Transport robot

Abstract

According to one aspect of the present invention, there is provided a transport robot including: a driving unit for moving the transport robot; a support unit located above the driving unit and configured to support a target object to be placed on which a target object to be transported is accommodated; a mounting unit including at least one mounting base on which the target object to be placed is placed, a mounting post configured to be connected to the support unit; a holding unit coupled to the outer side of the mounting post, configured to move up and down along the mounting post and to adjust its length on a plane including a direction in which the transport robot can move; and a control unit for controlling the driving unit and the holding unit, wherein the holding unit includes an end effector configured to move inward of the transport robot to grasp the target object to be placed and move outward of the transport robot to release the target object to be placed.

Description

[Technical Field]

[0001] The present invention relates to a transport robot. [Background technology]

[0002] Serving refers to providing objects such as food and drinks to customers in places such as restaurants. Recently, robots have been developed and are being used to serve food instead of or to assist waiters and waitresses. These robots typically have the function of taking food orders and serving the food according to the orders, and can also navigate autonomously using table position information. These robots may be configured with a means of movement (including sensors for obstacle avoidance), a display means for displaying menus or inputting orders, etc. The robot may also include a means for placing and transporting food and tableware.

[0003] One example of related art in this regard is the technology disclosed in Patent Document 1, which describes a robot system for serving in a restaurant that receives an order in a restaurant and transports a tray on which the ordered food and drink is placed, comprising a pair of synchronously driven articulated robot arms, an upper end portion including a tray gripper that is rotatably connected to the lower end of the articulated robot arm and fixes the tray, a lower end portion having a robot movement portion that includes a main wheel and one or more auxiliary wheels attached to the lower end portion, an intermediate portion that is fixed to the lower end portion and to which the upper end portion is rotatably connected, and a control unit that controls the operation of the pair of articulated robot arms, the tray gripper, and the robot movement portion. a control unit for controlling the tray gripping unit to rotate; a hand rotatably connected to the end of the articulated robot arm; a fixing unit provided on the hand so as to be able to move up and down; a gripper located below the tray and connected to the fixing unit; a stopper located above the tray and connected to the fixing unit so as to face the gripper; a switch pressed by the fixing unit, which moves upward as the end of the articulated robot arm is driven downward and the stopper is pressed by the tray; a spring which contracts when the fixing unit moves upward; and a gripper angle detection unit which detects the angle of the gripper. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Korean Patent Registration No. 10-1083700

[0005] However, with the above-mentioned conventional technologies and other technologies that have been introduced so far, even if a serving robot carries a tray supporting dishes up to the front of a table, a human must personally grasp the tray and place it on the table in order to place it on the table, or even if the serving robot comes up to the front of the table to remove the tray, a human must personally grasp the tray and place it in the appropriate position on the serving robot. In this way, human action is essential for a serving robot to achieve its purpose of serving or bussing (removing dishes).

[0006] Therefore, the inventor(s) propose a technology that enables a transport robot to load and unload objects to be placed (e.g., trays, tubs, etc.) by itself, thereby requiring no or minimal human action for the transport robot to achieve its purpose (e.g., serving, serving, etc.). Summary of the Invention [Problem to be solved by the invention]

[0007] An object of the present invention is to solve all of the above-mentioned problems.

[0008] Another object of the present invention is to enable a transport robot to load and unload a target object by itself. [Means for solving the problem]

[0009] A typical configuration of the present invention to achieve the above object is as follows.

[0010] According to one aspect of the present invention, there is provided a transport robot including: a driving unit for moving the transport robot; a support unit located above the driving unit and configured to support a target object to be placed on which a target object to be transported is accommodated; a mounting unit including at least one mounting base on which the target object to be placed is placed, a mounting post configured to be connected to the support unit; a holding unit coupled to the outer side of the mounting post, configured to move up and down along the mounting post and to adjust its length on a plane including a direction in which the transport robot can move; and a control unit for controlling the driving unit and the holding unit, wherein the holding unit includes an end effector configured to move inward of the transport robot to grasp the target object to be placed and move outward of the transport robot to release the target object to be placed. [Effects of the Invention]

[0011] According to the present invention, a transport robot can load and unload a target object by itself. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a diagram illustrating a transport robot according to a first embodiment of the present invention; [Figure 2] 2 is a diagram showing the transport robot shown in FIG. 1 viewed from below. [Figure 3] 3 is an enlarged view of a part of FIG. 2. [Figure 4] 4 is an enlarged view of a part of FIG. 3. [Figure 5] 1 is a diagram illustrating an example of a transport robot unloading a target object according to a first embodiment of the present invention; [Figure 6] 10 is a diagram illustrating a transport robot according to a second embodiment of the present invention; [Figure 7] 10 is a view exemplarily illustrating a support part of a transport robot according to a second embodiment of the present invention. [Figure 8] 10 is a diagram illustrating an example of a stationary unit of a transport robot according to a second embodiment of the present invention. [Figure 9] 10 is a diagram illustrating an example of a transport robot unloading a target object to be placed on a shelf and loading a target object from the shelf; DETAILED DESCRIPTION OF THE INVENTION

[0013] The following detailed description of the present invention refers to the accompanying drawings, which show, by way of example, specific embodiments in which the present invention may be practiced. These embodiments are described in detail to enable those skilled in the art to fully practice the present invention. It should be understood that although the various embodiments of the present invention are different from one another, they are not necessarily mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be embodied in different embodiments without departing from the spirit and scope of the present invention. It should also be understood that the location or arrangement of individual components within each embodiment may be changed without departing from the spirit and scope of the present invention. Therefore, the following detailed description should not be taken in a limiting sense, and the scope of the present invention should be understood to encompass the scope of the appended claims and all equivalents thereto. Like reference numerals in the drawings indicate the same or similar components throughout the various aspects.

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, various preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily practice the present invention.

[0015] Meanwhile, although the present specification mainly describes the case where the transport robot is used in a restaurant, it should be understood that the present invention is not necessarily applicable only to robots used in restaurants, but may also be applied to robots used in other locations (e.g., offices, logistics warehouses, etc.) as long as they load / unload stationary objects in a manner similar to the various embodiments described herein.

[0016] First Example

[0017] 1 is a diagram illustrating a transport robot 100 according to a first embodiment of the present invention. The transport robot 100 may be embodied as a robot similar to conventional robots, but may also be embodied as a transport cart having more traditional driving means and control means, or as a transport drone having means for flying.

[0018] 1 is a driving unit for moving the transport robot 100. The driving unit 110 may include an electric motor driven by a rechargeable battery, wheels driven by the electric motor, steering means for the wheels, etc. The wheels of the driving unit 110 may be shielded as much as possible by the housing so as not to be exposed to the outside.

[0019] A support unit 120 configured to support a stationary object 210a or 210b that accommodates a transport object (e.g., tableware) may be located above the driving unit 110. The support unit 120 may include at least one of a support plate 121 and a support base 122.

[0020] The recognition unit (not shown) may be configured to recognize whether the stationary target object 210a or 210b is placed on the support unit 120, specifically, on one of the support plate 121 and the support base 122. For example, the recognition unit may recognize whether the stationary target object 210a or 210b is placed on the support unit 120, specifically, on one of the support plate 121 and the support base 122, using an image acquisition module (e.g., a visible light camera, an infrared camera, etc.), a scanner module (e.g., a LIDAR sensor, etc.), a weight (or pressure) detection sensor, a contact detection sensor (e.g., a switch), etc. According to one embodiment of the present invention, if a weight (or pressure) detection sensor or a contact detection sensor is used to recognize whether a target object 210a or 210b is placed on the support part 120, the corresponding sensor may be included in at least one of the support plate 121 and the support base 122, and if an image acquisition module or a scanner module is used, the corresponding module may be included in the transport robot 100 or a predetermined structure within the transport location.

[0021] The mounting column 130 may include a mounting unit 131 including at least one mounting base 131a and / or 131b on which the object to be mounted 210a or 210b is mounted, and may be configured to be connected to the support unit 120. The mounting base 131a or 131b may refer to a pair of protrusions (131a and 131b each indicate only one of the pair of protrusions) that protrude from the mounting column 130 toward the inside of the transport robot 100 and support both ends of the object to be mounted 210a or 210b, thereby mounting the object to be mounted 210a or 210b. However, the mounting base 131a or 131b does not necessarily have a protruding shape and may have various shapes within a range that can achieve the objectives of the present invention, and may include various types of mechanical structures for fixing the object to be mounted 210a or 210b to the mounting base 131a or 131b. For example, the support base 131 a or 131 b may have a shape that is recessed from the support column 130 toward the outside of the transport robot 100 .

[0022] According to one embodiment of the present invention, the holder unit 131 may be configured to determine whether the holders 131a or 131b each hold a target object 210a or 210b. For example, each holder 131a or 131b may include a weight (or pressure) sensor and / or a contact sensor, and the control unit 150, which controls the driving unit 110 and the holding unit 140 (described later), receives a signal from each holder 131a or 131b to determine the type of holder 131a or 131b on which the target object 210a or 210b is placed, or the type of holder 131a or 131b from which the target object 210a or 210b is released. However, confirmation of whether each mounting stand 131a or 131b is placing a mounting target object 210a or 210b is not necessarily performed using only a weight (or pressure) detection sensor and / or a contact detection sensor, but may also be performed using an image acquisition module or a scanner module, similar to the above-mentioned recognition unit (not shown).

[0023] Meanwhile, according to one embodiment of the present invention, the mount 131a or 131b may have a magnetic property (e.g., a permanent magnet, an electromagnet, etc.) or a property that reacts to a magnet. In this case, by making the part of the mount 131a or 131b where the mount object 210a or 210b is placed also have a magnetic property or a property that reacts to a magnet, the mount object 210a or 210b can be more firmly fixed to the mount 131a or 131b.

[0024] The holding part 140 may be coupled to the outside of the mounting column 130 and configured to move up and down along the mounting column 130. Specifically, the holding part 140 may move up and down along the outside of the mounting column 130 when loading the mounting target object 210a or 210b onto the mounting part 131 and when unloading the mounting target object 210a or 210b mounted on the mounting part 131.

[0025] The holding unit 140 may be configured to have its length adjusted on a plane including the direction in which the transport robot 100 can move. Specifically, the holding unit 140 may be configured to include a retractable arm 142, thereby adjusting the length of the holding unit 140 on a plane including the direction in which the transport robot 100 can move. According to one embodiment of the present invention, the holding unit 140 may move up and down with its length fully extended while holding the target object to be placed, thereby preventing the target object placed on the placing unit 131 and the target object to be newly placed on the placing unit 131 or the target object to be unloaded from the placing unit 131 from interfering with each other (i.e., from colliding with each other).

[0026] In addition, the holding unit 140 may include an end effector (141) configured to move inward of the transport robot 100 based on the mounting pillar 130 to grasp the object to be placed 210a or 210b, or to move outward of the transport robot 100 based on the mounting pillar 130 to release the object to be placed 210a or 210b.

[0027] FIG. 2 is a diagram showing the transport robot 100 shown in FIG. 1 as viewed from below.

[0028] The placed object 210a or 210b may include a joint 211a or 211b on the side of the placed object to be grasped by the end effector 141. According to an embodiment of the present invention, the joint 211a or 211b on the side of the placed object may have a point-symmetric shape, which has the advantage that the placed object 211a or 211b can be placed in both directions on the holder 131. That is, if the placed object can be placed on the holder 131 in a specific state, the placed object can be placed on the holder even when rotated 180 degrees on a plane including the direction in which the transport robot 100 can move.

[0029] FIG. 3 is an enlarged view of a part of FIG. 2, and FIG. 4 is an enlarged view of a part of FIG.

[0030] 3 and 4, the stationary target object 210b may include a stationary target object-side coupling part 211b for being grasped by the end effector 141, and the end effector 141 may include an end effector-side coupling part 141a that engages with the stationary target object-side coupling part 211b to grasp the stationary target object 210b. Here, the stationary target object-side coupling part 211b and the end effector-side coupling part 141a may have magnetic properties (e.g., permanent magnets, electromagnets, etc.) or properties that react to magnets. In this case, even if the end effector-side coupling part 141a and the stationary target object-side coupling part 211b are slightly misaligned when the end effector 141 moves inward of the transport robot 100 to grasp the stationary target object 210b, the end effector-side coupling part 141a can be well engaged with the stationary target object-side coupling part 211b.

[0031] According to an embodiment of the present invention, the end effector-side coupling part 141a may include at least one of a pressure sensor (e.g., a pressure-sensitive film) and a contact sensor (e.g., a contact switch). Such a sensor may be used to determine whether the end effector-side coupling part 141a and the target object-side coupling part 211b are sufficiently engaged with each other, and to stop the end effector 141 from moving inward toward the transport robot 100 based on the determination.

[0032] 3 and 4, the holding unit 140 may include a proximity sensor 141b for detecting the vertical distance between the end effector 141 and the upper surface of the target structure. Such a proximity sensor 141b may be included in the end effector 141 or the retractable arm 142. Here, the target structure is a term indicating a position where the transport robot 100 loads or unloads a target object to be placed, and may be, for example, a table in a restaurant where the target object is to be unloaded or a shelf (a shelf may be configured with one or more layers) in a transport location.

[0033] FIG. 5 is a diagram illustrating an example of the transport robot unloading a target object according to the first embodiment of the present invention.

[0034] The transport robot 100 can move near the table (300; i.e., the target structure) to unload the stationary target object 210b. If the transport robot 100 knows the height h1 of the table 300, the control unit 150 can position the holding unit 140 at an appropriate height h that is higher than the height of the table 300 to unload the stationary target object 210b. The control unit 150 can then cause the transport robot 100 to move closer to the table 300 to unload the stationary target object 210b. The control unit 150 then lowers the holding unit 140 from the height h to the upper surface of the table 300 to place the stationary target object 210b on the upper surface of the table 300. The proximity sensor 141b can be used to stop the downward movement of the holding unit 140 (i.e., to determine whether the holding unit 140 has descended to the upper surface of the table 300). Then, the control unit 150 can release the object 210b to be placed by moving the end effector 141 toward the outside of the transport robot 100, and move the transport robot 100 away from the table 300 or reduce the length of the extended holding unit 140.

[0035] Meanwhile, the holding unit 140 may include an obstacle detection sensor 143 at one end thereof for detecting an obstacle located on the upper surface of the target structure 300. The obstacle detection sensor 143 may be composed of an image acquisition module (e.g., a visible light camera, an infrared camera, etc.), a scanner module (e.g., a LIDAR sensor, etc.), etc. According to an embodiment of the present invention, when the obstacle detection sensor 143 detects an obstacle on the upper surface of the target structure 300, the control unit 150 may stop extending the length of the holding unit 140 and notify nearby users (customers, employees, etc.) that an obstacle has been detected by means of sound, light, etc.

[0036] Second Example

[0037] The transport robot according to the second embodiment of the present invention has many similarities with the transport robot according to the first embodiment of the present invention described above, so we will focus on the differences between the transport robot according to the first embodiment and the transport robot according to the second embodiment.

[0038] Fig. 6 is a diagram illustrating a transport robot according to a second embodiment of the present invention, and Fig. 7 is a diagram illustrating a support unit of the transport robot according to the second embodiment of the present invention.

[0039] 6 and 7, a support unit 120 configured to support a stationary object 210c or 210d that accommodates a transport object (e.g., tableware) may be located above the driving unit 110. A tray-shaped support base 122 that supports the stationary object 210d may be coupled to a support plate 121 of the support unit 120.

[0040] The recognition unit (not shown) may be configured to recognize whether the stationary target object 210c or 210d is placed on the support unit 120, specifically, the support base 122. For example, the recognition unit may recognize whether the stationary target object 210c or 210d is placed on the support unit 120, specifically, the support base 122, using an image acquisition module (e.g., a visible light camera, an infrared camera, etc.), a scanner module (e.g., a LIDAR sensor, etc.), a weight (or pressure) detection sensor, a contact detection sensor (e.g., a switch), etc. According to an embodiment of the present invention, if a weight (or pressure) detection sensor or a contact detection sensor is used to recognize whether the stationary target object 210c or 210d is placed on the support unit 120, the corresponding sensor may be included in the support base 122, and if an image acquisition module or a scanner module is used, the corresponding module may be included in the transport robot 100 or a predetermined structure within the transport site.

[0041] The placement column 130 may include a placement unit 131 including at least one placement table 131c and / or 131d on which the placement object 210c or 210d is placed, and may be configured to be connected to the support unit 120. The placement table 131c or 131d may be a tray-shaped structure coupled to the placement column 130. That is, unlike the transfer robot according to the first embodiment, the transport robot 100 according to the second embodiment of the present invention may be configured to have the tray-shaped placement table 131c or 131d already coupled thereto, and to place the placement object 210c or 210d on the tray-shaped placement table 131c or 131d. Because the transport robot 100 according to the second embodiment of the present invention already includes the tray-shaped placement table 131c or 131d, it has the advantage of being usable even when there is no need to automatically load / unload the placement object. Meanwhile, according to one embodiment of the present invention, in this case, the center of the support base 122 and the mounting base 131c or 131d may be recessed in a shape corresponding to the shape of the bottom of the mounting object 210c or 210d to be placed, in order to sturdily place the mounting object 210c or 210d. Of course, the mounting base 131c or 131d may have various shapes within a range that can achieve the object of the present invention, and may include various types of mechanical structures to fix the mounting object 210c or 210d to the mounting base 131c or 131d.

[0042] FIG. 8 is a diagram illustrating an example of a stationary unit of a transport robot according to a second embodiment of the present invention.

[0043] 6 and 8, the holding unit 140 may include an end effector (141) configured to move inward of the transport robot 100 to grip the stationary object 210c or 210d, or to move outward of the transport robot 100 to release the stationary object 210c or 210d. According to an embodiment of the present invention, the end effector 141 may include a grab module configured to grip the connecting part 211c of the stationary object.

[0044] The various configurations described in detail with respect to the transport robot 100 according to the first and second embodiments of the present invention may be operated in a similar manner to the above when loading a stationary object placed on the upper surface of a target structure (e.g., a table, a shelf, etc.). In this case, the transport robot 100 and the stationary object on the upper surface of the target structure may need to be well aligned so that the stationary object can be loaded smoothly.

[0045] 9 is a diagram illustrating an example of the transport robot 100 unloading and loading a target object from a shelf. As illustrated in FIG. 9, the shelf 400 may be configured with multiple layers. The height of each layer of the shelf 400 may be manufactured to match the height of each mounting table of the transport robot 100 so that the transport robot 100 can efficiently load and unload the target object.

[0046] Although the transport robot 100 has been described above as being divided into the first and second embodiments of the present invention, the first and second embodiments are not mutually exclusive. For example, the transport robot 100 according to the first embodiment of the present invention may be capable of placing a tub-shaped object to be placed, and the end effector of the transport robot 100 according to the first embodiment of the present invention may include a grab module that grabs the object to be placed.

[0047] Although the present invention has been described above using specific details such as specific components and limited examples and drawings, this is merely provided to assist in a more general understanding of the present invention, and the present invention is not limited to the above examples. Those skilled in the art to which the present invention pertains may attempt various modifications and variations from such descriptions.

[0048] Therefore, the concept of the present invention should not be limited to the above-described embodiments, and it can be said that not only the scope of the claims below but also all modifications equivalent to or similar to the scope of the claims fall within the scope of the concept of the present invention. [Explanation of symbols]

[0049] 100: Transport robot 110: Drive unit 120: Support part 121: Support plate 122: Support stand 130: Stationary pillar 131: Stationary part 131a, 131b, 131c, 131d: Stationary stand 140: Holding Section 141: End effector 141a: End effector side joint 141b: Proximity sensor 142: Retractable arm 143: Obstacle detection sensor 150: Control unit 210a, 210b, 210c, 210d: Fixed target object

Claims

1. A transport robot, a drive unit for moving the transport robot; a support part located above the driving part and configured to support a stationary object that accommodates a transport object; a mounting post configured to be connected to the support part, the mounting post including a mounting part having at least one mounting base on which the mounting object is mounted; a holding part coupled to the outer side of the mounting column, configured to move up and down along the mounting column and to have its length adjusted on a plane including a direction in which the transport robot can move; a control unit that controls the driving unit and the holding unit, The holding unit includes an end effector configured to move inward of the transport robot to grip the target object to be placed, and to move outward of the transport robot to release the target object to be placed.

2. The transport robot according to claim 1 , further comprising a recognition unit configured to recognize whether the stationary target object is placed on the support unit.

3. The transport robot of claim 1 , wherein the placing unit is configured to check whether each of the at least one placing tables places the object to be placed.

4. The transport robot according to claim 1 , wherein the at least one base has magnetic properties or is responsive to a magnet.

5. The transport robot according to claim 1 , wherein the length of the holding portion is adjusted by a retractable arm.

6. the stationary object includes a stationary object-side coupling part for being grasped by the end effector, The transport robot according to claim 1 , wherein the coupling part on the stationary object side has a point-symmetric shape.

7. the stationary object includes a stationary object-side coupling part for being grasped by the end effector, the end effector includes an end effector-side coupling part that engages with the fixed target object-side coupling part to grip the fixed target object; The transport robot according to claim 1 , wherein the object-side coupling part and the end effector-side coupling part have a magnetic property or a property that reacts to a magnet.

8. the stationary object includes a stationary object-side coupling part for being grasped by the end effector, the end effector includes an end effector-side coupling part that engages with the fixed target object-side coupling part to grip the fixed target object; The transport robot according to claim 1 , wherein the end effector-side joint includes at least one of a pressure sensor and a contact sensor.

9. The transport robot of claim 1 , wherein the holding unit includes a proximity sensor for detecting a vertical distance between the end effector and an upper surface of a target structure onto which the object to be placed is loaded or unloaded.

10. The transport robot of claim 1 , wherein the holding unit includes an obstacle detection sensor at one end thereof for detecting an obstacle located on an upper surface of a target structure onto which the object to be placed is loaded or unloaded.

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