Robot and method for controlling brake on robot

Abstract

The present disclosure relates to a robot and a method for controlling a brake of a robot. The robot may include a battery that supplies power necessary for stopping and driving the robot, a power switch that outputs a power control signal for turning the power of the robot on or off, a first drive unit including a first drive motor for driving the robot and a first brake for braking the first drive motor, a first drive control unit that controls each of the first drive motor and the first brake, a first brake release switch that outputs a first brake release signal for unlocking the first brake, a central processor that controls the stopping and driving of the robot and outputs a reference signal corresponding to the state of the power switch based on the power control signal, and a first gate that outputs a first brake control signal to the first drive control unit for controlling the first brake based on the reference signal and the first brake release signal.

Description

Technology Field

[0001] The present disclosure relates to a method for controlling a brake of a robot and to a robot. Background Technology

[0003] Robots are mechanical devices designed to automatically perform various tasks and are utilized in multiple fields, including industry, healthcare, and the home. To perform these diverse tasks, robots use devices such as LiDAR and image sensors to perceive their surroundings and move by processing data in real time. In doing so, robots need to move while considering factors such as the safety of the surrounding environment.

[0004] Robots may include brakes for safe stopping and speed control. In this case, the brakes must be utilized delicately to ensure precise speed control during operation and rapid stopping in emergency situations. Additionally, the brakes may lock when the robot is powered off. While it may be necessary to move a powered-off robot due to user requirements or safety concerns, a problem arises in that a robot with locked brakes cannot move even when external force is applied. The problem to be solved

[0006] The present disclosure provides a robot and a brake control method for the robot to solve the above-mentioned problems. means of solving the problem

[0008] The present disclosure may be implemented in various ways, including methods, devices (systems), or computer programs stored on a readable storage medium.

[0009] According to one embodiment of the present disclosure, a robot may include a battery that supplies power required for stopping and driving the robot, a power switch that outputs a power control signal for turning the power of the robot on or off, a first drive unit including a first drive motor for driving the robot and a first brake for braking the first drive motor, a first drive control unit that controls each of the first drive motor and the first brake, a first brake release switch that outputs a first brake release signal for unlocking the first brake, a central processor that controls the stopping and driving of the robot and outputs a reference signal corresponding to the state of the power switch based on the power control signal, and a first gate that outputs a first brake control signal to the first drive control unit for controlling the first brake based on the reference signal and the first brake release signal.

[0010] According to one embodiment of the present disclosure, the first gate performs a logical OR operation, and the first driving control unit can lock or unlock the first brake in response to the state of the first brake release switch when the power switch is off.

[0011] According to one embodiment of the present disclosure, the robot may further include a second drive unit comprising a second drive motor for driving the robot and a second brake for braking the second drive motor, a second drive control unit for controlling each of the second drive motor and the second brake, and a second gate for outputting a second brake control signal to the second drive control unit for controlling the second brake based on a reference signal and a first brake release signal.

[0012] According to one embodiment of the present disclosure, a first drive motor can move a robot on the ground, and a second drive motor can move a lift of the robot carrying an object.

[0013] According to one embodiment of the present disclosure, the apparatus may further include a second brake release switch that outputs a second brake release signal for unlocking a second brake, and a third gate that performs a logical AND operation based on a first brake release signal and a second brake release signal and outputs the result to the second gate.

[0014] According to one embodiment of the present disclosure, when the power switch is off and the first brake release switch is on, the second drive control unit may lock the second brake or unlock the second brake in response to the state of the second brake release switch.

[0015] According to one embodiment of the present disclosure, the system further includes a brake power switch that supplies or cuts off power supplied from a battery to a first drive control unit and a first brake based on a signal output from a central processor, and the brake power switch can supply or cut off power to the first drive control unit and the first brake in response to the state of a first brake release switch when the power switch is off.

[0016] According to one embodiment of the present disclosure, the robot includes an emergency stop switch that outputs an emergency stop signal to a central processor to immediately brake the robot, and the central processor outputs a reference signal based on the emergency stop signal and a power control signal, and when the power switch is on, the reference signal may be associated with the state of the emergency stop switch.

[0017] According to one embodiment of the present disclosure, the first brake includes a solenoid that locks the first brake or unlocks the first brake, and the first drive control unit may further include a brake driver that determines whether to output a PWM signal to the solenoid based on the first brake control signal.

[0018] According to one embodiment of the present disclosure, the first drive control unit may further include a current measuring unit that measures the current of a PWM signal and outputs a brake activation signal based on the measured current, and a drive motor control unit that controls the first drive motor and determines whether the first drive motor operates based on the brake activation signal.

[0019] According to one embodiment of the present disclosure, a central processor determines whether a predetermined condition associated with stopping a robot is satisfied, outputs a command to reduce the speed of a first drive motor based on the determination result, receives speed information of the first drive motor, compares the speed of the first drive motor with the threshold speed in response to the time elapsed immediately after the condition is satisfied being less than the threshold time, outputs a command to lock the brake based on the comparison result, and outputs a command to lock the brake in response to the time elapsed immediately after the condition is satisfied being greater than the threshold time.

[0020] According to one embodiment of the present disclosure, the robot includes an emergency stop switch that outputs an emergency stop signal to a central processor to immediately brake the robot, and the predetermined conditions may include at least one of the emergency stop switch being turned on or the robot being determined to be parked.

[0021] According to one embodiment of the present disclosure, the first driving unit may further include at least one of a Hall sensor or an encoder that senses the first driving motor and generates speed information of the first driving motor.

[0022] According to one embodiment of the present disclosure, a driving device for a robot comprises a driving unit including a driving motor for driving the robot and a brake for braking the driving motor—the brake includes a solenoid for determining whether to lock or unlock the brake—and a driving control unit for controlling each of the driving motor and the brake, wherein the driving control unit may include a brake driver for determining whether to output a PWM signal to the solenoid, a current measuring unit for measuring the current of the PWM signal and outputting a brake activation signal based on the measured current, and a driving motor control unit for controlling the driving motor and determining whether to operate the driving motor based on the brake activation signal.

[0023] According to one embodiment of the present disclosure, a brake control method performed by at least one processor included in a robot may include: determining whether a predetermined condition associated with stopping the robot is satisfied; outputting a command to reduce the speed of a drive motor for driving the robot based on the determination result; receiving speed information of the drive motor; comparing the speed of the drive motor with the threshold speed in response to the time elapsed immediately after the condition is satisfied being less than a threshold time, and outputting a command to lock the brake based on the comparison result; and outputting a command to lock the brake in response to the time elapsed immediately after the condition is satisfied being greater than a threshold time. Effects of the invention

[0025] According to various embodiments of the present disclosure, when an emergency stop switch is switched from off to on in a robot operating normally, a first drive control unit may cut off the first brake power to lock the first brake, and a second drive control unit may cut off the second brake power to lock the second brake. As a result, in an emergency or urgent situation, the operation, drive, etc. being performed by the robot is stopped, and surrounding damage caused by the operation, drive, etc. by the robot can be quickly prevented.

[0026] According to various embodiments of the present disclosure, the first brake can be unlocked by switching the first brake release switch to the ON state when the power to the robot is off. When the first brake is unlocked and force is applied to the robot from the outside, the robot can move. On the other hand, since the second brake release switch is in the OFF state, the second brake can still be locked. That is, even if the robot can move because the first brake is unlocked, the lift associated with the second brake remains fixed, and safety issues caused by the lift can be prevented.

[0027] According to various embodiments of the present disclosure, by controlling the first brake release switch and the second brake release switch when the power of the robot is off, the locking of the first brake and the second brake is released, and the robot component associated with the first brake can be moved, and the robot component associated with the second brake can be moved. For example, the robot with the power off can be moved by receiving force from an external source, and the lift can be moved by receiving force from an external source. In this way, by controlling each of the first brake release switch and the second brake release switch, the first brake and the second brake of the robot can be selectively controlled.

[0028] According to various embodiments of the present disclosure, by adding or removing a brake release switch and a gate, a robot can be configured to control a plurality of drive units included in the robot in a manner suitable for the situation, conditions, environment, etc., in which the robot is used.

[0029] According to various embodiments of the present disclosure, if a drive motor operates while the brake is locked, permanent damage to the drive motor or brake, a risk of fire, a safety risk, etc., may occur, and this can be prevented.

[0030] According to various embodiments of the present disclosure, damage to the brake or motor can be prevented by locking the brake after the drive motor has been decelerated to a critical speed or lower as described above. Additionally, if the deceleration of the drive motor proceeds for a period exceeding a predetermined critical time after the condition is met, the brake can be forcibly locked so that a robot that has not stopped despite needing to stop can be forcibly stopped. This prevents dangerous situations that may occur from the robot, thereby protecting the user of the robot.

[0031] The effects of the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art to which the present disclosure pertains (referred to as "person skilled in the art") from the description in the claims. Brief explanation of the drawing

[0033] Embodiments of the present disclosure will be described with reference to the accompanying drawings described below, wherein similar reference numerals indicate similar elements, but are not limited thereto. FIG. 1 is a drawing showing an example of a robot according to one embodiment of the present disclosure. FIG. 2 is a block diagram for explaining the components included in a robot according to one embodiment of the present disclosure. FIG. 3 is a block diagram for explaining a robot in a first state according to one embodiment of the present disclosure. FIG. 4 is a block diagram for explaining a robot in a second state according to one embodiment of the present disclosure. FIG. 5 is a block diagram for explaining a robot in a third state according to one embodiment of the present disclosure. FIG. 6 is a block diagram for explaining a robot in a fourth state according to one embodiment of the present disclosure. FIG. 7 is a block diagram for explaining a robot in a fifth state according to one embodiment of the present disclosure. FIG. 8 is a block diagram illustrating a robot in a sixth state according to another embodiment of the present disclosure. FIG. 9 is a block diagram illustrating a robot in a seventh state according to another embodiment of the present disclosure. FIG. 10 is a block diagram showing a driving device according to one embodiment of the present disclosure. FIG. 11 is a block diagram showing a driving device according to one embodiment of the present disclosure. FIG. 12 is a flowchart illustrating an example of a brake control method for a robot according to one embodiment of the present disclosure. FIG. 13 is a graph for explaining a brake control method of a robot according to one embodiment of the present disclosure. Specific details for implementing the invention

[0034] Hereinafter, specific details for implementing the present disclosure will be described in detail with reference to the attached drawings. However, in the following description, specific descriptions regarding widely known functions or configurations will be omitted if there is a risk that the gist of the present disclosure may be unnecessarily obscured.

[0035] In the attached drawings, identical or corresponding components are assigned the same reference numerals. Additionally, in the description of the following embodiments, the description of identical or corresponding components may be omitted. However, even if a description of a component is omitted, it is not intended that such component is not included in any embodiment.

[0036] The advantages and features of the disclosed embodiments and the methods for achieving them will become clear by referring to the embodiments described below in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below but may be implemented in various different forms, and the embodiments provided are merely to make the present disclosure complete and to fully inform those skilled in the art of the scope of the invention.

[0037] The terms used in this specification will be briefly explained, and the disclosed embodiments will be described in detail. The terms used in this specification have been selected to be as generally used as possible, taking into account their functions in this disclosure; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant description of the invention. Therefore, the terms used in this disclosure should be defined not merely by their names, but based on their meanings and the content throughout this disclosure.

[0038] In this specification, singular expressions include plural expressions unless the context clearly specifies them as singular. Additionally, plural expressions include singular expressions unless the context clearly specifies them as plural. Throughout the specification, when a part is described as including a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0039] The terms first, second, A, B, etc., as used in this specification and claims may be used to describe various components, but said components shall not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another.

[0040] Additionally, the terms 'module' or 'part' as used in the specification refer to software or hardware components, and the 'module' or 'part' performs certain roles. However, the meaning of 'module' or 'part' is not limited to software or hardware. The 'module' or 'part' may be configured to reside in an addressable storage medium or configured to run on one or more processors. Thus, as an example, the 'module' or 'part' may include components such as software components, object-oriented software components, class components, and task components, and at least one of processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, or variables. The components and the functions provided within the 'module' or 'part' may be combined into a smaller number of components and 'modules' or 'parts', or further separated into additional components and 'modules' or 'parts'.

[0041] According to one embodiment of the present disclosure, a ‘module’ or ‘part’ may be implemented as a processor and memory. The term ‘processor’ should be broadly interpreted to include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some contexts, the term ‘processor’ may refer to an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. The term ‘processor’ may also refer to a combination of processing devices, such as, for example, a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a DSP core, or any other combination of such configurations. Additionally, the term ‘memory’ should be broadly interpreted to include any electronic component capable of storing electronic information. 'Memory' may refer to various types of processor-readable media, such as Random Access Memory (RAM), Read-Only Memory (ROM), Non-Volatile Random Access Memory (NVRAM), Programmable Read-Only Memory (PROM), Erasable-Programmable Read-Only Memory (EPROM), Electrically Erasable PROM (EEPROM), Flash Memory, Magnetic or Optical Data Storage Devices, Registers, etc. If a processor can read information from memory and / or write information to memory, the memory is said to be in an electronic communication state with the processor. Memory integrated into a processor is in an electronic communication state with the processor.

[0042] In the present disclosure, 'each of a plurality of A' or 'each of a plurality of A' may refer to each of all components included in a plurality of A, or each of some components included in a plurality of A.

[0043] In the present disclosure, the 'system' may include at least one of a server device and a cloud device, but is not limited thereto. For example, the system may be composed of one or more server devices. As another example, the system may be composed of one or more cloud devices. As yet another example, the system may be configured and operated with both a server device and a cloud device.

[0044] FIG. 1 is a drawing illustrating an example of a robot according to an embodiment of the present disclosure. A robot may refer to any driving device capable of executing a service application using the robot and capable of wired / wireless communication and autonomous driving, and may include, for example, a first robot (100), a second robot (150), etc. A robot may include a memory, a processor, a communication module, and an input / output interface. A robot may be configured to communicate information and / or data through a network using a communication module included in the robot. Additionally, an input / output device may be configured to input information and / or data to the robot or output information and / or data generated from the robot through an input / output interface.

[0045] A communication module included in a robot may provide configurations or functions for the robot, user terminal, information processing system, etc., to communicate with each other via a network, and may provide configurations or functions for the robot, user terminal, and / or information processing system to communicate with other robots, other user terminals, or other systems (e.g., a separate cloud system). For example, the information processing system may correspond to a server according to one embodiment and may be configured to control the movement and / or operation of the robot via a network. For example, information (e.g., captured images) generated by the robot's processor according to program code stored in a recording device such as memory may be transmitted to the information processing system via a network under the control of the communication module. Conversely, control signals or commands provided under the control of the information processing system's processor may be received by the robot through the robot's communication module via the communication module and the network. For example, the robot may receive driving information, etc., from the information processing system through the communication module.

[0046] The robot may include more components than those described above. However, it is not necessary to clearly illustrate most of the prior art components. According to one embodiment, the robot may be implemented to include at least some of the input / output devices described above. Additionally, the robot may include other components such as a transceiver, a Global Positioning System (GPS) module, a camera, various sensors, a database, etc. For example, the robot may include components for autonomous driving, and may be implemented to include various components such as various sensors including, for example, an accelerometer, an ultrasonic sensor, a gyroscope, a proximity sensor, a weight sensing sensor, a depth camera, LiDAR, a camera module, various physical buttons, buttons using a touch panel, input / output ports, and a vibrator for vibration.

[0047] According to one embodiment, the robot's processor may be configured to drive autonomously under the control of an information processing system. For example, the robot's processor may include a central processor of the robot, which will be described later. In this case, the associated program code may be loaded into the robot's memory. While the robot is driving, the robot's processor may receive information and / or data provided by an input / output device through an input / output interface or receive information and / or data from an information processing system through a communication module, and may process the received information and / or data and store it in memory. Additionally, such information and / or data may be provided to the information processing system through the communication module.

[0048] While the robot is driving, the processor may receive text, images, video, voice, etc., that are input or selected through input devices such as a touch screen, keyboard, camera including audio sensor and / or image sensor, and microphone connected to an input / output interface, and may store the received text, images, video, and / or voice, etc. in memory or provide them to an information processing system through a communication module and a network. For example, the processor may receive information regarding user authentication, etc., through input devices such as a touch screen and a keyboard. Accordingly, the received requests and / or information may be provided to an information processing system through a communication module and a network.

[0049] The robot's processor may be configured to manage, process, and / or store information and / or data received from input / output devices, other robots, information processing systems, and / or multiple external systems. Information and / or data processed by the processor may be provided to the information processing system via communication modules and networks. The robot's processor may output information and / or data by transmitting it to input / output devices through input / output interfaces. For example, the processor may display the received information and / or data on the robot's screen.

[0050] The processor of the information processing system may be configured to manage, process, and / or store information and / or data received from multiple robots and / or multiple external systems (e.g., terminals used by robot users). The information and / or data processed by the processor may be provided to the robots through communication modules and networks. The information processing system may control the robots by utilizing information received from the robots or the robots' users.

[0051] A robot can reproduce multiple tasks, multiple actions, or multiple states. Specifically, in response to receiving a command, the robot can reproduce at least one of a specific task, action, or state associated with the command. For example, tasks may include opening and closing a drawer included in the robot, moving loads using a robotic arm included in the robot, serving food, delivering objects, etc. For example, actions may include moving using wheels included in the robot, boarding an elevator, changing floors, moving a robotic arm included in the robot, etc. For example, states may include a battery status associated with the robot, the robot's settings, a communication connection status, an object recognition status, etc.

[0052] The robot may include a first robot (100) and a second robot (150). The first robot (100) and the second robot (150) of FIG. 1 are merely exemplary representations of the robot and are not limited thereto. FIG. 1 describes the robot with the focus, and the first robot (100) and the second robot (150) can be understood in the same way.

[0053] The robot may include a battery that supplies power necessary for stopping and driving the robot. Power may be supplied from the battery to each component of the robot that requires power. For example, the battery may supply power to the drive unit, drive control unit, central processor, etc. included in the robot.

[0054] The robot may include a power switch that outputs a power control signal to turn the robot's power on or off. The output power control signal may be transmitted to the robot's central processor, etc. For example, the power switch may be placed on the surface of the robot. The user of the robot can turn the robot's power on or off by controlling the power switch.

[0055] In one embodiment, the robot may include a first drive unit (110) and a second drive unit (120). The first drive unit (110) may include a first drive motor for driving the robot and a first brake for braking the first drive motor. The first drive motor may be for moving the robot on the ground. For example, the first drive motor may rotate the wheels of the robot placed on the ground. The second drive motor may move the lift of the robot carrying an object. For example, the second drive motor may rotate the wheels that move the lift of the robot carrying an object. As a result, the lift of the robot may be moved in a vertical or horizontal direction. However, the first drive motor and the second drive motor are not limited thereto, and each of the first drive motor and the second drive motor may drive at least one of the components included in the robot.

[0056] The first brake may be intended to brake the first drive motor. In one embodiment, the first brake may include a first solenoid that locks the first brake or unlocks the first brake. For example, when power is supplied to the first solenoid, the lock of the first brake is released so that the first drive motor can operate normally. When power is cut off, the first solenoid locks the first brake so that the first drive motor can be braked.

[0057] Similarly, the second brake may be intended to brake the second drive motor. In one embodiment, the second brake may include a second solenoid that locks the second brake or unlocks the second brake. For example, when power is supplied, the second solenoid unlocks the second brake so that the second drive motor can operate normally. When power is cut off, the second solenoid locks the second brake so that the second drive motor can be braked.

[0058] The robot may include a first drive control unit that controls each of the first drive motor and the first brake. The first drive control unit controls the power input to the first drive motor and can adjust the speed of the first drive motor. The first drive control unit can lock the first brake or unlock the first brake.

[0059] Similarly, the robot may include a second drive control unit that controls each of the second drive motor and the second brake. The second drive control unit can control the power input to the second drive motor and adjust the speed of the second drive motor. The second drive control unit can lock or unlock the second brake.

[0060] The robot may include a central processor that controls the stopping and driving of the robot. The robot may include a plurality of processors, and at least some of the plurality of processors may be the central processor. For example, the central processor may control the stopping and driving of the robot by controlling components included in the robot based on received signals. Additionally, the central processor may control the robot to reproduce a plurality of tasks, a plurality of movements, or a plurality of states.

[0061] The robot may include a first brake release switch that outputs a first brake release signal for unlocking the first brake. The output first brake release signal may be transmitted to the robot's central processor, etc. For example, the first brake release switch may be placed on the surface of the robot. The first brake release signal may be output by a user of the robot controlling the first brake switch. The process of controlling the first brake by the first brake release signal is described in detail with reference to FIGS. 5 to 8.

[0062] Similarly, the robot may include a second brake release switch that outputs a second brake release signal to unlock the second brake. The output second brake release signal may be transmitted to the robot's central processor, etc. For example, the second brake release switch may be placed on the surface of the robot. The second brake release signal may be output by the user of the robot controlling the second brake switch.

[0063] Below, the process of performing a robot brake control method using the components included in the robot is described in detail.

[0064] FIG. 2 is a block diagram illustrating components included in a robot according to one embodiment of the present disclosure. The robot may include a battery (210). The battery (210) may supply power required for stopping and driving the robot. Power (2102) from the battery may be supplied to a system power switch (234) and a motor power switch (240). Power (2102) from the battery may be supplied to other components included in the robot (e.g., a first drive control unit (262), a second drive control unit (272), etc.) via the system power switch (234) and / or the motor power switch (240).

[0065] In one embodiment, the robot may include an emergency stop switch (222), a power switch (224), a first brake release switch (226), and a second brake release switch (228). The emergency stop switch (222) may output an emergency stop signal (2220) to immediately brake the robot. The power switch (224) may output a power control signal (2240) to turn the robot's power on or off. The first brake release switch (226) may output a first brake release signal (2260) to unlock the first brake. The second brake release switch (228) may output a second brake release signal (2280) to unlock the second brake. Each of the emergency stop signal (2220), the power control signal (2240), the first brake release signal (2260), and the second brake release signal (2280) may be transmitted to a central processor (232).

[0066] Each of the emergency stop switch (222), power switch (224), first brake release switch (226), and second brake release switch (228) may correspond to an on or off state. Each of the emergency stop signal (2220), power control signal (2240), first brake release signal (2260), and second brake release signal (2280) may correspond to the emergency stop switch (222), power switch (224), first brake release switch (226), and second brake release switch (228). For example, when the emergency stop switch (222) is in the on state, the emergency stop signal (2220) corresponds to the on state, and when the emergency stop switch (222) is in the off state, the emergency stop signal (2220) may be in the off state.

[0067] In one embodiment, an emergency stop switch (222) may be placed on the surface of the robot. By controlling the emergency stop switch (222) by the user of the robot, an emergency stop signal (2220) may be output. In another embodiment, an external system, a part of the robot, etc., may output the emergency stop signal (2220) instead of the emergency stop switch (222). For example, an external system or a part of the robot may output the emergency stop signal (2220) in response to satisfying a predetermined emergency stop condition. In yet another embodiment, the central processor (232) may be considered to have received the emergency stop signal (2220) in response to satisfying a predetermined emergency stop condition.

[0068] The robot may include a Power Management System (PMS, 230) that controls and / or manages the power supplied to the robot. The PMS (230) may include a central processor (232) and a system power switch (234).

[0069] The central processor (232) can control the stopping and driving of the robot. The central processor (232) can receive signals associated with requests related to the stopping and driving of the robot. The central processor (232) can output signals for performing the stopping and driving of the robot. For example, the central processor (232) can receive an emergency stop signal (2220), a power control signal (2240), and a first brake release signal (2260), and output a reference signal (2320), a system power signal (2322), a motor power signal (2324), etc.

[0070] In one embodiment, the central processor (232) may output a reference signal (2320) corresponding to the state of the power switch (224) based on the power control signal (2240). The reference signal (2320) may be transmitted to the first gate (252) and / or the second gate (254). However, although the reference signal (2320) is shown as being output by the central processor (232), it is not limited thereto. For example, the power switch (224) may output a reference signal (2320) corresponding to the state of the power switch (224) to the first gate (252) and / or the second gate (254).

[0071] In one embodiment, the system power switch (234) can control at least a portion of the battery power (2102) based on the system power signal (2322). The system power switch (234) can distribute the supplied battery power (2102) to the components of the robot. For example, the system power switch (234) can provide total brake power (2340) to the first drive control unit (262) and / or the second drive control unit (272) to provide to the brakes (e.g., first brake, second brake, etc.) based on the battery power (2102). Additionally, the system power switch (234) can supply or cut off at least a portion of the battery power (2102) supplied to the components of the robot based on the system power signal (2322).

[0072] In one embodiment, the system power switch (234) may include a brake power switch. The brake power switch may supply or cut off battery power (2102) to the first drive control unit (262) and the first brake based on the system power signal (2322). Additionally, the brake power switch may supply or cut off battery power (2102) to the second drive control unit (262) and the second brake based on the system power signal (2322). Here, the central processor (232) may output the system power signal (2322) based on the first brake release signal (2260) and the power control signal (2240). The control method of the brake power switch is described in detail with reference to FIGS. 5 and 6.

[0073] In one embodiment, the motor power switch (240) can control a portion of the battery power (2102) based on the motor power signal (2324). The motor power switch (240) can provide the supplied battery power (2102) to the drive motor. For example, the motor power switch (240) can provide total drive motor power (2400) to the first drive control unit (262) and / or the second drive control unit (272) to provide to the drive motor (e.g., first drive motor, second drive motor, etc.) based on the battery power (2102). Additionally, the motor power switch (240) can supply or cut off a portion of the battery power (2102) supplied to the drive motor based on the motor power signal (2324).

[0074] The signals described with reference to FIG. 2 (e.g., emergency stop signal (2220), power control signal (2240), first brake release signal (2260)) may be digital signals. For example, when the first brake release switch (226) is in the ON state, the first brake release signal (2260) may indicate '1', and when the first brake release switch (226) is in the OFF state, the first brake release signal (2260) may indicate '0'. For example, in response to the first brake release signal (2260) indicating '1' and the reference signal (2320) indicating '0' at the first gate (252), the first brake control signal (2520) may indicate '1'.

[0075] In one embodiment, the robot may include a first gate (252). The first gate (252) may output a first brake control signal (2520) to a first drive control unit (262) for controlling a first brake based on a reference signal (2320) and a first brake release signal (2260). Additionally, the first gate (252) may perform a logical OR operation on a digital signal. For example, the first gate (252) may output a first brake control signal (2520) representing '1' based on a reference signal (2320) representing '1' and a first brake release signal (2260) representing '0'.

[0076] In one embodiment, the robot may include a third gate (256). The third gate (256) may output a third gate signal (2560) to the second gate (254) based on the first brake release signal (2260) and the second brake release signal (2280). Additionally, the third gate (256) may perform a logical AND operation on the digital signal. As a result, the second gate (254) may receive information associated with the case where the first brake release switch (226) is in the ON state and the second brake release switch (228) is in the ON state.

[0077] In one embodiment, the robot may include a second gate (254). The second gate (254) may output a second brake control signal (2540) to a second drive control unit (272) for controlling a second brake based on a reference signal (2320) and a second brake release signal (2280). Specifically, the second gate (254) may output a second brake control signal (2540) based on a third gate signal (2560) based on the second brake release signal (2280) and a reference signal (2320). Additionally, the second gate (254) may perform a logical OR operation on a digital signal.

[0078] In one embodiment, the robot may include a first drive unit (264) and a second drive unit (274). The first drive unit (264) may include a first drive motor for driving the robot and a first brake for braking the first drive motor. The second drive unit (274) may include a second drive motor for driving the robot and a second brake for braking the second drive motor.

[0079] Additionally, the robot may include a first drive control unit (262) that controls each of the first drive motor and the first brake, and a second drive control unit (272) that controls each of the second drive motor and the second brake. For example, the first drive control unit (262) may receive total drive motor power (2400) and provide first drive motor power (2620) to the first drive motor included in the first drive unit (264). The first drive control unit (262) may receive total brake power (2340) and provide first brake power (2622) to the first brake included in the first drive unit (264). Similarly, the second drive control unit (272) may receive total drive motor power (2400) and provide second drive motor power (2720) to the second drive motor included in the second drive unit (274). The second drive control unit (272) can receive the total brake power (2340) and provide the second brake power (2722) to the second brake included in the second drive unit (274).

[0080] In one embodiment, the first drive unit (264) may include at least one of a first Hall sensor or a first encoder that senses the first drive motor to generate speed information of the first drive motor. At least one of the first encoder or the first Hall sensor may generate first encoder information (2642) by sensing the first drive motor. The first encoder information (2642) may be transmitted to the first drive control unit (262) and / or the central processor (232). Similarly, the second drive unit (274) may include at least one of a second Hall sensor or a second encoder that senses the second drive motor to generate speed information of the second drive motor. At least one of the second encoder or the second Hall sensor may generate second encoder information (2642) by sensing the second drive motor. The second encoder information (2742) can be transmitted to the second drive control unit (272) and / or the central processor (232). As a result, the central processor (232) can recognize the speeds of the first drive motor and the second drive motor.

[0081] In one embodiment, the first drive control unit (262) may supply or cut off the first brake power (2622) based on the first brake control signal (2520). As a result, the first drive control unit (262) may lock the first brake or unlock the first brake. Similarly, the second drive control unit (272) may supply or cut off the second brake power (2722) based on the second brake control signal (2540). As a result, the second drive control unit (272) may lock the second brake or unlock the second brake.

[0082] In FIG. 2, components of a robot are described to explain the method of controlling the robot's brakes. Below, the process of controlling the robot's brakes is described in detail in response to the on or off states of the power switch (224), emergency stop switch (222), first brake release switch (226), second brake release switch (228), etc.

[0083] FIG. 3 is a block diagram for illustrating a robot in a first state according to an embodiment of the present disclosure. In FIGS. 3 to 11, a power switch (224), an emergency stop switch (222), a first brake release switch (226), or a second brake release switch (228) may be indicated as being off when indicated by a dotted line, and as being on when indicated by a solid line. A signal (e.g., a first brake release signal (2260), a power control signal (2240), an emergency stop signal (2220), a reference signal (2320), etc.) may correspond to being off when indicated by a dotted line, and to being on when indicated by a solid line. Power (e.g., a total brake power (2340), a total drive motor power (2400), etc.) may indicate a state where the power supply is cut off when indicated by a dotted line, and a state where the power is supplied when indicated by a solid line.

[0084] In one embodiment, the first state is a normal operating state of the robot, in which the power switch (224) is in the ON state and the emergency stop switch (222), the first brake release switch (226), and the second brake release switch (228) are in the OFF state.

[0085] The central processor (232) can output a reference signal (2320) corresponding to ON, a system power signal (2322), and a motor power signal (2324) based on a power control signal (2240) corresponding to ON, a first brake release signal (2260) corresponding to OFF, and an emergency stop signal (2220). A brake power switch included in the system power switch (234) can provide total brake power (2340) to the first drive control unit (262) and the second drive control unit (272) based on the system power signal (2322) corresponding to ON. A motor power switch (240) can provide total drive motor power (2400) to the first drive control unit (262) and the second drive control unit (272) based on the motor power signal (2324) corresponding to ON.

[0086] The first gate (252) can output a first brake control signal (2520) corresponding to ON based on a reference signal (2320) corresponding to ON and a first brake release signal (2260) corresponding to OFF. The third gate (256) can output a third gate signal (2560) corresponding to OFF based on a first brake release signal (2260) corresponding to OFF and a second brake release signal (2280). The second gate (254) can output a second brake control signal (2540) corresponding to ON based on a third gate signal (2560) corresponding to OFF and a reference signal (2320) corresponding to ON.

[0087] The first drive control unit (262) can receive the total drive motor power (2400) and supply the first drive motor power (2620) to the first drive motor included in the first drive unit (264). Additionally, the first drive control unit (262) can receive the total brake power (2340) based on the first brake control signal (2520) corresponding to ON and supply the first brake power (2622) to the first brake included in the first drive unit (264). As a result, the first brake is unlocked, and the first drive motor can be operated.

[0088] The second drive control unit (272) can receive the total drive motor power (2400) and supply the second drive motor power (2720) to the second drive motor included in the second drive unit (274). Additionally, the second drive control unit (272) can receive the total brake power (2340) based on the first brake control signal (2540) corresponding to ON and supply the second brake power (2722) to the second brake included in the second drive unit (274). As a result, the second brake is unlocked, and the second drive motor can be operated.

[0089] FIG. 4 is a block diagram illustrating a robot in a second state according to one embodiment of the present disclosure. In one embodiment, the second state may be a state in which the emergency stop switch (222) is changed from off to on in the first state. That is, the second state may be a state in which the power switch (224) and the emergency stop switch are on, and the first brake release switch (226) and the second brake release switch (228) are off.

[0090] The emergency stop switch (222) can output an emergency stop signal (2220) to the central processor (232) to immediately brake the robot. The central processor (232) can output a reference signal (2320) based on the emergency stop signal (2220) and the power control signal (2240). For example, the central processor (232) can output a reference signal (2320) corresponding to ON based on the power control signal (2240) corresponding to ON and the emergency stop signal (2220) corresponding to OFF. As another example, the central processor (232) can output a reference signal (2320) corresponding to OFF based on the power control signal (2240) corresponding to ON and the emergency stop signal (2220) corresponding to ON. As another example, the central processor (232) can output a reference signal (2320) corresponding to off based on a power control signal (2240) corresponding to off, regardless of the state of the emergency stop switch (222).

[0091] The first gate (252) can output a first brake control signal (2520) corresponding to off based on a first brake release signal (2260) corresponding to off and a reference signal (2320) corresponding to off. The first drive control unit (262) can cut off the first brake power (2622) supplied to the first brake based on the first brake control signal (2520) corresponding to off. As a result, the first brake is locked and the first drive motor can be braked.

[0092] The second gate (254) can output a second brake control signal (2540) corresponding to off based on a reference signal (2320) corresponding to off and a third gate signal (2560) corresponding to off. The second drive control unit (272) can cut off the second brake power (2722) supplied to the second brake based on the second brake control signal (2540) corresponding to off. As a result, the second brake is locked and the second drive motor can be braked.

[0093] When the emergency stop switch (222) is switched from off to on in a robot that is operating normally, the first drive control unit (262) can cut off the first brake power (2622) to lock the first brake, and the second drive control unit (272) can cut off the second brake power (2722) to lock the second brake. As a result, in an emergency or urgent situation, the operation, drive, etc. being performed by the robot is stopped, and surrounding damage caused by the operation, drive, etc. of the robot can be quickly prevented.

[0094] FIG. 5 is a block diagram illustrating a robot in a third state according to one embodiment of the present disclosure. In one embodiment, the third state may be a state in which the power switch (224) is changed from on to off in the first state. The third state may be a stopped state of the robot, in which the power switch (224), emergency stop switch (222), first brake release switch (226), and second brake release switch (228) are off.

[0095] The central processor (232) can output a reference signal (2320) corresponding to off based on a power control signal (2240) corresponding to off. Additionally, the central processor (232) can output a system power signal (2322) and a motor power signal (2324) corresponding to off based on a power control signal (2240) corresponding to off.

[0096] The brake power switch included in the system power switch (234) can cut off the total brake power (2340) supplied to the first drive control unit (262) and the first brake based on the system power signal (2322) corresponding to off. Additionally, the system power switch (234) can cut off the total brake power (2340) supplied to the second drive control unit (272) and the second brake based on the system power signal (2322) corresponding to off.

[0097] The motor power switch (240) can cut off the total drive motor power (2400) supplied to the first drive control unit (262) and the first drive motor based on the motor power signal (2324) corresponding to off. Additionally, the motor power switch (240) can cut off the total drive motor power (2400) supplied to the second drive control unit (272) and the second drive motor based on the motor power signal (2324) corresponding to off.

[0098] In the third state, power is not supplied to the first and second brakes, so the first and second brakes, respectively, can be locked. As a result, the robot with the power off may not operate even if external force is applied.

[0099] FIG. 6 is a block diagram illustrating a robot in a fourth state according to one embodiment of the present disclosure. In one embodiment, the fourth state may be a state in which the first brake release switch (226) is changed from off to on in the third state. The fourth state may be a state in which the power switch (224), the emergency stop switch (222), and the second brake release switch (228) are off, and the first brake release switch (226) is on.

[0100] The central processor (232) can output a system power signal (2322) corresponding to ON based on a first brake release signal (2260) corresponding to ON. The system power switch (234) can supply total brake power (2340) to the first drive control unit (262) and the first brake based on the system power signal (2322) corresponding to ON. Additionally, the system power switch (234) can supply total brake power (2340) to the second drive control unit (272) and the second brake based on the system power signal (2322) corresponding to ON.

[0101] In one embodiment, the central processor (232) may output a brake power signal corresponding to ON based on a first brake release signal (2260) corresponding to ON. A brake power switch included in the system power switch (234) may supply total brake power (2340) to the first drive control unit (262) and the first brake based on the brake power signal. That is, the brake power signal may be output only to the brake power switch included in the system power switch (234). Additionally, the brake power switch may supply total brake power (2340) to the second drive control unit (272) and the second brake based on the brake power signal.

[0102] The first gate (252) can output a first brake control signal (2520) corresponding to ON based on a first brake release signal (2260) corresponding to ON and a reference signal (2320) corresponding to OFF. The first drive control unit (262) can supply the first brake power (2622) to the first brake using the total brake power (2340) based on the first brake control signal (2520) corresponding to ON. The first brake, having received the first brake power (2622), can be unlocked.

[0103] The third gate (256) can output a third gate signal (2560) corresponding to off based on a first brake release signal (2260) corresponding to on and a second brake release signal (2280) corresponding to off. The second gate (254) can output a second brake control signal (2540) corresponding to off based on a third gate signal (2560) corresponding to off and a reference signal (2320) corresponding to off. The second drive control unit (272) can cut off the second brake power (2722) supplied to the second brake based on the second brake control signal (2540) corresponding to off. The second brake, with the second brake power (2722) cut off, can be locked.

[0104] When the robot's power is off, the first brake is locked, making it impossible for the robot to move even when subjected to external force. When the robot's power is off, the first brake can be unlocked by switching the first brake release switch (226) to the ON state. When the first brake is unlocked and external force is applied to the robot, the robot can move. On the other hand, since the second brake release switch (228) is in the OFF state, the second brake can still be locked. That is, even if the first brake is unlocked and the robot can move, the lift associated with the second brake remains fixed, preventing safety issues caused by the lift.

[0105] FIG. 7 is a block diagram illustrating a robot in a fifth state according to one embodiment of the present disclosure. In one embodiment, the fifth state may be a state in which the second brake release switch (228) is changed from off to on in the fourth state. The fifth state may be a state in which the power switch (224) and the emergency stop switch (222) are off, and the first brake release switch (226) and the second brake release switch (228) are on.

[0106] The second brake release switch (228) can output a second brake release signal (2280) corresponding to ON. The third gate (256) can output a third gate signal (2560) corresponding to ON based on the second brake release signal (2280) corresponding to ON and the first brake release signal (2260) corresponding to ON. The second gate (254) can output a second brake control signal (2540) corresponding to ON based on the third gate signal (2560) corresponding to ON and the reference signal (2320) corresponding to OFF.

[0107] The second drive control unit (272) can supply second brake power (2722) to the second brake using the total brake power (2340) based on the second brake control signal (2540) corresponding to ON. The second brake supplied with second brake power (2722) can be unlocked. As a result, the lift associated with the second brake can be moved.

[0108] By controlling the first brake release switch (226) and the second brake release switch (228) while the robot's power is off, the locks of the first brake and the second brake are released, and the robot's components associated with the first brake can be moved, and the robot's components associated with the second brake can be moved. For example, the robot with its power off can be moved by receiving force from the outside, and the lift can be moved by receiving force from the outside. In this way, by controlling each of the first brake release switch (226) and the second brake release switch (228), the robot's first brake and second brake can be selectively controlled.

[0109] FIG. 8 is a block diagram for illustrating a robot in a sixth state according to another embodiment of the present disclosure. The robot described with reference to FIG. 8 and FIG. 9 may be the same as the robot described with reference to FIG. 2, except that the second brake release switch (228) and the third gate (256) are absent.

[0110] In one embodiment, the sixth state may be similar to the third state described with reference to FIG. 5. The sixth state is a stopped state of the robot, in which the power switch (224), the emergency stop switch (222), and the first brake release switch (226) are off.

[0111] As described with reference to FIG. 5, the brake power switch included in the system power switch (234) can cut off the total brake power (2340) supplied to the first drive control unit (262), the second drive control unit (272), the first brake, and the second brake based on the system power signal (2322) corresponding to off. The motor power switch (240) can cut off the total drive motor power (2400) supplied to the first drive control unit (262), the second drive control unit (272), the first drive motor, and the second drive motor based on the motor power signal (2324) corresponding to off.

[0112] FIG. 9 is a block diagram illustrating a robot in a seventh state according to another embodiment of the present disclosure. In one embodiment, the seventh state may be a state in which the first brake release switch (226) is changed from off to on in the sixth state described with reference to FIG. 8. The seventh state may be a state in which the power switch (224) and the emergency stop switch (222) are off, and the first brake release switch (226) is on.

[0113] The central processor (232) can output a system power signal (2322) corresponding to ON based on a first brake release signal (2260) corresponding to ON. The system power switch (234) can supply total brake power (2340) to the first drive control unit (262) and the first brake based on the system power signal (2322) corresponding to ON. Additionally, the system power switch (234) can supply total brake power (2340) to the second drive control unit (272) and the second brake based on the system power signal (2322) corresponding to ON.

[0114] The first gate (252) can output a first brake control signal (2520) corresponding to ON based on a first brake release signal (2260) corresponding to ON and a reference signal (2320) corresponding to OFF. The first drive control unit (262) can supply the first brake power (2622) to the first brake using the total brake power (2340) based on the first brake control signal (2520) corresponding to ON. The first brake, upon receiving the first brake power (2622), can be unlocked.

[0115] The second gate (254) can output a second brake control signal (2540) corresponding to ON based on a first brake release signal (2260) corresponding to ON and a reference signal (2320) corresponding to OFF. The second drive control unit (272) can supply second brake power (2722) to the second brake using the total brake power (2340) based on the second brake control signal (2540) corresponding to ON. The second brake, having received the second brake power (2722), can be unlocked.

[0116] As described above, in the case of a robot that does not include a second brake release switch and a third gate, the first brake and the second brake can be controlled using only the first brake release switch (226). On the other hand, in the case of a robot described with reference to FIG. 2, the first brake release switch (226) and the second brake release switch (228) can be used to finely control the drive unit according to the situation. In this way, by adding or removing brake release switches and gates, the robot can be configured to control multiple drive units included in the robot in a manner suitable for the situation, conditions, environment, etc. in which the robot is used.

[0117] FIG. 10 is a block diagram showing a driving device according to one embodiment of the present disclosure. FIG. 11 is a block diagram showing a driving device according to one embodiment of the present disclosure. The driving device may include a driving control unit (262) and a driving unit (264). FIG. 10 is described based on the first driving control unit (262) and the first driving unit (264) of FIG. 2, but the second driving control unit (272) and the second driving unit (274) of FIG. 2 can be understood in the same way.

[0118] In one embodiment, the drive unit (264) may include a brake (1040) and a drive motor (1050). The brake (1040) may include a solenoid (1042) that locks the brake (1040) or unlocks the brake (1040). For example, when the brake power (2622) is supplied, the solenoid (1042) unlocks the brake (1040) so that the drive motor (1050) can operate normally. When the supply of the brake power (2622) is cut off, the solenoid (1042) locks the brake (1040) so that the drive motor (1050) can be braked.

[0119] In one embodiment, the drive control unit (262) may include a brake driver (1010). The brake driver (1010) may be supplied with total brake power (2340). The brake driver (1010) may supply brake power (2622) to the brake (1040) using the total brake power (2340). Specifically, the brake power (2622) may be supplied to a solenoid (1042) in the form of a Pulse Width Modulation (PWM) signal.

[0120] In one embodiment, the drive control unit (262) may include a drive motor control unit (1030). The drive motor control unit (1030) receives the total drive motor power (2400) and can supply drive motor power (2620) to the drive motor (1050). Additionally, the drive motor control unit (1030) can determine whether to supply drive motor power (2620) based on a brake activation signal (1022).

[0121] In one embodiment, the drive unit (264) may include at least one of a Hall sensor or an encoder that senses the drive motor (1050) to generate speed information of the drive motor (1050). At least one of the Hall sensor or the encoder may generate encoder information (2642) by sensing the drive motor (1050). The encoder information (2642) may be transmitted to the drive motor control unit (1030) and / or the central processor (e.g., the central processor (232) of FIG. 2). As a result, the drive motor control unit (1030) and / or the central processor may recognize the speed of the drive motor (1050).

[0122] In one embodiment, the brake driver (1010) may determine whether to supply brake power (2622) to the solenoid (1042) based on a brake control signal (2520). For example, the brake driver (1010) may cut off the supply of brake power (2622) to the solenoid (1042) based on a brake control signal (2520) corresponding to off. On the other hand, the brake driver (1010) may supply brake power (2622) to the solenoid (1042) based on a brake control signal (2520) corresponding to on.

[0123] In one embodiment, the brake driver (1010) may not be supplied with total brake power (2340). For example, the supply of total brake power (2340) may be cut off by a brake power switch. In this case, the brake driver (1010) may not supply brake power (2622) to the brake (1040).

[0124] In one embodiment, the drive control unit (262) may include a current measuring unit (1020) that measures the current of the brake power (2622). The current measuring unit (1020) may output a brake activation signal (1022) to the drive motor control unit (1030) based on the measured current. For example, if the measured current value is greater than (or exceeds) a predetermined current value, the current measuring unit (1020) may output a brake activation signal (1022) corresponding to ON. On the other hand, if the measured current value is less than (or less than) the predetermined current value, the current measuring unit (1020) may output a brake activation signal (1022) corresponding to OFF.

[0125] Referring to FIG. 11, the brake driver (1010) may cut off the supply of brake power (2622) to the brake (1040) because the total brake power (2340) is not supplied. Alternatively, the brake driver (1010) may cut off the supply of brake power (2622) to the brake (1040) based on a brake control signal (2520) corresponding to off. In this case, the current measuring unit (1020) may output a brake activation signal (1022) corresponding to off because the measured current value is smaller than a predetermined current value. The drive motor control unit (1030) may cut off the power of the drive motor power (2620) for the drive motor (1050) based on the brake activation signal (1022) corresponding to off. In this case, the drive motor (1050) may not operate.

[0126] With the above configuration, the drive motor (1050) may not operate when the brake (1040) is locked. If the drive motor (1050) operates while the brake (1040) is locked, permanent damage to the drive motor (1050) or the brake (1040), a risk of fire, or safety hazards may occur, which can be prevented.

[0127] FIG. 12 is a flowchart illustrating an example of a brake control method (1200) of a robot according to one embodiment of the present disclosure. The brake control method (1200) of the robot may be performed by at least one processor included in the robot (e.g., the central processor (232) of FIG. 2).

[0128] In one embodiment, a brake control method (1200) for a robot may be initiated by determining whether a predetermined condition associated with stopping the robot is satisfied (S1210). For example, the predetermined condition may include a case where a processor receives a command to stop the robot in an emergency or to park the robot. As another example, the predetermined condition may be associated with stopping the robot in an emergency or parking the robot. Specifically, the robot includes an emergency stop switch that outputs an emergency stop signal to a processor to brake the robot immediately, and the predetermined condition may include at least one of the emergency stop switch being turned on or the robot being determined to be parked.

[0129] In one embodiment, the processor may output a command to reduce the speed of a drive motor (e.g., drive motor (1050) of FIG. 10) for driving a robot based on a judgment result (S1220). The command is output to a drive control unit (e.g., first drive control unit (262) of FIG. 2), and the drive control unit may reduce the speed of the drive motor.

[0130] In one embodiment, the processor can receive speed information of the drive motor (S1230). For example, the processor can recognize the speed of the drive motor by receiving encoder information (e.g., the first encoder information (2642) of FIG. 2).

[0131] In one embodiment, the processor may compare the speed of the drive motor with the threshold speed in response to the fact that the time elapsed since immediately after the condition is satisfied is less than the threshold time, and lock the brake based on the comparison result. Specifically, the processor may determine whether the time elapsed since immediately after the condition is satisfied is less than (or less than) the threshold time (S1240). If it is determined that the time elapsed since immediately after the condition is satisfied is greater than (or greater than) the threshold time, the processor may output a command to lock the brake (S1260).

[0132] In one embodiment, the processor may output a command to lock the brake in response to the fact that the time elapsed since immediately after the condition is satisfied is greater than the threshold time. Specifically, if it is determined that the time elapsed since immediately after the condition is satisfied is less than (or less than) the threshold time, the processor may determine whether the speed of the drive motor is less than (or less than) the threshold speed (S1250). If it is determined that the speed of the drive motor is less than (or less than) the threshold speed, the processor may output a command to lock the brake (S1260). If it is determined that the speed of the drive motor is greater than (or greater than) the threshold speed, the processor may repeat step S1240. If the time elapsed since immediately after the condition is satisfied is equal to the threshold time, the time elapsed since immediately after the condition is satisfied may be considered to be less than the threshold time, or the time elapsed since immediately after the condition is satisfied may be considered to be greater than the threshold time.

[0133] In one embodiment, the robot may include a battery that supplies power required for stopping and driving the robot, a power switch that outputs a power control signal for turning the robot's power on or off, a first drive unit including a first drive motor for driving the robot and a first brake for braking the first drive motor, a first drive control unit that controls each of the first drive motor and the first brake, a first brake release switch that outputs a first brake release signal for unlocking the first brake, a central processor that controls the stopping and driving of the robot and outputs a reference signal corresponding to the state of the power switch based on the power control signal, and a first gate that outputs a first brake control signal to the first drive control unit for controlling the first brake based on the reference signal and the first brake release signal. Specifically, the first gate performs a logical OR operation, and the first drive control unit may lock or unlock the first brake in response to the state of the first brake release switch when the power switch is off. Additionally, the first drive unit may further include at least one of a Hall sensor or an encoder that senses the first drive motor and generates speed information of the first drive motor.

[0134] In one embodiment, the robot may include a driving device of the robot comprising a driving unit including a driving motor for driving the robot and a brake for braking the driving motor, and a driving control unit for controlling each of the driving motor and the brake. Here, the brake may include a solenoid that determines whether to lock or unlock the brake. Specifically, the driving control unit may include a brake driver that determines whether to output a PWM signal to the solenoid, a current measuring unit that measures the current of the PWM signal and outputs a brake activation signal based on the measured current, and a driving motor control unit that controls the driving motor and determines whether to operate the driving motor based on the brake activation signal.

[0135] In one embodiment, the robot may further include a second drive unit comprising a second drive motor for driving the robot and a second brake for braking the second drive motor, a second drive control unit for controlling each of the second drive motor and the second brake, and a second gate that outputs a second brake control signal to the second drive control unit for controlling the second brake based on a reference signal and a first brake release signal. For example, the first drive motor may move the robot on the ground, and the second drive motor may move the robot's lift for carrying an object. Additionally, the robot may further include a second brake release switch that outputs a second brake release signal for unlocking the second brake, and a third gate that performs a logical AND operation based on the first brake release signal and the second brake release signal and outputs the result to the second gate. Specifically, the second drive control unit may lock the second brake or unlock the second brake in response to the state of the second brake release switch when the power switch is off and the first brake release switch is on.

[0136] In one embodiment, the robot includes a brake power switch that supplies or cuts off power supplied from a battery to a first drive control unit and a first brake based on a signal output from a central processor, and the brake power switch can supply or cut off power to the first drive control unit and the first brake in response to the state of the first brake release switch when the power switch is off.

[0137] In one embodiment, the robot includes an emergency stop switch that outputs an emergency stop signal to a central processor to immediately brake the robot, and the central processor outputs a reference signal based on the emergency stop signal and a power control signal, and when the power switch is on, the reference signal may be associated with the state of the emergency stop switch.

[0138] In one embodiment, the first brake includes a solenoid that locks or unlocks the first brake, and the first drive control unit may further include a brake driver that determines whether to output a PWM signal to the solenoid based on the first brake control signal. Additionally, the first drive control unit may include a current measuring unit that measures the current of the PWM signal and outputs a brake activation signal based on the measured current, and a drive motor control unit that controls the first drive motor and determines whether to operate the first drive motor based on the brake activation signal.

[0139] The flowchart illustrated in FIG. 12 and the description above are merely examples and may be implemented differently in some embodiments. For example, in some embodiments, the order of each step may be changed, some steps may be repeated, some steps may be omitted, or some steps may be added.

[0140] The method described above may be provided as a computer program stored on a computer-readable recording medium for execution on a computer. The medium may continuously store a program executable by a computer, or temporarily store it for execution or download. Additionally, the medium may be various recording or storage means in the form of a single or multiple hardware components combined, and may not be limited to a medium directly connected to a computer system but may exist distributed over a network. Examples of media may include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and media configured to store program instructions, including ROM, RAM, and flash memory. Furthermore, other examples of media may include recording or storage media managed by app stores that distribute applications or sites and servers that supply or distribute various other software.

[0141] FIG. 13 is a graph illustrating a brake control method for a robot according to one embodiment of the present disclosure. In one embodiment, a processor (e.g., the central processor (232) of FIG. 2) may determine whether a predetermined condition associated with stopping the robot is satisfied. Based on the determination result, the processor may output a command to reduce the speed of the drive motor.

[0142] In one embodiment, the processor may compare the speed of the drive motor (1310) with the threshold speed (1330) in response to the fact that the time elapsed immediately after the condition is satisfied is less than the threshold time, and may lock the brake based on the comparison result. The first graph (1300) may indicate the case where the time elapsed immediately after the condition is satisfied is less than the threshold time. Referring to the first graph (1300), the speed of the drive motor (1310) may decrease immediately after the predetermined condition is satisfied. When the decreased speed of the drive motor (1310) is less than or equal to (or less than) the threshold speed (1330), the processor may output a command (1320) to lock the brake. Upon receiving the command (1320) to lock the brake, the drive control unit may lock the brake.

[0143] In one embodiment, the processor may output a command (1380) to lock the brake in response to the time elapsed immediately after the condition is satisfied being greater than the threshold time. A second graph (1350) may indicate the case where the time elapsed immediately after the condition is satisfied is greater than the threshold time (1380). Referring to the second graph (1350), the speed (1360) of the drive motor may decrease immediately after the predetermined condition is satisfied. The decreased speed (1360) of the drive motor may still be greater than the threshold speed (1330). In this case, when the time elapsed immediately after the condition is satisfied is greater than the threshold time (1380), the processor may output a command (1370) to lock the brake. Upon receiving the command (1370) to lock the brake, the drive control unit may lock the brake.

[0144] As described above, damage to the brake or motor can be prevented by locking the brake after the drive motor has decelerated to a critical speed or lower. Additionally, if the deceleration of the drive motor proceeds for a period exceeding a predetermined critical time after the condition is met, the brake can be forcibly locked, thereby forcibly stopping a robot that has not stopped despite needing to. This prevents dangerous situations that may arise from the robot, thereby protecting the robot's user.

[0145] The methods, operations, or techniques of the present disclosure may be implemented by various means. For example, these techniques may be implemented in hardware, firmware, software, or a combination thereof. Those skilled in the art will understand that the various exemplary logical blocks, modules, circuits, and algorithmic steps described in connection with the disclosure herein may be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate such interchangeability between hardware and software, various exemplary components, blocks, modules, circuits, and steps have been generally described above in terms of their functional aspects. Whether such functions are implemented in hardware or in software depends on the design requirements imposed on the specific application and the overall system. Those skilled in the art may implement the functions described in various ways for each specific application, but such implementations should not be construed as departing from the scope of the present disclosure.

[0146] In a hardware implementation, the processing units used to perform the techniques may be implemented in one or more ASICs, DSPs, GPUs, digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described in this disclosure, computers, or a combination thereof.

[0147] Accordingly, the various exemplary logic blocks, modules, and circuits described in connection with the present disclosure may be implemented or performed by any combination of general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or those designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but alternatively, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, for example, a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors coupled with a DSP core, or any other combination of configurations.

[0148] In firmware and / or software implementations, techniques may be implemented as instructions stored on a computer-readable medium such as random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable PROM (EEPROM), flash memory, compact disc (CD), magnetic or optical data storage devices, etc. The instructions may be executable by one or more processors, and may cause the processor(s) to perform specific aspects of the functions described in this disclosure.

[0149] When implemented in software, the techniques may be stored on a computer-readable medium as one or more instructions or code, or transmitted through a computer-readable medium. Computer-readable media include both computer storage media and communication media, including any medium that facilitates the transmission of a computer program from one place to another. Storage media may be any available medium that can be accessed by a computer. As a non-limiting example, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to transfer or store desired program code in the form of instructions or data structures and can be accessed by a computer. Additionally, any connection is appropriately made to the computer-readable medium.

[0150] For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair cable, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, coaxial cable, fiber optic cable, twisted pair cable, digital subscriber line, or wireless technologies such as infrared, radio, and microwave are included within the definition of a medium. As used herein, disk and disc include CD, laser disc, optical disc, DVD (digital versatile disc), floppy disk, and Blu-ray disc, wherein disks usually play data magnetically, whereas discs play data optically using a laser. The above combinations should also be included within the scope of computer-readable media.

[0151] The software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other known form of storage medium. An exemplary storage medium may be connected to a processor so that the processor can read information from the storage medium or write information to the storage medium. Alternatively, the storage medium may be integrated into the processor. The processor and the storage medium may exist within an ASIC. The ASIC may exist within a user terminal. Alternatively, the processor and the storage medium may exist as separate components within the user terminal.

[0152] Although the embodiments described above have been described as utilizing aspects of the subject matter disclosed herein in one or more standalone computer systems, the present disclosure is not limited thereto and may be implemented in conjunction with any computing environment, such as a network or a distributed computing environment. Furthermore, aspects of the subject matter in the present disclosure may be implemented in a plurality of processing chips or devices, and storage may be similarly affected across a plurality of devices. Such devices may include PCs, network servers, and portable devices.

[0153] Although the present disclosure has been described in relation to some embodiments, various modifications and changes may be made without departing from the scope of the present disclosure as understood by a person skilled in the art to which the invention of the present disclosure pertains. Furthermore, such modifications and changes should be considered to fall within the scope of the claims appended to this specification. Explanation of the symbols

[0155] 100: The first robot 110: First drive unit 120: Second drive unit 150: The Second Robot

Claims

Claim 1 A battery that supplies power required for stopping and driving the robot; a power switch that outputs a power control signal for turning the power of the robot on or off; a first drive unit including a first drive motor for driving the robot and a first brake for braking the first drive motor; a first drive control unit that controls each of the first drive motor and the first brake; a first brake release switch that outputs a first brake release signal for unlocking the first brake; a central processor that controls the stopping and driving of the robot and outputs a reference signal corresponding to the state of the power switch based on the power control signal; a first gate that outputs a first brake control signal for controlling the first brake based on the reference signal and the first brake release signal to the first drive control unit; a second drive unit including a second drive motor for driving the robot and a second brake for braking the second drive motor; and a second drive control unit that controls each of the second drive motor and the second brake. A robot comprising: a second gate that outputs a second brake control signal to a second drive control unit for controlling the second brake based on the reference signal and the first brake release signal; a second brake release switch that outputs a second brake release signal for unlocking the second brake; and a third gate that performs a logical AND operation based on the first brake release signal and the second brake release signal and outputs the result to the second gate. Claim 2 A robot according to claim 1, wherein the first gate performs a logical OR operation, and the first drive control unit locks or unlocks the first brake in response to the state of the first brake release switch when the power switch is off. Claim 3 delete Claim 4 A robot according to claim 1, wherein the first drive motor moves the robot on the ground, and the second drive motor moves the lift of the robot carrying an object. Claim 5 delete Claim 6 A robot according to claim 1, wherein the second drive control unit locks the second brake or unlocks the second brake in response to the state of the second brake release switch when the power switch is off and the first brake release switch is on. Claim 7 A robot according to claim 1, further comprising a brake power switch that supplies or cuts off power supplied from the battery to the first drive control unit and the first brake based on a signal output from the central processor, wherein the brake power switch supplies or cuts off power to the first drive control unit and the first brake in response to the state of the first brake release switch when the power switch is off. Claim 8 In claim 1, the robot includes an emergency stop switch that outputs an emergency stop signal to the central processor to immediately brake the robot, the central processor outputs a reference signal based on the emergency stop signal and the power control signal, and when the power switch is ON, the reference signal is associated with the state of the emergency stop switch. Claim 9 A robot according to claim 1, wherein the first brake includes a solenoid that locks or unlocks the first brake, and the first drive control unit further includes a brake driver that determines whether to output a PWM signal to the solenoid based on the first brake control signal. Claim 10 A robot according to claim 9, further comprising: a current measuring unit that measures the current of the PWM signal in the first driving control unit and outputs a brake activation signal based on the measured current; and a driving motor control unit that controls the first driving motor and determines whether the first driving motor operates based on the brake activation signal. Claim 11 A robot according to claim 1, wherein the central processor determines whether a predetermined condition associated with stopping the robot is satisfied, outputs a command to reduce the speed of the first drive motor based on the determination result, receives speed information of the first drive motor, compares the speed of the first drive motor with the threshold speed in response to the time elapsed immediately after the condition is satisfied being less than the threshold time, outputs a command to lock the brake based on the comparison result, and outputs a command to lock the brake in response to the time elapsed immediately after the condition is satisfied being greater than the threshold time. Claim 12 A robot according to claim 11, comprising an emergency stop switch that outputs an emergency stop signal to the central processor to immediately brake the robot, wherein the predetermined condition comprises at least one of the emergency stop switch being ON or the robot being determined to be parked. Claim 13 A robot according to claim 11, wherein the first driving unit further comprises at least one of a Hall sensor or an encoder that senses the first driving motor and generates speed information of the first driving motor. Claim 14 A drive unit comprising a drive motor for driving a robot and a brake for braking the drive motor, wherein the brake comprises a solenoid for determining whether to lock or unlock the brake; and a drive control unit for controlling each of the drive motor and the brake, wherein the drive control unit comprises: a brake driver for determining whether to output a PWM signal to the solenoid; and a current measuring unit for measuring the current of the PWM signal and outputting a brake activation signal based on the measured current. The robot comprises a drive motor control unit that controls the drive motor and determines whether the drive motor operates based on the brake activation signal, wherein the drive motor includes a first drive motor and a second drive motor for driving the robot, and the brake includes a first brake for braking the first drive motor and a second brake for braking the second drive motor, and the drive control unit includes a first drive control unit that controls each of the first drive motor and the first brake, and a second drive control unit that controls each of the second drive motor and the second brake. The robot comprises a drive device including: a battery that supplies power required for stopping and driving the robot; a power switch that outputs a power control signal for turning the power of the robot on or off; a first brake release switch that outputs a first brake release signal for unlocking the first brake; and a central processor that controls the stopping and driving of the robot and outputs a reference signal corresponding to the state of the power switch based on the power control signal. A first gate that outputs a first brake control signal to the first drive control unit for controlling the first brake based on the above reference signal and the above first brake release signal;A driving device for a robot characterized by comprising: a second gate that outputs a second brake control signal to a second drive control unit for controlling the second brake based on the reference signal and the first brake release signal; a second brake release switch that outputs a second brake release signal for unlocking the second brake; and a third gate that performs a logical AND operation based on the first brake release signal and the second brake release signal and outputs the result to the second gate. Claim 15 A brake control method performed by at least one processor included in a robot, comprising: a step of determining whether a predetermined condition associated with stopping the robot is satisfied; a step of outputting a command to reduce the speed of a drive motor for driving the robot based on the determination result; a step of receiving speed information of the drive motor; and a step of comparing the speed of the drive motor with the threshold speed in response to the time elapsed immediately after the condition is satisfied being less than a threshold time, and outputting a command to lock the brake based on the comparison result. The method includes the step of outputting a command to lock the brake in response to the fact that the time elapsed immediately after the above condition is satisfied is greater than the threshold time; wherein the drive motor includes a first drive motor and a second drive motor for driving the robot, and the robot includes a battery that supplies power required for stopping and driving the robot; a power switch that outputs a power control signal for turning the power of the robot on or off; a first drive unit including a first brake for braking the first drive motor; a first drive control unit that controls each of the first drive motor and the first brake; a first brake release switch that outputs a first brake release signal for unlocking the first brake; and a central processor that controls the stopping and driving of the robot and outputs a reference signal corresponding to the state of the power switch based on the power control signal. A first gate that outputs a first brake control signal to the first drive control unit for controlling the first brake based on the reference signal and the first brake release signal; a second drive unit including a second brake for braking the second drive motor; and a second drive control unit that controls each of the second drive motor and the second brake.A method for controlling a brake of a robot, comprising: a second gate that outputs a second brake control signal to a second drive control unit for controlling the second brake based on the reference signal and the first brake release signal; a second brake release switch that outputs a second brake release signal for unlocking the second brake; and a third gate that performs a logical AND operation based on the first brake release signal and the second brake release signal and outputs the result to the second gate.

Images