Unmanned Delivery Robot

Abstract

When transporting an item, by positioning the wheel drive unit inside the delivery robot, the width of the delivery robot can be reduced. When unloading the item, after moving the drive units to both sides of the delivery robot body, the item can be unloaded after moving it closer to the ground, reducing the impact of the item falling to the ground during unloading. The provision of a new type of unmanned delivery robot that achieves this is the provision of its micro device. 【Solution means】 After loading an item, the drive unit is located within the support frame during transfer. By moving and traveling, the width of the delivery robot is reduced, achieving the effect of being able to easily move even in a narrow space.

Description

Technical Field

[0001] The present invention relates to a delivery robot for delivering articles without human intervention, and more particularly to an unmanned robot for delivering a large number of delivery boxes delivered to a building to each floor.

Background Art

[0002] Recently, the volume of online product sales such as e-commerce transactions through the Internet, TV home shopping, and mail order sales has been increasing rapidly.

[0003] Conventionally, especially when delivering within an apartment complex, it is delivered by a delivery person. However, in the case of a complex that restricts the ground movement of the delivery vehicle, the delivery person places the delivery box on a cart and delivers the delivery box to each unit. Therefore, when there are many delivery boxes that must be delivered by a single delivery person, problems such as delays in delivery occur.

[0004] To solve such problems, a technology has been developed in which a station for collecting the delivery boxes to be delivered to each unit is separately provided, and the delivery boxes carried out from the station are delivered to each unit via a delivery robot, and it is being tested in an apartment complex.

[0005] However, when the loading space inside the delivery robot is widely formed to accommodate articles of various sizes, the width of the delivery robot increases. In this case, if the delivery robot is used in an elevator with a narrow elevator door width in a building, there are problems such as being unable to ride together, or when riding with residents, occupying a large space inside the elevator and giving discomfort to the residents. Therefore, there is a need for a solution to this problem.

[0006] The above description as the background art is for enhancing the understanding of the background of the present invention, and it is not admitted that it corresponds to the prior art known to those having ordinary knowledge in this technical field.

Summary of the Invention

Problems to be Solved by the Invention

[0007] The present invention is proposed to solve the above problems. When transporting an article, by positioning the wheel drive unit inside the delivery robot, the width of the delivery robot is reduced. When taking out the article, the drive units are moved to both sides of the delivery robot main body, and after moving the article close to the ground, the article is taken out, so as to reduce the impact caused by the article falling to the ground when taking out. The purpose is to provide a new type of unmanned delivery robot.

Means for Solving the Problems

[0008] The unmanned delivery robot according to at least one embodiment of the present invention includes a support frame, a loading part supported by the support frame and connected to be movable up and down, first and second moving frames connected to the support frame to be slidable in a first direction respectively at a position below the loading part to secure a space for the loading part to move downward, at least one first electric wheel attached to the first moving frame, at least one second electric wheel attached to the second moving frame, a first steering part for steering the first electric wheel, and a second steering part for steering the second electric wheel independently of the first steering part.

[0009] In at least one embodiment of the present invention, the first and second moving frames protrude in the first direction inside the support frame by the first and second electric wheels. When the first and second moving frames protrude, the steering directions of the first steering part and the second steering part are opposite to each other.

[0010] In at least one embodiment of the present invention, in a state where the driving of the second electric wheel is restricted, the first moving frame protrudes from the inside of the support frame in the first direction by the first electric wheel first, and in a state where the first moving frame protrudes, the support frame is moved in the first direction by further moving by the first electric wheel, and the second moving frame protrudes from the inside of the support frame.

[0011] In at least one embodiment of the present invention, when either one of the first moving frame and the second moving frame protrudes from the support frame, among the first electric wheel and the second electric wheel, the electric wheel installed on the protruding moving frame is steered in the first direction, and the electric wheel installed on the other moving frame is steered in an angular direction set with the first direction.

[0012] In at least one embodiment of the present invention, when the first moving frame is protruded and the second moving frame is protruded, the first steering unit is steered in the first direction, and the second steering unit is steered in a second direction orthogonal to the first direction.

[0013] In at least one embodiment of the present invention, each of the first and second steering units includes a steering motor, an outer ring portion installed on the first or second moving frame, a motor support portion formed on the outer ring portion and supporting the steering motor, a first pulley installed on the steering motor, a steering shaft connected to the electric wheel, a second pulley installed on one side of the steering shaft, an inner ring portion installed on the steering shaft and rotatably supported by the outer ring portion by a plurality of balls, a timing belt connecting the first pulley and the second pulley, and an adjusting portion for separating the outer ring portion and the motor support portion to adjust the tension of the fan belt.

[0014] In at least one embodiment of the present invention, the steering motor is located below the motor support portion.

[0015] In at least one embodiment of the present invention, the electric wheel includes an in-wheel motor, a wheel bracket installed on the inner ring portion, and a wheel support portion installed on the wheel bracket and supporting the in-wheel motor.

[0016] In at least one embodiment of the present invention, cable holes are formed in the inner ring portion and the wheel bracket.

[0017] The cable holes are formed in more than half of the circumference of the inner ring.

[0018] In at least one embodiment of the present invention, the electric wheel further includes a suspension, one side of which is installed on the wheel bracket and the other side of which is installed on the wheel support portion to mitigate the impact transmitted from the ground.

[0019] In at least one embodiment of the present invention, first and second power supply units for supplying power to the first and second electric wheels are installed on the first and second moving frames, respectively.

[0020] In at least one embodiment of the present invention, the power supply unit includes at least one of a battery, a steering module control unit, and a traveling module control unit.

[0021] In at least one embodiment of the present invention, the first power supply unit is located below the first moving frame, and the second power supply unit is located below the second moving frame.

[0022] In at least one embodiment of the present invention, the support frame further includes a motor frame, the motor frame includes a drive motor that provides a driving force for moving the loading portion in the vertical direction, the drive motor includes a first V-groove and a second V-groove, and the drive motor includes a third pulley in which a wire fixing portion is formed between the first V-groove and the second V-groove.

[0023] In at least one embodiment of the present invention, the third pulley includes a wire, the loading part includes a pair of fourth pulleys and fifth pulleys symmetrically installed rotatably on one side, the middle point of the wire is fixed to the wire fixing part, and both ends are connected to the motor frame through the pair of fourth pulleys and the pair of fifth pulleys. The wire is wound around the first V-groove and the second V-groove as the third pulley rotates, and the length decreases while the loading part is moved upward.

[0024] In at least one embodiment of the present invention, the first and second moving frames include first magnetic force fixing parts on both sides, and the first magnetic force fixing parts are attached to the support frame so that the first and second moving frames do not protrude during running.

[0025] In at least one embodiment of the present invention, the support frame includes a second magnetic force fixing part, and the second magnetic force fixing part magnetically fixes the loading part so that downward movement is restricted when the loading part moves upward.

[0026] In at least one embodiment of the present invention, the first and second magnetic force fixing parts include at least one of an electromagnet and an EPM (Electro Permanent Magnetic) holder.

[0027] In at least one embodiment of the present invention, the loading part includes at least one conveyor and a weight sensor for measuring the weight of the articles loaded on the upper part of the conveyor.

[0028] In at least one embodiment of the present invention, a plurality of the conveyors are provided, the plurality of conveyors are independently driven, and are driven in the same direction or in opposite directions so as to adjust the interval between the articles.

[0029] In at least one embodiment of the present invention, the support frame includes a rider frame, a rider is attached to the rider frame, and the rider is an omnidirectional rider.

[0030] In at least one embodiment of the present invention, the lidar frame is formed at the lower part of the motor frame.

[0031] In at least one embodiment of the present invention, a plurality of cameras are installed on the support frame in the front-rear direction and the left-right direction, respectively.

Effects of the Invention

[0032] After loading the article, by moving the drive unit inside the main body of the delivery robot during transportation to travel, the width of the delivery robot is reduced, achieving the effect of being able to easily move even in a narrow space.

[0033] Also, when the delivery robot is running, the motor provided in the steering unit steers the drive unit, and when the article is stored or discharged, the motor moves the loading unit in the vertical direction, achieving the effect of simplifying the structure and reducing costs.

[0034] Also, when discharging the article, after moving the drive units to both sides of the main body of the delivery robot, the loading unit is lowered so that the article can be moved close to the ground for discharge, achieving the effect of reducing the impact applied to the article during discharge.

[0035] The effects obtained by the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those with ordinary knowledge in the technical field to which the present invention belongs from the following description.

Brief Description of the Drawings

[0036]

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Mode for Carrying Out the Invention

[0037] Since the present invention can be subjected to various modifications and can have various embodiments, specific embodiments will be illustrated and described with reference to the drawings. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents, and alternatives included in the spirit and technical scope of the present invention.

[0038] Terms including ordinal numbers such as "first", "second", etc. can be used to describe various components, but the said components are not limited by the said terms. The said terms are used only for the purpose of distinguishing one component from another component.

[0039] The term "and / or" is used to include all cases of any combination of the plurality of items as its object. For example, "A and / or B" means that it includes all three cases of "A", "B", and "A and B".

[0040] When a certain component is referred to as being "connected to" or "attached to" another component, it should be understood that it may be directly connected to the other component, or it may be connected but there may be other components in between. On the contrary, when a certain component is referred to as being "directly connected to" or "directly attached to" another component, it should be understood that there are no other components in the middle.

[0041] In the description of the embodiments, the description that each layer film, region, pattern, or structure is formed "on / above" or "under / below" the substrate, each layer film, region, pad, or pattern includes all cases of being formed directly or via other layers. The reference for "on / above" or "under / below" is based on the posture illustrated in the drawings for convenience, and is only used to represent the relative positional relationship between components for convenience, and should not be understood as limiting the actual position of the components. For example, "above B" only indicates that B is illustrated above A in the drawings unless otherwise specifically mentioned or unless A must be located above B due to the attributes of A and B. In an actual product, etc., B may be located below A, or B and A may be arranged horizontally side by side.

[0042] Also, in the drawings, the thickness and size of each layer film, region, pattern, or structure can be deformed for the clarity and convenience of the description, and thus do not fully reflect the actual size.

[0043] The terms used in this application are only used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly has a different meaning. In this application, terms such as "including" or "having" are intended to specify the existence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should not be understood as precluding the existence or addition possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0044] Unless otherwise defined, all terms used herein, including technical or scientific terms, shall have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. Terms defined in commonly used dictionaries shall be interpreted to have a meaning consistent with the context of the relevant art, and shall not be interpreted in an idealized or overly formal sense unless clearly defined in this application.

[0045] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Components that are the same or corresponding, regardless of the reference numerals in the drawings, will be given the same reference numerals, and duplicate descriptions thereof will be omitted.

[0046] According to an embodiment of the present invention, the unmanned delivery robot includes a support frame 100, a loading unit 110, a first moving frame 130, a second moving frame 140, a first electric wheel, a second electric wheel, a first steering unit 220, and a second steering unit 220.

[0047] The support frame 100 is formed by connecting a plurality of square steel pipes 101 made of steel material in the horizontal and vertical directions to form a rectangular parallelepiped-shaped skeleton, and a space is formed inside for the loading unit 110 described later to reciprocate in the vertical direction.

[0048] The loading unit 110 is supported by the support frame 100 and is connected so as to be vertically movable.

[0049] The loading unit 110 includes at least one conveyor, and conveyor support parts 170 are installed on both sides of the conveyor.

[0050] Specifically, the conveyor includes a first conveyor 140, a second conveyor 150, and a third conveyor 160 between the conveyor support parts 170. The first conveyor 140 to the third conveyor 160 are each independently driven by a drive motor 350 (not shown), and may be driven in the same direction or in opposite directions so as to adjust the intervals between a plurality of articles loaded on the first conveyor.

[0051] The first conveyor 140 to the third conveyor 160 include a belt portion 200, a head pulley 180, and a tail pulley 190. The first conveyor 140 to the third conveyor 160 are provided with a drive motor on the head pulley 180 or the tail pulley 190, and the drive motor may be an in-wheel motor 410 (not shown) installed on the head pulley 180 or the tail pulley 190. Through this, there is no need to provide a space for installing a separate motor when driving the first conveyor 140 to the third conveyor 160 in the loading section 110, and the effect of reducing the loading space is achieved.

[0052] The first moving frame 130 and the second moving frame 140 are respectively connected to the support frame 100 so as to be slidably movable.

[0053] A first steering section 220 and a first electric wheel 230 are installed on the first moving frame 130, and a second steering section 220 and a second electric wheel 230 are installed on the second moving frame.

[0054] The first steering section 220 and the first electric wheel 230 installed on the first moving frame 130 and the second steering section 220 and the second electric wheel 230 installed on the second moving frame 140 are each provided with two, and may be a four-wheel steering that is independently steered.

[0055] As shown in FIGS. 4 to 8, the first moving frame 130 and the second moving frame 140 are moved from the lower position of the loading section 110 to both sides so as to secure a space for moving below the loading section 110.

[0056] Referring to FIGS. 4 to 8, the process of moving the first moving frame 130 and the second moving frame 140 will be described.

[0057] As shown in FIG. 4, the first electric wheel installed on the first moving frame 130 and the second electric wheel installed on the second moving frame 140 are aligned in the second direction (X-axis direction), respectively.

[0058] In order for the first moving frame 130 and the second moving frame 140 to protrude from the support frame 100, as shown in FIG. 5, the first traveling unit 220 steers the first electric wheel in the first direction (Y-axis direction). Referring to FIG. 6, the steered first electric wheel is driven to move the first moving frame 130 in the first direction. If the first moving frame has completely protruded, when the first electric wheel continues to move the first moving frame 130 in the first direction with the first moving frame 130 completely protruding in the first direction, as shown in FIG. 7, the support frame 100 moves along the first moving frame 130 while the second moving frame is exposed from the inside to the outside of the support frame 100. At this time, when the first moving frame 130 and the second moving frame 140 protrude from the support frame 100 in the above process, the second electric wheel installed on the second moving frame 140 is not driven, and when the first moving frame and the support frame 100 move in the first direction by being steered in the second direction, there is an effect that the support frame 100 does not sway in the first direction so as not to move the second moving frame.

[0059] In the above process, if the first moving frame 130 and the second moving frame 140 are moved, the loading unit 110 descends toward the ground, and the conveyor moves the articles in the A direction as if it were driven while driving, and discharges the articles from the unmanned delivery robot.

[0060] Light articles 10 can be easily discharged only by the driving of the conveyor, but in the case of heavy articles, as shown in FIG. 10, when the articles 10 are discharged and the corners of the articles 10 come into contact with the ground, even if the conveyor continues to operate to push out the articles, a situation may occur where the articles 10 slip from the conveyor and are not discharged.

[0061] To prevent such problems, the present invention is provided with a separate weight sensor in the loading section 110. When the weight of the article 10 placed on the conveyor is measured to be equal to or greater than the set weight, when discharging the article, when the conveyor rotates to unload the loaded article 10, the first electric wheel 230 and the second electric wheel 230 rotate in the direction opposite to the rotation direction of the conveyor (in FIG. 10, the conveyor is driven counterclockwise for article discharge), so as to move the support frame 100 in the direction opposite to the article discharge direction (direction B), move the article in the opposite direction, and control to facilitate the discharge of the article.

[0062] The configuration provided in the second moving frame 140 is exactly the same as the configuration provided in the first moving frame 130. Therefore, the following specific description of the structure of the second moving frame 140 is omitted, and the first moving frame 130 will be described with reference to FIGS. 1 to 12.

[0063] The first moving frame 130 includes a rail portion 210 so as to be slidably movable on the support frame 100.

[0064] The steering section 220 is installed on the first moving frame 130 and steers the electric wheel 230. In this embodiment, the steering section 220 and the electric wheel 230 may be configured by two as described above. However, depending on the embodiment, the steering section 220 is configured by two on the first moving frame 130, but only one electric wheel 230 is provided, and the other is a general wheel that cannot generate its own rotational force.

[0065] The steering section 220 includes a steering motor 240, an outer ring portion 250, a motor support portion 270, a first pulley 280, a second pulley 290, an inner ring portion 290, a fan belt 300, and a tension adjustment rod 310.

[0066] The steering motor 240 may measure the steering angle of the first electric wheel by sensing the angle through which the rotor shaft of the steering motor 240 has rotated via a steering angle sensor or an encoder. The steering motor 240 may be located at the lower part of the motor support 270. When the steering motor 240 is located at the lower part of the first moving frame 130, when the unmanned delivery robot moves to deliver an article, the height of the loading part 110 may be moved up to the upper positions of the first moving frame 130 and the second moving frame 140, so that the effect of lowering the center of gravity of the unmanned delivery robot may be achieved.

[0067] The outer ring part 250 is installed on the first moving frame 130. The motor support 270 is formed on the outer ring part 250 to support the steering motor 240.

[0068] The tension adjustment rod 310 is installed between the motor support 270 and the outer ring part 250. The tension adjustment rod 310 separates the outer ring part 250 from the motor support 270 to adjust the tension of the fan belt 300.

[0069] It is fixed through a screw (not shown) tightened to the outer ring part 250 in the same direction as the tension adjustment rod, and when the screw is loosened, the distance between the motor support 270 and the outer ring part 250 may be adjusted. Through this, the effect of always maintaining the fan belt 300 in a tightened state may be achieved.

[0070] Further, the outer ring part 250 includes a plurality of tensioners 320 that narrow the interval between the fan belts between the first pulley 280 and the second pulley 290. The tensioner 320 can achieve the effect of increasing the steering angle of the steering part 220 by narrowing the interval between the fan belts.

[0071] The first pulley 280 is installed on the steering motor 240.

[0072] The steering shaft 260 is connected to the electric wheel 230 and transmits the rotational force of the steering motor 240 to change the steering direction of the electric wheel 230.

[0073] The second pulley 290 is installed on one side of the steering shaft 260.

[0074] The inner ring portion 290 is installed on the steering shaft 260 and is rotatably supported by the outer ring portion 250 by a plurality of balls (not shown).

[0075] The fan belt 300 connects the first pulley 280 and the second pulley 290 and transmits the rotational force of the steering motor 240 to the steering shaft 260.

[0076] The electric wheel includes an in - the - motor wheel bracket 420, a wheel support portion 440, and a suspension 430.

[0077] The wheel bracket 420 is installed on the inner ring portion 290 and rotates like the inner ring portion 290.

[0078] The wheel support portion 440 is installed on the wheel bracket 420 and supports the in-wheel motor 410. Cable holes 330 are formed at the same positions on the inner ring portion 290 and the wheel bracket 420. The cable holes 330 may be formed over more than half of the circumference of the inner ring portion 290 as shown in FIGS. 11 and 12. The main cable 450 is a cable that supplies power from the power supply unit 400 to the in-wheel motor 410 and transmits control signals from the steering module control unit and the traveling module control unit. This main cable 450 passes through the cable hole 330 to connect the power supply unit 400 and the in-wheel motor 410. However, if the power supply unit and the in-wheel motor are connected without passing through the cable hole 330, when the electric wheel is steered, there will be a problem that the main cable 450 is wound around the steering portion 220. In this case, in order to prevent the main cable 450 from being wound around the steering portion 220, the steering angle has to be made very narrow. To solve such a problem, if the cable hole 330 is formed in the inner ring portion 290, the main cable 450 may rotate in the circumferential direction and the main cable 450 may also rotate in the circumferential direction together to solve the problem that the main cable 450 is wound around the steering portion 220. However, even in this case, there is a problem that the steering angle of the steering portion 220 cannot be 300 degrees or more due to the fan belt 300 mentioned above. Therefore, the present invention forms the cable hole 330 in the inner ring portion 290 and is formed in the circumferential direction as shown in FIG. 12, and is formed over more than half of the inner circumference so that steering may be possible up to a maximum of 450 degrees.

[0079] A suspension 430, which will be described later, is provided between the wheel bracket 420 and the wheel support portion 440. The suspension 430 is coupled inside the wheel bracket 420 and supports the electric wheel 230 while reciprocating inside the wheel bracket 420 due to the contraction of a suspension wire, which will be described later.

[0080] The suspension 430 is installed on one side on the wheel bracket 420 and on the other side on the wheel support portion 440 to play a role in mitigating the impact transmitted from the ground.

[0081] The first moving frame 130 includes a power supply unit 400 for supplying power to the in-wheel motor 410. The power supply unit 400 includes at least one of a battery, a steering module control unit, and a traveling module control unit.

[0082] The traveling module control unit controls the steering unit 220, and the traveling module control unit controls the electric wheel 230. By being located at the lower part of the first moving frame 130 in the same way as the steering motor 240, when the unmanned delivery robot moves to deliver goods, the height of the loading unit 110 can be moved to the upper position of the first moving frame 130 and the second moving frame 140, so that the effect of lowering the center of gravity of the unmanned delivery robot can be achieved.

[0083] The support frame 100 additionally includes a motor frame 340.

[0084] The motor frame 340 includes a drive motor 350 that provides a driving force to move the loading unit 110 in the vertical direction. A third pulley 360 is installed on the drive motor for the drive motor 350. The third pulley 360 is installed together on the drive motor 350 shaft.

[0085] The third pulley 360 has a first V-groove 361 and a second V-groove 362 formed thereon, and a wire fixing groove 363 is formed between the first V-groove 361 and the second V-groove 362.

[0086] As shown in FIGS. 4 to 5, the loading unit 110 includes a pair of fourth pulleys 380 and fifth pulleys 390 symmetrically installed rotatably on one side.

[0087] As shown in FIG. 14, the wire 490 has an intermediate point between its two ends coupled to the wire fixing groove 363 and fixed by a fixing screw 364, and the two ends are connected to the motor frame 340 via a pair of fourth pulleys 380 and a pair of fifth pulleys 390.

[0088] As the third pulley 360 rotates, the wire 490 is wound around the first V-groove 361 and the second V-groove 362, and as its length shortens, the loading section 110 is moved upward.

[0089] When fixing both ends of the wire 490 to the motor frame, it may be fixed through a turnbuckle (not shown). If the wire 490 for lifting the loading section 110 is provided by a single wire, and the intermediate point of the wire is fixed to the third pulley, resulting in an imbalance during the upward movement of the loading section 110 and the problem that the loading section 110 is pinched between the support frames, the balance during the upward movement of the loading section may be adjusted by loosening the fixing screw fixed to the wire fixing groove of the third pulley and adjusting the position of the intermediate point of the wire.

[0090] As shown in FIGS. 1 and 2, a first magnetic force fixing portion 460 may be installed on the first moving frame 130 of the unmanned delivery robot.

[0091] The first magnetic force fixing portion 460 serves to prevent the first moving frame 130 from protruding during traveling. The magnetic force fixing portion is attached to the square steel pipe 101 by magnetic force.

[0092] According to an embodiment, the first magnetic force fixing portion is installed on the support frame 460, and a fixing frame (not shown) may be installed at a position corresponding to the installation position of the first magnetic force fixing portion on the first moving frame 130. The fixing frame may be made of steel.

[0093] The support frame 100 includes a second magnetic force fixing portion 470 that electronically generates a locking magnetic force. The second magnetic force fixing portion 470 serves to limit the downward movement when the loading section 110 is moved upward.

[0094] At least one of the first magnetic fixing part 460 and the second magnetic fixing part 470 may include an electromagnet that generates a magnetic force by energization and an EPM holder whose magnetic force is released during energization.

[0095] The support frame 100 includes a rider frame 501.

[0096] A rider 500 is installed on the rider frame 501. The rider 500 is an omnidirectional rider 500 and may scan the situation generated during traveling in all directions.

[0097] In addition, a plurality of cameras are respectively installed on the support frame 100 in the front-rear direction and the left-right direction, and may photograph the situation generated during traveling in all directions. The plurality of cameras include a plurality of first cameras 510 that photograph the front and a second camera 520 that photographs the lower part. The second camera 520 may image the ground in real time and may achieve the same effect as an around view monitoring system whose installation on vehicles has recently increased.

[0098] The unmanned delivery robot includes a multi-joint robot arm 550. The multi-joint robot arm 550 is installed on the upper part of the support frame 100 and serves to press an elevator button or an entrance / exit button.

[0099] The multi-joint robot arm 550 is provided with a chip part 540 that can press an elevator button or an automatic door switch at the tip, and a third camera 530 is installed on the chip part.

[0100] The multi-joint robot arm 550 is controlled by a control module (not shown). When an elevator button or the like is photographed through the third camera 530, it is imaged, and the multi-joint robot arm 550 is controlled to recognize the button in the image and press the button on the arrival floor.

[0101] According to the embodiment, when the second camera 520 mentioned above fails or is damaged and becomes inoperable, the third camera 530 may be able to photograph the delivered article 10.

[0102] Also, the control module may be able to improve the accuracy with which the articulated robot arm 550 presses the button through machine learning.

[0103] Although the embodiments have been mainly described above, this is merely an example and does not limit the present invention. Those with ordinary knowledge in the field to which the present invention pertains will understand that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the embodiments. For example, each component specifically shown in the embodiments can be implemented with modifications. And the differences regarding such modifications and applications should be construed as being included in the scope of the present invention defined by the appended claims.

Explanation of Reference Numerals

[0104] 10 Goods 100 Support Frame 101 Square Steel Pipe 110 Loading Section 120 First Moving Frame 130 Second Moving Frame 140 First Conveyor 150 Second Conveyor 160 Third Conveyor 170 Conveyor Support Section 180 Head Pulley 190 Tail Pulley 200 Belt Section 210 Rail Section 220 Steering Section 230 Electric Wheel 240 Steering Motor 250 Outer Ring Section 260 Steering Shaft 270 Motor Support 280 First Pulley 281 Second pulley 290 Inner ring part 300 Timing belt 310 Tension adjustment rod 320 Tensioner 330 Cable hole 340 Motor frame 350 Driving motor 360 Third pulley 361 First V-groove 362 Second V-groove 363 Wire fixing groove 364 Fixing screw 380 Fourth pulley 390 Fifth pulley 400 Power supply unit 410 In-wheel motor 420 Wheel bracket 430 Suspension 440 Wheel support 450 Main cable 460 First magnetic fixing part 470 Second magnetic fixing part 490 Wire 500 Rider 510 First camera 520 Second camera 530 Third camera 540 Tip part 550 Multi-joint robot arm

Claims

1. A support frame, a loading part supported by the support frame and connected to be vertically movable, first and second moving frames slidably connected to the support frame on both sides respectively from a lower position of the loading part to secure a space for downward movement of the loading part, at least one first electric wheel installed on the first moving frame, at least one second electric wheel installed on the second moving frame, a first steering part for steering the first electric wheel, a second steering part for steering the second electric wheel independently of the first steering part, and includes, the first and second moving frames protrude from the inside of the support frame to both sides by the first electric wheel and the second electric wheel, the loading part is moved downward into the space secured by the protrusion of the first and second moving frames to both sides, an unmanned delivery robot.

2. When the first and second moving frames protrude, the steering directions of the first steering part and the second steering part are opposite to each other, The unmanned delivery robot according to Claim 1.

3. The first and second moving frames, in a state where the driving of the second electric wheel is restricted, the first moving frame first protrudes from the inside of the support frame in a first direction by the first electric wheel, and in a state where the first moving frame protrudes, the support frame moves in the first direction while the second moving frame protrudes from the inside of the support frame by further moving the first moving frame by the first electric wheel, The unmanned delivery robot according to Claim 1.

4. Among the first moving frame and the second moving frame, when any one of the moving frames protrudes from the support frame, among the first electric wheel and the second electric wheel, the electric wheel installed on the protruding moving frame is steered in a first direction, and the electric wheel installed on the other one of the moving frames is steered in an angular direction set with respect to the first direction, The unmanned delivery robot according to Claim 1.

5. When the first moving frame protrudes and the second moving frame protrudes, the first steering part is steered in the first direction, and the second steering part is steered in a second direction perpendicular to the first direction, The unmanned delivery robot according to Claim 4.

6. The first and second steering parts each, a steering motor, The outer ring portion installed on the first or the second moving frame, The motor support portion formed on the outer ring portion and supporting the steering motor, The first pulley installed on the steering motor, The steering shaft connected to the electric wheel, The second pulley installed on one side of the steering shaft, The inner ring portion attached to the steering shaft and rotatably supported by the outer ring portion by a plurality of balls, The timing belt connecting the first pulley and the second pulley, And an adjusting portion for adjusting the tension of the timing belt by separating the outer ring portion and the motor support portion. The unmanned delivery robot according to claim 1.

7. The steering motor is located below the motor support portion. The unmanned delivery robot according to claim 6.

8. The electric wheel, An in-wheel motor, The wheel bracket attached to the inner ring portion, And a wheel support portion attached to the wheel bracket and supporting the in-wheel motor. The unmanned delivery robot according to claim 6.

9. Cable holes are formed in the inner ring portion and the wheel bracket, The cable hole, Is formed in more than half of the circumference of the inner ring portion. The unmanned delivery robot according to claim 8.

10. The electric wheel, One is installed on the wheel bracket, and the other is installed on the wheel support portion, and further includes a suspension for alleviating the impact transmitted from the ground. The unmanned delivery robot according to claim 8.

11. On the first and second moving frames, first and second power supply portions for supplying power to the first and second electric wheels are respectively installed. The unmanned delivery robot according to claim 1.

12. The power supply portion includes at least one of a battery, a steering module control portion, and a traveling module control portion. The unmanned delivery robot according to claim 11.

13. The first power supply portion is located below the first moving frame, The second power supply portion is located below the second moving frame. The unmanned delivery robot according to claim 12.

14. The support frame, Further includes a motor frame, The motor frame includes a drive motor for providing a driving force to move the loading portion in the vertical direction. The drive motor includes a third pulley in which first and second V-grooves are formed, and a wire fixing portion is formed between the first and second V-grooves. The unmanned delivery robot according to claim 1.

15. The third pulley includes a wire. The loading portion includes a pair of fourth pulleys and fifth pulleys symmetrically installed rotatably on one side. The wire has an intermediate point fixed to the wire fixing portion, and both ends are connected to the motor frame via the pair of fourth pulleys and the pair of fifth pulleys. When the third pulley rotates, the wire is wound around the first and second V-grooves, and the length thereof decreases while the loading portion is moved upward. The unmanned delivery robot according to claim 14.

16. On the first and second moving frames, first magnetic fixing portions are included on both sides. The first magnetic fixing portion is attached to the support frame so that the first and second moving frames do not protrude during traveling. The unmanned delivery robot according to claim 1.

17. On the support frame, a second magnetic fixing portion is included. The second magnetic fixing portion magnetically fixes the loading portion so that downward movement is restricted when the loading portion moves upward. The unmanned delivery robot according to claim 16.

18. The first and second magnetic fixing portions include at least one of an electromagnet and an EPM (Electro Permanent Magnetic) holder. The unmanned delivery robot according to claim 10.

19. The loading portion includes at least one conveyor, and a weight sensor for measuring the weight of an article loaded on the upper part of the conveyor. The unmanned delivery robot according to claim 1.

20. A plurality of the conveyors are provided. The plurality of conveyors are independently driven and driven in the same direction or in opposite directions so as to adjust the interval between articles. The unmanned delivery robot according to claim 19.

21. The support frame includes a lidar frame. A lidar is attached to the lidar frame. The lidar is an omnidirectional lidar. The unmanned delivery robot according to claim 14.

22. The lidar frame is formed below the motor frame. The unmanned delivery robot according to claim 21.

23. A plurality of cameras are respectively installed on the support frame in the front-rear direction and the left-right direction. The unmanned delivery robot according to claim 1.

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