A service robot

Abstract

The invention relates to a service robot for use in the service sector in order to provide autonomous service in an unmanned manner for use in catering areas, restaurants and cafes.

Description

[0001] A SERVICE ROBOT

[0002] Technical Field of Invention

[0003] The invention relates to a service robot for use in the service sector in order to provide autonomous service in an unmanned manner for use in catering areas, restaurants and cafes.

[0004] Prior Art of the Invention

[0005] Service robots can be programmed to perform certain tasks automatically using advanced technologies such as artificial intelligence, image recognition, autonomous mapping and sensor technologies, or they are devices with learning capabilities. When the present systems are examined, the service robots developed are widely used in catering areas such as restaurants and cafes due to increasing personnel costs. In present applications, service robots generally deliver products such as plates, glasses, cutlery to the specified target.

[0006] Present service robots are generally developed to move in the horizontal plane. They are used in single-storey areas to carry the products they carry in the transport area. The primary success criterion of these service robots is to deliver the products they carry in the transport areas to the relevant target without knocking them over.

[0007] The problems encountered in the prior art are that during the autonomous driving of the service robot, it transmits the reaction it receives from the ground unmediated, causing tipping and spillage during transport. In present systems, the wheels under the mobile robot are directly connected to the chassis. As the robot moves forward, the reaction forces from the ground are transferred to the body of the robot and the food I beverages in the transport area. This situation leads to spillages due to different floor heights during transport. In order to prevent unwanted situations such as spillage, skidding, etc. while transporting such food and beverages to the relevant target, the robot is expected to transmit the reactions from the ground to the robot body by damping during contact with the ground. In the present service robots, the shock absorber design is insufficient against the loads coming from the ground, causing the transported objects to tip over with jolts. Present shock absorber systems can only absorb loads from a single axis. In this case, loads from cross axes cannot be damped. Another problem is that in the present systems, service robots are only capable of working in the horizontal plane, that is, in single-storey buildings. There is no service robot that can provide vertical movement for multi-storey restaurants.

[0008] The patent document with the publication WO2023120746A1 describes an autonomous service robot. The said robot both creates a static map and controls its instantaneous movement with LIDAR and similar elements. The movement of this service robot is provided by standard and swivel wheels. There are also shock absorbers placed vertically at the bottom of one of the trays for the damping of vertical forces.

[0009] The patent document with publication US2023324923A1 describes another field robot that performs both static mapping and uses lidar and similar sensors for instantaneous movements. It also shows that the robot is capable of handling multiple trays. The present robot also includes swivel wheels.

[0010] As a result, all the problems above-mentioned have made it necessary to make an innovation in the related field.

[0011] Purpose of the Invention

[0012] The main purpose of the invention is to provide a structure of a service robot having a wheel system arranged to prevent spillage of transported food or similar objects from the transport area.

[0013] The purpose of the invention is to provide a structure of a service robot having a wheel system for damping the vertical forces coming from the floor as well as the forces coming from the axes extending in the direction perpendicular to this vertical force.

[0014] The purpose of the invention is to provide a structure of a service robot that can provide service to all of these floors in service areas with different floors.

[0015] Definitions of the Figures Describing the Invention

[0016] In order to better describe the device developed with this invention, the figures used and the related descriptions are as follows.

[0017] Figure 1 is the isometric view of the inventive service vehicle. Figure 2 is the schematic view of the inventive service vehicle.

[0018] Figure 3 is the isometric view showing the assembly of the wheel and the swivel wheel.

[0019] Figure 3a is the isometric view showing the swivel wheel system.

[0020] Figure 3b is the front view of Figure 3a.

[0021] Definitions of the Elements I Sections I Parts of the Invention

[0022] In order to better describe the device developed with this invention, the parts and sections in the figures are numbered and the equivalent of each number is given below.

[0023] 1. Swivel wheel

[0024] 1.1. First wheel

[0025] 1.2. Wheel connection

[0026] 1.3. Connection plate

[0027] 2. Shock absorber

[0028] 3. Z arm

[0029] 4. Hanger arm

[0030] 4.1. Hanger connection

[0031] 5. Suspension hanger

[0032] 5.1. Damper

[0033] 6. Linear bearing

[0034] 6.1 Bearing housing

[0035] 6.2 Bearing cylinder

[0036] 10. User interface

[0037] 15. Emergency button

[0038] 20. Transport area

[0039] 25. Led

[0040] 30. Depth camera

[0041] 35. Input-output 40. Wheel system

[0042] 50. LIDAR

[0043] 100. Processing unit

[0044] 110. Control unit

[0045] 120. Battery management system

[0046] 121. Battery pack

[0047] 122. Charging unit

[0048] 123. Sensor

[0049] 124. Speaker

[0050] 126. Internal sensors

[0051] 130. Motor driver

[0052] 140. Communication unit

[0053] 150. Body

[0054] 151. Arms

[0055] Detailed Description of the Invention

[0056] The invention relates to a service robot for use in the service sector to provide autonomous service in an unmanned manner for use in catering areas, restaurants and cafes.

[0057] With reference to Figures 1 and 2, the present service robot is configured on a body (150). At least one, preferably a plurality of transport areas (20) are provided on said body (150). Preferably, the transport areas (20) are provided in the form of trays. Said body (150) comprises a pair of parallel arms (151 ), and the transport areas (20) are connected at their ends to said two arms.

[0058] Said body (150) is further provided with a depth camera (30) and / or a LIDAR (50). The depth camera (30) and / or a LIDAR (50) provide obstacle detection for the service robot to move freely between objects, based on a static map provided in advance or instantaneous mapping of the area to be serviced. Said service robot further comprises a processing unit (100) and a control unit (1 10). Here, the processing unit (100) processes the data received from the depth camera (30) and / or a LIDAR (50) to determine the movement of the service robot in the face of obstacles, in particular with regard to the static map or instantaneous mapping provided in advance. The movement determined here is transferred to the control unit (1 10), which controls the elements required for this movement. The processing unit (100) and the control unit (1 10) may be separate or integrated. Said movement is realised by a wheel system (40) provided on the base of the body (150).

[0059] With reference to Figure 3, the wheel system (40) of the service robot comprises a normal wheel (T) and customised swivel wheels (1 ) associated with said wheel (T).

[0060] The swivel wheel (1 ) is connected to the wheel (T) by means of a Z arm (3). Preferably, a shock absorber (2) is positioned at the top of the Z arm (3) to absorb vertical impacts from the z-axis. The swivel wheel (1 ) preferably comprises a pair of concentrically positioned first wheels (1.1 ), said first wheels (1.1 ) being rotatable relative to an axis passing through their centres by means of a wheel connection (1.2). The wheel connection (1 .2) is connected to a connection plate (1 .3) so as to be rotatable relative to an axis perpendicular to the axis along which the first wheels (1.1 ) rotate.

[0061] A linear bearing (6) is positioned on the upper part of the connection plate (1.3). The linear bearing (6) comprises a bearing cylinder (6.2) connected to the connection plate

[0062] (1.3) and a bearing housing (6.1 ) enclosing said bearing cylinder (6.2). The bearing cylinder (6.2) and the bearing housing (6.1 ) are movable relative to each other. Here, the linear bearing (6) is preferably connected to the Z arm (3) via the bearing housing (6-1 ).

[0063] With reference to Figures 3a and 3b, the wheel system (40) comprises a first swivel wheel (1 ) and a second swivel wheel (1 ). Said swivel wheel (1 ), like the first swivel wheel (1 ), has a linear bearing (6) positioned on the upper part of the connection plate

[0064] (1.3). The linear bearing (6) comprises a bearing cylinder (6.2) connected to the connection plate (1.3) and a bearing housing (6.1 ) enclosing said bearing cylinder (6.2). The bearing cylinder (6.2) and the bearing housing (6.1 ) are movable relative to each other. Here, the linear bearing (6) is preferably connected to the Z arm (3) via the bearing housing (6.1 ). The linear bearings (6) are connected to each other by means of a hanger arm (4). Here, the hanger arm (4) is connected at both ends to the bearing housings (6.1 ). Said hanger arm (4) is connected to the service robot, preferably to the base of the body (150), by means of a suspension hanger (5). Preferably, the suspension hanger (5) is arranged so that it coincides with the centre of the hanger arm (4).

[0065] As can be seen particularly in Figure 3a, the hanger arm (5) performs rotational movement in the z-axis due to the movement between the bearing cylinders (6.2) and the bearing housing (6.1 ) of the existing linear bearings (6). Accordingly, shocks due to impact and similar forces coming from the transverse axes (xy axes) can also be damped.

[0066] With reference to Figure 4, a pair of openings are provided in the base of said service robot body (150). Between said apertures, a suspension hanger (5) is fixed and a hanger arm (4) is placed on the suspension hanger (5). Through the aforementioned openings, the swivel wheels (1 ) extend to the floor.

[0067] Accordingly, the service robot comprises the following in its most basic state; a body (150) and at least one transport area (20) provided on said body (150), a depth camera (30) and / or a LIDAR (50) to detect obstacles in said service area, a communication unit (140) for communication of the service robot with a network, wheels (T) and the Z arm (3) connected to said wheels (T), and to a pair of swivel wheels (1 ), a wheel system (40) having a linear bearing (40) connected to said swivel wheels (1 ), a hanger arm (4) connected to said linear bearings (6) at their ends and rotatable by the movement of said linear bearings (6), and a suspension hanger (5) on which said hanger arm (4) is placed.

[0068] In a preferred embodiment, said hanger arm (4) is connected to a damper (5.1 ). The damper (5.1 ) is preferably made of an elastic material. Here, the hanger arm (4) is connected to the damper (5.1 ) by means of a hanger connection (4.1 ). The damper (5.1 ) is positioned on the suspension hanger (5) and absorbs vertical forces.

[0069] With reference to Figures 1 and 2, said service robot preferably comprises a user interface (10) which is displayed to the user on a screen. From this user interface (10), commands for the service can be given or the user can be informed about the current service status. For example, the position of the service robot in the service area or the table can be entered from this user interface (10).

[0070] Furthermore, the service robot preferably comprises an emergency button (15). When the said emergency button (15) is pressed, regardless of the current operation, all operations are cancelled and the service robot stops or turns off.

[0071] In a further embodiment, different coloured LED’s (25) are used for information purposes when the service robot performs autonomous movements such as stopping, turning, etc.

[0072] Preferably, the service robot comprises inputs and outputs (35) for communication with the control unit (110) for optional parts.

[0073] The mobile service robot is powered by a battery pack (121 ) and charging unit (122), which are managed by a battery management system (120).

[0074] In a preferred embodiment of the invention, weight sensors (123) are used for the transport areas (20). The weight sensors (123) detect overweight in the transport areas. Preferably, if an overweight is detected, a warning is given to the end user. The warning mentioned herein is given by the system and preferably the warning system is a speaker (124). Alternatively, the warning can also be given via the user interface (10) or LED’s (25). In addition, weight sensors (123) can be used in the service robot to detect gaps such as stairs by detecting height differences in the service robot. Furthermore, the service robot may also include internal sensors (126) to control the temperature, humidity and similar parameters of the control unit (1 10).

[0075] The present control unit (1 10) is in communication with a motor drive (130). Here, the motor drive (130) controls communication between the control unit (1 10) and the motors controlling the wheel system (40).

[0076] The present service robot further comprises a communication unit (140), preferably a modem. The communication unit (140) enables the service robot to be connected to a network for receiving commands, giving commands and transmitting data.

[0077] In one embodiment of the invention, said service robot is able to use the lifts in the service area. Accordingly, the present service robot finds the position of the lift based on the static map or instantaneous mapping provided in advance and establishes a connection with the lift via the communication unit (140). When calling the lift, it informs the lift which floor to go to via the communication unit (140).

Claims

CLAIMS1. A service robot for use in the service industry to provide autonomous service in a service area in an unmanned manner, characterized by comprising;• a body (150) and at least one transport area (20) provided on said body (150),• a depth camera (30) and / or a LIDAR (50) to detect obstacles in said service area,• a communication unit (140) for communication of the service robot with a network,• wheels (T) and the Z arm (3) connected to said wheels (T), to a pair of swivel wheels (1 ),• a linear bearing (6) connected to said swivel wheels (1 ),• a hanger arm (4) connected to said linear bearing (6) at their ends and rotatable by the movement of the linear bearings (6), and• a wheel system (40) having a suspension hanger (5) on which the hanger arm (4) is placed.

2. The service robot according to claim 1 , characterized by said linear bearing (6) comprising a bearing cylinder (6.2) movable relative to each other and a bearing housing (6.1 ) enclosing said bearing cylinder (6.2).

3. The service robot according to claim 2, characterized in that said hanger arm (4) is connected at its ends to the bearing housings (6.1 ).

4. The service robot according to claim 1 , characterized by comprising a damper (5.1 ) made of elastic material between said hanger arm (4) and said suspension hanger (5).

5. The service robot according to claim 4, characterized in that said damper (5.1 ) is coupled to the hanger arm (4).

6. The service robot according to any one of the preceding claims, characterized by comprising a pair of first wheels (1 .1 ) such that said swivel wheels (1 ) are concentric and coaxial to each other.

7. The service robot according to claim 1 , characterized in that said depth camera (30) and / or a LIDAR (50) are configured to perform static mapping.

8. The service robot according to claim 1 , characterized by comprising a weight sensor (123) for determining the weight on said transport area (20).

9. The service robot according to claim 8, characterized by said weight sensor (123) comprising a warning system to notify the user in the event of detection of a weight above a predetermined weight value.

10. The service robot according to claim 9, characterized in that said warning system is a speaker (124).

11. The service robot according to claim 1 , characterized by said control unit (1 10) comprising an internal sensor (126) for monitoring power and / or detecting temperature and / or humidity values.

12. The service robot according to claim 1 , characterized by comprising a shock absorber (2) disposed on said Z arm (3).

13. The service robot according to claim 1 , characterized in that said communication unit (140) is configured to communicate and send commands to a lift.

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