Delivery robot

Abstract

The delivery robot according to the present invention may include a lower plate configured to be fixed to the delivery robot; an upper plate configured to support the placed article; a damper spring fixed to the lower plate; and an adjustment plate coupled to the end of the damper spring and configured to adjust the damping of the damper spring. The adjustment plate may be formed as an inclined surface, and the distance between the center of the damper spring and the adjustment plate may be formed to differ between the center point and the end point. Depending on the distance between the center of the damper spring and the adjustment plate, the upper plate may operate at different inclination angles relative to the lower plate.

Description

Technical Field

[0001] The present invention relates to a delivery robot for indoor and outdoor deliveries, and a meal delivery robot for serving meals in restaurants. The present invention relates to a delivery robot capable of transporting articles by a tray structure.

Background Art

[0002] Competition in the transportation of articles in online and offline markets is intensifying day by day. In order to provide better convenience to users, there are cases where a service for transporting articles on the day of purchase is provided.

[0003] In recent years, unmanned mobile robots for transporting articles have been applied on the ground or in the air, and related regulations are gradually being improved.

[0004] A robot can be a machine that automatically processes or operates a task given by its own capabilities. In particular, a robot equipped with a function of recognizing the environment, making autonomous judgments, and performing operations can be called an "intelligent robot", and various services can be provided by using the intelligent robot.

[0005] On the other hand, a delivery system using a robot requires information such as a map and a route of a traveling area in order to provide a delivery service on the traveling area. By accumulating these information, it becomes possible to construct a service, and the robot can deliver articles to a destination.

[0006] Also, in recent years, forms of daily logistics such as supermarket product delivery, home delivery logistics, and in-building logistics movement are being incorporated into the scope of the conventional logistics industry. These daily logistics need to consider a structure that can adapt to various living environments and transport materials in various forms without being restricted by an appropriate amount of logistics.

[0007] In particular, when delivering multiple food items, especially liquids, coffee, or water in cups, there is a problem where the liquid may spill depending on the environment in which the delivery robot is operating, making it impossible to meet customer requirements. [Overview of the Initiative] [Problems that the invention aims to solve]

[0008] This specification aims to provide embodiments that address the aforementioned needs.

[0009] This invention relates to a delivery robot that performs indoor and outdoor delivery, and a serving robot that performs food delivery in restaurants.

[0010] The present invention provides a delivery robot equipped with a tray-structured spill-prevention module for liquids.

[0011] The present invention provides a delivery robot equipped with a liquid spill prevention module that prevents liquids from spilling when delivering multiple food items, such as soups, coffee in cups, or water, depending on the driving environment.

[0012] The present invention provides a delivery robot equipped with a spill-prevention module that prevents spills of liquids due to vibrations generated when passing over obstacles, as well as spills caused by inertia during acceleration / deceleration.

[0013] The present invention provides a delivery robot equipped with a spill prevention module that can prevent spills of liquids even when the delivery robot is traveling at a speed above a certain speed, without reducing the robot's travel speed. [Means for solving the problem]

[0014] The delivery robot of the present invention, for solving the above-mentioned problems, may include: a lower plate configured to be fixed to the delivery robot; an upper plate configured to support the placed article; a damper spring fixed to the lower plate; and an adjustment plate coupled to the end of the damper spring and configured to adjust the damping of the damper spring. The adjustment plate may be formed as an inclined surface, and the distance between the center of the damper spring and the adjustment plate may be formed to differ between the center point and the end point. Depending on the distance between the center of the damper spring and the adjustment plate, the upper plate may operate at different inclination angles relative to the lower plate.

[0015] In one embodiment, the delivery robot may further include a first coupling portion that is coupled to the lower region of the upper plate; a first insertion portion that is inserted at first and second points of the first coupling portion and connected to the lower region; and a second coupling portion that is coupled to the first coupling portion at one side and the other side region of the first coupling portion.

[0016] In one embodiment, the delivery robot may further include a second insertion portion inserted into the internal region of the second coupling portion, and a third coupling portion positioned between the first insertion portion and the second insertion portion, with one side and the other side regions coupled to the second insertion portion.

[0017] In one embodiment, the second insertion portion can be coupled to the second coupling portion via side ball bearings in the side regions on one and the other. The side ball bearings may include an upper ball bearing in the upper region and a lower ball bearing in the lower region.

[0018] In one embodiment, the end of the damper spring can be connected via a ball bearing at the center point of the adjustment plate. The center of the damper spring can be formed at a first distance from the end point of the adjustment plate. The center of the damper spring can be formed at a second distance shorter than the first distance from the center point of the adjustment plate.

[0019] In one embodiment, the adjustment plate may include a horizontal surface and an inclined surface. The force acting on the damper spring may be formed to change according to the trajectory shape of the inclined surface of the adjustment plate.

[0020] In one embodiment, the force acting on the damper spring can be formed to have a maximum value at the center point and to decrease linearly from the center point to the end point.

[0021] In one embodiment, the adjustment plate may be formed with a first inclination angle in the inward direction from the end point to the first point, horizontal from the first point to the second point, and a second outward inclination angle from the second point to the center point. The force acting on the damper spring may be formed to increase linearly from the center point to the first point, to have a maximum value from the first point to the second point, and to decrease linearly from the second point to the end point.

[0022] In one embodiment, the second coupling portion can be formed as a curved rail structure in the axial direction on which the delivery robot travels. The first insertion portion is coupled to the lower region of the upper plate, and one and the other ends of the second coupling portion of the curved rail structure can be coupled to the inner region of the upper plate. The upper plate, the first insertion portion, and the second coupling portion can be coupled together as a single unit to constitute an upper plate assembly.

[0023] In one embodiment, the delivery robot may further include a control unit configured to adjust the tilt angle of the upper plate when the delivery robot accelerates, decelerates, or passes through an inclined area during travel. When the control unit determines that the water level in the container rises above a threshold water level when accelerating, decelerating, or passing through an inclined area during travel, the control unit can adjust the tilt angle of the upper plate with respect to the lower plate to control the water level to decrease.

[0024] In one embodiment, when a tilt area is detected in the peripheral area recognized through a camera provided in the delivery robot, the control unit adjusts the tilt angle of the upper plate with respect to the lower plate to a first angle before entering the tilt area, and when entering the tilt area, the control unit can adjust the tilt angle of the upper plate to a second angle larger than the first angle.

[0025] In one embodiment, when accelerating in the uniaxial direction, the control unit controls the upper plate to rotate in the uniaxial direction along the rail of the central plate, and can control the upper plate to operate in a direction opposite to the acceleration direction. The second coupling part can form the central plate.

[0026] In one embodiment, when accelerating in another axial direction perpendicular to the uniaxial direction, the control unit controls the central plate to rotate in the other axial direction along the rail of the lower plate, and can control the central plate to operate in a direction opposite to the acceleration direction.

[0027] In one embodiment, the damper springs can include a first damper spring and a second damper spring symmetrically arranged in the other axial direction with respect to the central point. The adjustment plates can include a first adjustment plate and a second adjustment plate arranged at the outer ends of the first damper spring and the outer ends of the second damper spring.

[0028] In one embodiment, the damper springs can include a first damper spring and a second damper spring symmetrically arranged in the other axial direction with respect to the central point. The adjustment plate can include a first adjustment plate and a second adjustment plate arranged at the inner ends of the first damper spring and the second damper spring, respectively. The first adjustment plate and the second adjustment plate can each include a horizontal plane and an inclined plane. The horizontal plane of the first adjustment plate and the horizontal plane of the second adjustment plate can be coupled to be in contact with each other.

Advantages of the Invention

[0029] An embodiment is provided to improve the above-described requirements.

[0030] The delivery robot according to an embodiment of the present invention can provide a soup spill prevention module with a tray structure.

[0031] The delivery robot according to an embodiment of the present invention can stabilize a container containing a fluid and prevent the fluid from spilling by allowing the upper plate and the lower plate to behave independently.

[0032] The delivery robot according to an embodiment of the present invention can achieve both prevention of soup spillage due to vibrations generated when passing obstacles and prevention of soup spillage due to inertia generated during acceleration / deceleration.

[0033] The delivery robot according to an embodiment of the present invention can maintain or increase the traveling speed at a constant speed or higher even during obstacle passing and acceleration / deceleration operations.

[0034] The soup spill prevention module of the delivery robot according to an embodiment of the present invention can form a trajectory to enable curvilinear motion and structure the internal configuration, thereby stabilizing the movement of the fluid inside the container.

[0035] The spill prevention module for a delivery robot according to an embodiment of the present invention generates centrifugal force inside the container through a swing-like motion, thereby stabilizing the movement of the fluid inside.

[0036] The spill prevention module for a delivery robot according to an embodiment of the present invention reduces the effects of friction by using a damping adjustment plate, and the amount of damping can be adjusted based on distance, so that the upper / lower plates can behave stably. [Brief explanation of the drawing]

[0037] [Figure 1] The diagram shows the configuration of the delivery system. [Figure 2a] This diagram shows an example of the travel area of ​​a delivery robot. [Figure 2b] This diagram shows an example of the travel area of ​​a delivery robot. [Figure 3a] This diagram shows an example of the travel area of ​​a delivery robot. [Figure 3b] This diagram shows an example of the travel area of ​​a delivery robot. [Figure 4] This diagram shows an example of the travel area of ​​a delivery robot. [Figure 5] This is a perspective view showing a delivery robot according to one embodiment of the present invention. [Figure 6] Figure 5 shows the tray structure on which items can be placed in the delivery robot. [Figure 7a] Figure 6 shows cross-sectional views of the tray structure in one axis direction and in the other axis direction. [Figure 7b] Figure 6 shows cross-sectional views of the tray structure in one axis direction and in the other axis direction. [Figure 7c] This shows a block diagram of a delivery robot implemented as a liquid spill prevention module according to the present invention. [Figure 8a] This shows the coupling structure of the damper spring and adjustment plate according to the present invention. [Figure 8b] Figure 8a shows a side perspective view of the damper spring and adjustment plate connected together. [Figure 8c]Figure 8a shows the displacement of the damper spring over time and the force acting on it according to the length of the adjustment plate, with the center position of the damper spring as the reference point. [Figure 9] This is a conceptual diagram illustrating how to prevent the liquid inside a container from spilling depending on the direction of acceleration / deceleration. [Figure 10a] This shows a tray structure for a delivery robot configured so that when accelerated in one axis direction and in another axis direction, the plates move in opposite directions. [Figure 10b] Figure 10a shows a structure that moves along a curved trajectory in response to acceleration / deceleration, maintaining the internal liquid in a stable state. [Figure 11] These are side and bottom perspective views showing the spill prevention module for liquids, which is formed as an integrated coupling structure to prevent external foreign matter from entering, according to the present invention. [Figure 12a] The force acting on the damper spring is shown based on the shape of the adjustment plate and the position of the damper spring in the embodiment. [Figure 12b] The force acting on the damper spring is shown based on the shape of the adjustment plate and the position of the damper spring in the embodiment. [Figure 13] This diagram shows a structure in which an adjustment plate is positioned in the center of the module according to the present invention. [Modes for carrying out the invention]

[0038] The embodiments disclosed herein will be described in detail below with reference to the attached drawings, but identical or similar components will be given the same reference numeral, and redundant explanations will be omitted. Furthermore, in describing the embodiments disclosed herein, if it is determined that a specific explanation of related prior art may obscure the gist of the embodiments disclosed herein, the detailed explanation will be omitted.

[0039] Figure 1 shows a diagram of the delivery system configuration. As shown in Figure 1, the delivery system 1000 includes a delivery robot DR, 10 that autonomously travels within a designated area, and a control server 20 that communicates with the delivery robot DR via a communication network 40 and controls the operation of the delivery robot DR. In this regard, the delivery robot may include both indoor delivery robots that deliver goods indoors and outdoor delivery robots that deliver goods outdoors. The delivery robot may also include a serving robot that delivers food and beverages ordered at a restaurant.

[0040] Furthermore, the delivery system 1000 may further include one or more communication devices 30 that are connected to at least one of the delivery robot DR and the control server 20, and that send and receive information with at least one of the delivery robot DR and the control server 20.

[0041] The aforementioned delivery robot (DR) may be an intelligent robot that automatically processes or operates tasks assigned to it based on its own capabilities. Examples of such intelligent robots include AGVs (Automated Guided Vehicles), which are transport devices that move using floor sensors, magnetic fields, vision equipment, etc., or guidance robots that provide information to customers in airports, shopping malls, or hotels.

[0042] The delivery robot DR is equipped with a drive unit including actuators or motors, and can perform various physical actions such as operating robot joints. For example, the delivery robot DR can autonomously travel within the travel area. Autonomous travel means the technology of moving on its own, and the delivery robot DR may be an autonomous vehicle (robot) that travels without user operation or with minimal user operation. Autonomous travel can include technologies such as maintaining a lane while traveling, technologies that automatically adjust speed like adaptive cruise control, technologies that automatically travel along a predetermined route, and technologies that automatically set a route and travel when a destination is set.

[0043] To achieve such autonomous driving, the delivery robot DR may be a robot to which artificial intelligence (AI) and / or machine learning is applied. The delivery robot DR can autonomously navigate the driving area and perform various actions through artificial intelligence and / or machine learning. For example, it can perform actions in accordance with commands specified by the control server 20, or it can perform exploration / monitoring actions on its own.

[0044] A specific description of the artificial intelligence and / or machine learning technologies applied to the aforementioned delivery robot DR is as follows:

[0045] Artificial intelligence (AI) refers to the field of study that researches artificial intelligence or methodologies for achieving it, while machine learning refers to the field of study that defines the diverse problems dealt with in the field of artificial intelligence and researches methodologies for solving them. Machine learning technology is a technique that collects and learns large amounts of information based on at least one algorithm, and makes judgments and predictions about information based on the learned information. Learning information means grasping the characteristics, rules, and judgment criteria of information, quantifying the relationships between pieces of information, and using the quantified patterns to predict new data. Machine learning is sometimes defined as an algorithm that improves its performance on a particular task through continuous experience.

[0046] The algorithms used in machine learning techniques can be based on statistics. Examples include decision trees, which use a tree structure as a predictive model; neural networks, which mimic the structure and function of biological neural networks; genetic programming, which is based on biological evolutionary algorithms; clustering, which distributes observed examples into subsets called clusters; and the Monte Carlo method, which calculates function values ​​as probabilities using randomly selected random numbers. Deep learning is a subfield of machine learning techniques that uses artificial neural network algorithms to perform at least one of the following: learning, judging, or processing information.

[0047] An artificial neural network (ANN) is a model used in machine learning, consisting of artificial neurons (nodes) that form a network through synaptic connections, and can be broadly defined as a model with problem-solving capabilities. An artificial neural network can have a structure that connects layers and transmits data between them. Such deep learning techniques can learn vast amounts of information via artificial neural networks by utilizing GPUs (graphics processing units) optimized for parallel computing.

[0048] An artificial neural network can be defined by the connection patterns between neurons in different layers, the learning process that updates model parameters, and the activation function that generates output values. An artificial neural network can include an input layer, an output layer, and optionally one or more hidden layers. Each layer contains one or more neurons, and the artificial neural network can include synapses that connect neurons. Each neuron in an artificial neural network can output a function value of the activation function for input signals, weights, biases, etc., received through the synapse. Model parameters refer to parameters determined through learning, including the weights of synaptic connections and the bias of neurons. Hyperparameters, on the other hand, refer to parameters that need to be set before learning in a machine learning algorithm, including the learning rate, number of iterations, mini-batch size, and initialization function.

[0049] The objective of learning in an artificial neural network can be considered as determining the model parameters that minimize the loss function. The loss function can be used as an indicator to determine the optimal model parameters during the learning process of an artificial neural network.

[0050] Machine learning can be classified into supervised learning, unsupervised learning, and reinforcement learning, depending on the learning method.

[0051] Supervised learning refers to a method of training an artificial neural network with labels given to the training data. Labels can be defined as the correct answer (or result value) that the artificial neural network should infer when the training data is input to the artificial neural network. Unsupervised learning can be defined as a method of training an artificial neural network without labels given to the training data. Reinforcement learning can be defined as a learning method in which an agent defined in a given environment is trained to select the action or sequence of actions that maximizes the cumulative reward in each state.

[0052] Machine learning implemented as a deep neural network (DNN), which includes multiple hidden layers, is sometimes called deep learning, and deep learning is a part of machine learning. In the following, machine learning will be used to include deep learning.

[0053] While the aforementioned delivery robot DR can be implemented in a form without the application of such artificial intelligence and / or machine learning technologies, the following description will focus on a form in which the delivery robot is equipped with such artificial intelligence and / or machine learning technologies.

[0054] The operating area of ​​the delivery robot DR can be indoors or outdoors. The delivery robot DR can operate within an area demarcated by walls, pillars, etc. In this case, the operating area of ​​the delivery robot DR can be set in various ways depending on the design purpose, the robot's work characteristics, the robot's mobility, and various other factors. The delivery robot DR can also operate within an open area that is not predetermined. Furthermore, the delivery robot DR can sense its surrounding environment and determine its own operating area. These operations can be performed by artificial intelligence and / or machine learning technology applied to the delivery robot DR.

[0055] The delivery robot DR and the control server 20 are connected via the communication network 40 and can send and receive data to and from each other. The delivery robot DR and the control server 20 can also send and receive data to and from the communication device 30 via the communication network 40. Here, the communication network 40 can refer to a communication network that provides a communication environment for communication equipment via wired or wireless means. For example, an LTE / 5G network. That is, the delivery robot DR can send and receive data to and from the control server 20 and / or the communication device 30 via the LTE / 5G network 50. In this case, the delivery robot DR and the control server 20 can communicate via a base station connected to the communication network 40, or they can communicate directly without going through the base station. Furthermore, other mobile communication technology standards or communication methods other than LTE / 5G networks can be applied to the communication network 40. For example, it could be one or more of the following: GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 200), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Registered Trademark) (Wideband CDMA), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), LTE (Long Term Evolution), and LTE-A (Long Term Evolution-Advanced).

[0056] The communication network 40 may include connections of network elements such as hubs, bridges, routers, switches, and gateways. The communication network 40 may include one or more connected networks, such as a multiplexed network environment, including public networks like the internet and private networks like secure corporate private networks. Access to the communication network 40 may be provided via one or more wired or wireless access networks. Furthermore, the communication network 40 may support various intelligent communications of things (such as IoT (Internet of Things), IoE (Internet of Everything), and IoST (Internet of Small Things)) that exchange and process information between distributed components such as objects.

[0057] The delivery robot DR can perform actions within the travel area and provide information or data related to those actions to the control server 20 via the communication network 40. For example, the delivery robot DR can provide the control server 20 with information about its own position and the actions it is performing. The delivery robot DR may also receive information or data related to its actions from the control server 20 via the communication network 40. For example, the control server 20 can provide the delivery robot DR with information regarding the control of its travel actions.

[0058] The delivery robot DR can also provide its status information or data to the control server 20 via the communication network 40. Here, the status information may include information regarding the location of the delivery robot DR, battery level, component durability, consumable replacement cycle, etc. As a result, the control server 20 can control the delivery robot DR based on the information provided by the delivery robot DR.

[0059] On the other hand, the delivery robot DR may be provided with one or more communication services via the communication network 40, and one or more communication platforms may be provided through the communication services. For example, the delivery robot DR may communicate with the communication target using at least one service from among enhanced mobile broadband (eMBB), URLLC (ultra-reliable and low latency communications), and mMTC (massive machine-type communications).

[0060] The communication device 30 can mean all devices and / or servers capable of communicating with at least one of the delivery robot DR and the control server 20 via various communication methods, including the communication network 40. For example, it may include at least one of the mobile terminal 31, the information provision system 32, and the electronic device 33.

[0061] The mobile terminal 31 may be a communication terminal capable of communicating with the delivery robot DR and the control server 20 via the communication network 40. The mobile terminal 31 may include mobile devices such as mobile phones, smartphones, wearable devices (e.g., smartwatches, smart glasses, HMDs), laptop computers, digital broadcasting terminals, PDAs (personal digital assistants), PMPs (portable multimedia players), navigation systems, slate PCs, tablet PCs, and ultrabooks.

[0062] The information provision system 32 can mean a system that stores and provides at least one of the following: information reflected in or related to the driving area, or information related to the operation of the delivery system 1000. The information provision system 32 can be linked with the delivery robot DR and the control server 20, and may be a system (server) that provides data and services to the delivery robot DR and the control server 20. The information provision system 32 may include at least one of all systems (servers) that can communicate and exchange information with the delivery robot DR and the control server 20. For example, at least one of a database system, a service system, and a central control system may be included in the information provision system 32. Specific examples of the information provision system 32 include at least one of the following: the service system of the manufacturer of the delivery robot DR; the service system of the manufacturer of the control server 20; the central (management) control system of the building corresponding to the travel area; the service system of the supplier that supplies energy to the building corresponding to the travel area; the information system of the construction company of the building corresponding to the travel area; the service system of the manufacturer of the mobile terminal 20; the service system of the telecommunications company that provides communication services via the communication network 40; and the service system of the developer of the application applied to the delivery system 1000. In addition, the information provision system 32 may further include all systems that can be linked to the delivery system 1000, in addition to the systems described above.

[0063] The information provision system 32 can provide various services / information to electronic devices, including the delivery robot DR, the control server 20, the mobile terminal 31, and the electronic device 33. The information provision system 32 can be implemented as a cloud and may include multiple servers. It can perform calculations related to artificial intelligence that are difficult or time-consuming to perform on the delivery robot DR or the mobile terminal 31, generate models related to artificial intelligence, and provide related information to the delivery robot DR and the mobile terminal 31.

[0064] The electronic device 33 may be a communication device capable of communicating with at least one of the delivery robot DR and the control server 20 in the travel area using various communication methods, including the communication network 40. For example, the electronic device 33 may be at least one of the following: a personal computer, home appliances, wall pads, air conditioners, elevators, escalators, and lighting facilities / equipment and control devices that control them, an electricity meter, an energy control device, an autonomous vehicle, and a home robot. The electronic device 33 can be connected wirelessly or wired to at least one of the delivery robot DR, the control server 20, the mobile terminal 31, and the information provision system 32.

[0065] The communication device 30 can share the role of the control server 20. For example, the communication device 30 can acquire information or data from the delivery robot DR and provide it to the control server 20, or acquire information or data from the control server 20 and provide it to the delivery robot DR. The communication device 30 can also be responsible for at least a portion of the analysis performed by the control server 20 and can provide the analysis results to the control server 20. Furthermore, the communication device 30 can receive analysis results, information, or data from the control server 20 and simply output them. The communication device 30 can also substitute for the role of the control server 20.

[0066] In the aforementioned delivery system 1000, the delivery robot DR can travel within a designated area. In this regard, Figures 2a to 4 show examples of the travel area of ​​the delivery robot.

[0067] As shown in Figures 2a and 2b, the travel area may include at least a portion of the indoor area IZ of a building BD consisting of one or more floors. That is, the delivery robot DR can travel within at least a portion of the indoor area IZ of a building consisting of one or more floors. For example, in a building with a basement and floors 1 through 3, the travel area may include the first and second floors, and the delivery robot DR can travel on the first and second floors of the building, respectively.

[0068] Furthermore, as shown in Figures 3a and 3b, the travel area may further include at least a portion of the indoor areas IZ of each of the multiple buildings BD1 and BD2. That is, the delivery robot DR can travel through at least a portion of the indoor areas IZ of each of the multiple buildings BD1 and BD2, which consist of one or more floors. For example, the travel area may include the basement and floors 1 through 3 of the first building, and each floor of the single-story second building, and the delivery robot DR can travel through the basement and floors 1 through 3 of the first building and the first floor of the second building, respectively.

[0069] Furthermore, as shown in Figure 4, the travel area may further include the outdoor area OZ of one or more buildings BD1 and BD2. That is, the delivery robot DR can travel within the outdoor area OZ of one or more buildings BD1 and BD2. For example, the travel area may further include the perimeter of one or more buildings and the travel routes to one or more buildings, and the delivery robot DR can travel within the perimeter of one or more buildings and the travel routes to one or more buildings.

[0070] The delivery system 1000 may be a system in which a delivery service is performed by the delivery robot DR in such a travel area. In the delivery system 1000, the delivery robot DR can autonomously travel in the travel area, which includes indoor and outdoor areas, and perform specific actions. For example, the delivery robot DR can move from one point on the travel area to a specific point and transport goods. That is, the delivery robot DR can perform a delivery action to deliver the goods from one point to the specific point. As a result, a delivery service can be performed by the delivery robot DR in the travel area.

[0071] The specific configuration of the delivery robot DR will be described below with reference to the drawings. In this regard, the delivery robot may include both an indoor delivery robot that delivers goods indoors and an outdoor delivery robot that delivers goods outdoors. The delivery robot may also include a serving robot that delivers food and beverages ordered in a restaurant.

[0072] Figure 5 is a perspective view showing a delivery robot according to one embodiment of the present invention. Figure 6 shows the structure of a tray on which items can be placed in the delivery robot of Figure 5.

[0073] Referring to Figures 5 and 6, a delivery robot DR, 1000 according to one embodiment of the present invention includes a main body MB, a coupling module 410, a module body 410, and a fastening unit 500.

[0074] The main body MB is formed to be movable relative to the ground. Specifically, the main body MB includes a movable section 100 equipped with wheels 102 and 104 at its lower end to enable movement relative to the ground. The movable section 100 may include a first wheel 102 that provides the main power and a second wheel 104 that is configured to be steerable and rotated.

[0075] The first wheel 102 can move the main body MB forward or backward. That is, the first wheel 102 can move the main body MB in the direction in which the extension portion 200 is formed and in the opposite direction to the direction in which the extension portion 200 is formed.

[0076] The first wheel 102 can be formed to be relatively larger than the second wheel 104. The first wheel 102 is not formed to be rotatable. The first wheel can be configured to move the main body MB forward or backward as it rotates. This allows the first wheel 102 to supply the main power in the direction in which the main body MB travels.

[0077] The second wheel 104 can be configured to be steerable so that the main body MB rotates.

[0078] Specifically, referring to the drawings, the second wheel 104 can be formed to be relatively smaller than the first wheel 102. The second wheel 104 is formed to be rotatable. This configuration allows the angle of the second wheel 104 to change when rotation is required while the main body MB is moving, causing the main body MB to rotate. The second wheel 104 can change the direction of travel of the main body MB while it is moving, or rotate the main body MB in place.

[0079] The second wheel 104 can also be used to rotate the main body MB and tray 50 in a narrow space, such as an elevator, when the main body MB and tray 50 are placed in a narrow space while they are joined together.

[0080] The movable unit 100 may include a coupling unit (not shown) and a TOF camera 120. Specifically, the coupling unit is located on the upper surface and is formed to which a coupling module 410 can be coupled. The coupling unit has a detachable structure corresponding to the coupling module 410, or the coupling module 410 can be fixed by a spring or the like. Alternatively, the coupling unit can fix the coupling module 410 to the upper surface of the movable unit 100 by a screw or the like. By coupling the coupling module 410 to the upper surface of the movable unit 100, a flat upper surface can be provided with respect to the ground.

[0081] The TOF cameras 120 are positioned on the side of the mobile unit 100 and can be provided in multiples, spaced apart from each other along the periphery of the side. Referring to Figures 5 and 6, the TOF cameras 120 can be positioned on the front, front side, and rear of the mobile unit 100. Specifically, the TOF cameras 120 of the mobile unit 100 may include a front TOF camera and a rear TOF camera 124.

[0082] The TOF camera 120 can be positioned on the side of the main unit MB so that the distance between the main unit MB and the ground is not excessive. Specifically, the height at which the TOF camera 120 is positioned is within approximately 5 cm to 15 cm from the ground. Through the TOF camera 120, the main unit MB can determine the distance to surrounding objects.

[0083] On the other hand, the mobile unit 100 may be positioned facing forward and may include a main lidar unit 110 positioned above the TOF camera 120.

[0084] Specifically, referring to Figures 5 and 6, a main body rider groove 112 is formed facing forward of the movable part 100. Inside the main body rider groove 112, a main body rider unit 110 is arranged to detect the front side of the main body MB.

[0085] The main unit 110 can have a detection area of ​​approximately 180 degrees in front of it. Together with the module 110 of the coupling module 410 (described later), the main unit 110 can detect the entire area around the main unit MB.

[0086] Furthermore, the main unit 110, together with the aforementioned TOF camera 120, can collect data such as the distance to objects around the main unit MB.

[0087] The main unit MB may include an extension 200 extending in one direction from one end of the movable part 100, and a display part 300 extending from the end of the extension 200 at a predetermined angle to the extension 200.

[0088] Referring to Figures 5 and 6, the extension 200 extends perpendicularly to the upper surface of the movable part 100. The extension 200 can be positioned in the center of one side of the movable part 100. In this case, the area on the movable part 100 where the extension 200 is positioned may be the front surface of the movable part 100.

[0089] The extension 200 may include a camera unit 220 and a speaker unit 210 located on the front of the extension 200. The extension 200 may also include a locking unit 202 located on the back of the extension 200.

[0090] First, the camera unit 220 is formed on the front of the extension unit 200. The camera unit 220 may include a camera capable of photographing the terrain in front. Unlike the TOF camera 120 and the main lidar unit 110, the camera unit 220 can determine the elevation differences of the terrain and the height of objects.

[0091] The camera unit 220 can perceive terrain and surrounding objects at different heights. This allows the delivery robot DR to utilize the information obtained from the camera unit 220 when setting its travel route.

[0092] The speaker unit 210 can output sound to the outside. The delivery robot DR can output its current status, user guidance messages, messages to guide pedestrians, etc., via the speaker unit 210.

[0093] The locking portion 202 can be formed on the back of the extension portion 200 by cutting out a part of the case of the extension portion 200. Specifically, the locking portion 202 can be formed by cutting out three mutually perpendicular lines in the case of the extension portion 200. As a result, the locking portion 202 is configured such that the upper side of the case of the extension portion 200 opens by a predetermined distance, and at least one of the coupling module 410 and the tray 50 can be fixed within the opened area.

[0094] The display 330 can be configured to display the status of the main MB and output a screen that allows control of the main MB.

[0095] The inclined section 310 extends from the extension section 200 at a predetermined angle and is configured to support the display 330. The inclined section 310 is used to tilt the display 330 so that it faces forward and can be easily viewed from above.

[0096] The angle adjustment unit 320 is configured to allow for fine adjustment of the angle of the display 330. The angle of the display 330 can be operated within a certain range via the angle adjustment unit 320 so that the user can comfortably view the display 330.

[0097] A delivery robot DR according to one embodiment of the present invention can provide significant power along the forward and backward directions via the first wheel 102 of the mobile unit 100. Furthermore, steering and rotation are possible via the mobile unit 100, which includes a second wheel 104.

[0098] Furthermore, the delivery robot DR of the present invention can provide forward and backward perception of the delivery robot DR via the extension 200 located on one side of the mobile unit 100. In addition, information regarding the distance and height of surrounding objects can be grasped via the lidar unit of the mobile unit 100, the TOF camera 120, and the camera unit 220 of the extension 200.

[0099] Furthermore, the delivery robot DR of the present invention can be easily operated by the user via the display unit 300.

[0100] The coupling module 400 is formed to be connectable to one surface of the main body MB. Specifically, the coupling module 400 is configured to be connectable to the upper surface of the movable part 100 of the main body MB. The coupling module 400 includes a module body 410 and a docking part 450. Multiple module TOF cameras 420 can be arranged on the side of the module body 410, spaced apart from each other along the periphery of the module body 410.

[0101] The module body 410 may include a module lider section 430 formed toward the rear of the module body 410 and configured to scan the rear side of the main body MB. The docking section 450 includes a docking TOF camera 452 positioned toward the rear of the main body MB. The module body 410 may include a rolling pin 460 configured to be rotatable.

[0102] The following describes a delivery robot that includes a spill-prevention module for liquids in a tray structure according to the present invention. In this regard, the delivery robot may include both indoor delivery robots that deliver goods indoors and outdoor delivery robots that deliver goods outdoors. The delivery robot may also include a food delivery robot that delivers food and beverages ordered at a restaurant.

[0103] According to embodiments of the present invention, a delivery robot equipped with a tray-structured liquid spill prevention module can be provided. The present invention provides a delivery robot equipped with a liquid spill prevention module that prevents liquids from spilling due to the travel environment, even when delivering liquid foods, coffee in cups, water, etc., when delivering various foods. Furthermore, the present invention provides a delivery robot equipped with a liquid spill prevention module that achieves both liquid spill prevention due to vibrations generated when passing over obstacles and liquid spill prevention due to inertia generated during acceleration / deceleration. In addition, the present invention provides a delivery robot equipped with a liquid spill prevention module that can prevent liquid spills even when the travel speed is above a certain speed without reducing the travel speed of the delivery robot.

[0104] On the other hand, the tray structure of the delivery robot shown in Figures 5 and 6 is composed of multiple plates, and a container holding liquid can be placed on the upper plate. The tray structure of the delivery robot can be implemented as a spill-proof module configured to prevent the liquid in the container from spilling.

[0105] Specifically, referring to Figure 6, a delivery robot equipped with a spill-proof module implemented as a tray structure according to the present invention is shown, along with the upper and lower plates of the spill-proof module. Referring to Figure 6, the spill-proof module 1100 can be arranged as a tray structure in the internal region of the delivery robot 1000. The spill-proof module 1100 can be configured to include a lower plate 1110 and an upper plate 1120.

[0106] In this regard, Figures 7a and 7b show cross-sectional views of the tray structure shown in Figure 6 in the uniaxial and nonaxial directions. Figure 7a shows a cross-sectional view of the tray structure along the line X-X', which is the uniaxial direction. Figure 7b shows a cross-sectional view of the tray structure along the line Y-Y', which is the nonaxial direction. On the other hand, Figure 7c shows a block diagram of a delivery robot realized as a liquid spill prevention module according to the present invention.

[0107] Figure 7a shows a cross-sectional view along the Y-Y' line of the spill prevention module 1100, which is composed of a lower plate 1110 and an upper plate 1120 as shown in Figure 6. Referring to Figure 7a, the lower plate 1110 can be operably coupled to a damper spring 1120. The upper plate 1120 can be operably coupled to a plurality of coupling portions 1510, 1520, and 1530. The plurality of coupling portions 1510, 1520, and 1530 can be formed as a flat, linear structure in the Y-Y' direction. The plurality of coupling portions 1510, 1520, and 1530 can be referred to as the first coupling portion 1510, the second coupling portion 1520, and the third coupling portion 1530, respectively.

[0108] An insertion portion 1610 can be inserted between the connecting portions 1510 and 1520, and an insertion portion 1620 can be inserted between the connecting portions 1520 and 1530. Multiple insertion portions 1610 and 1620 can be referred to as the first insertion portion 1610 and the second insertion portion 1620, respectively. The insertion portion 1610 can be connected to the upper plate 1120 by screws at two different points on the upper part, namely the first and second points. The connecting portion 1520 can be connected to the insertion portion 1610 by screws at two different points on the lower part of the insertion portion 1610, namely the third and fourth points. The third point can be formed along the same line as the first point, and the fourth point can be formed along the same line as the second point.

[0109] The damper spring 1200 can be coupled to the adjustment plate 1300 by a ball bearing 1250. The damper spring 1200 is movable along a trajectory formed on the adjustment plate 1300. As the damper spring 1200 moves, the upper plate 1120 can move independently of the lower plate 1110.

[0110] Figure 7b shows a cross-sectional view of the spill prevention module 1100, which consists of the lower plate 1111 and the upper plate 1112 shown in Figure 6, along the line X-X'. Figure 7b shows a cross-sectional view of the spill prevention module 1100 shown in Figure 7a, along the line X-X' connecting points offset from the center point.

[0111] Referring to Figures 7a and 7b, the insertion portion 1610 can be inserted through the coupling portion 1510. The insertion portion 1610 can be extended and inserted to the back surface of the upper plate 1120. The lower region of the insertion portion 1610 can be coupled with the coupling portion 1520.

[0112] The coupling portion 1530 can be positioned between the first insertion portion 1610 and the second insertion portion 1620. The coupling portion 1530 can be positioned in the internal region of the coupling portion 1520. The spill prevention module 1100 can be configured to move along a curved sliding trajectory by accelerating / decelerating in one direction. In connection with this, a ball bearing 1250 coupled to the end of the damper spring 1200 can be configured to move along a curved sliding trajectory formed in the lower adjustment plate 1302. Thus, when the delivery robot accelerates / decelerates or passes through an inclined area, the upper plate can be driven to tilt in the opposite direction to the inclination direction.

[0113] Referring to Figure 7c, the delivery robot 1000 can be configured to include a spill prevention module 1100. The spill prevention module 1100 can be configured to include a damping spring 1200, an adjustment plate 1300, and a first control unit 1410. The adjustment plate 1300 can be operably coupled to the damping spring 1200. As the damping spring 1200 moves along a curved trajectory on one surface of the adjustment plate 1300, the upper and lower plates of the spill prevention module 1100 become independently movable.

[0114] The control unit 1400 can be configured to control the spill prevention module 1100 and the delivery robot 1000 that includes it. The control unit 1400 can be configured to include a first control unit 1410 and a second control unit 1420. The first control unit 1410 can be located in the internal area of ​​the spill prevention module 1100. The first control unit 1410 can consist of a drive control unit that controls the upper plate, lower plate, and internal configuration of the spill prevention module 1100. The second control unit 1420 can be located in the external area of ​​the spill prevention module 1100. The second control unit 1420 can be configured to control the behavior of the spill prevention module 1100 based on the operation of the delivery robot 1000.

[0115] Referring to Figures 5 to 7c, the delivery robot 1000 can be configured to include a lower plate 1110, an upper plate 1120, a damper spring 1200, and an adjustment plate 1300. The delivery robot 1000 can further be configured to include a control unit 1400. Either the lower plate 1110 or the upper plate 1120 can be referred to as the first plate, and the other as the second plate. The adjustment plate 1300 can be referred to as the damping adjustment plate because it adjusts the degree of damping of the damper spring 1200. The adjustment plate 1300 can also be referred to as the third plate.

[0116] The lower plate 1110 can be configured to be fixed to a delivery robot. The lower plate 1110 can be coupled to a locking portion 202 of the delivery robot and fixed to the internal structure of the delivery robot. The upper plate 1120 can be configured to support an item placed on top of it. The lower plate 1110 and the upper plate 1120 can be operably coupled via a plurality of coupling and inserting members.

[0117] The lower plate 1110 can be configured to hold a damper spring 1200. The adjustment plate 1300 can be attached to the upper plate 1120. The adjustment plate 1300 can be coupled to the end of the damper spring 1200 and configured to adjust the damping of the damper spring 1200. Thus, the adjustment plate 1300 can be referred to as a damping adjustment plate.

[0118] The tray structure of the delivery robot may be configured to include one or more coupling and insertion parts. The tray structure of the delivery robot may further include a first coupling part 1510, a first insertion part 1610, and a second coupling part 1520. The tray structure of the delivery robot may further include a second insertion part 1620 and a third coupling part 1530.

[0119] The first joint 1510 can be configured to connect with the lower region of the upper plate 1120. The first insertion portion 1610 can be configured to be inserted at the first and second points of the first joint 1510. The first and second points of the first joint 1510 can be formed as a symmetrical structure with respect to the center point of the first joint 1510. The second joint 1520 can be connected to the first joint 1510 at one side and the other side regions of the first joint 1510.

[0120] The second insertion portion 1620 can be configured to be inserted into the internal region of the second coupling portion 1520. The third coupling portion 1530 can be positioned between the first insertion portion 1610 and the second insertion portion 1620. The third coupling portion 1530 can be coupled with the second insertion portion 1620 at both ends.

[0121] The second insertion portion 1620 can be connected to the second coupling portion 1520 by side ball bearings 1240 in the side regions on one and the other side. The side ball bearings 1240 can be configured to include an upper ball bearing 1241 in the upper region and a lower ball bearing 1242 in the lower region.

[0122] The upper plate 1120 that supports the container and the lower plate 1110 that is fixed to the delivery robot can behave independently of each other. In this regard, the control unit 1400 can be configured to adjust the inclination angle of the upper plate 1120 when the delivery robot accelerates, decelerates, or passes through an inclined area while traveling.

[0123] The ball bearing 1240 may be divided into an upper ball bearing 1241 and a lower ball bearing 1242, and arranged to be supported by a second connecting section 1520 which is a fixed frame, and the rail shape may be structured as a curved arc rather than a straight line. Ball bearing guides may be added to use the ball bearing 1240. The tray structure, including multiple plates and connecting members, can be realized as a modular structure in various positions and sizes.

[0124] On the other hand, the principle of damping amount adjustment will be explained using the coupling structure of the damper spring and adjustment plate according to the present invention. In this regard, Figure 8a shows the coupling structure of the damper spring and adjustment plate according to the present invention. Figure 8b shows a side perspective view of the damper spring and adjustment plate coupled in Figure 8a. Figure 8c shows the displacement of the damping spring due to the force acting on it according to the length of the adjustment plate and time, with the center position of the damper spring in Figure 8a as the reference point.

[0125] Referring to Figures 7a to 8a, the adjustment plate 1300 can be formed as an inclined surface in the other axial direction. The end of the damper spring 1200 can be coupled to the adjustment plate 1300 via a ball bearing 1250 at its center. The distance between the center of the damper spring 1200 and the adjustment plate 1300 in the other axial direction can be formed to differ between the center and the end. The center of the damper spring 1200 can be formed at a first distance D1 from the end of the adjustment plate 1300. The center of the damper spring 1200 can be formed at a second distance D2 which is shorter than the first distance D1 from the center of the adjustment plate 1300. This allows the upper plate 1120 to operate at different inclination angles relative to the lower plate 1110, depending on the distance between the center of the damper spring 1200 and the adjustment plate 1300.

[0126] The damper spring 1200 can be fixed to the lower plate 1110, and the adjustment plate 1300 can be fixed to the upper plate 1120. Because the adjustment plate 1300 is formed as an inclined surface, a distance difference D1-D2 may occur between the damper spring 1200 and the adjustment plate 1300. The force F acting on the damper spring 1200 is proportional to the compression distance within the elastic deformation section, so the coefficient increases as you get closer to the center and decreases as you get further away. The force F acting on the damper spring 1200 is determined by the product of the spring coefficient k of the damper spring 1200 and the displacement x of the damper spring 1200.

[0127] Referring to Figures 7a to 8b, the ball bearing 1250 at the end of the damper spring 1200 can be coupled to the adjustment plate 1300. Multiple coupling structures 1525 formed on the second coupling portion 1520, which corresponds to the central plate, can be coupled to the adjustment plate 1300.

[0128] The adjustment plate 1300 can be configured to include an upper adjustment plate 1301 corresponding to the upper region and a lower adjustment plate 1302 corresponding to the lower region. The upper adjustment plate 1301 and the lower adjustment plate 1302 can be connected and formed as a single unit.

[0129] The damping coefficient of the damper spring 1200 can be adjusted by the difference in distance between the damper spring 1200 and the adjustment plate 1300, thereby adjusting the force acting on the damper spring 1200. Since the trajectory of the damper spring 1200 is curved, the adjustment plate 1300 can also be configured to have a curved shape. By placing a ball bearing 1250 at the end of the damper spring 1200, the damper spring 1200 can behave smoothly.

[0130] To ensure smooth operation along a curved trajectory, a ball bearing 1250 with three degrees of freedom can be used. On the other hand, if a ball bearing without three degrees of freedom is used, the shaft that fixes the bearing may be configured to rotate. In this regard, a separate rotating structure may be required to use a ball bearing that rotates with only one degree of freedom along a curved trajectory. As another example, if no bearing is used, the end of the damper spring 1200 can be formed into a spherical shape to minimize friction with the adjustment plate 1300.

[0131] Multiple coupling structures 1525 formed on the second coupling section 1520 can be coupled to the upper adjustment plate 1301. The end of the damper spring 1200 can be coupled to the lower adjustment plate 1302 by a ball bearing 1250. The thickness of the lower adjustment plate 1302 can be set to a value smaller than the thickness of the upper adjustment plate 1301. This allows the displacement of the damper spring 1200 to be increased to the maximum extent. The ball bearing 1250 coupled to the end of the damper spring 1200 can be configured to move along a curved path formed on the lower adjustment plate 1302. This allows the upper plate to be driven to tilt in the opposite direction of the incline when the delivery robot accelerates / decelerates or passes through an inclined area.

[0132] Referring to Figures 7a to 8c, the damper spring 1200 may have a horizontal surface and an inclined surface. The force acting on the damper spring 1200 can be formed to vary according to the trajectory shape of the inclined surface of the adjustment plate 1300. The force acting on the damper spring 1200 can be formed to have a maximum value at the center of the damper spring 1200 and to decrease linearly from the center to the end point.

[0133] Referring to Figure 8b(b), (i) if the decrease in displacement of the damping spring is less than or equal to the first threshold with respect to time, it can be considered light damping. (ii) if the decrease in displacement of the damping spring is greater than or equal to the first threshold but less than or equal to the second threshold, it can be considered hard damping. (iii) if the decrease in displacement of the damping spring is greater than or equal to the second threshold, it can be considered critical damping.

[0134] If there is no adjustment plate to adjust the damping, the upper plate is driven as if with weak damping, so the displacement can be dampened by changing the frictional force and the force acting on the damper spring. Therefore, when moving along a curved trajectory as shown in Figure 7b, the tray structure composed of multiple plates in the delivery robot in Figure 6 can behave with stable motion by adjusting the damping ratio with the frictional force and the force acting on the spring.

[0135] On the other hand, the tray structure of the delivery robot according to the present invention can be configured to prevent the liquid in the container from spilling. Therefore, the tray structure of the delivery robot according to the present invention can also be called a liquid spill prevention module. In this regard, Figure 9 shows a conceptual diagram that prevents the liquid in the container from spilling due to acceleration / deceleration.

[0136] Referring to Figure 9(a), if the delivery robot's travel speed or acceleration / deceleration is below a predetermined level and the tray structure of the delivery robot remains horizontal, the water level of the liquid 1020 in the container 1010 can also be maintained at a constant level.

[0137] Referring to Figure 9(b), if the delivery robot's travel speed or acceleration / deceleration exceeds a predetermined level, the tray structure of the delivery robot will no longer be able to maintain a horizontal position. As a result, the water level of the liquid 1020 inside container 1010 will also exceed a certain level, and in some cases, the liquid 1020 may spill out of container 1010.

[0138] Referring to Figure 9(c), the tray structure corresponding to the spill prevention module can be driven to tilt the upper plate 1120 in the direction of the liquid 1020's inclination. This prevents the liquid level of the liquid 1020 inside the container 1010 from exceeding a certain level and spilling outside the container 1010.

[0139] In the driving environment of a delivery robot where acceleration / deceleration occurs, the liquid level inside container 1010 may not be stable. If there is no acceleration / deceleration, the liquid inside container 1010 will maintain a constant level, but when acceleration / deceleration occurs, the liquid inside container 1010 may tilt and flow out of container 1010. In this regard, when container 1010 is placed on a liquid spill prevention module, the upper plate 1120 moves, and the liquid level inside container 1010 becomes stable. Therefore, the present invention makes the internal plate group behave independently in response to the inertial forces associated with acceleration / deceleration that occur during driving, and can maintain the fluid inside container 1010 in a stable state.

[0140] Referring to Figures 7a to 9, the control unit 1400 can be configured to adjust the inclination angle of the upper plate 1120 when the delivery robot accelerates, decelerates, or passes through an inclined area while traveling. The control unit 1400 can determine whether the water level of the liquid 1020 in the container 1010 rises above a threshold when the robot accelerates, decelerates, or passes through an inclined area while traveling. If it is determined that the water level of the liquid 1020 in the container 1010 rises above a threshold, the control unit 1400 can adjust the inclination angle of the upper plate 1120 relative to the lower plate 1110 or the horizontal plane. This allows the control unit 1400 to adjust the inclination angle of the upper plate 1120 to control the water level of the liquid 1020 to decrease.

[0141] Furthermore, the control unit 1400 can pre-adjust the angle of the upper plate 1120 before passing through the inclined region, preventing a decrease in the stability of the liquid flow state due to abrupt plate angle adjustments in the inclined region. In this regard, the control unit 1400 can detect the inclined region from the surrounding area recognized via a camera installed on the delivery robot. When an inclined region is detected, the control unit 1400 can adjust the inclination angle of the upper plate 1120 relative to the lower plate 1110 to a first angle before entering the inclined region. Upon entering the inclined region, the control unit 1400 can adjust the inclination angle of the upper plate 1120 to a second angle greater than the first angle.

[0142] Furthermore, the control unit 1400 can pre-adjust the angle of the upper plate 1120 before the acceleration / deceleration exceeds a threshold. This prevents a decrease in the stability of the liquid flow state due to abrupt adjustment of the plate angle after the threshold is exceeded. In this regard, the control unit 1400 can detect the speed and / or acceleration via sensors provided on the delivery robot. If the acceleration exceeds a first threshold, the control unit 1400 can adjust the inclination angle of the upper plate 1120 relative to the lower plate 1110 to a first angle. If the acceleration exceeds a second threshold which is greater than the first threshold, the control unit 1400 can adjust the inclination angle of the upper plate 1120 to a second angle which is greater than the first angle.

[0143] On the other hand, the tray structure of a delivery robot realized as a liquid spill prevention module according to the present invention is configured such that the plates move in opposite directions as it is accelerated in one axis direction and in the other axis direction, thereby maintaining a state of equilibrium. In this regard, Figure 10a shows a tray structure of a delivery robot configured such that the plates move in opposite directions as it is accelerated in one axis direction and in the other axis direction. Figure 10b shows a structure that moves in a curved trajectory with respect to the acceleration / deceleration of Figure 10a, maintaining the liquid inside in a stable state.

[0144] Referring to Figure 10a(a), the container 1010 can be placed on an upper plate 1120 that is accelerated / decelerated in the X-axis direction. When accelerated in the X-axis direction, the upper plate 1120 can rotate in the X-axis direction along the rails of the central plate and be driven in the opposite direction to the acceleration direction.

[0145] Referring to Figure 10a(b), the container 1010 can be placed on an upper plate 1120 that is accelerated / decelerated in the Y-axis direction. When accelerated in the Y-axis direction, the central plate can rotate in the X-axis direction along the rails of the lower plate 1110 and be driven in the opposite direction to the acceleration direction.

[0146] In environments where acceleration / deceleration is occurring in the X and Y axes, the drive structures shown in Figures 10a(a) and 10a(b) can operate independently and simultaneously with respect to the X and Y axes. Referring to Figure 10a, the upper / middle / lower plates of the spill prevention module can be configured to slide along their respective linear paths in the X and Y axes.

[0147] Referring to Figure 10b, the plates inside the module can mitigate vibrations and inertial forces associated with acceleration / deceleration during travel by their behavior. In this regard, a centrifugal force Fc can act on the upper region of the upper plate 1120. The central plate 1520 does not mitigate forces through simple linear motion, but rather moves along a curved trajectory to maintain a stable fluid within the plate. Ball bearing guide plates 1521 and 1522 can be positioned above and below the central plate 1520 to guide ball bearings.

[0148] Referring to Figures 7a to 10b, when the delivery robot is accelerated in a uniaxial direction, the control unit 1400 can control the upper plate 1120 to rotate uniaxially along the rails of the central plate 1520. The control unit 1400 can also control the upper plate 1120 to move in the opposite direction to the acceleration direction. In this regard, the second coupling portion 1520 in Figure 7b can form the central plate 1520 in Figure 10b.

[0149] The control unit 1400 can control the central plate 1520 to rotate along the rails of the lower plate 1110 in the other axis direction when it is accelerated in the other axis direction perpendicular to one axis direction. The control unit 1400 can also control the central plate to move in the opposite direction to the other axis direction in which it is accelerated.

[0150] On the other hand, the tray structure of a delivery robot realized as a spill-proof module according to the present invention can be formed with an integrated coupling structure to prevent external foreign matter from flowing in. In this regard, Figure 11 shows a side view and a lower perspective view of a spill-proof module according to the present invention that is formed with an integrated coupling structure to prevent external foreign matter from flowing in.

[0151] In this regard, the tray structure of the delivery robot, which mainly delivers liquid products, can easily become contaminated by external foreign matter. If foreign matter enters the drive unit, the drive reliability of the delivery robot may decrease. Therefore, the present invention can block the inflow of foreign matter from the outside by integrating the upper plate 1120 and the curved rail structure.

[0152] Referring to Figure 11(a), the spill prevention module for the delivery robot can be configured to include a lower plate assembly 1100a and an upper plate assembly 1100b. Referring to Figure 11(b), one side and the other side of the second joint 1520 of the curved rail structure are coupled to the adjustment plate 1300, allowing the movement of the curved track to maintain equilibrium even during acceleration / deceleration while traveling.

[0153] Referring to Figures 7a to 11, the second coupling portion 1520 can be formed as a curved rail structure along the axial direction in which the delivery robot travels. The first insertion portion 1610 can be coupled to the lower region of the upper plate 1120. One and the other ends of the second coupling portion 1520 of the curved rail structure can be coupled to the inner region of the upper plate 1120. One and the other ends of the second coupling portion 1520 can be formed as a recessed structure. The recessed structure of the second coupling portion 1520 can be coupled to the upper plate 1120 with a convex structure.

[0154] The lower plate 1110 and the damping spring 1200 can constitute the lower plate assembly 1100a. The upper plate 1120, the first insertion part 1610, and the second connecting part 1520 can be joined together to constitute the upper plate assembly 1100b.

[0155] On the other hand, the damping adjustment plate according to the present invention can adjust the running characteristics of a delivery robot by various shapes and arrangement structures. In this regard, Figures 12a and 12b show the force acting on the damper spring with reference to the shape of the adjustment plate and the position of the damper spring according to the embodiment.

[0156] Referring to Figure 12a(a), the center of the adjustment plate 1300 can be configured to connect with the end of the damping spring 1200. The adjustment plate 1300 can be realized such that one side has an inclined surface and the other side has a horizontal surface, respectively. Referring to Figures 12a(a) and 12a(b), the inclined surface of the adjustment plate 1300 is formed at a predetermined inclination angle, so that the force acting on the damper spring decreases linearly as the distance increases with respect to the center point of the damper spring.

[0157] Referring to Figure 12b(a), the adjustment plate 1300b can be configured such that its center is connected to the end of the damping spring 1200, and the adjustment plate 1300b can be formed as a recessed structure from its center to a first point P1. The adjustment plate 1300b can be formed as a horizontal structure from the first point P1 to a second point P2. The adjustment plate 1300b can be formed as an inclined structure from the second point P2 to the end point.

[0158] Referring to Figures 12b(a) and 12b(b), the adjustment plate 1300b can be formed with a first inward inclination angle from the end point to the first point P1. The adjustment plate 1300b can be formed horizontally from the first point P1 to the second point P2. The adjustment plate 1300b can be formed with a second outward inclination angle from the second point P2 to the center point.

[0159] The force acting on the damper spring 1200 can be configured to increase linearly from the center point to the first point P1. The force F acting on the damper spring 1200 can be configured to have a maximum value from the first point P1 to the second point P2. The force acting on the damper spring 1200 can be configured to decrease linearly from the second point P2 to the end point.

[0160] Referring to Figures 12a and 12b, the surfaces in contact between the end of the damper spring 1200 and the adjustment plates 1300 and 1300b correspond to the rolling surfaces. The damping value can be changed according to the trajectory shape of the rolling surface. By making the center of the rolling surface flat and keeping the force acting on the damper spring 1200 constant, the flow in that section can be controlled. By forming the center of the rolling surface in a concave shape, the adjustment plates 1300 and 1300b can more clearly find the center position. On the other hand, by configuring various trajectory shapes of the rolling surfaces of the adjustment plates 1300 and 1300b, the travel scope of the delivery robot can be expanded and the travel characteristics can be optimized.

[0161] On the other hand, in the spill prevention structure for a delivery robot according to the present invention, the adjustment plate can be formed in various arrangements. Referring to Figures 8a, 12a, and 12b, the adjustment plate can be arranged on the side. The damper spring 1200 may include a first damper spring 1210 and a second damper spring 1220 arranged symmetrically in the other axial direction with respect to the center point. The adjustment plates 1300 and 1300b may include a first adjustment plate 1310 arranged at the outer end of the first damper spring 1210 and a second adjustment plate 1320 arranged at the outer end of the second damper spring 1220.

[0162] On the other hand, in the spill prevention module for a delivery robot according to the present invention, the adjustment plate can be located in the center. In this regard, Figure 13 shows a structure in which the adjustment plate is located in the center of the module according to the present invention.

[0163] Referring to Figure 13, the damper spring 1200 may include a first damper spring 1210 and a second damper spring 1220 arranged symmetrically in the other axial direction with respect to a center point. The adjustment plate 1300c may include a first adjustment plate 1310c located at the inner end of the first damper spring 1210 and a second adjustment plate 1320c located at the inner end of the second damper spring 1220. The first adjustment plate 1310c and the second adjustment plate 1320c may each have a horizontal surface and an inclined surface. The horizontal surface of the first adjustment plate 1310c and the horizontal surface of the second adjustment plate 1320c may be in contact and coupled.

[0164] The above describes a delivery robot equipped with a tray structure according to the present invention. The technical effects of the delivery robot equipped with a tray structure according to the present invention can be summarized as follows, but are not limited thereto.

[0165] An embodiment of the present invention provides a tray-structured module to prevent spills of liquids.

[0166] In the delivery robot according to an embodiment of the present invention, the upper plate and the lower plate operate independently, stabilizing the container holding the fluid and preventing the fluid from spilling.

[0167] The delivery robot according to an embodiment of the present invention can prevent liquids from spilling due to vibrations that occur when passing over obstacles, and can also prevent liquids from spilling due to inertia that occurs during acceleration / deceleration.

[0168] The delivery robot according to an embodiment of the present invention can maintain or increase its travel speed above a certain speed even when passing through obstacles and during acceleration / deceleration operations.

[0169] The spill-prevention module for a delivery robot according to an embodiment of the present invention has a trajectory formed to enable curved motion, and its internal structure is structured to stabilize the movement of the fluid inside the container.

[0170] The spill-prevention module for a delivery robot according to an embodiment of the present invention generates centrifugal force inside the container through a swing-like motion, thereby stabilizing the movement of the fluid inside.

[0171] The spill prevention module for a delivery robot according to an embodiment of the present invention reduces the effects of friction by using a damping adjustment plate, allows the amount of damping to be adjusted based on distance, and enables the upper / lower plates to behave stably.

[0172] Further scope of the applicability of the present invention will become clear from the detailed description above. However, since various changes and modifications within the spirit and scope of the present invention will be clearly understood by those skilled in the art, the detailed description and specific embodiments, such as preferred embodiments of the present invention, should be understood as being given merely as examples.

Claims

1. It is a delivery robot, A lower plate configured to be fixed to the delivery robot; An upper plate configured to support the placed article; A damper spring fixed to the lower plate; and Includes an adjustment plate coupled to the end of the damper spring and configured to adjust the damping of the damper spring, The adjustment plate is formed as an inclined surface, and the distance between the center of the damper spring and the adjustment plate is formed to differ between the center point and the end point. A delivery robot in which the upper plate operates at different inclination angles relative to the lower plate, depending on the distance between the center of the damper spring and the adjustment plate.

2. A first connecting portion that connects to the lower region of the upper plate; A first insertion portion inserted at the first and second points of the first joint portion, with its lower region connected; and The delivery robot according to claim 1, further comprising a second coupling portion which is coupled to the first coupling portion in one and other regions of the first coupling portion.

3. A second insertion portion inserted into the internal region of the second coupling portion; and The delivery robot according to claim 2, further comprising a third coupling portion disposed between the first insertion portion and the second insertion portion, the one-sided and other-sided regions of which are coupled with the second insertion portion.

4. The second insertion portion is connected to the second coupling portion via side ball bearings in the side regions on one and the other side. The delivery robot according to claim 3, wherein the side ball bearings include an upper ball bearing in the upper region and a lower ball bearing in the lower region.

5. The end of the damper spring is connected to the center of the adjustment plate via a ball bearing, The center of the damper spring is formed at a first distance from the end point of the adjustment plate, The delivery robot according to claim 1, wherein the center of the damper spring is formed at a second distance shorter than the first distance to the center point of the adjustment plate.

6. The adjustment plate includes a horizontal surface and an inclined surface. The delivery robot according to claim 5, wherein the force acting on the damper spring is formed to change according to the trajectory shape of the inclined surface of the adjustment plate.

7. The delivery robot according to claim 6, wherein the force acting on the damper spring is formed to have a maximum value at the center point and to decrease linearly from the center point to the end point.

8. The adjustment plate is formed with a first inclination angle in the inward direction from the end point to the first point, horizontally from the first point to the second point, and with a second outward inclination angle from the second point to the center point. The delivery robot according to claim 6, wherein the force acting on the damper spring is formed to increase linearly from the center point to the first point, to have a maximum value from the first point to the second point, and to decrease linearly from the second point to the end point.

9. The second coupling portion is formed as a curved rail structure in the axial direction on which the delivery robot travels, The first insertion portion is connected to the lower region of the upper plate, and one and the other ends of the second connecting portion of the curved rail structure are connected to the inner region of the upper plate. The delivery robot according to claim 3, wherein the upper plate, the first insertion portion, and the second coupling portion are joined together as a single unit to constitute an upper plate assembly.

10. The delivery robot further includes a control unit configured to adjust the inclination angle of the upper plate when it accelerates, decelerates, or passes through an inclined area while traveling, The control unit, The delivery robot according to claim 3, wherein, when it is determined that the liquid level in the container rises above a threshold level when accelerating, decelerating, or passing through an inclined area during the aforementioned journey, the robot adjusts the inclination angle of the upper plate relative to the lower plate to control the liquid level to decrease.

11. The control unit, If a sloped area is detected in the surrounding area recognized through the camera installed on the delivery robot, the tilt angle of the upper plate relative to the lower plate is adjusted to a first angle before entering the sloped area. The delivery robot according to claim 10, wherein when it enters the inclined region, it adjusts the inclination angle of the upper plate to a second angle greater than the first angle.

12. The control unit, When the delivery robot accelerates in the uniaxial direction in which it travels, the upper plate is controlled to rotate in the uniaxial direction along the rail of the central plate. The upper plate is controlled to move in the direction opposite to the acceleration direction, The delivery robot according to claim 10, wherein the second connecting portion forms the central plate.

13. The control unit, When the delivery robot accelerates in a direction perpendicular to the one axis in which it travels, the central plate is controlled to rotate in the direction of the other axis along the rail of the lower plate. The delivery robot according to claim 10, wherein the central plate is controlled to move in the opposite direction to the acceleration direction.

14. The damper spring includes a first damper spring and a second damper spring arranged symmetrically in the other axial direction with respect to the center point. The delivery robot according to claim 13, wherein the adjustment plate includes a first adjustment plate and a second adjustment plate disposed at the outer end of the first damper spring and the outer end of the second damper spring.

15. The damper spring includes a first damper spring and a second damper spring arranged symmetrically in the other axial direction with respect to the center point. The adjustment plate includes a first adjustment plate and a second adjustment plate positioned at the inner end of the first damper spring and the inner end of the second damper spring, The first adjustment plate and the second adjustment plate each have a horizontal surface and an inclined surface, The delivery robot according to claim 13, wherein the horizontal surface of the first adjustment plate and the horizontal surface of the second adjustment plate are coupled to be in contact with each other.

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