Unmanned delivery system

Abstract

An unmanned delivery system according to one embodiment of the present specification may include: a main body having a plurality of trays for loading delivery items in an upward and downward direction; a moving part installed on the main body to move the main body; an end part that withdraws a delivery item loaded on a selected tray and places it at a designated location while aligned with a selected tray among the plurality of trays; and a lifting means for raising and lowering the end part, wherein the end part may include a first conveyor belt for transporting an item transported from the selected tray to a loading / unloading place, and each of the plurality of trays may include a second conveyor belt for transporting the delivery item to the end part.

Description

Technology Field

[0001] This specification relates to an unmanned delivery system, and more specifically, to a delivery robot that transports and unloads multiple items of various shapes to multiple destinations. Background Technology

[0002] Due to difficulties in staffing and management, rising labor costs, and the increasing preference for contactless services, there is a growing demand for delivery using robots rather than human delivery.

[0003] However, when the customer (recipient) is absent upon arrival at the delivery location, the delivery robot, unlike conventional delivery personnel (people), has difficulty responding immediately and flexibly. Furthermore, if it waits until the customer arrives, there is a problem where the quality of the delivered goods may deteriorate depending on the type of goods (e.g., food), and there is also a problem where the delivery robot's waiting time at one delivery location becomes prolonged, potentially hindering other deliveries.

[0004] In addition, even if the customer is not absent, there is an increasing number of cases where they prefer the items to be left in a designated place, such as in front of the door or in the hallway, rather than coming out immediately to pick them up themselves.

[0005] While it is difficult for such issues to arise when deliveries are made directly by humans, in the case of delivery robots, there is a potential for various problems, ranging from selecting an appropriate location to drop off items to ensuring they are dropped without damage.

[0006] Therefore, a technical concept is required that enables a delivery robot to automatically and reliably unload delivery items at an accurate location, just like a conventional delivery person, even when the recipient is absent.

[0007] Due to such requirements, a method and system for handling delivered goods when the recipient is absent is disclosed in Korean Patent Publication No. 10-2021-0122009.

[0008] However, the system disclosed in the aforementioned prior patent is configured such that delivery items loaded inside the cargo box can be delivered to only one delivery location, as the delivery robot is equipped with only one cargo box.

[0009] Therefore, the system disclosed in the aforementioned prior patent has the problem that it takes a long time to perform the task of transporting and unloading multiple items of various shapes to multiple destinations, because after unloading the delivery items at one delivery location, it must return to the item loading location and load other delivery items. The problem to be solved

[0010] The technical problem that this specification aims to solve is to solve at least one of the above-mentioned problems.

[0011] Another technical problem that this specification aims to solve is to provide a delivery robot that transports and unloads multiple items having various shapes to multiple destinations.

[0012] Another technical problem that this specification aims to solve is to provide a delivery robot capable of efficiently delivering multiple items having various shapes.

[0013] Another technical problem that this specification aims to solve is to provide a delivery robot capable of automatically and reliably unloading delivery items at an accurate location, just like a conventional delivery person, even when the recipient is absent.

[0014] The technical problems to be solved in this specification are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which this specification belongs from the description below. means of solving the problem

[0015] An unmanned delivery system according to one embodiment of the present specification may include: a main body having a plurality of trays for loading delivery items in an upward and downward direction; a moving part installed on the main body to move the main body; an end part that withdraws a delivery item loaded on a selected tray and places it at a designated location while aligned with a selected tray among the plurality of trays; and a lifting means for raising and lowering the end part, wherein the end part may include a first conveyor belt for transporting an item transported from the selected tray to a loading / unloading place, and each of the plurality of trays may include a second conveyor belt for transporting the delivery item to the end part.

[0016] The unmanned delivery system may further include a camera for recognizing the unloading location of a delivery item, checking whether there are other items or people at the unloading location, and checking whether the delivery item has been accurately unloaded at the unloading location.

[0017] According to one embodiment of the present specification, the lifting means may include a rail installed on the main body, and a multi-joint robot arm coupled to the rail and the end portion to lift the end portion while moving up and down along the rail.

[0018] According to another embodiment of the present specification, the lifting means may include a rail installed on the main body, and a lifting frame coupled to the rail and the end portion to lift the end portion while moving up and down along the rail, and the end portion may be installed in a foldable manner on the lifting frame.

[0019] In an embodiment in which the lifting means includes a multi-joint robot arm, the end portion may be provided with a docking guide pin protruding toward the plurality of trays, and the plurality of trays may each be provided with a docking hole into which the docking guide pin is coupled when the end portion and the selected tray are aligned.

[0020] And the above end portion may be equipped with a first gear that rotates by an internal motor to drive the first conveyor belt, and the plurality of trays may each be equipped with a second gear that drives the second conveyor belt by rotating by the rotational force of the first gear while coupled with the first gear in a state where the docking guide pin is coupled to the docking hole.

[0021] And the above end portion may be equipped with a sensor for detecting the transfer of the delivery item to the first conveyor belt and the unloading of the item from the first conveyor belt.

[0022] In an embodiment where the lifting means includes a lifting frame, the first conveyor belt of the end portion and the second conveyor belt of the plurality of trays can each be driven by different built-in motors. Effects of the invention

[0023] According to the present specification, the unmanned delivery system of the present specification is equipped with a plurality of trays to load a plurality of various types of delivery items.

[0024] Therefore, while loaded with multiple delivery items, the multiple delivery items can be delivered continuously to different delivery destinations.

[0025] Therefore, delivery efficiency can be effectively improved using delivery robots.

[0026] In addition, delivery items can be unloaded at a designated location, such as in front of the door or in the hallway, regardless of whether the customer is absent, thereby reducing waiting time at the delivery location.

[0027] The effects obtainable in this specification are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art to which this specification belongs from the description below. Brief explanation of the drawing

[0028] The accompanying drawings, included as part of the detailed description to aid in understanding the present specification, provide embodiments of the present specification and explain the technical features of the present specification together with the detailed description. FIG. 1 is a front side external perspective view of a delivery robot according to the first embodiment of the present specification. FIG. 2 is a rear side external perspective view of a delivery robot according to the first embodiment of the present specification. FIG. 3 is a perspective view of the end portion of a delivery robot according to the first embodiment of the present specification. FIG. 4 is an enlarged view of a tray according to the first embodiment of the present specification. FIG. 5 is a front side external perspective view of a delivery robot according to a second embodiment of the present specification. FIG. 6 is a front side external perspective view of a delivery robot according to a second embodiment of the present specification. FIG. 7 is an external perspective view showing the end portion of a delivery robot according to the second embodiment of the present specification in a folded state. Specific details for implementing the invention

[0029] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components regardless of drawing symbols are given the same reference number, and redundant descriptions thereof will be omitted.

[0030] The suffixes "assembly" and "part" used for components in the following description are assigned or used interchangeably solely for the ease of drafting the specification, and do not inherently possess distinct meanings or roles.

[0031] In addition, when describing the embodiments disclosed in this specification, if it is determined that a detailed description of related prior art could obscure the essence of the embodiments disclosed in this specification, such detailed description is omitted.

[0032] In addition, the attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings; it should be understood that they include all modifications, equivalents, and substitutions that fall within the ideas and technical scope of this specification.

[0033] Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another.

[0034] When it is stated that one component is "combined" or "in contact" with another component, it should be understood that while it may be directly combined or in direct contact with that other component, there may also be other components present in between.

[0035] On the other hand, when it is stated that one component is "directly coupled" to or "directly in contact" with another component, it should be understood that there are no other components in between.

[0036] A singular expression includes a plural expression unless the context clearly indicates otherwise.

[0037] In this application, terms such as “comprising” or “having” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0038] Hereinafter, the present specification will be described in detail with reference to the attached drawings, provided that identical or similar components are given the same reference number regardless of the drawing symbols, and redundant descriptions thereof will be omitted.

[0039] Hereinafter, a delivery robot according to the first embodiment of the present specification will be described with reference to FIGS. 1 to 4.

[0040] FIG. 1 is a front external perspective view of a delivery robot according to the first embodiment of the present specification, and FIG. 2 is a rear external perspective view of a delivery robot according to the first embodiment of the present specification.

[0041] And FIG. 3 is a perspective view of the end portion of a delivery robot according to the first embodiment of the present specification, and FIG. 4 is an enlarged view of a tray according to the first embodiment of the present specification.

[0042] An unmanned delivery system according to the first embodiment of the present specification (hereinafter referred to as a “delivery robot”) includes a main body (110).

[0043] The main body (110) of the delivery robot (100) is equipped with a plurality of trays (120) for loading delivery items.

[0044] Multiple trays (120) are arranged along the vertical direction of the main body (110) and are arranged on the front side and rear side of the main body (110), respectively.

[0045] Of course, it is also possible for multiple trays (120) to be provided only on one of the front or rear sides of the main body (110).

[0046] A plurality of trays (120) arranged in the vertical direction of the main body (110) can be arranged so as to adjust the spacing between adjacent trays (120).

[0047] According to this configuration, delivery items of various shapes and / or sizes can be effectively loaded into the trays (120) by adjusting the spacing between the trays (120) according to the shape and / or size of the delivery items.

[0048] A moving part (130) for moving the main body (110) is provided at the lower part of the main body (110).

[0049] In this embodiment, the moving part (130) may include a plurality of wheels (131).

[0050] Since the configuration of the moving part (130) for moving the main body (110) can be easily implemented by a person skilled in the art, a detailed description of the moving part (130) is omitted.

[0051] A terminal portion (140) may be located on the front side and the rear side of the main body (110), respectively.

[0052] The above end portion (140) functions to withdraw delivery items loaded on a selected tray and unload them at a designated location while aligned with one of the selected trays (120) among the plurality of trays.

[0053] Accordingly, the end portion (140) located on the front side of the main body (110) can be used to unload delivery items loaded on a plurality of trays (120) located on the front side of the main body (110), and the end portion (140) located on the rear side of the main body (110) can be used to unload delivery items loaded on a plurality of trays (120) located on the rear side of the main body (110).

[0054] A robot arm (150) is connected to each end portion (140), and the robot arm (150) can be formed as a multi-joint structure capable of rotating in a horizontal direction.

[0055] And one end of the robot arm (150) is connected to a rail (160) provided on the main body (110) so as to be able to move up and down.

[0056] Since raising and lowering the robot arm (150) along the rail (160) in the up and down direction of the main body (110) can be easily performed by a person skilled in the art, a detailed explanation thereof is omitted.

[0057] Accordingly, in the present embodiment, the lifting means (170) for raising and lowering the end portion (140) includes a rail (160) and a robot arm (150).

[0058] Although the above description describes the robot arm (150) moving up and down along the rail (160) of the main body (110) as an example, it is also possible to configure the robot arm (150) so that it can extend in the up and down direction while one end of the robot arm (150) is fixed to the main body (110).

[0059] The above end portion (140) may include a first conveyor belt (141) for conveying goods conveyed to the end portion (140) to a loading / unloading place, and the plurality of trays (120) may each include a second conveyor belt (121) for conveying the loaded delivery goods to the end portion (140).

[0060] And the first conveyor belt (141) of the above end portion (140) may be coupled to a shaft (not shown) or a roller (not shown) that rotates together with the first gear (143), and the first gear (143) may be rotated by an embedded motor (not shown) embedded in the space between the first conveyor belt (141).

[0061] The configuration of the end portion (140) equipped with an internal motor, a first conveyor belt (141), and a first gear (143) can be easily configured by a person skilled in the art, so a detailed description thereof is omitted.

[0062] Each of the trays (120) may have a second gear (123) that is optionally engaged with the first gear (143) of the end portion (140).

[0063] Here, "optional engagement" means that when the end portion (140) is positionally aligned with one of the trays (120), the second gear (123) engages with the first gear (143).

[0064] In order to selectively mesh the first gear (143) and the second gear (123), the end portion (140) may be provided with a docking guide pin (145) protruding toward the plurality of trays (120), and the plurality of trays (120) may each be provided with a docking hole (125) into which the docking guide pin (145) is coupled when the end portion (140) and one of the selected trays (120) are aligned.

[0065] According to this configuration, when the end portion (140) is position-aligned with one of the selected trays (120) by means of a lifting means (170) and the end portion (140) is approached by a robot arm (150) toward the selected tray (120), the docking guide pin (145) of the end portion (140) is coupled to the docking hole (125) of the selected tray (120), and accordingly, the second gear (123) of the selected tray (120) is engaged with the first gear (143) of the end portion (140).

[0066] Accordingly, in this state, when the first gear (143) of the end portion (140) rotates, the first conveyor belt (141) is driven, and at the same time, the second gear (123) rotates to drive the second conveyor belt (121), so that delivery items loaded on the second conveyor belt (121) of the tray (120) are transported toward the first conveyor belt (141) of the end portion (140).

[0067] And the above end portion (140) may be equipped with a sensor (S1) for detecting the transfer of the delivery item to the first conveyor belt (141) and a sensor (S2) for detecting the unloading of the delivery item from the first conveyor belt (141).

[0068] The above sensors (S1, S2) may be composed of photoelectric sensors, but may also be composed of sensors of various configurations capable of object detection.

[0069] According to this configuration, the delivery robot can carry and transport multiple items of various shapes and sizes, and can unload items at specific locations of different heights (chairs, tables, floors, shelves, on conveyor belts, etc.).

[0070] Meanwhile, to enable the transport of goods using a delivery robot, the delivery robot may be equipped with various vision systems.

[0071] For example, a delivery robot may be equipped with a camera (180, 190), lidar, etc.

[0072] The camera (180) can be used for capturing images for autonomous driving. Therefore, the camera (180) can be used to monitor the driving environment.

[0073] The delivery robot can perform autonomous driving by analyzing the driving environment using images captured through the camera (180), setting a driving path by avoiding obstacles placed in the driving environment, or notifying the outside that obstacles are placed in the driving environment.

[0074] The camera (190) can be used to recognize the unloading location of the delivery item, check whether there are other items or people at the unloading location, and check whether the delivery item has been accurately unloaded at the unloading location.

[0075] To maintain stable long-term delivery of goods using delivery robots, the task of users or operators having to physically travel to the location where the robot is stopped due to an error or breakdown to repair it or manually move it must be minimized.

[0076] To this end, it is necessary to diagnose in advance any event-related errors, work or motion-related errors, or suspected malfunctions occurring in the robot, so that an expert can be called in to make corrections in advance while the robot is in a standby area.

[0077] Therefore, the delivery robot may be equipped with an AI-based fault diagnosis module that learns by continuously collecting and storing one-time error information, work or operation information according to the work sequence or over time, and analyzes real-time data based on this to predict and diagnose errors or failures of the robot, and a fault recovery module that provides commands to recover from errors or failures based on these results.

[0078] The fault diagnosis module can diagnose faults based on one-time data and can diagnose faults based on data accumulated over a certain period.

[0079] In addition, faults can be diagnosed based on task-level data, and faults can also be diagnosed based on data across the entire service.

[0080] For fault diagnosis, data such as wheel rotation speed, robot movement speed, robot position, movement time and trajectory per work section, robot overall movement trajectory, robot arm joint angle, end-part position and speed and sensor data, success of unloading goods by end-part, execution time and movement trajectory per work section, recognition of chair (table) position and height at unloading location, success of unloading goods, battery level, robot arm error and autonomous driving error may be collected.

[0081] And the fault recovery module can return the robot to its home position via autonomous driving or remote control, restart the control system, or turn the robot's power on and off.

[0082] Through this, user or operator intervention and interference are minimized during robot operation, allowing the robot to be used on-site for extended periods without significant difficulty.

[0083] In the event that a user or operator moves directly to the location where the robot is (where it is stopped due to a malfunction) to repair the robot due to an error or breakdown of the delivery robot, the user or operator can repair the robot using multiple buttons provided on the control panel.

[0084] The delivery robot may be equipped with a wireless communication (5G, LTE, WIFI, etc.) router for interoperability with a remote control system that performs delivery service scheduling and execution, elevator boarding and inter-floor movement control, automatic door and infrastructure equipment control, multi-robot cooperation control, failure recovery for error situations, and delivery service command input user interface (UI).

[0085] Hereinafter, a delivery robot according to a second embodiment of the present specification will be described with reference to FIGS. 5 to 7.

[0086] FIG. 5 is a front exterior perspective view of a delivery robot according to a second embodiment of the present specification, and FIG. 6 is a front exterior perspective view of a delivery robot according to a second embodiment of the present specification.

[0087] And FIG. 7 is an external perspective view showing the end portion of a delivery robot according to the second embodiment of the present specification in a folded state.

[0088] The delivery robot (200) of the present embodiment can be used to deliver large and heavy delivery items compared to the delivery robot (100) of the first embodiment described above.

[0089] For example, the delivery robot (200) of the present embodiment can be used to transport and deliver goods weighing about 10 kg.

[0090] The delivery robot (100) of the first embodiment described above has a lifting means (170) equipped with a robot arm (150), but the delivery robot (200) of the present embodiment does not have a lifting means (270) equipped with a robot arm.

[0091] And, in the delivery robot (100) of the first embodiment described above, the second conveyor belt (121) of the tray (120) is driven by receiving power from an internal motor provided at the end portion (140), but in the delivery robot (200) of the present embodiment, the second conveyor belt (221) of the tray (220) is driven by a separate internal motor.

[0092] To explain this, the delivery robot (200) of the present embodiment includes a main body (210).

[0093] The main body (210) is provided with a plurality of trays (220) for loading delivery items, and the plurality of trays (220) are arranged along the upper and lower directions of the main body (210).

[0094] A plurality of trays (220) arranged in the vertical direction of the main body (210) can be arranged so as to adjust the spacing between adjacent trays (220).

[0095] According to this configuration, delivery items of various shapes and / or sizes can be effectively loaded into the trays (220) by adjusting the spacing between the trays (220) according to the shape and / or size of the delivery items.

[0096] A moving part (230) for moving the main body (210) is provided at the lower part of the main body (210).

[0097] In this embodiment, the moving part (230) may include a plurality of wheels (231, 233) and may include at least one omni wheel (233).

[0098] Since the configuration of the moving part (230) for moving the main body (210) can be easily implemented by a person skilled in the art, a detailed description of the moving part (230) is omitted.

[0099] An end portion (240) may be located on the front side of the main body (210).

[0100] The above end portion (240) is folded for storage when not in use and unfolds only when in use.

[0101] The above end portion (240) functions to withdraw delivery items loaded on a selected tray and unload them at a designated location while aligned with one of the selected trays (220) among the plurality of trays (220).

[0102] The end portion (240) is connected to the lifting frame (250), and the lifting frame (250) is connected to the rail (260) provided on the main body (210) so as to be able to move up and down.

[0103] Since raising and lowering the lifting frame (250) along the rail (260) in the vertical direction of the main body (210) can be easily performed by a person skilled in the art, a detailed description thereof is omitted.

[0104] Accordingly, in the present embodiment, a lifting means (270) for raising and lowering the end portion (240) includes a rail (260) and a lifting frame (250).

[0105] The above end portion (240) may include a first conveyor belt (241) for conveying goods conveyed to the end portion (240) to a loading / unloading place, and the plurality of trays (220) may each include a second conveyor belt (221) for conveying the loaded delivery goods to the end portion (240).

[0106] And the first conveyor belt (241) of the end portion (240) and the second conveyor belt of the tray (220) can each be driven by different built-in motors (not shown).

[0107] Since the configuration of the end portion (240) equipped with an internal motor and a first conveyor belt (241) and the configuration of the tray (220) equipped with an internal motor and a second conveyor belt (221) can be easily configured by a person skilled in the art, a detailed description thereof is omitted.

[0108] According to this configuration, when the end portion (240) is position-aligned with one of the selected trays (220) by means of a lifting means (270), and the first conveyor belt (241) of the end portion (240) and the second conveyor belt (221) of the tray (220) are each driven by different built-in motors, the delivery items loaded on the second conveyor belt (221) of the tray (220) are conveyed toward the first conveyor belt (241) of the end portion (240).

[0109] And the above end portion (240) may be equipped with a sensor for detecting the transfer of the delivery item to the first conveyor belt (241) and a sensor for detecting the unloading of the delivery item from the first conveyor belt (241).

[0110] The above sensor may be composed of a photoelectric sensor, but may also be composed of sensors of various configurations capable of object detection.

[0111] According to this configuration, the delivery robot can carry and transport multiple items of various shapes and sizes, and can unload items at specific locations of different heights (chairs, tables, floors, shelves, on conveyor belts, etc.).

[0112] Meanwhile, to enable the transport of goods using a delivery robot, the delivery robot may be equipped with various vision systems.

[0113] For example, a delivery robot may be equipped with a camera (280, 285), a lidar (290), etc.

[0114] The camera (280) can be used for capturing images for autonomous driving, and the lidar (290) can be used to recognize surrounding objects using laser signals.

[0115] Therefore, the camera (280) and lidar (290) can be used to monitor the driving environment.

[0116] The delivery robot can perform autonomous driving by analyzing the driving environment using information obtained through the camera (280) and lidar (290), setting a driving path by avoiding obstacles placed in the driving environment, or notifying the outside that obstacles are placed in the driving environment.

[0117] The camera (285) can be used to recognize the unloading location of the delivery item, check whether there are other items or people at the unloading location, and check whether the delivery item has been accurately unloaded at the unloading location.

[0118] The delivery robot described above can replace medical staff or operational personnel working in isolation centers, such as hospitals and residential treatment centers, by delivering meals (three times a day), medicines, and daily supplies (irregularly) by unloading them onto tables (chairs) placed in front of the rooms of patients within the isolation space.

[0119] Therefore, by replacing medical staff and operational personnel with robots, the workload associated with delivering goods such as meals and packages can be reduced, burnout among medical and operational personnel can be prevented by decreasing the frequency of putting on and taking off protective suits, and patient response services can be provided in a safer environment by lowering the risk of infectious disease transmission.

[0120] In addition, by using it for the transportation and delivery of meals, mail, and parcels in various locations such as logistics factories, post offices, government offices, corporate offices, and apartments, the workload of workers, couriers, and security guards can be reduced, delivery delays can be shortened, and delivery efficiency can be improved by reducing the time couriers spend indoors.

[0121] It is obvious to those skilled in the art that this specification may be embodied in other specific forms without departing from the essential features of this specification. Accordingly, the detailed description set forth above should not be interpreted restrictively in all respects but should be considered illustrative. The scope of this specification shall be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of this specification are included within the scope of this specification. Explanation of the symbols

[0122] 100, 200: Delivery robots 110, 210: Main body 120, 220: Tray 130, 230: Moving part 140, 240: Extremities 150: Robotic arm 160, 260; Rail 170, 270: Lifting means 180, 280: Camera 290: LiDAR

Claims

Claim 1 A main body having a plurality of trays for loading delivery items in an upward and downward direction; a moving part installed on the main body to move the main body; and an end part that withdraws a delivery item loaded on a selected tray and places it at a designated location while aligned with a selected tray among the plurality of trays. and includes a lifting means for raising and lowering the end portion, wherein the end portion includes a first conveyor belt for conveying goods conveyed from the selected tray to a loading / unloading place, and the plurality of trays each include a second conveyor belt for conveying the delivery goods to the end portion, wherein the end portion is equipped with a docking guide pin protruding toward the plurality of trays and a first gear that rotates by an internal motor to drive the first conveyor belt, and the plurality of trays are equipped with a docking hole to which the docking guide pin is coupled when the end portion and the selected tray are aligned, and a second gear that is coupled to the first gear when the docking guide pin is coupled to the docking hole, and when the end portion approaches the selected tray side while aligned with one of the selected trays by the lifting means, the docking guide pin of the end portion is coupled to the docking hole of the selected tray, and the second gear of the selected tray is coupled to the first gear of the end portion, and the first gear rotates to convey the first An unmanned delivery system in which, when the belt is driven, the second gear coupled to the first gear rotates to drive the second conveyor belt. Claim 2 An unmanned delivery system according to claim 1, further comprising a camera for recognizing the unloading location of a delivery item, checking whether there are other items or people at the unloading location, and checking whether the delivery item has been accurately unloaded at the unloading location. Claim 3 In paragraph 2, the lifting means comprises a rail installed on the main body, and a multi-joint robot arm coupled to the rail and the end portion to lift the end portion while lifting along the rail, thereby forming an unmanned delivery system. Claim 4 delete Claim 5 delete Claim 6 An unmanned delivery system according to any one of claims 1 to 3, wherein the end portion is equipped with a sensor for detecting the transfer of the delivery item to the first conveyor belt and the unloading of the item from the first conveyor belt. Claim 7 delete Claim 8 delete

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