Distribution robot

Abstract

The present invention provides a delivery robot comprising: a main body cover body including a storage part in the interior and a main body opening part in the front; a door driven in a closed state in which the door covers the main body opening or an open state in which the door opens the main body opening; a control unit that drives the door in accordance with a control command; an intermediate partition that can be attached to and detached from the main body cover and partitions the storage portion into an upper storage portion and a lower storage portion; the partition plate supporting parts protrude from the left side surface and the right side surface of the accommodating part; the partition plate guide rails are formed on the left and right sides of the middle partition plate and are used for inserting the partition plate supporting parts; and a first elastic sensor which is formed on the partition plate supporting part and is used for introducing and sensing the installation of the middle partition plate when the middle partition plate is installed.

Description

Technical Field

[0001] The present invention relates to a delivery robot (mobile robot) having a partition and a partition wall capable of selectively partitioning a space of a storage portion in which articles are stored. Background Art

[0002] Robots were developed for industrial use to fulfill a part of factory automation. In recent years, the fields of application of robots have further expanded, and not only medical robots and aerospace robots have been developed, but also robots that can be used in daily life have been developed.

[0003] Such daily life robots are developed to respond to user commands and provide specific services (e.g., shopping, serving, conversation, cleaning, etc.). Unlike industrial robots that are fixed in specific places to perform repetitive tasks or medical robots and aerospace robots that perform specific professional functions at high costs, for daily life robots, driving functions and communication functions are important, and there is a problem that they are difficult to popularize if the manufacturing cost is too high.

[0004] In particular, since the robot moves using wheels rather than walking on feet like humans, it must be able to move over bumps on the ground or avoid obstacles. Even when moving over bumps on the ground, the impact must be minimized so as not to fall down, and it must be able to make quick judgments using various sensors to avoid obstacles.

[0005] As an example of such a robot, a delivery robot capable of delivering food or small items is being actively developed recently. The dishes or delivery items can be placed on a shelf provided in the robot, and the robot can deliver them to customers or service providers.

[0006] The robot can also be used in limited spaces such as restaurants, but in the case of hotels or delivery robots that must move a specified distance, they may move to a location where the management staff is not nearby. Delivery robots that move long distances need to prevent items from falling from the partitions during movement, and there is a demand for delivery robots that take into account safety, such as sensing surrounding obstacles and operating when unmanned.

[0007] In addition, as the types of delivered items become more diverse, 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 partition and a partition wall capable of selectively partitioning a space of a storage section in which articles are stored.

[0009] A delivery robot is provided, which includes: a main body cover, which includes a storage part inside and a main body opening part in the front; a door, which is driven in a closed state covering the main body opening part or in an open state opening the main body opening part; a control part, which drives the door according to a control command; an intermediate partition, which can be loaded and unloaded on the main body cover and divides the storage part into an upper storage part and a lower storage part; a partition support part, which protrudes on the left and right sides of the storage part; partition guide rails, which are formed on the left and right sides of the intermediate partition for the partition support part to be inserted; and a first elastic sensor, which is formed on the partition support part and is introduced and senses the installation of the intermediate partition when the intermediate partition is installed, the door includes: an upper door, which opens and closes the upper storage part with the intermediate partition as a reference; and a lower door, which opens and closes the lower storage part of the intermediate partition, and the control part drives the upper door and the lower door individually when the first elastic sensor senses the intermediate partition.

[0010] And include: a door panel, which covers the main body opening in front of the main body cover in the closed state and slides toward the side of the main body cover in the open state; and a door connecting rod, whose first end is rotatably connected to the door panel and the second end is rotatably connected to the main body cover, and the partition support part may include a connecting rod cover, which is adjacent to the main body opening and covers the door connecting rod.

[0011] The partition support portion includes a sensor cover, the sensor cover is located at an inner side of the receiving portion, the first elastic sensor is located on the sensor cover, and the sensor cover may protrude corresponding to a protruding height of the connecting rod cover.

[0012] The partition rail may be recessed from a side surface of the middle partition at a depth corresponding to a protruding height of the connecting rod cover.

[0013] The first elastic sensor includes: an elastic latch protruding from the partition support portion; a spring pressing the elastic latch in a protruding direction; and a switch generating a signal when the elastic latch is pressed. The middle partition may also include a first locking groove, which is formed on the partition guide rail in a shape corresponding to the shape of the elastic latch.

[0014] The middle partition includes a partition groove extending in the front-to-back direction at the center thereof, and the delivery robot may include a partition that divides the upper storage portion or the lower storage portion into two spaces in the left-right direction and is slidably coupled along the partition groove.

[0015] It also includes a second elastic sensor located on the upper part of the partition wall of the upper storage part or on the lower part of the partition wall of the lower storage part, the upper door and the lower door include a right door for opening and closing the right storage part and a left door for opening and closing the left storage part based on the partition wall, and the control part can drive the right door and the left door respectively when the second elastic sensor senses the partition wall.

[0016] The partition wall may include a second locking groove formed at a position of at least one of a first side corresponding to the second elastic sensor and a second side located on an opposite side of the first side.

[0017] The main body cover includes a storage guide rail, which is located at both ends of the upper side of the upper storage part or the lower storage part. The third side of the partition wall and the fourth side located on the opposite side of the third side can be inserted into the storage guide rail and stored inside the main body cover.

[0018] The storage rail may include a storage hook at an inner end thereof, and the third side and the fourth side of the partition wall may include a hook groove for the storage hook to be inserted.

[0019] The storage guide rail includes: a vertical clip having a C-shaped cross-section; and a horizontal clip protruding toward the inner side of the storage portion at the rear end portion, and the third side and the fourth side of the partition wall may include: a groove located on the front and back sides corresponding to the protruding shape of the vertical clip; and a clip groove that is recessed corresponding to the horizontal clip.

[0020] The middle partition includes a partition receiving portion for receiving the partition at an inner side thereof, and the partition receiving portion may include receiving guide rails inserted into a first side and a second side of the partition at both sides.

[0021] The delivery robot includes: an internal camera, which is arranged on the inner side of the storage section overlapping with the partition and facing backward; and a control unit, which determines whether there are items inside the storage section based on the image collected by the internal camera. When the partition is installed, the control unit can separate the image of the internal camera to the left and right and determine whether the item exists. When the partition is separated, the control unit can analyze the image of the internal camera as a whole and determine whether the item exists.

[0022] The first surface of the intermediate partition may be a plane, and the second surface may include a plurality of cup holders.

[0023] The delivery robot of the present invention has a door capable of opening and closing a storage portion, and the door is prevented from opening by a locking device during movement, thereby enabling safe delivery of articles.

[0024] In addition, the delivery robot of the present invention moves the rotation range along the outer side surface of the main body when the door is opened, so that the door can be opened and closed safely in a limited space.

[0025] In addition, in the present invention, the link of the door driving the delivery robot exposed to the outside is minimized, thereby having excellent aesthetics and not interfering with other components.

[0026] In addition, in the present invention, even if the hand is caught by the door of the delivery robot, there will be no injury, and no overvoltage of the motor due to back electromotive force will occur, so it is safe.

[0027] In addition, the delivery robot of the present invention can partition the interior of the storage section as needed, and can improve the utilization rate of the internal space by using a plurality of doors that can be selectively opened and closed.

[0028] In addition, the delivery robot of the present invention senses whether the partition plate and the partition wall are loaded or unloaded, and can selectively drive a plurality of doors according to the partition state of the storage part of the door.

[0029] In addition, the delivery robot of the present invention can be stored inside the storage section of the delivery robot without using a partition.

[0030] In addition, the delivery robot of the present invention has a sliding partition, thereby improving the convenience of taking out and placing the articles stored inside.

[0031] 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 lower part of the sliding partition.

[0032] In addition, the sliding partition of the delivery robot of the present invention can be easily installed and removed, thereby having the advantage of easy maintenance.

[0033] In addition, the delivery robot of the present invention has an internal camera, so that it can open and close the door by judging whether the items are stored inside.

[0034] In addition, the delivery robot of the present invention can sense whether there is a person outside the delivery robot, so that it can confirm in advance whether it is safe when leading out the sliding partition.

[0035] The effects that can be obtained in the present invention are not limited to the above-mentioned effects, and those skilled in the art can clearly understand other effects that are not mentioned through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a diagram of a 5G network-based cloud system according to an embodiment of the present invention.

[0037] Figure 2This is a block diagram for explaining the structure of a delivery robot according to an embodiment of the present invention.

[0038] Figure 3 4 is a front perspective view of a delivery robot according to an embodiment of the present invention.

[0039] Figure 4 and Figure 5 1 is a diagram showing a state where a door of the delivery robot according to an embodiment of the present invention is open.

[0040] 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.

[0041] Figure 7 This is a conceptual diagram showing a method for partitioning a storage section of a delivery robot according to an embodiment of the present invention.

[0042] Figure 8 1 is a top view showing a door driving unit of a delivery robot according to an embodiment of the present invention.

[0043] Fig. 9 1 is a perspective view showing a door driving unit of a delivery robot according to an embodiment of the present invention.

[0044] Fig.10 This is a conceptual diagram for explaining the operation of the link of the delivery robot according to one embodiment of the present invention.

[0045] Fig.11 This is a diagram of a door driving unit of a delivery robot as viewed from the bottom according to an embodiment of the present invention.

[0046] Fig.12 2 is a diagram showing a method for combining a middle partition of a delivery robot according to an embodiment of the present invention.

[0047] Fig.13 is an exploded view showing an elastic sensor of a delivery robot according to an embodiment of the present invention.

[0048] 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.

[0049] Fig.15 1. The figures are a side view and a bottom view of a middle partition of a delivery robot according to an embodiment of the present invention.

[0050] Fig.16 It is a diagram for explaining a method of inserting into a partition wall of a storage section of a delivery robot according to one embodiment of the present invention.

[0051] 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.

[0052] Fig.18 It is a diagram showing a partition storage method of a delivery robot according to an embodiment of the present invention.

[0053] Fig.19 and Fig. 20 It is a diagram showing a storage rail and partitions of a delivery robot according to an embodiment of the present invention.

[0054] 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.

[0055] Fig. 22 This is a perspective view showing a state in which a sliding partition of a delivery robot is drawn out according to an embodiment of the present invention.

[0056] Fig.23 It is shown Fig. 22 side view of the state.

[0057] Fig.24 1 is an exploded perspective view showing a sliding partition and a partition driving unit of a delivery robot according to an embodiment of the present invention.

[0058] Fig.25 1 is a diagram showing a sliding guide rail and a sliding partition coupled to a storage base of a delivery robot according to an embodiment of the present invention.

[0059] Fig.26 1 is a diagram illustrating a method for separating a sliding partition of a delivery robot according to an embodiment of the present invention.

[0060] Fig. 27 It is a diagram of a safety control method of a sliding partition of a delivery robot according to an embodiment of the present invention.

[0061] Fig.28 and Fig.29 1 is a diagram showing a driving unit of a sliding partition 131 of a delivery robot according to another embodiment of the present invention.

[0062] Fig.30 This is a front view showing a storage portion of a delivery robot according to an embodiment of the present invention.

[0063] Fig.31 This is a diagram showing a screen captured by an internal camera located in an upper storage unit according to whether there is a wall next to a delivery robot according to an embodiment of the present invention.

[0064] 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.

[0065] Fig.33 This is a diagram showing a situation in which an internal camera 195 of a delivery robot is photographed with the internal camera 195 tilted 20 degrees downward according to an embodiment of the present invention.

[0066] Fig.34 This is a diagram showing a situation in which an internal camera of a delivery robot is tilted 30 degrees downward to capture a picture according to an embodiment of the present invention.

[0067] Fig.35 This is a flowchart showing a process in which, when a customer requests an item from a hotel manager in a hotel, the item is delivered to the customer using a delivery robot.

[0068] Fig.36 and Fig.37 It is shown Fig.35 Flowchart of the control logic of the control unit of the delivery robot in the scenario. DETAILED DESCRIPTION

[0069] Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings. Regardless of the figure numbers, the same or similar constituent elements will be marked with the same figure numbers, and repeated descriptions thereof will be omitted. The suffixes "module" and "unit" of the constituent elements used in the following description are only given or mixed in consideration of the ease of writing of the description, and they themselves do not have meanings or functions that distinguish each other. In addition, when describing the embodiments disclosed in this specification, if it is determined that the specific description of the relevant known technology may confuse the subject matter of the embodiments disclosed in this specification, its detailed description will be omitted. In addition, the accompanying drawings are only used to make the embodiments disclosed in this specification easy to understand, and it should be understood that the technical ideas disclosed in this specification are not limited by the accompanying drawings, but cover all changes, equivalents and substitutes included in the ideas and technical scope of the present invention.

[0070] Terms including ordinal numbers such as first, second, etc. may be used to describe various constituent elements, but the constituent elements are not limited by the terms. The terms are only used to distinguish one constituent element from other constituent elements.

[0071] When it is mentioned that a certain component is "connected" or "coupled" to another component, it should be understood that it can be directly connected or coupled to the other component, or other components may exist between them. On the contrary, when it is mentioned that a certain component is "directly connected" or "directly coupled" to another component, it should be understood that there are no other components between them.

[0072] Unless clearly indicated otherwise in the context, an expression in the singular includes an expression in the plural.

[0073] In the present application, it should be understood that terms such as "include" or "have" are intended to specify the presence of features, numbers, steps, actions, constituent elements, parts or combinations thereof described in the specification, and do not preclude the presence or possibility of adding one or more other features or numbers, steps, actions, constituent elements, parts or combinations thereof.

[0074] 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 have a built-in control device. Robots can perform tasks that are difficult for humans to perform, such as simply repetitively handling pre-set actions or lifting heavy objects or performing precise operations and working in extreme environments.

[0075] In order to perform work, a driving unit including an actuator or a motor is provided, so that various physical actions such as moving the joints of the robot can be performed.

[0076] Due to the high manufacturing cost and specialized operation of robots, the first to be developed are industrial robots or medical robots with specific appearances for specific operations. Industrial robots and medical robots repeatedly perform the same actions in designated places, but recently, robots that can move have appeared. In particular, such robots have added driving functions, such as those that can perform exploration operations on distant planets that are difficult for humans to directly visit, such as in the aerospace industry.

[0077] 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 while driving, the robot equipped with artificial intelligence is unveiled.

[0078] By using artificial intelligence technology, we can realize guidance robots, delivery robots, cleaning robots, wearable robots, entertainment robots, pet robots, drones, etc.

[0079] 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 the same by hardware.

[0080] 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.

[0081] 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 the object, and can use the identified surrounding environment information or object information to determine the action. Here, the learning model can be a model learned directly from the robot or learned from an external device such as an AI server.

[0082] At this time, the robot can use the direct learning model to generate results and perform actions, but it can also transmit sensor information to external devices such as AI servers and receive the results generated based on it to perform actions.

[0083] Through artificial intelligence, robots can perform autonomous driving. This means technology that can autonomously determine the best path and move around to avoid obstacles. Currently applicable autonomous driving technologies include technologies that maintain lanes during driving, technologies that automatically adjust speeds such as adaptive cruise control, technologies that automatically drive along a set path, and technologies that automatically set a path if a destination is set.

[0084] In order to perform autonomous driving and to recognize data of surrounding conditions, many sensors may be included, such as proximity sensors, illumination sensors, acceleration sensors, magnetic sensors, gyro sensors, inertial sensors, RGB sensors, IR sensors, fingerprint recognition sensors, ultrasonic sensors, optical sensors, microphones, laser radars, radars, etc.

[0085] In addition to the information collected by the sensor, autonomous driving can be performed through 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 by the wireless communication unit are also information required for autonomous driving.

[0086] The map data may include object recognition information of various objects arranged in the space where the robot moves. For example, the map data may include object recognition information of fixed objects such as walls and doors and movable objects such as flower pots and tables. Furthermore, the object recognition information may include name, type, distance, location, etc.

[0087] Therefore, in order to collect data that can be learned by artificial intelligence, the robot must have sensors and various input units and wireless communication units, etc., which can integrate various information to perform optimal actions. The operation processor that executes artificial intelligence can also be installed in the control unit inside the robot and perform learning, and can transmit the collected information to the server, and can transmit the learning results to the robot again through server learning, and perform autonomous driving based on this.

[0088] Robots with artificial intelligence can also collect surrounding information in new places and realize overall maps. The amount of information accumulated in places with a main activity radius is large, enabling more accurate autonomous driving.

[0089] In order to receive user input, a touch screen or button may be provided, or commands 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: voice to text) engine and a natural language processing (NLP: Natural Language Processing) engine for obtaining intention information of natural language to obtain the intention information corresponding to the user input.

[0090] 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 be learned by an operating processor, or by an operating processor of an AI server, or by their distributed processing.

[0091] Figure 1 A 5G network-based cloud system 1000 is shown according to an embodiment of the present invention.

[0092] 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 transports items from a departure point to a destination.

[0093] The delivery robot 100 can move items to the 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 moved by sensors, magnetic fields, visual devices, etc. on the ground.

[0094] The delivery robot 100 has a partition to store articles, and may be of an open type with no side walls or of a type including a storage portion that can be opened and closed by a door when the travel distance is long.

[0095] The mobile terminal 300 can communicate with the delivery robot 100 through the 5G network 500. In order to load the items, the mobile terminal 300 can be a device carried by a user who installs a bulkhead to the storage area for loading the items or a device carried by the 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, watch-type terminals (smart watches), glasses-type terminals (smart glasses), HMD (head mounted display: head mounted display), etc.

[0096] The robot control system 200 may remotely control the delivery robot 100 and may respond to various requests of the delivery robot 100. For example, the robot control system 200 may perform calculations using artificial intelligence based on the request of the delivery robot 100.

[0097] 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.

[0098] The various devices 400 may include a personal computer (PC) 400a, an autonomous vehicle 400b, a household robot 400c, etc. Upon reaching the delivery destination of the item, the delivery robot 100 may directly deliver the item to the household robot 400c by communicating with the household robot 400c.

[0099] Various devices 400 can be connected to the delivery robot 100, mobile terminal 300, robot control system 200, etc. through the 5G network 500 in a wired or wireless manner.

[0100] The delivery robot 100, the mobile terminal 300, the robot control system 200 and the various devices 400 are all equipped with 5G modules, which can transmit and receive data 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 can be implemented differently according to the embodiment.

[0101] 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 a plurality of devices in a wired or wireless manner.

[0102] Figure 2 is a block diagram for explaining the structure of a delivery robot 100 according to an embodiment of the present invention. Figure 31 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 for realizing the delivery robot 100 , and the delivery robot 100 described in this specification may have more or fewer components than those listed above.

[0103] Reference Figure 3 The main body 110 of the delivery robot 100 includes a storage part, in which various components are installed and items can be stored. The main body 110 can be moved by the travel part 170 located at the bottom. The main body may include: a main body cover 111, which constitutes the appearance; and a storage part 115 (refer to Figure 4 ), including a partition capable of storing items within the main cover body 111.

[0104] Reference Figure 2 The delivery robot 100 of the present invention may include a door 120 , a traveling portion 170 , a sensor portion 160 , an output portion 150 , an input portion 190 , a control portion 180 , a communication portion 185 , and a power supply portion 189 .

[0105] The door 120 can selectively open the interior of the storage part by opening and closing the main body 110 opening formed on one side of the main body 110. In order to sense the driving direction during driving, the camera 193, the laser radar 162, and the proximity sensor 161 exposed in the main body cover 111 can be set to face the driving direction. The main body 110 opening for introducing and withdrawing items can be located in the opposite direction of the main driving direction.

[0106] 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 , and the direction with the door 120 is called the front, and the opposite side, that is, the driving direction, is called the rear.

[0107] Since sufficient space must be ensured in front of the delivery robot 100 when driving in a push-pull manner, the door 120 may be driven in a sliding manner so as to be able to open and close 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 used as an opening of the body 110 covered by a door 120 .

[0108] The opening of the main body 110 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, a space in the left-right direction of the main body 110 must be ensured.

[0109] Therefore, the door 120 of the delivery robot 100 of the present invention may constitute a door driving unit to form a track with as little separation as possible on the outer side of the main body 110 so as to rotate and open.

[0110] The door 120 may include a door panel 121 constituting a portion of the outer side of the body 110 . In order to drive the door panel 121 , a motor 122 and connecting rods 128 , 129 , etc. may be included.

[0111] like Figure 3 As shown, the door panels 121a, 121b, 121c, 121d may be plural, and the plural door panels 121a, 121b, 121c, 121d may be driven independently. The plural door panels 121a, 121b, 121c, 121d may be driven simultaneously or individually according to the storage portion structure inside the main body cover 111.

[0112] The output unit 150 can generate outputs related to vision, hearing or 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 belonging to inaudible frequencies, etc., and may include a tactile module for outputting tactile information.

[0113] 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.

[0114] 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 , a laser radar 162 , and a door sensing sensor 164 may be cited.

[0115] The proximity sensor 161 may include an ultrasonic sensor that identifies nearby objects and determines the distance to the objects based on the time it takes for the emitted ultrasonic waves 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.

[0116] Lidar 162 is a device that emits laser pulses and receives the light reflected by surrounding objects to accurately draw the surrounding scene. Its principle is similar to radar, but the electromagnetic waves used are different, so the technology used and the scope of use are different.

[0117] Laser uses light with a wavelength of 600 to 1000 nm, which damages human vision. Laser radar 162 uses a longer wavelength than this and is used to measure not only the distance to the object, but also the speed and direction of movement, temperature, and surrounding atmospheric material analysis and concentration.

[0118] 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, a light sensor, a Hall sensor, and the like.

[0119] The travel unit 170 is a device for moving the delivery robot 100 , and may include wheels or legs, and may include a wheel driving unit and a leg driving unit for controlling the same.

[0120] The wheels may include: a main wheel 171 (refer to Fig.14 ) for fast travel; casters 173 for switching directions; and auxiliary casters for stable travel to prevent the loaded items L from falling during travel; etc.

[0121] The communication unit (Transceiver) 185 may include a wired or wireless communication module capable of communicating with the robot control system 200 .

[0122] As an optional embodiment, the communication unit 185 can be equipped with modules for GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Bluetooth, RFID (Radio Frequency Identification), infrared communication (Infrared Data Association; IrDA), ZigBee, and NFC (Near Field Communication) communication.

[0123] The input unit 190 may include a user input unit 192 for receiving information from a user. As an optional embodiment, the input unit 190 may include a camera 193 for inputting an image signal and a microphone 191 (hereinafter referred to as a microphone) for receiving an audio signal. Here, the camera 193 or the microphone 191 may be regarded as a sensor, and the signal obtained from the camera 193 or the microphone 191 may be referred to as sensing data or sensor information.

[0124] The camera 193 can sense obstacles in the direction of travel, such as Figure 3As shown, a plurality of cameras 193 are arranged at different angles. There may be a plurality of cameras 193 with different shooting directions, such as a camera that recognizes the front more widely and a camera that shoots the ground.

[0125] In order to sense whether there is an object inside the storage portion 115, an internal camera 195 (see Fig.17 ). In the case where the storage portion 115 is partitioned, a plurality of internal cameras 195 may be included to sense the partitioned storage portions 115a, 115b, 115c, and 115d.

[0126] Alternatively, cameras with different functions may be included, such as a wide-angle camera, an infrared camera, etc. The camera, as the sensor unit 160 , may sense surrounding objects.

[0127] The user input unit 192 may have a button 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.

[0128] The user input unit 192 includes all ways of receiving user commands, so the user commands can be recognized by voice recognition. That is, a voice recognition device that extracts user commands by analyzing the voice collected by the microphone 191 can also play the role of the user input unit 192.

[0129] The input unit 190 may include an item information input unit, which may receive item size information, weight information, destination information, information of a delivery consignor, etc. At this time, the item information input unit may include a code reader.

[0130] In addition, the memory can use artificial intelligence, machine learning, and artificial neural networks to store information required to perform operations. The memory can store a deep neural network model. The deep neural network model can be used to infer the result value of new input data instead of learning data, and the inferred value can be used as the basis for judgment of performing any action.

[0131] The power supply unit 189 receives external power and internal power under the control of the control unit 180 and supplies power to various components of the delivery robot 100. The power supply unit 189 includes a battery, which may be a built-in battery or a replaceable battery. The battery may be charged by wired or wireless charging, and the wireless charging method may include a magnetic induction method or a magnetic resonance method.

[0132] 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 that has a physically structured circuit and is built into hardware in order to execute functions expressed by codes or commands contained in a program. As described above, as an example of a data processing device built into hardware, it may include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an ASIC (application-specific integrated circuit), an FPGA (field programmable gate array), and other processing devices, but the scope of the present invention is not limited to this.

[0133] 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 collect the above information through the input unit 190. The input of the input unit 190 may also include touch input on the display.

[0134] The control unit 180 can transmit the information of the items L loaded in the storage unit 115 to the mobile terminal ( Figure 1 of 300).

[0135] The doors 120a, 120b, 120c, and 120d of the present invention include a plurality of doors, which can be separated in the left and right directions in a left-right symmetrical opening and closing manner to prevent the rotation radius from becoming larger when opening and closing.

[0136] It can also be composed of two doors including a door on the left and a door on the right, 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.

[0137] For ease of explanation, the following description is based on an embodiment in which the device is divided into two layers, and is composed of four doors 120a, 120b, 120c, and 120d. The four doors 120a, 120b, 120c, and 120d can be driven simultaneously or individually. Figure 4 and Figure 5 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.

[0138] like Figure 4As shown, the delivery robot 100 of the present invention may only open a portion of the doors 120b, 120d, such as Figure 5 As shown, all the doors 120a, 120b, 120c, and 120d may be opened. The driving of the door 120 may be different depending on the partition form of the internal storage portion 115.

[0139] If the storage section 115 is divided into four by the partition wall 133 and the middle partition plate 132, each door 120a, 120b, 120c, 120d can be driven individually. If the partition wall 133 is omitted, the left and right doors can be opened at the same time to open one storage section. Figure 5 In the embodiment of the present invention, a large space is formed without partitioning the storage portion 115, and all the doors 120a, 120b, 120c, and 120d can be opened at the same time.

[0140] Figure 6 1 is a diagram showing the interior of the storage section 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.

[0141] The delivery robot 100 may include a middle partition 132 that partitions the storage portion 115 in the up-down direction and a partition wall 133 that partitions the storage portion 115 in the left-right direction. In the delivery robot 100 of this embodiment, one middle partition 132 and two partition walls 133 may be included. Figure 6 As shown, a middle partition 132 and two partition walls 133 can be used to partition into a maximum of four storage portions 115a, 115b, 115c, and 115d.

[0142] The middle partition 132 and the partition wall 133 are slidably attached to and detached from the main body cover 111. The middle partition 132 can be inserted into the vertical center of the storage portion 115, and the middle partition 132 can partition the storage portion 115 into an upper storage portion 115e and a lower storage portion 115f.

[0143] Here, the vertical center does not necessarily mean that the height of the upper storage part 115e and the height of the lower storage part 115f must be the same in numerical value. However, in order to make the partition wall described later common to the upper storage part 115e and the lower storage part 115f, the upper storage part 115e and the lower storage part 115f can have the same height.

[0144] The middle partition 132 must have sufficient rigidity to support the loaded object and may have a predetermined thickness. In order to support the middle partition 132, a partition support portion 135 protruding on the left and right sides of the storage portion 115 may be included (see Fig.12 ).

[0145] The partition wall 133 that partitions 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 partition 132. Unlike the middle partition 132, the partition wall 133 is formed not to support the weight of the article, so the thickness can be relatively thinner than the middle partition 132.

[0146] In order to combine with all the pairs of partition walls 133, the middle partition plate 132 may form guide grooves 1323 on both the top and bottom surfaces. The guide grooves 1125 for inserting the partition walls 133 may also be formed on the top and bottom surfaces of the storage portion 115 (see Fig.24 ).

[0147] The partition wall 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. The pair of partition walls 133 can be inserted into the upper storage part 115e and the lower storage part 115f, respectively, and the pair of partition walls 133 can be independently attached and detached.

[0148] Figure 7 1 is a conceptual diagram showing a method for separating the storage section of the delivery robot 100 according to an embodiment of the present invention. Figure 7 As shown in (a), the four storage parts 115a, 115b, 115c, and 115d can be divided by a middle partition 132 and two partition walls 133.

[0149] like Figure 7 As shown in (b) and (c), a middle partition 132 and a partition wall 133 can be used to use one of the upper storage section 115e and the lower storage section 115f as a connecting space and the other as a separating space.

[0150] Or, if Figure 7 As shown in (d), the upper storage portion 115e and the lower storage portion 115f can be divided into only two spaces, such as Figure 7 As shown in (e), by removing the middle partition 132 and the partition wall 133, the large storage section 115 can be used to distribute large items such as bedding.

[0151] If the storage section 115 is divided, the number of articles that can be stored can be increased, and in the case of delivering small articles, a plurality of articles can be delivered to multiple destinations at one time.

[0152] When the middle partition 132 is inserted to separate the upper storage part 115e and the lower storage part 115f, the lower storage part 115f is blocked by the middle partition 132 and the interior cannot be seen, so that the user must bend down to load or unload objects. Figure 4 As shown, the sliding partition 131 protrudes forward at the bottom so that objects loaded on the lower partition can be easily taken out.

[0153] like Figure 7 As shown in (e), when the storage portion 115 is not divided, as shown in Figure 5 As shown, the control unit 180 opens four doors 120 at the same time. Figure 7 As shown in (a) to (d) of FIG. 1 , in the case of being partitioned, the control unit 180 may control the door 120 to open only the selected storage unit 115 but not the other storage units 115 .

[0154] 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 part can be provided to drive a pair of door panels 121a, 121b arranged in the left and right directions, respectively.

[0155] In addition, since the door 120 is separated in the upper and lower directions, 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.

[0156] 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 rod 128, whose first end (end) 1281 is rotatably connected to the door panel 121 and the second end is rotatably connected to the main cover 111; and a motor 122, which provides rotational force to the first door connecting rod 128.

[0157] The door drive unit can be configured on the drive unit plate 125, a part of the structure can be configured on one side of the drive unit plate 125, and the remaining structure can be configured on the other side, or a component with thickness such as the motor 122 can be configured by forming a hole in the door drive unit plate 125.

[0158] In this embodiment, if Figure 8 As shown, the pulleys 1231, 1232, the flat belt 124, and the door sensors 1641, 1642 may be located on one side of the driving plate 125, and the door links 128, 129 may be located on the other side of the driving plate 125. The motor 122 may be arranged by forming a hole in the driving plate 125 in consideration of thickness. The other side of the driving plate 125 where the door links 128, 129 are located faces the storage portion 115.

[0159] In order to cover the door links 128, 129 and the driving part of the sliding partition 131 described later, the storage part 115 may include a storage part cover 112 (see Fig.24 The storage housing 112 may include a storage base 1123 constituting a bottom surface (see Fig.24 ) and the storage portion seal 1122 constituting the top surface (refer to Fig.18 ). The door link may be located at the lower portion of the storage portion base 1123 and at the upper portion of the storage portion seal 1122.

[0160] 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-right direction on the front side of the main body cover 111 to store and take out objects.

[0161] The door panel 121 may extend further than the front of the main housing 111 and be bent toward the side. Hereinafter, for ease of description, the edge of the door panel 121 in the closing direction is referred to as the first door edge 1211 , and the edge of the door panel 121 in the opening direction is referred to as the second door edge 1212 .

[0162] The motor 122 may be directly connected to the connecting rod, but Figure 8 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.

[0163] The rotational force is transmitted through the flat belt 124, so that the second pulley 1232 rotates, and the second pulley 1232 is coupled to the second end 1282 of the first door link 128. The first door link 128 can rotate around the rotation axis of the second pulley 1232 as the second pulley 1232 rotates, and the first end 1281 of the first door link 128 can rotate while drawing an arc around the rotation axis of the second pulley 1232.

[0164] Hereinafter, for convenience of description, the direction in which the first door link 128 rotates toward the direction in which the door panel 121 is opened is referred to as a first rotation direction, and the direction in which the first door link 128 rotates toward the direction in which the door panel 121 is closed is referred to as a second rotation direction.

[0165] According to the left-right direction 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 link 128 shown on the left side is counterclockwise, and the second rotation direction is clockwise.

[0166] The flat belt 124 has a belt shape without protrusions formed on the belt, and no serrations 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. If an external force greater than the friction force is applied, the flat belt 124 may slip with the second pulley 1232.

[0167] When an object or a hand is caught by 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, it slips with the flat belt 124. That is, even if the motor 122 rotates the first pulley 1231, the second pulley 1232 may not rotate.

[0168] If a belt with projections is used, the motor 122 cannot rotate when the door panel 121 is caught by an object and stops, and a counter electromotive force is applied. The flat belt 124 and the second pulley 1232 can slip, thereby preventing the motor 122 from malfunctioning due to the counter electromotive force.

[0169] The number of rotations of the motor and the amount of movement of the second pulley can be matched by forming the diameter of the first pulley 1231 to be smaller than that of the second pulley 1232. The first pulley 1231 can rotate only about 120° when the door 120 is switched from a closed state to an open state, and since the first pulley 1231 is smaller than the second pulley 1232, it can rotate multiple times.

[0170] The second pulley 1232 may include a sensing protrusion 1233 protruding from the outer circumference. The position of the sensing protrusion 1233 may change according to the rotation of the second pulley 1232, and may include a closing sensing sensor 1641 connected to the sensing protrusion 1233 in a closed state and an opening sensing sensor 1642 connected to the sensing protrusion 1233 in an open state.

[0171] Figure 8 The right door panel 121 is in a closed state, and the sensing 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.

[0172] On the other hand, the left door panel 121 is in an open state, and the left sensing protrusion 1233 is in contact with the opening sensing sensor 1642. If the opening sensing sensor 1642 is sensed to be turned on, the control unit 180 can determine that the door panel 121 is fully opened and the sliding partition 131 is drawn out.

[0173] The first end portion 1281 of the first door link 128 may be rotatably coupled to the door panel 121. The door driving portion of the upper doors 120a and 120b is located at the upper side of the storage portion 115, so the first end portion 1281 of the first door link 128 may be coupled to the upper end of the door panel 121. The door driving portion of the lower doors 120c and 120d is located at the lower side of the storage portion 115, so the first end portion 1281 of the first door link 128 may be coupled to the lower end of the door panel 121.

[0174] The present invention is configured such that as the door panel 121 opens, the door panel 121 changes its angle along the outer side surface of the main body cover 111 and slides in a side direction, thereby preventing the door panel 121 from interfering with the main body cover 111 .

[0175] A second door link 129 may be further included to slide open while switching the direction in which the door panel 121 faces when the first door link 128 opens the door panel 121. The second door link 129 converts the force of the door panel 121 pushing in the side direction into a rotational force through the first door link 128, thereby guiding the second door edge 1212 of the door panel 121 toward the rear of the body 110.

[0176] The first door edge 1211 of the door panel 121 may be located at the center of the main body opening in the closed state, and at the side of the main body opening in the open state. In order 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, the first end 1281 of the first door link 128 may be coupled to the first door edge 1211 of the door panel 121.

[0177] The first end 1291 of the second door link 129 is coupled to the door panel 121, and the second end is coupled to the main body cover 111. The first end 1291 and the second end of the second door link 129 are 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 link 128.

[0178] like Figure 8 As shown, the first end portion 1291 of the second door link 129 may be fastened to a bent portion of the door panel 121, namely, between a door front portion at the front and a door side portion at the side.

[0179] When the door panel 121 moves to the side through the first door link 128, the second door link 129 can change the angle of the door panel 121 while rotating. The second door link 129 can rotate in the same direction as the first door link 128, and the door panel 121 can be switched between a closed state and an open state through the linkage of the pair of door links 128 and 129.

[0180] Fig. 91 is a conceptual diagram for explaining the operation of the link of the delivery robot 100 according to an embodiment of the present invention. The left side shows an open state, and the right side shows a closed state.

[0181] The first door link 128 and the second door link 129 have a bent shape, but the intervals L1 and L2 between the ends 1281, 1282, 1291, and 1292 of each link are constant. In addition, the first end 1281 of the first door link 128 and the first end 1291 of the second door link 129 are coupled to the door 120, and the first distance D1 is constant. The second end 1282 of the first door link 128 and the second end 1292 of the second door link 129 are coupled to the main body cover 111, and the second distance D2 is constant.

[0182] 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 link 128 and the second door link 129 rotate in a state where the shape changes while the inner angle of the quadrilateral changes.

[0183] When switching from the closed state to the open state, the first door link 128 receives the rotational force of the motor 122, and the first end 1281 rotates while drawing a first track T1. The first door link 128 pushes the door panel 121 toward the outside direction (opening direction), and the first end 1291 of the second door link 129 coupled to the door panel 121 rotates along the second track T2 while maintaining a first distance D1 from the first end 1281 of the first door link 128.

[0184] Fig.10 1 is a diagram showing the track of the door 120 based on the first interval L1 of the first door link 128 and the second interval L2 of the second door link 129, (a) is Fig. 9 The first door link 128 of the embodiment forms a first interval L1 at both ends, and the second door link 129 has a second interval L2 at both ends. (b) shows a case where the first interval L1' is longer than the first interval L1 of the embodiment of (a), and (c) shows a case where the second interval L2" is longer than the second interval L2 of the embodiment of (a).

[0185] As shown in (b), if the first interval L1' of the first door link 128 is longer than the first interval L1 in the embodiment of (a) and the second interval L2' of the second door link 129 is shorter than the second interval L2 in the embodiment of (a), the trajectories T1' and T2' drawn by the first end 1281 of the first door link and the first end 1291 of the second door link will change. The rotation radius of the first door edge 1211 of the door 120 becomes longer, and the door 120 can be rotated and opened like a sliding door without sliding.

[0186] As shown in (c), if the second interval L2" of the second door link 129 is longer than the second interval L2 in the embodiment of (a), the trajectories T1", T2" drawn by the first end 1281 of the first door link and the first end 1291 of the second door link will change. The door 120 can maintain the horizontal state of the door panel 121 and open in the side direction.

[0187] like Fig.10 As shown in (b), if the length of the first interval L1' is too long, the sliding door 120 will be Fig.10 As shown in (c), if the first interval L1" is shorter than the second interval L2", the door panel 121 can maintain a horizontal direction or rotate, or the second door edge 1212 instead protrudes forward.

[0188] In order to allow the second door edge 1212 to be pushed rearward and approach the side of the main body cover 111 when the door panel 121 slides, as shown in (a), the first interval L1 of the first door link 128 is preferably slightly longer than the second interval L2 of the second door link 129.

[0189] Fig.11 FIG. 1 is a diagram showing a door driving unit of a delivery robot 100 as viewed from below according to an embodiment of the present invention. Fig.11 The first door link 128 may have a first portion 1283 located at the first end 1281 and a second portion 1284 located in the direction of the second end 1282, forming a predetermined angle and being bent. The first portion 1283 is located adjacent to the first end 1281 and has a relatively shorter length than the second portion 1284.

[0190] The first end 1281 of the first door link 128 is coupled to the first door edge 1211 of the door panel 121, so that when the door 120 is open, the first portion 1283 of the first door link 128 is exposed to the outside. Preferably, it is arranged close to the inner side of the door panel 121 so that the first portion 1283 exposed to the outside looks as small as possible.

[0191] like Figure 8 As shown, the first portion 1283 of the first door link 128 can be configured to be bent toward the first door edge 1211 of the door panel 121. The first end portion 1281 is configured to be parallel to the inner side surface of the door panel 121 in the closed state and rotate in the open state, so that the first end portion 1281 is separated from the inner side surface of the door panel 121, but compared with the straight state, the first portion and the second portion 1284 are closer to the door panel 121, thereby reducing the degree of exposure to the outside.

[0192] The second door link 129 is bent in a U-shape, and the first end 1291 and the second end 1292 may face the same direction. Figure 8 As shown, the second end portion 1292 of the second door link 129 can be located at the side of the main body cover 111 in the open state, so that the second door edge 1212 of the door moves backward.

[0193] If the second door link 129 is to be arranged so as not to interfere with the main body cover 111, the second door link 129 includes a bent portion 1295 ( Fig.11 ), the first end 1291 and the second end 1292 can face the same direction.

[0194] The first portion 1293 including the first end portion 1291 is a portion that guides the rotational movement of the second door link 129, and is therefore longer than the second portion 1294 including the second end portion 1292. The second portion 1294 may have a length that can avoid interference with the main body cover 111. When the door 120 is in the open state, as shown in FIG. Figure 8 As shown in the left side 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 link 129 .

[0195] The second door link 129 is not directly connected to the motor 122, but guides the door panel 121 to open along a set track without shaking. Due to the configuration of the motor 122, the first door link 128 is only located on the upper side or the lower side of the door panel 121, but the second door link 129 can be combined with both the upper side and the lower side of the door panel 121 (refer to Figure 5 ).

[0196] That is, the second door link 129 may be located in the middle except for the upper and lower sides of the storage portion 115. Figure 6 A pair of second door connecting rods 129 located in the middle of the storage portion 115 are arranged in the up-down direction, one of which can be connected to the upper doors 120a, 120b, and the other can be connected to the lower doors 120c, 120d.

[0197] Reference Figure 6 The second door link 129 may be located on both sides of the middle partition 132. In order to provide a space for the second door link 129 to rotate, the middle partition 132 may include grooves on both sides.

[0198] A rod cover 1351 for covering the second door link 129 may also be included to prevent the second door link 129 from being exposed when the middle partition 132 is separated. The rod cover 1351 may play the role of supporting the partition support portion 135 of the middle partition 132 (see Fig.12 ).

[0199] Since the door driving part utilizes the flat belt 124, slippage occurs between the second pulley 1232 and the flat belt 124, so that the door panel 121 can be opened. In addition, a third party who is not the person who receives the article can forcefully open the door 120 and take away the article.

[0200] Therefore, a locking device for locking the door 120 is required, such as Fig.11 As shown, there may be a locking lever 127 that limits the rotation of the first door link 128. The locking lever 127 may be selectively introduced and drawn out on the track of the first door link 128. The locking lever 127 may be located in a first rotation direction for switching from a locked state to an open state to prevent rotation from the locked state to the open state.

[0201] The locking motor 122, which is controlled so that the locking lever 127 is selectively located in the first rotation direction of the first door link 128, is driven when the closing sensing sensor 1641 is turned on to make the locking lever 127 protrude. When the door 120 opening command is input, the locking motor 122, which can rotate the first door link 128 in the first rotation direction, can introduce the locking lever 127 (refer to Fig.11 The right side door 120b).

[0202] In the case where the door 120 is not driven due to an operational error of the delivery robot 100, the locking lever 127 can be manually introduced in order to release the lock in an abnormal situation where the door 120 must be manually opened. If a thin and long member such as a ruler is placed at the upper end or the lower end of the door panel 121 and the locking lever 127 is pushed, the locking lever 127 is introduced without interference with the first door link 128, and the door panel 121 can be manually opened.

[0203] like Figure 6 to Figure 7 As shown, the storage part 115 of the present invention may include a middle partition 132 for partitioning the upper and lower parts and a partition wall 133 for partitioning the left and right parts, and the middle partition 132 and the partition wall 133 may be selectively combined with the main housing 111. The combination method of the middle partition 132 and the partition wall 133 is described in detail below.

[0204] Fig.12 FIG. 1 is a diagram showing a method for combining the intermediate partition 132 of the delivery robot 100 according to an embodiment of the present invention. Fig.12 As shown, the middle partition 132 can be inserted and combined from the front in a sliding manner.

[0205] The partition support part 135 supporting the middle partition 132 may be arranged on both sides of the storage part 115. The middle partition 132 is recessed from the left and right sides and includes a partition guide 1325, and the middle partition 132 may be inserted in a state where the partition support part 135 is set on the partition guide 1325. The partition guide 1325 may be recessed at a depth corresponding to the protruding height of the partition support part 135.

[0206] As mentioned above, the second door link 129 may be located not only at the upper part and the lower part of the storage portion 115 , but also at the middle of the storage portion 115 , and may be arranged in the left and right directions of the middle partition 132 .

[0207] The partition support portion 135 may include a link cover 1351 covering the second door link 129 so as not to interfere with the second door link 129 when the intermediate partition 132 is fastened to the storage portion 115. The link cover 1351 protects the second door link 129 from damage, such as Fig.12 As shown, the link cover 1351 can minimize the amount of the second door link 129 exposed to the outside when the middle partition 132 is removed from the storage portion 115. The link cover 1351 can be disposed in front of the main body opening of the partition support portion 135.

[0208] The rod cover 1351 may protrude in accordance with the movable range of the second door link 129. The partition rail 1325 of the middle partition 132 must be able to pass through the entire section of the rod cover 1351, so the partition rail 1325 may have a depth corresponding to the protruding height of the rod cover 1351.

[0209] In order to sense whether the intermediate partition 132 is installed, the partition support part 135 may have an elastic sensor 134. When the intermediate partition 132 is inserted, the elastic sensor 134 is pressed by pressure, so that it can sense that the intermediate partition 132 is coupled to the partition support part 135.

[0210] In order to sense whether the partition wall 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 partition wall 132 is referred to as the first elastic sensor 134a, and the elastic sensor for the partition wall 133 is referred to as the second elastic sensor 134b. The first elastic sensor 134a and the second elastic sensor 134b differ only in their configuration positions. Fig.13 The shown configurations can be configured in the same manner.

[0211] The first elastic sensor 134a may be located inside the partition support portion 135 so as to be able to identify when the middle partition 132 is fully inserted. The first elastic sensor 134a may be located inside the partition support portion 135, and only the elastic latch 1344 portion may protrude from the partition support portion 135. Hereinafter, the inside portion (rear) of the partition support portion 135 where the first elastic sensor 134a is located is referred to as a sensor cover 1352.

[0212] The sensor cover 1352 contacts the inner side surface of the partition rail 1325 of the middle partition 132 and generates a signal. The partition rail 1325 is recessed at a depth corresponding to the protruding height of the connecting rod cover 1351 located at the front end of the partition support portion 135, so the sensor cover 1352 can also protrude at the same height as the connecting rod cover 1351.

[0213] The portion 1353 between the sensor cover 1352 and the connecting rod cover 1351 of the partition support portion 135 may also have the same height as the sensor cover 1352 and the connecting rod cover 1351, but as shown in FIG. Figure 5 As shown, in order to maximize the use of the space of the storage portion 115 when the middle partition 132 is removed, the portion 1353 located between the sensor cover 1352 and the connecting rod cover 1351 may have a concave shape.

[0214] 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.

[0215] 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 only the portion exposed to the outside of the sensor cover 1341 needs to include a curved surface, but this embodiment is formed into a circle.

[0216] If the elastic latch 1344 does not have a curved surface, the end of the middle partition 132 may be stuck and cannot be inserted. Fig.14 As shown in (a), if the middle partition 132 is slidably inserted and contacts the curved surface of the elastic latch 1344, the force in the direction of introducing the elastic latch 1344 is converted, and the elastic latch 1344 can be introduced into the sensor cover 1341.

[0217] The sensor cover 1341 includes a guide protrusion 1346 inserted into a guide groove 1342 formed in the sensor cover 1341. While the guide protrusion 1346 moves along the guide groove 1342, the degree to which the elastic latch 1344 is exposed from the sensor cover 1341 can be changed.

[0218] The torsion spring 1343 presses the elastic latch 1344 toward the outside of the sensor cover 1341. Fig.14 As shown in (a), the guide protrusion 1346 is located at one end (lower side in the figure) of the guide groove 1342. Fig.14 As shown in (b) , when an external force is applied and the elastic latch 1344 is pressed, the torsion spring 1343 is deformed and the elastic latch 1344 is drawn into the sensor cover 1341 .

[0219] The elastic latch 1344 may include a switch 1345, which is pressed by a guide protrusion 1346 inserted into the guide groove 1342 to generate a signal. Fig.14 As shown in (b), if the elastic latch 1344 is pressed, the guide protrusion 1346 can move along the extension direction of the guide groove 1342 and press the switch 1345.

[0220] The switch 1345 is turned on by contacting the end of the middle partition 132 , so the first locking groove 1326 can be arranged adjacent to the rear end of the middle partition 132 .

[0221] A first locking groove 1326 may be formed in the middle partition 132 in a shape corresponding to the protruding surface of the elastic latch 1344. Fig.14 As shown in (b), if the first locking groove 1326 reaches the position of the elastic latch 1344, the torsion spring 1343 presses the elastic latch 1344 to make the elastic latch 1344 protrude, and the elastic latch 1344 can be inserted into the first locking groove 1326.

[0222] The elastic latch 1344 protrudes to the maximum when not in contact with the middle partition 132, and is introduced when the end of the middle partition 132 contacts. Before reaching the first locking groove 1326, the elastic latch 1344 contacts the partition rail 1325 of the middle partition 132 and maintains the maximum pressurized state. If it reaches the first locking groove 1326, it can protrude to the depth of the first locking groove 1326.

[0223] If the middle partition plate 132 is pulled forward with a force greater than a predetermined value, the elastic latch 1344 can be pressed and separated from the first locking groove 1326. When the middle partition plate 132 needs to be removed from the storage portion 115 to form a large-sized storage portion 115, the middle partition plate 132 can be manually pulled out of the storage portion 115.

[0224] Fig.15 1 and 2 are a side view and a bottom view of the middle partition 132 of the delivery robot 100 according to an embodiment of the present invention. Fig.15(a) is a side view showing the inner side of the partition rail 1325 with the upper side as the rear and the lower side as the front. As mentioned above, the first locking groove 1326 into which the elastic latch 1344 is inserted can be configured at the rear of the partition rail 1325.

[0225] The first elastic sensor 134a can sense whether the middle partition 132 is inserted and prevent the middle partition 132 from moving in the front-to-back direction. However, since it is a partition for carrying objects, a partition hook 1327 can be included in front of the partition guide rail 1325 for more stable fixation. Fig.12 As shown, corresponding to the partition hook 1327, the partition support portion 135 may also include a fixing hook 1355. The fixing hook 1355 may be formed on the connecting rod cover 1351 to contact the inner side surface of the partition guide rail 1325.

[0226] like Fig.12 As shown, one side 1321 of the intermediate partition 132 of the present invention has a flat surface. Fig.15 As shown in (b), the other side 1322 may include a cup holder 1324. The cup has a high ratio of height to bottom area, so there is a risk of tipping over when the delivery robot 100 moves. In order to prevent the cup from tipping over, a cup holder 1324 may be provided on the middle partition 132 itself.

[0227] On the other side of the middle partition 132, the cup holder 1324 portion can be introduced in a circular shape toward the one side 1321, and the cup holder 1324 can have various sizes. Fig.15 As shown in (b), the left and right partition guide rails 1325 are partially introduced from the side direction, so the cup retainer 1324 cannot be formed.

[0228] Fig.16 1 is a diagram showing a method of inserting the partition wall 133 into the storage portion of the 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.

[0229] The storage section 115 can be divided into an upper storage section 115e and a lower storage section 115f by inserting a middle partition 132. The storage section 115 can be further divided left and right by inserting a partition wall 133 between the upper storage section 115e or the lower storage section 115f. In the case of small items, if the storage section 115 is divided, it can be delivered to various delivery locations.

[0230] The partition wall 133 has a rectangular shape, and the lengths of the four sides may all be the same, but in this embodiment, the length in the first direction and the length in the second direction may be different. Fig.17The 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 lengths of the first side 1331 and the second side 1332 may be longer than those of the third side 1333 and the fourth side 1334 .

[0231] 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.

[0232] The partition wall 133 may be inserted along a partition wall groove 1323 formed in the center of the middle partition board 132, and the partition wall groove 1323 may be formed on one side and the other side of the middle partition board 132. In addition, a partition wall groove 1125 for inserting the partition wall 133 may also be formed on the ceiling 1122 and the base 1123 of the storage section 115. In order to distinguish the partition wall groove 1323 of the middle partition board 132 from the partition wall groove 1323 of the storage section 115, the partition wall groove 1323 of the middle partition board 132 is referred to as a first partition wall groove 1323, and the partition wall groove 1323 of the storage section 115 is referred to as a second partition wall groove 1125.

[0233] The first side 1331 and the second side 1332 of the partition wall 133 slide to the inner side of the receiving portion 115 along the partition wall groove 1323 . In order to sense whether the partition wall 133 is installed, a second elastic sensor 134 b may be included.

[0234] The second elastic sensor 134b may be made of the same member as the first elastic sensor 134a of the intermediate partition 132. That is, the second elastic sensor 134b may also include Fig.13 The sensor cover 1341 , the elastic latch 1344 , the torsion spring, the guide slot 1342 and the switch 1345 are shown.

[0235] If the elastic latch 1344 of the second elastic sensor 134b is inserted into the second locking groove 1335 formed in the partition wall 133, the control unit 180 can sense the installation of the partition wall 133. In addition, the second elastic sensor 134b and the second locking groove 1335 can fix the partition wall 133 to prevent it from being drawn out in the reverse direction along the partition wall groove 1323.

[0236] When the second elastic sensor 134b is disposed in the first partition groove 1323 located in the middle partition plate 132, it is difficult to achieve signal connection. Fig.17 As shown, the second elastic sensor 134 b may be formed in the second partition groove 1125 located in the main housing 111 , that is, located in the upper and lower parts of the storage portion 115 .

[0237] When the partition wall 133 is fixed by using a second elastic sensor 134b and a second locking groove 1335, the fixing force may be weak. Fig.17 As shown, a pair of second elastic sensors 134 b and 134 c may be arranged along the front-to-back direction, and the second locking grooves 1335 may also form a pair on the first side 1331 and the second side 1332 , respectively.

[0238] The position of the second locking groove 1335 formed in one partition wall 133 is symmetrical, and the second elastic sensors 134 b and 134 c can be fastened to the second locking groove 1335 regardless of the direction of insertion into the partition wall 133 .

[0239] It is sufficient to have only one second elastic sensor 134b for sensing whether the partition 133 is installed. Therefore, only the second elastic sensor 134b located inside the storage portion 115 may have the switch 1345, and the second elastic sensor 134c located outside the storage portion 115 may have only the sensor cover 1341, the elastic latch 1344 and the torsion spring 1343 without the switch 1345.

[0240] The second elastic sensors 134 b and 134 c and the second locking groove 1335 can limit the front-to-back movement of the partition wall 133 . As mentioned above, if a force greater than a specified value is applied, the elastic latch 1344 can be pressed to pull the partition wall 133 out of the partition wall groove 1323 .

[0241] The partition wall groove 1323 supports the left-right movement of the partition wall 133 , and the upper and lower partition wall grooves 1323 of the partition wall 133 fix the vertical position of the partition wall 133 , so that the partition wall 133 can be stably fixed to the storage portion 115 .

[0242] Fig.18 1 is a diagram showing a method of storing the partitions 133 of the delivery robot 100 according to an embodiment of the present invention. When the partitions 133 drawn out from the storage unit 115 are stored in a separate place, there is a risk of loss, and it is inconvenient to search for them when necessary.

[0243] Therefore, in the present invention, as a device capable of storing the removed partition wall 133, a storage rail 136 may be provided. Fig.18 As shown, the storage rail 136 may be located on the upper side of the upper storage portion 115e and the lower storage portion 115f, and after the partition wall 133 of the upper storage portion 115e is removed, the partition wall 133 may be stored in the storage rail 136 located on the upper portion of the upper storage portion 115e.

[0244] The length of the first side 1331 of the partition wall 133 may correspond to the length of the front-to-back direction of the storage section 115, and the length of the third side 1333 may correspond to the vertical length (height) of the upper storage section 115e or the lower storage section 115f. If the horizontal length (width) of the storage section 115 is configured to have a length corresponding to the length of the first side 1331 or the length of the third side 1333, the partition wall 133 may be inserted into the storage rails 136 located on both sides of the storage section 115 in the horizontal direction.

[0245] In this embodiment, the width of the storage portion 115 may correspond to the length of the first side 1331, and the third side 1333 and the fourth side 1334 of the partition wall 133 may be inserted into the storage rail 136. The third side 1333 and the fourth side 1334 may include a structure for stably fixing to the storage rail 136.

[0246] Fig.19 and Fig. 20 1 is a diagram showing a storage rail 136 and a partition wall 133 of a delivery robot 100 according to an embodiment of the present invention. Fig.19 This is a diagram in which the positions of the fastening partition 133 and the storage rail 136 are matched and arranged in the horizontal direction. Fig. 20 The state where the third side of the partition wall 133 is inserted into the storage rail 136 is shown.

[0247] The third side 1333 and the fourth side 1334 of the partition wall 133 have the same shape, so the third side 1333 is used as a reference for description. The third side 1333 of the partition wall 133 is a structure for fastening with the storage rail 136, including a hook groove 1336, a groove 1337 and a clip groove 1338.

[0248] The storage guide rail 136 includes a recessed guide rail groove 1361 inserted into the third side 1333 of the partition wall 133, and the partition wall 133 inserted into the guide rail groove 1361 can be supported up and down. The entrance (left side in the figure) located in the front of the storage guide rail 136 is wide, so that the partition wall 133 is easily inserted, and can include an inclined portion 1363 that narrows as it approaches the rear.

[0249] In order to facilitate the sliding of the partition wall 133, the height of the narrowed rear end of the guide groove 1361 is also greater than the thickness of the partition wall 133, and a structure for fixing the partition wall 133 when it is inserted into the end of the storage guide rail 136 is required. The storage guide rail 136 may include a vertical clip 1364 protruding along the direction of the partition wall 133, and if the vertical clip 1364 is inserted into the clip groove 1338 formed on the third side 1333 of the partition wall 133, the partition wall 133 can be fixed.

[0250] In order to have a passage for the vertical clip 1364 to pass through when the partition wall 133 slides, the position where the clip groove 1338 is formed may include a groove 1337 formed parallel to the third side 1333. Fig.19 As shown, the vertical clips 1364 are located on the upper and lower sides of the partition 133, and can be fixed in the vertical position of the partition 133 inserted into the receiving guide rail 136. A pair of clip grooves 1338 and vertical clips 1364 can be symmetrically arranged on both sides of the third side 1333 to be fastened regardless of the insertion direction of the partition 133.

[0251] The storage rail 136 may include a storage hook 1362 located 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. If 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. The storage hook 1362 may be located only at the rear end of the storage rail 136, but there is no restriction on the insertion direction of the partition 133, and the hook groove 1336 may be implemented symmetrically on the third side 1333.

[0252] If the partition wall 133 is not stably fixed to the storage rail 136, noise may be generated during the driving process of the delivery robot 100. Fig. 20 As shown, the elastic vertical clip 1364 and the storage hook 1362 can be inserted into the clip groove 1338 and the hook groove 1336 to fix the partition wall 133 to the storage guide rail 136 without shaking.

[0253] Fig.21 1 is a diagram showing another embodiment of a method for storing the partition wall 133 of the delivery robot 100 according to an embodiment of the present invention. The partition wall 133 of this embodiment can be stored inside the middle partition wall 132. A storage rail 136 can be provided inside the middle partition wall 132, and the partition wall 133 is stored inside the middle partition wall 132.

[0254] However, since the partition rails 1325 are provided on the left and right sides of the middle partition 132, the first side 1331 and the second side 1332 of the partition wall 133 must be coupled to the storage rail 136. The first side 1331 and the second side 1332 may be formed with a vertical clip 1364 coupled to the storage rail 136 and a clip groove 1338 and a hook groove 1336 for receiving the hook 1362.

[0255] In this embodiment, since the space in the thickness direction of the middle partition plate 132 is utilized, the Fig.15 (b) The cup holder 1324 is formed on the other side of the middle partition 132 .

[0256] Fig. 221 is a perspective view showing a state where the sliding partition 131 of the delivery robot 100 is drawn out according to an embodiment of the present invention. When the middle partition 132 is inserted into the delivery robot 100, the items located in the lower storage portion 115f may not be clearly visible when the user is standing. In addition, in order to take out the items located in the lower storage portion 115f, it is difficult for the user to bend down to take out the items.

[0257] Therefore, the delivery robot 100 of the present invention may have the following features: Fig. 22 The sliding partition plate 131 is slidably drawn out in this way so that the articles in the lower storage portion 115f can be easily checked with the naked eye and can be easily taken out.

[0258] When the door 120 is opened, the sliding partition 131 may automatically protrude forward. The sliding partition 131 may be provided in pair so that the lower storage portion 115f can be partitioned into left and right sides by the partition wall 133 .

[0259] When the partition wall 133 is inserted into the lower storage part 115f, the pair of sliding partitions 131 can be driven independently. When the partition wall 133 is removed from the lower storage part 115f, an object can be placed on the pair of sliding partitions 131, so that the pair of sliding partitions 131 can be driven simultaneously.

[0260] Or, if Figure 5 As shown, when the middle partition 132 is removed and used as a storage space, the four doors 120 are opened at the same time, and the receiving personnel can easily confirm the objects of the sliding partition 131. In this case, the sliding partition 131 can be not drawn out.

[0261] That is, the sliding partition 131 may be controlled to be driven only when the middle partition 132 is inserted. If the first elastic sensor 134a senses whether the middle partition 132 is installed, the control part 180 may draw out the sliding partition 131 when the door 120 is opened.

[0262] Fig.23 It is shown Fig. 22 If the sliding partition 131 is extended forward, the center of gravity can be moved (C1->C2) due to the weight of the objects stored in the sliding partition 131. The change in the center of gravity is preferably designed to be smaller than the distance d between the driving wheel 171 and the caster 172.

[0263] For example, if the distance between the driving wheel 171 and the caster 172 is 150 mm and the article L stored in the sliding partition 131 weighs 15 kg, the change in the center of gravity when the sliding partition 131 is extended forward by 100 mm is estimated to be about 50 mm.

[0264] The control unit 180 may control the driving range of the sliding partition 131 differently according to the weight of the stored items. Alternatively, when the internal camera 195 recognizes the stored items and the items are arranged deeper inside the sliding partition 131, the control unit 180 may control the sliding partition 131 to be drawn out more.

[0265] Fig.24 1 is an exploded perspective view showing a sliding partition 131 and a partition driving unit 137 of a delivery robot 100 according to an embodiment of the present invention. The sliding partition 131 of the present invention may be located at the bottom of the lower storage portion 115f. The sliding partition 131 may slide in the front-rear direction from the upper side of the storage portion base 1123 constituting the lower end of the storage portion 115. In accordance with the height of the sliding partition 131, the space of the lower storage portion 115f may become smaller than that of the upper storage portion 115e.

[0266] As the diaphragm driving part 137 for driving the sliding diaphragm 131 in the front-rear direction, the present embodiment may include a linear driver 1373. The linear driver 1373 transmits the force driven in the front-rear direction to the sliding diaphragm 131.

[0267] The linear actuator 1373 can support weight relative to the driving direction, but is easily affected by a force perpendicular to the driving direction. That is, if the items stored in the sliding partition 131 are heavy, the load applied to the partition driving unit 137 may damage the linear actuator 1373.

[0268] In order to guide the driving of the sliding partition 131 while supporting the weight of the sliding partition 131 and the articles stored thereon, a sliding guide rail 1371 may be included. The sliding guide rail 1371 may be coupled to the lower portion of the sliding partition 131, and located between the sliding partition and the base portion 1123. The sliding guide rail 1371 may be configured in multiple stages using a plurality of beams having a U-shaped cross section. The sliding guide rail 1371 may include bearing balls located between the beams, and the bearing balls may assist in achieving a smooth sliding motion between the beams.

[0269] like Fig.24 As shown, the linear actuator 1373 may be located below the storage base 1123. The sliding guide rail 1371 does not need to be connected to the control unit 180, and thus may be located on the top surface of the storage base 1123 to directly support the sliding partition 131.

[0270] The sliding guide rail 1371 can support the sliding partition 131 on the upper side of the linear actuator 1373 of the sliding partition 131, and can directly support the weight of the sliding partition 131 and the object. The force applied by the sliding guide rail 1371 in a direction perpendicular to the linear actuator 1373 can be limited.

[0271] Fig.251 is a diagram showing a sliding guide rail 1371 and a sliding partition 131 combined with a storage base 1123 of a delivery robot 100 according to an embodiment of the present invention. The linear driver 1373 can be connected to the sliding partition 131 through a driving hole 1124 formed in the storage base 1123 and provide driving force to the sliding partition 131.

[0272] When the articles stored in the storage section 115 include liquid articles, the liquid may overflow into the storage section 115 while the delivery robot 100 is traveling or the sliding partition 131 is being driven.

[0273] If liquid flows into the linear actuator 1373 located at the bottom of the storage base 1123 or the electronic components such as the door motor 122 and the control unit 180 through the drive hole 1124 formed in the storage base 1123, there is a risk of failure. Therefore, a structure is required to block water from flowing in through the drive hole 1124.

[0274] An overflow prevention platform 1313 may be formed at the periphery of the sliding partition 131 to prevent the liquid overflowing the sliding partition 131 from flowing toward the storage portion base 1123. In the case of a small amount of liquid flowing, the overflow prevention platform 1313 blocks the liquid from flowing toward the storage portion base 1123. In this embodiment, the overflow prevention platform 1313 is designed to be formed at a height of about 3.5 mm to prevent 250 mL of liquid from overflowing.

[0275] Even if the liquid flows in the storage base 1123 , the partition groove 1323 inserted into the partition 133 is introduced downwardly than the storage base 1123 , so the liquid is 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 drive hole 1124 .

[0276] like Fig.25 As shown, the driving hole 1124 may form a step 1123s in a manner higher than other portions of the receiving portion base 1123. In addition, a platform 1124s may be formed around the driving hole 1124 to prevent the liquid phase from flowing in.

[0277] In order to prevent the articles on the sliding partition 131 from falling backward and passing over the storage base 1123 when the sliding partition 131 is driven forward, a fall prevention wall 1312 may be included behind the sliding partition 131. The fall prevention wall 1312 may be designed to be 20 mm or more in height.

[0278] Fig.26 1 is a diagram showing a method for separating the sliding partition 131 of the delivery robot 100 according to an embodiment of the present invention. In order to clean or maintain the storage base 1123, the sliding partition 131 needs to be separated from the main body 110.

[0279] like Fig.26 As shown in (a), if the bolt 1314 fastening the linear actuator 1373 and the sliding partition 131 is removed, the sliding partition 131 can be pulled forward beyond the driving range of the linear actuator 1373. A cap 1316 covering the top surface of the bolt 1314 can also be included to prevent the bolt 1314 from being exposed to the outside.

[0280] like Fig.26 As shown in (b), the sliding guide rail 1371 is disassembled by pulling the lower part of the sliding partition 131 forward. The sliding guide rail 1371 can be disassembled by pressing the hook 1371c between the beam 1371a fastened to the sliding partition 131 and the beam 1371b attached to the storage portion base 1123 in the multi-stage sliding guide rail 1371, and the sliding partition 131 can be separated from the main body 110.

[0281] Fig. 27 1 is a diagram of a safety control method for the sliding partition 131 of the delivery robot 100 according to an embodiment of the present invention. As described above, when the articles stored in the sliding partition 131 are heavier than the allowable value, the partition driving unit 137 may fail due to overload.

[0282] like Fig. 27 As shown in (a), the linear driver 1373 may have a circuit structure that automatically short-circuits when the shortest length and the longest length are reached for driving safety. Therefore, when the end point is reached, the short circuit occurs, and the voltage measured in the linear driver 1373 becomes 0.

[0283] On the other hand, when there is no object on the sliding partition 131, a voltage of 5 V or less can be measured, but when the maximum weight is exceeded, a voltage of 18 V or more can be measured, and in this case, the control unit 180 can prevent overload by forcibly stopping the linear driver 1373. The value may be different depending on the type or design of the linear driver 1373, and whether the linear driver 1373 is overloaded can be sensed while monitoring the voltage of the linear driver 1373.

[0284] Other types of diaphragm driving units 137 other than the linear driver 1373 may be utilized. Fig.28 and Fig.29 FIG. 1 is a diagram showing a driving unit of a sliding partition 131 of a delivery robot 100 according to another embodiment of the present invention.

[0285] Fig.28The partition driving part 137 is realized by using a rack gear, 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, so that the rack 1376 combined with the lower part of the sliding partition 131 is linearly driven in the front-back direction. And it is more load-resistant than the aforementioned linear driver 1373, and the driving hole 1124 can be formed or sealed smaller, so it has an advantage in waterproofing.

[0286] according to Fig.29 In the embodiment shown, the sliding partition 131 can be drawn out through a partition link 1378 connected to the door 120. One end of the partition link 1378 is coupled to the door 120, and the other end is coupled to the sliding partition 131. If the door 120 is opened, the door links 128 and 129 can rotate to pull the sliding partition 131 forward.

[0287] The structure of the sliding partition 131 using the partition link 1378 has the advantage of being driven together with the door 120 without the need for a linear drive 1373 or a sliding motor 1374 for partition driving. However, the motor 122 driving the door 120 may be at risk of overloading, and the lower door 120 may be drawn out when opened regardless of whether the middle partition 132 is installed.

[0288] 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 .

[0289] like Figure 7 As shown, the storage section 115 of the present invention can be divided into a plurality of sections for use according to the situation, and an internal camera 195 capable of observing the interior of the storage sections 115a, 115b, 115c, and 115d divided into a plurality of sections is required.

[0290] The delivery robot 100 of the present invention is divided into a maximum of four storage sections 115. If each of the four storage sections 115 is provided with an internal camera 195, the cost may be excessively increased. 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.

[0291] When the middle partition 132 is inserted, the first internal camera 195a of the upper storage part 115e and the second internal camera 195b of the lower storage part 115f respectively observe the upper storage part 115e and the lower storage part 115f. When the middle partition 132 is not inserted, only the lower internal camera 195b can be used to observe the inside of the storage part 115, thereby reducing power consumption.

[0292] like Fig.30 As shown, the internal camera 195 is located in the horizontal center of the storage section 115, so that it can overlap with the position where the partition 133 is inserted. In the case where there is no partition 133 in the storage section 115, it is not difficult to observe the upper storage section 115e and the lower storage section 115f using one internal camera 195a, 195b, and it is not difficult to understand whether there are objects. However, if the partition 133 is inserted, it is necessary to observe both sides at the same time.

[0293] Fig.31 1 is a diagram showing a picture captured by the internal camera 195a located in the upper storage part 115e according to the delivery robot 100 according to an embodiment of the present invention, depending on whether the partition wall 133 exists.

[0294] As shown in (a), if the partition 133 is inserted, the second elastic sensor 134b senses the partition 133, and the control unit 180 distinguishes the left and right images taken by the internal camera 195, and can determine whether there are items in each storage unit 115a, 115b.

[0295] When the second elastic sensor 134b senses that the partition wall 133 is removed, as shown in (b), the control unit 180 determines that the image taken by the internal camera 195a is an image of one storage unit 115e, and can determine whether there is an item.

[0296] 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. The partition wall 133 of the delivery robot 100 is thinner than the middle partition 132, so it does not block much of the field of view, but as the distance from the internal camera 195 becomes smaller, the field of view of the internal camera 195 may be blocked.

[0297] If the partition wall 133 is disposed adjacent to the internal camera 195 and 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 wall 133 is inserted into the storage portion 115 , the inner end of the partition wall 133 may be spaced apart from the internal camera 195 by a predetermined distance C.

[0298] In order to configure the internal camera 195 at a position spaced apart from the inner end of the partition wall 133 when the partition wall 133 of the delivery robot 100 is inserted into the storage portion 115 , a camera configuration portion 1127 recessed in the back surface of the storage portion 115 may be included.

[0299] The spacing distance between the internal camera 195 and the end of the partition wall 133 may vary depending on the viewing angle of the internal camera 195 and the thickness of the partition wall 133, but the viewing angle of a 35mm-70mm standard camera ranges from 34° to 63° in the horizontal direction.

[0300] For ease of calculation, when the viewing angle is 60°, the range that can be photographed based on the distance and the viewing angle is 1:1. That is, only when the distance c is greater than the thickness of the partition wall 133, the field of view of the internal camera 195 can be ensured. The internal camera 195 of the delivery robot 100 can be separated by a distance greater than three times the thickness of the partition wall 133. In this embodiment, when a 10 mm partition wall 133 is provided, the internal camera 195 can be configured to have a 40 mm separation distance.

[0301] In particular, Fig.32 As shown, the internal camera 195 of the present invention is tilted downward, and the actual distance between the center line of the viewing angle and the partition wall 133 can be longer than 40 mm.

[0302] The purpose of the internal camera 195 is to determine whether there is an object located on the partition, so the internal camera 195 can be configured to be tilted downward so that the rear end of the partition (the right side in the figure) can be observed.

[0303] The inclination of the change in the field of view of the internal camera 195a may vary depending on the height from the middle partition 132 to the first internal camera 195a, but the experiment was conducted based on the case where the height from the middle partition 132 to the internal camera 195 is configured at a height of about 180 mm. In this experiment, the length of the middle partition 132 in the front-to-back direction is about 450 mm.

[0304] Due to the height of the sliding partition 131, a height h2 of the second interior camera 195b from the sliding partition 131 may be smaller than a height h1 of the first interior camera 195a from the middle partition 132 (h1>h2).

[0305] When the sliding partition 131 is drawn out, the second internal camera 195b must be able to sense the items dropped to the storage portion base 1123. Therefore, the second internal camera 195b can be configured such that the height from the storage portion base 1123 is h1 so that the second internal camera 195b can sense the rear end of the storage portion base 1123, and the height h2 from the sliding partition 131 can be smaller than h1.

[0306] Fig.33 1 is a diagram showing an embodiment of the present invention in which the internal camera 195 of the delivery robot 100 is tilted 20 degrees downward. Fig.34This is a view showing the state in which the internal camera 195 of the delivery robot 100 is tilted downward by 30°.

[0307] As Fig.33 shown in (a) of [], when shooting in a state where the internal camera 195 is tilted downward by 20°, the upper storage part 115e is photographed as shown in (b). As Fig.34 shown in (a) of [], when shooting in a state where the internal camera 195 is tilted downward by 30°, the upper storage part 115e is photographed as shown in (b).

[0308] The larger the angle of inclination downward, the more the rear end of the intermediate partition 132 can be observed (a1 < a2), and the photographable range b of the side part of the storage part 115 can be wider at 30° than at 20° (b1 < b2).

[0309] As Fig.33 shown, in a state where the internal camera 195 is inclined at 20°, the photographing range a1 is shorter than the length of the intermediate partition 132, so the rear end of the intermediate partition 132 is not included in the viewing angle and is thus difficult to observe. As Fig.34 shown, in a state where the internal camera 195 is inclined at 30°, the photographing range a2 of the intermediate partition 132 becomes wider. Therefore, 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 vary according to the size of the storage part and can be set within a range of 25° or more and 35° or less.

[0310] The camera mounting part 1127 for mounting the internal camera 195 can be formed with an inclined surface on the rear inner side of the storage part 115 and introduced. At this time, the inclined surface has an inclination greater than the viewing angle of the camera so as not to obstruct the field of view of the internal camera 195. Since the internal camera 195 of the present invention is inclined downward, the inclined surface can be formed to be steeper on the lower side than on the upper side.

[0311] As Fig.34 shown, the internal camera 195 can observe the outside of the door 120 when the door 120 is open. 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 is impossible to judge whether there are people or obstacles in the direction of the door 120.

[0312] When the sliding partition 131 must be pulled out while the door 120 is open, the internal camera 195 senses whether there are people or obstacles outside the door 120. The control unit can pull out the sliding partition 131 after confirming that there are no obstacles outside the door 120 based on the image of the internal camera 195.

[0313] Hereinafter, referring to Figure 35 to Figure 37, describing the scenario of controlling the delivery robot 100 to deliver items according to the present invention.

[0314] Fig.35 The process of delivering items to customers by using the delivery robot 100 is shown in the case where a customer requests items from a hotel manager in a hotel. First, if a customer requests additional items such as towels ( S111 ), the hotel manager loads them into the storage unit 115 of the delivery robot 100 .

[0315] The hotel manager as a manager can open all four doors 120 to be able to see the entire storage section 115, and can insert the middle partition 132 and the partition wall 133 into the storage section 115 according to the number of storage sections 115 required.

[0316] The first elastic sensor 134a and the second elastic sensor 134b sense the partition of the storage section 115. If the hotel manager loads an item into one of the partitioned storage sections 115, the internal camera 195 senses the item and can match the storage section 115 storing the item with the customer's request.

[0317] In this embodiment, the hotel manager can load the items into the third storage section 115 (S112) and input the password of the third storage section 115 (S113). The delivery robot 100 closes the door 120 and starts delivering to the designated location, ie, the customer's room (S114).

[0318] The hotel manager informs the customer of the set password. If 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 third storage section 115 (S122). The internal camera 195 of the delivery robot 100 determines whether the customer is in front of the third storage section 115 (S123). If the customer is close, the customer can be guided to retreat (S124).

[0319] The delivery robot 100 can bring out the sliding partition 131 so that the customer can easily pick up the items in the third storage section 115 located at the bottom (S125). If the customer picks up the item (S126), the internal camera 195 confirms the pickup of the item (S131). If the control unit 180 confirms that the item is not on the sliding partition 131 (S132), the sliding partition 131 is introduced and the door 120 is closed (S133). The robot can move to the designated place again (S134).

[0320] Fig.36 and Fig.37 It is shown 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.

[0321] Reference Fig.36 In order to load the items into the delivery robot 100, a loading command may be input (S211). If the hotel manager presses a button to open the door 120 without loading items, it may be recognized as a loading command.

[0322] The delivery robot 100 opens the door 120 according to the loading command (S213), and can determine whether to insert the middle partition 132 or the partition 133 based on the signals sensed by the first elastic sensor 134a and the second elastic sensor 134b. If the designated storage section 115 is the lower storage section 115f when the middle partition 132 is inserted (S214, S215), the sliding partition 131 is drawn out (S216). If the hotel manager places the items on the sliding partition 131 and inputs the door 120 closing command (S221a), the sliding partition 131 is stored and the door 120 is closed (S222, S223).

[0323] When the central partition is not inserted and only one storage portion 115 or the upper storage portion 115e is included, there is no need to lead out the sliding partition 131, so if the hotel manager places items on the sliding partition 131 and inputs a door 120 closing command (S221b), the door 120 is closed (S223).

[0324] If the door 120 is closed, the door lock is locked to prevent the door 120 from opening (S224), and then the delivery robot 100 may move to the delivery location (S225).

[0325] Fig.37 1 is a flow chart showing a control method of the delivery robot 100 after arriving at the delivery location. The customer, who is the person picking up the item, inputs an unloading command (S311). The unloading command may be a preset password or a customer order number. If the unloading command is input, the door lock may be released and the door 120 may be opened (S312, S313).

[0326] If the middle partition 132 is inserted and the designated storage section 115 is the lower storage section 115f (S314, S315), the sliding partition 131 is drawn out (S316). The internal camera 195 senses whether the item is picked up (S321a). If the customer has picked up the item and there is no item on the sliding partition 131, it is determined that the unloading is complete (S322a), and the sliding partition 131 can be stored and the door 120 can be closed (S323, S324).

[0327] When the central partition 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 partition 131, so the internal camera 195 senses whether the item has been picked up (S321b). If the customer has picked up the item and there is no item on the sliding partition 131, it is determined that the unloading is completed (S322b) and the door 120 can be closed (S324).

[0328] The delivery robot 100 may lock the door and return to a preset location ( S325 , S326 ).

[0329] As described above, the delivery robot 100 of the present invention has the door 120 capable of opening and closing the storage portion, and prevents the door 120 from opening by the lock lever 127 when moving, so that articles can be delivered safely.

[0330] In addition, the delivery robot 100 of the present invention moves the rotation range along the outer side surface of the main body 110 when the door 120 is opened, so that the door 120 can be safely opened and closed in a limited space.

[0331] In addition, in the present invention, the link that drives the door 120 of the delivery robot 100 exposed to the outside is minimized, thereby having excellent aesthetics and not interfering with other components.

[0332] In addition, in the present invention, even if the hand is caught by the door 120 of the delivery robot 100, there is no injury, and an overvoltage of the motor 122 due to the back electromotive force does not occur, so it is safe.

[0333] In addition, the delivery robot 100 of the present invention can partition the interior of the storage portion 115 as needed, and can improve the utilization rate of the internal space by using a plurality of doors 120 that can be selectively opened and closed.

[0334] In addition, the delivery robot 100 of the present invention senses whether the partition plate and the partition wall 133 are loaded or unloaded, and can selectively drive the plurality of doors 120 according to the partition state of the storage unit.

[0335] In addition, the delivery robot 100 of the present invention can be stored inside the storage section of the delivery robot 100 without using the partition 133 .

[0336] In addition, the delivery robot 100 of the present invention has the sliding partition 131, so that the convenience of taking out and putting in the articles stored inside can be improved.

[0337] 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 below the sliding partition 131 .

[0338] In addition, the sliding partition 131 of the delivery robot 100 of the present invention can be easily installed and removed, thereby having the advantage of easy maintenance.

[0339] In addition, the delivery robot 100 of the present invention has an internal camera 195, so that the door 120 can be opened and closed by judging whether the items are stored inside.

[0340] In addition, the delivery robot 100 of the present invention can sense whether there is a person outside the delivery robot 100, so that it can confirm in advance whether it is safe when the sliding partition 131 is drawn out.

[0341] The above detailed description should not be interpreted as limiting in all aspects, but should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

Claims

1. A delivery robot, wherein: include: A main body cover body including a storage portion inside and a main body opening portion at the front; The door is driven in a closed state covering the main body opening or in an open state opening the main body opening; A control unit, which drives the door according to a control command; A middle partition can be arranged on the main housing to separate the storage portion into an upper storage portion and a lower storage portion; A partition support portion protrudes from the left and right sides of the storage portion; Partition guide rails are formed on the left and right sides of the middle partition, respectively, and can be inserted into the partition support part; as well as The first elastic sensor is located at the partition support portion, is introduced into the partition guide rail when the middle partition is installed, and senses the installation of the middle partition.

2. The delivery robot according to claim 1, wherein: The door comprises: An upper door for opening and closing the upper storage portion; and Lower door, open and close the lower storage part, The control part drives the upper door and the lower door individually when the first elastic sensor senses the middle partition.

3. The delivery robot according to claim 1, characterized in that: The door comprises: a door panel that covers the main body opening in front of the main body cover in the closed state and slides toward the side of the main body cover when moving from the closed state to the open state; and A door connecting rod, a first end of which is rotatably connected to the door panel, and a second end of which is rotatably connected to the main body cover. The partition support portion includes a rod cover adjacent to the main body opening portion and covering the door rod.

4. The delivery robot according to claim 3, characterized in that: The partition support portion includes a sensor cover, and the sensor cover is located inside the storage portion. The sensor cover protrudes correspondingly to the protruding height of the connecting rod cover, The first elastic sensor is located on the sensor cover.

5. The delivery robot according to claim 3, characterized in that: The partition plate guide rail is recessed from a side surface of the middle partition plate at a depth corresponding to a protruding height of the connecting rod cover.

6. The delivery robot according to claim 2, characterized in that: The first elastic sensor comprises: a resilient latch protruding from the bulkhead support; a spring, pressing the elastic latch toward a protruding direction of the elastic latch; and a switch that generates a signal when the resilient latch is depressed, The middle partition further includes a first locking groove formed in the partition rail in a shape corresponding to the shape of the elastic latch.

7. The delivery robot according to claim 2, characterized in that: The middle partition includes a partition groove extending in the front-rear direction at the center thereof, The delivery robot includes a partition wall, which divides the upper storage portion or the lower storage portion into two spaces along the left-right direction and is slidably coupled along the partition wall groove.

8. The delivery robot according to claim 7, characterized in that: The device further comprises a second elastic sensor, wherein the second elastic sensor is located at an upper portion of the partition wall when the partition wall is inserted into the upper receiving portion, or the second elastic sensor is located at a lower portion of the partition wall when the partition wall is inserted into the lower receiving portion, The door includes a right door for opening and closing the right storage portion and a left door for opening and closing the left storage portion based on the partition wall. The control unit drives the right door and the left door respectively when the second elastic sensor senses the partition wall.

9. The delivery robot according to claim 8, characterized in that: The partition wall includes a second locking groove formed at a position of at least one of a first side corresponding to the second elastic sensor and a second side located on an opposite side to the first side.

10. The delivery robot according to claim 7, characterized in that: The main housing includes a storage rail, and the storage rail is located at two ends of the upper side of the upper storage portion or the lower storage portion. The third side of the partition wall and the fourth side located on the opposite side of the third side are inserted into the storage rails and stored in the main body cover.

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