Disaster avoidance and guidance methods of robot

Abstract

A guide robot capable of autonomous driving comprises a drive unit for moving the guide robot, a body portion disposed at the top of the drive unit, a first housing including a first portion that surrounds the inner bracket and surrounds the side of the inner bracket, and a second portion that extends from the first portion and is located between the body portion and the inner bracket, a caster disposed between the second portion of the first housing and the inner bracket and moves the second portion of the first housing in the first direction while in contact with the inner bracket as the inner bracket moves in the first direction toward the first housing, and a spring member disposed within the first portion of the first housing, wherein the drive unit forms the exterior of the drive unit and includes an inner bracket including a side and a bottom surface, the body portion includes a display, a communication circuit, and a controller, and the spring member can be compressed as the second portion of the first housing moves in the first direction.

Description

Technology Field

[0001] The present disclosure relates to a method for disaster avoidance and guidance of a robot, and more specifically, to a guide robot comprising a first housing including an internal bracket and a spring member. Background Technology

[0002] Recently, autonomous driving systems that drive vehicles or devices autonomously along a designated path have been attracting attention. Robots equipped with autonomous driving systems can drive from a starting point to a target point via the shortest path or a designated route while avoiding collisions with obstacles along the autonomous driving path. Prior art literature

[65535] Korean Registration No. 10-2401563 (Registration Notice May 24, 2022) The problem to be solved

[0003] Robots capable of autonomous driving include various electronic components and may include drive units for autonomous driving. Various circuits are placed within the robot to perform autonomous driving and guidance functions, and these circuits can easily fail due to external shocks, which can degrade the robot's functions (e.g., autonomous driving and guidance functions).

[0004] For example, an autonomous robot may include wheels and a controller to control the wheels for movement. In the event of vibrations caused by an earthquake or fire, pressure may be applied to the wheels in a vertical or horizontal direction, potentially damaging the wheels and / or the controller. In this case, the autonomous robot may not only be unable to move and perform its functions (e.g., autonomous driving and guidance functions) but may also face the problem of being exposed to additional vibrations caused by subsequent aftershocks or fire.

[0005] In addition, in the event of vibrations caused by earthquakes or fires, if an autonomous robot falls over or collides, it may cause physical harm to people, and the robot may also hinder people's evacuation. means of solving the problem

[0006] According to one embodiment of the present disclosure, a guide robot capable of autonomous driving comprises a drive unit for moving the guide robot, a body portion disposed at the top of the drive unit, a first housing comprising a first portion that surrounds the inner bracket and surrounds the side of the inner bracket, and a second portion that extends from the first portion and is located between the body portion and the inner bracket, a caster disposed between the second portion of the first housing and the inner bracket and moves the second portion of the first housing in the first direction while in contact with the inner bracket as the inner bracket moves toward the first housing, and a spring member disposed within the first portion of the first housing, wherein the drive unit includes an inner bracket that forms the outer surface of the drive unit and includes a side and a bottom surface, the body portion includes a display, a communication circuit, and a controller, and the spring member may be compressed as the second portion of the first housing moves toward the first direction.

[0007] According to one embodiment of the present disclosure, the guide robot can be linked with an early warning system related to earthquakes and fires, and when it receives an early warning signal through the linked early warning system, it can execute an earthquake and fire evacuation scenario. Effects of the invention

[0008] According to one embodiment of the present disclosure, damage to a guide robot caused by an earthquake or external impact can be reduced or minimized.

[0009] According to one embodiment of the present disclosure, damage caused by an earthquake (or fire) can be reduced or minimized by notifying users of the occurrence of an earthquake (or the occurrence of smoke, high temperature, and shock due to a fire) and evacuation locations while a guide robot is moving into an earthquake-resistant space.

[0010] According to one embodiment of the present disclosure, by preventing a guide robot from falling while moving into an earthquake-resistant space, physical damage to users caused by a fallen guide robot can be reduced or minimized. Additionally, in the event of an earthquake or fire, the guide robot can minimize obstruction to people's evacuation routes by preemptively activating an evacuation scenario.

[0011] In addition, various effects identified directly or indirectly through the present disclosure may be provided. Brief explanation of the drawing

[0012] FIG. 1a is a drawing illustrating a guide robot according to one embodiment. FIG. 1b is a block diagram illustrating the connection between a guide robot and an external device according to one embodiment. FIG. 2 is a drawing illustrating a guide robot according to one embodiment. FIG. 3a illustrates a case where the first housing is removed from a guide robot according to one embodiment. FIG. 3b is a drawing illustrating a guide robot according to one embodiment as viewed from above and as viewed from below. FIG. 4 is a drawing illustrating a first housing according to one embodiment. FIG. 5 is a drawing illustrating the lower surface, the second side, and the second side of a first housing according to one embodiment. FIG. 6 is a drawing illustrating a spring member to which pressure is applied as the inner bracket rises due to an earthquake (or fire) according to one embodiment. FIG. 7a is a drawing illustrating a first sensor installed in a groove of a second part according to one embodiment. FIG. 7b is a drawing illustrating a method for measuring the intensity of an earthquake (or smoke, high temperature, and shock caused by a fire) and identifying whether a spring member has failed using a first sensor installed in a groove of a second part according to one embodiment. FIG. 8 is a drawing illustrating a guide robot moving at a second moving speed or a third moving speed according to one embodiment. FIG. 9 is a diagram illustrating a method in which a guide robot according to one embodiment changes its path through autonomous driving. FIG. 10 is a diagram illustrating a method of performing operations by comparing the time expected to take for a guide robot to move and the time to reach, according to one embodiment. FIG. 11 is a diagram illustrating the operations of a guide robot according to one embodiment when the guide robot arrives within the arrival time of an earthquake or when it does not arrive. FIG. 12 is a diagram illustrating a method of performing operations by comparing the amount of power expected to be consumed for a guide robot to move according to one embodiment with the remaining power of the battery. In relation to the description of the drawings, the same or similar reference numerals may be used for identical or similar components. Specific details for implementing the invention

[0013] Hereinafter, various embodiments of the present invention are described with reference to the accompanying drawings. However, this is not intended to limit the present invention to specific embodiments and should be understood to include various modifications, equivalents, and / or alternatives of the embodiments of the present invention.

[0015] FIG. 1a is a drawing illustrating a guide robot according to one embodiment.

[0016] Referring to FIG. 1a, a guide robot (101) according to one embodiment may include a drive unit (102) for driving the guide robot (101) autonomously, a body unit (104) positioned on the top of the drive unit (102), a rotation unit (103) for rotating the body unit (104) relative to the drive unit (102), and / or a controller.

[0017] According to one embodiment, the driving unit (102) may include an inner bracket (151) that forms the exterior of the driving unit (102). For example, the inner bracket (151) may include a side surface, an upper surface, and / or a lower surface. For example, the term inner bracket (151) may be replaced with the terms bracket or housing.

[0018] According to one embodiment, wheels (152) of a driving unit (102) may be disposed on the lower surface of an inner bracket (151). For example, the driving unit (102) may include wheels (152) for moving a guide robot (101), and the wheels (152) may be disposed or formed on the lower surface of the inner bracket (151).

[0019] According to one embodiment, the guide robot (101) may include a first housing (161). For example, the first housing (161) may surround an inner bracket (151). For example, the first housing (161) may surround the side and / or bottom surface of the inner bracket (151). For example, grooves for wheels (152) may be formed in the first housing (161), and the wheels (152) may move in contact with the ground through the grooves formed in the first housing (161).

[0020] According to one embodiment, the body portion (104) may include a second housing (162) that forms the exterior of the body portion (104). For example, the second housing (162) may be spaced apart from the inner bracket (151) by a specified distance. For example, the second housing (162) may be connected to the first housing (161) through a connecting member (170). The connecting member (170) may be connected to the second housing (162) and may be connected to the first housing (161) while penetrating the inner bracket (151). That is, the first housing (161) and the second housing (162) may be fixed through the connecting member (170). As described below, when pressure is applied to the wheels (152) in a first direction (e.g., +z direction) due to an earthquake, the inner bracket (151) on which the wheels (152) are formed moves in the first direction (e.g., +z direction), while the first housing (161) and the second housing (162) can be fixed.

[0021] According to one embodiment, the controller may include at least one processor. In this disclosure, the term "control unit" may be replaced with a term referring to a component that performs operations. For example, the control unit may be replaced with a processor or a computing device. Although the controller is not shown in FIG. 1a of this disclosure for convenience of explanation, the controller may correspond to the controller (105) of FIG. 1b described later.

[0022] According to one embodiment, the body part (104) may include a display (110). For example, the display (110) may visually provide information (e.g., earthquake information, information about evacuation spaces, information for hotel guests) to an outside of the guide robot (101) (e.g., a user). For example, the display (110) may include a control circuit (e.g., a display driver integrated circuit (DDIC)) for controlling a display, projector, or holographic device.

[0023] According to one embodiment, the mounting angle of the display (110) can be changed by an angle specified by physical pressure of the user or control of the controller (e.g., about -5 degrees to about +25 degrees).

[0024] In FIG. 1a of the present disclosure, the guide robot (101) is described as having only one display (e.g., display (110)), but this is merely an example. For example, the guide robot (101) may include a display (110), a first auxiliary display, and / or a second auxiliary display. In this case, the display (110), the first auxiliary display, and / or the second auxiliary display may display at least a portion of information to be provided to a user on the display.

[0025] According to one embodiment, the display (110) may output a user interface for providing various services before receiving information indicating the occurrence of an earthquake. For example, if the guide robot (101) is used within a hotel, the display (110) may display information regarding the hotel's room service, information regarding the hotel's amenities, and / or information regarding check-in / check-out times. In another example, if the guide robot (101) is used within a hospital, the display (110) may display a user interface for conducting a medical interview of a patient in a hospital room. In this case, the display (110) may display a user interface containing content for a medical interview of a patient before surgery.

[0026] According to one embodiment, the display (110) may display information related to the earthquake that occurred (e.g., intensity, epicenter, magnitude, evacuation location, evacuation instructions) when it receives information indicating the occurrence of an earthquake. For example, the guide robot (101) may receive information indicating the occurrence of an earthquake from an external electronic device (e.g., another guide robot, or an adjacent access point). For example, the guide robot (101) may broadcast information indicating that an earthquake has occurred to the external electronic device in response to receiving information indicating the occurrence of an earthquake.

[0027] According to one embodiment, the driving unit (102) may include a plurality of sensors (140). For example, the plurality of sensors (140) may include at least one first camera, at least one second camera and / or at least one third camera. For example, the plurality of sensors (140) may each capture still images and video. For example, the plurality of sensors (140) may include one or more lenses, image sensors, image signal processors, and / or flashes.

[0028] According to one embodiment, images acquired by a plurality of sensors (140) can be transmitted to a controller, and the controller can analyze the images acquired by the plurality of sensors. For example, the controller can acquire images of a location adjacent to the guide robot (101) using the plurality of sensors, and based on the acquired images, can identify whether there is an obstacle on the movement path of the guide robot (101), whether the obstacle can be avoided, and / or whether there is a user to whom the occurrence of an earthquake needs to be reported.

[0029] According to one embodiment, the body portion (104) may include a first storage device (120) for storing an external device (e.g., a credit card payment terminal). For example, an external device (121) for identifying a barcode and / or QR code for payment may be placed in the first storage device (120). As another example, an external device (121) for credit card payment may be placed in the first storage device (120).

[0030] According to one embodiment, the body part (104) may include a second storage device (123) for storing or holding an external terminal (124) (e.g., a cellular phone, a tablet PC). For example, the second storage device (123) may store or hold an external terminal (124) (e.g., a cellular phone, a tablet PC) for a user adjacent to the guide robot (101) to contact the control center (or manager) of the guide robot (101). For example, the second storage device (123) may include a groove for storing the external terminal, and as the external terminal (124) is inserted into the groove, the external terminal (124) (e.g., a cellular phone, a tablet PC) may be fixed to the body part (104).

[0031] According to one embodiment, the guide robot (101) can perform wired and / or wireless charging on an external terminal (124) stored in a second storage device (123). For example, the guide robot (101) may include a wireless charging coil (e.g., a near-field communication (NFC) coil) directed toward the external terminal (124) stored in the second storage device (123). The guide robot (101) can identify that the external terminal (124) is stored in the second storage device (123) and can charge the external terminal (124).

[0032] According to one embodiment, the body part (104) may include a first acoustic module (131) and / or a second acoustic module (132). For example, the first acoustic module (131) may include a microphone and / or a speaker. The first acoustic module (131) may transmit information to a user (e.g., a guest, a patient) or output sound when communicating with the user. As another example, the second acoustic module (132) may include a microphone and / or a speaker. The second acoustic module (132) may receive sound from the user. The second acoustic module (132) may include a microphone array and may increase the reception sensitivity of sound by identifying the location of the user radiating sound through the microphone array.

[0033] According to one embodiment, the first acoustic module (131) and / or the second acoustic module (132) can convert sound into an electrical signal or an electromagnetic signal, or conversely, convert an electrical signal into sound. In one embodiment, the first acoustic module (131) and / or the second acoustic module (132) can acquire sound through a microphone.

[0034] According to one embodiment, the body part (104) may include a printer (160) for printing a receipt. For example, the printer (160) may print a receipt along with a voice indicating that payment has been completed in response to user input (e.g., credit card sliding, QR code).

[0035] According to one embodiment, the body portion (104) may include a hole (125). For example, the hole (125) may be formed in the body portion (104) and may be connected to a storage space formed within the body portion (104). A user may insert an object (e.g., a hotel card key) into the hole (125). As another example, the hole (125) may be connected to a card issuer included within the body portion (104). The user may receive or obtain an object (e.g., a hotel card key) output from the hole (125) after user input to the display (110) (e.g., user input for check-in).

[0036] According to one embodiment, the guide robot (101) is described as including a driving part (102), a rotating part (103), and a body part (104), but this is merely an example. In other words, the division of the parts of the guide robot (101) is merely for convenience of explanation and can be described in various ways. For example, the guide robot (101) may also be described as a first part including a driving part (102) and a rotating part (103), and a second part including a body part (104).

[0037] According to one embodiment, the rotating part (103) can rotate relative to the driving part (102) under the control of a controller. In one embodiment, as the rotating part (103) rotates, the body part (104) located at the top of the rotating part (103) can also rotate together with the rotating part (103). For example, under the control of a controller, it can rotate by a specified angle (e.g., 0 degrees to 360 degrees) from the front direction (e.g., +x direction) of the driving part (102).

[0038] In FIG. 1a of the present disclosure, the guide robot (101) is described as including a rotating part (103), but this is merely an example. For example, the guide robot (101) may not include a rotating part (103), and the body part (104) of the guide robot (101) may not rotate. That is, the rotating part (103) may be omitted.

[0040] FIG. 1b is a block diagram illustrating the connection between a guide robot and an external device according to one embodiment.

[0041] Referring to FIG. 1b, a guide robot (101) according to one embodiment may include a controller (105), a communication circuit (106), a power management module (107) and / or a battery (108).

[0042] According to one embodiment, the controller (105) may be electrically connected to a communication circuit (106), a power management module (107) and / or a battery (108).

[0043] According to one embodiment, the communication circuit (106) can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the guide robot (101) and external devices, and the performance of communication through the established communication channel. The communication circuit (106) may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a GNSS (global navigation satellite system) communication module) or a wired communication module (e.g., a LAN (local area network) communication module).

[0044] According to one embodiment, the communication circuit (106) may include at least one antenna. The controller (105) may perform wireless communication with an external device (172) (e.g., another guide robot, AP, external terminal) using at least one antenna of the communication circuit (106). For example, the controller (105) may receive data from the external device (172) and transmit data to the external device (172) using the communication circuit (106). For example, the controller (105) may transmit voice data entered by a user (e.g., a guest or a patient) to the external device (172) while performing guidance for the user using the communication circuit (106). As another example, the controller (105) may transmit images or video acquired by a plurality of sensors (140) to the external device (172) while performing guidance for the user using the communication circuit (106).

[0045] For example, the controller (105) can receive a control signal for controlling the movement of the guide robot (101) from an external device (172) using a communication circuit (106). In response to receiving the control signal, the controller (105) can transmit an acknowledgment (ACK) signal acknowledging that the control signal has been received using the communication circuit (106).

[0046] According to one embodiment, the power management module (107) can manage the power supplied to the guide robot (101). For example, the power management module (107) can be implemented as at least part of a power management integrated circuit (PMIC).

[0047] According to one embodiment, the battery (108) can supply power to at least one component (e.g., drive unit (102)) of the guide robot (101). For example, the battery (108) may include a non-rechargeable primary battery, a rechargeable secondary battery, or a fuel cell.

[0048] According to one embodiment, the controller (105) can control the charging of the battery (108) using the power management module (107). For example, the controller (105) can charge the battery (108) by controlling the power management module (107) to receive charging power wirelessly or via a wire from another external device.

[0049] According to one embodiment, the external device (172) may include a controller (135) and / or a communication circuit (136). For example, the controller (135) may be electrically connected to the communication circuit (136), and the controller (135) may establish a wireless communication connection with the guide robot (101) using the communication circuit (136). For example, the controller (135) may transmit a control signal to the guide robot (101) to control the guide robot (101).

[0050] According to one embodiment, the external device (172) may be various devices associated with the guide robot (101). For example, the external device (172) may be a device for controlling or managing the guide robot (101). For example, the external device (172) may be a server for controlling the guide robot (101). For example, the external device (172) may be another guide robot distinct from the guide robot (101). For example, the external device (172) may be an IoT (Internet of Things) device capable of establishing a communication connection with the guide robot (101).

[0051] In FIG. 1b of the present disclosure, the guide robot (101) is described as including a controller (105), a communication circuit (106), a power management module (107) and / or a battery (108), but this is merely an example. The guide robot (101) may include additional configurations other than those shown in FIG. 1b, or may not include at least some of the configurations shown in FIG. 1b.

[0052] In FIG. 1b of the present disclosure, the external device (172) is described as including a controller (135) and / or a communication circuit (136), but this is merely an example. The external device (172) may include additional configurations other than those shown in FIG. 1b, or may not include at least some of the configurations shown in FIG. 1b.

[0054] FIG. 2 is a drawing illustrating a guide robot according to one embodiment.

[0055] Referring to FIG. 2, a guide robot (101) according to one embodiment may include a QR reader (or passport reader) (210). For example, the body part (104) may include a QR reader for reading a QR code of a user (e.g., a guest or a patient).

[0056] According to one embodiment, the guide robot (101) may include a stop switch (210). For example, a stop switch (210) for emergency stopping of the guide robot (101) may be formed in the body part (104). For example, a user (e.g., a guest) or an administrator may emergency stop the guide robot (101) by pressing the stop switch (210) if the guide robot (101) malfunctions and does not move along a preset path.

[0057] According to one embodiment, the guide robot (101) may include a door lock device (221). For example, when the door lock device (221) is opened, the administrator can replace consumables or parts of the guide robot (101) through the door lock device (221).

[0058] According to one embodiment, the guide robot (101) may include a handle (230) for manual movement of the guide robot (101). For example, when autonomous driving of the guide robot (101) is not possible, a user (e.g., a guest) or an administrator may physically move the guide robot (101) using the handle (230). For example, cases where autonomous driving is not possible may include cases where there is no remaining power in the battery (108) of the guide robot (101) or cases where the guide robot (101) does not operate due to a malfunction of the guide robot (101).

[0059] According to one embodiment, the guide robot (101) may include LiDAR sensors (231, 232) for autonomous driving of the guide robot (101). For example, the guide robot (101) may include a first LiDAR sensor (231) and / or a second LiDAR sensor (232) for autonomous driving. For example, the guide robot (101) may identify the current location of the guide robot (101) through the first LiDAR sensor (231) and / or the second LiDAR sensor (232), and may identify the relative location of the guide robot (101) on a map based on the current location.

[0061] FIG. 3a is a drawing illustrating the case where the first housing is removed from a guide robot according to one embodiment.

[0062] Referring to FIG. 3a, a case in which the first housing (161) is removed from the guide robot (101) according to one embodiment is illustrated.

[0064] FIG. 3b is a drawing illustrating a guide robot according to one embodiment as viewed from above and as viewed from below.

[0065] Referring to FIG. 3b, a guide robot (101) according to one embodiment is shown when viewed from above (e.g., in the -z direction) and when the guide robot (101) is viewed from below (e.g., in the +z direction).

[0067] FIG. 4 is a drawing illustrating a first housing according to one embodiment.

[0068] Referring to FIG. 4, a first housing (161) according to one embodiment may include or form a plurality of surfaces. For example, the first housing (161) may include a bottom surface (401) facing a second direction (e.g., -z direction), a first side surface (402) facing a third direction (e.g., -x direction), a second side surface (403) facing a fourth direction (e.g., +y direction), and / or a third side surface (404) facing a fifth direction (e.g., +x direction). For example, the first side surface (402) may be perpendicular to the bottom surface (401). For example, the second side surface (403) may be perpendicular to the first side surface (402) and the bottom surface (401). For example, the third side surface (404) may be perpendicular to the second side surface (403) and the bottom surface (401), and the third side surface (404) may be parallel to the first side surface (402).

[0069] According to one embodiment, the first housing (161) may include a first part (411) forming a first side (402) and a second part (412) extending from the first part (411). For example, the first part (411) may form a part of the first side (402). The second part (412) may include a first part (412a) forming a part of the first side (402) and a second part (412b) extending in a direction perpendicular to the first part (412a) (e.g., +x direction). For example, the second part (412b) may extend in a direction toward the inside of the first housing (161) relative to the first part (412a) (e.g., +x direction). For example, the second part (412b) may be a part extending from the first part (412a).

[0070] According to one embodiment, the first housing (161) may include a first caster (421) and / or a second caster (422). For example, the first housing (161) may include a first caster (421) and / or a second caster (422) positioned between a first part (411) and a second part (412). For example, the first caster (421) and / or the second caster (422) may be positioned on the first part (411) and may support the second part (412).

[0071] The term caster in the present disclosure may be replaced with the terms movable member, movable member, or support member.

[0072] According to one embodiment, the first housing (161) may include a third part (413) forming a third side (404) and a fourth part (414) extending from the third part (413). For example, the third part (413) may form a part of the third side (404). The fourth part (414) may include a third part (414a) forming a part of the third side (404) and a fourth part (414b) extending in a direction perpendicular to the third part (414a) (e.g., -x direction). For example, the fourth part (414b) may extend in a direction toward the inside of the first housing (161) relative to the third part (414a) (e.g., -x direction).

[0073] According to one embodiment, the guide robot (101) may include a plurality of seismic gels (440). For example, the plurality of seismic gels (440) may be placed between a first part (411) and a second part (412) or between a third part (413) and a fourth part (414).

[0074] For example, the first seismic gel (441), the second seismic gel (442), and / or the third seismic gel (443) may be placed between the first part (411) and the second part (412). For example, the fourth seismic gel (444), the fifth seismic gel (445), and / or the sixth seismic gel (44) may be placed between the third part (413) and the fourth part (414).

[0075] According to one embodiment, a plurality of seismic gels (440) can absorb at least a portion of the applied pressure to the second part (412) and the fourth part (414) when pressure is applied as a result of an earthquake or vibration caused by a fire, thereby mitigating the impact. For example, the plurality of seismic gels (440) may include an elastic member (e.g., rubber) having elasticity.

[0077] FIG. 5 is a drawing illustrating the lower surface, the second side, and the second side of the first housing according to one embodiment.

[0078] Referring to FIG. 5, a first housing (161) according to one embodiment may include a bottom surface (401), and holes for wheels (152) to be inserted may be formed in the bottom surface (401). For example, the bottom surface (401) may have a first hole (511), a second hole (512), a third hole (513), a fourth hole (514), a fifth hole (515), and / or a sixth hole (516) formed therein for wheels (152) to be inserted. For example, the first hole (511), the second hole (512), the third hole (513), the fourth hole (514), the fifth hole (515), and / or the sixth hole (516) may be formed in the bottom surface (401) to correspond to the positions of the wheels (152).

[0079] According to one embodiment, a second side (403) of the first housing (161) is shown when viewed in the -y direction, and a first side (402) of the first housing (161) is shown when viewed in the +x direction.

[0080] The term "hole" in the present disclosure may be replaced with the terms "opening," "opening portion," "slit," or "hole."

[0082] FIG. 6 is a drawing illustrating a spring member to which pressure is applied as the inner bracket rises due to an earthquake (or, smoke or high temperature and shock caused by a fire) according to one embodiment.

[0083] Referring to FIG. 6, in the event that an earthquake occurs in the area where the guide robot (101) according to one embodiment is located, or that smoke, high temperature, and shock occur due to a fire, the guide robot (101) can move in a first direction (e.g., +z direction). For example, in the event that an earthquake occurs (or in the event that smoke, high temperature, and shock occur due to a fire), pressure may be applied in a direction perpendicular to the surface of the earth (e.g., +z direction), and the guide robot (101) can move in a direction perpendicular to the surface of the earth (e.g., +z direction).

[0084] According to one embodiment, a portion of the second part (412) may be positioned between the inner bracket (151) and the second housing (162). For example, the second part (412b) of the second part (412) may be positioned between the inner bracket (151) and the second housing (162).

[0085] Referring to area A including a first part (411) and a second part (412), the guide robot (101) may include a first caster (421) in contact with an inner bracket (151). For example, the first caster (421) may be positioned between the inner bracket (151) and the first housing (161). For example, the first caster (421) may be positioned between the inner bracket (151) and the second part (412) of the first housing (161). For example, the first caster (421) may be positioned between the inner bracket (151) and the second part (412b) of the second part (412).

[0086] According to one embodiment, a groove (630) may be formed in the second portion (412) of the first housing (161). For example, the first caster (421) and / or the second caster (422) may be placed in the groove (630). For example, the first caster (421) and / or the second caster (422) may be inserted and placed within the groove (630).

[0087] According to one embodiment, the guide robot (101) may include a fastening member (611) (e.g., a stripper bolt) disposed within a first housing (161). A spring member (612) may be wound around the fastening member (611).

[0088] The fastening member of the present disclosure may be replaced with the terms coupling member, fastener, or connecting member.

[0089] According to one embodiment, the first housing (161) may include a fastening portion (412c) extending from the second portion (412). For example, the fastening portion (412c) may be a portion extending from the first part (412a) of the second portion (412). For example, the fastening portion (412c) may have a U-shape. For example, a fastening member (611) may be formed through the fastening portion (412c). For example, a spring member (612) wound around the fastening member (611) may be disposed within the fastening portion (412c). For example, the fastening portion (412c) may be a portion corresponding to the fastening member (611).

[0090] According to one embodiment, the guide robot (101) may include an elastic member (613) positioned in a first direction (e.g., +z direction) relative to a fastening member (611) around which a spring member (612) is wound.

[0091] According to one embodiment, as an earthquake (or smoke, high temperature, and shock caused by a fire) occurs, pressure (600) may be applied to the inner bracket (151) in a first direction (e.g., +z direction), and pressure (600) may also be applied to the first caster (421) in contact with the inner bracket (151) in a first direction (e.g., +z direction).

[0092] According to one embodiment, a first pressure (601) may be applied to a second part (412) of the first housing (161) as the first caster (421) moves in a first direction (e.g., +z direction) based on the pressure (600). For example, as the first caster (421) moves in a first direction (e.g., +z direction), a first pressure (601) may be applied to a second part (412b) of the second part (412).

[0093] Based on the first pressure (601), the second part (412b) of the second part (412) can move in the first direction (e.g., +z direction). Since the second part (412) and the fastening part (412c) are formed integrally, as the second part (412) moves in the first direction (e.g., +z direction), the fastening part (412c) can also move in the first direction (e.g., +z direction).

[0094] As the connecting portion (412c) moves in a first direction (e.g., +z direction), a second pressure (602) may be applied to the spring member (612), and the spring member (612) may be compressed based on the second pressure (602). In this case, as the spring member (612) is compressed, pressure may also be applied to the elastic member (613) located in the first direction (e.g., +z direction) relative to the spring member (612).

[0095] According to one embodiment, even if pressure is applied to the inner bracket (151) in a first direction (e.g., +z direction) due to an earthquake (or smoke, high temperature, and shock caused by a fire), the pressure in the first direction (e.g., +z direction) can be relieved as the spring member (612) is compressed, and the guide robot (101) can reduce or minimize damage to the inner bracket (151), the first housing (161), and the second housing (162). For example, if the spring member (612), the fastening part (412c), and the fastening member (611) are not present, the pressure applied in the first direction (e.g., +z direction) can be transmitted to the first housing (161) and the second housing (162) through the inner bracket (151). In this case, the first housing (161) and the second housing (162), as well as the electronic components contained in the first housing (161) or the second housing (162), may be damaged. On the other hand, in the case where the spring member (612), the fastening part (412c), and the fastening member (611) are present according to one embodiment, even if pressure is applied to the guide robot (101) due to an earthquake (or fire), the damage to the inner bracket (151), the first housing (161), and the second housing (162) can be minimized or reduced because the spring member (612) absorbs the shock.

[0096] In addition, as the guide robot (101) does not fall over during an earthquake (or fire), physical damage caused by the guide robot (101) falling over to users adjacent to the guide robot (101) can be reduced or minimized.

[0098] FIG. 7a is a drawing illustrating a first sensor installed in a groove of a second part according to one embodiment.

[0099] Referring to FIG. 7a, a first sensor (710) may be installed or formed in the groove (630) of the second part (412b) according to one embodiment. For example, the guide robot (101) may include a first sensor (710) for measuring pressure, and the first sensor (710) may be formed or placed at an end portion of the groove (630) of the second part (412b).

[0100] According to one embodiment, the first sensor (710) can identify a first pressure (601) applied to a second part (412b) of the first housing (161) as the first caster (421) in contact with the inner bracket (151) moves in a first direction (e.g., +z direction) due to the occurrence of an earthquake (or smoke or high temperature and shock from a fire). For example, a controller (105) may be electrically connected to the first sensor (710) and may receive information about the first pressure (601) from the first sensor (710).

[0101] According to one embodiment, the first sensor (710) may transmit information about the first pressure (601) to the controller (105) only when the first pressure (601) exceeds a threshold value. For example, there may be hills or speed bumps along the path where the guide robot (101) moves, and the first sensor (710) may identify that the first pressure (601) is increasing. However, since this case is not a disaster situation such as an earthquake (or fire), the first sensor (710) may not need to unnecessarily transmit information about the first pressure (601) to the controller (105).

[0102] Accordingly, the first sensor (710) can transmit information about the first pressure (601) to the controller (105) only when it exceeds a preset threshold value, and can only identify the first pressure (601) when it is below the preset threshold value. In this case, the information (or data) about the first pressure (601) may be ignored or deleted.

[0103] FIG. 7b is a drawing illustrating a method for measuring the intensity of an earthquake (or smoke, high temperature, and shock caused by a fire) and identifying whether a spring member has failed using a first sensor installed in a groove of a second part according to one embodiment.

[0104] Referring to FIG. 7b, in operation 701 according to one embodiment, the guide robot (101) can identify the intensity of an earthquake (or, the intensity of smoke, high temperature, and shock caused by a fire) based on the first pressure (601) of the first caster (421) measured through the first sensor (710). For example, the guide robot (101) may not receive information indicating the occurrence of an earthquake (or fire) from an external device (172). Even in this case, the guide robot (101) can identify through the first sensor (710) that an earthquake or shaking equivalent to an earthquake (or, smoke, high temperature, and shock caused by a fire) has occurred in the area where the guide robot (101) is located. For example, the controller (105) can identify the first pressure (601) that the first caster (421) applies to the second part (412) using the first sensor (710) placed in the home (630). The controller (105) can identify a normal shaking when the first pressure (601) falls within the first range. The controller (105) can identify that an earthquake or fire has occurred when the first pressure (601) falls within the second range, which is higher than the first range, and that the magnitude of the smoke, high temperature, and shock caused by the earthquake or fire is about Richter scale 4 or less. The controller (105) can identify that an earthquake or fire has occurred when the first pressure (601) falls within the third range, which is higher than the second range, and that the smoke, high temperature, and shock caused by the earthquake or fire exceeds about Richter scale 4.

[0105] According to one embodiment, in operation 703, the guide robot (101) may output evacuation information corresponding to the seismic intensity (or, the intensity of smoke, high temperature, and shock caused by a fire) through a speaker included in the guide robot (101). For example, the guide robot (101) may not output evacuation information when the first pressure (601) is within the first range, as no earthquake (or fire) has occurred. Additionally, the guide robot (101) may not move to a preset space (e.g., a seismic stand).

[0106] For example, the guide robot (101) can output evacuation information through a speaker recommending taking refuge under a nearby object (e.g., a desk) when the first pressure (601) falls within the second range, and an earthquake (or smoke, high temperature, and shock from a fire) has occurred but the building is shaking slightly with a Richter scale of 4 or less. Additionally, the guide robot (101) may not move to a pre-set space (e.g., an earthquake-resistant stand) and may move to a wall adjacent to the location of the guide robot (101).

[0107] For example, the guide robot (101) can output evacuation information through a speaker recommending movement to a pre-set space (e.g., seismic stand) when the first pressure (601) falls within the third range, and an earthquake (or fire) has occurred but evacuation is required as it exceeds Richter scale 4. Additionally, the guide robot (101) can move to a pre-set space (e.g., seismic stand).

[0108] According to one embodiment, the guide robot (101) may output information through a speaker or display indicating that replacement of the spring member (612) is required when the first pressure (601) measured through the first sensor (710) in operation 705 exceeds a specified value (e.g., pressure exceeding the elastic limit of the spring member (612)). For example, the guide robot (101) may output information indicating that replacement of the spring member (612) is required after an earthquake (or smoke or high temperature and shock caused by a fire) has ended.

[0109] For example, the spring member (612) may have an elastic limit, and the spring member (612) may lose its elasticity when pressure exceeding a specified value is applied. It may be difficult to visually determine whether the spring member (612) of the guide robot (101) has lost its elasticity and is broken after an earthquake (or fire) occurs. Meanwhile, the guide robot (101) can indirectly determine whether the spring member (612) is broken by placing the first sensor (710) in the home (630) to determine whether the first pressure (601) is a pressure that exceeds the elastic limit.

[0110] Accordingly, the guide robot (101) can identify that the spring member (612) needs to be replaced when the first pressure (601) exceeds a specified value (e.g., pressure exceeding the elastic limit) through the first sensor (710), and efficient repair of the guide robot (101) can be achieved by outputting information that replacement is needed through a speaker or display.

[0111] The operations 701 through 705 described in FIG. 7b of the present disclosure can be understood as substantially performed by the controller (105) of the guide robot (101).

[0112] The operations 701 to 705 described in FIG. 7b of the present disclosure may be performed in parallel or simultaneously, and the order of operations is not limited to the order described in FIG. 7.

[0115] FIG. 8 is a drawing illustrating a guide robot moving at a second moving speed or a third moving speed according to one embodiment.

[0116] Referring to FIG. 8, in one embodiment, a controller (105) may receive information indicating the occurrence of an earthquake through a communication circuit (106) while the guide robot (101) is moving at a first moving speed during operation 801. For example, the controller (105) may receive information indicating the occurrence of an earthquake (or, fire) from an external device (172). In one example, the external device (172) may be an access point (AP) that has established a communication connection with another adjacent guide robot or guide robot (101). For example, the controller (105) receiving information indicating the occurrence of an earthquake (or, fire) may substantially be referred to as the controller (105) receiving an early warning of an earthquake (or, fire).

[0117] According to one embodiment, the controller (105) can control the guide robot (101) to move to a preset space (e.g., a seismic stand, or a seismically designed space) at a second movement speed lower than the first movement speed based on receiving information from operation 803. For example, the controller (105) can control the drive unit (102) to control the guide robot (101) to move at the second movement speed.

[0118] According to one embodiment, the guide robot (101) can reduce or prevent the guide robot (101) from overturning due to an earthquake (or smoke, high temperature, and impact caused by a fire) or sudden stopping by reducing the movement speed to a second movement speed. For example, if an earthquake reaches the area where the guide robot (101) is located while the guide robot (101) is moving at a first movement speed, the guide robot (101) may lose its balance and overturn. On the other hand, if the guide robot (101) moves at a second movement speed lower than the first movement speed, the possibility of the guide robot (101) overturning may be reduced.

[0119] As another example, if vibration occurs in the area where the guide robot (101) is located due to a fire while the guide robot (101) is moving at a first speed, the guide robot (101) may lose its balance and overturn. On the other hand, if the guide robot (101) moves at a second speed lower than the first speed, the possibility of the guide robot (101) overturning may be reduced.

[0120] According to one embodiment, the second movement speed may be determined based on received information. For example, information indicating the occurrence of an earthquake may include the type of earthquake, the epicenter of the earthquake, the magnitude of the earthquake, and / or the estimated time of arrival of the earthquake. For example, information indicating the occurrence of a fire may include information on the type of fire (e.g., general fire, oil fire, electrical fire), the magnitude of the fire, and / or the intensity of vibrations predicted due to the fire.

[0121] According to one embodiment, the guide robot (101) can identify the seismic intensity of the area where the guide robot (101) is located based on the magnitude of the earthquake and the relative distance included in the information indicating the occurrence of the earthquake. In one example, the guide robot (101) can determine a second movement speed based on the seismic intensity. That is, the guide robot (101) can determine a second movement speed inversely proportional to the magnitude of the seismic intensity.

[0122] According to one embodiment, the guide robot (101) can determine a second movement speed based on the type, scale, and / or vibration operation of the fire included in information indicating the occurrence of a fire.

[0123] According to one embodiment, the controller (105) can control the guide robot (101) to move to a preset space (e.g., a seismically designed space, a seismically resistant stand) within a specified distance from the preset space in operation 805 at a third movement speed lower than the second movement speed. For example, the controller (105) can lower the movement speed below the second movement speed because the guide robot (101) may need to stop or make an abrupt stop when the guide robot (101) moves to a location adjacent to the preset space. In this case, the controller (105) can control the guide robot (101) to move to the preset space at a third movement speed lower than the second movement speed.

[0124] According to one embodiment, a pre-set space (e.g., a seismically designed space, a seismically resistant stand) may be determined based on the intensity or magnitude of the earthquake included in information indicating the occurrence of an earthquake. For example, there may be multiple seismically resistant stands in a building where the guide robot (101) is located, and each of the multiple seismically resistant stands may have a different seismic grade. For example, the first seismically resistant stand may be a stand designed for an earthquake of magnitude 1 (e.g., Richter scale 4.0 or less), and the second seismically resistant stand may be a stand designed for an earthquake of magnitude 2 (e.g., Richter scale 4.0 or greater) which is larger than the first magnitude. In this case, the guide robot (101) may determine one of the multiple seismically resistant stands as a pre-set space based on the intensity or magnitude of the earthquake.

[0125] As another example, a preset space may be determined based on the scale of the fire, the type of fire, and / or the intensity of smoke, high temperature, and impact caused by the fire, which are included in the information indicating the occurrence of a fire.

[0126] In FIG. 8 of the present disclosure, it is described that the controller (105) identifies the occurrence of an earthquake based on receiving information indicating the occurrence of an earthquake (or, fire), but this is merely an example. For example, the controller (105) may identify the occurrence of an earthquake by directly measuring the occurrence of an earthquake through the first sensor (710). In this case, operation 801 may be replaced with an operation that identifies the occurrence of an earthquake through the first sensor (710). As another example, the controller (105) may identify the occurrence of a fire through a temperature sensor or a smoke-detecting sensor.

[0127] According to one embodiment, the guide robot (101) can resume existing services when an early warning (e.g., information indicating that an earthquake has occurred and / or information indicating a fire) is released.

[0128] The operations 801 to 805 described in FIG. 8 of the present disclosure may be performed in parallel or simultaneously, and the order of operations is not limited to the order described in FIG. 8.

[0130] FIG. 9 is a diagram illustrating a method in which a guide robot according to one embodiment changes its path through autonomous driving.

[0131] Referring to FIG. 9, a controller (105) according to one embodiment may receive information indicating the occurrence of an earthquake (or fire) (e.g., the epicenter of the earthquake, the type of earthquake, the magnitude of the earthquake) from an external device (172) via a communication circuit (106) in operation 900. For example, the external device (172) (e.g., a base station, a terminal, another guide robot) may transmit information indicating the occurrence of an earthquake (or fire) to the guide robot (101).

[0132] According to one embodiment, the controller (105) can identify the location of the guide robot (101) based on receiving information indicating the occurrence of an earthquake (or fire) in operation 901. For example, the controller can identify the current location of the guide robot (101) through lidar sensors (231, 232) for autonomous driving in response to receiving the information.

[0133] According to one embodiment, the controller (105) can control the guide robot (101) to autonomously drive from the current position to a preset space (e.g., an earthquake-resistant stand) via the drive unit (102) based on the current position of the guide robot (101). For example, the controller (105) of the guide robot (101) can identify a first path to reach the preset space (e.g., an earthquake-resistant stand) in response to receiving information indicating the occurrence of an earthquake. For example, the first path between the starting point (or current position) and the preset space can be determined as a straight path.

[0134] According to one embodiment, the controller (105) can move to a preset space along a first path that is saved in advance in operation 903.

[0135] According to one embodiment, the controller (105) can determine whether there is an obstacle while moving along a first path by using a plurality of sensors (140) included in the driving unit (102) in operation 905.

[0136] According to one embodiment, the controller (105) can move the guide robot to a preset space via a second path that is different from the first path and can avoid the obstacle when there is an obstacle in the first path.

[0137] According to one embodiment, if autonomous driving along a first path between a current location (or starting point) and a preset space satisfies specified conditions, the guide robot (101) may drive along a path other than the first path, which is a straight path. For example, specified conditions may include cases where an obstacle is located on the first path, or where battery consumption is higher when autonomous driving along the first path than on other paths.

[0138] According to one embodiment, when autonomous driving along a first path satisfies specified conditions, the controller (105) can control the guide robot (101) to move along various paths. For example, if an obstacle is located on the first path, the controller (105) can control the guide robot (101) to move along a second path corresponding to a path that avoids the obstacle. The path that avoids the obstacle can be referred to as a path where the guide robot (101) moves to the left or right to avoid the obstacle when there is an obstacle on a substantially straight path.

[0139] As another example, a path between the current location (or starting point) and a preset space can be obtained through an artificial intelligence model, and a third path can be obtained by the artificial intelligence model as a path that minimizes battery consumption. The controller (105) can compare the power consumed when moving along the first path, which corresponds to a straight path, with the power consumed when moving along the third path obtained from the artificial intelligence model. If the third path consumes less power than the first path, the controller (105) can control the guide robot (101) to move along the third path instead of the first path.

[0140] According to one embodiment, the method of obtaining a path (e.g., a third path) between a current location (or, starting point) and a preset space by an artificial intelligence model is as follows. For example, a controller (105) can obtain information about various paths (e.g., a first path, a second path) that the guide robot (101) has traveled from the current location (or, starting point) to the preset space. The controller (105) can transmit data regarding the target arrival time, actual arrival time, whether there was a collision with an obstacle, the time period during which the guide robot (101) traveled, and / or battery consumption to an external device (172) or a management server via a communication circuit (106) whenever the guide robot arrives at the preset space through the various paths.

[0141] In one example, an artificial intelligence model mounted on or included in an external device (172) or management server may input the target arrival time, actual arrival time, time period during which the guide robot (101) traveled, whether there was a collision with an obstacle, and / or battery consumption as input data. The external device (172) or management server may output the path between the starting point and a preset space as output data. The artificial intelligence model of the external device (172) or management server may perform learning based on the input data and output data.

[0142] In one example, a management server including a trained artificial intelligence model may receive a signal from a guide robot (101) requesting that it determine a path. The trained artificial intelligence model may determine an optimal third path based on conditions (e.g., time to reach the goal, time of travel, remaining battery capacity) provided by the guide robot (101). The management server or an external device (172) may provide information about the third path to the guide robot (101).

[0143] According to one embodiment, the controller (105) can identify that the guide robot (101) has arrived at a preset space (e.g., seismic stand 0) through at least one sensor included in the guide robot (101). For example, the controller (105) can identify that the guide robot (101) has arrived at a preset space using an accelerometer and / or a gyroscope. As another example, the controller (105) can receive location information of the guide robot (101) from another external device (e.g., external device (172)) and can identify that the guide robot (101) has arrived at a preset space based on the received location information.

[0144] The operations 901 to 907 described in FIG. 9 of the present disclosure may be performed in parallel or simultaneously, and the order of operations is not limited to the order described in FIG. 9.

[0146] FIG. 10 is a diagram illustrating a method of performing operations by comparing the time expected to take for a guide robot to move and the time to reach, according to one embodiment.

[0147] Referring to FIG. 10, a controller (105) according to one embodiment can compare the time expected to take for the guide robot (101) to move from its current position to a preset space and the time of arrival of the earthquake based on information indicating the occurrence of an earthquake in operation 1001. For example, the guide robot (101) can receive information about the current position of the guide robot (101) from an external device (172) or identify the current position of the guide robot (101) through lidar sensors (231, 232). The controller (105) can identify the time expected to take to reach the preset space from the current position based on the maximum movement speed of the guide robot (101), the distance of a first path (e.g., a straight path) from the current position to a preset space (e.g., an earthquake-resistant stand), and whether there are obstacles on the first path.

[0148] In one example, the controller (105) can identify the time of arrival of an earthquake based on information regarding the epicenter (or, epicenter) included in information indicating the occurrence of an earthquake, the type of earthquake, and / or the relative distance between the epicenter and the current location. The controller (105) can compare the time expected to take and the time of arrival of the earthquake. As another example, the controller (105) can compare the time expected to take for smoke, high temperature, and shock from the fire to occur in the area where the guide robot (101) is located with the time expected to take for movement, based on information regarding the type of fire, the scale of the fire, and / or the intensity of smoke, high temperature, and shock from the fire included in information indicating the occurrence of a fire.

[0149] For example, whether there is an obstacle on the first path (e.g., a straight path) can be determined based on obstacle information received from another external device (172) (e.g., another guide robot) that is distinct from the guide robot (101) through the communication circuit (106).

[0150] According to one embodiment, the controller (105) can determine whether the time in operation 1003 is equal to or less than the arrival time.

[0151] According to one embodiment, when the time is equal to or less than the arrival time, the controller (105) can control the guide robot (101) to move to a preset space (e.g., an earthquake-resistant stand) in operation 1005. For example, when the time is equal to or less than the arrival time, the controller (105) can identify that the guide robot (101) can move to a preset space (e.g., an earthquake-resistant stand) to prevent earthquake damage (or, prevent damage from smoke, high temperature, and shock caused by fire) before the earthquake arrives, and can control the guide robot (101) to move to the preset space (e.g., an earthquake-resistant stand).

[0152] According to one embodiment, the controller (105) may output information indicating the occurrence of an earthquake (or fire) through a speaker included in the guide robot (101) in operation 1007. For example, the controller (105) may identify the presence of users within an area adjacent to the guide robot (101) through a plurality of sensors (140) included in the guide robot (101). While moving to a pre-set space (e.g., an earthquake-resistant stand), the controller (105) may recommend that users move to a pre-set space (e.g., an earthquake-resistant stand) to prevent earthquake damage (or to prevent damage from smoke, high temperature, or impact caused by a fire). To this end, the controller (105) may output information indicating the occurrence of an earthquake (or fire) (e.g., magnitude of the earthquake, epicenter, type of earthquake) through a speaker included in the guide robot (101).

[0153] According to one embodiment, the controller (105) can output information (e.g., evacuation information) requesting the guide robot (101) to move along to a preset space (e.g., seismic support) through a speaker in operation 1009.

[0154] According to one embodiment, if time is greater than the arrival time, the controller (105) can move to a first wall adjacent to the position of the guide robot (101) in operation 1011. For example, if time is greater than the arrival time, the controller (105) can identify that the guide robot (101) cannot move to a preset space for earthquake damage prevention (or fire smoke or high temperature and shock damage prevention) until the earthquake (or fire smoke or high temperature and shock) arrives. In this case, the controller (105) can move the guide robot (101) to a first wall adjacent to the guide robot (101) (e.g., a wall including a corner).

[0155] According to one embodiment, the guide robot (101) may output information through a speaker in operation 1013 indicating the occurrence of an earthquake (or fire) (e.g., whether an earthquake has occurred, the magnitude of the earthquake, the type of earthquake) and information indicating that movement to a preset space is impossible. For example, the guide robot (101) may output information to surrounding users while moving to the first wall that an earthquake (or smoke, high temperature, and shock from a fire) has occurred and that it may be difficult to move to a preset space (e.g., a space with earthquake-resistant design) before the earthquake (or smoke, high temperature, and shock from a fire) reaches them. In this case, the controller (105) may guide the guide robot (101) to move to the first wall where it is located.

[0156] The operations 1001 to 1013 described in FIG. 10 of the present disclosure may be performed in parallel or simultaneously, and the order of operations is not limited to the order described in FIG. 10.

[0158] FIG. 11 is a diagram illustrating the operations of a guide robot according to one embodiment when it arrives within the arrival time of an earthquake (or smoke, high temperature, and shock caused by a fire) or when it does not arrive.

[0159] Referring to FIG. 11, a controller (105) according to one embodiment can identify or determine whether the guide robot (101) has arrived at a preset space (e.g., an earthquake-resistant stand) within the arrival time in operation 1101. For example, the controller (105) can compare the estimated arrival time of an earthquake (or the time of occurrence of smoke, high temperature, and shock due to a fire) with the time required for the guide robot (101) to move to the preset space, and can control the guide robot (101) to move to the preset space if the time required is shorter than the arrival time of an earthquake (or the time of occurrence of smoke, high temperature, and shock due to a fire).

[0160] According to one embodiment, when the guide robot (101) arrives at a preset space within the arrival time, the controller (105) can transmit location information indicating the location of the guide robot (101) and information indicating the number of users identified by the plurality of sensors (140) of the guide robot (101) to an external device (172) (e.g., another guide robot) or an external electronic device (e.g., base station, external terminal) before the arrival time of the earthquake (or, the time of occurrence of smoke, high temperature, and shock due to fire) in operation 1103.

[0161] For example, the guide robot (101) and users can move to a pre-set space before an earthquake occurs (or before smoke, high temperature, and shock from a fire occur) following the guidance of the guide robot (101). After an earthquake occurs (or after smoke, high temperature, and shock from a fire occur), there may be cases where it is difficult to move between the pre-set space and the external space. In this case, in order to request rescue of the guide robot (101) and users from the outside, the guide robot (101) can transmit the location of the guide robot (101) and the number of users to an external device in advance.

[0162] According to one embodiment, the controller (105) can control the guide robot to be turned off for a specified time from the time of arrival in operation 1105. For example, even if the guide robot (101) and users are located in a pre-set space (e.g., an earthquake-resistant stand), damage may be inflicted on the guide robot (101) due to the impact of an earthquake (or smoke, high temperature, and impact from a fire) or aftershocks following an earthquake. In this case, damage may be inflicted on the battery (108) of the guide robot (101), and may cause the guide robot (101) to malfunction or explode. To prevent the guide robot (101) from malfunctioning or exploding due to damage to the battery (108), the controller (105) can turn off the guide robot (101) for a specified time from the time of arrival (or expected time of arrival) of the earthquake to prevent damage and explosion of the battery (108).

[0163] For example, the designated period may be determined based on the magnitude of the earthquake, the epicenter (or, source) of the earthquake, and / or the type of earthquake included in the information indicating the earthquake. As another example, the designated period may be a pre-set period for the guide robot (101).

[0164] However, the time expected to be taken may be increased due to the presence of additional obstacles or problems with the speed of movement, and the guide robot (101) may not be able to reach a pre-set space (e.g., seismic stand) within the time of arrival of the earthquake.

[0165] According to one embodiment, if the guide robot (101) fails to reach a preset space within the arrival time (or, the time of occurrence of smoke, high temperature, and impact due to fire), the controller (105) may control the guide robot (10!) to move to a second wall (e.g., a wall including a corner) adjacent to the guide robot (101) and be turned off for a specified time from the arrival time. For example, if the guide robot (101) fails to reach the preset space within the arrival time, it may output information to users around the guide robot (101) indicating that it failed to reach the preset space and may output information indicating that it should move to the second wall.

[0166] Operation 1101 of the present disclosure may be performed after operation 1009 of FIG. 10. Accordingly, the embodiment of FIG. 10 and the embodiment of FIG. 11 may be combined. However, the description of the order of operations of FIG. 10 and FIG. 11 is merely an example.

[0167] The operations 1101 to 1107 described in FIG. 11 of the present disclosure may be performed in parallel or simultaneously, and the order of operations is not limited to the order described in FIG. 11.

[0169] FIG. 12 is a diagram illustrating a method of performing operations by comparing the amount of power expected to be consumed for a guide robot to move according to one embodiment with the remaining power of the battery.

[0170] Referring to FIG. 12, a controller (105) according to one embodiment can compare the amount of power expected to be consumed when the guide robot (101) moves from its current position to a preset space based on information indicating the occurrence of an earthquake in operation 1201 with the remaining power of the battery (108). For example, the guide robot (101) can receive information about the current position of the guide robot (101) from an external device (172) or identify the current position of the guide robot (101) through lidar sensors (231, 232). The controller (105) can identify the amount of power expected to be consumed when reaching the preset space from the current position based on the maximum movement speed of the guide robot (101), the distance of a first path (e.g., a straight path) from the current position to a preset space (e.g., an earthquake-resistant stand), and whether there are obstacles on the first path. The controller (105) can compare the amount of power expected to be consumed with the remaining power of the battery (108).

[0171] For example, whether there is an obstacle on the first path (e.g., a straight path) can be determined based on obstacle information received from another external device (172) (e.g., another guide robot) that is distinct from the guide robot (101) through the communication circuit (106).

[0172] According to one embodiment, the controller (105) can determine whether the remaining power amount in operation 1203 is greater than or equal to the power amount (e.g., expected power amount).

[0173] According to one embodiment, when the remaining power amount is greater than or equal to the power amount (e.g., expected power amount), the controller (105) can control the guide robot (101) to move to a preset space (e.g., seismic stand) in operation 1205. For example, when the remaining power amount is greater than the power amount, the controller (105) can identify that the guide robot (101) can move to a preset space (e.g., seismic stand) to prevent earthquake damage before the earthquake arrives, and can control the guide robot (101) to move to the preset space (e.g., seismic stand).

[0174] According to one embodiment, the controller (105) can output information announcing the occurrence of an earthquake through a speaker included in the guide robot (101) in operation 1207. For example, the controller (105) can identify the presence of users within an area adjacent to the guide robot (101) through a plurality of sensors (140) included in the guide robot (101). While moving to a pre-set space (e.g., an earthquake-resistant stand), the controller (105) can recommend that users move to a pre-set space (e.g., an earthquake-resistant stand) to prevent earthquake damage. To this end, the controller (105) can output information announcing the occurrence of an earthquake (e.g., magnitude of the earthquake, epicenter, type of earthquake) through a speaker included in the guide robot (101).

[0175] According to one embodiment, the controller (105) can output information (e.g., evacuation information) requesting the guide robot (101) to move along a preset space (e.g., seismic support) through a speaker in operation 1209.

[0176] According to one embodiment, when the remaining power amount is less than the power amount (e.g., expected power amount), the controller (105) can control the guide robot (101) to move to a preset space in operation 1211 and output information to guide the guide robot (101) and adjacent users to move to the preset space through a speaker.

[0177] For example, if the remaining power amount is less than the power amount, the controller (105) can identify that the guide robot (101) cannot move to a space pre-set for earthquake damage prevention until the earthquake reaches it. In this case, the controller (105) can move the guide robot (101) to a first wall (e.g., a wall including a corner) adjacent to the guide robot (101).

[0178] However, although the guide robot (101) cannot move to a preset space due to power consumption, surrounding users can identify that it has moved to a preset space. For example, the guide robot (101) can identify the estimated time of arrival of the earthquake and the time required to move from the current location to a preset space. If the time required is less than or equal to the estimated time of arrival, surrounding users can identify that it has moved to a preset space.

[0179] In this case, the guide robot (101) can output information to notify of the occurrence of an earthquake (e.g., whether an earthquake has occurred, magnitude of the earthquake, type of earthquake) and information to guide to move to a preset space (e.g., location of the preset space, time of arrival of the earthquake) through a speaker.

[0180] According to one embodiment, the guide robot (101) can output information guiding users to move to a preset space until the remaining power of the battery (108) is completely consumed. As another example, the guide robot (101)

[0181] The operations 1201 to 1211 described in FIG. 12 of the present disclosure may be performed in parallel or simultaneously, and the order of operations is not limited to the order described in FIG. 12.

[0183] FIG. 13 is a drawing illustrating a ball assembly included in a guide robot according to one embodiment.

[0184] Referring to FIG. 13, a guide robot (101) according to one embodiment may include a ball assembly (1300). For example, a driving unit (102) of the guide robot (101) may include a ball assembly (1300) for moving the guide robot (101).

[0185] According to one embodiment, the ball assembly (1300) may include a wheel (1301), a support member (1302) connected to the wheel (1301), a first ball (1311), a second ball (1312), and / or a spring-damper (1320). For example, the ball assembly (1300) may include a wheel (1301) that is in direct contact with the ground so that the guide robot (101) can move. The wheel (1301) of the present disclosure may correspond to one of the wheels (152) of FIG. 1, and the term wheel (1301) may be replaced with the term ball wheel. For example, the ball assembly (1300) may include a support member (1302) to which the wheel (1301) is fixed and which supports the ball assembly (1300). For example, the ball assembly (1300) may include a first ball (1301) and a second ball (1302) for changing the direction of movement of the wheel (1301).

[0186] According to one embodiment, the guide robot (101) may include a specified number (e.g., 4) of ball assemblies (1300) (or ball wheel assemblies). For example, the ball assemblies (1300) may include spring-dampers (1320), and the spring-dampers (1320) may act as a buffer against impact between the guide robot (101) and the ground, and may perform a suspension function against road surface conditions and external influences.

[0187] According to one embodiment, the ball assembly (1300) of the guide robot (101) includes an independent suspension structure (e.g., ball assembly (1300)), so the wheel (1301) can always maintain contact with the ground on various surfaces.

[0188] According to one embodiment, the hinge (1330) of the guide robot (101) may be connected to a ball assembly (1300), and the ball assembly (1300) may be constrained through the hinge (1330) and rotate about the axis of the hinge (1330) based on the influence of the ground. For example, even if compression in a direction perpendicular to the ground and movement in a direction parallel to the ground occur at the spring-damper (1320), the ball assembly (1300) is connected to the ball assembly (1300) and the ball assembly (1300) rotates, so that the ball assembly (1300) is not separated from the guide robot (101) and a suspension function can be performed. For example, the hinge (1330) may correspond to a link structure.

[0190] According to one embodiment, a guide robot (101) capable of autonomous driving comprises a drive unit for moving the guide robot, a body portion disposed at the top of the drive unit, a first housing including a first portion that surrounds the inner bracket and surrounds the side of the inner bracket, and a second portion that extends from the first portion and is located between the body portion and the inner bracket, a caster disposed between the second portion of the first housing and the inner bracket and moves the second portion of the first housing in the first direction while in contact with the inner bracket as the inner bracket moves toward the first housing, and a spring member disposed within the first portion of the first housing, wherein the drive unit includes an inner bracket that forms the exterior of the drive unit and includes a side and a bottom surface, the body portion includes a display, a communication circuit, and a controller, and the spring member may be compressed as the second portion of the first housing moves toward the first direction.

[0191] According to one embodiment, the second portion of the first housing includes a groove into which the caster is inserted and a fastening portion coupled to a fastening member around which the spring member is wound, and when the inner bracket comes into contact with the caster and moves in the first direction, a first pressure in the first direction is applied to the second portion as the caster placed in the groove moves in the first direction, and based on the first pressure, the fastening portion of the second portion moves in the first direction, and based on the movement of the fastening portion, a second pressure in the first direction is applied to the spring member wound on the fastening member, and based on the second pressure, the spring member can be compressed.

[0192] According to one embodiment, the guide robot (101) further includes an elastic member positioned in the first direction relative to the fastening member around which the spring member is wound, and the elastic member may receive pressure in the first direction as the spring member is compressed.

[0193] According to one embodiment, the body part includes a second housing that forms the exterior of the body part, and the second housing of the body part is connected to the first housing through a connecting member that penetrates the driving part, and the second housing and the inner bracket may be spaced apart by a specified distance.

[0194] According to one embodiment, the guide robot (101) may further include a first sensor disposed within the cylinder to detect the first pressure applied by the caster to the second part, and a second sensor disposed within the second housing to measure the third pressure applied by the inner bracket to the second housing as the inner bracket moves in the first direction. The controller may be configured to identify the magnitude of the earthquake based on the first pressure of the caster measured through the first sensor, output evacuation information corresponding to the magnitude of the earthquake through a speaker included in the guide robot, and output information indicating that replacement of the spring member is required through the speaker or the display when the third pressure measured through the second sensor is greater than or equal to a specified value. The evacuation information may include information about a space pre-set for the guide robot for earthquake evacuation, and the pre-set space may be based on the magnitude of the earthquake identified through the first sensor.

[0195] According to one embodiment, the controller may be configured to receive information indicating the occurrence of an earthquake through the communication circuit while the guide robot is moving at a first movement speed, and based on receiving the information, control the guide robot to move to a preset space at a second movement speed lower than the first movement speed, and if it is adjacent to the preset space within a specified distance, control the guide robot to move to the preset space at a third movement speed lower than the second movement speed. The preset space may be determined based on the intensity of the earthquake included in the information.

[0196] According to one embodiment, the controller may be configured to identify the location of the guide robot based on receiving information indicating the occurrence of the earthquake, control the guide robot to move along a first path from the location to a preset space, determine whether an obstacle exists while moving along the first path using a plurality of sensors included in the drive unit, and if the obstacle is present on the first path, move the guide robot to the space via a second path that is different from the first path and can avoid the obstacle. The first path may correspond to a straight path.

[0197] According to one embodiment, the controller compares the time expected to take for the guide robot to move from the location to the preset space with the time of arrival of the earthquake based on the information indicating the occurrence of the earthquake, and if the time is equal to or less than the arrival time, controls the guide robot to move to the preset space, outputs information announcing the occurrence of the earthquake through a speaker included in the guide robot, and outputs information requesting to follow the guide robot to the preset space through the speaker. If the time is greater than the arrival time, the controller may be configured to move to a first wall adjacent to the location of the guide robot and output information announcing the occurrence of the earthquake and information announcing that movement to the space is impossible through the speaker. The above time is determined based on the maximum movement speed of the guide robot, the distance of the first path from the position to the preset space, and whether there is an obstacle on the first path, and whether there is an obstacle on the first path can be determined based on obstacle information received from other guide robots distinguished from the guide robot through the communication circuit.

[0198] According to one embodiment, the controller may be configured to transmit location information indicating the position of the guide robot and information indicating the number of users identified by a plurality of sensors of the guide robot to an external electronic device before the arrival time when the guide robot arrives at the space within the arrival time, and to control the guide robot to be off for a specified time from the arrival time, and if the guide robot does not arrive at the space within the arrival time, to control the guide robot to move to a second wall adjacent to the guide robot and be off for the specified time from the arrival time.

[0199] According to one embodiment, the controller compares the amount of power expected to be consumed by the guide robot moving from the location to the preset space with the remaining power of the guide robot's battery based on the information indicating the occurrence of the earthquake, and if the remaining power is equal to or greater than the amount of power, controls the guide robot to move to the preset space, outputs information announcing the occurrence of the earthquake through a speaker included in the guide robot, and outputs information requesting to follow the guide robot to the preset space through the speaker. If the remaining power is less than the amount of power, the controller may be configured to control the guide robot to move to the preset space and output information through the guide robot's speaker to guide users adjacent to the guide robot to move to the preset space. The amount of power may be determined based on the maximum movement speed of the guide robot, the distance of the first path from the location to the preset space, and whether there is an obstacle on the first path. Whether the obstacle exists on the first path can be determined based on obstacle information received from other guide robots, which are distinguished from the guide robot, through the communication circuit.

Claims

Claim 1 A guide robot capable of autonomous driving, comprising: a drive unit for moving the guide robot; the drive unit including an inner bracket that forms the outer surface of the drive unit and includes a side and a bottom surface; a body portion disposed at the top of the drive unit, the body portion including a display, a communication circuit, and a controller; a first housing surrounding the inner bracket, the first housing including a first portion that surrounds the side of the inner bracket, and a second portion extending from the first portion and having a portion located between the body portion and the inner bracket; a caster disposed between the second portion of the first housing and the inner bracket, the caster moving the second portion of the first housing in the first direction while in contact with the inner bracket as the inner bracket moves in the first direction toward the first housing; and a spring member disposed within the first portion of the first housing, the spring member being compressed as the second portion of the first housing moves in the first direction. Claim 2 A guide robot according to claim 1, wherein the second portion of the first housing comprises a groove into which the caster is inserted and a fastening portion coupled to a fastening member around which the spring member is wound, and when the inner bracket contacts the caster and moves in the first direction: as the caster placed in the groove moves in the first direction, a first pressure in the first direction is applied to the second portion, and based on the first pressure, the fastening portion of the second portion moves in the first direction, and based on the movement of the fastening portion, a second pressure in the first direction is applied to the spring member wound on the fastening member, and based on the second pressure, the spring member is compressed. Claim 3 A guide robot according to claim 2, further comprising an elastic member positioned in the first direction relative to the fastening member around which the spring member is wound, wherein the elastic member receives pressure in the first direction as the spring member is compressed. Claim 4 A guide robot according to claim 2, wherein the body part includes a second housing forming the exterior of the body part, the second housing of the body part is connected to the first housing through a connecting member penetrating the driving part, and the second housing and the inner bracket are spaced apart by a specified distance. Claim 5 In claim 4, the guide robot further comprises a first sensor disposed within the groove and detecting the first pressure applied by the caster to the second part, wherein the controller is configured to: identify the magnitude of an earthquake based on the first pressure of the caster measured through the first sensor, output evacuation information corresponding to the magnitude of the earthquake through a speaker included in the guide robot, and output information indicating that replacement of the spring member is required when the first pressure is greater than or equal to a specified value through the speaker or the display, wherein the evacuation information includes information about a space pre-set to the guide robot for earthquake evacuation, and the pre-set space is based on the magnitude of the earthquake identified through the first sensor. Claim 6 The guide robot according to claim 1, wherein the controller: receives information indicating the occurrence of an earthquake or fire through the communication circuit while the guide robot is moving at a first movement speed, controls the guide robot to move to a preset space at a second movement speed lower than the first movement speed based on the reception of the information, and controls the guide robot to move to the preset space at a third movement speed lower than the second movement speed when adjacent to the preset space within a specified distance, wherein the preset space is determined based on the intensity of smoke, high temperature, and shock caused by the earthquake or fire included in the information. Claim 7 In claim 6, the controller: identifies the location of the guide robot based on receiving information indicating the occurrence of the earthquake or the fire, controls the guide robot to move along a first path from the location to a preset space, determines whether an obstacle exists while moving along the first path using a plurality of sensors included in the drive unit, and if the obstacle exists in the first path, controls the guide robot to move to the preset space via a second path that is different from the first path and can avoid the obstacle, wherein the first path corresponds to a straight path. Claim 8 In claim 6, the controller compares the time expected to take for the guide robot to move from the position to the preset space and the time of arrival of the earthquake based on the information indicating the occurrence of the earthquake, and if the time is equal to or less than the time of arrival: controls the guide robot to move to the preset space, outputs information announcing the occurrence of the earthquake through a speaker included in the guide robot, and outputs information requesting to move along the guide robot to the preset space through the speaker, and if the time is greater than the time of arrival: moves to a first wall adjacent to the position of the guide robot, and outputs information announcing the occurrence of the earthquake and information announcing that movement to the preset space is impossible through the speaker, and the time is determined based on the maximum movement speed of the guide robot, the distance of the first path from the position to the preset space, and whether there is an obstacle on the first path, and whether there is an obstacle on the first path is determined based on obstacle information received from other guide robots distinguished from the guide robot through the communication circuit. Guide robot that is determined. Claim 9 A guide robot according to claim 8, wherein the controller is configured such that: if the guide robot arrives at the preset space within the arrival time: it transmits to an external electronic device location information indicating the position of the guide robot and information indicating the number of users identified by a plurality of sensors of the guide robot before the arrival time, and controls the guide robot to be off for a specified time from the arrival time, and if the guide robot does not arrive at the preset space within the arrival time, the guide robot moves to a second wall adjacent to the guide robot and controls it to be off for a specified time from the arrival time. Claim 10 In claim 6, the controller compares the amount of power expected to be consumed for the guide robot to move from the position to the preset space based on the information indicating the occurrence of the earthquake with the remaining power of the guide robot's battery; if the remaining power is greater than or equal to the amount of power: the controller controls the guide robot to move to the preset space, outputs information notifying the occurrence of the earthquake through a speaker included in the guide robot, and outputs information requesting to move to the preset space by following the guide robot through the speaker; if the remaining power is less than the amount of power: the controller controls the guide robot to move to the preset space while outputting information to guide users adjacent to the guide robot to move to the preset space through the speaker of the guide robot, and the amount of power is determined based on the maximum movement speed of the guide robot, the distance of the first path from the position to the preset space, and whether there is an obstacle on the first path, and whether there is an obstacle on the first path is determined by another guide distinguished from the guide robot through the communication circuit A guide robot determined based on obstacle information received from robots.

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