Automatic driving robot

Abstract

The technology disclosed in the present specification relates to an automatic driving robot capable of preventing slipping when the automatic driving robot is stopped, the automatic driving robot comprising: a rail portion provided from a rear surface to a front surface of the automatic driving robot and inclined such that one side faces downward and the other side faces upward; an installation part which is provided on the rail part and on which an article is installed; a sensing unit that detects the center of gravity of the article; a moving unit that moves the mounting unit; and a control unit connected to the sensing unit and the moving unit, the control unit moving the moving unit so as to prevent the center of gravity of the article from deviating to one side of the autonomous robot, and controlling the setting unit to move to a lower portion so that a tip of the setting unit comes into contact with the ground when the autonomous robot is stopped.

Description

Technical Field

[0001] The technology disclosed in this specification relates to an autonomous driving robot, and more particularly to an autonomous driving robot that can prevent skidding when the autonomous driving robot stops. Background Art

[0002] The existing Korean registered patent gazette No. 10-1832904 (published on February 27, 2018, "Two-wheeled Transport Vehicle") discloses a technology comprising: a pair of wheels mounted on a main body; a drive motor driving the pair of wheels; an estimator, a motor encoder that detects the rotation of the wheels and measures the number of wheel rotations when an unbalanced load is applied to the main body, and calculates a target angle using the number of wheel rotations received from the motor encoder, wherein the target angle is an angle at which the main body needs to be tilted from a current position through movement of the wheels so that a new center of gravity caused by the load is located on a straight line.

[0003] The existing Korean Patent Publication No. 10-2021-0060123 (published on May 26, 2021, "Robot") may include: a main body having a driving wheel and an opening formed on the upper surface; a seat covering the opening from the upper side; a lifting mechanism arranged inside the main body and lifting the seat relative to the main body; and a gap cover that lifts and lowers together with the seat and covers the gap between the seat and the main body. The seat may include: a seat base to which the gap cover is connected and inserted into the opening; and a seat cushion that covers the seat surface from the upper side and is located on the upper side of the main body.

[0004] The existing Korean registered patent gazette No. 10-1912806 (published on October 29, 2018, "Detection robot with improved mobility") discloses a technology comprising: a robot body; a multi-legged walking drive unit installed at the bottom of the robot body and moving the robot body in a multi-legged walking manner; a wheel walking drive unit installed at the bottom of the robot body and moving the robot body in a wheel walking manner; a lifting unit that lifts and lowers the wheel walking drive unit relative to the robot body according to extension and contraction movements; a flatness detection sensor installed on the robot body and detecting the flatness of the ground; and an inclination detection sensor installed on the robot body and detecting the inclination of the ground. degree; a center of gravity moving unit, which is installed on the robot body and moves the center of gravity of the robot body back and forth; a control unit, which controls the components; wherein the control unit extends the lifting unit according to the measured flatness detected by the flatness detection sensor, so that the wheel walking drive unit descends relative to the robot body, the wheel walking drive unit contacts the ground, and the multi-legged walking drive unit leaves the ground, thereby walking and moving through the wheel walking drive unit, or retracts the lifting unit so that the wheel walking drive unit rises toward the robot body, the wheel walking drive unit leaves the ground, and the multi-legged walking drive unit contacts the ground, thereby walking and moving through the multi-legged walking drive unit.

[0005] The existing Korean Patent Publication No. 10-2018-0129242 (published on December 5, 2018, "Automatic Cargo Transfer and System") discloses a technology, which includes: a docked device 200, having a space for loading cargo, a moving wheel 210 at the lower part, and a connecting part 220 for docking and a device identification mark 205 installed in front; a docking transfer robot 100, which walks to a destination while recognizing a set moving path in the workplace (W) according to a control signal received through a wireless communication network, distinguishes each docked device 200 by recognizing the device identification mark 205, and has a docking drive device 105 at the rear that is engaged with the connecting part 220 to be detachably combined, so as to dock with the set docked device 200 and transfer it to the set destination; and an operation server 300, which formulates a transfer operation plan according to a user's cargo transportation instruction and plans the path of each docking transfer robot 100, and sends a control signal according to the path plan to each docking robot 100 through a wireless communication network to achieve overall control. Summary of the invention

[0006] Problem that the invention aims to solve

[0007] Existing technologies related to autonomous driving robots include brakes or independent support structures that selectively contact the ground to prevent the autonomous driving robot from sliding on a slope.

[0008] The technical purpose disclosed in this specification is to provide an autonomous driving robot that can realize the balance maintaining technology disclosed in the existing Korean registered patent gazette No. 10-1832904 (published on February 27, 2018, "Two-wheeled transport vehicle"), while realizing the anti-skid technology disclosed in the existing Korean published patent gazette No. 10-2018-0129242 (published on December 5, 2018, "Automatic cargo transfer and system").

[0009] Solutions to the problem

[0010] In one embodiment, an autonomous driving robot is disclosed.

[0011] A self-driving robot comprises: a track portion 100, which is provided on the top of the self-driving robot and is arranged from the back to the front, and is inclined so that one side is toward the bottom and the other side is toward the top; a mounting portion 200, which is provided on the track portion 100 and moves along the track portion 100 by an external force; a sensing portion 300, which is provided on the other side of the track portion 100 and detects the center of gravity of an object loaded on the mounting portion (the inclination of the track); a moving portion 400, which is provided on the other side of the track portion 100 and moves the mounting portion 200 along the top and bottom; and a control portion 500, which is connected to the sensing portion 300 and the moving portion 400, and controls the moving portion 400 to prevent the center of gravity of the object from being biased toward one side of the self-driving robot.

[0012] The autonomous driving robot includes a control unit 500 that controls the moving unit 400 to make the distal end of the mounting unit 200 contact the ground when the autonomous driving robot stops.

[0013] The autonomous driving robot also includes a manual detection unit 600 for detecting whether the autonomous driving robot is pulled by a user; when the manual detection unit 600 detects that the autonomous driving robot is pulled by a user, the control unit 500 interrupts the control of the moving unit 400.

[0014] The autonomous driving robot further includes a tilt assisting portion 700 located at a lower portion behind the track portion 100 and causing the stop assisting portion 710 to selectively contact the ground.

[0015] The tilt assisting part 700 includes: a stop assisting part 710, which is located at the rear of the autonomous driving robot; a support part 720, which supports the stop assisting part 710 at one end and is in the shape of a letter "┐"; a hinge part 730, which is used to connect the corner part of the support part 720 to the main body of the autonomous driving robot with a hinge structure; and a tilt driving part 740, which is provided on the other side of the main body of the autonomous driving robot and at one end of the support part 720, so that the other side of the support part 720 rotates in the upper and lower directions with the hinge part 730 as the center.

[0016] The autonomous driving robot also includes a linkage mechanism 800, which is driven by two wheels and the height of each wheel can be controlled separately.

[0017] Effects of the Invention

[0018] The autonomous driving robot disclosed in this specification moves the mounting portion 200 along the downwardly inclined rail portion 100 , so that the position of the object changes, thereby being able to maintain the balance of the autonomous driving robot when walking.

[0019] The autonomous driving robot disclosed in this specification makes the lower end of the mounting portion 200 contact the ground along the track portion 100 toward the lower part of the autonomous driving robot, so the friction between the mounting portion 200 and the ground will increase with the increase of the load of the items, thereby preventing the stopped autonomous driving robot from sliding.

[0020] When the manual detection unit 600 of the autonomous driving robot disclosed in this specification detects that a user is moving while holding the autonomous driving robot with his hands, the upward and downward shaking of the autonomous driving robot caused by the user's gait can be prevented from causing movement of the moving unit 400, thereby causing discomfort to the user.

[0021] The autonomous driving robot disclosed in this specification uses the tilt assist component 700 to prevent the autonomous driving robot from tipping over backwards in the event of an instantaneous loss of balance.

[0022] The autonomous driving robot disclosed in this specification maintains the balance of the autonomous driving robot in the left and right directions through the link mechanism 800, thereby achieving stable walking in combination with the balance in the front and rear directions through the track part 100.

[0023] The above content only provides a selective concept of the matters to be described in detail in a simplified form. The purpose of this content is not to limit the main features or essential features of the claims or the scope of the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of an embodiment of the autonomous driving robot disclosed in this specification;

[0025] Figure 2 A schematic diagram of another embodiment of the autonomous driving robot disclosed in this specification;

[0026] Figure 3 A schematic diagram of another embodiment of the autonomous driving robot disclosed in this specification;

[0027] Figure 4 Based on Figure 3 A flowchart of the operating sequence of the autonomous driving robot;

[0028] Figure 5 This is a schematic diagram of another embodiment of the autonomous driving robot disclosed in this specification;

[0029] Figure 6 This is a schematic diagram of another embodiment of the autonomous driving robot disclosed in this specification. DETAILED DESCRIPTION

[0030] Below, the embodiments disclosed in this specification are described in detail with reference to the accompanying drawings. Unless otherwise specified, similar reference numerals in the drawings represent similar structures. The exemplary embodiments described in the specific description, drawings and claims are non-limiting, and other embodiments may be used, and other changes may be made without exceeding the technical ideas or scope disclosed herein. Those skilled in the art may arrange, construct, combine, and represent the structures of the present disclosure, i.e., the structures described herein and illustrated in the accompanying drawings, through other structures, which are obvious and constitute a part of the present disclosure. In the accompanying drawings, in order to more clearly represent each layer (or film), area and shape, the width, length, thickness or shape of the structure may be exaggerated.

[0031] When it is described that one structure is “provided on” another structure, it includes not only a case where the one structure is directly provided on the other structure but also a case where an additional structure is included therebetween.

[0032] When it is described that one structure is "mounted on" another structure, it includes not only a case where the one structure is directly mounted on the other structure but also a case where an additional structure is included therebetween.

[0033] The disclosed technical contents are merely examples for illustrating structures or functions, and therefore the scope of rights of the disclosed technology should not be limited by the examples described herein. That is, the examples can be modified in various ways and have various forms, and therefore, the scope of rights of the disclosed technology should include equivalents that can realize the technical ideas.

[0034] If there is no obvious distinction in the context, the singular record includes the plural meaning, and the terms "including" or "having" indicate the existence of the features, numbers, steps, actions, structures, components or their combinations recorded in the specification, but do not preclude the existence or additional possibility of one or more other features, numbers, steps, actions, structures, components or their combinations.

[0035] Unless otherwise specified, all terms used herein, including technical or scientific terms, have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. Terms commonly used that are the same as those defined in dictionaries have the same meaning as in the context of the relevant technology and, unless clearly defined, do not have an ideal or excessive meaning in this application.

[0036] In the drawings of this specification, Figure 1 A schematic diagram of an embodiment of the autonomous driving robot disclosed in this specification; Figure 2 A schematic diagram of another embodiment of the autonomous driving robot disclosed in this specification; Figure 3 This is a schematic diagram of another embodiment of the autonomous driving robot disclosed in this specification. Figure 4 Based on Figure 3 A flowchart of the operating sequence of the autonomous driving robot; Figure 5 This is a schematic diagram of another embodiment of the autonomous driving robot disclosed in this specification; Figure 6 This is a schematic diagram of another embodiment of the autonomous driving robot disclosed in this specification.

[0037] The technology disclosed in this specification relates to an autonomous driving robot, wherein the autonomous driving robot is driven to move by two or more wheels. For ease of description, this specification takes an autonomous driving robot driven by two wheels as an example. The technology disclosed in this specification is implemented in an autonomous driving robot that follows a specific path or moves by a user. In particular, in the case of an autonomous driving robot moved by two wheels, a technology for detecting tilt and compensating for tilt is included to maintain the balance of the autonomous driving robot in the front and rear directions.

[0038] The technology disclosed in this specification is an autonomous driving robot, comprising: a track portion 100, which is provided on the top of the autonomous driving robot and is arranged from the back to the front, and is inclined so that one side is toward the bottom and the other side is toward the top; a mounting portion 200, which is provided on the track portion 100 and moves along the track portion 100 by an external force; a sensing portion 300, which is provided on the other side of the track portion 100 and detects the center of gravity of an object loaded on the mounting portion (the inclination of the track); a moving portion 400, which is provided on the other side of the track portion 100 and moves the mounting portion 200 along the top and bottom; and a control portion 500, which is connected to the sensing portion 300 and the moving portion 400, and controls the moving portion 400 to prevent the center of gravity of the object from being biased toward one side of the autonomous driving robot.

[0039] The autonomous driving robot includes a control unit 500 that controls the moving unit 400 to make the distal end of the mounting unit 200 contact the ground when the autonomous driving robot stops.

[0040] The autonomous driving robot also includes a manual detection unit 600 for detecting whether the autonomous driving robot is pulled by a user; when the manual detection unit 600 detects that the autonomous driving robot is pulled by a user, the control unit 500 interrupts the control of the moving unit 400.

[0041] The autonomous driving robot further includes a tilt assisting portion 700 located at a lower portion behind the track portion 100 and causing the stop assisting portion 710 to selectively contact the ground.

[0042] The tilt assisting part 700 includes: a stop assisting part 710, which is located at the rear of the autonomous driving robot; a support part 720, which supports the stop assisting part 710 at one end and is in the shape of a letter "┐"; a hinge part 730, which is used to connect the corner part of the support part 720 to the main body of the autonomous driving robot with a hinge structure; and a tilt driving part 740, which is provided on the other side of the main body of the autonomous driving robot and at one end of the support part 720, so that the other side of the support part 720 rotates in the upper and lower directions with the hinge part 730 as the center.

[0043] The autonomous driving robot also includes a linkage mechanism 800, which is driven by two wheels and the height of each wheel can be controlled separately.

[0044] The following is a detailed description with reference to the accompanying drawings of this specification.

[0045] See also Figure 1 According to one embodiment, the autonomous driving robot may include a track portion 100 , a mounting portion 200 , a sensing portion 300 , a moving portion 400 , and a control portion 500 .

[0046] The track portion 100 may be formed of a conventional track. The track portion 100 is arranged from the rear to the front, and is tilted so that one side faces the lower part and the other side faces the upper part. The track portion 100 may be provided on the upper part of the driving shaft that drives the two wheels of the autonomous driving robot. The track portion 100 is tilted so that one side faces the lower rear part of the autonomous driving robot and the other side faces the upper front part of the autonomous driving robot. The track portion 100 provides a moving path for the mounting portion 200, and suppresses shaking when the mounting portion 200 moves.

[0047] In addition, it can also be provided in a curved form. Of course, the track end at the rear of the autonomous driving robot can be toward the upper part of the autonomous driving robot, and the track end in front of the autonomous driving robot can be toward the lower part of the autonomous driving robot.

[0048] The mounting portion 200 may be provided on the rail portion 100 for mounting items. Specifically, the mounting portion 200 may be provided in the form of a basket capable of storing items. The mounting portion 200 may be freely moved along the rail portion 100 by an external force.

[0049] Furthermore, the mounting portion 200 may be deformed into various forms according to the size or shape of the mounted object.

[0050] In addition, the side surface of the mounting portion 200 may be inserted into the rail portion 100 .

[0051] The sensing unit 300 is generally composed of a gyro sensor. The sensing unit 300 may be provided in the main body of the autonomous driving robot. The sensing unit 300 may detect the center of gravity of an object. Specifically, as in the existing two-wheeled autonomous driving robot, the sensing unit 300 may predict the center of gravity of an object by the tilt state of the autonomous driving robot or the track unit 100.

[0052] In addition, the sensing unit 300 may also use or add an optical sensor or a gyro sensor implemented in an existing two-wheel drive autonomous driving robot.

[0053] The moving part 400 can move the installation part 200. Specifically, the moving part 400 can adopt a common cylinder or a power rail slider. The cylinder can be provided along the length direction of the rail part 100. The forward / reverse piston of the cylinder is connected to the installation part 200. That is, the moving part 400 moves the installation part 200. The moving part 400 moves the installation part 200 so that the load of the object is located in the middle, rear or front of the autonomous driving robot. That is, the center of gravity of the autonomous driving robot generated by the object is adjusted by the moving part 400 to maintain the balance of the front and rear directions of the autonomous driving robot.

[0054] The control unit 500 is connected to the sensing unit 300 and the moving unit 400, and controls the moving unit 400 to prevent the center of gravity of the object from being biased toward one side of the autonomous driving robot. That is, the balance of the autonomous driving robot is maintained. The control unit 500 can be composed of a conventional PCB. The control unit 500 detects the tilt of the autonomous driving robot in the front and rear directions through the sensing unit 300, and operates the moving unit 400 to adjust the center of gravity to maintain the balance of the autonomous driving robot.

[0055] See also Figure 1 The aforementioned autonomous driving robot including the rail portion 100, the mounting portion 200, the sensing portion 300, the moving portion 400 and the control portion 500 can move in the up and down directions through the rail portion 100 and the moving portion 400 only according to the mounting portion 200 for mounting objects, thereby maintaining the balance of the autonomous driving robot in the front and rear directions.

[0056] See also Figure 2 In another embodiment, the autonomous driving robot can extend the length of the track portion 100 so that the lower end of the mounting portion 200 can be moved to a position where it can touch the ground. When the autonomous driving robot stops, the control unit 500 controls the moving unit 400 to move the mounting portion 200 to the lower part so that the end of the mounting portion 200 touches the ground. That is, when the autonomous driving robot stops, the control unit 500 stops the balance of the autonomous driving robot in the front-back direction and operates the moving unit 400 to make the mounting portion 200 touch the ground.

[0057] See also Figure 2 The aforementioned autonomous driving robot makes the lower end of the mounting portion 200 contact the ground through the control unit 500 when the autonomous driving robot stops, and the mounting portion 200 increases the friction with the ground through the load of the objects to prevent the autonomous driving robot from sliding.

[0058] In addition, the operation of the control unit 500 for moving the aforementioned installation unit 200 is described in detail as follows:

[0059] When placing an object on the mounting portion 200, the control portion 500 detects the tilt of the autonomous driving robot through the sensing portion 300. At this time, when it is determined that the autonomous driving robot is tilted forward, the control portion 500 operates the moving portion 400 to move the mounting portion 200 to the rear of the autonomous driving robot. The control portion 500 operates the moving portion 400 until the sensing portion 300 detects no tilt. Afterwards, the control portion 500 operates the moving portion 400 to maintain walking balance in response to the tilt of the autonomous driving robot caused by shaking or tilting during walking. Afterwards, when the autonomous driving robot stops, the control portion 500 operates the moving portion 400 to move the mounting portion 200 to the rear lower portion of the autonomous driving robot to touch the ground.

[0060] The above-mentioned autonomous driving robot maintains the balance of the autonomous driving robot when walking by moving the mounting portion 200 along the inclined track portion 100 to change the position of the object, and by making the lower end of the mounting portion 200 contact the ground along the track portion 100 toward the lower part of the autonomous driving robot, the stopped autonomous driving robot is suppressed from sliding in an inclined position.

[0061] In addition, the mounting portion 200 may be in the form of a hook, so that an article in the form of a bag can be hung on the hook of the mounting portion 200. At this time, the mounting portion 200 may also be moved to the rear lower portion of the autonomous driving robot so that the lower portion contacts the ground.

[0062] See also Figure 3 and Figure 4 According to yet another embodiment, the autonomous driving robot further includes a manual detection unit 600 , so that the control unit 500 interrupts the control of the moving unit 400 according to the manual detection unit 600 .

[0063] The manual detection unit 600 detects whether the autonomous driving robot is pulled by the user. The manual detection unit 600 may be implemented by providing a common pressure sensor on the handle of the autonomous driving robot, or may include a separate button on the operation panel of the autonomous driving robot.

[0064] When the manual detection unit 600 detects that the autonomous driving robot is pulled by the user, the control unit 500 interrupts the control of the moving unit 400 .

[0065] See also Figure 3 When the autonomous driving robot including the control unit 500 including the manual detection unit 600 and the control interruption moving unit 400 detects that the user is moving while holding the autonomous driving robot with his hands, the control unit 500 prevents the autonomous driving robot from shaking in the up and down directions due to the user's gait, causing the moving unit 400 to move for maintaining balance, thereby causing discomfort to the user.

[0066] See also Figure 5 According to another embodiment of the present invention, the autonomous driving robot may further include a tilt assisting unit 700 including a stop assisting unit 710 .

[0067] As an example, the tilt assisting unit 700 may include a tilt driving unit 740 composed of a common cylinder on one side of the main body of the autonomous driving robot. The tilt driving unit 740 may be provided along the length direction of the track unit 100 or the lower direction of the autonomous driving robot. A common wheel may be provided at the end of the piston of the tilt driving unit 740. The tilt driving unit 740 is connected to the aforementioned control unit 500 to be controlled. The tilt assisting unit 700 may selectively make the stop assisting unit 710 contact the ground through the control unit 500.

[0068] As another example, the tilt assisting part 700 may include a stop assisting part 710, a support part 720, a hinge part 730, and a tilt driving part 740. The tilt assisting part 700 rotates the support part 720 about the hinge part 730 through the tilt driving part 740 so that the stop assisting part 710 selectively contacts the ground.

[0069] The stop assisting part 710 may be formed by conventional wheels. The stop assisting part 710 may be located behind the autonomous driving robot. That is, the stop assisting part 710 is located behind the track part 100 facing the lower part of the autonomous driving robot.

[0070] The supporting part 720 supports the stop auxiliary part 710 at one end and is in a shape of a Chinese character “┐”. One end of the supporting part 720 can be connected to the stop auxiliary part 710.

[0071] The hinge part 730 is a common hinge structure, which is used to connect the corner part of the support part 720 to the main body of the autonomous driving robot with a hinge structure.

[0072] The tilting drive unit 740 may be formed of a conventional cylinder. The tilting drive unit 740 may be provided on the other side of the main body of the autonomous driving robot. The tilting drive unit 740 may be connected to the other end of the support unit 720. The tilting drive unit 740 rotates the other side of the support unit 720 in the upper and lower directions with the hinge unit 730 as the center.

[0073] See also Figure 5 The aforementioned autonomous driving robot including the tilt assisting part 700 can selectively use the stop assisting part 710 to achieve stable walking through the tilt assisting part 700. The autonomous driving robot uses the tilt assisting part 700 to prevent the autonomous driving robot from tipping over backwards in the event of a momentary loss of balance.

[0074] See also Figure 6 According to an embodiment of the present invention, the autonomous driving robot may further include a common link mechanism 800, which is driven by two wheels. The height of each wheel of the link mechanism 800 can be controlled separately. The link mechanism 800 operates through a common cylinder, and when the height of one wheel increases, the wheel on the opposite side decreases. The link mechanism 800 may be connected to the control unit 500.

[0075] See also Figure 6 The aforementioned autonomous driving robot including the connecting rod mechanism 800 maintains the balance of the autonomous driving robot in the left and right directions through the connecting rod mechanism 800, thereby achieving stable walking in combination with the balance in the front and rear directions through the track part 100.

[0076] In the aforementioned autonomous driving robot including the track portion 100, the mounting portion 200, the sensing portion 300, the moving portion 400 and the control portion 500, the aforementioned manual detection portion 600, the tilt assist portion 700 and the connecting rod mechanism 800 can be implemented as all being combined together, but of course they can also be selectively freely combined.

[0077] The above embodiments are only used to illustrate the present disclosure and are not intended to limit the present disclosure. A person skilled in the art should understand that the present disclosure may be modified, deformed or replaced by equivalents without departing from the spirit and scope of the present disclosure and should be included in the scope of the claims of the present disclosure.

Claims

1. An autonomous driving robot, comprising: A track portion, provided on the top of the autonomous driving robot and arranged from the rear to the front, tilted so that one side faces downward and the other side faces upward; A mounting portion, provided on the track portion and moved along the track portion by an external force; a sensing portion provided on the other side of the track portion and detecting the center of gravity of the article loaded on the mounting portion; A moving part is provided on the other side of the track part and moves along the upper and lower mounting parts; and The control unit is connected to the sensing unit and the moving unit, and controls the moving unit to prevent the center of gravity of the object from deviating to one side of the automatic driving robot.

2. The autonomous driving robot according to claim 1, wherein: A control unit is included to control the moving unit so that the distal end of the mounting unit contacts the ground when the autonomous driving robot stops.

3. The autonomous driving robot according to claim 1, wherein: It also includes a manual detection unit to detect whether the autonomous driving robot is pulled by a user; when the manual detection unit detects that the autonomous driving robot is pulled by the user, the control unit interrupts the control of the moving unit.

4. The autonomous driving robot according to claim 1, wherein: The invention also includes a tilt assisting portion which is located at a lower portion behind the track portion and enables the stop assisting portion to selectively contact the ground.

5. The self-driving robot according to claim 4, wherein: The tilt assisting part comprises: a stopping auxiliary unit, located behind the autonomous driving robot; A supporting part, which supports the stop auxiliary part at one end and is in the shape of a letter "┐"; A hinge portion, used to connect the corner portion of the support portion to the main body of the autonomous driving robot with a hinge structure; and The tilt driving unit is provided on the other side of the main body of the autonomous driving robot and on one end of the support unit, so that the other side of the support unit rotates in the upper and lower directions with the hinge unit as the center.

6. The autonomous driving robot according to claim 1, wherein: The self-driving robot also includes a linkage mechanism, which is driven by two wheels and the height of each wheel can be controlled separately.

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