Variable ultra-light modular mobile robot

Abstract

The present invention relates to a variable ultra-light modular mobile robot, and more specifically, to a cart-type mobile robot in which a driving wheel driven by receiving power from a rechargeable battery is provided on a body frame and a handle is installed on the upper part of the frame, comprising: a lower frame on which the driving wheel is installed; a side frame connected to the rear of the lower frame and having a handle installed on the upper part; a battery module embedded inside at least one of the lower frame and the side frame; and a charging pad installed on at least one of the lower frame and the side frame; wherein the lower frame of the mobile robot at the rear is inserted into the lower part of the lower frame of the mobile robot at the front and overlapped so that the charging pads come into contact with each other and charging begins after recognition through communication.

Description

Technology Field

[0001] The present invention relates to a variable ultra-lightweight modular mobile robot. Background Technology

[0002] With the development of commerce and public service industries, mobile devices such as handcarts and luggage carts are already widely used in public places like shopping malls, supermarkets, and airports. To enable users to conveniently obtain information such as vendor location data, navigation data, advertising data, and other related information, existing handcarts and luggage carts are typically equipped with electronic playback devices, thereby providing charging devices. Since these mobile devices are relatively numerous and frequently used in public places, and their usage is uneven, charging a large volume of these devices becomes relatively complex, resulting in a heavy workload.

[0003] Currently, multiple handcarts are connected in series front and back via connectors, and a charging line connected in series is connected to a charging power source to perform large-scale charging. However, when charging multiple handcarts simultaneously, the current flowing through the charging bus is relatively large. For the handcart at the front of the charging line connected to the power supply (e.g., 27VDC), the current on the charging server can reach a maximum of 52A during the constant current charging stage (assuming there are a total of 10 handcarts in the charging line). At the moment charging begins (if 10 handcarts start charging simultaneously), the instantaneous surge current can be enormous.

[0004] Since the load capacity of the power supply is limited (for example, the maximum safe quantity that can be charged simultaneously is 10), mobile devices should not be inserted and connected to the charging line at will, and the limit of the safe quantity must be prevented.

[0005] There are several existing charging methods below:

[0006] 1. Limit the number of mobile devices inserted and connected to the charging line to prevent exceeding the rated charging load of the power supply.

[0007] 2. Charging of a safe number of mobile devices is started and stopped simultaneously. As the electrical usage conditions of different mobile devices vary, this method results in an unbalanced situation where some mobile devices are overcharged and some mobile devices are undercharged.

[0008] 3. After the mobile device at the end of the charging line is fully charged, the mobile device at the preceding stage is charged. This method, by charging each mobile device sequentially, not only prolongs the total charging time of the charging line but also results in a situation where the mobile device at the end is fully charged but the mobile device at the preceding stage is undercharged or not charged at all.

[0009] 4. Buttons are installed on each mobile device, and the charging order is controlled artificially. This method requires artificial participation, and there are issues such as a lack of artificial management. Prior art literature

[0010] 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

[0011] Accordingly, the present invention has been devised to solve the aforementioned conventional problems. According to an embodiment of the present invention, the purpose is to provide a multi-purpose cart-type robot that can be used in cases where it becomes difficult to walk around carrying luggage, such as in exhibition halls, large parks, or large shopping malls.

[0012] According to an embodiment of the present invention, the purpose is to provide a variable ultra-lightweight modular mobile robot that can start charging after system recognition via communication when a charging pad protruding from the lower part of the bottom frame is attached to the contact part of the rear robot by applying a stackable structure (charging when stacked).

[0013] And according to an embodiment of the present invention, the battery is embedded inside the vehicle body frame (chassis), so that a separate battery space is not required, and the structure is simple and easier to overlap, and the purpose is to provide a variable ultra-light modular mobile robot.

[0014] In addition, according to an embodiment of the present invention, the purpose is to provide a variable, ultra-lightweight modular mobile robot that can be operated by taking out a stacked cart-type mobile robot and unfolding it to become an electric wheelchair that can be sat on (basic type), and by attaching and detaching modules (with various functions) to enable the implementation of various functions.

[0015] 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

[0016] The objective of the present invention can be achieved as a variable ultra-light modular mobile robot comprising: a driving wheel driven by receiving power from a rechargeable battery, provided on a vehicle body frame, and a handle installed on the upper part of the frame; a lower frame on which the driving wheel is installed; a side frame connected to the rear of the lower frame and having a handle installed on the upper part; a battery module embedded inside at least one of the lower frame and the side frame; and a charging pad installed on at least one of the lower frame and the side frame; wherein the lower frame of the mobile robot at the rear is inserted into the lower part of the lower frame of the mobile robot at the front and overlapped so that the charging pads come into contact with each other and charging begins after recognition through communication.

[0017] In addition, it may be characterized by further including a detachable means provided at the front of the lower frame and the side frame, wherein a functional module having a different function is detachably attached.

[0018] In addition, it may be characterized by including a seat portion hinged to the front of the side frame, an adjustment frame hinged to the side of the side frame, a rotation means for rotating the seat portion around the hinge center, and a rotation portion for rotating the adjustment frame around the hinge center, and a control portion that controls the rotation means to unfold the seat portion and controls the rotation portion to unfold the adjustment frame in wheelchair mode.

[0019] And the above functional module may be characterized as being a cart module, a delivery cargo module, or a cleaning module. Effects of the invention

[0020] According to an embodiment of the present invention, a multi-purpose cart-type robot that can be used in cases where it becomes difficult to walk around carrying luggage, such as in exhibition halls, large parks, or large shopping malls, can be provided.

[0021] According to the variable ultra-lightweight modular mobile robot according to an embodiment of the present invention, by applying a stackable structure (charging when stacked), when a charging pad protruding from the lower part of the bottom frame is attached to the contact part of the rear robot, there is an advantage that charging can start after system recognition through communication.

[0022] And according to the variable ultra-lightweight modular mobile robot according to the embodiment of the present invention, the battery is built inside the vehicle body frame (chassis), so a separate battery space is not required, and the structure is simple and has the advantage of being easier to stack.

[0023] In addition, according to the variable ultra-lightweight modular mobile robot of the embodiment of the present invention, when a stacked cart-type mobile robot is taken out and unfolded, it becomes an electric wheelchair that can be sat on (basic type), and by attaching and detaching modules (having various functions), it has the effect of enabling the implementation of various functions.

[0024] 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

[0025] 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 schematic perspective view showing a variable ultra-lightweight modular mobile robot according to an embodiment of the present invention. FIG. 2 is a side view of mobile robots according to an embodiment of the present invention in a state of being charged while overlapping each other. FIG. 3 is an enlarged view of section A of FIG. 2. FIG. 4 shows a variable ultra-lightweight modular mobile robot according to an embodiment of the present invention, and a battery module embedded in a side frame, FIGS. 5a to 5c are a perspective view and a partial side view of a basic form of a variable ultra-light modular mobile robot according to an embodiment of the present invention, switched to wheelchair mode. FIG. 6 is a schematic perspective view of a variable ultra-lightweight modular mobile robot in a state in which a delivery cargo box module is combined according to an embodiment of the present invention. FIG. 7 is a schematic perspective view of a variable ultra-lightweight modular mobile robot with a cleaning module combined according to an embodiment of the present invention. FIG. 8 is a flowchart of a method for riding an elevator of a variable ultra-lightweight modular mobile robot 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

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0032] Hereinafter, the configuration, function, and operation method of a variable ultra-lightweight modular mobile robot according to an embodiment of the present invention will be described.

[0033] First, FIG. 1 is a schematic perspective view showing a variable ultra-lightweight modular mobile robot according to an embodiment of the present invention.

[0034] And FIG. 2 is a side view showing mobile robots according to an embodiment of the present invention in a state of being charged while overlapping each other. Also, FIG. 3 is an enlarged view of part A of FIG. 2.

[0035] Figure 4 illustrates a variable ultra-lightweight modular mobile robot according to an embodiment of the present invention and a battery module embedded in a side frame.

[0036] A variable ultra-lightweight modular mobile robot (1) according to an embodiment of the present invention is a cart-type mobile robot in which a driving wheel driven by receiving power from a rechargeable battery is provided on a body frame and a handle is installed on the upper part of the frame.

[0037] And the variable ultra-lightweight modular mobile robot (1) according to the embodiment of the present invention is a multi-purpose cart-type robot that can be used in cases where it is difficult to walk around carrying luggage, such as in exhibition halls, large parks, or large shopping malls.

[0038] A variable ultra-lightweight modular mobile robot (1) according to an embodiment of the present invention is configured to include a lower frame (2) on which a driving wheel is installed, as shown in FIG. 1, in the form of a conventional cart, and a side frame (10) connected to the rear of the lower frame (10) and having a handle (16) installed on the top.

[0039] In addition, as shown in FIG. 4, the battery module (11) of the variable ultra-lightweight modular mobile robot (1) according to an embodiment of the present invention can be seen to be embedded inside at least one of the lower frame (2) on which the driving wheel (3) is installed and the side frame (10). Therefore, since a separate battery space is not required, the structure is simple and, as will be described later, has a structure that is easy to overlap.

[0040] In addition, a charging pad (4) is installed on at least one of the bottom frame (2) and the side frame (10).

[0041] And as shown in FIG. 2, the lower frame (2) of the rear mobile robot (1) is inserted into the lower frame (2) of the front mobile robot (1) and overlapped so that the charging pads (4) of each other come into contact and charging begins after system recognition through communication.

[0043] FIGS. 5a to 5c illustrate a perspective view and a partial side view of a variable ultra-light modular mobile robot according to an embodiment of the present invention, in a basic form that has been switched to a wheelchair mode.

[0044] As illustrated in FIGS. 5a to 5c, it can be seen that the variable ultra-lightweight modular mobile robot in its basic form, without the functional module unit described later attached, can be operated as a mobile wheelchair. As described later, the mobile robot according to this embodiment of the present invention is capable of self-driving, but is basically configured to perform artificial intelligence autonomous driving functions.

[0045] A variable ultra-lightweight modular mobile robot (1) according to an embodiment of the present invention may be configured to include a seat portion (12) connected to the front of a side frame (10) by a hinge (13), a control frame (14) connected to the side of the side frame (10) by a hinge and having a control portion (joystick), a rotation means for rotating the seat portion (12) around the hinge (13), and a rotation portion for rotating the control frame (14) around the hinge.

[0046] Accordingly, in wheelchair mode, the control unit controls the rotation means so that the seat portion (12) unfolds, and controls the rotation portion so that the adjustment frame (14) unfolds.

[0048] And the variable ultra-lightweight modular mobile robot (1) may be configured to include a detachable means provided at the front of the lower frame (2) and the side frame (10) so that functional modules having different functions can be detachably attached.

[0049] A functional module according to an embodiment of the present invention may be, for example, a cart module, a delivery cargo module, or a cleaning module.

[0050] FIG. 6 is a schematic perspective view of a variable ultra-lightweight modular mobile robot in a state in which a delivery box module is combined according to an embodiment of the present invention. As shown in FIG. 6, a delivery box module (20) can be attached to the front of the frame through a detachable means, and at this time, it can perform the function of an artificial intelligence autonomous delivery robot.

[0051] FIG. 7 is a schematic perspective view of a variable ultra-lightweight modular mobile robot in a state where a cleaning module is combined according to an embodiment of the present invention. As shown in FIG. 7, a cleaning module (30) can be attached to the front of the frame through a detachable means, and at this time, it can perform the function of an artificial intelligence autonomous cleaning robot.

[0052] This cleaning module (30) may perform vacuum cleaning through a dust collection unit and a suction unit, and may be configured to perform mop cleaning if the cleaning module (30) is composed of a water tank, a spray nozzle, and a mop unit.

[0054] Hereinafter, a method for riding an elevator of a variable ultra-lightweight modular mobile robot according to an embodiment of the present invention will be described.

[0055] First, FIG. 9 illustrates a flowchart of a method for riding an elevator of a variable ultra-lightweight modular mobile robot according to an embodiment of the present invention. FIG. 10 illustrates a block diagram of a configuration associated with riding an elevator according to an embodiment of the present invention.

[0056] A variable ultra-lightweight modular mobile robot (1) 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 capable of reaching a target floor.

[0057] In addition, a vision sensor (210) is provided inside the elevator to determine the coordinate information of the passengers inside.

[0058] And, the variable ultra-lightweight modular mobile robot (1) 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] Then, determine whether boarding is possible (S12).

[0066] 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).

[0067] And second information is identified, and this second information is external elevator situation information, specifically information regarding the landing queue and waiting patterns.

[0068] 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.

[0069] 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).

[0070] 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.

[0071] 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.

[0073] Hereinafter, a step driving control method for a variable ultra-lightweight modular mobile robot 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.

[0074] 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.

[0075] 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).

[0076] 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).

[0077] 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.

[0078] Before the robot (1) 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.

[0079] 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).

[0080] 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).

[0082] Hereinafter, a driving method for avoiding moving objects of a variable ultra-light modular mobile robot according to an embodiment of the present invention will be described.

[0083] FIG. 13 illustrates a flowchart of a driving method for avoiding a moving object according to an embodiment of the present invention.

[0084] The robot (1) has a lighting means (80) that irradiates light onto the ground on the future driving path. And when a moving body approaches within a set short distance on the robot (110)'s driving path, an avoidance driving algorithm is executed.

[0085] That is, when the moving object is at a distance outside the set short distance, the future movement path of the robot (1) is indicated (light irradiation or speaker).

[0086] And when a moving object approaches within close range on the future path of the delivery robot, an avoidance driving algorithm is executed.

[0087] 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).

[0088] 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.

[0089] 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.

[0090] 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.

[0092] 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

[0093] 1: Variable ultra-lightweight modular mobile robot 2: Bottom frame 3: Driving wheel 4: Charging pad 10: Side frame 11: Battery module 12: Seating section 13: Hinge part 14: Adjustment Frame 15: Coordination Department 16: Handle 20: Delivery cargo box module 30: Cleaning module 31: Dust collection tank, water tank 32: Cleaning unit 40: Communication module 50: Judgment part 60: Camera 70: Boarding position determination unit 80: Means of lighting 200: Elevator control panel 210: Vision sensor

Claims

Claim 1 A cart-type mobile robot comprising a driving wheel driven by receiving power from a rechargeable battery, provided on a vehicle body frame, and a handle installed on the upper part of said frame, wherein the driving wheel is installed on a lower frame; a side frame connected to the rear of said lower frame and having a handle installed on its upper part; a battery module embedded inside at least one of said lower frame and side frame; and a charging pad installed on at least one of said lower frame and side frame. and includes a detachable means provided to allow functional modules having different functions to be detachably attached to the front of the lower frame and the side frame; wherein the lower frame of the mobile robot at the rear is inserted into the lower part of the lower frame of the mobile robot at the front and overlaps so that their charging pads come into contact and are recognized via communication, after which charging begins; a seat part hinged to the front of the side frame; an adjustment frame hinged to the side of the side frame; a rotation means for rotating the seat part around the hinge center; and a rotation part for rotating the adjustment frame around the hinge center; wherein, in wheelchair mode, the rotation means is controlled to unfold the seat part and the rotation part is controlled to unfold the adjustment frame; wherein, when riding over a step, if the step contacts the front wheel of the driving part, the step is recognized, the angle of contact is measured by a tilt sensor, the step is detected by the motor load, and each wheel drive part is controlled to tilt the cargo compartment forward when riding over the step, tilt it backward after riding over, perform horizontal control, and accumulate data. Through learning, optimal speed, angle, and wheel lift measurement data are collected, and a lighting means for irradiating light onto the ground on the driving path is included, and when approaching within a set short distance on the movement path, an avoidance driving algorithm is executed, and the avoidance driving algorithm generates multiple candidate paths for the movement of a moving obstacle, searches for candidate paths, extracts the optimal path, and then commands autonomous movement operations, and generates multiple candidate paths for the movement of a moving body and searches for candidate paths,A variable ultra-lightweight modular mobile robot characterized by extracting an optimal path among candidate paths based on the movement efficiency of the robot and the mobile body and the influence on the mobile body, and executing autonomous movement operation commands so that the robot drives avoiding along the optimal path, wherein the optimal path extraction includes a movement prediction simulation unit that simulates the movement state of each robot and the mobile body according to the interaction between the robot and the mobile 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. Claim 2 delete Claim 3 delete Claim 4 A variable ultra-light modular mobile robot according to claim 1, characterized in that the functional module is a cart module, a delivery cargo module, or a cleaning module.

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