Granted Patent B2

US 12,554,261 · App. 18/509,992 · Granted Feb 17, 2026

Inventors: Ga Hee Kim (Seoul, KR); Yun Sub Kim (Suwon-si, KR); Hwan Hee Lee (Gunpo-si, KR); Seung Yong Lee (Uiwang-si, KR)

Assignees: HYUNDAI MOTOR COMPANY; KIA CORPORATION

G05D1/0238B25J9/162B25J9/1679B25J9/1697

Abstract

Claims (90)

1 . A service robot, comprising:

a camera configured to capture images of surroundings of the service robot;

a light detection and ranging (LiDAR) sensor;

a driving device including a robotic arm;

a processor; and

a storage including a reference vehicle image and reference vehicle information,

wherein the processor is configured to:

detect a target vehicle from the images received from the camera;

compare an image of the detected target vehicle with the reference vehicle image;

recognize a type of the target vehicle based on the compared result;

recognize vehicle information corresponding to the type of the target vehicle in the reference vehicle information;

recognize a distance from the target vehicle based on LiDAR data associated with the target vehicle, the LiDAR data being obtained using the LiDAR sensor;

compare the LiDAR data with the vehicle information corresponding to the type of the target vehicle;

recognize at least one relative direction of the target vehicle based on a comparison result between the LiDAR data and the vehicle information;

determine a target position for delivering a delivery product to the target vehicle and a path for moving to the target position based on the distance and the at least one relative direction;

control the service robot to move to the target position along the path; and

control the service robot to deliver the delivery product to the target vehicle using the robotic arm.

2 . The service robot of claim 1 , wherein the reference vehicle information includes at least one of:

reference LiDAR data for each type of a vehicle;

information associated with doors of the vehicle; or

information associated with a trunk of the vehicle.

3 . The service robot of claim 2 , wherein the processor is configured to:

determine a degree to which the LiDAR data and the reference LiDAR data are matched with each other; and

recognize at least one of the at least one relative direction based on the matched degree.

4 . The service robot of claim 2 , wherein the processor is configured to:

detect an external object presenting on the path using the LiDAR sensor;

recognize the external object as a door or a trunk of the target vehicle, when a position where the external object is detected corresponds to an opening and closing range of the door or the trunk of the target vehicle;

recognize the external object as an obstacle, when the position where the external object is detected does not correspond to the opening and closing range of the door or the trunk of the target vehicle; and

determine a new path for avoiding the obstacle to reach the target position, when the obstacle is recognized.

5 . The service robot of claim 1 , wherein the processor is configured to:

receive a user input for specifying a vehicle space to deliver the delivery product among at least one door or a trunk provided in the target vehicle;

recognize a position corresponding to the specified vehicle space based on the user input based on the reference vehicle information; and

determine the target position based on the recognized position.

6 . The service robot of claim 1 , wherein the processor is configured to:

extract the image of the detected target vehicle from the images;

determine a degree to which the extracted image of the target vehicle and the reference vehicle image are matched with each other, based on the recognized distance;

recognize the at least one relative direction of the target vehicle based on the matched degree; and

determine a direction of the target vehicle based on a relative direction recognized using the image of the target vehicle and a relative direction recognized using the LiDAR data associated with the target vehicle.

7 . The service robot of claim 1 , wherein the processor is configured to:

obtain coordinate information indicating a boundary of the target vehicle from the image; and

extract the LiDAR data associated with the target vehicle from the LiDAR data for an external object, wherein the LiDAR data for the external object is obtained using the LiDAR sensor, based on the coordinate information.

8 . The service robot of claim 1 , wherein the processor is configured to determine the target position, based on an operation radius of the robotic arm and a degree of motion of the robotic arm, the degree being predicted when delivering the delivery product.

9 . The service robot of claim 1 , wherein the processor is configured to recognize identification information of at least one vehicle included in the images and detects the target vehicle among the at least one vehicle based on the identification information.

10 . The service robot of claim 1 , further comprising:

a communication device,

wherein the processor is configured to receive information associated with the reference vehicle image or the reference vehicle information from an external device through the communication device and configured to update the reference vehicle image or the reference vehicle information, based on the received information.

11 . A method for providing a delivery service using a service robot, the method comprising:

obtaining, by a camera of the service robot, images by capturing surroundings of the service robot;

detecting, by a processor, a target vehicle from the images;

comparing, by the processor, an image of the detected target vehicle with a reference vehicle image included in reference vehicle information;

recognizing, by the processor, a type of the target vehicle based on the compared result;

recognizing, by the processor, from the reference vehicle information, vehicle information corresponding to the type of the target vehicle;

recognizing, by the processor, a distance from the target vehicle based on light detection and ranging (LiDAR) data associated with the target vehicle, the LiDAR data being obtained using a LiDAR sensor included in the service robot;

comparing, by the processor, the LiDAR data with the vehicle information corresponding to the type of the target vehicle;

recognizing, by the processor, at least one relative direction of the target vehicle based on a comparison result between the LiDAR data and the vehicle information;

determining, by the processor, a target position for delivering a delivery product to the target vehicle and a path for moving to the target position based on the distance and the at least one relative direction;

moving the service robot to the target position along the path; and

delivering the delivery product to the target vehicle using a robotic arm of the service robot.

12 . The method of claim 11 , wherein the reference vehicle information includes at least one of:

reference LiDAR data for each type of a vehicle;

information associated with doors of the vehicle; or

information associated with a trunk of the vehicle.

13 . The method of claim 12 , wherein recognizing the at least one relative direction includes:

determining a degree to which the LiDAR data and the reference LiDAR data are matched with each other; and

recognizing the at least one relative direction based on the matched degree.

14 . The method of claim 11 , wherein determining the target position includes:

receiving a user input for specifying a vehicle space to deliver the delivery product among at least one door or a trunk provided in the target vehicle;

recognizing a position corresponding to the specified vehicle space based on the user input based on the reference vehicle information; and

determining the target position based on the recognized position.

15 . The method of claim 11 , further comprising:

extracting the image of the detected target vehicle from the images;

determining a degree to which the extracted image of the target vehicle and the reference vehicle image are matched with each other, based on the recognized distance;

recognizing the at least one relative direction of the target vehicle based on the matched degree; and

determining a direction of the target vehicle based on a relative direction recognized using the image of the target vehicle and a relative direction recognized using the LiDAR data associated with the target vehicle.

16 . The method of claim 11 , wherein recognizing the distance from the target vehicle includes:

obtaining coordinate information indicating a boundary of the target vehicle from the image; and

extracting the LiDAR data associated with the target vehicle from LiDAR data for an external object, wherein the LiDAR data for the external object is obtained using the LiDAR sensor, based on the coordinate information.

17 . The method of claim 11 , further comprising:

detecting an external object presenting on the path using the LiDAR sensor;

recognizing the external object as a door or a trunk of the target vehicle, when a position where the external object is detected corresponds to an opening and closing range of the door or the trunk of the target vehicle;

recognizing the external object as an obstacle, when the position where the external object is detected does not correspond to the opening and closing range of the door or the trunk of the target vehicle; and

determining a new path for avoiding the obstacle to reach the target position, when the obstacle is recognized.

18 . The method of claim 11 , wherein determining the target position includes

determining the target position, based on an operation radius of the robotic arm and a degree of motion of the robotic arm, the degree being predicted when delivering the delivery product.

19 . The method of claim 11 , wherein detecting the target vehicle includes:

recognizing identification information of at least one vehicle included in the images; and

detecting the target vehicle among the at least one vehicle based on the identification information.

20 . The method of claim 11 , further comprising:

receiving information associated with the reference vehicle image or the reference vehicle information from an external device; and

updating the reference vehicle image or the reference vehicle information, based on the received information.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (13)