and the first to fourth recesses G11, G12, G13 and G14 may be located near the corner portions of the first plate 100, but their shape and position are not limited thereto.

[0074] The plurality of rolling members 500 may include a first roller R1 disposed on a first recess G11 and a second recess G12, and a second roller R2 disposed on a third recess G13 and a fourth recess G14. The first roller R1 and the second roller R2 may be elongated along the Y-axis and may rotate about each axis of rotation. The first to fourth recesses G11, G12, G13, and G14 may have a concave shape with a lowest central portion and a rising height as the distance from the central portion increases in the X-axis direction. The first roller R1 and the second roller R2 may contact the lower surface 202 of the second plate 200.

[0075] The food moving table 1 may also include a third plate 700, a third roller R3 and a fourth roller R4.

[0076] The third plate 700 may be horizontally arranged parallel to the first plate 100 and the second plate 200. The third plate 700 may be configured such that its upper surface 701 faces the lower surface 102 of the first plate 100, and the fifth to eighth recesses G15, G16, G17 and G18 may be formed on the upper surface 701 corresponding to the first to fourth recesses G11, G12, G13 and G14, respectively. The first to fourth recesses G11, G12, G13 and G14 may be located on the same vertical axis as the fifth to eighth recesses G15, G16, G17 and G18, respectively.

[0077] The fifth to eighth recesses G15, G16, G17 and G18 may have a concave shape in which the central part is the lowest and the height increases as the distance from the central part in the Y-axis direction increases.

[0078] The third roller R3 may be disposed in the sixth recess G16 and the seventh recess G17, and may contact the lower surface 102 of the first plate 100. The fourth roller R4 may be disposed in the fifth recess G15 and the eighth recess G18, and may contact the lower surface of the first plate 100.

[0079] Figure 5 The food moving table 1 shown may include three plates, eight recesses, and four rollers. Therefore, the vibration of the Y-axis component can be damped by the third roller R3 and the fourth roller R4 between the third plate 700 and the first plate 100, and the vibration of the X-axis component can be damped by the first roller R1 and the second roller R2 between the first plate 100 and the second plate 200.

[0080] Therefore, the food container supported by the top second plate 200 will not fall off and will not be separated from the food container, so that the food moving platform 1 can move the food safely.

[0081] Figure 6 and Figure 7 This is a diagram illustrating the compression process of an elastic friction member.

[0082] Reference Figure 6 and Figure 7 When the first plate 100 vibrates, the rolling member 500, the second plate 200, and the second support member 400 can rise. When the second plate 200 and the second support member 400 rise, the elastic friction member 600 can be compressed and deformed on the lower surface of the first support member 300.

[0083] As described above, since the rolling member 500 rises higher as it moves away from the center portion of the recess G1, the second plate 200 also rises higher as it moves horizontally relative to the first plate 100. Furthermore, as the second plate 200 moves horizontally away from the first plate 100, the second support member 400 and the elastic friction member 600, which move integrally with the second plate 200, can rise higher.

[0084] The distance between the upper surface 401 of the second support member 400 and the lower surface of the first support member 300 can be reduced from H1 to H2, and the value of H2 can become smaller as the second plate 200 moves away from the first plate 100 in the horizontal direction.

[0085] As the second plate 200 moves further outward in the horizontal direction relative to the first plate 100, the normal force and friction force acting on the elastic friction member 600 by the first support member 300 can become larger.

[0086] Therefore, when the second plate 200 moves only a small distance away from the center of the first plate 100, a small frictional force is applied to the elastic friction member 600, so that the second plate 200 can respond insensitively to the vibration of the first plate 100 by the sufficiently low rolling friction coefficient of the rolling member 500.

[0087] When the second plate 200 moves a large distance away from the center of the first plate 100, a large frictional force is applied to the elastic friction member 600, so that the vibration of the second plate 200 can be damped and return to its original position without continuous vibration.

[0088] According to the aforementioned movement of the second plate 200, since the vibration generated by the service robot device 1000 is absorbed by the food moving platform 1, the service robot device 1000 can safely move the food supported by the second plate 200.

[0089] The second support member 400 may be configured to pass through the central axis Z1 of the second plate 200. The elastic friction member 600 may include a first elastic friction member 610 disposed at one distal end 410 of the second support member 400 and a second elastic friction member 620 disposed at the other distal end 420 of the second support member 400.

[0090] Since the frictional force is applied to two positions spaced apart from the central axis Z1 of the second plate 200 through the first elastic friction member 620 and the second elastic friction member 620, the rotational vibration (e.g., yaw rotation) relative to the Z-axis of the second plate 200 can be adequately damped.

[0091] The food moving platform 1 may also include a first support link 10 connecting the second plate 200 and the second support member 400, and the central portion of the second support member 400 is rotatably connected to the first support link 10.

[0092] The central portion of the second support member 400 can be rotatably connected to the first support link 10, the first elastic friction member 610 can be spaced apart from the central portion by a distance D1, the second elastic friction member 620 can be separated from the central portion by a distance D2, and D1 and D2 can have the same value.

[0093] Therefore, the normal force and frictional force acting on the first elastic friction member 610 and the second elastic friction member 620 by the first support member 300 can be equal to each other. The vibration of the second plate 200 can be damped more quickly by the frictional force applied symmetrically by the first elastic friction member 610 and the second elastic friction member 620.

[0094] Figure 8 and Figure 9 This is a diagram illustrating the locking operation of a locking device according to an embodiment of the present disclosure. Figure 8 and Figure 9 The structure of the described locking device 800 can be added to various embodiments of the food moving platform 1 described above.

[0095] Reference Figure 8 and Figure 9 The food moving table 1 may also include a locking device 800, which selectively restricts the relative movement of the first plate 100 and the second plate 200. Figure 8 The lock release state is shown. Figure 9 The locked state is shown.

[0096] For example, if the food being transferred does not contain liquid and there is no risk of spillage, the user may optionally manually operate the locking device 800 to restrict the relative movement of the first plate 100 and the second plate 200. Alternatively, the food moving table 1 may restrict the relative movement of the first plate 100 and the second plate 200 by automatically operating the locking device 800 after determining whether locking has occurred based on sensing results from sensors described later.

[0097] The first plate 100 and the second plate 200 can be integrally connected to each other via a locking device 800. Furthermore, the locking device 800 can be manually operated by the user or automatically operated by a motor.

[0098] The locking device 800 may include a rotating link 811, a first pressure link 812, and a second pressure link 813.

[0099] The rotating link 811 can be rotatably mounted on the upper surface 110 of the first plate 100. The rotating link 811 can be connected to one end L1 of the lever L and can convert the linear motion of the lever L into rotational motion.

[0100] The first pressure link 812 and the second pressure link 813 can be connected to the rotating link 811. For example, the first pressure link 812 and the second pressure link 813 can be positioned relative to each other with respect to the center of the rotating link 811.

[0101] When the rotating link 811 rotates, as the first pressure link 812 and the second pressure link 813 move in opposite directions, the first pressure link 812 and the second pressure link 813 can simultaneously compress the sides of the first column member 20 and the second column member 30.

[0102] In other words, the first pressure link 812 and the second pressure link 813 can be used to suppress the movement of the first column member 20 and the second column member 30 relative to each other at two different points. Therefore, relative movement of the first column member 20 and the second column member 30 is impossible, and the second plate 200 can move at the same speed as the first plate 100 on the lower side.

[0103] The locking device 800 may further include a first guide member 814 and a second guide member 815. The first guide member 814 and the second guide member 815 may be fixedly disposed on the upper surface 110 of the first plate 100, and may guide the movement path of the first pressure link 812 and the second pressure link 813 as they rise as the first pressure link 812 and the second pressure link 813 approach the first column member 20 and the second column member 30, respectively.

[0104] The first guide member 814 and the second guide member 815 may include a recess or hole that mates with the first pressure link 812 and the second pressure link 813 and has an upward shape when closer to the first column member 20 and the second column member 30.

[0105] Since the first pressure link 812 and the second pressure link 813 are positioned adjacent to the upper surface 110 of the first plate 100 in the unlocked state, even when the second column member 30 moves relative to the first column member 20 in the horizontal direction, the first pressure link 812 and the second pressure link 813 are positioned at a lower height than the second column member 30, and the movement of the second column member 30 is not disturbed.

[0106] Due to the shape of the recess or hole, the first pressure link 812 and the second pressure link 813 rise as they move closer to the first column member 20 and the second column member 30, and can simultaneously press the sides of the first column member 20 and the second column member 30 respectively according to the first guide member 814 and the second guide member 815. Therefore, the locking device 800 can have a more compact size.

[0107] Figure 10 and Figure 11 This is a diagram illustrating a locking device according to another embodiment of the present disclosure. Figure 10 and Figure 11 The structure of the locking device 800 shown can be added to various embodiments of the food moving table 1 described above.

[0108] Reference Figure 10 The locking device 800 may include an assembly component 821, a first pressure link 822, a second pressure link 823, and an elastic component 824.

[0109] The assembly member 821 may have a shape in which the cross-sectional area of ​​the assembly member 821 decreases toward one end 821a. The first pressure link 822 and the second pressure link 823 may be disposed on the left and right sides of one end 821a of the assembly member 821, and the first pressure link 822 and the second pressure link 823 may have a shape that engages with one end 821a of the assembly member 821.

[0110] The assembly component 821 can move linearly toward the first pressure link 822 and the second pressure link 823 via the lever L. For example, when the lever L moves linearly in one direction, the circular link 825 connected to one end of the lever L can rotate. The assembly component, whose other end is connected to the circular link 825, can move linearly toward the first pressure link 822 and the second pressure link 823 in a direction different from that of the lever L.

[0111] When the assembly component 821 moves linearly, the first pressure link 822 and the second pressure link 823 are pushed in opposite directions by one end 821a of the assembled component 821. Therefore, the first pressure link 822 and the second pressure link 823 can simultaneously press the sides of the first column component 20 and the second column component 30. Thus, since relative movement of the first column component 20 and the second column component 30 is impossible, the food moving table 1 can be locked.

[0112] The elastic member 824 can connect the first pressure link 822 and the second pressure link 823. Therefore, when the assembly member 821 moves backward, the first pressure link 822 and the second pressure link 823 move backward again through the elastic force of the elastic member 824, so that the food moving platform 1 can be unlocked.

[0113] Reference Figure 11 The locking device 800 may include a first block 831, a second block 832, and a third block 833. The first block 831 may be disposed on the upper surface 101 of the first plate 100 and may include a first inclined surface 831a. The second block 832 may include a second inclined surface 832a that engages with the first inclined surface 831a. In addition, the second block 832 may be vertically movable relative to the first plate 100 and may be inserted into the upper surface 101 of the first plate 100, making horizontal movement impossible.

[0114] Therefore, as the first block 831 moves linearly, the second inclined surface 832a of the second block 832 can be pressed by the first inclined surface 831a and can rise. The third block 833 can be connected to the lower surface 202 of the second plate 200, so that the raised second block 832 can be assembled.

[0115] When the first block 831 moves toward the second block 832 and the second block 832 rises and is assembled into the third block 833, the second plate 200 may not move relative to the first plate 100. Therefore, since the first plate 100 and the second plate 200 move together integrally connected by the locking device 800, the food moving table 1 can be locked.

[0116] After the first block 831 moves backward, the second block 832 can fall and move away from the third block 833, the first plate 100 and the second plate 200 can move relative to each other, and the food moving platform 1 can be unlocked.

[0117] Figure 12 This is a perspective view of a service robot device according to an embodiment of the present disclosure. Figure 13 This is a schematic diagram illustrating the control processing of a service robot device.

[0118] A service robot device 1000 according to an embodiment of this disclosure may include: a main body 1010; a drive unit 1020 for moving the main body 1010; a processor 1100; at least one sensor 1200; and a food moving platform 1, horizontally supported by the main body 1010. The food moving platform 1 may include a locking device 800 that selectively restricts the relative movement of a first plate 100 and a second plate 200.

[0119] When a user places a container of food on the service robot device 1000 and designates a table for service, the service robot device 1000 can move to the designated table to serve the food. The service robot device 1000 may also include a display device 1030 that displays information about the food service (e.g., type of food, location at table, etc.).

[0120] Specifically, the service robot device 1000 may include a plurality of tray members 1040 arranged horizontally parallel to each other, and the food moving station 1 may be detachably attached to at least one of the plurality of tray members 1040.

[0121] Processor 1100 controls the overall operation of service robot device 1000. Processor 1100 may include one or more of a central processing unit (CPU), application processor (AP), or communication processor (CP). Processor 900 may be a microcontroller (MCU).

[0122] The processor 1100 can drive an operating system or application to control hardware or software components connected to the processor 1100 and perform various data processing and operations. The processor 1100 can also load instructions or data received from at least one of other components into volatile memory and store various data in non-volatile memory.

[0123] The processor 1100 can control the locking device 800 to limit the relative movement of the first plate 100 and the second plate 200 based on information received by at least one sensor 1200.

[0124] At least one sensor 1200 may include at least one of an acceleration sensor 1210, a tilt detection sensor 1220, or a camera 1230.

[0125] The service robot device 1000 may also include: a damping force control device 1500, which adjusts the height of the first support member 300 of the food moving platform 1 to change the normal force acting on the elastic friction member 600 by the first support member 300.

[0126] Reference Figure 14 The damping force control device 1500 may include a motor 1510, a worm gear 1520, and a rack 1530. The motor 1510 can rotate the worm gear 1520. The rack 1530 may be connected to one side of the second support link 40 and may be configured to engage with the worm gear 1520. When the motor 1510 is driven to rotate the worm gear 1520, the rack 1530 can move vertically to change the length of the second support link 40.

[0127] When the length of the second support link 40 increases, the first support member 300 can be raised, and when the length of the second support link 40 decreases, the first support member 300 can be lowered.

[0128] For example, when the first support member 300 rises, the elastic friction member 600 is compressed less, which reduces the normal force and frictional force acting on the elastic friction member 600, thereby reducing the damping force. Conversely, when the first support member 300 descends, the elastic friction member 600 is compressed further, which increases the normal force and frictional force acting on the elastic friction member 600, thereby increasing the damping force.

[0129] Then, the processor 1100 can control the locking device 800 based on the type of food placed on the second plate 200, so that the food moving platform 1 is locked or unlocked, or it can control the damping force control device 1500 so that the vertical resistance and friction of the elastic friction member 600 can be adjusted by increasing or decreasing the height of the first support member 300.

[0130] For example, if it is determined that the food placed on the food moving platform 1 contains liquid, the processor 1100 can control the locking device 800 to unlock the food moving platform 1, or control the damping force control device 1500 to lower the height of the first support member 300.

[0131] In addition, when the processor 1100 determines that the food placed on the food moving table 1 is a solid food that does not contain liquid, it controls the locking device 800 to lock the food moving table 1.

[0132] When it is determined that the food placed on the food moving platform 1 is at least one of stew, casserole, or soup, the processor 1100 may control the locking device 800 to unlock the food moving platform 1, or control the damping force control device 1500 to lower the height of the first support member 300.

[0133] Accelerometer 1210 can sense the acceleration of the first plate 100. Based on the information received from the accelerometer 1210, when the first plate 100 vibrates or moves at or above a predetermined level, processor 1100 can control locking device 800 to allow relative movement of the first plate 100 and the second plate 200.

[0134] For example, when a vibration within a predetermined frequency range (e.g., 2 Hz to 4 Hz) is detected during the vibration of the second plate 200, the processor 1100 can determine that the beverage is contained in the food placed on the second plate 200, and can control the locking device 800 to enable relative movement of the first plate 100 and the second plate 20.

[0135] The service robot device 1000 may include an input device 1300 for receiving information about the food to be served.

[0136] The input device 1300 may include at least one of, for example, a touch panel, a (digital) pen sensor, a key, or an ultrasonic input device. The touch panel, pen sensor, and key may be disposed in the display device 1030.

[0137] The touch panel can be used in conjunction with at least one of, for example, electrostatic, pressure-sensitive, infrared, or ultrasonic methods, and may also include control circuitry. The touch panel may also include a tactile layer to provide tactile response to the user. A (digital) pen sensor may be, for example, part of the touch panel or may include a separate recognition piece. Keys may include, for example, physical buttons, optical keys, or keypads. An ultrasonic input device may detect ultrasonic waves generated by an input tool via, for example, a microphone, and may confirm data corresponding to the detected ultrasonic waves.

[0138] The input device 1300 can be a terminal device, such as a remote control, smartwatch, smart wristband, wireless headset, mobile phone, smartphone, tablet computer, etc.

[0139] Based on the information received by the input device 1300, when it is determined that the food placed on the second plate 200 includes a predetermined food, the processor 1100 can control the locking device 800 to allow relative movement of the first plate 100 and the second plate 200.

[0140] For example, when it is determined, based on information received by input device 1300, that the food placed on second plate 200 includes a beverage, processor 1100 may control locking device 800 to allow relative movement of first plate 100 and second plate 200.

[0141] The tilt detection sensor 1220 can sense tilted surfaces in front of the service robot device 1000. The tilt detection sensor 1220 can be a three-dimensional (3D) depth camera or an inertial measurement unit (IMU) sensor, but is not limited to these.

[0142] The tilt detection sensor 1220, implemented using a 3D depth camera, can capture the surrounding environment of the service robot device 1000 to detect whether there is a tilted surface in the movement path of the service robot device 1000.

[0143] Optionally, the tilt detection sensor 1220, implemented using an IMU sensor, can sense the tilt angle of the service robot device 1000. If the tilt detection sensor 1220 detects that the tilt of the service robot device 1000 is greater than or equal to a predetermined angle, the processor 1100 can determine that there is a tilted surface in front of the service robot device 1000.

[0144] When it is confirmed that there is an inclined surface in front of the service robot device 1000, the processor 1100 can control the locking device 800 to restrict the relative movement of the first plate 100 and the second plate 200 based on the information received by the tilt detection sensor 1220.

[0145] Therefore, when the service robot device 1000 moves to the inclined surface, the second plate 200 moves rapidly relative to the first plate 100 due to gravity, and the food placed on the second plate 200 may fall off the service robot device 1000.

[0146] The service robot device 1000 may also include a distance sensor 1400. The distance sensor 1400 can detect the distance between the service robot device 1000 and surrounding obstacles. The distance sensor 1400 may be implemented as a light detection and ranging (LiDAR) sensor, but is not limited to this type.

[0147] Service robot device 1000 can identify its location from a pre-stored map based on the results of scanning the vicinity of service robot device 1000 using distance sensor 1400. Service robot device 1000 can also obtain a map of a new area by using distance sensor 1400 when navigating in an area where the map is not stored.

[0148] The processor 1100 can control the drive unit 1020 to move the main body 1010 along the optimal path to the target service point without colliding with obstacles, based on the location and map information obtained by the distance sensor 1400.

[0149] Figure 15 This is a flowchart illustrating the process of controlling the damping force based on the type of food to be moved.

[0150] Camera 1230 can capture the surrounding environment of the service robot device 1000 or food placed on the second plate 200. The service robot device 1000 can identify its surrounding environment based on the information collected by the camera, perform autonomous driving and information collection, and can send information to the user.

[0151] When the processor 1100 confirms, based on information received by the camera 1230, that the food placed on the second plate 200 is not among the foods including soup, stew, and beverage, the processor 1100 can control the locking device 800 to limit the relative movement of the plates 100 and 200.

[0152] If the food placed on the second plate 200 is a solid food with a low risk of falling out of the container, the first plate 100 and the second plate 200 can be locked to each other so that the second plate 200 can not vibrate unnecessarily and thus the solid food can be moved safely.

[0153] If the processor 1100 identifies, based on information received from the camera 1230, that at least one of soup, stew, and beverage is included in the food placed on the second plate 200, the processor 1100 may control the locking device 800 to enable relative movement of the second plates 100 and 200.

[0154] When it is confirmed that the food placed on the second plate 200 consists only of beverages and does not include soup or stew, the processor 1100 can control the damping force control device 1500 to increase the damping force in a first range proportional to the amount of food.

[0155] When the information received by the camera 1230 confirms that the food placed on the second plate 200 includes soup or stew, the processor 1100 can control the damping force control device 1500 to increase the damping force in a second range greater than the first range, proportional to the amount of food.

[0156] Soup or stew can refer to liquid food contained in a low-height bowl, flat plate, or dish. Soup or stew can have a relatively large cup size and a large surface amplitude, and can resonate at a low frequency (e.g., 1 Hz or nearby).

[0157] In other words, as the damping force control device 1500 increases the damping force, the food moving platform 1 fully absorbs the low-frequency vibration, so that soup or stew can be safely moved while placed on the food moving platform 1.

[0158] Beverages can refer to liquid food contained in a tall cup. Due to the small size of the cup, beverages can have relatively small surface amplitudes and can resonate at high frequencies (e.g., about 3 Hz).

[0159] In other words, when the damping force control device 1500 reduces the damping force, the food moving platform 1 can fully absorb high-frequency vibrations, so that the beverage can be safely moved while being placed in the food moving platform 1, without transmitting as much vibration as possible to the cup.

[0160] The amount of food placed on the second plate 200 can be determined by the number of containers or cups in the information received by the camera 1230, or by the weight sensed by a weight sensor (not shown) set on the first plate 100 or the second plate 200.

[0161] When the damping force control device 1500 raises the first support member 300, the elastic friction member 600 is compressed less, thereby reducing the damping force. Conversely, when the damping force control device 1500 lowers the first support member 300, the elastic friction member 600 is compressed further, thereby increasing the damping force.

[0162] For example, in the locked-out state of the locking device 800 (i.e., when relative movement of the first plate 100 and the second plate 200 is possible), the damping force can be classified from a minimum level one to six levels. For example, the damping forces in levels one through three can fall within a first range, and the damping forces in levels four through six can fall within a second range.

[0163] For example, if it is determined that the food placed on the second plate 200 includes three or more cups of beverage, the processor 1100 can control the damping force control device 1500 to have a third level of damping force within a first range. Alternatively, if it is determined that the food placed on the second plate 200 includes only one cup of beverage, the processor 1100 can control the damping force control device 1500 to have a first level of damping force within a first range.

[0164] For example, if it is determined that the food placed on the second plate 200 includes three or more dishes of soup or stew, the processor 1100 can control the damping force control device 1500 to have a sixth level of damping force within a second range. Alternatively, if it is determined that the food placed on the second plate 200 includes only one dish of soup or stew, the processor 1100 can control the damping force control device 1500 to have a fourth level of damping force within a second range.

[0165] Accordingly, since the damping force is finely adjusted according to the amount of food and the type of food placed on the second plate 200, the food can be safely moved while being placed on the food moving platform 1 with optimized damping force.

[0166] Although this disclosure has been shown and described with reference to exemplary embodiments thereof, those skilled in the art will understand that various changes in form and detail may be made therein without departing from the spirit and scope of this disclosure as claimed in the claims.

Claims

1. A food moving platform, comprising: The first plate includes an upper surface and a plurality of recesses formed on the upper surface; The second plate includes a lower surface that is configured to face the upper surface of the first plate; A first support member is connected to the upper surface of the first plate and disposed between the first plate and the second plate; The second support member is connected to the lower surface of the second plate and is disposed between the first plate and the first support member; Multiple rolling members are disposed at the multiple recesses and in contact with the lower surface of the second plate; as well as An elastic friction member is disposed on the upper surface of the second support member and rises based on the second plate and the second support member, and is configured to be compressed and deformed by the lower surface of the first support member.

2. The food moving platform as described in claim 1, wherein, The second support member is configured to pass through the central axis of the second plate, and The elastic friction member includes a first elastic friction member disposed at one distal end of the second support member and a second elastic friction member disposed at the other distal end of the second support member.

3. The food moving platform as described in claim 2, further comprising: The support link is configured to connect the second plate and the second support member, and the central portion of the second support member is rotatably connected to the support link.

4. The food moving platform as described in claim 1, comprising: Multiple first column members are respectively connected to the upper surface of the first plate and have the multiple recesses formed thereon; as well as A plurality of second column members are connected to the lower surface of the second plate and are configured to face the plurality of first column members respectively, so as to form a space in which the rolling member is movably disposed.

5. The food moving platform as described in claim 4, wherein, The second column member includes: an additional recess having a shape symmetrical to the shapes of the plurality of recesses.

6. The food moving platform as claimed in claim 1, wherein, The plurality of recesses includes a first recess, a second recess, a third recess, and a fourth recess arranged in a grid shape. The plurality of rolling members include a first roller disposed in a first recess and a second recess, and a second roller disposed in a third recess and a fourth recess, and the food moving table further includes: The third plate includes an upper surface that is positioned facing the lower surface of the first plate, and a fifth, sixth, seventh, and eighth recess that are respectively positioned at positions corresponding to the first, second, third, and fourth recesses. The third roller is disposed in the fifth and eighth recesses and contacts the lower surface of the first plate; and The fourth roller is disposed in the sixth and seventh recesses and contacts the lower surface of the first plate.

7. The food moving platform as described in claim 1, further comprising: A locking device is used to selectively restrict the relative movement of the first plate and the second plate.

8. The food moving platform as described in claim 7, further comprising: Multiple first column members are respectively connected to the upper surface of the first plate and have the multiple recesses formed thereon; as well as A plurality of second column members, connected to the lower surface of the second plate, are configured to face the plurality of first column members respectively, thereby forming a space in which the rolling member is movably disposed. The locking device includes: A rotating link is rotatably disposed on the upper surface of the first plate; and A first pressure link and a second pressure link are connected to the rotating link to move in opposite directions based on the rotation of the rotating link and to contact the side surfaces of the first column member and the second column member.

9. The food moving platform as claimed in claim 8, wherein, The locking device further includes: The first guide member and the second guide member are fixedly disposed on the upper surface of the first plate to guide the movement paths of the first pressure link and the second pressure link respectively as they rise closer to the first column member and the second column member.

10. The food moving platform as claimed in claim 7, further comprising: Multiple first column members are respectively connected to the upper surface of the first plate and have the multiple recesses formed thereon; as well as A plurality of second column members are connected to the lower surface of the second plate and are configured to face the plurality of first column members to form a space in which the rolling member is movably disposed. The locking device includes: Assembled components having a shape in which the cross-sectional area decreases towards one end; and A first pressure link and a second pressure link are disposed on the left and right sides of one end of the assembly member, and are configured to move in opposite directions by being pushed by one end of the assembly member based on linear movement of the assembly member, so as to contact the side surfaces of the first and second column members; and An elastic member is used to connect the first pressure link and the second pressure link.

11. The food moving station as claimed in claim 7, wherein, The locking device includes: The first block is disposed on the upper surface of the first plate and includes a first inclined surface; The second block includes a second inclined surface that engages with the first inclined surface, and the second inclined surface contacts the first inclined surface and rises as the first block moves linearly; and The third block is attached to the lower surface of the second plate, so that the raised second block is assembled.

12. A service robot device, comprising: main body; A drive device for moving the main body; Food transport station, including: The first plate has multiple recesses formed on its upper surface. The second plate, the lower surface of which is configured to face the upper surface of the first plate. Multiple rolling members are disposed at the multiple recesses and contact the lower surface of the second plate. And a locking device for selectively restricting the relative movement of the first plate and the second plate; At least one sensor is used to detect the type of food placed on the second plate and the inclined surface in front of the service robot device; and A processor is configured to control the locking device to restrict the relative movement of the first plate and the second plate based on information received from the at least one sensor.

13. The service robot device as described in claim 12, wherein, The at least one sensor includes: an accelerometer for detecting the acceleration of the first plate. The processor is configured to identify vibrations within a preset range based on vibrations of the second plate detected from information received from the acceleration sensor, and to control the locking device to restrict the relative movement of the first and second plates.

14. The service robot device as described in claim 12, further comprising: Input device for receiving information about the food to be served. The processor is configured to control the locking device to restrict the relative movement of the first and second plates based on the information received from the input device to identify that the food placed on the second plate includes preset food.

15. The service robot device as described in claim 12, wherein, The at least one sensor includes: a tilt detection sensor, used to detect a tilted surface in front of the service robot device. The processor is configured to control the locking device to restrict the relative movement of the first plate and the second plate based on the information received by the tilt detection sensor that identifies the presence of a tilted surface in front of the service robot device.

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