Method for delivering ordered product and displaying delivery position using robot and system for delivering ordered product using same

Abstract

According to the present invention, a system for delivering an ordered product using a robot may be provided, the system comprising: a robot arm including a grip unit for gripping an ordered product; a processing unit configured to perform a product manufacturing command on the basis of input information of a product order of a user and control movement of the robot arm; a table unit configured for a manufactured product to be placed thereon for user pickup using the robot arm; and a camera unit configured to acquire an image related to an arrangement state on the table unit, wherein the processing unit is configured to set a position at which each manufactured product is placed on the table unit.

Description

Method for delivering ordered products and indicating delivery location using a robot and an ordered product delivery system using the same

[0001] The present invention relates to a method for delivering ordered products and indicating delivery locations using a robot, and to an ordered product delivery system utilizing the same. More specifically, the present invention relates to a method and system for effectively delivering multiple ordered products to multiple customers within a limited space using a robot arm and information displayed on a display unit.

[0002] The present invention is a technology developed through the Seoul Business Agency's 2023 Robot Technology Commercialization Support Project (RO230017) of the Seoul Metropolitan Government, "Development of a lightweight gripper suitable for service sites and a structured / non-structured object recognition system with a gripping success rate of over 90%."

[0003] Recent advancements in robotics technology have made it possible for stores such as coffee shops and restaurants to offer smart pickup systems that allow customers to pick up and take home ordered drinks or food without having to interact with the customer.

[0004] However, because such robot-based pickup systems require handling multiple customers and order details within a limited space, methods and systems are required to accurately deliver a variety of products to multiple customers in an optimal manner. Furthermore, to efficiently utilize limited space, methods and systems are required to effectively provide customers with the necessary information through information displayed on displays installed in the pickup area.

[0005] The purpose of the present invention is to provide a method and system for delivering ordered products to multiple customers within a limited space by using a robot arm and information displayed on a display unit.

[0006] In addition, the present invention aims to provide a method and system for delivering ordered products that provides information related to the pickup of various types of products ordered in an unmanned pickup space so that the orderer can intuitively recognize the information.

[0007] In addition, the present invention aims to provide a method and system for delivering ordered products to reduce physical interference between customers in a limited pickup space and to intuitively provide information related to the manufacturing status and pickup of the product.

[0008] In addition, the present invention aims to provide a method and system for delivering ordered products using a product pickup location setting and dynamic grouping technology that can efficiently use limited space.

[0009] The problems to be solved by the present invention are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0010] According to one embodiment of the present invention, a system for delivering ordered products using a robot may be provided, comprising: a robot arm including a grip portion for holding ordered products; a processing portion configured to execute a product manufacturing command based on input information of a user's product order and to control the movement of the robot arm; a table portion configured to place a manufactured product for user pickup using the robot arm; and a camera portion configured to acquire an image related to a placement state on the table portion, wherein the processing portion is configured to set a position on the table portion at which each manufactured product is to be placed.

[0011] Here, the processing unit may be configured to determine the presence or absence of a product located on the table unit and the placement position of each product based on image analysis acquired through the camera unit.

[0012] In addition, the table portion includes a display portion configured to display information related to an ordered product, and the display portion displays a plurality of cells distinguishable by at least one row or at least one column, and a position for placing each ordered product may correspond to an area where each of the plurality of cells is displayed.

[0013] In addition, the processing unit is configured to display information related to an ordered product to be placed at each position of the space displayed on the display unit, and the information related to the ordered product may include at least one of orderer information, menu information of the ordered product, and progress information of the ordered product.

[0014] Additionally, the processing unit may determine that the group area indicating the location where multiple ordered products ordered by the same customer are to be put down includes a continuous cell in which at least one of adjacent rows and adjacent columns is merged.

[0015] In addition, if the number of ordered products ordered by the same customer is greater than the number of consecutive cells in which at least one of the adjacent rows and adjacent columns is merged, the processing unit may determine a location where at least some of the plurality of ordered products are to be put down as a group area including consecutive cells in which at least one of the adjacent rows and adjacent columns is merged, and if product pickup is completed at a location in at least some of the group areas or product pickup is completed in an area adjacent to the group area, the area where the corresponding product pickup is completed may be determined as a location where the remaining products in the plurality of ordered products are to be put down.

[0016] Additionally, the processing unit can determine that the positions at which ordered products ordered by different customers are to be placed are not adjacent in at least one of the rows or columns.

[0017] Additionally, the processing unit may be configured to display boxes corresponding to locations where ordered products ordered by different customers are to be placed in different colors.

[0018] In addition, when the processing unit places ordered products in multiple cells arranged in the same row, it can be configured to place ordered products in the order of cells that are farthest from the position of the robot arm.

[0019] In addition, when an object other than the manufactured product is placed on the table, an alarm display may be generated in a space corresponding to the position of the object.

[0020] Additionally, the progress information of the ordered product may include at least one of information on the time until manufacturing completion, information on waiting for pickup, and information on completion of pickup.

[0021] Additionally, the processing unit may be configured to adjust the size of at least one of the rows and columns displayed on the display unit based on the number of ordered products within a predetermined time period.

[0022] In addition, according to another embodiment of the present invention, a method for delivering ordered products using a robot may be provided, comprising: a step of controlling, by a processing unit, a movement of a robot arm including a grip unit for executing a product manufacturing command based on input information of a user's product order and for holding the ordered products; a step of setting, by the processing unit, a position for placing each manufactured product on the table unit; a step of placing the manufactured product on the table unit for user pickup using the robot arm; a step of obtaining, by a camera unit, an image related to a placement state on the table unit; and a step of determining, by the processing unit, whether a product is located on the table unit and a placement position of each product based on analysis of the image obtained through the camera unit.

[0023] According to the present invention, a method and system for delivering ordered products can be provided to effectively deliver a plurality of ordered products to a plurality of customers within a limited space using a robot arm and information displayed on a display unit.

[0024] In addition, according to the present invention, a method and system for delivering ordered products can be provided that provides information related to the pickup of various types of products ordered in an unmanned pickup space so that the orderer can intuitively recognize the information.

[0025] In addition, according to the present invention, it is possible to provide a method and system for delivering ordered products to reduce physical interference between customers in a limited pickup space and to intuitively provide information related to the manufacturing status and pickup of the product.

[0026] In addition, according to the present invention, a method and system for delivering ordered products using a product pickup location setting and dynamic grouping technology that can efficiently use limited space can be provided.

[0027] The problems to be solved by the present invention are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0028] FIG. 1 is a block diagram illustrating the configuration of an order product delivery system using a robot according to one embodiment of the present invention.

[0029] FIG. 2 is an exemplary diagram illustrating the appearance of an order product delivery system using a robot according to one embodiment of the present invention.

[0030] FIG. 3 is an exemplary diagram for explaining the configuration of a display unit according to one embodiment of the present invention.

[0031] FIGS. 4A to 4D are exemplary diagrams for explaining a display method of a display unit according to one embodiment of the present invention.

[0032] FIGS. 5A to 5D are exemplary diagrams for explaining a method of processing a location area for placing a product according to one embodiment of the present invention.

[0033] FIG. 6 is an exemplary diagram illustrating a method for processing a location area for placing a product according to one embodiment of the present invention.

[0034] Figure 7 is a flowchart illustrating a method for delivering ordered products using a robot according to one embodiment of the present invention.

[0035] Below, embodiments of the present invention are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly illustrate the embodiments of the present invention in the drawings, portions irrelevant to the description have been omitted.

[0036] The terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the present invention. Singular expressions may include plural expressions unless the context clearly dictates otherwise.

[0037] In this specification, terms such as “include,” “have,” or “comprising” are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, and should be understood as not excluding in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0038] Furthermore, the components shown in the embodiments of the present invention are depicted independently to represent different characteristic functions, and this does not mean that each component is composed of separate hardware or a single software component. That is, each component is described by listing each component for convenience of explanation, and at least two of the components may be combined to form a single component, or a single component may be divided into multiple components to perform a function. Such integrated and separate embodiments of each component are also included in the scope of the present invention, as long as they do not deviate from the essence of the present invention.

[0039] In addition, the following examples are provided to provide a clearer explanation to a person having average knowledge in the art, and the shapes and sizes of elements in the drawings may be exaggerated for a clearer explanation.

[0040] Hereinafter, with reference to the attached drawings, a preferred embodiment according to the present invention will be described.

[0041]

[0042] FIG. 1 is a block diagram illustrating the configuration of an unmanned payment system using a mobile robot according to one embodiment of the present invention.

[0043] Referring to FIG. 1, the robot-based order product delivery system (100) may include a communication unit (110), a processing unit (120), a robot arm (130), a table unit (140), a camera unit (150), and an order payment terminal (160), and some components may be omitted or additional components may be added as needed. In addition, the communication unit (110), the processing unit (120), the robot arm (130), the table unit (140), the camera unit (150), and the order payment terminal (160) may be included in the order product delivery system (100) configured as a single device, but at least some of the processing units (170) may be included in a separate device or server as needed, and components such as the robot arm (130), the order payment terminal (160), etc. may be configured as separate hardware and configured to interact through communication.

[0044] Here, the communication unit (110) is configured to perform communication between each component within the order product delivery system (100) via a network, and is also configured to receive necessary information from an external server or external device via the network or transmit acquired information to the external server or external device. Here, the network may be a network connected wired or wirelessly. In addition, the connection network may be a network in which an external device and a mobile robot are directly connected, or may be a private network created by a repeater. If the network is a wireless communication network, it may include cellular communication or short-range communication. For example, the cellular communication may include at least one of LTE (Long-Term Evolution), LTE-A (LTE Advanced), 5G (5th Generation), 6G (6th Generation), CDMA (Code Division Multiple Access), WCDMA (Wideband CDMA), UMTS (Universal Mobile Telecommunications System), WiBro (Wireless Broadband), or GSM (Global System for Mobile Communications). Additionally, short-range communication may include at least one of Wi-Fi (Wireless Fidelity), Bluetooth, Zigbee, NFC (Near Field Communication), or RFID (Radio Frequency Identification). However, the communication method is not limited to these, and future wireless communication technologies will also be included.

[0045] The processing unit (120) may be configured to execute a product manufacturing command based on the input information of the user's product order, process image analysis acquired through the camera unit (150), set a position to place each manufactured product on the table unit (140), and control the movement and motion of the robot arm (130).

[0046] The processing unit (120) may include a central processing unit (CPU), an application processor (AP), etc., and may be installed in the order product delivery system or configured in a separate device or server to be connected via the communication unit (110). In addition, the processing unit may include an order processing unit (121), an image recognition processing unit (122), a product positioning unit (123), and a robot arm control unit (124), and the programs or program modules included in each of these processing units may be configured in the form of an operating system, an application program, or a program, and may be physically stored on various types of widely used storage devices. Such programs or program modules may include one or more routines, subroutines, programs, objects, components, instructions, data structures, and various forms for performing specific tasks or executing specific data types, but are not limited to these forms.

[0047] First, the order processing unit (121) may be configured to receive input information of a user's product order, execute a product manufacturing order based on the input information, and process the product manufacturing order using a robot arm (130).

[0048] The image recognition processing unit (122) may be configured to determine whether a product is present on the table and the placement position of each product through analysis and recognition of the image on the table (140) acquired through the camera unit (150). In addition, the image recognition processing unit (122) may determine whether an ordered product is placed and picked up for each pick-up placement area displayed in a plurality of cells through the display unit (141) of the table (140).

[0049] The product positioning unit (123) may be configured to set a position to put down each manufactured product on the table unit (140) using order processing information, image recognition processing information, etc., and may set a position to put down the product to correspond to each pickup area displayed by setting a space displayed through the display unit (141) of the table unit (140). For example, when the setting of the space displayed on the display unit (141) is changed, the position to put down the product may be changed and set accordingly in response to the change in the position of the space.

[0050] The robot arm control unit (124) may be configured to control the movement and motion of the robot arm and grip unit, such as the manufacturing, grasping, moving, and placing of an ordered product on a table unit (140). In addition, the robot arm control unit (124) is configured to safely control the movement of the robot arm and grip unit so as to place a product on a set position on the table unit (140) set by the product position determination unit (123).

[0051] The robotic arm (130) may be installed within the order product delivery system or configured within a separate device to be connected via the communication unit (110), and is configured to include a grip unit for grasping the user's order product. For example, the robotic arm (130) may be configured with an arm unit and a grip unit in one embodiment, and the specific shape or configuration method may be variously changed depending on the embodiment. For example, the arm unit may include a plurality of joints, and the joints may operate to allow each arm coupled to the joints to perform roll, pitch, and yaw movements. In addition, the grip unit may be configured to grasp an object under the control of the processing unit (120) and may be configured to be coupled to one side of the arm unit. The robotic arm (130) may grasp, move, and put down an order product at a designated location via the grip unit, and may perform movement and movement to execute a manufacturing command for the order product as needed.

[0052] The table section (140) is configured to place a manufactured product for user pickup using a robot arm (130), and may include a display section (141) configured to display information related to the ordered product and a sensor section (142) for product recognition.

[0053] Here, the display unit (141) is arranged on the table unit (140) and configured to display various information related to the ordered product by the control and command of the processing unit (120), and the display unit (141) is configured to display a plurality of cells that can be distinguished by at least one row or at least one column, and at this time, the position for putting down each ordered product can be configured to correspond to the area displayed in each of the plurality of cells. For example, a space in which a total of 24 ordered products can be placed through 2 rows and 12 columns can be displayed as a space area composed of 24 cells, and at this time, based on the position coordinates of each cell, the robot arm (130) can accurately put down the ordered product corresponding to the cell at the position for putting down the product set in each cell.

[0054] In addition, the processing unit (120) is configured to display information related to the ordered product to be placed in the position of each cell displayed on the display unit (141), and the information related to the ordered product may be configured to include at least one of the orderer information, the menu information of the ordered product, and the progress information of the ordered product. Accordingly, the orderer can intuitively and easily check the position where the product he or she ordered will be placed, the time when the ordered product will be delivered, the name of the ordered menu, etc., and thus the physical interference of multiple orderers within a limited space can be reduced. Here, the progress information of the ordered product may include at least one of the time information until manufacturing completion, pickup waiting information, and pickup completion information.

[0055] Additionally, the group area indicating the location where multiple ordered products ordered by the same customer are to be placed, displayed on the display unit (141) via the processing unit (120), can be determined to include a continuous space where at least one of adjacent rows and adjacent columns are merged. Accordingly, by setting the area where products ordered by the same customer are placed as the group area, when a customer orders multiple products, the multiple ordered products can be efficiently picked up within the adjacent area.

[0056] In addition, when determining the position to place ordered products ordered by different customers on the display unit (141) through the processing unit (120), the products may be configured to not be adjacent in at least one of the rows or columns. By setting the placement area of ​​ordered products by different customers to be the furthest distance or spaced apart by one space, etc., so as to not be adjacent, the minimum distance between products of different customers can be secured, thereby reducing physical interference between customers. This setting to space out products ordered by different customers can be disabled as needed.

[0057] In addition, the boxes corresponding to the positions where products ordered by different customers are to be placed can be configured to be displayed in different colors. For example, when products ordered by different customers are placed in adjacent rows or columns due to lack of space, the location areas of products for each customer can be set in different colors on the display unit (141) to allow intuitive confirmation that they are products of different customers.

[0058] In addition, if the number of ordered products ordered by the same customer through the processing unit (120) is greater than the number of consecutive cells merged in at least one of the adjacent rows and adjacent columns, the location where at least some of the multiple ordered products are to be put down is determined to be a group area including consecutive cells merged in at least one of the adjacent rows and adjacent columns, and if product pickup is completed in at least some of the locations in the group area or in an area adjacent to the group area, the area where the corresponding product pickup is completed is determined as the location where the remaining products among the multiple ordered products are to be put down. In this way, if the number of adjacent cells is insufficient compared to the number of ordered products, the group area can be dynamically set by determining whether pickup is completed in a cell within the corresponding group area or adjacent to the corresponding group area.

[0059] In addition, when the processing unit (120) places ordered products in multiple cells of an adjacent row, it can be configured to place ordered products in the order of cells that are farthest from the position of the robot arm (130), which is to reduce the possibility of collision with the placed ordered products when the robot arm (130) moves.

[0060] Additionally, the processing unit (120) may be configured to generate an alarm signal in a space corresponding to the location of an object other than a manufactured product placed on the table unit (140). This allows the object placed on the pickup area to be removed, thereby safely securing space for placing the ordered product.

[0061] In addition, the processing unit (120) may be configured to adjust the size of at least one of the rows and columns displayed on the display unit based on the number of products ordered within a predetermined time period. For example, the number of cells set by default on the display unit (141) is 24, and if the number of products ordered within a standard time period exceeds a preset standard, the number of cells displayed on the display unit (141) may be increased by increasing the number of at least one of the rows and columns to reduce the size of the cells, thereby increasing the number of cells.

[0062] The sensor unit (142) that can be installed on the table unit (140) may include a weight sensor or a proximity sensor, and is configured to detect the presence and movement of a product or object placed on the table unit (140) together with image recognition technology using the camera unit (150).

[0063] For example, the weight sensor is configured to detect changes in the weight of the plate in each cell area of ​​the display unit (141), and can more accurately determine whether or not a product has been picked up by detecting changes in weight that occur when an ordered product is placed on the plate or when a user or customer picks up and takes the ordered product on the plate.

[0064] In addition, the proximity sensor serves to recognize the direction of movement of the product and whether or not the product has been picked up when the user or customer picks up the product, and may be placed in multiple locations, for example, on the periphery of each cell area of ​​the display unit (141). For example, the proximity sensor may be composed of various types of sensors such as an IR (infrared) sensor, an ultrasonic sensor, a laser sensor, and a light sensor, and may be composed of various sensors capable of recognizing the direction in which the product is moved.

[0065] The camera unit (150) may be configured with a plurality of camera sensors installed on the upper portion of the order product delivery system, and may be configured to acquire images related to the arrangement status on the table unit (140). For example, the camera unit (150) may be positioned on the upper portion of the table unit (140) to photograph the positions of products or other objects placed on the table unit (140), and to recognize in real time whether a user has picked up an item, changes in the status of the table unit, etc., and may be positioned to photograph the changing appearance of the table unit (140).

[0066] The order payment terminal (160) is configured to receive order information from a user and transmit it to a processing unit (120), and may be connected to a POS (Point of Sales) terminal that is in charge of payment processing to transmit the orderer's payment information, or may be connected directly to a payment server to perform card payment, mobile payment, simple payment, etc.

[0067]

[0068] FIG. 2 is an exemplary diagram illustrating the appearance of an order product delivery system using a robot according to one embodiment of the present invention.

[0069] Referring to FIG. 2, the robot-based order product delivery system (100) includes a communication unit (110) and a processing unit (120) inside, and may include a robot arm (130), a table unit (140), a camera unit (150), and an order payment terminal (160) outside, and some of the configurations may be changed or placed on other devices as needed.

[0070] A user can use an order payment terminal (160) to order and pay for a desired product, and when a product is placed on a table (140) after the product is manufactured using a robot arm (130), the orderer can check the product information displayed on the table (140) and pick up the product. In addition, the presence or absence of a product, placement location, and pick-up status, etc. on the table (140) can be recognized by using image analysis acquired through a camera unit (150) installed on the upper side of the table (140). When the orderer picks up and takes the product, the pick-up completion status is changed, and the information displayed on the table (140) can be changed to standby status information or information corresponding to another product.

[0071]

[0072] FIG. 3 is an exemplary diagram for explaining the configuration of a display unit according to one embodiment of the present invention.

[0073] Through the display unit (141) placed on the table unit (140), the area for placing a product can be displayed in a manner that allows for intuitive distinction of a plurality of units consisting of a plurality of rows and columns on the pickup area (310) as shown in FIG. 3.

[0074] For example, as in Fig. 3, a space in which a total of 24 products can be placed can be configured through a configuration of 2 rows and 12 columns, and this can be configured to dynamically change according to the size of the table section (140) or user settings. For example, when the order quantity is greater than a reference value, the number of at least one of the rows and columns can be increased to reduce the size of the area of ​​each cell in order to increase the number of cells, and when the order quantity is less than a reference value, the number of at least one of the rows and columns can be reduced to increase the size of the area of ​​each cell by reducing the number of cells.

[0075] Even when the cell settings are changed due to a change in the number of rows and columns, the processing unit (110) can be configured to recognize the changed position of each cell area displayed through the display unit (141) on the table unit (140) and, through control of the robot arm (130), place the product corresponding to the cell exactly at the changed cell position.

[0076]

[0077] Figures 4a and 4b are exemplary diagrams for explaining a display method of a display unit according to one embodiment of the present invention.

[0078] First, FIG. 4a shows the display unit (141) while the ordered product is being manufactured or served. The space on the entire screen where the ordered product is not assigned is displayed as a blank space or background screen, and the cell areas where the ordered product is assigned can display the orderer information (410) displayed as a nickname or number, and the manufacturing status information (412) of the ordered product indicating the remaining time until the completion of manufacturing through a circular progress graph, etc. In addition, the state where serving is in progress by the robot arm (130) after the completion of manufacturing can provide intuitive information to the orderer through an animation (411) in which a circular band dynamically changes. In addition, the order menu information is displayed together at the center of each cell so that the menu of the product placed in each cell can be known in advance and waited for.

[0079] In addition, as in Fig. 4a, when setting the order product areas of different customers, the areas can be arranged so that they are not adjacent by leaving a space between them. For example, the areas can be set by leaving a space between each customer starting from the left. In addition, when setting the order product areas, it is also possible to set the position of the product area area so that it is set to the farthest distance within the space.

[0080] In addition, when multiple products are ordered by the same customer, the products can be grouped and adjacent cells can be merged to form a group area (413) corresponding to the number of products. In Fig. 4a, 1 order, 2 orders, and 3 orders are displayed from the left.

[0081] In addition, when placing ordered products in multiple cells arranged in the same row, the ordered products can be placed in the order of cells that are farthest from the position of the robot arm (130), thereby minimizing interference of ordered products with the robot's movement path.

[0082] Referring to Fig. 4b, when serving is completed by the robot arm (130), the display unit (141) shows a changed appearance, and as in the serving completion display (421), the brightness is changed at the position where the product is placed, so that the display method of each section is changed from before serving, and at this time, the position of the menu name, etc. is changed below the position where the product is placed, so that the customer can check the menu name of the target product with his or her eyes.

[0083] Referring to FIG. 4c, when the product pickup is completed by the customer, the changed appearance of the display unit (141) is shown, and the blank space area can be utilized as a message transmission space by displaying random phrases (431), advertising phrases, or icons.

[0084] Referring to FIG. 4d, when a customer places an item, etc., on the product pickup space on the table section (130), a warning message (442) may be displayed in a space corresponding to the position of the incorrectly placed item (441), and an alarm display (443) may be additionally generated for each group area to request that the pickup zone be emptied. At this time, when the incorrectly placed item (441) is removed, the warning message (442) and alarm display (443) may be removed.

[0085]

[0086] FIGS. 5A to 5D are exemplary diagrams for explaining a method of processing a location area for placing a product according to one embodiment of the present invention.

[0087] Referring to Fig. 5a, when the function of arranging with one space between each space is activated through the system settings, for example, the placement area of ​​the ordered products can be set from left to right and from top to bottom based on the position of the robot arm, leaving one space between the left and right in the order order. If the number of ordered products of customer A is 3, a group area (501) that merges two columns can be set, and if the number of ordered products of customer B is 2, a group area (502) that merges two rows in one column can be set. In addition, in order to prevent collision between the robot arm and the placed products, the placement order can be set from top to bottom, far from the position of the robot arm.

[0088] Referring to Figure 5b, it is possible to disable the space-by-space placement function through system settings, or to set the product placement area for each customer adjacent to each other as needed when there is insufficient space in the pickup area.

[0089] Referring to FIG. 5c, a processing method is provided for a case where the number of ordered products ordered by the same customer is greater than the number of consecutive spaces merged in at least one of the adjacent rows and adjacent columns when arranging them by spacing them out by one space (S510).

[0090] For example, if the group area of ​​the ordered products of customers A, B, and C has already been set, and there are no four adjacent spaces for the four ordered products of additional customer D, the set blank space is first set as the group area (503) by arranging them by spacing them out one space at a time, and the arrangement area of ​​two ordered products (D-1, D-2) is first set (S520).

[0091] At this time, the placement area for the remaining two ordered products (D-3, D-4) must be secured. When the pickup of the ordered product by orderer A on the left side of the group area (503) is completed, the adjacent space (504) on the left side of the group area (503) is merged to reset the group area, and the remaining products (D-3, D-4) can be placed. (S531)

[0092] In addition, as above, when the pickup of the ordered product by orderer B on the right side of the group area (503) is completed, the adjacent space (505) on the right side of the group area (503) is merged to reset the group area, and the remaining products (D-3, D-4) can be placed. (S532)

[0093] Additionally, if the pickup of the order product of orderer D in the group area (503) is completed first, the group area (503) can be changed to the placement area of ​​the remaining two order products (D-3, D-4).

[0094] Referring to FIG. 5d, in the case of arranging with a space between them, if the number of ordered products ordered by the same customer is greater than the number of spaces in the right space area, a processing method is provided for a case where no more arrangement areas can be set in the right space. First, in order to set the arrangement areas for 6 ordered products by customer E, 4 group areas (506) on the right are first set with a space between them and the arrangement area of ​​customer C, and if there is no space on the right side to set the arrangement areas for the remaining 2 ordered products (E-5, E-6), 2 group areas (507) on the left are set using the blank space of the adjacent column on the left, so that a total of 6 adjacent group areas can be set.

[0095]

[0096] FIG. 6 is an exemplary diagram illustrating a method for processing a location area for placing a product according to one embodiment of the present invention.

[0097] Referring to Fig. 6, the placement area of ​​three ordered products ordered by customer A can be set from the left (S610). At this time, the group area can be set from the left to the right based on the position of the lower robot arm, and the placement order can be set from the top to the bottom far from the position of the robot arm.

[0098] Next, the two ordered products ordered by customer B can be placed in a placement area by leaving a space between them in the group area of ​​customer A. (S620)

[0099] Next, one order product ordered by customer C can be placed in the group area of ​​B with one space left and set in the space above. (S630)

[0100] At this time, if the pickup of the ordered product in the C-1 slot by the orderer C is completed first, when setting the placement area of ​​the 7 ordered products ordered by the orderer D, the C-1 slot that has been picked up can be reset to set the slots D-1 to D-7 as a group area. (S640)

[0101] Next, if the placement area of ​​8 ordered products by orderer E needs to be set, first, one space can be left blank in the group area of ​​orderer D, and the remaining 4 spaces on the right can be set as the placement area of ​​products E-1 to E-4. (S650)

[0102] Since there is no space on the right side of the group area of ​​orderer D, the placement areas of two of the four remaining products, E-5 and E-6, can be set by utilizing the one space on the left side. (S660) At this time, the placement of the remaining two products is put on hold to prevent confusion in their positions.

[0103] Next, when customer E completes the pickup of ordered products E-1 and E-2 (S670), the corresponding space can be utilized. Accordingly, the order product placement areas for E-1 and E-2 are reset to the placement areas for the remaining two products, E-7 and E-8, thereby completing the serving of all eight ordered products for customer E (S680).

[0104]

[0105] Figure 7 is a flowchart illustrating a method for delivering ordered products using a robot according to one embodiment of the present invention.

[0106] Referring to FIG. 7, a product order request from a user can first be received (S710). At this time, information on multiple ordered products by multiple orderers can be processed.

[0107] Manufacturing of ordered products can be performed using robots, etc., and information on the manufacturing status can be generated. (S720)

[0108] By judging the status of the table section (140) in real time, it is possible to determine the area to place the ordered product for each customer and its location. (S730)

[0109] Information on each ordered product can be displayed in a corresponding area using multiple cells displayed on the display section (141) on the table section (140). (S740) At this time, orderer information for each ordered product, menu information for the ordered product, and progress information for the ordered product can be displayed together, and multiple ordered products for the same orderer can be merged and displayed in a group area.

[0110] When placing an ordered product on the display unit (141), the customer can check the information and complete the pickup. (S750)

[0111] After pickup is completed, the area information on the display unit (141) can be updated to reset the placement area of ​​the ordered product. (S760)

[0112]

[0113] The various embodiments described herein may be implemented in hardware, middleware, microcode, software, and / or a combination thereof. For example, the various embodiments may be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.

[0114] Also, for example, various embodiments may be embodied or encoded in a computer-readable medium containing instructions. Instructions embodied or encoded in the computer-readable medium can cause a programmable processor or other processor to perform a method when the instructions are executed, for example. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a computer. For example, such computer-readable media can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage media, magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of computer-accessible instructions or data structures.

[0115] Such hardware, software, firmware, etc. may be implemented within the same device or within separate devices to support the various operations and functions described herein. Additionally, components, units, modules, components, etc. described as “units” in the present invention may be implemented together or individually as separate but interoperable logic devices. The depiction of different features for modules, units, etc. is intended to highlight different functional embodiments and does not necessarily imply that they must be realized by separate hardware or software components. Rather, the functionality associated with one or more modules or units may be performed by separate hardware or software components, or integrated into common or separate hardware or software components.

[0116] Although operations are depicted in the drawings in a specific order, this should not be construed as requiring that these operations be performed in the specific order depicted, or in any sequential order, or that all depicted operations be performed to achieve the desired results. In certain circumstances, multitasking and parallel processing may be advantageous. Furthermore, the distinction between the various components in the embodiments described above should not be construed as requiring such distinction in all embodiments, and it should be understood that the components depicted may generally be integrated together into a single software product or packaged into multiple software products.

[0117] While the present invention has been described with reference to the embodiments illustrated in the drawings, these are merely exemplary, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible. Therefore, the true scope of technical protection of the present invention should be determined by the technical spirit of the appended claims.

Claims

1. In a robot-based order product delivery system, A robotic arm including a gripping portion for grasping an ordered product; A processing unit configured to execute a product manufacturing command based on input information of a user's product order and control the movement of the robot arm; A table portion configured to place a finished product for user pickup using the above robotic arm; and A camera unit configured to acquire an image related to the arrangement state on the above table unit. Including, An order product delivery system, wherein the above processing unit is configured to set a position on the table unit to place each manufactured product.

2. In the first paragraph, the processing unit is configured to determine the presence or absence of a product located on the table unit and the placement position of each product based on image analysis obtained through the camera unit, in an order product delivery system.

3. In the first paragraph, the table section includes a display section configured to display information related to the ordered product, the display section displays a plurality of cells distinguishable by at least one row or at least one column, and the position for placing each ordered product corresponds to an area where each of the plurality of cells is displayed.

4. In the third paragraph, the processing unit is configured to display information related to the ordered product to be placed at each position of the display unit, and the information related to the ordered product includes at least one of orderer information, menu information of the ordered product, and progress information of the ordered product.

5. In the third paragraph, the processing unit determines that the group area indicating the location where multiple ordered products ordered by the same customer are to be placed includes a continuous cell in which at least one of the adjacent rows and adjacent columns is merged.

6. In the fifth paragraph, the processing unit determines a position to put down at least some of the plurality of ordered products as a group area including a continuous area where at least one of the adjacent rows and adjacent columns is merged when the number of ordered products ordered by the same orderer is greater than the number of consecutive cells where at least one of the adjacent rows and adjacent columns is merged, and determines an area where product pickup is completed at a position of at least some of the group areas or an area adjacent to the group areas as a position to put down the remaining products among the plurality of ordered products.

7. In the third paragraph, the processing unit determines that the positions at which the ordered products ordered by different customers are to be placed are not adjacent in at least one of the rows or columns.

8. In the third paragraph, the processing unit is configured to display boxes corresponding to positions where ordered products ordered by different customers are to be placed in different colors, in an order product delivery system.

9. In the third paragraph, the processing unit is configured to place the ordered products in a plurality of cells arranged in the same row in the order of the cells that are farthest from the position of the robot arm, in the order of the cells.

10. An order product delivery system, wherein, in the third paragraph, when an object other than the manufactured product is placed on the table, an alarm display is generated in a space corresponding to the position of the object.

11. In the fourth paragraph, the order product delivery system, wherein the progress information of the ordered product includes at least one of information on the time until manufacturing completion, information on waiting for pickup, and information on completion of pickup.

12. In the third paragraph, the processing unit is configured to adjust the size of at least one of the rows and columns displayed on the display unit based on the number of ordered products within a predetermined time period, and to display the ordered product delivery system.

13. In the method of delivering ordered products using a robot, A step of executing a product manufacturing command based on input information of a user's product order by a processing unit and controlling the movement of a robot arm including a grip unit for gripping the ordered product; A step of setting a position to place each manufactured product on the table section by the processing section; A step of placing a manufactured product on a table for user pickup using the above robotic arm; In the camera section, a step of acquiring an image related to the arrangement state on the table section; and A method for delivering ordered products, wherein the processing unit is configured to determine the presence or absence of a product located on the table unit and the placement position of each product based on image analysis obtained through the camera unit.

Images