AI self-driving mobile robot that can stand up

Abstract

The present invention relates to an artificial intelligence autonomous driving mobile robot capable of standing up like a roly-poly toy, and more specifically, to a mobile robot having a body and a driving unit, comprising: a tilt sensor for measuring the tilt of the body; a lower body installed at the bottom of the body and a battery unit provided inside the lower body; a battery moving means for changing the position of the battery unit; and a control unit that controls the battery moving means to drive based on the tilt value measured by the tilt sensor to maintain an attitude according to the change in the position of the battery unit.

Description

Technology Field

[0001] The present invention relates to an artificial intelligence autonomous mobile robot capable of standing up like a roly-poly toy. Background Technology

[0002] Robots are developed for various purposes and are used in diverse environments. Recently, various robots are being developed that perform their functions despite the wide range of indoor environments, such as AI-equipped robotic vacuum cleaners.

[0003] For general robots, driving on flat terrain can be sufficiently achieved simply by using wheels with a structure similar to that of a car. However, to ensure such driving on rough terrain, such as stairs, curves, and slopes that are common in indoor and outdoor environments, special driving is required.

[0004] Various stair climbing platforms equipped with specialized drive modules for ascending and descending stairs have been developed. However, when performing these ascents and descents, in addition to the driving tasks of simply climbing and descending, the challenge of ensuring appropriate stability depending on the environment of the stairs remains.

[0005] The driving mechanisms of mobile robots can be broadly classified into wheeled, tracked, and legged types.

[0006] Wheeled mobile robots have the advantage of excellent driving performance on flat terrain and a simple mechanical structure and control mechanism, but wheeled mobile robots with a fixed wheelbase have the disadvantage of being extremely difficult to pass through various obstacles such as stairs, puddles, and steep slopes.

[0007] To overcome these drawbacks, a wheeled mobile robot equipped with a driving mechanism capable of adjusting the axle distance between the drive wheels was manufactured to enable it to overcome various obstacles such as stairs; however, there are issues such as high weight due to the complex driving mechanism and mechanical elements, and the need to be equipped with a complex control system.

[0008] While multi-legged mobile robots offer excellent adaptability to various terrains, such as stair climbing, they have drawbacks including relatively slow movement speed, a very complex driving mechanism, and difficulty in control.

[0009] Track-type mobile robots are widely utilized to overcome various obstacles, such as stairs, because their driving mechanisms can be easily configured without considering the spacing between wheels. However, even with these track types, the obstacles they can overcome are inevitably limited by the height or overall length of the track. Furthermore, if the track is manufactured to be larger than necessary to maximize obstacle-overcoming capabilities, there is a problem in that the overall weight of the mobile robot increases, excessive power is required, and energy efficiency decreases.

[0010] Therefore, it is necessary to provide a driving mechanism for a mobile robot that is capable of climbing or passing through rugged terrain such as indoor and outdoor stairs, has a simple structure and control, and is highly energy-efficient during operation. To meet this requirement, a driving system for a 6-wheel driving robot is configured by using a joint mechanism (50) that connects the body (4), which has a left-right symmetrical structure as shown in FIG. 1, to a body (4) and a first link (1), and to a joint mechanism (50) that limits the rotation angle of the first link (1), thereby connecting the body and the first link (1).

[0011] In the case of such a 6-wheeled driving robot, it has the advantages of being able to pass through high obstacles with small wheels, move with minimal shaking of the body (4) even on terrain with large left-right steps, rotate in place and move on narrow terrain, and have the advantage of being more energy-efficient during driving compared to a track type, but as shown in FIG. 2, it can be seen that there are limitations in overcoming all the various types of obstacles commonly encountered in our daily lives.

[0012] In addition, for indoor robots, a smaller robot size (overall height) is advantageous for riding elevators and moving through complex spaces, and consequently, the wheel size is also reduced. As a result, there is a problem that it is difficult to overcome rough terrain when driving outdoors.

[0013] Furthermore, since indoor robots have a short overall height, most of them feature a tower-type structure that is raised to accommodate loads, which poses a problem when driving on inclines. Prior art literature

[0014] Republic of Korea Registered Patent 10-0458284 Republic of Korea Registered Patent 10-1565945 Republic of Korea Registered Patent 10-1248978 The problem to be solved

[0015] Accordingly, the present invention has been devised to solve the aforementioned conventional problems, and according to an embodiment of the present invention, the purpose is to provide a mobile robot capable of movement for ball games and martial arts, which can fall over and automatically get up when struck.

[0016] According to an embodiment of the present invention, the purpose is to provide an artificial intelligence autonomous mobile robot that can prevent falling easily by placing a light material on top so that the center of gravity is as low as possible and placing a heavy battery, etc. on the bottom, and then, at the moment it is about to fall, moving the position of the heavy battery instantaneously to actively deform the center of gravity.

[0017] And according to an embodiment of the present invention, the purpose is to provide an artificial intelligence autonomous mobile robot that can quickly stand up by moving the battery to change the center of gravity when it falls over.

[0018] Meanwhile, the technical problems to be solved by the present invention are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which the present invention belongs from the description below. means of solving the problem

[0019] The objective of the present invention can be achieved as an artificial intelligence autonomous driving mobile robot comprising: a mobile robot having a body and a driving unit, wherein the mobile robot comprises: a tilt sensor for measuring the tilt of the body; a lower body installed at the bottom of the body and a battery unit provided inside the lower body; a battery moving means for changing the position of the battery unit; and a control unit that controls the battery moving means to drive based on the tilt value measured by the tilt sensor to maintain an attitude according to the change in the position of the battery unit.

[0020] And the body is configured to be lighter than the lower body, and the control unit may be characterized by controlling the battery moving means so that the battery unit is positioned in a direction opposite to the tilted direction.

[0021] In addition, the battery moving means may comprise a rotating disk, a rotating part that rotates the rotating disk around a central axis, an elongated hole formed in the diameter direction of the rotating disk, and a linear moving part that moves the battery unit linearly along the elongated hole, and the control part may be characterized by controlling the driving of the rotating part and the linear moving part to adjust the battery unit to be positioned in the opposite direction of the tilted direction.

[0022] And the lower body is connected to the body by a connecting end, and the lower body may be characterized by including an upper body that is connected and fixed to the body by the connecting end, a lower body connected based on one corner of the upper body, a connecting unit provided at one corner to connect the upper body and the lower body so that they can be folded, and a restoration driving unit that drives the upper body based on one corner.

[0023] In addition, when the mobile robot overturns, the control unit controls the battery moving means so that the battery unit moves in the opposite direction of the overturning direction, and after the driving wheel of the lower body is unfolded to touch the ground, controls the upper body and the body to be raised by driving the restoration drive unit. Effects of the invention

[0024] According to the artificial intelligence autonomous mobile robot capable of operating according to an embodiment of the present invention, it has the effect of being able to move for ball games and martial arts, and to automatically get up after falling down when struck.

[0025] According to an artificial intelligence autonomous driving mobile robot that may occur according to an embodiment of the present invention, a light material is placed on top so that the center of gravity is positioned as low as possible, and a heavy battery, etc. is placed on the bottom. When the heavy battery is placed on the bottom and is about to fall, the position of the heavy battery is moved instantaneously to actively deform the center of gravity, thereby having the effect of preventing it from easily falling over.

[0026] And according to the AI ​​autonomous mobile robot capable of operating according to an embodiment of the present invention, when it falls over, it has the effect of moving the battery to change the center of gravity and quickly getting up.

[0027] Meanwhile, the effects obtainable from the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art to which the present invention belongs from the description below. Brief explanation of the drawing

[0028] The following drawings attached to this specification illustrate preferred embodiments of the present invention and serve to further enhance understanding of the technical concept of the present invention together with the detailed description of the invention; therefore, the present invention should not be interpreted as being limited only to the matters described in such drawings. FIG. 1 is a drawing illustrating the structure of a conventional 6-wheeled driving robot. FIG. 2 is a diagram illustrating the obstacle overcoming limit of a conventional 6-wheeled driving robot, FIG. 3 is a front view of an artificial intelligence autonomous driving mobile robot that may occur according to an embodiment of the present invention, FIG. 4 is a schematic diagram showing the position of the battery when tilted according to an embodiment of the present invention, FIG. 5a is a plan view of a battery installed on a disk according to an embodiment of the present invention, FIG. 5b is a plan view showing a battery position movement mechanism according to an embodiment of the present invention, FIG. 6a is a schematic diagram of an overturned mobile robot according to an embodiment of the present invention, FIGS. 6B and FIGS. 6C are schematic diagrams showing the movement of the lower body according to the change in position of the battery unit in FIG. 6A. FIG. 6d is a schematic diagram of the state in which the position of the body is restored by the restoration drive unit in FIG. 6c. FIG. 7 is a block diagram showing the signal flow of a control unit according to an embodiment of the present invention, FIG. 8 is a flowchart of a method for an artificial intelligence autonomous driving mobile robot to ride an elevator according to an embodiment of the present invention. FIG. 9 is a block diagram of a configuration associated with elevator boarding according to an embodiment of the present invention, FIG. 10 is a flowchart of a step driving control method according to an embodiment of the present invention, FIG. 11 is a flowchart of a method for determining entry speed and entry angle during step driving according to an embodiment of the present invention, FIG. 12 illustrates a flowchart of a driving method for avoiding a moving object according to an embodiment of the present invention. Specific details for implementing the invention

[0029] The above objects, other objects, features, and advantages of the present invention will be easily understood through the following preferred embodiments associated with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed content is thorough and complete and to ensure that the spirit of the invention is sufficiently conveyed to a person skilled in the art.

[0030] In this specification, when a component is described as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed between them. Also, in the drawings, the thicknesses of the components are exaggerated for the effective description of the technical content.

[0031] The embodiments described herein will be explained with reference to cross-sectional and / or plan views, which are exemplary illustrations of the invention. In the drawings, the thicknesses of films and regions are exaggerated for effective explanation of the technical content. Accordingly, the shapes of the exemplary drawings may be modified by manufacturing techniques and / or tolerances, etc. Accordingly, the embodiments of the invention are not limited to the specific shapes depicted but include variations in shape produced according to the manufacturing process. For example, a region depicted as a right angle may be rounded or have a certain curvature. Accordingly, the regions illustrated in the drawings have properties, and the shapes of the regions illustrated in the drawings are intended to illustrate specific shapes of the regions of the device and are not intended to limit the scope of the invention. Although terms such as first, second, etc., have been used to describe various components in the various embodiments of this specification, these components should not be limited by such terms. These terms are used merely to distinguish one component from another. The embodiments described and illustrated herein also include their complementary embodiments.

[0032] The terms used herein are for describing the embodiments and are not intended to limit the invention. In this specification, the singular form includes the plural form unless specifically stated otherwise in the text. As used herein, 'comprises' and / or 'comprising' do not exclude the presence or addition of one or more other components to the mentioned components.

[0033] In describing the specific embodiments below, various specific details have been included to explain the invention more specifically and to aid understanding. However, a reader with sufficient knowledge in the art to understand the invention will recognize that it can be used without these various specific details. In some cases, it is noted in advance that commonly known aspects that are not significantly related to the invention have been omitted to prevent unnecessary confusion in describing the invention.

[0035] Hereinafter, the configuration, function, and operation method of an artificial intelligence autonomous driving mobile robot that may occur according to an embodiment of the present invention will be described.

[0036] FIG. 3 illustrates a front view of an artificial intelligence autonomous driving mobile robot that may occur according to an embodiment of the present invention.

[0037] And Fig. 4 is a schematic diagram showing the position of the battery when tilted according to an embodiment of the present invention.

[0038] FIG. 5a illustrates a plan view of a battery installed on a disk according to an embodiment of the present invention. FIG. 5b illustrates a plan view showing a battery position movement mechanism according to an embodiment of the present invention.

[0039] According to the artificial intelligence autonomous mobile robot capable of operating according to an embodiment of the present invention, it is capable of moving for ball games and martial arts, and can fall down and automatically get up when struck.

[0040] According to an artificial intelligence autonomous driving mobile robot that may occur according to an embodiment of the present invention, a light material is placed at the top so that the center of gravity is as low as possible, and a heavy battery, etc. is placed at the bottom. When the heavy battery is placed at the bottom and is about to fall, the position of the heavy battery is moved instantaneously so that the center of gravity is actively deformed to prevent it from easily falling over.

[0041] And according to the artificial intelligence autonomous driving mobile robot that can occur according to an embodiment of the present invention, if it falls over, it can move the battery to change the center of gravity and quickly get up.

[0042] An artificial intelligence autonomous driving mobile robot (100) that may occur according to an embodiment of the present invention is a mobile robot having a body (110) and a driving part at the bottom, and is configured to include a tilt sensor (111) that measures the tilt of the body (110).

[0043] In addition, the body (110) is constructed to be lighter than the lower body (130). It is preferable that the body (110) according to an embodiment of the present invention be composed of a lightweight material such as plastic, synthetic resin, or a tube.

[0044] And a lower body (130) is installed at the bottom of the body (110), and a battery unit (140) is provided inside the lower body (130). The body (110) and the lower body (130) are connected by a connecting end (120).

[0045] And, the artificial intelligence autonomous driving mobile robot (100) that can occur according to an embodiment of the present invention may be configured to include a battery moving means for changing the position of a battery unit (140) within a lower body (130).

[0046] Accordingly, the control unit (170) drives the battery moving means based on the tilt value measured by the tilt sensor (111) to control the position of the battery unit (140) to maintain the posture.

[0047] That is, as shown in FIG. 4, the control unit controls the battery moving means so that the battery unit (140) is positioned in the opposite direction to the tilted direction, thereby instantaneously moving the heavy battery position at the moment it is about to fall over to actively change the center of gravity so that it does not fall over easily.

[0048] A battery transport means according to an embodiment of the present invention may be configured to include, for example, a rotating disk (151).

[0049] As illustrated in FIGS. 5a and 5b, the battery moving means may be configured to include a rotating disk (151), a rotating part (154) that rotates the rotating disk (151) around a central axis, an elongated hole (152) formed in a radial direction across the central axis of the rotating disk (151), and a linear moving part (153) that moves the battery unit (140) linearly along the elongated hole (152).

[0050] Accordingly, the control unit (170) can control the drive through two actuators, the rotation unit (154) and the linear movement unit (153), so that the battery unit (140) is positioned in the opposite direction of the tilted direction.

[0052] FIG. 6a illustrates a schematic diagram of an overturned mobile robot according to an embodiment of the present invention. FIG. 6b and FIG. 6c illustrate schematic diagrams showing the movement of the lower body according to the position change of the battery unit in FIG. 6a. FIG. 6d also illustrates a schematic diagram showing the state in which the position of the body is restored by the restoration drive unit in FIG. 6c. FIG. 7 illustrates a block diagram showing the signal flow of a control unit according to an embodiment of the present invention.

[0053] As illustrated in FIGS. 6a to 6d, the lower body (130) may be configured such that the upper body (131) and the lower body (132) are hinge-connected by a connecting unit based on one side corner.

[0054] The upper body (131) is connected and fixed to the body (110) by the connecting member (120).

[0055] And the lower body (132) is connected based on one corner of the upper body (131).

[0056] Additionally, the connecting unit (160) is provided at one corner of this and connects the upper body (131) and the lower body (132) so that they can be folded.

[0057] And the restoration drive unit (161) is configured to drive the upper body (131) based on one side corner.

[0058] Accordingly, as illustrated in FIG. 6a, when the mobile robot overturns, as illustrated in FIG. 6b, the control unit (170) controls the battery moving means so that the battery unit (140) moves in the opposite direction of the overturn.

[0059] And as shown in FIGS. 6c and 6d, after the driving wheel (3) of the lower body (132) is unfolded to touch the ground, the upper body (131) and the body (110) are raised as a single unit by the driving of the restoration drive unit (161).

[0061] Hereinafter, a method for an artificial intelligence autonomous mobile robot to board an elevator according to an embodiment of the present invention will be described.

[0062] First, FIG. 9 illustrates a flowchart of a method for an artificial intelligence autonomous mobile robot to board an elevator that may occur according to an embodiment of the present invention. FIG. 10 illustrates a block diagram of a configuration associated with boarding an elevator according to an embodiment of the present invention.

[0063] An artificial intelligence autonomous mobile robot (100) that may occur according to an embodiment of the present invention may be configured to include a communication module (40) that communicates with an elevator control panel (200) to search for an elevator that can reach a target floor.

[0064] In addition, a vision sensor (210) is provided inside the elevator to determine the coordinate information of the passengers inside.

[0065] And, the artificial intelligence autonomous mobile robot (100) that may occur according to an embodiment of the present invention includes a determination unit (50) that determines whether boarding is possible by identifying the occupied space and available space based on passenger coordinate information. It is configured to include a determination unit that finally determines whether boarding is possible by having a communication module (40) call an elevator that can be boarded, and a camera (60) equipped in the robot photograph the interior when the elevator door opens.

[0066] In addition, external situation information around the elevator is identified through a camera (60) at the platform, and the judgment unit (50) determines whether boarding is possible by considering the occupied space, the spare space, and the occupied space when waiting people board.

[0067] Then, the vision sensor (210) inside the elevator recognizes changes in the LED of the button and the opening and closing of the door, detects changes in the CAN signal from the elevator control panel (200), and identifies the elevator control panel protocol based on each signal change.

[0068] In addition, the boarding position determining unit is configured to determine a boarding position within the elevator, and the lighting application means (80) is configured to apply lighting to the determined boarding position.

[0069] More specifically, the elevator control panel protocol is first identified (S10). That is, regardless of the characteristics of the elevator manufacturer, even in the case of an older elevator or an elevator with a control panel that does not support an external interface, the elevator control panel protocol is analyzed and used to control the elevator.

[0070] Specifically, a camera inside the elevator detects changes in the LED of the button and the opening / closing of the door, detects changes in the CAN signal from the EV control panel, and creates a CAN protocol table based on each signal change.

[0071] Then, a movement request message for the target floor is communicated and called (S11). That is, the elevator that can reach the target floor the fastest is selected and called.

[0072] Then, determine whether boarding is possible (S12).

[0073] Specifically, the first information is information regarding the internal situation of the elevator, which involves verifying passenger distribution and coordinate information from the vision sensor, checking available space (comparing the passenger waiting space with the elevator interior space, and considering the space occupied by the waiting passengers), and determining the location of the interior boarding space (if there are no passengers, the boarding location is determined based on the location of the control buttons).

[0074] And second information is identified, and this second information is external elevator situation information, specifically information regarding the landing queue and waiting patterns.

[0075] Then, boarding eligibility is determined based on the first and second pieces of information (determining based on the total occupied space compared to the entire interior space, and also considering the space occupied by waiting passengers). Subsequently, the waiting location within the landing, the boarding location within the elevator, and the movement path from the waiting location to the boarding location are executed. If boarding is not possible, a decision is made to select another elevator.

[0076] And when the elevator door opens, the density is calculated through the camera (60) of the delivery robot (100) to determine whether final boarding is possible (S13).

[0077] Then, the boarding position is determined (S14). The boarding position is given priority to the front corner area without a button, and the boarding position is illuminated and a notification message is sent through the speaker (81) while boarding.

[0078] In addition, if boarding is impossible without the passenger moving aside, the area with the button is avoided, a speaker notification is made asking the passenger to move aside, and the space created in the direction of moving aside is recognized to determine the boarding location, and once the boarding location is determined, a light is applied and the passenger boards.

[0080] Hereinafter, a step driving control method for an artificial intelligence autonomous driving mobile robot that may occur according to an embodiment of the present invention will be described. FIG. 11 illustrates a flowchart of a step driving control method according to an embodiment of the present invention.

[0081] When driving over a step, if the front wheel (90) of the driving unit (26) comes into contact with the step, the step information is detected by the angle value measured by the tilt sensor (4) and the amount of change in motor load. Then, the control unit (30) controls the driving wheel (90) based on the step information, and in the situation of climbing over the step, drives the actuator (15) to tilt the cargo box (10) forward, and after climbing over, controls the cargo box (10) to tilt backward and then become horizontal.

[0082] That is, when a step is in contact with the front wheel (90) (S20), the step is recognized (S21), the angle of contact is measured by the tilt sensor (IMU) (4), and the step is detected by the motor load amount (S22).

[0083] Then, each wheel drive unit is controlled (S23) to tilt the cargo box forward when climbing over a step, and after climbing over, tilt it backward and perform horizontal control (S24). Finally, data is accumulated and learned to collect optimal speed, angle, and wheel lift measurement data (S25).

[0084] FIG. 12 illustrates a flowchart of a method for determining the entry speed and entry angle when driving over a step according to an embodiment of the present invention. In an embodiment of the present invention, the speed and entry angle at which the vehicle enters the step can be determined in advance before the vehicle climbs over the step.

[0085] Before the robot (100) ascends the step, the control unit may set a plurality of entry speeds and entry angles, calculate the robot based on the movement of the center of gravity according to each entry speed and entry angle, obtain the roll angle and roll angular velocity of the robot using the angular impact moment to calculate the overturning risk index of the robot, and select an entry speed and entry angle in which the overturning risk index is within a preset range.

[0086] That is, when the robot climbs a step, multiple entry speeds and entry angles are set, and the angular impact moment of the robot (based on the acquired step information, the calculated climbing time, and the robot's moment of inertia) is calculated based on the movement of the center of gravity according to each (sequentially) entry speed and entry angle (S30).

[0087] Then, the robot's roll angle (based on the robot's center of gravity) and roll angular velocity are obtained using the angular impact moment (S31). Then, the robot's overturning risk index is obtained (S32), and an entry speed and entry angle are selected such that the overturning risk index is within a preset range (S33).

[0089] Hereinafter, a driving method for avoiding moving objects by an artificial intelligence autonomous driving mobile robot that may occur according to an embodiment of the present invention will be described.

[0090] FIG. 13 illustrates a flowchart of a driving method for avoiding a moving object according to an embodiment of the present invention.

[0091] The delivery robot (100) has a lighting means (80) that irradiates light onto the ground along the future driving path. And when a moving object approaches within a set short distance along the robot's (110) driving path, an avoidance driving algorithm is executed.

[0092] That is, if the moving object is at a distance outside the set short distance, the future movement path of the delivery robot (100) is indicated (light irradiation or speaker).

[0093] And when a moving object approaches within close range on the future path of the delivery robot, an avoidance driving algorithm is executed.

[0094] The avoidance driving algorithm basically generates multiple candidate paths for the robot and moving obstacles to move, searches for candidate paths (S40), extracts the optimal path (S41, 42, 43, 44), and then commands the autonomous movement operation (S45).

[0095] The avoidance driving algorithm generates multiple candidate paths for the movement of the robot and the mobile body to search for candidate paths, extracts an optimal path among the candidate paths based on the movement efficiency of the robot and the mobile body and the influence on the mobile body, and proceeds with autonomous movement operation commands so that the robot drives avoidance along the optimal path.

[0096] The optimal path extraction includes a movement prediction simulation unit that simulates the movement state of each robot and a moving body according to the interaction between the robot and the moving body for each candidate path, and a final decision unit that determines the optimal path based on the movement efficiency of the target agent and the influence on movement obstacles from the simulation results in the prediction simulation unit.

[0097] In addition, in the movement prediction simulation unit, changes in the position and speed of each moving body are predicted over time by utilizing virtual forces acting between the robot and the moving body, between each moving body, or with obstacles in a constantly stationary state, and the final decision unit selects the candidate path with the lowest path cost as the optimal path by combining a first indicator value regarding movement efficiency and a second indicator value regarding the load applied to the moving body according to a formula stored in advance for each candidate path.

[0099] In addition, the apparatus and method described above are not limited to the configurations and methods of the embodiments described above; rather, all or part of each embodiment may be selectively combined to allow for various modifications to be made. Explanation of the symbols

[0100] 3: Driving wheel 40: Communication module 50: Judgment part 60: Camera 70: Boarding position determination unit 80: Means of lighting 100: Possible AI Autonomous Mobile Robot 110: Body 111: Tilt sensor 120:Connector 130: Lower body 131: Top main body 132: Bottom main body 140: Battery unit 151:Disk 152: Janghol 153: Linear movement section 154: Rotating part 160: Connecting unit 161: Restoration drive unit 200: Elevator control panel 210: Vision sensor

Claims

Claim 1 A mobile robot having a body and a driving unit, comprising: a tilt sensor for measuring the tilt of the body; a lower body installed at the bottom of the body; a battery unit provided inside the lower body; and a battery moving means for changing the position of the battery unit. and a control unit that controls the battery moving means to maintain an attitude according to a change in the position of the battery unit by driving the battery moving means based on a tilt value measured by the tilt sensor; wherein the body is configured to be lighter than the lower body, and the control unit controls the battery moving means so that the battery unit is positioned in a direction opposite to the tilted direction, and the battery moving means includes a rotating disk, a rotating part that rotates the rotating disk around a central axis, an elongated hole formed in the diameter direction of the rotating disk, and a linear moving part that moves the battery unit linearly along the elongated hole, and the control unit controls the driving of the rotating part and the linear moving part to adjust the battery unit to be positioned in a direction opposite to the tilted direction, and the lower body is connected to the body by a connecting end, and the lower body includes an upper body that is connected and fixed to the body by the connecting end, a lower body connected based on one corner of the upper body, and a connecting unit provided at one corner to connect the upper body and the lower body so that they can be folded, and An artificial intelligence autonomous driving mobile robot capable of occurring, characterized by including a restoration drive unit that drives the upper body based on the above-mentioned one-sided corner. Claim 2 delete Claim 3 delete Claim 4 delete Claim 5 An artificial intelligence autonomous mobile robot capable of standing, characterized in that, in the event of the mobile robot overturning, the control unit controls the battery moving means so that the battery unit moves in the opposite direction of the overturning direction, and after the driving wheel of the lower body is unfolded to touch the ground, the upper body and the body are raised by the driving of the restoration driving unit.

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