Mobile robot and control method thereof

Abstract

The mobile robot includes a sensor, a load member on which food is carried, a stabilizer provided below the load member, wherein the stabilizer includes an upper plate, a lower plate, and a damping plate for adjusting damping provided between the upper plate and the lower plate. The mobile robot includes a processor and a suspension and wheel driving device provided with, wherein the processor controls the stabilizer and the suspension based on at least one of food-related information, information obtained from a route map, and information of a surrounding environment sensed by the sensor.

Description

Technical Field

[0001] This disclosure relates to a traveling robot and its control method, and more specifically, to a traveling robot and its control method that stably delivers loads. Background Technology

[0002] The commercialization of automation technology is increasingly being applied across various sectors. Customers can make reservations for shops or accommodations using services provided by trained artificial intelligence (AI) models, and order food through kiosks without human intervention in restaurants. Furthermore, robots that cook pre-ordered food and robots that deliver food have emerged.

[0003] The robot delivering food must deliver it to the customer steadily. However, the ground surface along the robot's path may be uneven or have bumps. Furthermore, unexpected obstacles may appear. In such situations, the robot may accelerate and decelerate due to various instabilities, and the vibrations from these accelerations and decelerations can be transmitted to both the robot and the food it carries. In particular, if the food is liquid, the liquid may spill due to the vibrations transmitted to the robot.

[0004] Therefore, the purpose of this disclosure is to provide a subject for improving the prior art. Summary of the Invention

[0005] Technical solution A driving robot that stably delivers food to customers and its control method are provided.

[0006] Other aspects will be set forth in part in the description which follows, and in part will be apparent from the description, or may be learned by practicing the embodiments presented.

[0007] According to one aspect of this disclosure, a driving robot may include: sensors; a load member configured to carry food; a stabilizer disposed at the bottom of the load member, wherein the stabilizer includes a top plate, a bottom plate, and a damping plate disposed between the top plate and the bottom plate, wherein the damping plate is configured to adjust damping; a drive mechanism including suspension and wheels; and a processor configured to control the stabilizer and the suspension based on at least one of information associated with the food, information obtained from a driving map, or information about the surrounding environment detected by the sensors.

[0008] The suspension includes a support member configured to move horizontally between a second end region where the wheel is located and a first end region in the opposite direction to the region where the wheel is located. In a vibration-prepared driving mode, the processor can also be configured to: position the support member of the suspension in an intermediate region between the second and first end regions and increase damping by reducing the distance between the damping plates of the stabilizer; and in a damping driving mode, the processor can also be configured to: position the support member of the suspension in the second end region and increase damping by reducing the distance between the damping plates of the stabilizer.

[0009] The processor can also be configured to set the driving mode to a vibration-prepared driving mode based on the detection of blind spots during driving.

[0010] The processor can also be configured to set the driving mode to a shock-absorbing driving mode based on the detection of obstacles or vibration areas during driving.

[0011] The processor can also be configured to: identify the distance to an obstacle detected by the sensor; set the driving mode to a shock-absorbing driving mode based on at least one of identifying that the distance to the obstacle is less than or equal to a preset distance or that the time until reaching the obstacle is greater than or equal to a preset time; and set the driving mode to a vibration-prepared driving mode based on at least one of identifying that the distance to the obstacle is greater than the preset distance or that the time until reaching the obstacle is less than the preset time.

[0012] The suspension may include a shock-absorbing component disposed at the top of the first end region.

[0013] The stabilizer may include an elastic friction member disposed between the damping plates.

[0014] The sensor may include a weight detection sensor disposed in the load member, the information associated with the food may include the weight information of the food, and the processor may also be configured to: control the distance between the damping plates of the stabilizer to adjust the damping based on the weight information of the food detected by the weight detection sensor.

[0015] The sensor may include an accelerometer disposed in the load member, the information associated with the food may include information about whether the food is liquid, and the processor may be configured to: identify that the food is not liquid based on a preset first range of frequencies detected by the accelerometer, and identify that the food is liquid based on a preset second range of frequencies detected.

[0016] The processor can also be configured to: lock the stabilizer based on the fact that the food is not a liquid, and unlock the stabilizer based on the fact that the food is a liquid.

[0017] According to one aspect of this disclosure, a control method for a traveling robot including sensors, a load member, a stabilizer disposed at the bottom of the load member, and a drive mechanism including suspension and wheels may include: detecting the surrounding environment via the sensors while traveling, and controlling the stabilizer and the suspension based on at least one of information associated with food carried on the load member, information obtained from a travel map, or information of the detected surrounding environment.

[0018] The suspension includes a support member configured to move horizontally between a second end region where the wheel is located and a first end region in the opposite direction to the wheel's location. In a vibration-prepared driving mode, controlling the stabilizer and the suspension may include: positioning the support member of the suspension in an intermediate region between the second and first end regions, and increasing damping by reducing the distance between the damping plates of the stabilizer; and in a damping driving mode, controlling the stabilizer and the suspension may include: positioning the support member of the suspension in the second end region, and increasing damping by reducing the distance between the damping plates of the stabilizer.

[0019] The steps of controlling the stabilizer and the suspension may include: setting the driving mode to a vibration-prepared driving mode based on the detection of a blind spot during driving.

[0020] The steps of controlling the stabilizer and the suspension may include: setting the driving mode to a damping driving mode based on the detection of an obstacle or a vibration zone during driving.

[0021] The steps of controlling the stabilizer and the suspension may include: identifying the distance to an obstacle detected by the sensor; setting the driving mode to a damping driving mode based on at least one of identifying that the distance to the obstacle is less than or equal to a preset distance or that the time until reaching the obstacle is greater than or equal to a preset time; and setting the driving mode to a vibration preparation driving mode based on at least one of identifying that the distance to the obstacle is greater than the preset distance or that the time until reaching the obstacle is less than the preset time. Attached Figure Description

[0022] The above and other aspects, features and advantages of certain embodiments of this disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings, wherein: Figure 1This is a diagram illustrating a traveling robot according to an embodiment; Figure 2 This is a block diagram illustrating the construction of a driving robot according to an embodiment; Figure 3 This is a block diagram illustrating the construction of a drive device according to an embodiment; Figure 4 This is a block diagram illustrating the construction of a driving robot according to an embodiment; Figure 5 This is a diagram illustrating the structure of the drive device according to an embodiment; Figure 6 This is a diagram illustrating the structure of the stabilizer according to an embodiment; Figure 7a and Figure 7b This is a diagram illustrating the vibration reduction mode according to an embodiment; Figure 8a and Figure 8b This is a diagram illustrating the vibration preparation mode according to an embodiment; Figure 9a , Figure 9b , Figure 9c , Figure 9d , Figure 9e and Figure 9f This is a diagram illustrating the acceleration and deceleration processes of a traveling robot according to an embodiment; Figure 10 This is a diagram illustrating various scenarios based on a driving map according to an embodiment; Figure 11a and Figure 11b This is a diagram illustrating the driving mode setting based on the distance to obstacles according to an embodiment; and Figure 12 This is a flowchart illustrating a control method for a traveling robot according to an embodiment. Detailed Implementation

[0023] Various embodiments will now be described in more detail with reference to the accompanying drawings. Various modifications may be made to the embodiments described herein. Specific embodiments are shown in the accompanying drawings and described in detail in the specific embodiments. However, the specific embodiments described in the accompanying drawings are only for the purpose of helping to readily understand the various embodiments. Therefore, it should be noted that the embodiments of this disclosure are not limited to the specific embodiments described in the accompanying drawings and should be construed as including all modifications, combinations, equivalents, and / or substitutions of the embodiments included in the scope of the art.

[0024] Terms including ordinal numbers such as first and second may be used to describe various elements, but elements are not limited by the terms mentioned above. The terms mentioned above may be used only for the purpose of distinguishing one element from another.

[0025] In this disclosure, terms such as “comprising” or “having” are used to specify the presence of the features, quantities, steps, operations, elements, components, or combinations thereof described herein, and do not preclude the presence or possibility of one or more additional features or quantities, steps, operations, elements, components, or combinations thereof. When an element is indicated as being “combined” / “attached to” or “connected to” another element, it can be understood as the element being directly combined / attached to the other element, or as other elements existing between them. On the other hand, when an element is indicated as being “directly combined” / “attached to” or “connected to” another element, it can be understood as the absence of other elements existing between them.

[0026] As used herein, a “module” or “part” may perform at least one function or operation. Furthermore, a “module” or “part” may be configured to perform a function or operation by means of hardware, software, or a combination of hardware and software. In addition to “modules” or “parts” that need to be implemented in specific hardware or in at least one processor, multiple “modules” or multiple “parts” may be integrated into at least one module. Unless explicitly stated otherwise in the context, singular expressions may include plural expressions.

[0027] In this disclosure, the order of each step should be understood as non-restrictive unless the order of each step is required to logically and temporally require the previous step to be performed before the subsequent step. That is, except as otherwise provided above, performing a process described as a subsequent step before a process described as a previous step does not affect the nature of this disclosure, and the scope of protection should be limited regardless of the order of the steps. Furthermore, in this disclosure, expressions such as "at least one of A or B" not only selectively refer to either A or B, but can be defined to include both A and B. Moreover, the term "including" can have a broad meaning, that is, including another element in addition to the elements listed as included.

[0028] In this disclosure, only the essential elements necessary for describing this disclosure are described, and elements irrelevant to the nature of this disclosure are omitted. Furthermore, this disclosure should not be construed as including only the listed elements in an exclusive sense, but rather as including other elements in a non-exclusive sense.

[0029] In addition, in describing this disclosure, detailed descriptions of relevant known technologies or constructions will be omitted where it is determined that such detailed descriptions might unnecessarily obscure the spirit of the disclosure. Each embodiment may be implemented or operated independently, but each embodiment may also be implemented or operated in combination thereof.

[0030] Features described with reference to one embodiment can be combined with features from another embodiment without introducing new topics.

[0031] Figure 1 This is a diagram illustrating a driving robot according to one or more embodiments. Figure 2 It is shown Figure 1 A block diagram of the structure of a driving robot. Figure 3 It is shown Figure 1 A block diagram illustrating the structure of the drive mechanism for a mobile robot. This will be referred to and described below. Figures 1 to 3 The term "driving robot" may be used in this article to refer to a robot capable of driving.

[0032] Reference Figure 1 The mobile robot 100 may include a main body 1, a load-bearing component 10, a stabilizer 110, and a drive unit 125. Additionally, refer to... Figure 2 In addition to the above-mentioned structure, the driving robot may also include a sensor 105 and a processor 120.

[0033] The main body 1 may include a processor that controls each component of the traveling robot 100. The load member 10 may carry or receive a load. For example, the load may include various products, food, etc., and the food may include liquids with fluidity, non-liquids with little fluidity, etc. The load member 10 may be implemented in a structure suitable for supplying food, but is not limited to a structure for supplying food, and may also be implemented in a structure that provides services for cleaning, guiding, patrolling, emergency response, etc.

[0034] The stabilizer 110 can be arranged at the bottom of the load member 10. Even if vibrations are transmitted to the main body 1 due to the acceleration and deceleration of the traveling robot 100 and vibrations of the ground, the stabilizer 110 can minimize the movement of the load member 10.

[0035] Reference Figure 3 This shows the data from the driving robot 100 ( Figure 1Detailed construction of the drive unit 125 is described below. The drive unit 125 is disposed at the bottom of the main body 1 and is configured to move or drive the traveling robot 100. The drive unit 125 may include a first motor 125-1, a second motor 125-2, wheels 125-3, and a suspension 125-4. The first motor 125-1 drives the wheels 125-3. The second motor 125-2 controls the suspension 125-4. If the speed or direction of the traveling robot 100 changes while it is moving, the suspension 125-4 can absorb vibrations caused by inertia. A detailed description of the suspension 125-4 is provided below.

[0036] Sensor 105 can detect information (e.g., signals, data, etc.) associated with the load of the traveling robot 100 and transmit the detected information to processor 120. Processor 120 can determine whether the load is a liquid type based on the information transmitted from sensor 105. For example, sensor 105 may include a red-green-blue (RGB) sensor and use the RGB sensor to capture the load. Sensor 105 can then transmit the captured image to processor 120. The image may include a still image or a moving image. Processor 120 can determine whether the load is a liquid type based on the captured image. For example, processor 120 can identify changes in the load (e.g., jerking of the load) in a series of still or moving images. Processor 120 can determine whether the load is a liquid type based on the identified changes in the load. Optionally, sensor 105 may include an acceleration sensor (e.g., an accelerometer) and use the acceleration sensor to detect the frequency of an object carried on load member 10. Processor 120 can determine whether the load is a liquid type based on the detected frequency and a range of preset frequencies. For example, processor 120 can determine that the load is not a liquid based on a detected frequency close to about 1 Hz, and determine that the load is a liquid based on a detected frequency of about 2 Hz to 4 Hz. Optionally, sensor 105 can detect ambient information, and processor 120 can identify the state of the ground, the presence of obstacles, and whether it is the destination based on the detected information. For example, sensor 105 includes an RGB sensor, which can capture the surrounding environment including the ground surface of the driving robot 100. Processor 120 can perform image processing on the captured images and identify the state of the road surface, the presence of unevenness on the ground, and the presence of obstacles based on the image processing data. Then, processor 120 can identify whether it is the destination based on pre-stored information about the destination (e.g., images associated with the destination, table identification numbers, etc.) and the image processing data. Optionally, the sensor 105 may include an infrared sensor, an ultrasonic sensor, a time-of-flight (ToF) sensor, a LiDAR sensor, a laser sensor, etc. The sensor 105 can transmit data associated with transmitted and received signals to the processor 120, and the processor can identify the road surface condition, whether there are uneven surfaces, or whether there are obstacles based on the received transmitted and received data. Optionally, the sensor 105 may include a motion recognition sensor, a thermal detection sensor, etc. The sensor 105 can transmit detected information to the processor 120, and the processor 120 can identify whether there are obstacles based on the received information. Optionally, the sensor 105 may include a weight detection sensor (e.g., a scale) that can detect the weight of the food it carries.

[0037] The processor 120 can perform corresponding control operations based on detected ambient information. The processor 120 can accelerate or decelerate the speed of the traveling robot 100, or set the stabilizer 110 and suspension 125-4 to a vibration pre-mode or a damping mode, based on information detected from the sensor 105. Optionally, the sensor 105 can detect a signal corresponding to the weight of the load on the load member 10. For example, the sensor 105 may include a gravity sensor (e.g., an accelerometer) and detect a signal corresponding to the weight of the load. The processor 120 can identify the weight of the load based on the signal corresponding to the detected weight of the load from the sensor 105. Then, the processor 120 can adjust the damping of the stabilizer 110 based on the identified weight. For example, the traveling robot 100 can store the damping ratio data of the stabilizer 110 corresponding to the weight of the load in its memory as a lookup table. The processor 120 can adjust the damping of the stabilizer 110 based on the stored lookup table. For example, sensor 105 may include accelerometer, gravity sensor, gyroscope sensor, geomagnetic sensor, orientation sensor, image sensor, infrared sensor, ultrasonic sensor, ToF sensor, LiDAR sensor, laser sensor, motion recognition sensor, proximity sensor, voltmeter, ammeter, barometer, hygrometer, thermometer, illuminance sensor, thermal detection sensor, touch sensor, etc.

[0038] The processor 120 can control every component of the traveling robot 100. For example, the processor 120 can control the sensors 105 to detect the load, the surrounding environment, the weight of the load, frequency, etc. Then, the processor 120 can control the movement of the drive unit 125 for the traveling robot 100. The processor 120 can control the stabilizer 110 and suspension 125-4 to be set to vibration pre-mode or damping mode based on the detected driving environment, etc.

[0039] For example, if the processor 120 determines that the load is not a liquid, the stabilizer 110 can be locked, and if the load is determined to be a liquid, the stabilizer 110 can be unlocked. With the stabilizer 110 locked, as yaw decreases, the stabilizer 110 can be in a stationary state or a similar state, and the traveling robot 100 can move in a stable state or even at high speed. With the stabilizer 110 unlocked, the processor 120 can adjust the damping ratio of the stabilizer 110 based on the weight of the load, the speed of the traveling robot 100, the state of the load, etc. The damping ratio can refer to the degree of movement of the ball included in the stabilizer 110. Based on the acceleration and deceleration or rotation of the traveling robot 100, the ball of the stabilizer 110 can move within the ball's shell. When the damping ratio increases, the movement of the ball may slow down because the friction between the ball and the shell increases, and when the damping ratio decreases, the movement of the ball may increase because the friction between the ball and the shell decreases. Figure 6 The structure and operation of stabilizer 110 are described in detail.

[0040] When a blind spot is detected, the processor can set the traveling robot 100 to a vibration-prepared mode. When an obstacle or a vibration-generating area (e.g., an uneven road surface, bumps, etc.) is detected, the processor can set the traveling robot 100 to a vibration-damping mode. Optionally, the processor 120 can set the traveling robot 100 to either a vibration-prepared mode or a vibration-damping mode based on the distance between the traveling robot 100 and the obstacle. Specific examples of vibration-prepared modes and vibration-damping modes will be described below. Although Figure 2 A single processor 120 is shown, but the driving robot 100 may include multiple processors 120. For example, if the driving robot 100 includes multiple processors 120, it may include a main processor that controls the primary functions of the driving robot 100, sub-processors that support the main processor, etc. Optionally, the driving robot 100 may include multiple processors that control operations associated with different functions, such as a first processor that controls driving functions and a second processor that processes sensed signals. Optionally, the driving robot 100 may include multiple processors that control different components of the driving robot 100, such as a first processor that controls the stabilizer and suspension and a second processor that controls the sensors.

[0041] The traveling robot 100 may include various configurations other than those described above to mitigate vibrations that may occur during travel. For example, the traveling robot 100 may also include an input component that inputs service information including food orders, destinations, etc., an output component that outputs various information, and a memory that stores algorithms, data, etc., associated with the travel or operation of the traveling robot 100. Various configurations that may be included in the traveling robot 100 will be described below.

[0042] Figure 4 This is a block diagram illustrating the construction of a driving robot according to one or more embodiments.

[0043] Reference Figure 4 The driving robot 100 may include sensors 105, stabilizers 110, processors 120, drive units 125, input interfaces 130, communication interfaces 135, cameras 140, microphones 145, displays 150, speakers 155, memory 160, etc. Because sensors 105 and drive units 125 are... Figures 1 to 3 The description is the same as that in [the previous section], so a detailed description will be omitted. Furthermore, the functions of stabilizer 110 are the same as [the previous section]. Figures 1 to 3 The functions described in [the document] are the same, and the structure and operation will be [the same]. Figure 6 As described elsewhere.

[0044] Input interface 130 can receive control commands from the user. For example, input interface 130 may include a keyboard, touchpad, touch screen, etc. Input interface 130 may be referred to as an input device, input component, input module, etc.

[0045] Communication interface 135 can perform communication with external devices. For example, communication interface 135 can perform communication with external devices via at least one of the following communication methods: Wi-Fi, Wi-Fi Direct, Bluetooth, ZigBee, 3G, 3GPP, and LTE. Communication interface 135 can receive information from external devices, such as driving maps and service information. Communication interface 135 can be designated as a communication device, communication component, communication module, transmitting and receiving component, etc.

[0046] Camera 140 can capture the surrounding environment of the traveling robot 100. Optionally, camera 140 can capture the user's facial expressions, movements, etc. Processor 120 can obtain information about the surrounding environment based on the images captured from camera 140 or perform operations corresponding to the user's facial expressions, movements, etc. Various types of cameras performing different functions can be arranged in the traveling robot 100. Optionally, at least one camera 140 of the same type can be arranged in the traveling robot 100. For example, camera 140 may include charge-coupled device (CCD) sensors and complementary metal-oxide-semiconductor (CMOS) sensors. In addition, camera 140 may include RGB cameras, depth cameras, wide-angle cameras, telephoto cameras, etc.

[0047] Microphone 145 can receive voice input from a user. The driving robot 100 may include one microphone 145 or multiple microphones 145. For example, microphone 145 may include a general-purpose microphone, a surround microphone, a directional microphone, etc.

[0048] Display 150 can output data processed by processor 120 as an image. Display 150 can display information and output a screen corresponding to recognized user commands. For example, display 150 can be implemented as a liquid crystal display (LCD), organic light-emitting diode (OLED), flexible display, touch screen, etc. When display 150 is implemented as a touch screen, the driving robot 100 can receive control command input through the touch screen.

[0049] The speaker 155 can output sound signals. For example, the speaker 155 can output information about user input commands, warning information, status information of the driving robot 100, operation information, etc., in the form of voice or notification sounds.

[0050] The memory 160 can store data, algorithms, etc., that perform the functions of the driving robot 100, and also stores programs, commands, etc., that run within the driving robot 100. Optionally, the memory 160 can store driving maps, data associated with services or driving, etc. Algorithms or data stored in the memory 160 can be loaded into the processor 120 under the control of the processor 120 and used to perform driving-related functions. For example, the memory 160 can be implemented as, but is not limited to, types such as, but not limited to, read-only memory (ROM), random access memory (RAM), hard disk drive (HDD), solid-state drive (SDD), memory card, etc.

[0051] The traveling robot 100 may include all of the above-described configurations, or some of them. The configuration of the traveling robot 100 has been described above. The suspension 125-4 and stabilizer 110 will be described below.

[0052] Figure 5 This is a diagram illustrating the structure of a drive device according to one or more embodiments.

[0053] Reference Figure 5 The drive unit 125 may include a suspension 125-4 and a wheel 125-3. Furthermore, the suspension 125-4 may include a support member 125-6 and a shock absorber 23. The support member 125-6 can be moved horizontally between a first end region 21 and a second end region 22 based on the length direction of the suspension 125-4 under the control of a motor. In other words, the support member 125-6 can move between the second end region 22 and the first end region 21 along the longitudinal direction of the suspension 125-4. The first end region 21 may refer to the region where the fixing block 25 is located, in the opposite direction to the region where the wheel 125-3 is located. The second end region 22 may refer to the region where the support member 125-6 moves to its maximum extent based on the fixing block 25.

[0054] As the support member 125-6 moves toward the first end region 21, the stiffness of the suspension 125-4 can be reduced because the gap between the wheel 125-3 and the support member 125-6 increases. If the stiffness of the suspension 125-4 is reduced, it can mitigate vibrations caused by the road surface when the traveling robot 100 travels at a certain speed on an uneven road surface. Furthermore, since the load is liquid, the traveling robot 100 can reduce bumps by lowering the stiffness of the suspension 125-4, thereby reducing the turbulence of the liquid-type load.

[0055] As the support member 125-6 moves toward the second end region 22, the stiffness of the suspension 125-4 can be increased because the gap between the wheel 125-3 and the support member 125-6 decreases. If the stiffness of the suspension 125-4 is increased, bumps can be prevented or reduced when the traveling robot 100 accelerates or decelerates. Optionally, when there is no load or the load is not liquid, the traveling robot 100 can travel at high speeds by increasing the stiffness of the suspension 125-4.

[0056] Additionally, the damping member 23 can be arranged at the top portion of the second end region 22 of the suspension 125-4 and function as a damper. That is, if the suspension 125-4 is in a high-stiffness state due to the support member 125-6 being located at the second end region 22 of the suspension 125-4, the damping member 23 can absorb the vibrations received by the suspension 125-4 when the traveling robot 100 suddenly stops. For example, the damping member 23 can be implemented using an elastic material (such as, but not limited to, polyurethane, rubber, sponge, etc.).

[0057] Figure 6 This is a diagram illustrating the structure of a stabilizer according to one or more embodiments.

[0058] Reference Figure 6The stabilizer 110 may include a top plate 31, a bottom plate 32, top-side spherical shells 34a and 35a, bottom-side spherical shells 34b and 35b, balls (or rollers) 36-1 and 36-2, an elastic friction member 33, and a damping plate 37 including a top-side damping plate 37a and a bottom-side damping plate 37b. The top-side spherical shells 34a and 35a and the bottom-side damping plate 37b may be connected to the top plate, and the bottom-side spherical shells 34b and 35b and the top-side damping plate 37a may be connected to the bottom plate 32. The first top-side spherical shell 34a and the first bottom-side spherical shell 34b may be implemented as a set, and the first ball 36-1 may be placed between the first top-side spherical shell 34a and the first bottom-side spherical shell 34b. Similarly, the second top spherical shell 35a and the second bottom spherical shell 35b can be implemented as a set, and the second ball 36-2 can be positioned between the second top spherical shell 35a and the second bottom spherical shell 35b. The top plate 31 connected to the top spherical shells 34a and 35a and the bottom plate 32 connected to the bottom spherical shells 34b and 35b can be moved separately due to the balls 36-1 and 36-2. In addition, the stabilizer 110 may include an elastic friction member 33 between the top damping plate 37a and the bottom damping plate 37b. For example, the stabilizer 110 may include a motor for controlling damping, wherein the motor adjusts the gap between the top damping plate 37a and the bottom damping plate 37b. The motor for controlling damping can control the damping ratio of the stabilizer 110 by adjusting the gap between the top damping plate 37a and the bottom damping plate 37b according to the control of the processor 120. As described above, the damping ratio refers to the degree of movement of balls 36-1 and 36-2 included in stabilizer 110. When the traveling robot 100 accelerates and decelerates or rotates, the balls in stabilizer 110 can move within the ball housings 34a, 34b, 35a, and 35b. Then, the top plate 31, which is capable of moving separately from the bottom plate 32, can withstand friction with balls 36-1 and 36-2 and move according to the movement of balls 36-1 and 36-2. Because when the damping ratio increases, the movement of balls 36-1 and 36-2 is slowed down due to the increased friction between balls 36-1 and 36-2 and the ball housings 34a, 34b, 35a, and 35b, and when the damping ratio decreases, the friction between balls 36-1 and 36-2 and the ball housings 34a, 34b, 35a, and 35b decreases, the movement of the balls may increase or decrease. If the movement of balls 36-1 and 36-2 slows down, the movement of the top plate 31 based on the bottom plate 32 will also slow down; and if the movement of balls 36-1 and 36-2 becomes larger or increases, the movement of the top plate 31 based on the bottom plate 32 will also become larger or increases. For example, the elastic friction member 33 can be implemented using a material with elasticity, such as, but not limited to, polyurethane, rubber, sponge, etc.

[0059] Based on the absence of a load or the load not being a liquid, the traveling robot 100 can lock the stabilizer 110 and travel at high speed. Based on the load being a liquid, the traveling robot 100 can unlock the stabilizer 110 and adjust its damping as needed. For example, the stabilizer 110 may include a linkage structure that retains spherical housings 34a, 34b, 35a, and 35b. If the linkage structure is spaced apart from the spherical housings 34a, 34b, 35a, and 35b, the stabilizer 110 can be in an unlocked state. If the linkage structure retains the spherical housings 34a, 34b, 35a, and 35b by close contact with them, the stabilizer 110 can be in a locked state. Based on the stabilizer 110 being locked, the stabilizer 110 can be in a stationary state or a similar state when yaw is reduced, and the traveling robot 100 can move in a stable state or even at high speed. Yaw can refer to movement in the forward, backward, left, and right directions on a plane. That is, if the stabilizer 110 is locked, yaw can be reduced because the spherical shell is held in place, and if the stabilizer 110 is unlocked, the processor 120 can adjust the damping ratio of the stabilizer according to the weight of the load, the speed of the traveling robot, the state of the load, etc.

[0060] For example, if the load is a liquid and heavy, the traveling robot 100 can increase the damping of the stabilizer 110; conversely, if the load is light, the traveling robot 100 can decrease the damping of the stabilizer 110. Additionally, if the traveling robot 100 is rotating in place or around a corner, yaw can be reduced by increasing the damping of the stabilizer 110. As described above, if the damping of the stabilizer 110 is increased, the movement of the top plate 31 can also be slowed down. Because slowing down the movement of the top plate 31 means that its movement is slower in the forward, backward, left, and right directions on the plane, yaw can be reduced.

[0061] The traveling robot 100 can increase the damping of the stabilizer by reducing the distance between the damping plates arranged between the top plate 31 and the bottom plate 32 of the stabilizer. Alternatively, the traveling robot 100 can decrease the damping of the stabilizer by increasing the distance between the damping plates arranged between the top plate 31 and the bottom plate 32 of the stabilizer.

[0062] The structure of the drive unit and stabilizer of the traveling robot 100 has been described above. The control processing of the traveling robot 100 according to the traveling environment will be described below.

[0063] Figure 7a and Figure 7b This is a diagram illustrating a damping mode according to one or more embodiments. These will be referred to and described together. Figure 7a and Figure 7b .

[0064] For example, a damping mode can refer to a mode in which the stabilizer and suspension are set to a first state. This mode is used by the driving robot 100 to detect obstacles or vibration-generating areas in advance (e.g., uneven road surfaces, bumps, etc.) and reduce vibrations imposed by the external environment.

[0065] For example, such as Figure 7a As shown, the traveling robot 100 can move the suspension support member 125-6 to the second end region 22 where the wheel 125-3 is located. For example, the processor 120 can send a control signal to the second motor 125-2 to move the support member 125-6, and the second motor 125-2 can move the support member 125-6 to the second end region 22 according to the received control signal. As described above, the suspension stiffness can be increased because the gap between the support member 125-6 and the wheel 125-3 is shortened when the suspension support member 125-6 moves to the second end region 22. Due to the increased suspension stiffness, even if the normal force on the surface tilts towards the front surface due to the deceleration and stopping of the traveling robot 100, the high stiffness is maintained by the suspension, thus preventing the robot's main body from tilting forward.

[0066] In addition, such as Figure 7b As shown, the traveling robot 100 can adjust the gap (e.g., reduce the gap) between the top damping plate 37a and the bottom damping plate 37b located between the top plate 31 and the bottom plate 32 of the stabilizer. For example, the processor 120 can send a control signal to a motor included in the stabilizer for controlling damping, adjusting the gap between the damping plates 37a and 37b (e.g., reducing the gap), and the motor for controlling damping can adjust the gap between the damping plates 37a and 37b according to the received control signal. When the gap between the damping plates 37a and 37b of the stabilizer decreases, the gap between the top spherical shells 34a and 35a and the bottom spherical shells 34b and 35b also decreases. When the damping of the stabilizer increases due to the increase in the friction of the shells 34a, 34b, 35a and 35b and the balls 36-1 and 36-2 as the gap between the top spherical shells 34a and 35a and the bottom spherical shells 34b and 35b decreases, the stabilizer can be prevented from shaking significantly due to inertia.

[0067] In other words, the traveling robot 100 can set a damping mode by placing the suspension support member in the second end region 22 where the wheel is located and reducing the gap between the damping plates 37a and 37b of the stabilizer to increase damping. For example, the traveling robot 100 can store data on the damping ratio of the stabilizer corresponding to acceleration or data on the gap of the damping plates as a lookup table in the memory 160. The processor 120 can adjust the damping by controlling the gap between the damping plates 37a and 37b of the stabilizer 110 based on the stored lookup table. The lookup table can be pre-generated when manufacturing the traveling robot 100.

[0068] Figure 8a and Figure 8b This is a diagram illustrating a vibration preparation mode according to one or more embodiments.

[0069] For example, a vibration preparation mode could be a mode used by the driving robot 100 to prepare for a sudden obstacle or collision, and could also refer to a mode used to set the stabilizer and suspension to a second state.

[0070] For example, such as Figure 8a As shown, the driving robot 100 can place the suspension support member 125-6 in an intermediate region 190 between a first end region 21, opposite to the region where the wheel 125-3 is located, and a second end region 22, where the wheel 125-3 is located. For example, the processor 120 can send a control signal to the second motor 125-2 to move the support member 125-6, and the second motor 125-2 can move the support member 125-6 to the intermediate region 190 according to the received control signal. The reason for placing the support member 125-6 in the intermediate region 190 between the first end region 21 and the second end region 22 is to prepare for sudden situations by quickly and readily moving the support member 125-6 to the second end region 22 to improve the stiffness of the suspension.

[0071] In addition, such as Figure 8bAs shown, the traveling robot 100 can reduce the gap between the top-side damping plate 37a and the bottom-side damping plate 37b located between the top plate 31 and the bottom plate 32 of the stabilizer. For example, the processor 120 can send a control signal to reduce the gap between the damping plates 37a and 37b to a motor included in the stabilizer for controlling damping, and the motor for controlling damping can reduce the gap between the damping plates 37a and 37b according to the received control signal. For example, the traveling robot 100 can store damping ratio data corresponding to acceleration or gap data of the damping plates 37a and 37b as a lookup table in the memory 160. The processor 120 can adjust the damping of the stabilizer 110 based on the stored lookup table. When the gap between the damping plates 37a and 37b of the stabilizer is reduced, the gap between the top-side spherical shells 34a and 35a and the bottom-side spherical shells 34b and 35b can also be reduced. Since the frictional forces of the shells 34a, 34b, 35a, and 35b, and the balls 36-1 and 36-2 increase as the gap between the top-side spherical shells 34a and 35a and the bottom-side spherical shells 34b and 35b decreases, the damping of the stabilizer can be increased. If the damping of the stabilizer is increased, the stabilizer can prevent significant jolts caused by inertia when the traveling robot stops. For example, if the damping of the stabilizer is increased, it can prevent the balls (or rollers) 36-1 and 36-2 from tilting to one side and colliding at the distal end due to yaw (e.g., a fall in the left-right direction) when the traveling robot 100 is rotating.

[0072] In other words, the driving robot 100 can set a vibration preparation mode by placing the suspension support member in the area between the first end area 21 and the second end area 22 of the wheel in the opposite direction to the area where the wheel is located, and by moving the damping plate 37a of the stabilizer downward to increase damping.

[0073] As described above, the vibration damping mode can be a mode set when vibration is predicted to occur based on the detection of the surrounding conditions, or a mode set when vibration is predicted to occur when there is sufficient time until vibration occurs (or when the estimated time until vibration occurs is greater than or equal to a preset time). The vibration preparation mode can be a mode set to prepare for sudden vibrations that may occur in undetected areas, or a mode set to prepare for sudden vibrations that may occur when there is insufficient time until vibration occurs (or when the estimated time until vibration occurs is less than a preset time). For example, the driving robot 100 can set a vibration damping mode when obstacles, uneven road surfaces, etc., are detected in advance by sensors. Optionally, the driving robot can set a vibration damping mode for deceleration based on the detected obstacle being within a preset distance from the driving robot 100. Optionally, the driving robot can set a vibration damping mode based on being within a preset distance from the detected obstacle. Since obstacles may suddenly appear in blind spots when the driving robot 100 passes through blind spots, the driving robot 100 can set a vibration preparation mode for sudden stops, etc., when passing through blind spots. For example, blind spots may include areas where there is a path on the side of the path that the robot 100 is traveling on, corner areas, etc.

[0074] Figure 9a , Figure 9b , Figure 9c , Figure 9d , Figure 9e and Figure 9f This is a diagram illustrating acceleration and deceleration processing of a traveling robot according to one or more embodiments. It will be referred to and described together. Figures 9a to 9f .

[0075] The traveling robot 100 can decelerate its speed based on situations such as detecting obstacles or changing direction while traveling. When the situation ends, the traveling robot 100 can accelerate its speed. The traveling robot 100 can travel based on a travel map, which may include information about fixed or pre-known obstacles or various situations. Because determining the acceleration and deceleration of the traveling robot 100 based on the travel map implies the identification of obstacles or the possibility of vibration, the traveling robot 100 can set its suspension and stabilizer to the aforementioned damping mode. Figure 9a and Figure 9b The image shows the suspension and stabilizer set to damping mode.

[0076] The driving robot 100 can set the suspension and stabilizer to damping mode and decelerate. For example... Figure 9cAs shown, the traveling robot 100, moving at a certain speed, can first set the suspension and stabilizer to a damping mode and perform deceleration. The traveling robot 100 can set the suspension to a high-stiffness state, and even if vibration is transmitted due to deceleration, the increased damping of the stabilizer prevents the main body from tilting forward or the stabilizer from being significantly bumped due to inertia.

[0077] If the traveling robot 100 traverses an uneven surface (such as bumps), it can decelerate as described above. If it decelerates to a target speed, the traveling robot 100 can then traverse the uneven surface at the reduced speed. In this case, the traveling robot 100 can reduce the stiffness of its suspension and traverse the uneven surface at a low speed. That is, as... Figure 9d As shown, the traveling robot 100 can move the suspension support member 125-6 to a first end region 21 in the opposite direction to the region where the wheel is located. As described above, based on the movement of the suspension support member 125-6 to the first end region 21, the suspension stiffness can be reduced because the gap between the support member 125-6 and the wheel 125-3 increases. Based on the reduction in suspension stiffness, the suspension can absorb vibrations generated by uneven road surfaces. Based on having traversed an uneven road surface, the traveling robot 100 can again increase the suspension stiffness for acceleration. If the target speed is reached, the traveling robot 100 can move at a constant speed. If the speed of the traveling robot 100 reaches a constant speed, the traveling robot 100 can again reduce the suspension stiffness and the damping of the stabilizer. That is, as Figure 9d As shown, the driving robot 100 can reduce the stiffness of the suspension by moving the suspension support member 125-6 to a first end region 21 in the opposite direction to the region where the wheel is located. Additionally, as... Figure 9e As shown, the traveling robot 100 can reduce the damping of the stabilizer by increasing the gap between the damping plates 37a and 37b. Due to the reduced damping of the stabilizer, bumps in the main body of the traveling robot 100 can be prevented from being transmitted to the load located on the load-bearing member.

[0078] refer to Figure 9f The diagram illustrates the aforementioned processing. The traveling robot 100 can travel at a certain speed. For example, when it detects an uneven road surface (or obstacle), such as a bumpy surface, the traveling robot 100 can set its suspension to a high-stiffness state and increase the damping of the stabilizer. The traveling robot 100 can then decelerate. For example, as... Figure 2 and Figure 3As shown, processor 120 can send a deceleration control signal to the first motor 125-1 of drive unit 125. First motor 125-1 can reduce the travel speed of wheel 125-3 based on the received deceleration control signal. Acceleration processing of the traveling robot 100 can also be performed similarly to the above processing. When deceleration is complete, the traveling robot 100 can reduce the stiffness of the suspension and the damping of the stabilizer, and traverse uneven surfaces at a low speed. When the traveling robot 100 traverses an uneven surface, the strength of the suspension can be increased. Then, the traveling robot 100 can accelerate. When the traveling robot 100 accelerates to a target speed, the strength or stiffness of the suspension can be reduced, and the damping of the stabilizer can be reduced.

[0079] Figure 10 This is a diagram illustrating various scenarios based on a driving map according to one or more embodiments.

[0080] Reference Figure 10 The diagram illustrates a driving map encompassing various environments. The driving map can be stored in the memory of the driving robot 100. The driving map may include uneven road surfaces 41, narrow paths 42, general paths 43, and turning sections 44. Optionally, if fixed obstacles are present, the driving map may include information about the fixed obstacles.

[0081] When the driving robot 100 travels based on a driving map, it can detect uneven road surface areas 41 through the driving map or sensor detection. Based on the driving robot 100 passing through areas where vibrations can be predicted (such as uneven road surface areas 41 and curves 44), the driving robot 100 can set the suspension and stabilizer to a damping mode.

[0082] On the other hand, based on the fact that the driving robot 100 passes through blind spots such as narrow path 42 and general path 43, the driving robot 100 can set the suspension and stabilizer to vibration preparation mode to prepare for sudden vibrations such as the appearance of obstacles.

[0083] In other words, if a vibration is predicted or there is sufficient time until the vibration occurs, the driving robot 100 can set its driving mode to a shock absorption mode. Optionally, the driving robot 100 can set its driving mode to a vibration preparation mode to prepare for sudden vibrations that may occur in undetected areas or if there is insufficient time until the vibration occurs. The driving robot 100 can stably transport the load to its destination by controlling the suspension and stabilizer in the above process.

[0084] Figure 11a and Figure 11b This is a diagram illustrating driving mode settings based on the distance to an obstacle according to one or more embodiments. These will be referred to and described together. Figure 11a and Figure 11b .

[0085] Reference Figure 11a The diagram shows the positions of obstacles 51 and 52 close to the driving robot 100, and refers to... Figure 11b The diagram shows obstacles 53 and 54 moving away from the traveling robot 100.

[0086] The traveling robot 100 can identify the distance to obstacles detected by sensors. The traveling robot 100 can set its suspension and stabilizer to a damping mode if the detected obstacle is within a preset distance, and to a vibration preparation mode if the detected obstacle is at a distance greater than the preset distance. Since the damping mode and vibration preparation mode have already been described in detail above, their descriptions will be omitted here.

[0087] Various embodiments of a traveling robot for stably delivering loads have been described above. The control method for the traveling robot will now be described.

[0088] Figure 12 This is a flowchart illustrating a control method for a traveling robot according to one or more embodiments.

[0089] Reference Figure 12 The traveling robot can carry a load and travel to its destination. For example, the load may include food, various products, etc., and the food may include liquids with good flowability, non-liquids with little flowability, etc. During operation S1210, the traveling robot can detect its surroundings using sensors while traveling. For example, the traveling robot may include image sensors, infrared sensors, ultrasonic sensors, ToF sensors, LiDAR sensors, laser sensors, motion recognition sensors, etc., and detect its surroundings.

[0090] Based on the fact that the load is food, in operation S1220, the processor of the traveling robot can control the stabilizer and suspension to set a driving mode based on at least one of the following: information obtained from the driving map, information about the detected surrounding conditions, and information associated with the food. The driving map can be stored in the traveling robot's memory. For example, the information associated with the food may include the weight of the food, information about whether the food is liquid, etc.

[0091] The driving mode can include a vibration preparation mode and a damping mode. For example, based on the driving robot traversing a blind spot, the robot's processor can set the driving mode to vibration preparation mode. The processor can position the suspension support member in an intermediate region between the second end region where the wheel is located and the first end region opposite the wheel's location. The suspension can be configured to move horizontally between the end regions. The processor can then reduce the distance between the stabilizer's damping plates to increase damping. The driving robot can set the driving mode to vibration preparation mode by controlling the suspension and stabilizer in the manner described above. Alternatively, based on the driving robot detecting an obstacle or a vibration-generating area (such as an uneven road surface) through sensors, the robot's processor can set the driving mode to damping mode. The robot's processor can position the suspension support member in the second end region where the wheel is located. The processor can then reduce the distance between the stabilizer's damping plates to increase damping. The driving robot can set the driving mode to damping mode by controlling the suspension and stabilizer in the manner described above.

[0092] Additionally, the driving robot can use sensors to identify the distance to obstacles located on its driving path. The processor can set the driving mode to a shock absorption mode based on whether the distance to the detected obstacle is less than or equal to a preset distance, or whether the time until reaching the obstacle is greater than or equal to a preset time. Optionally, the processor can set the driving mode to a vibration preparation mode based on whether the distance to the detected obstacle is greater than a preset distance, or whether the time until reaching the obstacle is less than a preset time.

[0093] Optionally, the traveling robot can identify the characteristics of the load before transporting it and control the suspension or stabilizer based on these characteristics. For example, the traveling robot can use sensors to detect the weight of the load carried on the load-bearing member. The processor can then adjust the damping by controlling the distance between damping plates included in the stabilizer based on the detected load weight. If the load weight is greater than or equal to a preset weight, the processor can increase the damping by decreasing the gap between the damping plates in the stabilizer. Optionally, if the load weight is less than a preset weight, the processor can decrease the damping by increasing the gap between the damping plates in the stabilizer.

[0094] Optionally, the sensor can detect the frequency generated by the load carried on the load member. When the load is carried on the load member, the load may vibrate for a certain period of time due to inertia, etc. The sensor can detect the frequency from the vibration of the load. For example, based on detecting a frequency within a preset first range, the processor can identify that the load is not a liquid based on the frequency within the first range detected by the sensor. Optionally, based on detecting a frequency within a preset second range, the processor can identify that the load is a liquid based on the frequency within the second range detected by the sensor. If the load is not a liquid, the processor can lock the stabilizer; and if the load is a liquid, the processor can unlock the stabilizer.

[0095] The processor can control the suspension and stabilizer in the above process, as well as control every component of the traveling robot, so that the traveling robot can stably deliver the load to the destination based on the stored driving map or the detected surrounding conditions.

[0096] A control method for a traveling robot according to the various embodiments described above can be provided in a computer program product. The computer program product may include the software (S / W) program itself or a non-transitory computer-readable medium stored together with the S / W program.

[0097] Non-transitory computer-readable media can refer to media that store data semi-permanently rather than for a very short period of time, such as, but not limited to, registers, caches, and memory, and can be read by a device. Specifically, the various applications or programs described above can be stored and provided in non-transitory computer-readable media, such as, but not limited to, CDs, DVDs, hard disks, Blu-ray discs, USB, memory cards, ROMs, etc.

Claims

1. A driving robot, comprising: sensor; The load-bearing component is constructed to support the food. A stabilizer, disposed at the bottom of the load member, the stabilizer comprising: roof, Base plate, and A damping plate is disposed between the top plate and the bottom plate and is configured to adjust damping; A drive unit, including a suspension and wheels, wherein the suspension includes a support member, wherein the support member is configured to move horizontally between a second end region where the wheel is located and a first end region in the opposite direction to the region where the wheel is located, to adjust the clearance between the wheel and the support member; and The processor is configured to control the stabilizer and the suspension based on at least one of information associated with the food, information obtained from a driving map, or information about the surrounding environment detected by the sensors.

2. The driving robot according to claim 1, wherein, The processor is also configured to perform the following operations in vibration-prepared driving mode: The suspension support member is positioned in the intermediate region between the second end region and the first end region, and Damping is increased by reducing the distance between the damping plates of the stabilizer, and The processor is also configured to perform the following operations in shock-absorbing driving mode: The support member of the suspension is placed in the second end region, and Damping is increased by reducing the distance between the damping plates of the stabilizer.

3. The driving robot according to claim 2, wherein, The processor is also configured to set the driving mode to a vibration-prepared driving mode based on the detection of a blind spot while driving.

4. The driving robot according to claim 2, wherein, The processor is also configured to set the driving mode to a shock-absorbing driving mode based on the detection of obstacles or vibration zones during driving.

5. The driving robot according to claim 2, wherein, The processor is also configured to: identify the distance to an obstacle detected by the sensor. Based on at least one of the following: the distance to the obstacle is less than or equal to a preset distance, or the time until reaching the obstacle is greater than or equal to a preset time, the driving mode is set to a shock-absorbing driving mode. Based on at least one of the following: the distance to the obstacle is greater than the preset distance or the time until reaching the obstacle is less than the preset time, the driving mode is set to vibration preparation driving mode.

6. The driving robot according to claim 2, wherein, The suspension includes a shock-absorbing component disposed at the top of the first end region.

7. The driving robot according to claim 1, wherein, The stabilizer includes an elastic friction member disposed between the damping plates.

8. The driving robot according to claim 1, wherein, The sensor includes a weight detection sensor disposed in the load member. The information associated with the food includes the weight information of the food, and The processor is further configured to: control the distance between the damping plates of the stabilizer to adjust the damping based on the weight information of the food detected by the weight detection sensor.

9. The driving robot according to claim 1, wherein, The sensor includes an acceleration sensor disposed in the load member. The information associated with the food includes information about whether the food is liquid, and The processor is further configured as follows: Based on the frequency within a preset first range detected by the accelerometer, the food is identified as not being a liquid. Based on the frequency detected within a preset second range, the food is identified as a liquid.

10. The driving robot according to claim 9, wherein, The processor is also configured to: Since the food is not a liquid, the stabilizer is locked. Since the food is a liquid, the stabilizer is unlocked.

11. A control method for a traveling robot, the traveling robot comprising sensors, a load component, a stabilizer disposed at the bottom of the load component, and a drive device including suspension and wheels, wherein, The suspension includes a support member, wherein the support member is configured to move horizontally between a second end region where the wheel is located and a first end region in the opposite direction to the region where the wheel is located, to adjust the clearance between the wheel and the support member, the method comprising: The sensor detects the surrounding environment while driving; and The stabilizer and the suspension are controlled based on at least one of the following: information associated with the food carried on the load member, information obtained from the driving map, or information detected about the surrounding environment.

12. The method according to claim 11, wherein, The steps for controlling the stabilizer and the suspension include the following operations in vibration-prepared driving mode: The suspension support member is positioned in the intermediate region between the second end region and the first end region, and Damping is increased by reducing the distance between the damping plates of the stabilizer, and The steps for controlling the stabilizer and the suspension include the following operations in the damping driving mode: The support member of the suspension is placed in the second end region, and Damping is increased by reducing the distance between the damping plates of the stabilizer.

13. The method according to claim 12, wherein, The steps of controlling the stabilizer and the suspension include: setting the driving mode to a vibration-prepared driving mode based on the detection of a blind spot during driving.

14. The method according to claim 12, wherein, The steps of controlling the stabilizer and the suspension include: setting the driving mode to a damping driving mode based on the detection of an obstacle or vibration zone during driving.

15. The method according to claim 12, wherein, The steps of controlling the stabilizer and the suspension include: Identify the distance to obstacles detected by the sensor. Based on at least one of the following: the distance to the obstacle is less than or equal to a preset distance, or the time until reaching the obstacle is greater than or equal to a preset time, the driving mode is set to a shock-absorbing driving mode. Based on at least one of the following: the distance to the obstacle is greater than the preset distance or the time until reaching the obstacle is less than the preset time, the driving mode is set to vibration preparation driving mode.

Images