Modularly Coupled Autonomous Mobile Robot Platform Apparatus and Operating Method Thereof

Abstract

A moving device and a method of operating the same are disclosed. The moving device according to the present disclosure comprises a connector capable of being connected to at least one functional module, a driving unit driving at least one moving means, a memory storing computer-executable instructions, and a processor that accesses the memory and executes the instructions. When identification information of a functional module is obtained through the connector, the processor executes at least one instruction matching the identification information and controls the driving unit according to the instruction.

Description

Technology Field

[0001] The present disclosure relates to a mobile device capable of performing various tasks in conjunction with a functional module, and more specifically, to a mobile device and a method of operation thereof that enable the mobile device and a functional module to automatically control each module according to at least one instruction matching identification information of the functional module to perform module-specific operations. Background Technology

[0002] Recently, the demand for mobile robotic devices equipped with various functions, such as service robots, serving robots, and cleaning robots, has been continuously increasing. However, these robots are generally manufactured as single units dedicated to specific functions, which necessitates the configuration of different product lines for various applications and presents a problem of limited functional scalability.

[0003] Furthermore, because multiple sensors, output interfaces, and functional arms had to be designed or hardcoded separately to perform the functions desired by the user, maintenance and module expansion of the robot device were difficult, and there was inefficiency in that a separate configuration process was required whenever a new functional module was installed.

[0004] Furthermore, despite the fact that the required voltage, sensing method, output method, and operating mode differ for each functional module, conventional technology has not sufficiently provided an integrated structure that automatically identifies modules and consistently controls the entire operation, including not only the driving unit but also the functional arm, sensor group, and output interface. As a result, interoperability between the mobile device and the functional module is poor, and malfunctions or configuration errors frequently occur during function switching.

[0005] The present disclosure was devised to solve these problems. Prior art literature

[0006] Application Publication No. 10-2026-0012409 The problem to be solved

[0007] The purpose of the present disclosure is to provide a mobile device capable of automatically recognizing identification information of a functional module and integrally controlling the driving unit, functional arm, sensor group, output interface, etc. of the mobile device based on the identification result.

[0008] Furthermore, the present disclosure provides a mobile device capable of stably supplying a voltage suitable for a functional module by automatically controlling a voltage converter in consideration of different power requirements for each functional module.

[0009] Furthermore, the present disclosure aims to provide an expandable mobile device capable of performing various tasks simply by replacing modules, by automatically selecting a target mode based on sensor configurations, functional arm configurations, UI requirements, etc., included in the functional module, and performing corresponding cleaning operations, serving operations, speed limiting modes, etc.

[0010] The purposes of the present disclosure are not limited to those mentioned above, and other purposes and advantages of the present disclosure not mentioned may be understood from the following description and will be more clearly understood from the embodiments of the present disclosure. Furthermore, it will be readily apparent that the purposes and advantages of the present disclosure can be realized by the means and combinations thereof set forth in the claims. means of solving the problem

[0011] A moving device according to the present embodiment comprises a connector capable of being connected to at least one functional module, a driving unit driving at least one moving means, a memory storing computer-executable instructions, and a processor that accesses the memory and executes the instructions. When identification information of the functional module is obtained through the connector, the processor executes at least one instruction matching the identification information and controls the driving unit according to the instruction.

[0012] The above-described moving device further includes a power supply unit for providing power and a voltage converter for converting the voltage supplied from the power supply unit, and the processor can control the voltage converter to provide a target voltage that matches the function module based on the identification information.

[0013] The processor can identify at least one first sensor and at least one first output interface included in the function module based on the identification information, and control the first output interface to provide at least one UI item according to the sensing data of the first sensor based on the instruction.

[0014] The above moving device includes at least one second sensor, and the processor can select at least one target sensor within a sensor group composed of the at least one first sensor and the at least one second sensor based on the instruction.

[0015] The processor can identify at least one first sensor and at least one function arm included in a function module, and control the function arm and the driving unit so that the function arm can perform a serving operation according to the sensing data of the first sensor based on the instruction.

[0016] The above-described moving device further includes a second output interface, and the processor can receive user input from the second output interface or a user terminal to obtain serving request information, and control the functional arm and the driving unit to perform a serving operation according to the serving request information based on the sensing data.

[0017] The processor selects a target mode among a plurality of modes related to the operation of at least one of the moving device and the function module according to the identification information, and if the selected target mode is a first mode, limits the rate of change of speed of the driving unit, and if the selected target mode is a second mode, controls the function module to perform a cleaning operation including at least one of suction, spraying, and washing while the driving unit is moving, and if the selected target mode is a third mode, identifies at least one function arm included in the function module and controls the function arm to perform a serving operation, and controls the driving unit to a stopped state while the serving operation is performed. Effects of the invention

[0018] According to the present disclosure, the mobile device automatically recognizes the sensor, output interface, and functional arm configuration of a module solely based on the identification information of the module, so that it can operate immediately without a separate configuration process even when a new module is installed. This has the effect of significantly improving module expandability and reducing the burden of maintenance.

[0019] Furthermore, the mobile device according to the present disclosure can automatically analyze the required voltage for each functional module and control the voltage converter, thereby stably supplying appropriate power to each module and preventing power-related malfunctions. This provides the flexibility to support various types of functional modules on a single mobile device platform.

[0020] Furthermore, according to the present disclosure, operating modes such as serving mode, cleaning mode, and speed limiting mode are automatically selected depending on the type of functional module, and the driving unit, functional arm, and sensor group can be controlled integrally, thereby enabling the realization of an advanced multi-functional mobile device capable of performing various service operations on a single platform. This significantly expands the scope of application of the robot device and greatly improves automation efficiency in work and service environments. Brief explanation of the drawing

[0021] Aspects, features, and advantages of specific embodiments of the present disclosure will become more apparent from the following description with reference to the accompanying drawings. FIG. 1 is a conceptual diagram illustrating the appearance of a moving device and a functional module according to one embodiment of the present disclosure. FIG. 2 is a block diagram illustrating the appearance of a moving device and a functional module according to one embodiment of the present disclosure. FIG. 3a is a block diagram illustrating the configuration of a moving device according to one embodiment of the present disclosure. FIG. 3b is a block diagram illustrating the detailed configuration of a moving device according to one embodiment of the present disclosure. FIG. 4 is a flowchart illustrating the flow of a moving device controlling a driving unit according to one embodiment of the present disclosure. FIG. 5 is a block diagram illustrating the operation of a moving device controlling a first output interface according to one embodiment of the present disclosure. FIG. 6 is a block diagram illustrating an additional configuration of a moving device according to one embodiment of the present disclosure. Specific details for implementing the invention

[0022] Before specifically describing the present disclosure, the method of description in the specification and drawings is described.

[0023] First, the terms used in this specification and claims have been selected based on general terms considering their functions in the various embodiments of this disclosure. However, these terms may vary depending on the intent of those skilled in the art, legal or technical interpretations, and the emergence of new technologies. Additionally, some terms have been arbitrarily selected by the applicant. Such terms may be interpreted according to the meanings defined in this specification; in the absence of specific definitions, they may be interpreted based on the overall content of this specification and common technical knowledge in the relevant field.

[0024] In addition, the same reference numbers or symbols described in each drawing attached to this specification represent parts or components that perform substantially the same function. For convenience of explanation and understanding, the same reference numbers or symbols are used to describe different embodiments. That is, even if components having the same reference number are all depicted in multiple drawings, the multiple drawings do not imply a single embodiment.

[0025] Additionally, in this specification and claims, terms including ordinal numbers, such as "first," "second," etc., may be used to distinguish between components. These ordinal numbers are used to distinguish identical or similar components from one another, and the meaning of the terms should not be limited by the use of such ordinal numbers. For example, the order of use or arrangement of components combined with such ordinal numbers should not be restricted by the number. If necessary, each ordinal number may be used interchangeably.

[0026] In this specification, singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "consisting of" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0027] In the embodiments of the present disclosure, terms such as "module," "unit," "part," etc. are used to refer to a component that performs at least one function or operation, and such component may be implemented in hardware or software, or in a combination of hardware and software. Additionally, a plurality of "modules," "units," "parts," etc. may be integrated into at least one module or chip and implemented as at least one processor, except where each needs to be implemented in specific individual hardware.

[0028] Furthermore, in the embodiments of the present disclosure, when a part is described as being connected to another part, this includes not only a direct connection but also an indirect connection through another medium. Additionally, the meaning that a part includes a certain component implies that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0029] In the present disclosure, the expression “at least one of a, b, or c” may refer to “a”, “b”, “c”, “a and b”, “a and c”, “b and c”, “a, b, and c all”, or variations thereof.

[0030] The terms used in this disclosure have been selected to be as widely used and general as possible, taking into account their functions within this disclosure; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been selected at the applicant's discretion, and in such cases, their meanings will be described in detail in the relevant explanatory sections. Therefore, terms used in this disclosure should be defined not merely by their names, but based on their meanings and the overall content of this disclosure.

[0031] Singular expressions may include plural expressions unless the context clearly indicates otherwise. Terms used herein, including technical or scientific terms, may have the same meaning as generally understood by those skilled in the art as described in this specification. Additionally, terms including ordinal numbers, such as "first" or "second," used in this specification may be used to describe various components, but said components should not be limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another.

[0032] When a part of a specification is described as "comprising" a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. Furthermore, terms such as "part" or "module" as used in the specification refer to a unit that processes at least one function or operation, and this may be implemented in hardware or software, or as a combination of hardware and software.

[0033] Embodiments of the present disclosure are described below with reference to the attached drawings so that those skilled in the art can easily implement the invention. However, the present disclosure may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present disclosure in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0034] FIG. 1 is a conceptual diagram illustrating the appearance of a moving device and a functional module according to one embodiment of the present disclosure.

[0035] The moving device (100) is a device capable of performing driving control and function execution together with at least one function module (200) connected, and is configured to perform different operations depending on the type of function module (200).

[0036] Specifically, the moving device (100) can be implemented to control driving motion and operation of the function module (200) based on identification information of the function module (200).

[0037] At this time, the moving device (100) can obtain identification information for identifying the function module (200) from the combined function module (200).

[0038] The identification information is information predefined for each of at least one function module (200) and may include information indicating the type, performable function, use, or operational characteristics of the function module (200).

[0039] The function module (200) may correspond to a module that is coupled to the mobile device (100) and implemented to perform a specific function in conjunction with the driving or control of the mobile device (100).

[0040] The function module (200) can be implemented to perform at least one of logistics transport, cleaning, disinfection, goods handling, or user interface provision.

[0041] Thus, when identification information is obtained from a functional module (200) coupled through a connector (130), the moving device (100) performs a control operation corresponding to the identification information, thereby enabling different operations depending on the type of functional module (200).

[0042] Embodiments of the present disclosure will be described in more detail below with reference to the attached drawings.

[0043] FIG. 2 is a block diagram illustrating the appearance of a moving device and a functional module according to one embodiment of the present disclosure.

[0044] Referring to FIG. 2, the mobile device (100) can be optionally connected to at least one function module (200-1, 200-2, 200-3, …) through a connector (130). The function modules (200-1, 200-2, 200-3, …) are modules configured to perform different functions, and as they are coupled to the mobile device (100), the mode of operation of the mobile device (100) may be changed.

[0045] The connector (130) is configured to provide functions such as power supply, control signal transmission, and data communication to the function module (200) by coupling the function module (200) to the mobile device (100). The connector (130) may include a power port for supplying power to the function module (200), a communication port for transmitting and receiving data between the mobile device (100) and the function module (200), a control signal terminal, and a physical coupling structure for mechanically fixing the function module (200) to the mobile device (100), but is not limited thereto.

[0046] For example, the communication port may be configured to support at least one communication method among CAN, RS485, Ethernet, or USB, and status information, sensing data, or control commands of the function module (200) may be transmitted or received through the communication port.

[0047] As another example, the physical coupling structure may include a one-touch coupling method, a magnetic coupling method, or a slide coupling method.

[0048] However, it goes without saying that various electrical and mechanical configurations for implementing connection and coupling between the function module (200) and the mobile device (100) may also be included in the connector (130).

[0049] For example, the function module (200-1) may correspond to a logistics module for logistics loading, and if it corresponds to a logistics module, it may include a storage box, storage space, door structure, opening and closing means or fixing means for loading or storing goods, but is not limited thereto.

[0050] As another example, the function module (200-2) may correspond to a module for cleaning or disinfection and may include at least one of a suction means, a spray means, or a washing means for cleaning or disinfecting a floor or surrounding environment. In this case, the function module (200-2) may be configured to perform cleaning or disinfection operations in conjunction with the movement of the mobile device (100).

[0051] As another example, the function module (200-3) may correspond to a robot arm module for handling items. In this case, the function module (200-3) may be configured to perform actions such as gripping or delivering items, or to perform screen output and receive user input. It may include, for example, a function arm including at least one joint, a gripper, a suction pad, a drive motor, a reduction gear, or a position sensor, but is not limited thereto.

[0052] As another example, the function module (200) may correspond to a display or kiosk module for providing a user interface and may include, but is not limited to, a screen output unit, an input unit, a touch sensor, a button, a speaker or a camera.

[0053] In addition, the function module (200) may correspond to a refrigeration module for providing a refrigeration or freezing function. In this case, the function module (200) may include a storage space for storing items inside, and a cooling means for maintaining the temperature of the storage space at a set temperature. For example, the cooling means may include at least one of a compressor, a heat exchanger, or a cooling fan, and may be configured to maintain a refrigerated or frozen state under the control of the moving device (100).

[0054] However, the types and configurations of the above function modules (200-1, 200-2, 200-3, …) are not limited thereto, and it is obvious that various types of function modules capable of performing specific functions when coupled to the moving device (100) may be included.

[0055] FIG. 3a is a block diagram illustrating the configuration of a moving device according to one embodiment of the present disclosure.

[0056] Referring to FIG. 3a, the moving device (100) may include a memory (110), a processor (120), a connector (130), and a driving unit (140).

[0057] The memory (110) stores various programs or data temporarily or non-temporarily and transmits the stored information to the processor (120) upon the processor's call. Additionally, the memory (110) can store various information required for the processor's calculation, processing, or control operations in an electronic format.

[0058] The memory (110) may include, for example, at least one of a main memory and an auxiliary memory. The main memory may be implemented using a semiconductor storage medium such as ROM and / or RAM.

[0059] Specifically, the memory (110) can store identification information, setting information, and various data generated during the operation of the mobile device (100) related to the function module (200) coupled to the mobile device (100). For example, the memory (110) can store identification information indicating the type, purpose, or operational characteristics of the function module (200), at least one instruction matching the identification information, etc., but is not limited thereto.

[0060] The processor (120) is intended to control the overall configuration of the electronic device (100) and can control the operation of the electronic device (100) by executing at least one instruction stored in memory (110). It can be implemented as a single processor as well as as multiple processors. The processor (120) can be implemented in various forms, such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), APU (Accelerated Processing Unit), DSP (Digital Signal Processor), NPU (Neural Processing Unit), or a hardware accelerator dedicated to machine learning.

[0061] Additionally, the processor (120) may be configured as a single-core processor or a multi-core processor, and in the case of a multi-core processor, each core may execute instructions independently or cooperatively to perform the method according to the embodiment of the present disclosure. For example, the first and second operations may be performed on a general-purpose CPU core, and the third operation may be performed on an NPU core specialized for AI computation.

[0062] In this way, the processor (120) is implemented in various structures and methods, thereby enabling stable and efficient control of the electronic device (100).

[0063] The processor (120) can control the information acquisition engine (121) and the driving control engine (122).

[0064] The information acquisition engine (121) is configured to acquire identification information corresponding to a function module (200) coupled to a mobile device (100).

[0065] For example, when the information acquisition engine (121) is coupled to the mobile device (100) through the connector (130), the function module (200) can acquire identification information previously stored in the function module (200) through at least one data terminal included in the connector (130). In this case, the identification information may correspond to a module ID or function code stored in a memory element provided in the function module (200).

[0066] As another example, the information acquisition engine (121) can acquire identification information corresponding to the function module (200) by matching the electrical signal output through the connector (130) with a preset identification information table as the function module (200) is coupled to the connector (130).

[0067] In this case, the electrical signal may be determined by a signal level or signal combination output from at least some of the multiple terminals of the connector (130).

[0068] As another example, the information acquisition engine (121) can acquire identification information from an identification configuration provided in the function module (200). For example, the identification configuration may include at least one of an RFID tag, an NFC tag, or a magnetic array, but is not limited thereto.

[0069] The driving control engine (122) is configured to control the driving unit (140) according to the instruction by executing at least one instruction that matches the identification information when identification information is obtained.

[0070] Specifically, the driving control engine (122) identifies at least one instruction that matches the identification information obtained based on a preset instruction table, and can control various operations such as speed, acceleration, rotation, or stopping of the driving unit (140) according to the identified at least one instruction.

[0071] The driving unit (140) may include at least one driving motor, driving wheel, reduction gear, driving shaft, auxiliary wheel, caster wheel, encoder, speed sensor, inertia sensor, control circuit, etc. to control the direction of movement, speed, or rotational movement of the moving device (100).

[0072] For example, the driving unit (140) may be implemented in the form of a wheel drive system including a plurality of drive wheels positioned at the bottom of the moving device (100), and the drive wheels may be configured to rotate by being connected to a drive motor and a reduction gear, but are not limited thereto.

[0073] FIG. 3b is a block diagram illustrating the detailed configuration of a moving device according to one embodiment of the present disclosure.

[0074] Referring to FIG. 3b, the moving device (100) may include a power supply unit (150) and a voltage converter unit (160) in addition to the configuration described above.

[0075] The power supply unit (150) is configured to supply power to each component of the mobile device (100) and may be configured to provide driving power to the driving unit (140), processor (120), connector (130), and function module (200) of the mobile device (100).

[0076] The power supply unit (150) may include at least one of a battery, a power management circuit, a charging circuit, or an external power input terminal, but is not limited thereto.

[0077] The voltage conversion unit (160) is configured to convert power supplied from the power supply unit (150) into a voltage level suitable for each component or functional module (200) of the mobile device (100).

[0078] The voltage converter (160) may include at least one of a boost circuit, a step-down circuit, or a stabilization circuit, and may be configured to output a voltage corresponding to a plurality of components requiring different voltages.

[0079] In addition, the processor (120) can control a voltage providing module (123), an interface control engine (124), a sensor selection engine (125), and an operation execution engine (126) in addition to the module described above.

[0080] The voltage providing module (123) is configured to control the operation of the voltage converter (160) so that a voltage suitable for the operation of the function module (200) coupled to the mobile device (100) is provided.

[0081] In one embodiment, the voltage providing module (123) identifies a voltage level that matches the identification information based on identification information corresponding to the function module (200), and can control the voltage conversion unit (160) so that the voltage conversion unit (160) provides a target voltage that matches the function module (200) according to the voltage level.

[0082] The interface control engine (124) is configured to control the operation of the output interface in order to provide the user with information related to the operation status or function execution of the function module (200).

[0083] In one embodiment, the interface control engine (124) can control the first output interface to provide at least one UI item according to the sensing data of the first sensor included in the function module (200).

[0084] The sensor selection engine (125) is configured to select at least one target sensor among a plurality of sensors in order to efficiently utilize sensing information related to the operation of the mobile device (100) or the performance of the function of the function module (200).

[0085] In one embodiment, the sensor selection engine (125) can select at least one target sensor within a sensor group consisting of at least one first sensor and at least one second sensor included in the moving device (100).

[0086] The operation execution engine (126) is configured to control the operation of the mobile device (100) and the function module (200) according to a target mode associated with at least one operation of the mobile device (100) and the function module (200) in order to control the operation of the mobile device (100) and the function module (200).

[0087] In one embodiment, the operation execution engine (126) is configured to select a target mode among a plurality of modes related to the operation of at least one of the moving device (100) and the function module (200) according to identification information, and to control the moving device and the function module (200) according to the target mode.

[0088] The engines disclosed in FIGS. 3a and FIGS. 3b described above correspond to configurations of functional units that can be implemented in software and / or hardware.

[0089] FIG. 4 is a flowchart illustrating the flow of a moving device controlling a driving unit according to one embodiment of the present disclosure.

[0090] Referring to FIG. 4, when identification information of a function module (200) is obtained through a connector (130) that can be connected to at least one function module (200), the moving device (100) can execute at least one instruction that matches the identification information (S410).

[0091] In one embodiment, when identification information is obtained, the moving device (100) may identify at least one instruction that matches the identification information by referring to a stored instruction table. In this case, the identified at least one instruction may include one or more control commands that define the driving method of the moving device (100), the operating condition of the function module (200), or the control sequence between the moving device (100) and the function module (200).

[0092] For example, when identification information related to a function module (200) corresponding to logistics transport is obtained, the moving device (100) can select a driving instruction suitable for logistics transport and execute an instruction to limit the driving speed or adjust the turning radius. In addition, an instruction to set the power supply to the function module (200) to a voltage corresponding to the transport mode can be executed together.

[0093] In another embodiment, the mobile device (100) can update or supplement instructions matching identification information through communication with an external server or user terminal. For example, the mobile device (100) can request control instructions of a function module (200) corresponding to an external server based on identification information obtained through a connector (130), and execute the received instructions.

[0094] The moving device (100) can control a driving unit (140) that drives at least one moving means according to instructions (S420).

[0095] In one embodiment, the moving device (100) can control at least one of the movement speed, movement direction, or rotational movement of the driving unit (140) that drives at least one moving means according to the driving parameters included in the instruction.

[0096] In this case, driving parameters may include, but are not limited to, target speed values, acceleration or deceleration ratios, rotation angles or rotation directions, etc.

[0097] For example, if a target speed value is included in the driving parameters, the moving device (100) can control the rotational speed of the moving means to correspond to the target speed value by adjusting the driving signal applied to the driving motor of the driving part (140).

[0098] The moving device (100) can control the voltage converter (160) to provide a target voltage that matches the function module (200) based on identification information.

[0099] For example, the mobile device (100) can identify whether the combined function module (200) corresponds to any one of a logistics transport module, a cleaning module, a disinfection module, a goods handling module, or a user interface providing module based on identification information obtained through a connector. The mobile device (100) can match the identification information with a pre-stored voltage table according to the type of the identified function module to identify the target voltage required for the normal operation of the corresponding function module (200), and control the voltage converter (160) to provide the identified target voltage.

[0100] The moving device (100) can output a control signal to the voltage converter (160) to correspond to the identified target voltage. At this time, the voltage converter (160) can operate to convert the input voltage supplied from the power supply unit (150) into the target voltage according to the control signal and provide it to the function module (200).

[0101] For example, the voltage converter (160) can control the voltage provided to the function module (200) by setting an output voltage level based on a control signal or by adjusting the voltage conversion ratio. For example, the voltage converter (160) can change the output voltage provided to the function module (200) by adjusting at least one of the duty ratio of the switching control signal, the output voltage setting value, or the voltage reference signal, but is not limited thereto.

[0102] The moving device (100) may include at least one second sensor.

[0103] The moving device (100) can select at least one target sensor within a sensor group consisting of at least one first sensor and at least one second sensor based on instructions.

[0104] The first sensor may be included in the function module (200) and correspond to a sensor for detecting the operating state of the function module (200), the target of work, or the surrounding environment.

[0105] For example, the first sensor may include at least one of a distance sensor, a proximity sensor, a load sensor, a temperature sensor, a humidity sensor, a camera sensor, or a force sensor depending on the type of function module (200), but is not limited thereto.

[0106] For example, if the function module (200) corresponds to a logistics transport module, the first sensor may include a load sensor for detecting the presence or condition of loaded goods, a camera sensor for photographing the inside of the loading space, or a position sensor for detecting the opening or closing state of the loading box.

[0107] As another example, if the function module (200) corresponds to a cleaning or disinfection module, the first sensor may include a distance sensor for detecting floor conditions, an optical sensor for detecting the degree of contamination, a pressure sensor for checking the spraying state, or a level sensor for detecting the remaining amount of cleaning fluid.

[0108] As another example, if the function module (200) corresponds to a robot arm module for handling items, the first sensor may include a force sensor, a torque sensor, or a position sensor for detecting whether an item is being grasped.

[0109] The second sensor may be a sensor included in the moving device (100) for detecting the driving state, location information, or surrounding environment of the moving device (100).

[0110] For example, the second sensor may include at least one of an encoder, a gyroscope, an accelerometer, a LiDAR, an ultrasonic sensor, or a camera sensor for detecting the driving direction or speed of the moving device (100), but is not limited thereto.

[0111] In one embodiment, the moving device (100) can select a target sensor within a sensor group according to the type of operation included in the instruction.

[0112] For example, if the instruction includes information on performing a logistics transport operation, the moving device (100) may select a load sensor for detecting the weight of a loaded item as a target sensor within a sensor group consisting of at least one first sensor included in the function module (200) and at least one second sensor included in the moving device (100).

[0113] At this time, if the moving device (100) determines that there is no loaded item based on load information indicating the weight of the loaded item obtained through a selected load sensor, it may restrict the movement of the moving device (100) through the driving unit (140) or switch to a standby state, and if it determines that there is a loaded item, it may control the function module (200) to perform a logistics transport operation or adjust the driving speed or driving path of the driving unit (140).

[0114] The moving device (100) can identify at least one first sensor and at least one function arm included in the function module (200).

[0115] Specifically, the mobile device (100) outputs an identification request signal to the functional module (200) through the connector (130), receives a response signal output from the functional module (200) in response thereto, and can identify at least one first sensor and at least one functional arm based on the received response signal. In this case, the received response signal is information indicating the type of component included in the functional module (200), and may include the type of the first sensor, the presence or absence of a functional arm, or information on the operating range of the functional arm.

[0116] Information on the operating range of the functional arm may include, but is not limited to, whether the functional arm is operable, the operating range of the functional arm, the reachable distance of the functional arm, or the driving angle range of the functional arm.

[0117] Additionally, the moving device (100) can identify at least one designated sensor included in the instruction based on identification information.

[0118] A designated sensor refers to a sensor specified within an instruction. In other words, a designated sensor may refer to at least one hardware sensor required during the execution of the instruction. For example, a designated sensor may include various types of sensors such as a camera sensor, distance sensor, infrared sensor, accelerometer, LiDAR sensor, GPS sensor, Wi-Fi sensor, and gyroscope sensor.

[0119] At this time, the moving device (100) can identify whether a designated sensor in the instruction is included in the function module (200) or the moving device (100). For example, if at least one designated sensor does not correspond to at least one first sensor in the function module (200) and does not correspond to at least one second sensor in the moving device (100), the designated sensor may be identified as an unidentified sensor.

[0120] In one embodiment, the moving device (100) inputs sensor information including unidentified sensor information and information about a first sensor and a second sensor included in the moving device (100) and the function module (200) into a replacement determination model, thereby determining whether at least one of the first sensor and the second sensor can be utilized to perform the function of an instruction by replacing the unidentified sensor.

[0121] The alternative discrimination model can be implemented as a family of machine learning-based classification models, and may, for example, be models of the Graph Neural Network (GNN), Graph Attention Network (GAT), decision tree, random forest, gradient boosting, or Multi-Layer Perceptron (MLP) family, but is not limited thereto.

[0122] In this case, the replacement discrimination model may be a model trained using a supervised learning method based on a training dataset containing multiple sensor combinations and sensor function information. Specifically, the replacement discrimination model may be a model trained to receive unidentified sensor information and sensor information included in the device as input, and to output whether the sensor included in the device can replace the unidentified sensor or the probability of replacement.

[0123] The training dataset of the alternative discrimination model may include data containing multiple sensor types and functional information of each of the multiple sensors, and may include corresponding information indicating the alternative relationships between each sensor type.

[0124] Afterward, if the moving device (100) determines that at least one of the first sensor and the second sensor can replace the unidentified sensor, it can modify the instruction based on the information of the sensor that can replace the unidentified sensor.

[0125] Specifically, the moving device (100) can modify the instructions by inputting information about existing instructions and unidentified sensors into a generative model (e.g., a small language model (sLLM)) and a sensor that can replace them, thereby changing the designated sensor included in the instructions to the sensor that can replace it.

[0126] Meanwhile, if the moving device (100) determines that neither the first sensor nor the second sensor can replace the unidentified sensor, it can identify whether the function of the instruction can be performed even if the designated sensor is excluded.

[0127] Specifically, the mobile device (100) inputs information about existing instructions and designated sensors into a generative model (e.g., a small language model (sLLM)), reconstructs the instructions while excluding the designated sensors, and determines whether the corresponding function can be performed according to the reconstructed instructions.

[0128] The generative model may be a model trained using a supervised learning or self-supervised learning method based on learning data that includes device control instructions, sensor configuration information, and information on whether a function can be performed according to the sensor configuration, and trained to output instructions that can be performed or whether a function can be performed in a situation where a specific sensor is excluded.

[0129] The training dataset may include data such as the type of sensor required to perform a specific instruction, alternative instructions that can be performed when a specific sensor is removed or disabled, or information on functions whose execution is limited due to the absence of a specific sensor.

[0130] For example, the above training dataset may include instructions to perform image-based object recognition when a camera sensor is present, instructions reconfigured to avoid obstacles using a distance sensor or position sensor when a camera sensor is removed, or instruction data corresponding to a situation where the performance of a specific function is limited due to the absence of a specific sensor.

[0131] If, based on the above judgment result, the moving device (100) can perform the function of the instruction even without the designated sensor, it can supplement the instruction by deleting the designated sensor using a generative model.

[0132] For example, if the instruction of the moving device (100) includes the content “identify a target object using a camera sensor and generate a movement path based on the location information of the identified object,” and it is determined that the movement path generation function can be performed by a generative model without an object identification step in a situation where the camera sensor is unusable, the information regarding the object identification step using the camera sensor can be deleted and the instruction can be reconstructed as a movement path generation-centered instruction.

[0133] The moving device (100) can control the functional arm and the driving unit so that the functional arm can perform a serving operation according to the sensing data of the first sensor based on the instruction.

[0134] The moving device (100) can determine the serving state of the functional arm based on the sensing data of the first sensor. In one embodiment, when the sensing data of the first sensor indicates that the item is in a state of being properly grasped, the moving device (100) can control the functional arm and the driving unit (140) to perform a preset serving operation.

[0135] For example, the moving device (100) can identify that an article is in a gripped state if at least one first sensor corresponds to a force sensor (e.g., a load cell or torque sensor for detecting a gripping force applied to a gripper) or a position sensor (e.g., an encoder or linear potentiometer for detecting the open / closed position of a gripper or the position of an end portion), and the sensing data obtained from the force sensor is calculated to be greater than or equal to a preset force threshold, or the sensing data obtained from the position sensor is included within a preset gripping position range.

[0136] In this case, the moving device (100) can control the joint angle or end position of the functional arm so that the functional arm moves the item held in the functional arm in a preset direction. Additionally, the moving device (100) can control the driving part (140) to a stationary state while the serving operation is performed so that the moving device (100) does not move from the serving position.

[0137] Subsequently, if the sensing data of the first sensor indicates that the gripping of the item has been released according to preset conditions, the moving device (100) can be controlled to return the functional arm to its initial position. Once it is confirmed that the functional arm has returned to its initial position, the moving device (100) can be controlled to re-drive the driving unit (140) to perform the next operation or the next destination.

[0138] For example, the moving device (100) can identify that the gripping of an item is released when the first sensor includes a force sensor or a position sensor, and the sensing data obtained from the force sensor is calculated to be less than a preset force threshold, or the sensing data obtained from the position sensor is outside a preset gripping position range.

[0139] In this way, the moving device (100) controls the serving operation of the functional arm and the operation of the driving unit (140) in conjunction based on the sensing data of the first sensor, thereby ensuring the stability of the moving device (100) during the performance of the serving operation and efficiently maintaining the work flow.

[0140] The moving device (100) can select a target mode among a plurality of modes related to the operation of at least one of the moving device (100) and the function module (200) according to identification information.

[0141] For example, the mobile device (100) can select a first mode suitable for logistics transport work if the acquired identification information is identified as corresponding to a logistics module for performing logistics loading or logistics transport, a second mode suitable for cleaning or disinfection work if the identification information is identified as corresponding to a cleaning module or disinfection module for performing floor cleaning or disinfection work, and a third mode suitable for serving or item handling work if the identification information is identified as corresponding to a robot arm module for performing item handling or item delivery.

[0142] The moving device (100) can limit the rate of change of speed of the driving part when the selected target mode is the first mode.

[0143] Specifically, when the first mode is selected, the moving device (100) can control the driving unit (140) such that the rate of change of speed calculated based on the difference between the current moving speed and the target moving speed of the driving unit (140) when the first mode is selected does not exceed a preset maximum rate of change of speed.

[0144] For example, the moving device (100) can adjust the rotational speed or output value of the drive motor stepwise over a set time interval so that the increase or decrease in speed per set unit time is less than or equal to the set speed value.

[0145] Accordingly, it is possible to prevent loaded goods from shaking or becoming dislodged due to sudden acceleration or deceleration during movement, and to provide the effect of improving the stability of logistics transport operations.

[0146] When the selected target mode is the second mode, the moving device (100) can control the function module (200) to perform a cleaning operation including at least one of suction, spraying, and washing while the driving unit is moving.

[0147] Specifically, when a second mode is selected, the moving device (100) can identify a component included in the function module (200) and control it to selectively drive at least one of a suction motor or fan for performing a suction operation, a spray nozzle or pump for performing a spray operation, and a brush or rotating roller for performing a cleaning operation.

[0148] For example, the moving device (100) can control the function module (200) to drive a suction motor to suck up foreign matter according to the degree of floor contamination or work section, spray a cleaning solution through a spray nozzle when necessary, and rotate a brush to clean the floor.

[0149] Accordingly, the moving device (100) can shorten the working time by performing driving and cleaning operations in parallel, and can provide the effect of improving the efficiency and quality of cleaning or disinfection work.

[0150] When the target mode is the second mode, the moving device (100) can acquire an image of the floor area by selecting a camera sensor among at least one second sensor as the target sensor.

[0151] At this time, the moving device (100) can determine the floor contamination status based on the image and control the cleaning operation to be performed differently according to the contamination status.

[0152] In one embodiment, the moving device (100) can input an image into an image analysis model to calculate the contamination level.

[0153] At this time, the image analysis model may be a model of the Convolutional Neural Network (CNN) family, and may be a model trained in a supervised learning manner based on a training dataset containing multiple floor image data and contamination area label information corresponding to each image, and trained to extract contamination areas from input images and calculate a contamination level corresponding to the ratio of the area of ​​the contamination area to the total area.

[0154] For example, the moving device (100) can be controlled to perform spraying and washing operations when the contamination level is greater than or equal to a preset first value, and can be controlled to perform only washing operations when the contamination level is less than the preset first value and greater than or equal to a preset second value, and can be controlled to perform only suction operations when the contamination level is less than the preset second value. Here, the preset first value may be a value greater than the preset second value.

[0155] Additionally, when the contamination level is calculated to be less than a preset second value, the moving device (100) may additionally select an acceleration sensor among at least one second sensor as a target sensor to obtain an acceleration value generated by contact with the floor. The acceleration value may be a numerical value corresponding to the absolute average, maximum value, or RMS value of the signal obtained from the acceleration sensor.

[0156] If the above acceleration value is greater than or equal to a preset threshold, it can be determined that there is fine contamination or particulate contamination that is not clearly identifiable in the image data. Accordingly, the moving device (100) can increase the preset second value and control the cleaning operation by re-evaluating the contamination level based on the increased second value.

[0157] Conversely, if the above acceleration value is below a preset threshold value, the floor surface is determined to be in a relatively uniform state, and control can be exercised to maintain the preset second value and perform the suction operation.

[0158] Accordingly, the moving device (100) applies the pollution level calculated through the camera sensor as a primary judgment criterion, and applies the acceleration value obtained from the acceleration sensor as a secondary judgment criterion, thereby supplementing the fine pollution situation that is difficult to identify with image-based judgment alone.

[0159] When the selected target mode is the third mode, the moving device (100) identifies at least one functional arm included in the functional module, controls the functional arm to perform a serving operation, and controls the driving unit (140) to a stationary state while the serving operation is performed.

[0160] For example, if the moving device (100) identifies that the item is in a state of being properly grasped based on the sensing data of the first sensor included in the functional arm, it can control the functional arm to perform a serving operation of moving the item toward the user.

[0161] In this case, the moving device (100) can control the driving unit (140) to a stationary state while the serving operation is being performed so that the moving device (100) does not move from the serving position. For example, the moving device (100) can control the position of the moving device (100) to be fixed during the operation of the functional arm by blocking the rotational output of the driving motor included in the driving unit (140) or by applying a zero speed command.

[0162] Subsequently, if the sensing data of the first sensor indicates that the gripping of the item has been released, the moving device (100) can determine that the serving operation is completed and control the functional arm to return to its initial position. Once it is confirmed that the functional arm has returned to its initial position, the moving device (100) can release the stop control of the driving unit (140) and restart the driving unit (140) to move to the next operation or the next destination.

[0163] Accordingly, the moving device (100) can prevent shaking or collisions caused by movement during the serving operation and can provide the effect of improving the stability of the item delivery process and user safety.

[0164] FIG. 5 is a block diagram illustrating the operation of a moving device controlling a first output interface according to one embodiment of the present disclosure.

[0165] The moving device (100) can identify at least one first sensor and at least one first output interface included in the function module (200) based on identification information.

[0166] The first output interface may be configured to be included in the function module (200) and output text, images, videos, audio, etc., to provide to the user. For example, the output interface may include a display, a speaker, a vibration module (haptic module), etc., but is not limited thereto.

[0167] That is, the first output interface is included in the function module (200) and is configured to output the operation status, work progress information, or user guidance information of the function module (200). The first output interface may be implemented to provide information directly related to the operation of the function module (200) to the user or the surrounding environment.

[0168] The moving device (100) can control the first output interface to provide at least one UI item based on the instructions and the sensing data of the first sensor.

[0169] For example, if the function module (200) corresponds to a logistics transport module and the first sensor corresponds to a load sensor, the moving device (100) may provide a UI item indicating that an item is loaded through the first output interface when the sensing data obtained from the load sensor is calculated to be greater than or equal to a preset load threshold. For example, the first output interface may be controlled to output a UI item corresponding to “loading complete,” “loading in progress,” or “loading overload.”

[0170] As another example, if the function module (200) corresponds to a cleaning module and the first sensor corresponds to an optical sensor for detecting the degree of contamination, the moving device (100) can control the first output interface to provide a UI item indicating a cleaning requirement state when the sensing data obtained from the optical sensor is calculated to be greater than or equal to a preset contamination threshold value. For example, the first output interface can output a UI item corresponding to “Cleaning required,” “Cleaning in progress,” or “Cleaning completed.”

[0171] As another example, if the function module (200) corresponds to a disinfection module and the first sensor corresponds to a pressure sensor or a level sensor for detecting spray pressure or remaining amount, the moving device (100) can control the first output interface to provide a UI item indicating a resource shortage state when the sensing data is calculated to be below a preset standard. For example, the first output interface can output a UI item corresponding to “medicine shortage,” “cannot spray,” or “replenishment needed.”

[0172] As another example, if the function module (200) corresponds to a function arm module for handling items and the first sensor corresponds to a force sensor or a position sensor, the moving device (100) can control the first output interface to provide a UI item indicating a serving state when the sensing data indicates that the item is properly grasped. For example, the first output interface can be controlled to output a UI item corresponding to “grasping complete,” “serving in progress,” or “serving complete.”

[0173] In this way, the moving device (100) can intuitively recognize the state of the function module (200) by dynamically providing UI items corresponding to the operating state of the function module (200) based on instructions and sensing data of the first sensor.

[0174] FIG. 6 is a block diagram illustrating an additional configuration of a moving device according to one embodiment of the present disclosure.

[0175] Referring to FIG. 6, the mobile device (100) may further include a user interface (170), a second output interface (180), and a communication interface (190) in addition to the configuration described above.

[0176] The user interface (170) is configured to receive user input related to the operation of the mobile device (100), for example, a request to start or stop movement, a request to set a target location, a request to select the operation of a function module (200), a request to switch modes, or user input related to the operation and system settings of the mobile device (100).

[0177] For example, the user interface (170) may include at least one of a button, a keypad, a touchpad, or a touchscreen, but is not limited thereto.

[0178] The mobile device (100) can output at least one of the driving state of the mobile device (100), a selected target mode, the operating state of the function module (200), sensor information, or user guidance information through the second output interface (180).

[0179] The second output interface (180) may include a display, a speaker, or equivalent output means, and the moving device (100) may provide driving status, operation progress of a function module, warning messages, or user guidance information in a visual or auditory form.

[0180] In one embodiment, the mobile device (100) can intuitively provide the user with the current operating status of the mobile device (100) by displaying the type of currently combined function module (200), the selected target mode, whether driving is stopped or serving is performed through the second output interface (180).

[0181] According to this configuration, the mobile device (100) clearly provides the user with the driving operation and the execution status of the function module (200), and enables the user to easily recognize and control the operation status of the mobile device (100), thereby providing the effect of improving the reliability and user convenience of the mobile device-based service.

[0182] In one embodiment, the mobile device (100) can obtain serving request information by receiving user input from the second output interface (180) or the user terminal.

[0183] Serving request information is information that instructs a moving device (100) to perform a serving operation to deliver an item, and may include, for example, a serving start request, serving target location information, serving target item information, or information regarding a return operation after serving is completed, but is not limited thereto.

[0184] The moving device (100) can control the functional arm and the driving unit (140) to perform a serving operation according to the serving request information based on the sensing data.

[0185] For example, when the moving device (100) includes a serving start request in the serving request information and the sensing data of the first sensor indicates that the item is in a state of being properly held, the moving device (100) controls the functional arm to perform a serving operation in which the functional arm moves the held item in the direction of a preset serving position, and the moving device (100) can control the driving unit (140) to a stopped state while the serving operation is being performed.

[0186] Subsequently, when the sensing data of the first sensor indicates that the gripping of the item has been released, the moving device (100) controls the functional arm to return to its initial position, and when the return of the functional arm is completed, the driving unit (140) can be controlled to restart to perform the next operation or the next destination.

[0187] Accordingly, the moving device (100) can improve the stability of the serving operation and the reliability of the operation execution by coordinating the functional arm and the driving unit (140) by linking the serving request information and sensing data according to user input.

[0188] The communication interface (190) is a component for performing data transmission and reception with various external devices, such as a user terminal and an external server, and may include at least one of a wireless communication interface, a wired communication interface, and an input / output interface.

[0189] A wireless communication interface can communicate with various external devices using wireless communication technology or mobile communication technology. Such wireless communication technologies may include, for example, Bluetooth, Bluetooth Low Energy, CAN communication, Wi-Fi, Wi-Fi Direct, ultrawide band (UWB), Zigbee, infrared data association (IrDA), or near field communication (NFC), and mobile communication technologies may include 3GPP, Wi-Max, LTE (Long Term Evolution), 5G, etc.

[0190] A wireless communication interface can be implemented using an antenna, a communication chip, a substrate, etc., capable of transmitting electromagnetic waves to the outside or receiving electromagnetic waves transmitted from the outside.

[0191] A wired communication interface can communicate with various devices based on a wired communication network. Here, the wired communication network can be implemented using physical cables, such as, for example, pair cables, coaxial cables, fiber optic cables, or Ethernet cables.

[0192] The input / output interface may include physical interfaces for direct data input / output with external devices, such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), and audio / video terminals.

[0193] For example, the mobile device (100) can transmit and receive identification information, control signals, or status information corresponding to the function module (200) through the connector (130) based on a wired communication interface.

[0194] In one embodiment, the moving device (100) can acquire a plurality of first images of a target area captured from a camera sensor among the second sensors.

[0195] Afterwards, the moving device (100) inputs a plurality of first images of a target area into an image analysis model to identify a target path for the moving device (100) to move.

[0196] The target path may refer to the shortest path calculated based on the movable area excluding the obstacle area in the map information generated from a plurality of first images, among the paths set so that the moving device (100) does not collide with obstacles while moving from the current position to the target position.

[0197] At this time, the image analysis model may be an artificial intelligence model trained to perform object detection, scene recognition, or path generation functions, and may include, for example, a model of the Convolutional Neural Network (CNN) family or a model of the Vision Transformer family. Additionally, the image analysis model may be stored in the memory of the mobile device (100), or may be stored in an external server or database capable of communicating with the mobile device (100).

[0198] The image analysis model may be a model trained based on a training dataset in which path information corresponding to an image of a target area, location information of obstacles included in the image, information of a movable area, and target location information is labeled.

[0199] Specifically, the image analysis model can be trained using a supervised learning method that includes a plurality of training images and optimal movement path information corresponding to each training image, and accordingly, can be configured to receive an image of a target area and output a path for the moving device (100) to move without colliding with an obstacle.

[0200] In one embodiment, the moving device (100) can acquire a plurality of second images from a camera of at least one first sensor, and input the operating range information of the functional arm, the plurality of first images, and the plurality of second images into an image analysis model to identify a serving path for performing a serving operation.

[0201] The serving path may refer to a movement path in which a stop position of the moving device (100) is set so that the functional arm can reach the serving target position.

[0202] For example, the serving path may include a path along which the moving device (100) moves from its current position to a stopping position near the serving target position, such that the serving target position is included within the reachable workspace of the function arm while being configured so as not to collide with obstacles.

[0203] To this end, the image analysis model may be a model trained based on a training dataset in which serving path information corresponding to an image of a target area, location information of obstacles included in the image and movable area information, and operating range information of a functional arm is labeled.

[0204] Specifically, the image analysis model may be trained using a supervised learning method that utilizes a training dataset comprising a plurality of training images and serving path information corresponding to obstacle location information, movable area information, and operating range information of a functional arm corresponding to each training image, and accordingly, may be a model additionally trained to receive a plurality of first images and second images and operating range information of a functional arm as input and output a serving path for performing a serving operation.

[0205] Afterward, the moving device (100) can control the functional arm and the driving part (140) to operate according to the identified serving path.

[0206] Specifically, the moving device (100) can select a path that can be moved to a serving target location by considering the reachable workspace of the functional arm, control the movement of the driving unit according to the selected path, and then, when it reaches the target location, control the functional arm to perform a serving operation while keeping the driving unit in a stationary state.

[0207] For example, the moving device (100) can identify the location of a serving target and the location of an obstacle based on an image taken of the area around the table, set a movement path so that the serving target is located within the reachable distance of the functional arm, stop driving at that location, and control the serving of food or items using the functional arm.

[0208] Meanwhile, the various embodiments described above may be implemented by combining two or more embodiments, provided that they do not conflict or contradict each other.

[0209] Specifically, each of the multiple operations, steps, and configurations for implementing one embodiment may be embodied in another embodiment, or the operations and steps of another embodiment may be followed by the last operation or step of one embodiment, but are not limited thereto.

[0210] Meanwhile, computer instructions or computer programs for performing processing operations of each device, device, terminal, computer, processor, module, or engine, etc., according to the various embodiments of the present disclosure described above, may be stored on a non-transitory computer-readable medium. When such computer instructions or computer programs stored on the non-transitory computer-readable medium are executed by the processor of a specific device, they cause the specific device described above to perform processing operations according to the various embodiments described above.

[0211] A non-transient computer-readable medium refers to a medium that stores data semi-permanently and can be read by a device, unlike media that store data for a short period of time such as registers, caches, and memory. Specific examples of non-transient computer-readable media include CDs, DVDs, hard disks, Blu-ray discs, USBs, memory cards, and ROMs.

[0212] According to one embodiment, the method according to the various embodiments disclosed herein may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or distributed online (e.g., download or upload) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., downloadable app) may be temporarily stored or temporarily created on a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0213] Although preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present disclosure. Explanation of the symbols

[0214] 100: Moving device 110: Memory 120: Processor 121: Information Acquisition Engine 122: Driving control engine 123: Voltage supply engine 124: Interface Control Engine 125: Sensor selection engine 126: Operation execution engine 130: Connector 140: Driving unit 150: Power supply 160: Voltage converter 170: User Interface 180: Second output interface 190: Communication interface

Claims

Claim 1 A mobile device for performing autonomous driving, comprising: a connector capable of being connected to at least one functional module; a driving unit for driving at least one means of transportation; and a memory storing computer-executable instructions. A moving device comprising: a processor that accesses the memory and executes the instructions; wherein, when identification information of the function module is obtained through the connector, the processor executes at least one instruction matching the identification information and controls the driving unit according to the instruction; wherein, the processor selects a target mode among a plurality of modes related to the operation of at least one of the moving device and the function module according to the identification information; if the selected target mode is a first mode, limits the rate of change of speed of the driving unit; if the selected target mode is a second mode, controls the function module to perform a cleaning operation including at least one of suction, spraying, and washing while the driving unit is moving; and if the selected target mode is a third mode, identifies at least one function arm included in the function module and controls the function arm to perform a serving operation, and controls the driving unit to a stationary state while the serving operation is performed. Claim 2 The moving device according to claim 1 further comprises: a power supply unit for providing power; and a voltage converter for converting a voltage supplied from the power supply unit; and the processor controls the voltage converter to provide a target voltage that matches the function module based on the identification information. Claim 3 A mobile device according to claim 1, wherein the processor identifies at least one first sensor and at least one first output interface included in the function module based on the identification information, and controls the first output interface to provide at least one UI item according to the sensing data of the first sensor based on the instruction. Claim 4 In paragraph 3, the moving device comprises at least one second sensor, and the processor selects at least one target sensor within a sensor group composed of at least one first sensor and at least one second sensor based on the instruction. Claim 5 A moving device according to claim 1, wherein the processor identifies at least one first sensor and at least one function arm included in a function module, and controls the function arm and the driving unit so that the function arm can perform a serving operation according to the sensing data of the first sensor based on the instruction. Claim 6 In claim 5, the moving device further comprises a second output interface; and the processor receives user input from the second output interface or a user terminal to obtain serving request information, and controls the functional arm and the driving unit to perform a serving operation according to the serving request information based on the sensing data. Claim 7 delete Claim 8 A method of operation of a moving device performing autonomous driving, comprising: a step of executing at least one instruction matching the identification information when identification information of a function module is obtained through a connector that can be connected to at least one function module; and a step of controlling a driving unit that drives at least one moving means according to the instruction; wherein the method of operation of the moving device further comprises: a step of selecting a target mode among a plurality of modes related to the operation of at least one of the moving device and the function module according to the identification information; a step of limiting the rate of change of speed of the driving unit when the selected target mode is a first mode; a step of controlling the function module to perform a cleaning operation including at least one of suction, spraying, and washing while the driving unit is moving when the selected target mode is a second mode; and a step of identifying at least one function arm included in the function module when the selected target mode is a third mode, controlling the function arm to perform a serving operation, and controlling the driving unit to a stationary state while the serving operation is performed.

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