Distribution robot

Abstract

The present invention provides a delivery robot comprising: a main body cover body including a storage part inside and a main body opening part in the front of the main body cover body; a door which is driven in a closed state in which the door covers the main body opening part or an open state in which the door opens the main body opening part; a detachable partition plate which divides the interior of the storage part into left and right parts; an internal camera disposed on the inner side of the housing part so as to overlap the partition plate and facing rearward; and a control unit that determines, on the basis of an image collected by the internal camera, whether or not an article is present inside the storage unit. When the partition plate is installed, the control part divides the image of the internal camera left and right to judge whether the article exists or not, and when the partition plate is detached, the control part judges whether the article exists or not by analyzing the image of the internal camera as a whole.

Description

Technical Field

[0001] The present invention relates to a delivery robot having a camera for sensing the presence or absence of articles stored inside the robot. Background Art

[0002] In the past, industrial robots were developed to perform a part of factory automation. In recent years, the application fields of robots have been expanding, and not only medical robots and aerospace robots have been developed, but also robots that can be used in daily life are being developed.

[0003] Such daily life robots are developed to provide specific services (e.g., shopping, serving, talking, cleaning, etc.) by responding to user commands. Unlike industrial robots that are fixed in a specific place to perform repetitive tasks, or robots that perform specific specialized functions at a high cost, such as medical or aerospace robots, daily life robots focus on driving functions and chatting functions, and if the manufacturing cost is too high, there is a problem that they are difficult to popularize.

[0004] In particular, since the robot does not walk on two feet like humans but moves using wheels, it needs to be able to move over uneven ground or avoid obstacles. It needs to not fall over uneven ground and be able to minimize impact. It needs to be able to use various sensors to make quick judgments in order to avoid obstacles.

[0005] As an example of such a robot, a robot that is being actively developed recently is a delivery robot that can carry food or smaller items. A bowl or delivery item can be placed on a shelf provided on the robot, and the robot can carry it to a customer or service provider.

[0006] Delivery robots can be used in limited spaces such as cafeterias, but in hotels or where delivery robots need to move a specified distance, they can move to a location where there is no manager nearby. Delivery robots that move a long distance need to move so that items do not fall from the shelf, so a delivery robot that takes safety into consideration, such as sensing surrounding obstacles to move when unmanned, is needed.

[0007] In addition, as the types of delivered items increase, there is also a demand for delivery robots that can improve the utilization rate of internal space. Summary of the invention

[0008] An object of the present invention is to provide a delivery robot having a camera for sensing the presence or absence of articles stored inside the robot.

[0009] The present invention provides a delivery robot, which includes: a main body cover, including a storage portion inside the main body cover, and a main body opening portion in front of the main body cover; a door, which is driven to cover the main body opening in a closed state or to open the main body opening in an open state; a detachable partition, which divides the interior of the storage portion into left and right; an internal camera, which is configured on the inner side of the storage portion to overlap with the partition and face backward; and a control unit, which determines whether there is an object inside the storage portion based on an image collected by the internal camera; when the partition is installed, the control unit divides the image of the internal camera into left and right to determine whether there is the object, and when the partition is removed, the control unit determines whether there is the object by analyzing the image of the internal camera as a whole.

[0010] An elastic sensor may be included, which is located inside the storage portion and senses whether the partition is installed. If the elastic sensor is turned on, the control portion may divide the image of the internal camera into left and right to determine whether the object exists.

[0011] It may also include an intermediate shelf, which divides the storage part into an upper storage part and a lower storage part and can be loaded and unloaded on the main cover. The internal camera may include a first internal camera located in the upper storage part and a second internal camera located in the lower storage part. The control unit can determine whether there is an obstacle within the extension range of the sliding shelf based on the image of the outside of the door taken by the internal camera when the door is opened, and extend the sliding shelf if there is no obstacle.

[0012] When the obstacle exists, the control unit may provide a reminder to remove the obstacle.

[0013] It may include a sliding shelf that is introduced and led out of the interior of the storage portion, and if there is an obstacle within the lead-out range of the sliding shelf outside the door captured by the internal camera when the door is opened, the control unit outputs a warning message.

[0014] The internal camera and the end of the partition may be spaced apart by more than three times the thickness of the partition.

[0015] The internal camera may be disposed in a camera setting portion recessed from an inner side wall of the storage portion, and the camera setting portion may include an inclined surface extending forward at an angle corresponding to a viewing angle of the internal camera.

[0016] The angle of the inclined surface extending in the downward direction may be greater than the angle of the inclined surface extending in the upward direction.

[0017] The internal camera can be tilted downward by more than 25° and less than 35° from the front.

[0018] If it is determined that the article previously present inside the storage portion no longer exists, the control portion may close the opened door.

[0019] The internal camera may include an RGB camera.

[0020] The delivery robot of the present invention has a door capable of opening and closing a storage portion, and a locking device is used to prevent the door from being opened during movement, thereby enabling safe delivery of articles.

[0021] In addition, in the delivery robot of the present invention, the rotation range of the door moves along the outer side surface of the main body 110 when the door is opened, thereby being able to safely open and close the door in a limited space.

[0022] In addition, the coupling member of the door driving the delivery robot of the present invention is arranged to be exposed to the outside at a minimum, thereby having an excellent appearance and not interfering with other components.

[0023] In addition, even if a hand is caught in the door of the delivery robot of the present invention, there will be no injury, and the motor will not be overvoltaged due to the back electromotive force, so it is safe.

[0024] In addition, the delivery robot of the present invention can divide the interior of the storage section as needed, and can improve the utilization rate of the internal space through a plurality of doors that can be selectively opened and closed.

[0025] In addition, the delivery robot of the present invention can selectively drive a plurality of doors according to the partition state of the storage section by sensing whether the shelves and partitions are loaded or unloaded.

[0026] Furthermore, the delivery robot of the present invention can store the partition plate inside the storage portion of the delivery robot without using the partition plate.

[0027] Furthermore, the delivery robot of the present invention has a sliding shelf, thereby improving convenience when storing articles inside and taking articles out from the inside.

[0028] In addition, the delivery robot of the present invention can reduce the failure rate of the delivery robot by preventing liquid from flowing into the electronic components located at the bottom of the sliding shelf.

[0029] In addition, the sliding shelf of the delivery robot of the present invention can be easily loaded and unloaded, thereby having the advantage of easy maintenance.

[0030] In addition, the delivery robot of the present invention has an internal camera, which can determine whether there are items stored inside and then open and close the door.

[0031] In addition, the delivery robot of the present invention can sense whether there is a person outside the delivery robot, thereby being able to confirm in advance whether it is safe when leading out the sliding shelf.

[0032] The effects that can be obtained by the present invention are not limited to the effects mentioned above, and those skilled in the art can clearly understand other effects not mentioned from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention is provided only as an example, and thus, a more complete understanding of the present invention can be obtained through the following detailed description and the accompanying drawings which do not limit the present invention.

[0034] Figure 1 It is a diagram showing a cloud system based on a 5G network according to an embodiment of the present invention.

[0035] Figure 2 This is a block diagram for explaining the structure of a delivery robot according to an embodiment of the present invention.

[0036] Figure 3 4 is a front perspective view of a delivery robot according to an embodiment of the present invention.

[0037] Figure 4 and Figure 5 This is a diagram showing a state in which a door of the delivery robot according to an embodiment of the present invention is opened.

[0038] Figure 6 This is a diagram showing the interior of a storage section of a delivery robot according to an embodiment of the present invention.

[0039] Figure 7 This is a conceptual diagram showing a method of dividing a storage section of a delivery robot according to an embodiment of the present invention.

[0040] Figure 8 1 is a top view showing a door driving unit of a delivery robot according to an embodiment of the present invention.

[0041] Fig. 9 1 is a conceptual diagram showing a door driving unit of a delivery robot according to an embodiment of the present invention.

[0042] Fig.10 This is a conceptual diagram for explaining the operation of the coupling of the delivery robot according to one embodiment of the present invention.

[0043] Fig.11 This is a diagram showing a door driving unit of a delivery robot according to an embodiment of the present invention as viewed from below.

[0044] Fig.12 2 is a diagram showing a method for combining an intermediate shelf of a delivery robot according to an embodiment of the present invention.

[0045] Fig.13is an exploded view showing an elastic sensor of a delivery robot according to an embodiment of the present invention.

[0046] Fig.14 1 is a diagram showing the operation of the first elastic sensor of the delivery robot according to one embodiment of the present invention.

[0047] Fig.15 1. The figures are a side view and a bottom view of an intermediate shelf of a delivery robot according to an embodiment of the present invention.

[0048] Fig.16 It is a diagram for explaining a method of inserting a partition plate into a storage portion of the delivery robot according to an embodiment of the present invention.

[0049] Fig.17 1 is a cross-sectional view showing the interior of a storage section of a delivery robot according to an embodiment of the present invention.

[0050] Fig.18 It is a diagram showing a partition storage method of a delivery robot according to an embodiment of the present invention.

[0051] Fig.19 and Fig. 20 It is a diagram showing a storage rail and a partition of a delivery robot according to an embodiment of the present invention.

[0052] Fig.21 This is a diagram showing another embodiment of the partition storage method of the delivery robot according to the embodiment of the present invention.

[0053] Fig. 22 This is a perspective view showing a state where the sliding shelf of the delivery robot according to an embodiment of the present invention is drawn out.

[0054] Fig.23 It is shown Fig. 22 side view of the state.

[0055] Fig.24 1 is an exploded perspective view showing a sliding shelf and a shelf driving unit of a delivery robot according to an embodiment of the present invention.

[0056] Fig.25 1 is a diagram showing a slide rail and a sliding shelf coupled to a storage base of a delivery robot according to an embodiment of the present invention.

[0057] Fig.26 1 is a diagram illustrating a sliding shelf separation method of a delivery robot according to an embodiment of the present invention.

[0058] Fig. 27 It is a diagram of a safety control method of a sliding shelf of a delivery robot according to an embodiment of the present invention.

[0059] Fig.28 and Fig.291 is a diagram showing a driving unit of a sliding shelf 131 of a delivery robot according to another embodiment of the present invention.

[0060] Fig.30 This is a front view showing a storage portion of a delivery robot according to an embodiment of the present invention.

[0061] Fig.31 The diagram shows a picture captured by an internal camera located in an upper storage portion of a delivery robot according to an embodiment of the present invention, depending on whether a partition is present.

[0062] Fig.32 1 is a conceptual diagram showing the viewing angle of the internal camera 195 of the delivery robot according to an embodiment of the present invention.

[0063] Fig.33 The figure shows a state where the internal camera 195 of the delivery robot according to one embodiment of the present invention is tilted 20 degrees downward.

[0064] Fig.34 The figure shows a picture taken when the internal camera of the delivery robot according to one embodiment of the present invention is tilted 30 degrees downward.

[0065] Fig.35 is a flowchart showing a process in which a delivery robot delivers an item to a customer when the customer requests an item from a hotel operator at the hotel.

[0066] Fig.36 and Fig.37 It shows that for Fig.35 Flowchart of the control logic of the control unit of the delivery robot in the scenario. DETAILED DESCRIPTION

[0067] Hereinafter, the embodiments disclosed in this specification are described in detail with reference to the accompanying drawings, and the same or similar constituent elements are given the same figure marks regardless of the figure numbers, and repeated descriptions thereof will be omitted. The suffixes "module" and "unit" used in the following description for the constituent elements are only given or mixed for the convenience of writing the specification, and they themselves do not have mutually distinguishing meanings or functions. Moreover, in the process of describing the embodiments disclosed in this specification, if it is determined that the specific description of the relevant known technology will cause confusion with the technical ideas of the embodiments disclosed in this specification, the detailed description thereof will be omitted. Furthermore, it should be understood that the attached drawings are only for the easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the drawings, but cover all changes, equivalents and even substitutes included in the ideas and technical scope of the present invention.

[0068] Terms including ordinal numbers such as “first” and “second” may be used to describe various components, but the components are not limited by the terms. The terms are used only to distinguish one component from other components.

[0069] If a certain component is mentioned as being “connected” or “coupled” to another component, it should be understood that it may be directly connected or coupled to the other component, but other components may exist between them. Conversely, if a certain component is mentioned as being “directly connected” or “directly coupled” to another component, it should be understood that there are no other components between them.

[0070] Unless the context clearly indicates a different meaning, an expression in the singular includes an expression in the plural.

[0071] In the present application, it should be understood that terms such as "including" or "having" are only intended to specify the existence of features, numbers, steps, actions, structural elements, parts or their combinations recorded in the specification, and are not intended to preclude the possibility of the existence or addition of one or more other features or numbers, steps, actions, structural elements, parts or their combinations.

[0072] A robot is a mechanical device that can automatically perform certain tasks or operations. The robot can be controlled by an external control device or can also have a built-in control device. Robots can handle or lift heavy objects by simply repeating pre-set movements, or perform tasks that are difficult for humans to perform, such as precision operations and operations in extreme environments.

[0073] In order to perform work, the robot is provided with a driving unit including an actuator or a motor to perform various physical actions such as moving the robot joints.

[0074] Due to the high manufacturing cost and specialized operation of robots, industrial robots or medical robots with appearances that are specialized for specific operations were first developed. Industrial robots and medical robots repeatedly perform the same actions in designated places, but in recent years, mobile robots have been emerging. In particular, such robots have additional driving functions, such as those in the aerospace industry, which can perform exploration operations on distant planets that are difficult for humans to reach directly.

[0075] In order to perform the driving function, it may have a driving unit and include wheels, brakes, casters, motors, etc. In order to grasp the surrounding obstacles and avoid them when driving, robots equipped with artificial intelligence have emerged.

[0076] By applying artificial intelligence technology, robots can be realized as guiding robots, carrying robots, sweeping robots, wearable robots, entertainment robots, pet robots, unmanned flying robots, etc.

[0077] The robot may include a robot control module for controlling actions, and the robot control module may refer to a software module or a chip implementing it as hardware.

[0078] The robot can use sensor information obtained from various types of sensors to obtain the robot's status information, or detect (identify) the surrounding environment and objects, or generate map data, or determine the movement path and driving plan, or determine the response to user interaction, or determine the action.

[0079] The robot can perform the above actions using a learning model composed of at least one artificial neural network. For example, the robot can use the learning model to identify the surrounding environment and objects, and use the identified surrounding environment information or object information to determine the action. Here, the learning model can be learned directly in the robot, or it can be a model that has been learned in an external device such as an AI server.

[0080] At this time, the robot can directly use the learning model to generate results and perform actions, but it can also perform actions by transmitting sensor information to external devices such as AI servers and receiving results generated based on them.

[0081] Through artificial intelligence, robots can perform autonomous driving. Autonomous driving refers to the technology that can determine the optimal path and avoid obstacles. Currently used autonomous driving technologies include technologies that maintain the lane during driving, technologies that automatically adjust the speed such as adaptive cruise control, technologies that automatically drive along a specified path, and technologies that automatically set the path after setting the destination.

[0082] In order to perform autonomous driving, many sensors may be included to recognize data of surrounding conditions. Examples of sensors include proximity sensors, illumination sensors, acceleration sensors, magnetic sensors, gyroscope sensors, inertial sensors, RGB sensors, IR sensors, fingerprint recognition sensors, ultrasonic sensors, optical sensors, microphones, laser radars, radars, and the like.

[0083] In addition to the information collected by the sensor, autonomous driving can be performed based on image information collected by the RGBC camera, infrared camera, etc. and sound information collected by the microphone. In addition, driving can be performed based on information input through the user input unit. Map data, location information, and information on surrounding conditions collected through the wireless communication unit are also information required for autonomous driving.

[0084] The map data may include object recognition information about various objects arranged in the space where the robot moves. For example, the map data may include object recognition information about fixed objects such as walls and doors and movable objects such as flower pots and desks. In addition, the object recognition information may include name, type, distance, location, etc.

[0085] Therefore, in order to collect data that artificial intelligence can learn, the robot must have sensors, various input units, and wireless communication units, and perform optimal actions by integrating various information. The learning processor that executes artificial intelligence can perform learning through the control unit installed in the robot, or it can transmit the collected information to the server and then transmit the learning results to the robot again after learning through the server, so that the robot can perform autonomous driving based on this.

[0086] Robots with artificial intelligence can realize an entire map by collecting surrounding information even in a new place. Since the amount of information accumulated in places within the main activity radius is large, they can perform more accurate autonomous driving.

[0087] In order to receive the user's input, a touch screen or a key may be provided, or the instruction may be received by recognizing the user's voice. In order to convert the voice input into a string, the processor may utilize at least one of an STT (Speech To Text) engine and a natural language processing (NLP: Natural Language Processing) engine for obtaining the intention information of the natural language to obtain the intention information corresponding to the user's input.

[0088] At this time, at least a portion of at least one of the STT engine and the NLP engine may be composed of an artificial neural network learned according to a machine learning algorithm. In addition, at least one of the STT engine and the NLP engine may learn through a learning processor, or through a learning processor of an AI server, or through their distributed processing.

[0089] Figure 1 It is a 5G network-based cloud system 1000 according to an embodiment of the present invention.

[0090] Reference Figure 1 , the cloud system 1000 may include a delivery robot 100, a mobile terminal 300, a robot control system 200, various devices 400, and a 5G network 500. The delivery robot 100 is a robot that carries items from a departure point to a destination.

[0091] The delivery robot 100 can deliver items to a destination not only outdoors but also indoors. The delivery robot 100 can be implemented by an AGV (Automated Guided Vehicle), which can be a transport device that moves through sensors, magnetic fields, visual devices, etc. on the bottom surface.

[0092] The delivery robot 100 may be configured in a type that has a shelf capable of storing articles and omits side walls so as to be open inside, or may include a storage section that can be opened and closed by a door when the travel distance is long.

[0093] The mobile terminal 300 can communicate with the delivery robot 100 through the 5G network 500. The mobile terminal 300 can be a device owned by a user who sets a partition in a storage area for loading items, or a device owned by a recipient of the loaded items. The mobile terminal 300 can provide information based on images, and the mobile terminal 300 can include mobile devices such as mobile phones, smart phones, wearable devices (for example, smart watches, smart glasses, head mounted displays (HMD: head mounted display)), etc.

[0094] The robot control system 200 can remotely control the delivery robot 100 and respond to various requests of the delivery robot 100. For example, the robot control system 200 can perform artificial intelligence-based operations based on the request of the delivery robot 100.

[0095] In addition, the robot control system 200 can set the movement path of the delivery robot 100. In the case of multiple destinations, the robot control system 200 can set the movement order of the destinations.

[0096] The various devices 400 may include a personal computer 400a (PC), an autonomous vehicle 400b, a home robot 400c, etc. When the delivery robot 100 arrives at the transportation destination of the item, the delivery robot 100 may deliver the item directly to the home robot 400c through communication with the home robot 400c.

[0097] Various devices 400 can be connected to the delivery robot 100, mobile terminal 300, robot control system 200, etc. via wired or wireless connection through the 5G network 500.

[0098] The delivery robot 100, the mobile terminal 300, the robot control system 200 and the various devices 400 are all equipped with 5G modules, so that data can be sent and received at a speed of 100Mbps to 20Gbps (or above), so that large-capacity video files can be transmitted to various devices, and because they are driven by low power, power consumption can be minimized. However, the transmission speed may be different according to the embodiment.

[0099] The 5G network 500 may include a 5G mobile communication network, a short-range network, the Internet, etc., and may provide a communication environment for devices in a wired or wireless manner.

[0100] Figure 2 is a block diagram for explaining the structure of a delivery robot 100 according to an embodiment of the present invention. Figure 3 1 is a front perspective view of a delivery robot 100 according to an embodiment of the present invention. Figure 2 The components shown are not essential, and thus the delivery robot 100 described in this specification may have more or fewer components than those listed above.

[0101] Reference Figure 3 The main body 110 of the delivery robot 100 has various components installed inside and includes a storage portion that can accommodate items. The main body 110 can be moved by a travel portion 170 located at the bottom. The main body may include: a main body cover 111, which constitutes the appearance; and a storage portion 115 (refer to Figure 5 ), including a shelf capable of storing items within the main cover body 111.

[0102] Reference Figure 2 The delivery robot 100 of the present invention may include a door 120 , a traveling unit 170 , a sensor unit 160 , an output unit 150 , an input unit 190 , a control unit 180 , a communication unit 185 , and a power supply unit 189 .

[0103] The door 120 can selectively open the interior of the storage part by opening and closing the main body opening formed on one side of the main body 110. In order to sense the driving direction during driving, the main body cover 111 can be positioned so that the exposed camera 193, laser radar 162, proximity sensor 161, etc. face the driving direction. The main body opening for introducing and withdrawing items can be located in the opposite direction of the driving direction.

[0104] The present invention is characterized in that articles are stored and taken out by opening and closing the storage portion 115 inside the main body 110, so the direction with the door 120 is called the front, and the opposite direction, that is, the driving direction is called the rear.

[0105] If the door 120 is driven in a hinged manner, sufficient space must be ensured in front of the delivery robot 100, so the door 120 can be driven in a sliding manner so that it can be opened and closed in a limited space. Figure 3 As shown, the delivery robot 100 has a cylindrical body 110 , and in order to smoothly introduce and withdraw articles, most of the front area is dedicated to a body opening covered by a door 120 .

[0106] The main body opening portion that exposes the storage portion occupies the entire front surface of the main body 110. When the door 120 slides in a direction parallel to the front surface of the main body, it is necessary to ensure a space in the left-right direction of the main body 110.

[0107] Therefore, the door driving unit of the door 120 of the delivery robot 100 of the present invention may be configured to form a track that is as close to the outer side surface of the main body 110 as possible when the door 120 is rotated to open.

[0108] The door 120 may include a door panel 121 , which constitutes a portion of the outer side of the main body 110 . In order to drive the door panel 121 , a motor 122 and coupling members 128 , 129 may be included.

[0109] like Figure 3 As shown, a plurality of door panels 121a, 121b, 121c, 121d may be provided, and the plurality of door panels 121a, 121b, 121c, 121d may be driven independently. The plurality of door panels 121a, 121b, 121c, 121d may be driven simultaneously or individually according to the storage portion structure inside the main housing 111.

[0110] The output unit 150 can generate output related to vision, hearing, touch, etc. The output unit 150 may include a light output unit for outputting visual information, a display 151, etc., and may include a speaker 152 for outputting auditory information, an ultrasonic output unit for outputting ultrasonic signals of an inaudible frequency, etc., and may include a tactile module for outputting tactile information.

[0111] The sensor unit 160 may use various sensors to obtain at least one of internal information of the delivery robot 100 , surrounding environment information of the delivery robot 100 , and user information.

[0112] At this time, for autonomous driving, the sensor unit 160 may include various types of sensors for recognizing the surroundings, and as representative examples, a distance sensing sensor or proximity sensor 161 and a laser radar 162 may be cited.

[0113] The proximity sensor 161 may include an ultrasonic sensor that identifies nearby objects and determines the distance to the object based on the time it takes for the emitted ultrasonic wave to return. A plurality of proximity sensors may be provided along the periphery, and may also be provided on the upper side in order to sense obstacles on the upper side.

[0114] Lidar 162 is a device that precisely maps the surrounding area by emitting laser pulses and receiving light reflected from surrounding objects. Although the principle is similar to radar, the application technology and scope of use are different because the electromagnetic waves used are different.

[0115] Since lasers use light with a wavelength of 600 to 1000 nm, it may damage human vision. Laser radar 162 uses a wavelength greater than this length and can be used not only to measure the distance to the object, but also to measure the speed and direction of movement, temperature, and surrounding atmospheric material analysis and concentration measurement.

[0116] In addition, the sensor unit 160 may include an illumination sensor, an acceleration sensor, a magnetic sensor, a gyro sensor, an inertial sensor, an RGB sensor, an infrared sensor, a fingerprint recognition sensor, an ultrasonic sensor, an optical sensor, a Hall sensor, and the like.

[0117] The travel part 170 is a mechanism for moving the delivery robot 100 , and may include wheels or legs, and may include a wheel driving part and a leg driving part for controlling them.

[0118] The wheels may include a main wheel 171 for fast travel (see Fig.23 ) and casters 172 for direction change and auxiliary casters, etc., wherein the auxiliary casters are used for stable driving to prevent the loaded items L from falling during driving.

[0119] The communication unit (Transceiver) 185 may include a wired or wireless communication module capable of communicating with the robot control system 200 .

[0120] As an optional embodiment, the communication unit 185 can be equipped with modules related to GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), Long Term Evolution (LTE: Long Term Evolution), 5G, Wireless LAN (Wireless LAN), Wireless High Fidelity (Wi-Fi: Wireless-Fidelity), Bluetooth (Bluetooth), Radio Frequency Identification (RFID: Radio Frequency Identification), Infrared Communication (IrDA: Infrared Data Association), ZigBee, and Near Field Communication (Near Fielded Communication).

[0121] The input unit 190 may include a user input unit 192 for receiving information from a user. As an alternative embodiment, the input unit 190 may include a camera 193 for inputting an image signal and a microphone 1919 for receiving an audio signal. Here, the camera 193 or the microphone 191 may be regarded as a sensor, and the signal obtained by the camera 193 or the microphone 191 may be referred to as detection data or sensor information.

[0122] The camera 193 senses obstacles in the driving direction, and may be configured in plurality at different angles. For example, a camera that recognizes the front more widely and a camera that shoots the ground may have a plurality of cameras 193 with different shooting directions.

[0123] In order to sense whether there is an object inside the storage portion 115, an internal camera 195 (see Fig.17 ). The internal camera 195 may include a plurality of cameras to sense all the divided storage portions 115a, 115b, 115c, and 115d when the storage portion 115 is divided.

[0124] Alternatively, cameras with different functions may be provided, such as a wide-angle camera, an infrared camera, etc. The camera may be used as the sensor unit 160 to sense surrounding objects.

[0125] The user input unit 192 may be provided with a key or a touch panel overlapping the display 151. Alternatively, the user command may be remotely input through the communication unit 185, in which case the user input unit 192 may include a personal computer 400 or a remote control device provided separately from the delivery robot 100.

[0126] The user input unit 192 includes all means of receiving user commands, and thus can recognize user commands through voice recognition. That is, a voice recognition device that extracts user commands by analyzing voice collected by the microphone 191 can also function as the user input unit 192.

[0127] The input unit 190 may include an item information input unit, which may receive size information, weight information, destination information, information of the transport client, etc. of the item. In this case, the item information input unit may include a code reader.

[0128] In addition, the memory can store information required to perform operations using artificial intelligence, machine learning, and artificial neural networks. The memory can store a deep neural network model. The deep neural network model can be used to infer result values ​​for new input data instead of learning data, and the inferred value can be used as a judgment basis for performing certain actions.

[0129] The power supply unit 189 can be supplied with external power or internal power under the control of the processor 180, and supply power to each component of the delivery robot 100. The power supply unit 189 includes a battery, which can be a built-in battery or a replaceable battery. The battery can be charged in a wired or wireless manner, and the wireless charging method can include a magnetic induction method or a magnetic resonance method.

[0130] The control unit 180 is a module that controls the structure of the delivery robot 100. The control unit 180 may refer to a data processing device built into the hardware, and the data processing device has a physical structure circuit in order to execute the function represented by the code or instruction contained in the program. As an example of a data processing device built into the hardware, it may include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), an FPGA (fielded programmable gate array) and other processing devices, but the scope of the present invention is not limited to this.

[0131] The control unit 180 may collect at least one of the quantity information, weight information, size information, delivery sequence information, and security level information of the items L to be arranged in the storage unit 115. For example, the control unit 180 may receive the information through the input / output unit 190. The input of the input / output unit 190 may also include touch input on the display.

[0132] The control unit 180 may transmit information about the items L loaded into the storage unit 115 to the mobile terminal ( Figure 1 of 300).

[0133] The doors 120a, 120b, 120c, and 120d of the present invention include a plurality of doors, which can be divided into left-right symmetrical opening and closing doors in the left-right direction so that the rotation radius does not increase when opening and closing the doors.

[0134] It can also be composed of two doors including a left door and a right door, such as Figure 3 As shown, four doors 120a, 120b, 120c, and 120d may be included. Alternatively, the structure may be divided into three layers in the vertical direction and have six doors.

[0135] For ease of explanation, the following description will be based on an embodiment in which the doors 120a, 120b, 120c, and 120d are divided into two layers, and the four doors 120a, 120b, 120c, and 120d can be driven simultaneously or individually. Figure 4 and Figure 5 FIG. 1 is a diagram showing a state in which the door 120 of the delivery robot 100 according to an embodiment of the present invention is opened.

[0136] The delivery robot 100 of the present invention can be Figure 4 As shown, only a portion of the doors 120b and 120d are opened, or Figure 5 As shown, all the doors 120a, 120b, 120c, and 120d are opened. The driving of the door 120 can be changed according to the division form of the internal storage part 115.

[0137] If the storage section 115 is divided into four by the partition 133 and the middle shelf 132, each door 120a, 120b, 120c, 120d can be driven independently. If the partition 133 is omitted, one storage section can be opened by opening the left door and the right door at the same time. Figure 5 The embodiment is a case where the storage section 115 is not divided but is composed of a larger space, so all the doors 120a, 120b, 120c, and 120d can be opened at the same time.

[0138] Figure 6 1 is a diagram showing the interior of the storage unit 115 of the delivery robot 100 according to an embodiment of the present invention, and shows a state where the door panel 121 is removed.

[0139] The delivery robot 100 may include: an intermediate shelf 132 that divides the storage portion 115 in the vertical direction; and a partition 133 that divides the storage portion 115 in the left and right direction. The delivery robot 100 of this embodiment may include an intermediate shelf 132 and two partitions 133, such as Figure 6 As shown, a maximum of four storage sections 115 a , 115 b , 115 c , and 115 d can be divided by an intermediate shelf 132 and two partitions 133 .

[0140] The middle shelf 132 and the partition 133 can be slidably mounted and removed from the main housing 111. The middle shelf 132 can be inserted into the vertical center of the storage portion 115, and the middle shelf 132 can divide the storage portion 115 into an upper storage portion 115e and a lower storage portion 115f.

[0141] Here, the vertical center does not mean that the height of the upper storage part 115e and the height of the lower storage part 115f must be the same. However, in order for the upper storage part 115e and the lower storage part 115f to share the partition described later, the upper storage part 115e and the lower storage part 115f can have the same height.

[0142] The intermediate shelf 132 needs to have sufficient rigidity to support the loaded objects, and may have a predetermined thickness. In order to support the intermediate shelf 132, a protruding shelf support portion 135 may be included on the left and right sides of the storage portion 115 (see Fig.12 ).

[0143] The partition 133 that divides the upper storage part 115e and the lower storage part 115f left and right can be inserted along the guide groove 1323 formed in the middle shelf 132. Unlike the middle shelf 132, since the partition 133 does not support the weight of the article, its thickness can be relatively thinner than the middle shelf 132.

[0144] In order to be combined with a pair of partitions 133, guide grooves 1323 may be formed on the top and bottom surfaces of the intermediate shelf 132. Guide grooves 1125 for inserting the partitions 133 may also be formed on the top and bottom surfaces of the storage portion 115 (see Fig.24 ).

[0145] The partition plate 133 can be inserted into the inner side of the storage part, that is, the rear, or can be pulled out forward along the guide groove 1323. A pair of partition plates 133 can be inserted into the upper storage part 115e and the lower storage part 115f, respectively, and the pair of partition plates 133 can be individually installed and removed.

[0146] Figure 7 1 is a conceptual diagram showing a method for dividing the storage section of the delivery robot 100 according to an embodiment of the present invention. Figure 7(a), a middle shelf 132 and two partitions 133 can be used to divide the four storage sections 115a, 115b, 115c, and 115d.

[0147] like Figure 7 (b) and (c), through an intermediate shelf 132 and a partition 133, one of the upper storage portion 115e and the lower storage portion 115f can be used as a connected space, and the other side can be used as a divided space.

[0148] Or, if Figure 7 (d), it is also possible to divide only the upper storage portion 115e and the lower storage portion 115f into two spaces, such as Figure 7 (e), the middle shelf 132 and the partition 133 may be completely removed, so that the larger storage portion 115 can be used to distribute larger items such as bedding.

[0149] When the storage section 115 is divided, the number of articles that can be stored can be increased, and when delivering smaller articles, a plurality of articles can be delivered to a plurality of destinations at one time.

[0150] When the middle shelf 132 is inserted to divide the upper storage part 115e and the lower storage part 115f, the lower storage part 115f is blocked by the middle shelf 132, so that the inside cannot be seen, and therefore, it is necessary to bend down to load or unload objects. Figure 4 As shown, the sliding shelf 131 may protrude forward at the lower portion, thereby making it easy to pick up objects loaded on the lower shelf.

[0151] like Figure 7 As shown in (e), when the storage section 115 is not divided, the control section 180 can be as follows Figure 5 As shown, the four doors 120 are opened simultaneously, as shown in FIG. Figure 7 As shown in (a) to (d) of FIG. 1 , when the storage section 115 is divided, the control section 180 may control the door 120 to open only the selected storage section 115 but not the other storage sections 115 .

[0152] Figure 8 1 is a top view showing the door driving parts 122, 1231, 1232, 124, 125, 128, 129 of the delivery robot 100 according to an embodiment of the present invention. The left side shows the open state and the right side shows the closed state. The door driving parts can be respectively provided to respectively drive a pair of door panels 121a, 121b arranged along the left and right directions.

[0153] In addition, since the door 120 is divided into upper and lower parts, the door driving parts of the upper doors 120a and 120b covering the upper storage part 115e can be located on the upper side of the door panels 121a and 121b, that is, the upper part of the storage part 115. The door driving parts of the lower doors 120c and 120d covering the lower storage part 115f can be located on the lower side of the door panels 121c and 121d, that is, the lower part of the storage part 115.

[0154] The door 120 of the present invention includes: a door panel 121, which covers the storage portion 115 in a closed state and constitutes at least a portion of one side of the main cover 111; a first door connecting member 128, a first end 1281 (end) rotatably coupled to the door panel 121, and a second end rotatably coupled to the main cover 111; and a motor 122, which provides rotational force to the first door connecting member 128.

[0155] The door drive unit can be configured on the drive unit plate 125, a portion of the door drive unit can be configured on one side of the drive unit plate 125 and the remaining portion can be configured on the other side, or a component with thickness like the motor 122 can be configured after a hole is formed in the door drive unit plate 125.

[0156] like Figure 8 As shown, in this embodiment, the pulleys 1231, 1232, the flat belt 124, and the door sensors 1641, 1642 can be arranged on one side of the driving plate 125, and the door couplings 128, 129 can be located on the other side of the driving plate 125. The motor 122 can be arranged after a hole is formed in the driving plate 125 in consideration of thickness. The other side of the driving plate 125 where the door couplings 128, 129 are located is arranged to face the storage portion 115.

[0157] The storage portion 115 may include a storage portion cover 112 (see Fig.24 ) to cover the door coupling members 128, 129 and the driving part of the sliding shelf 131 described later. The storage cover 112 may include a storage base 1123 constituting the bottom surface (see Fig.24 ) and the storage portion seal 1122 constituting the top surface (refer to Fig.18 ). The door coupling member may be located at a lower portion of the storage portion base 1123 and an upper portion of the storage portion sealing member 1122.

[0158] The door panel 121 is a member covering the storage portion 115, and in a closed state can form a continuous surface with the main body cover 111 to constitute the appearance of the main body 110. The door panel 121 can be formed slightly wider in the left and right directions on the front of the main body cover 111 to facilitate storage and taking out of objects.

[0159] The door panel 121 may extend further than the front of the main body cover 111 and bend toward the side. Hereinafter, for convenience of description, the edge of the door panel 121 in the closing direction is referred to as a first door edge 1211, and the edge of the door panel 121 in the opening direction is referred to as a second door edge 1212.

[0160] Although the motor 122 can be directly connected to the coupling, Fig. 9 As shown, a pair of pulleys 1231, 1232 and a flat belt 124 surrounding the pair of pulleys 1231, 1232 may be included. The flat belt 124 synchronizes the pair of pulleys 1231, 1232. The first pulley 1231 connected to the motor 122 rotates, and the flat belt 124 moves along the outer circumference of the first pulley 1231.

[0161] The second pulley 1232 rotates by the rotational force transmitted by the flat belt 124, and the second pulley 1232 is coupled to the second end 1282 of the first door coupling member 128. As the second pulley 1232 rotates, the first door coupling member 128 rotates around the rotation axis of the second pulley 1232, and the first end 1281 of the first door coupling member 128 can rotate while drawing an arc around the rotation axis of the second pulley 1232.

[0162] Hereinafter, for convenience of description, the direction in which the first door coupling member 128 rotates toward opening the door panel 121 is referred to as a first rotation direction, and the direction in which the first door coupling member 128 rotates toward closing the door panel 121 is referred to as a second rotation direction.

[0163] According to the left and right directions of the door 120, the first rotation direction may be a clockwise direction or a counterclockwise direction. Figure 8 The first rotation direction of the first door coupling member 128 shown on the left side of FIG. 1 is counterclockwise, and the second rotation direction is clockwise.

[0164] The flat belt 124 has a belt shape without protrusions, and no teeth are formed on the outer sides of the first pulley 1231 and the second pulley 1232. The flat belt 124 can move by using the friction between the flat belt 124 and the first pulley 1231 and the second pulley 1232. When an external force greater than the friction force is applied, the flat belt 124 and the second pulley 1232 may slip.

[0165] In the case where an object or a hand is caught in the door 120, the door panel 121 cannot move, and thus the second pulley 1232 cannot rotate. If the rotation of the second pulley 1232 is restricted, the second pulley 1232 and the flat belt 124 slip. That is, even if the motor 122 rotates the first pulley 1231, the second pulley 1232 may not rotate.

[0166] If a transmission belt with a protrusion is used, the motor 122 cannot rotate when an object is inserted and the door panel 121 stops, so there is a problem of back electromotive force being applied. Slipping can occur between the flat belt 124 and the second pulley 1232, which can prevent malfunctions caused by back electromotive force being applied to the motor 122.

[0167] The rotation speed of the motor and the movement amount of the second pulley can be matched by forming the first pulley 1231 to have a smaller diameter than the second pulley 1232. When the door 120 is switched from a closed state to an open state, the first pulley 1231 can only rotate about 120°, but the first pulley 1231 can rotate multiple times because it is smaller than the second pulley 1232.

[0168] The second pulley 1232 may include a detection protrusion 1233 protruding from the outer circumference. The position of the detection protrusion 1233 may change according to the rotation of the second pulley 1232, and may include a closing sensing sensor 1641 that contacts the detection protrusion 1233 in a closed state and an opening sensing sensor 1642 that contacts the detection protrusion 1233 in an open state.

[0169] Figure 8 The right door panel 121 is in a closed state, and the detection protrusion 1233 of the second pulley 1232 on the right side is in contact with the closing sensing sensor. If the closing sensing sensor 1641 is turned on, the control unit 180 can determine that the door panel 121 completely covers the main body opening and make the delivery robot 100 travel.

[0170] On the other hand, the left door panel 121 is in an open state, and the left detection protrusion 1233 is in contact with the opening sensing sensor 1642. The control unit 180 can determine that the door panel 121 is fully opened by sensing that the opening sensing sensor 1642 is turned on, and lead out the sliding shelf 131.

[0171] The first end portion 1281 of the first door coupling member 128 may be rotatably coupled to the door panel 121. Since the door driving portions of the upper doors 120a and 120b are located at the upper side of the storage portion 115, the first end portion 1281 of the first door coupling member 128 may be coupled to the upper end of the door panel 121. The door driving portions of the lower doors 120c and 120d are located at the lower side of the storage portion 115, and therefore the first end portion 1281 of the first door coupling member 128 may be coupled to the lower end of the door panel 121.

[0172] The present invention is configured such that when the door panel 121 is opened, the door panel 121 slides along the outer side surface of the main body cover 111 so that the angle changes in the side direction, thereby preventing the door panel 121 from interfering with the main body cover 111 .

[0173] A second door coupling 129 may be further included to slide open while converting the orientation of the door panel 121 when the first door coupling 128 opens the door panel 121. The second door coupling 129 converts the force of the first door coupling 128 pushing the door panel 121 in the side direction into a rotational force, thereby guiding the second edge of the door panel 121 toward the rear of the body 110.

[0174] In the closed state, the first door edge 1211 of the door panel 121 may be located at the center of the main body opening, and in the open state, the first door edge 1211 of the door panel 121 may be located at the side of the main body opening. The first end 1281 of the first door coupling member 128 may be combined with the first door edge 1211 of the door panel 121 so as to move along the main body opening without interfering with the main body cover 111 when switching from the closed state to the open state.

[0175] The first end 1291 of the second door coupling member 129 is combined with the door panel 121, and the second end is combined with the main body cover 111. The first end 1291 and the second end of the second door coupling member 129 can be connected to the door panel 121 and the main body cover 111 at a position separated from the first end 1281 and the second end 1282 of the first door coupling member 128.

[0176] like Figure 8 As shown, the first end portion 1291 of the second door coupling member 129 may be fastened to a bent portion of the door panel 121 , ie, between a door front portion at the front side and a door side portion at the side side.

[0177] When the door panel 121 moves to the side through the first door coupling 128, the second door coupling 129 can rotate while changing the angle of the door panel 121. The second door coupling 129 can rotate in the same direction as the first door coupling 128, and the door panel 121 can be switched to a closed state and an open state through the linkage of the pair of door couplings 128 and 129.

[0178] Fig. 9 1 is a conceptual diagram for explaining the operation of the coupling of the delivery robot 100 according to an embodiment of the present invention. The left side is shown as an open state and the right side is shown as a closed state.

[0179] The first door coupling member 128 and the second door coupling member 129 are bent, but the intervals L1 and L2 between the ends 1281, 1282, 1291, 1292 of each coupling member are constant. In addition, the first end 1281 of the first door coupling member 128 and the first end 1291 of the second door coupling member 129 are connected to the door 120 and the first distance D1 is constant, and the second end 1282 of the first door coupling member 128 and the second end 1292 of the second door coupling member 129 are connected to the main body cover 111 and the second distance D2 is constant.

[0180] Since the first distance D1 and the second distance D2 are fixed and the first interval L1 and the second interval L2 are constant, a quadrilateral with the first distance D1, the second distance D2, the first interval L1 and the second interval L2 as four sides is formed, and the first door coupling 128 and the second door coupling 129 rotate in a shape that changes as the inner angle of the quadrilateral changes.

[0181] When switching from the closed state to the open state, the first door coupling member 128 receives the rotational force of the motor 122, and the first end portion 1281 rotates while drawing a first track T1. The first door coupling member 128 pushes the door panel 121 toward the outside (opening direction), and the first end portion 1291 of the second door coupling member 129 coupled to the door panel 121 maintains a first distance D1 with the first end portion 1281 of the first door coupling member 128 and rotates along the second track T2.

[0182] Fig.10 1 is a diagram showing a track of the door 120 that changes according to a first interval L1 of the first door coupling member 128 and a second interval L2 of the second door coupling member 129, (a) is a diagram showing Fig. 9 The two ends of the first door coupling member 128 of the embodiment are configured to form a first interval L1, and the two ends of the second door coupling member 129 are configured to have a second interval L2. (b) shows the case where the first interval L1' is larger than (a), and c shows the case where the second interval L2" is larger than (a).

[0183] If the first interval L1′ of the first door coupling 128 is larger and the second interval L2′ of the second door coupling 129 is smaller as compared with the embodiment (a) as shown in (b), the rotation radius of the first door edge 1211 of the door 120 is longer, and the door 120 will rotate and open like a hinged door without sliding.

[0184] If the second interval L2 ″ of the second door coupling member 129 is larger as compared with the embodiment (a) as shown in (c), the door 120 can be opened in the side direction while the door panel 121 maintains a horizontal state.

[0185] If Fig.10The length of the first interval L1′ shown in (b) is too long, and the hinged door 120 is formed. Fig.10 (c) if the first interval L1″ is smaller than the second interval L2″, the door panel 121 keeps rotating in the horizontal direction or the second door edge 1212 protrudes forward.

[0186] Preferably, as shown in (a), the first interval L1 of the first door coupling member 128 is slightly larger than the second interval L2 of the second door coupling member 129 so that the second door edge 1212 moves to be pushed rearward and close to the side of the main body cover 111 when the door panel 121 slides.

[0187] Fig.11 This is a diagram of a door driving unit of a delivery robot 100 according to an embodiment of the present invention as viewed from the bottom. Fig.11 The first door coupling member 128 may be bent at a predetermined angle between a first portion 1283 located at the first end 1281 and a second portion 1284 located at the second end 1282. The first portion 1283 is located adjacent to the first end 1281 and has a relatively shorter length than the second portion 1284.

[0188] Since the first end 1281 of the first door coupling member 128 is coupled to the first door edge 1211 of the door panel 121, the first portion 1283 of the first door coupling member 128 is exposed to the outside when the door 120 is opened. Preferably, the first portion 1283 is disposed adjacent to the inner side surface of the door panel 121 so that the first portion 1283 exposed to the outside is minimized.

[0189] like Figure 8 As shown, the first portion 1283 of the first door coupling member 128 may be configured to be bent toward the first door edge 1211 of the door panel 121. Since the first end portion 1281 is parallel to the inner side surface of the door panel 121 in the closed state and rotates in the open state, it is separated from the inner side surface of the door panel 121, but is closer to the door panel 121 than in the state where the first portion and the second portion 1284 are in a straight line, thereby being able to reduce the degree of exposure to the outside.

[0190] The second door coupling member 129 may be bent in a "U" shape with the first end 1291 and the second end 1292 facing the same direction. Figure 8 As shown, in the open state, the second end 1292 of the second door coupling member 129 can be located at the side direction of the main body cover 111, so that the second edge 1212 of the door moves backward.

[0191] If the second door coupling member 129 is to be configured so as not to interfere with the main body cover 111, the second door coupling member 129 may include a bent portion 1295 bent in a "U" shape (see Fig.11 ), and the first end 1291 and the second end 1292 face the same direction.

[0192] The first portion 1293 including the first end portion 1291 is the portion that guides the rotational movement of the second door coupling member 129, and therefore its length may be greater than the length of the second portion 1294 including the second end portion 1292, and the second portion 1294 may have a length that can avoid interference with the main body cover 111. Figure 8 Like the left door 120 b , the main body cover 111 may be located between the first portion 1293 and the second portion 1294 of the second door coupling member 129 .

[0193] Although the second door coupling member 129 is not directly connected to the motor 122, it guides the door panel 121 to open along a specified track without shaking. Due to the configuration of the motor 122, the first door coupling member 128 is only located on the upper side or the lower side of the door panel 121, but the second door coupling member 129 can be combined with both the upper side and the lower side of the door panel 121 (refer to Figure 8 ).

[0194] That is, the second door link 129 may be located in the middle of the receiving portion 115 except for the upper and lower sides of the receiving portion 115. Figure 6 A pair of second door coupling members 129 located in the middle of the storage portion 115 may be arranged in the up-down direction, one of which may be connected to the upper doors 120a, 120b and the other may be connected to the lower doors 120c, 120d.

[0195] Reference Figure 6 The second door coupling member 129 may be located at both sides of the middle shelf 132, and the middle shelf 132 may include grooves on the left and right to provide a space in which the second door coupling member 129 can rotate.

[0196] The second door coupling member 129 may further include a coupling member cover 1351 for covering the second door coupling member 129 to prevent the second door coupling member 129 from being exposed when the intermediate shelf 132 is separated. The coupling member cover 1351 may function as a shelf support portion 135 supporting the intermediate shelf 132 (see Fig.12 ).

[0197] Since the door driving unit uses the flat belt 124, the door panel 121 may be opened due to the slippage between the second pulley 1232 and the flat belt 124. In addition, a third person who is not the recipient of the item may forcibly open the door 120 and take away the item.

[0198] Therefore, a locking device for locking the door 120 is required, such as Fig.11As shown, a locking rod 127 may be provided to limit the rotation of the first door coupling 128. The locking rod 127 may be selectively introduced into and out of the trajectory of the first door coupling 128. The locking rod 127 may be located in a first rotation direction for switching from a locked state to an open state, so that it cannot be rotated from the locked state to the open state.

[0199] The locking motor 122 that controls the locking rod 127 to be selectively located in the first rotation direction of the first door coupling member 128 can drive the locking rod 127 to protrude when the closing sensing sensor 1641 is turned on. When the opening command of the door 120 is input, the locking motor 122 can guide the locking rod 127 so that the first door coupling member 128 can rotate in the first rotation direction (refer to Fig.11 The right side door 120b).

[0200] Here, in an emergency situation where the door 120 cannot be driven due to an operational error of the delivery robot 100 and needs to be opened manually, in order to release the lock, the locking rod 127 can be manually introduced. When a thin and long member like a ruler is placed in the upper end or the lower end of the door panel 121 and the locking rod 127 is pushed, the locking rod 127 is introduced in a state that does not interfere with the first door coupling member 128, and the door panel 121 can be manually opened.

[0201] like Figure 6 to Figure 7 As described in the above, the storage part 115 of the present invention may include an intermediate shelf 132 that divides the storage part 115 into upper and lower parts and a partition 133 that divides the storage part 115 into left and right parts. The intermediate shelf 132 and the partition 133 may be selectively combined with the main body cover 111. The combination method of the intermediate shelf 132 and the partition 133 is described in detail below.

[0202] Fig.12 1 is a diagram showing a method for combining the intermediate shelf 132 of the delivery robot 100 according to an embodiment of the present invention. Fig.12 As shown, the intermediate shelf 132 can be inserted and coupled from the front in a sliding manner.

[0203] The shelf support part 135 supporting the middle shelf 132 may be disposed on both sides of the storage part 115. The middle shelf 132 includes a shelf rail 1325 recessed from the left and right sides, and the middle shelf 132 may be inserted in a state where the shelf support part 135 is located on the shelf rail 1325. The shelf rail 1325 may be recessed at a depth corresponding to the protruding height of the shelf support part 135.

[0204] As mentioned above, the second door coupling member 129 may be located not only at the upper and lower portions of the storage portion 115 but also in the middle of the storage portion 115 , and may be disposed in the left and right directions of the middle shelf 132 .

[0205] The shelf support portion 135 may include a coupling cover 1351 covering the second door coupling 129 so as not to interfere with the second door coupling 129 when the intermediate shelf 132 is fastened to the storage portion 115. The coupling cover 1351 protects the second door coupling 129 from being damaged. Fig.12 The coupling cover 1351 can minimize the exposure of the second door coupling 129 to the outside when the intermediate shelf 132 is removed from the storage portion 115. The coupling cover 1351 may be disposed at the front of the shelf support portion 135 adjacent to the main body opening.

[0206] The coupling cover 1351 may protrude corresponding to the moving range of the second door coupling 129. The shelf rail 1325 of the middle shelf 132 needs to be able to pass through the entire section of the coupling cover 1351, so the shelf rail 1325 may have a depth corresponding to the protruding height of the coupling cover 1351.

[0207] In order to sense whether the middle shelf 132 is installed, the shelf support part 135 may have an elastic sensor 134. If the middle shelf 132 is inserted, the elastic sensor 134 is pressed, thereby being able to sense that the middle shelf 132 is coupled to the shelf support part 135.

[0208] In order to sense whether the partition 133 described later is installed, the elastic sensor 134 may also be used. In order to distinguish between the two elastic sensors, the elastic sensor for sensing the installation of the middle shelf 132 is referred to as the first elastic sensor 134a, and the elastic sensor for the partition 133 is referred to as the second elastic sensor 134b. The first elastic sensor 134a and the second elastic sensor 134b differ only in the configuration position. Fig.13 The shown configurations may be the same.

[0209] The first elastic sensor 134a may be located inside the shelf support portion 135 so as to be able to identify when the intermediate shelf 132 is fully inserted. The first elastic sensor 134a may be located inside the storage support portion 135, with only the elastic latch 1344 portion protruding from the storage support portion 135. Hereinafter, the inside portion (rear) of the shelf support portion 135 where the first elastic sensor 134a is located is referred to as a sensor cover 1352.

[0210] The sensor cover 1352 generates a signal by abutting against the inner side surface of the shelf rail 1325 of the middle shelf 132. Since the shelf rail 1325 is recessed at a depth corresponding to the protruding height of the coupling cover 1351 located at the front end of the storage support portion 135, the sensor cover 1352 can also protrude at the same height as the coupling cover 1351.

[0211] Although the portion 1353 of the shelf support 135 between the sensor cover 1352 and the coupling cover 1351 may also have the same height as the sensor cover 1352 and the coupling cover 1351, Figure 5 As shown, in order to maximize the use of the space of the storage portion 115 when the middle shelf 132 is removed, the portion 1353 between the sensor cover 1352 and the coupling cover 1351 may be recessed.

[0212] Fig.13 1 is an exploded view showing an elastic sensor 134 of a delivery robot 100 according to an embodiment of the present invention. Fig.14 1 is a diagram showing the operation of the first elasticity sensor 134a of the delivery robot 100 according to an embodiment of the present invention.

[0213] Reference Fig.13 The elastic sensor 134 may include a sensor cover 1341, an elastic latch 1344, a torsion spring 1343, and a switch 1345. The elastic latch 1344 is a plate-shaped member including a curved surface, and although only the portion exposed to the outside of the sensor cover 1341 may include the curved surface, the present embodiment is formed in a circular shape.

[0214] If there is no curved surface in the resilient latch 1344, the end of the middle shelf 132 will be stuck and cannot be inserted, so Fig.14 As shown in (a), when the middle shelf 132 contacts the curved surface of the elastic latch 1344 as it is slid and inserted, the force is converted in the direction of introducing the elastic latch 1344, and the elastic latch 1344 can be introduced into the sensor cover 1341.

[0215] The sensor cover 1341 includes a guide protrusion 1346 inserted into a guide groove 1342 formed in the sensor cover 1341. The extent to which the elastic latch 1344 is exposed from the sensor cover 1341 may change as the guide protrusion 1346 moves along the guide groove 1342.

[0216] like Fig.14 (a), the torsion spring 1343 applies pressure to the elastic latch 1344 toward the outside of the sensor cover 1341, thereby positioning the guide protrusion 1346 in the direction of one end portion (the lower side in the drawing) of the guide groove 1342. Fig.14 (b), when the elastic latch 1344 is pressurized due to external force, the torsion spring 1343 is deformed and the elastic latch 1344 is introduced into the sensor cover 1341.

[0217] The elastic latch 1344 may include a switch 1345 that generates a signal by being pressed by a guide protrusion 1346 inserted into the guide groove 1342. Fig.14(b), when the elastic latch 1344 is pressurized, the guide protrusion 1346 can move along the extension direction of the guide groove 1342 and press the switch 1345.

[0218] Since the switch 1345 is turned ON from contacting with the end of the middle shelf 132 , the first locking groove 1326 may be configured to be adjacent to the rear end of the middle shelf 132 .

[0219] A first locking groove 1326 formed in the middle shelf 132 may be included, wherein the shape of the first locking groove 1326 corresponds to the shape of the protruding surface of the elastic latch 1344. Fig.14 As shown in (b), when the first locking groove 1326 reaches the position of the elastic latch 1344, the torsion spring 1343 pressurizes the elastic latch 1344, the elastic latch 1344 protrudes, and the elastic latch 1344 can be inserted into the first locking groove 1326.

[0220] When the elastic latch 1344 is not in contact with the middle shelf 132, the elastic latch 1344 protrudes to the maximum extent. If it contacts the end of the middle shelf 132, the elastic latch 1344 is drawn in. Before the elastic latch 1344 reaches the first locking groove 1326, the elastic latch 1344 abuts against the shelf rail 1325 of the middle shelf 132 and remains in a state of being pressed to the maximum extent. When reaching the first locking groove 1326, the elastic latch 1344 can protrude by an amount equivalent to the depth of the first locking groove 1326.

[0221] If the intermediate shelf 132 is pulled forward with a force greater than a specified size, the elastic latch 1344 may be pressurized and separated from the first locking groove 1326. When the intermediate shelf 132 needs to be removed from the storage portion 115 in order to form a large-sized storage portion 115, the intermediate shelf 132 may be manually pulled and removed from the storage portion 115.

[0222] Fig.15 1 and 2 are side and bottom views of the intermediate shelf 132 of the delivery robot 100 according to an embodiment of the present invention. Fig.15 (a) is a side view, the upper side is the rear side, and the lower side is the front side, showing the inner side of the shelf rail 1325. As mentioned above, the first locking groove 1326 for the elastic latch 1344 to be inserted can be configured at the rear of the shelf rail 1325.

[0223] The first elastic sensor 134a can sense whether the middle shelf 132 is inserted or not and can prevent the middle shelf 132 from moving in the front-back direction. Since the shelf carries objects, a shelf hook 1327 can be included in front of the shelf rail 1325 for stable fixation. Corresponding to the shelf hook 1327, as shown in FIG. Fig.12As shown, the shelf support portion 135 may also include a fixing hook 1355. The fixing hook 1355 may be formed on the coupling cover 1351 to contact the inner side surface of the shelf rail 1325.

[0224] like Fig.12 As shown, one side 1321 of the intermediate shelf 132 of the present invention has a flat surface, while the other side 1322 can be as shown in FIG. Fig.15 (b) includes a cup holder 1324. Since the cup has a high height relative to the bottom surface, there is a risk of the cup tipping over when the delivery robot 100 moves, so in order to prevent the cup from tipping over, a cup holder 1324 can be provided on the middle shelf 132 itself.

[0225] On the other side of the middle shelf 132, the cup holder 1324 may be recessed in a circular shape toward one side 1321, and may have cup holders 1324 of various sizes. Fig.15 In (b), since the left and right shelf rails 1325 are partially recessed from the side, the cup holder 1324 cannot be formed.

[0226] Fig.16 FIG. 1 is a diagram showing a method of inserting a partition plate 133 into a storage portion in a delivery robot 100 according to an embodiment of the present invention. Fig.17 1 is a cross-sectional view showing the interior of a storage section of the delivery robot 100 according to an embodiment of the present invention.

[0227] The upper storage section 115e and the lower storage section 115f can be divided by inserting the middle shelf 132. By inserting the partition 133 between the upper storage section 115e or the lower storage section 115f, the storage section 115 can be divided into left and right. If the storage section 115 is divided when the items are small, they can be delivered to various delivery locations.

[0228] The partition 133 has a rectangular shape, and the lengths of the four sides may be the same, but the length in the first direction and the length in the second direction of this embodiment may be different. Fig.17 The sides located in the up-down direction are called the first side 1331 and the second side 1332, and the sides located in the front-back direction are called the third side 1333 and the fourth side 1334. The length of the first side 1331 and the second side 1332 may be greater than the length of the third side 1333 and the fourth side 1334.

[0229] The lengths of the third side 1333 and the fourth side 1334 may correspond to the length of the upper storage portion 115e or the lower storage portion 115f in the vertical direction, and the lengths of the first side 1331 and the second side 1332 may correspond to the length of the storage portion 115 in the front-to-back direction.

[0230] The partition 133 can be inserted along the partition groove 1323 formed in the center of the middle shelf 132, and the partition groove 1323 can be formed on one side and the other side of the middle shelf 132. In addition, the ceiling 1122 and the base 1123 of the storage part 115 can also be formed with a partition groove 1125 for inserting the partition 133. In order to distinguish the partition groove 1323 of the middle shelf 132 from the partition groove 1323 of the storage part 115, the partition groove 1323 of the middle shelf 132 is called a first partition groove 1323, and the partition groove 1323 of the storage part 115 is called a second partition groove 1125.

[0231] The first side 1331 and the second side 1332 of the partition 133 may slide along the partition groove 1323 toward the inner side of the receiving portion 115 . In order to sense whether the partition 133 is installed or not, a second elastic sensor 134 b may be included.

[0232] The second elastic sensor 134b may use the same member as the first elastic sensor 134a of the intermediate shelf 132. That is, the second elastic sensor 134b may also include Fig.13 The sensor cover 1341 , the resilient latch 1344 , the torsion spring, the guide slot 1342 , and the switch 1345 are shown.

[0233] If the elastic latch 1344 of the second elastic sensor 134b is inserted into the second locking groove 1335 formed in the partition 133, the control unit 180 can sense the installation of the partition 133. In addition, the second elastic sensor 134b and the second locking groove 1335 can fix the partition 133 so that it will not be drawn out in the reverse direction along the partition groove 1323.

[0234] Since it is difficult to connect the signal when the second elastic sensor 134b is arranged in the first partition groove 1323 located in the middle shelf 132, Fig.17 As shown, the second elastic sensor 134 b may be formed in the second partition groove 1125 located in the main body cover 111 , that is, located in the upper part and the lower part of the storage portion 115 .

[0235] Since the fixing force of the partition plate 133 may be weak when the second elastic sensor 134b and the second locking groove 1335 are used to fix the partition plate 133, Fig.17 As shown, a pair of second elastic sensors 134 b and 134 c may be arranged in the front-to-back direction, and a pair of second locking grooves 1335 may be formed on the first side 1331 and the second side 1332 .

[0236] By making the positions of the second locking grooves 1335 formed in one partition plate 133 symmetrical, the second elastic sensors 134 b and 134 c can be fastened to the second locking grooves 1335 regardless of the insertion direction of the partition plate 133 .

[0237] Even if only one second elastic sensor 134b is provided to sense whether the partition plate 133 is installed, it is sufficient to sense the installation. Therefore, only the second elastic sensor 134b located inside the storage portion 115 may have the switch 1345, while the second elastic sensor 134c located outside the storage portion 115 may not have the switch 1345 but only have the sensor cover 1341, the elastic latch 1344 and the torsion spring 1343.

[0238] The second elastic sensors 134b, 134c and the second locking groove 1335 can limit the front-to-back movement of the partition 133. As mentioned above, when a force above a specified value is applied, the elastic latch 1344 is pressed and the partition 133 can be pulled out from the partition groove 1323.

[0239] The partition groove 1323 can support the movement of the partition 133 in the left-right direction, and the partition grooves 1323 located above and below the partition 133 fix the vertical position of the partition 133, so that the partition 133 can be stably fixed in the storage portion 115.

[0240] Fig.18 The diagram shows a method of storing the partition 133 of the delivery robot 100 according to an embodiment of the present invention. The partition 133 drawn out from the storage unit 115 may be lost if stored in another place, which causes the inconvenience of having to find it when needed.

[0241] Therefore, the present invention may include a storage rail 136 as a mechanism capable of storing the removed partition 133. Fig.18 As shown, the storage rail 136 can be located on the upper side of the upper storage part 115e and the lower storage part 115f, and the partition 133 of the upper storage part 115e can be removed and then stored in the storage rail 136 located on the upper part of the upper storage part 115e.

[0242] The length of the first side 1331 of the partition 133 may correspond to the length of the front-to-back direction of the storage portion 115, and the length of the third side 1333 may correspond to the vertical length (height) of the upper storage portion 115e or the lower storage portion 115f. If the horizontal length (width) of the storage portion 115 corresponds to one of the length of the first side 1331 or the length of the third side 1333, the partition 133 may be inserted into the storage rails 136 located on both sides of the storage portion 115 in the horizontal direction.

[0243] In this embodiment, the width of the storage portion 115 corresponds to the length of the first side 1331, and the third side 1333 and the fourth side 1334 of the partition 133 can be inserted into the storage rail 136. The third side 1333 and the fourth side 1334 can include a structure for stably fixing to the storage rail 136.

[0244] Fig.19 and Fig. 20 1 is a diagram showing a storage rail 136 and a partition plate 133 of a delivery robot 100 according to an embodiment of the present invention. Fig.19 This is a diagram showing the fastening positions of the partition plate 133 and the storage rail 136 being aligned and arranged in the horizontal direction. Fig. 20 The state where the third side of the partition plate 133 is inserted into the storage rail 136 is shown.

[0245] Since the third side 1333 and the fourth side 1334 of the partition plate 133 have the same shape, the third side 1333 is used as a reference for description. The third side 1333 of the partition plate 133 includes a hook groove 1336 , a groove 1337 and a clamping groove 1338 as a structure for fastening with the storage rail 136 .

[0246] The storage rail 136 may include a concave rail groove 1361 for inserting the third side 1333 of the partition 133, and the partition 133 inserted into the rail groove 1361 may be supported by the rail groove 1361. The entrance located in the front of the storage rail 136 (the left side in the figure) may be wider so that the partition 133 is easily inserted, and may include an inclined portion 1363 that narrows as it approaches the rear.

[0247] In order for the partition 133 to slide, the height of the narrowed rear end in the track groove 1361 also needs to be greater than the thickness of the partition 133, and a structure is required for fixing the partition 133 when it is fully inserted into the shelf rail 1325. The storage rail 136 may include a vertical clip 1364 protruding toward the partition 133, and when the vertical clip 1364 is inserted into the clip groove 1338 formed on the third side 1333 of the partition 133, the partition 133 can be fixed.

[0248] In order to provide a passage for the vertical clip 1364 to pass through when the partition 133 slides, a groove 1337 formed parallel to the third side 1333 may be included at the position where the clip groove 1338 is formed. Fig.19 As shown, the vertical clips 1364 can be located on the upper and lower sides of the partition 133 and fix the vertical position of the partition 133 inserted into the storage rail 136. The vertical clips 1364 and the clip grooves 1338 can be symmetrically arranged in pairs on both sides of the third side 1333 to enable fastening regardless of the insertion direction of the partition 133.

[0249] The storage rail 136 may include a storage hook 1362 at the rear end. The storage hook 1362 is inserted into the hook groove 1336 formed on the third side 1333 of the partition 133. When the storage hook 1362 is inserted into the hook groove 1336, the partition 133 can be fixed to move in the horizontal direction while preventing the partition 133 from being drawn forward from the storage rail 136. Although the storage hook 1362 is only provided at the rear end of the storage rail 136, in order not to limit the insertion direction of the partition 133, the hook groove 1336 can be formed symmetrically on the third side 1333.

[0250] If the partition 133 is not stably fixed to the storage rail 136, noise may occur during the driving of the delivery robot 100. Fig. 20 As shown, by inserting the elastic vertical clip 1364 and the storage hook 1362 into the clip groove 1338 and the hook groove 1336, the partition 133 can be fixed on the storage rail 136 without shaking.

[0251] Fig.21 1 is a diagram showing another embodiment of a method for storing the partition 133 of the delivery robot 100 according to an embodiment of the present invention. The partition 133 of this embodiment can be stored inside the middle shelf 132. The storage rail 136 can be located inside the middle shelf 132, and the partition 133 can be stored inside the middle shelf 132.

[0252] However, since the shelf rail 1325 is located on the left and right of the middle shelf 132, the first side 1331 and the second side 1332 of the partition 133 need to be combined with the storage rail 136. A clamping groove 1338 and a hooking groove 1336 that are combined with the vertical clamp 1364 and the storage hook 1362 of the storage rail 136 can be formed on the first side 1331 and the second side 1332.

[0253] In this embodiment, since the space in the thickness direction of the middle shelf 132 is used, the Fig.15 In (b), a cup holder 1324 is formed on the other side of the middle shelf 132.

[0254] Fig. 22 1 is a perspective view showing a state where the sliding shelf 131 of the delivery robot 100 according to an embodiment of the present invention is drawn out. When the intermediate shelf 132 is inserted into the delivery robot 100, it may be difficult for a user to see the items located in the lower storage portion 115f while standing. In addition, in order to receive the items located in the lower storage portion 115f, the user needs to bend down to take out the items.

[0255] Therefore, if Fig. 22 As shown, the delivery robot 100 of the present invention may have a sliding shelf 131 that is slidably extended, so that the items located in the lower storage portion 115f can be easily confirmed with the eyes and easily picked up.

[0256] When the door 120 is opened, the sliding shelf 131 may automatically protrude forward. The sliding shelf 131 may be provided in pair so that the lower storage portion 115f can be divided into left and right parts by the partition plate 133.

[0257] The pair of sliding shelves 131 can be driven independently when the partition 133 is inserted into the lower storage portion 115f. When the partition 133 is removed from the lower storage portion 115f, one article can be placed on the pair of sliding shelves 131, so the pair of sliding shelves 131 can be driven simultaneously.

[0258] Or, if Figure 5 As shown, when the middle shelf 132 is removed and used as a storage space, the four doors 120 are opened at the same time, and the recipient can easily confirm the objects on the sliding shelf 131. In this case, the sliding shelf 131 can be not drawn out.

[0259] That is, the sliding shelf 131 may be controlled to be driven only when the intermediate shelf 132 is inserted. If the first elastic sensor 134a senses the installation of the intermediate shelf 132, the control part 180 may lead out the sliding shelf 131 when the door 120 is opened.

[0260] Fig.23 It is shown Fig. 22 When the sliding shelf 131 is extended forward, the center of gravity may move (C1→C2) due to the weight of the objects contained in the sliding shelf 131. Preferably, the design is such that the change in the center of gravity is less than the distance d between the driving wheel 171 and the caster 172.

[0261] For example, if the distance between the driving wheel 171 and the caster 172 is 150 mm and the item L stored on the sliding shelf 131 is 15 kg, it can be expected that the center of gravity changes by about 50 mm when the sliding shelf 131 is pulled forward by a length of 100 mm.

[0262] The control unit 180 may control the driving range of the sliding shelf 131 differently according to the weight of the stored items. Alternatively, when the internal camera 195 recognizes that the stored items are arranged deep inside the sliding shelf 131, the control unit 180 may control the sliding shelf 131 to be drawn out more.

[0263] Fig.24It is an exploded perspective view showing the sliding shelf 131 and the shelf driving unit 137 of the delivery robot 100 according to an embodiment of the present invention. The sliding shelf 131 of the present invention may be located at the bottom of the lower storage unit 115f. The sliding shelf 131 may slide in the front-rear direction along the upper side of the storage unit base 1123 that forms the lower end of the storage unit 115. Corresponding to the height of the sliding shelf 131, the space of the lower storage unit 115f may be smaller than the space of the upper storage unit 115e.

[0264] This embodiment may include a linear actuator 1373 as the shelf driving unit 137 for driving the sliding shelf 131 in the front-rear direction. The linear actuator 1373 transmits the force for driving in the front-rear direction to the sliding shelf 131.

[0265] Regarding the linear actuator 1373, although it can support the weight in the driving direction, it is vulnerable to the force applied perpendicular to the driving direction. That is, if the items stored on the sliding shelf 131 are heavy, the load may be applied to the shelf driving unit 137, resulting in damage to the linear actuator 1373.

[0266] In order to support the weight of the sliding shelf 131 and the items stored thereon while guiding the driving of the sliding shelf 131, a slide rail 1371 may be included. The slide rail 1371 may be coupled to the lower part of the sliding shelf 131 and located between the sliding shelf and the base part 1123. The slide rail 1371 may be composed of a plurality of beams having a "C"-shaped cross-section to form multiple segments. The slide rail 1371 may include bearing balls located between the beams, and the bearing balls may contribute to smooth sliding between the beams.

[0267] As Fig.24 shown, the linear actuator 1373 may be located at a position lower than the storage unit base 1123. Since the slide rail 1371 does not need to be connected to the control unit 180, it may be located on the top surface of the storage unit base 1123 and directly support the sliding shelf 131.

[0268] The slide rail 1371 may support the sliding shelf 131 above the linear actuator 1373 of the sliding shelf 131 and directly support the weight of the sliding shelf 131 and the items. Through the slide rail 1371, the force applied to the linear actuator 1373 in the vertical direction can be restricted.

[0269] Fig.25 It is a view showing the slide rail 1371 and the sliding shelf 131 combined with the storage unit base 1123 of the delivery robot 100 according to an embodiment of the present invention. The linear actuator 1373 may be connected to the sliding shelf 131 through a driving hole 1124 formed in the storage unit base 1123 and provide a driving force to the sliding shelf 131.

[0270] When the articles stored in the storage portion 115 include liquid articles, the liquid may flow into the storage portion 115 while the delivery robot 100 is traveling or the sliding shelf 131 is driven.

[0271] If liquid flows through the drive hole 1124 formed in the storage base 1123 to the linear actuator 1373 located at the lower part of the storage base 1123 or the motor 122 of the door and the electronic components such as the control unit 180, there is a risk of malfunction. Therefore, a structure for preventing water from flowing in through the drive hole 1124 is required.

[0272] An anti-overflow platform 1313 may be formed at the periphery of the sliding shelf 131 to prevent the liquid flowing to the sliding shelf 131 from flowing to the storage portion base 1123. In the case of a small amount of liquid flowing, the anti-overflow platform 1313 blocks the liquid from flowing to the storage portion base 1123. In this embodiment, the anti-overflow platform 1313 is designed to be formed at a height of about 3.5 mm, thereby preventing 250 ml of liquid from overflowing.

[0273] Even if liquid flows in the storage base 1123, since the partition groove 1323 for inserting the partition 133 is more recessed downward than the storage base 1123, the liquid can be guided to flow forward along the partition groove 1323, thereby preventing the liquid from flowing into the lower part of the storage base 1123 through the driving hole 1124.

[0274] like Fig.25 As shown, the driving hole 1124 may form a step 1123s so that it is higher than other parts of the receiving portion base 1123. In addition, a platform 1124s may be formed at the periphery of the driving hole 1124 to prevent liquid from flowing in.

[0275] In order to prevent the articles on the sliding shelf 131 from falling backward and falling into the storage base 1123 when the sliding shelf 131 is driven forward, a tipping prevention wall 1312 may be included behind the sliding shelf 131. The tipping prevention wall 1312 may be designed with a height of 20 mm or more.

[0276] Fig.26 1 is a diagram showing a method of separating the sliding shelf 131 of the delivery robot 100 according to an embodiment of the present invention. In order to clean the storage base 1123 or perform maintenance, the sliding shelf 131 needs to be separated from the main body 110.

[0277] like Fig.26 (a), if the bolt 1314 fastening the linear actuator 1373 and the sliding shelf 131 is removed, the sliding shelf 131 can be pulled forward beyond the driving range of the linear actuator 1373. In order to prevent the bolt 1314 from being exposed to the outside, a cap 1316 covering the top surface of the bolt 1314 may also be included.

[0278] like Fig.26 As shown in (b), the slide rail 1371 is disassembled from the lower part of the sliding shelf 131 pulled forward. The slide rail 1371 can be disassembled by pressing the hook 1371c between the beam 1371a attached to the sliding shelf 131 and the beam 1371b attached to the storage base 1123 in the multi-stage slide rail 1371, and the sliding shelf 131 can be separated from the main body 110.

[0279] Fig. 27 This is a diagram of a safety control method for the sliding shelf 131 of the delivery robot 100 according to an embodiment of the present invention. As described above, when the weight of the articles stored on the sliding shelf 131 exceeds the allowable value, there is a risk that the shelf driving unit 137 may fail due to overload.

[0280] like Fig. 27 As shown in (a), for the sake of driving safety, the linear actuator 1373 may have a circuit structure that automatically short-circuits when reaching the shortest length and the longest length. Therefore, when reaching the end point, the short circuit is performed, so that the voltage measured from the linear actuator 1373 becomes 0.

[0281] On the other hand, when there is nothing on the sliding shelf 131, a voltage of 5 V or less may be measured, but when the maximum weight is exceeded, a voltage of 18 V or more may be measured, in which case the control unit 180 may prevent overload by forcibly stopping the linear actuator 1373. The value may vary depending on the type or design of the linear actuator 1373, but it is possible to sense whether the linear actuator 1373 is overloaded while monitoring the voltage of the linear actuator 1373.

[0282] In addition to the linear actuator 1373, other forms of shelf drive 137 may be used. Fig.28 and Fig.29 1 is a diagram showing a driving unit of a sliding shelf 131 of a delivery robot 100 according to another embodiment of the present invention.

[0283] exist Fig.28 In the embodiment, the shelf driving part 137 is realized by using a rack and a pinion, and the sliding motor 1374 located at the lower part of the storage part base 1123 can rotate the pinion 1375 located at the upper side of the storage part base 1123, and can linearly drive the rack 1376 combined with the lower part of the sliding shelf 131 in the front-back direction. Compared with the aforementioned linear actuator 1373, it has the following advantages: the load resistance capacity can be stronger, and the driving hole 1124 can be formed smaller or sealed, which is conducive to waterproofing.

[0284] according to Fig.29In the embodiment shown, the sliding shelf 131 can be drawn out by using the shelf coupling 1378 connected to the door 120. One end of the shelf coupling 1378 is combined with the door 120 and the other end is combined with the sliding shelf 131. When the door 120 is opened, the sliding shelf 131 can be pulled forward as the door couplings 128 and 129 rotate.

[0285] The structure of the sliding shelf 131 using the shelf coupling 1378 has the advantage of being driven like the door 120 without the need for the linear actuator 1373 or the sliding motor 1374 for driving the shelf. However, there is a risk of overloading the motor 122 driving the door 120 and being drawn out when the lower door 120 is opened regardless of whether the intermediate shelf 132 is installed or not.

[0286] Fig.30 FIG. 1 is a front view of the storage portion 115 of the delivery robot 100 according to an embodiment of the present invention. In order to sense whether there is an object in the storage portion 115 , the delivery robot 100 may further include an internal camera 195 inside the storage portion 115 .

[0287] like Figure 7 As shown, since the storage section 115 of the present invention can be divided into a plurality of sections for use according to the situation, an internal camera 195 capable of observing the interior of all the storage sections 115a, 115b, 115c, and 115d divided into the plurality of sections is required.

[0288] The delivery robot 100 of the present invention is divided into at most four storage sections 115. If the internal cameras 195 are respectively arranged in the four storage sections 115, the cost may increase too much. Therefore, the delivery robot 100 of the present invention uses two internal cameras 195a and 195b arranged in the center of the upper storage section 115e and the lower storage section 115f.

[0289] When the intermediate shelf 132 is inserted, the first internal camera 195a of the upper storage portion 115e observes the upper storage portion 115e, and the second internal camera 195b of the lower storage portion 115f observes the lower storage portion 115f. When the intermediate shelf 132 is not inserted, only the lower internal camera 195b can be used to observe the interior of the storage portion 115, thereby reducing power consumption.

[0290] like Fig.30 As shown, since the internal camera 195 is located at the horizontal center of the storage section 115, it overlaps with the position where the partition 133 is inserted. If there is no partition 133 in the storage section 115, it is easy to use one internal camera 195a, 195b to observe the upper storage section 115e and the lower storage section 115f and determine whether there are objects, but if the partition 133 is inserted, it is necessary to observe both sides at the same time.

[0291] Fig.31 1 is a diagram showing a screen captured by the internal camera 195a located in the upper storage portion 115e according to whether the partition plate 133 is inserted in the delivery robot 100 according to an embodiment of the present invention.

[0292] like Fig.31 (a), if the partition 133 is inserted, the second elastic sensor 134b senses it, and the control unit 180 can distinguish between the left image and the right image taken by the internal camera 195, and determine whether there are items in each storage unit 115a, 115b.

[0293] When the second elastic sensor 134b senses that the partition plate 133 has been removed, Fig.31 In (b), the control unit 180 may determine that the image captured by the internal camera 195a is an image of a storage unit 115e, and determine whether there is an item.

[0294] Fig.32 1 is a conceptual diagram showing the viewing angle of the internal camera 195 of the delivery robot 100 according to an embodiment of the present invention. Since the partition 133 of the delivery robot 100 is thinner than the middle shelf 132, although the field of view is not blocked too much, the closer the distance to the internal camera 195 is, the more likely it is to block the field of view of the internal camera 195.

[0295] If the partition 133 is arranged adjacent to the internal camera 195 and thus blocks most of the field of view of the internal camera 195, the internal camera 195 cannot observe the storage portion 115. Fig.32 As shown, when the partition plate 133 is inserted into the storage portion 115 , the inner end of the partition plate 133 can be spaced apart from the internal camera 195 by a predetermined distance C.

[0296] In order to configure the internal camera 195 at a position spaced apart from the inner end of the partition 133 when the partition 133 of the delivery robot 100 is inserted into the storage portion 115, a camera setting portion 1127 may be included that is recessed on the back side of the storage portion 115.

[0297] The spacing between the internal camera 195 and the end of the partition 133 may vary depending on the viewing angle of the internal camera 195 and the thickness of the partition 133, but the viewing angle of a 35mm-70mm standard camera is 34° to 63° in the horizontal direction.

[0298] For ease of calculation, when the viewing angle is 60°, the photographable range according to the distance and the viewing angle is 1:1. That is, the field of view of the internal camera 195 can be ensured only when the separation distance c is greater than the thickness of the partition 133. The internal camera 195 of the delivery robot 100 can be configured to be spaced at a distance greater than three times the thickness of the partition 133. In this embodiment, it can be configured to have a 40 mm interval when a 10 mm partition 133 is provided.

[0299] In particular, Fig.32 As shown, the internal camera 195 of the present invention is tilted toward the downward direction, so the actual distance between the center line of the viewing angle and the partition 133 can be longer than 40 mm.

[0300] Since the purpose of the internal camera 195 is to determine whether there is an object on the shelf, the internal camera 195 can be configured to be tilted downward so that even the rear end of the shelf (the right side in the figure) can be observed.

[0301] The field of view of the first internal camera 195a changes according to the height of the first internal camera 195a from the middle shelf 132, so that the inclination can change, but the experiment was conducted based on the case where the internal camera 195 is arranged at a height of about 180 mm from the middle shelf 132. In this experiment, the length of the middle shelf 132 in the front-to-back direction is about 450 mm.

[0302] Due to the height of the sliding shelf 131 , a height h2 of the second internal camera 195 b from the sliding shelf 131 may be smaller than a height h1 of the first internal camera 195 a from the middle shelf 132 ( h1 > h2 ).

[0303] The second internal camera 195b should be able to sense the items dropped on the storage base 1123 when the sliding shelf 131 is drawn out. Therefore, the second internal camera 195b can be configured to be located at a height h1 from the storage base 1123, so that the second internal camera 195b can sense even the rear end of the storage base 1123, and the height h2 from the sliding shelf 131 can be less than h1.

[0304] Fig.33 1 is a diagram showing a situation in which the internal camera 195 of the delivery robot 100 according to an embodiment of the present invention is photographed in a state where the internal camera 195 is tilted 20° downward. Fig.34 The diagram shows a state in which the internal camera 195 of the delivery robot 100 according to an embodiment of the present invention is photographed with the internal camera 195 tilted 30 degrees downward.

[0305] like Fig.33 (a), the upper storage portion 115e is photographed when the internal camera 195 is tilted 20° downward. Fig.33 as shown in (b) of. As Fig.34 in (a) of, the upper storage part 115e photographed in the state where the internal camera 195 is tilted downward by 30° is as Fig.34 shown in (b) of.

[0306] As the downward tilt angle increases, more parts of the rear end of the middle shelf 132 can be observed (a1 < a2), and the range b of the side part of the storage part 115 that can be photographed is also wider at 30° than at 20° (b1 < b2).

[0307] As Fig.33 , in the state where the internal camera 195 is tilted by 20°, the photographing range a1 is smaller than the length of the middle shelf 132, so the rear end of the middle shelf 132 is not included in the viewing angle, making it difficult to observe. As Fig.34 , in the state where the internal camera 195 is tilted by 30°, since the photographing range a2 of the middle shelf 132 becomes larger, in this embodiment, the optimal viewing angle of the internal camera 195 is set to 30°. The viewing angle of the internal camera 195 can change according to the size of the storage part and can be set in the range of 25° or more and 35° or less.

[0308] The camera setting part 1127 for installing the internal camera 195 can form an inclined surface and be recessed on the rear inner side surface of the storage part 115. At this time, the inclined surface has an inclination degree above the viewing angle of the camera to prevent obstructing the field of view of the internal camera 195. Since the internal camera 195 of the present invention is tilted downward, the inclined surface can be formed to be steeper on the lower side than on the upper side.

[0309] As Fig.34 shown, when the door 120 is opened, the internal camera 195 can observe the outside of the door 120. The camera 193 located outside the delivery robot 100 is only located on the opposite side of the door 120 as the traveling direction, so it cannot judge whether there are people or obstacles in the direction of the door 120.

[0310] The internal camera 195 can sense whether there are people or obstacles outside the door 120 when the sliding shelf 131 needs to be extended in the state where the door 120 is opened. The control part can extend the sliding shelf 131 after confirming that there are no obstacles outside the door 120 based on the image of the internal camera 195.

[0311] Hereinafter, with reference to Figure 35 to Figure 37 , a scenario of delivering items by controlling the delivery robot 100 of the present invention will be described.

[0312] Fig.35The process of delivering items to customers by using the delivery robot 100 is shown when customers request items from the hotel operator in the hotel. First, if the customer requests additional items such as towels ( S111 ), the hotel operator can load them into the storage unit 115 of the delivery robot 100 .

[0313] The hotel operator as a manager can open the four doors 120 to be able to see the entire storage section 115, and can insert the intermediate shelves 132 and the partitions 133 corresponding to the number of required storage sections 115.

[0314] The first elastic sensor 134a and the second elastic sensor 134b may sense the division of the storage section 115, and if the hotel operator loads items into one of the divided storage sections 115, the internal camera 195 may sense it and match the storage section 115 storing the items and the customer's request.

[0315] In this embodiment, the hotel operator can load the items into the No. 3 storage section 115 (S112) and input the password of the No. 3 storage section 115 (S113). After closing the door 120, the delivery robot 100 starts delivering to the designated location, that is, the customer's room (S114).

[0316] The hotel operator informs the customer of the set password, and when the robot arrives, the customer enters the password that was previously informed (S121). If the passwords match, the delivery robot 100 opens the door 120 of the No. 3 storage section 115 (S122). The internal camera 195 of the delivery robot 100 can determine whether the customer is in front of the No. 3 storage section 115, and if the customer is in a nearby position, the user can be guided to retreat (S124).

[0317] The delivery robot 100 can bring out the sliding shelf 131 so that the customer can easily pick up the items in the No. 3 storage section 115 located at the bottom (S125). If the customer picks up the item (S126), the internal camera 195 confirms the collection of the item (S131). If it is confirmed that the item is not on the sliding shelf 131 (S132), the control unit 180 introduces the sliding shelf 131 and closes the door 120 (S133). The robot can move to the designated place again (S134).

[0318] Fig.36 and Fig.37 It shows that for Fig.35 Flow chart of the control logic of the control unit 180 of the delivery robot 100 in the scenario. Fig.36 The control method when loading items is shown. Fig.37 The control method when unloading items is shown.

[0319] Reference Fig.36In order to load the items to the delivery robot 100, a loading instruction may be input (S211). If the hotel operator presses a button to open the door 120 without loading items, it may be recognized as a loading instruction.

[0320] The delivery robot 100 can open the door 120 according to the loading instruction (S213), and determine whether the intermediate shelf 132 or the partition 133 is inserted based on the signal sensed by the first elastic sensor 134a and the second elastic sensor 134b. In the case where the intermediate shelf 132 is inserted, if the designated storage section 115 is the lower storage section 115f (S214, S215), the sliding shelf 131 is drawn out (S216). If the hotel operator places the items on the sliding shelf 131 and inputs the instruction to close the door 120 (S221a), the sliding shelf 131 is stored and the door 120 is closed (S222, S223).

[0321] When the central shelf is not inserted and only one storage portion 115 or the upper storage portion 115e is included, since there is no need to lead out the sliding shelf 131, when the hotel operator places items on the sliding shelf 131 and inputs an instruction to close the door 120 (S221b), the door 120 is closed (S223).

[0322] If the door 120 is closed, the door is locked so that the door 120 is not opened ( S224 ), and then the delivery robot 100 may move to the delivery location ( S225 ).

[0323] Fig.37 1 is a flowchart showing a control method of the delivery robot 100 after the delivery robot 100 arrives at the delivery location. The customer who receives the item inputs an unloading instruction (S311). The unloading instruction may be a preset password or a customer order number. If the unloading instruction is input, the door lock may be released and the door 120 may be opened (S312, S313).

[0324] If the middle shelf 132 is inserted and the designated storage section 115 is the lower storage section 115f (S314, S315), the sliding shelf 131 is drawn out (S316). If the internal camera 195 senses whether the item is picked up (S321a) and there is no item on the sliding shelf 131 because the customer has picked up the item, it can be determined that the unloading is completed (S322a), and the sliding shelf 131 is stored and the door 120 is closed (S323, S324).

[0325] When the central shelf is not inserted and only one storage section 115 or an upper storage section 115e is included, there is no need to lead out the sliding shelf 131. Therefore, if the internal camera 195 senses whether the item has been picked up (S321b) and there are no items on the sliding shelf 131 because the customer has picked up the item, it can be determined that the unloading is completed (S322b) and the door 120 is closed (S324).

[0326] The delivery robot 100 may close the door lock and return to the designated location ( S325 , S326 ).

[0327] As described above, the delivery robot 100 of the present invention includes the door 120 that can open and close the storage portion, and the door 120 is prevented from being opened by the locking device 127 during movement, thereby enabling safe delivery of articles.

[0328] In addition, in the delivery robot 100 of the present invention, when the door 120 is opened, the rotation range of the door 120 moves along the outer side surface of the main body 110, so that the door 120 can be safely opened and closed in a limited space.

[0329] In addition, the coupling member of the door 120 driving the delivery robot 100 of the present invention is configured to be exposed to the outside at a minimum, thereby having an excellent appearance and not interfering with other components.

[0330] In addition, even if a hand is caught in the door 120 of the delivery robot 100 of the present invention, there will be no injury, and the motor 122 will not be over-voltaged due to the back electromotive force, so it is safe.

[0331] In addition, the delivery robot 100 of the present invention can divide the interior of the storage portion 115 as needed, and can improve the utilization rate of the internal space through the plurality of doors 120 that can be selectively opened and closed.

[0332] In addition, the delivery robot 100 of the present invention can selectively drive the plurality of doors 120 according to the partition state of the storage section by sensing whether the shelf and the partition plate 133 are loaded or unloaded.

[0333] In addition, the delivery robot 100 of the present invention can store the partition plate 133 inside the storage portion of the delivery robot 100 without using the partition plate 133 .

[0334] Furthermore, the delivery robot 100 of the present invention includes the sliding shelf 131 , thereby improving the convenience when storing articles in the interior and taking articles out from the interior.

[0335] In addition, the delivery robot 100 of the present invention can reduce the failure rate of the delivery robot 100 by preventing liquid from flowing into the electronic components located under the sliding shelf 131 .

[0336] In addition, the sliding shelf 131 of the delivery robot 100 of the present invention can be easily loaded and unloaded, thereby having the advantage of easy maintenance.

[0337] In addition, the delivery robot 100 of the present invention has an internal camera 195 , which can determine whether there are items stored inside and then open and close the door 120 .

[0338] In addition, the delivery robot 100 of the present invention can sense whether there is a person outside the delivery robot 100, thereby being able to confirm in advance whether it is safe when the sliding shelf 131 is pulled out.

[0339] The above detailed description should not be understood as limiting in all aspects, but should be understood as exemplary. The scope of the present invention should be determined by the reasonable interpretation of the claims, and all changes within the equivalent scope of the present invention should fall within the scope of the present invention.

Claims

1. A delivery robot, wherein: include: A main body cover body, including a storage portion inside the main body cover body and a main body opening portion in front of the main body cover body; a door, which covers the main body opening when in a closed state, or opens the main body opening when in an open state; A removable partition selectively divides the interior of the storage portion into left and right parts; an internal camera, arranged inside the storage portion, photographing the storage portion, and arranged to overlap with the partition; as well as a control unit, which determines whether there is an object inside the storage unit based on the image collected by the internal camera; When the partition is installed so that the storage section is divided, the control unit determines whether the item exists in at least one of the storage sections by analyzing the image of the storage section taken by the internal camera. When the partition is removed and the storage portion is not divided, the control unit determines whether the object is in the storage portion by analyzing an image of the storage portion captured by the internal camera.

2. The delivery robot according to claim 1, characterized in that: comprising an elastic sensor, the elastic sensor being located inside the storage portion and sensing whether the partition is installed, If the elastic sensor is turned on, the control unit divides the image of the storage section taken by the internal camera into left and right parts corresponding to each of the storage sections, and determines whether the item exists in at least one of the storage sections.

3. The delivery robot according to claim 1, characterized in that: The device further comprises an intermediate shelf, which divides the storage portion into an upper storage portion and a lower storage portion and can be attached to and detached from the main cover body. The internal camera includes a first internal camera located in the upper storage portion and a second internal camera located in the lower storage portion, When the intermediate shelf is installed so that the storage portion is divided into upper and lower parts, the control unit collects images of the first internal camera and the second internal camera, When the middle shelf is removed and the storage portion is not divided into upper and lower parts, the control unit collects only the image of the second interior camera.

4. The delivery robot according to claim 3, characterized in that: The first interior camera and the second interior camera are each configured to be tilted at a downward tilt angle.

5. The delivery robot according to claim 4, wherein: The inclination angle is 25° to 35°.

6. The delivery robot according to claim 3, characterized in that: The position of the first internal camera based on the bottom surface of the upper storage portion is higher than the position of the second internal camera based on the bottom surface of the lower storage portion.

7. The delivery robot according to claim 1, characterized in that: comprising a sliding shelf introduced into and led out of the interior of the storage portion, The control unit determines whether there is an obstacle within the extension range of the sliding shelf based on the image of the outside of the door captured by the internal camera when the door is opened, and extends the sliding shelf from the storage unit if there is no obstacle.

8. The delivery robot according to claim 7, characterized in that: When the obstacle exists, the control unit provides a reminder to remove the obstacle.

9. The delivery robot according to claim 1, characterized in that: The distance between the internal camera and the end of the partition is more than 3 times the thickness of the partition.

10. The delivery robot according to claim 9, characterized in that: The internal camera is arranged in a camera setting portion recessed from the inner side wall of the storage portion. The camera setting portion includes an inclined surface extending forward at an angle corresponding to a viewing angle of the internal camera.

Images