Traveling robot

Abstract

A traveling robot is disclosed. The traveling robot may comprise: a main body; driving wheels provided on the bottom portion of the main body; a driving motor for driving the driving wheels; and an emergency stop device provided to the main body. The emergency stop device may comprise: a push button protruding to the outer side of the main body; a movable member interlocked with the push button; an emergency switch for turning the driving motor on or off by means of the movable member; a power transmission device interlocked with the movement of the movable member; and an anchor member driven by the power transmission device so as to be fixed to the ground or spaced apart from the ground. The traveling robot may be electrically stopped by operating the emergency switch by operating the push button, and at the same time, the traveling robot may be physically stopped by operating the anchor member.

Description

driving robot

[0001] The disclosed invention relates to a driving robot.

[0002] Automation technologies are being commercialized in various fields. Customers can now make reservations at stores or accommodations using services implemented with trained artificial intelligence models, and restaurant kiosks allow customers to order food instead of people. Furthermore, robots are appearing to prepare ordered food, and others are even performing food service functions. These robots load trays with plates and other tableware and deliver the food to customers. These robots are equipped with emergency buttons that users can press to initiate an emergency stop while in motion.

[0003] When the user presses the emergency button, power to the robot's drive system is cut off, causing the drive wheels to stop moving. However, if the ground where the robot stops is sloped, the robot's own weight causes it to move along the slope.

[0004] The driving robot according to the present disclosure relates to a driving robot in which electrical and physical stops are made simultaneously in the event of an emergency stop.

[0005] A mobile robot according to one or more embodiments may include: a main body; a driving wheel provided on a bottom of the main body; a driving motor for driving the driving wheel; and an emergency stop device provided on the main body. The emergency stop device may include: a push button protruding outward from the main body; a movable member linked to the push button; an emergency switch for turning on or off the driving motor by the movable member; a power transmission device linked to movement of the movable member; and an anchor member driven by the power transmission device and fixed to the ground or spaced apart from the ground. By operating the push button, the emergency switch can be operated to electrically stop the mobile robot, and at the same time, the anchor member can be operated to physically stop the mobile robot.

[0006] The push button may include a cam member having a first inclined surface. The movable member may include a second inclined surface that makes cam contact with the first inclined surface. The movable member may move in a direction perpendicular to the movement direction of the push button.

[0007] The above anchor member can be raised and lowered in the same direction as the movement direction of the above movable member.

[0008] The above power transmission device may include a gear chain structure in which the gear ratio increases at each of the power transmission start point and the power transmission end point.

[0009] The gear ratio at the start point of the power transmission may be 1:3. The gear ratio at the end point of the power transmission may be 1:9.

[0010] The above movable member may include a gear connected to a part of the gear chain structure; and a pressing portion that presses the button of the emergency switch.

[0011] The above anchor member may further include a rubber member coupled to a lower portion of the anchor member facing the ground.

[0012] The anchor member may have a lower portion facing the ground in a spike shape.

[0013] The above emergency stop device may further include a housing in which the push button is slidably coupled and in which the movable member, the emergency switch and the power transmission device are built.

[0014] The housing may further include a locking member for locking or unlocking the push button.

[0015] The push button may be provided with a locking groove on the outer surface into which the locking member can be inserted; and a cam curved surface that contacts the locking groove and is convexly formed on the outside of the locking member. When the push button is rotated, the locking member can be moved by the cam curved surface and withdrawn from the locking groove.

[0016] The above emergency stop device may be placed at the rear of the main body.

[0017] A driving robot according to one or more embodiments may include: a main body; a driving wheel provided on the main body; a driving motor for driving the driving wheel; and an emergency stop device provided at the rear of the main body and including a push button. The emergency stop device may electrically stop the driving motor and simultaneously physically stop the movement of the driving robot by operation of the push button.

[0018] The above emergency stop device may include a movable member linked to the push button; an emergency switch for turning on or off power provided to the driving robot; an anchor member in close contact with the ground; a gear chain structure for transmitting power of the movable member to the anchor member; and a housing in which the push button is guided and in which the movable member, the emergency switch, and the anchor member are built.

[0019] The gear ratio at the power transmission start point of the above gear chain structure may be 1:3. The gear ratio at the power transmission end point of the above gear chain structure may be 1:9.

[0020] FIG. 1 is a perspective view showing an example of a tray device mounted on a driving robot according to one or more embodiments.

[0021] FIG. 2 is a perspective view illustrating a driving robot according to one or more embodiments.

[0022] FIG. 3 is a plan view illustrating a driving robot according to one or more embodiments.

[0023] FIG. 4 is a perspective view showing an emergency stop device provided in a driving robot according to one or more embodiments.

[0024] Fig. 5 is a cross-sectional view of the driving device taken along the line A-A' shown in Fig. 3.

[0025] FIG. 6 is an enlarged view of a portion of an emergency stop device provided in a driving robot according to one or more embodiments illustrated in FIG. 5.

[0026] Figure 7 is a cross-sectional view taken along the line B-B' shown in Figure 5.

[0027] FIG. 8 is an enlarged view of a portion of an emergency stop device provided in a driving robot according to one or more embodiments illustrated in FIG. 7.

[0028] Figure 9 is a cross-sectional view taken along the line C-C' shown in Figure 8.

[0029] FIG. 10 is a drawing showing an example of a movable member being linked when a push button of an emergency stop device equipped on a driving robot according to one or more embodiments is operated.

[0030] FIG. 11 is a drawing showing an example in which a button of an emergency switch is pressed when a push button of an emergency stop device equipped on a driving robot according to one or more embodiments is operated.

[0031] FIGS. 12 and 13 are drawings showing examples in which a plurality of anchor members are fixed to the ground when a push button of an emergency stop device equipped on a driving robot according to one or more embodiments is operated.

[0032] FIG. 14 is a drawing showing an example in which a push button of an emergency stop device equipped on a driving robot according to one or more embodiments is locked.

[0033] FIG. 15 is a drawing showing an example in which a push button of an emergency stop device equipped on a driving robot according to one or more embodiments is unlocked.

[0034] FIGS. 16 and 17 are drawings showing various examples of anchor members of an emergency stop device provided in a driving robot according to one or more embodiments.

[0035] FIG. 18 is a block diagram illustrating a driving robot according to one or more embodiments.

[0036] The embodiments described in this specification and the configurations illustrated in the drawings are merely one or more preferred embodiments of the disclosed invention, and there may be various modified examples that can replace the embodiments and drawings of this specification at the time of filing of this application.

[0037] Additionally, the same reference numbers or symbols presented in each drawing of this specification represent parts or components that perform substantially the same function.

[0038] In addition, the terminology used in this specification is used to describe embodiments and is not intended to limit and / or restrict the disclosed invention. The singular expression includes plural expressions unless the context clearly indicates otherwise. In this specification, the terms “comprise” or “have” and the like are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0039] Additionally, terms including ordinal numbers such as “first,” “second,” etc. used herein may be used to describe various components, but the components are not limited by the terms, and the terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present disclosure, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term “and / or” includes any combination of a plurality of related listed items or any item among a plurality of related listed items.

[0040] Meanwhile, the terms “leading end”, “rear end”, “upper end”, “lower end”, “front end”, “rear end”, “top” and “bottom end”, “X-axis direction”, “Y-axis direction”, “Z-axis direction”, etc. used in the description below are defined based on the drawing, and the shape and position of each component are not limited by these terms.

[0041] Hereinafter, a driving robot will be described in detail with reference to the drawings in which one or more embodiments are attached.

[0042] FIG. 1 is a perspective view showing an example of a tray device mounted on a driving robot according to one or more embodiments.

[0043] The driving robot (100) includes a main body (110), and various devices can be connected to the upper part (111, see FIG. 3) of the main body (110). For example, the driving robot (100) can be equipped with a tray device (10) on the upper part (111) of the main body (110) as shown in FIG. 1. In this case, the driving robot (100) can drive with the tray device (10) mounted thereon to serve dishes, for example, when used in a restaurant or the like. The tray device (10) can have a plurality of trays (20) on which dishes, etc. are placed, arranged at intervals in the vertical direction. The tray device (10) can be equipped with a touch screen (30) that can receive a user's touch input and display various types of user interfaces.

[0044] The device mounted on the upper part (111) of the main body (110) is not limited to the tray device (10), and various devices can be mounted. For example, the driving robot (100) can be equipped with a storage box on the upper part (111) of the main body (110) and can be used as a delivery robot that delivers products to a destination. The driving robot (100) can be combined with a body having a large display attached to the upper part of the main body (110). In this case, the driving robot (100) can be used as a guide robot that provides various information to customers while moving around an airport or a large mall. Alternatively, the driving robot (100) can be used as an exploration robot that can explore dangerous areas (fire or disaster areas) if it is equipped with a robot arm and a camera.

[0045] FIG. 2 is a perspective view illustrating a driving robot according to one or more embodiments. FIG. 3 is a plan view illustrating a driving robot according to one or more embodiments.

[0046] Referring to FIG. 2, the driving robot (100) has a main body (110) forming an outer shape, and the main body (110) can be closed at the bottom by a bottom portion (120).

[0047] Referring to Fig. 2, a first driving wheel (131a) and a second driving wheel (131b) may be provided on the left and right sides of the bottom portion (120). A pair of front support wheels (133a, 133b) may be provided in front of the first and second driving wheels (131a, 131b), and a pair of rear support wheels (134a, 134b) may be provided in the rear of the first and second driving wheels (131a, 131b). The pair of front support wheels (133a, 133b) and the pair of rear support wheels (134a, 134b) may be rotatably connected to the bottom portion (120) by casters (135), respectively.

[0048] Referring to FIG. 3, the main body (110) may have an opening (113) provided in the upper portion (111) on which the tray device (10) is mounted. The tray device (10) mounted in the upper portion (111) of the main body (110) may be electrically connected to a power supply device (150, see FIG. 18) disposed inside the main body (110) through electrical wiring passing through the opening (113).

[0049] The main body (110) may include a plurality of obstacle sensors (141, 143) that can detect people or obstacles while the driving robot (100) is driving. Some of the obstacle sensors (141, see FIG. 1) among the plurality of obstacle sensors may be spaced apart along the front of the main body (110), and the remaining obstacle sensors (143, see FIG. 2) may be positioned along the rear of the main body (110). The plurality of obstacle sensors (141, 143) may be positioned along the side of the main body (110) in addition to the front and rear of the main body (110).

[0050] The plurality of obstacle sensors (141, 143) may include one of the distance sensors (e.g., RADAR (Radio Detection And Ranging), LiDAR (Light Imaging Detection and Ranging), ultrasonic sensors, etc.) that sense the distance to an object by measuring the time it takes for a radio wave (or signal) to be reflected and returned, such as a ToF (Time of Flight) method.

[0051] Referring to FIG. 2, the bottom portion (120) may be provided with a guide portion (123) that supports the first anchor member (271) and the second anchor member (275) of the emergency stop device (200) so that they can be raised and lowered. The guide portion (123) is formed integrally with the bottom portion (120), but is not limited thereto, and may be formed integrally with a part of the emergency stop device (200) (for example, a part of the first housing (210, see FIG. 5)).

[0052] An emergency stop device (200) may be provided at the rear portion of the driving robot (100). In this way, by providing the emergency stop device (200) at the rear portion of the driving robot (100), it is possible to improve the tendency of the driving robot (100) to fall in the driving direction due to inertia when making an emergency stop.

[0053] For example, if the height of a structure (e.g., a tray device (10)) mounted on the upper portion of a driving robot (100) is approximately three times or more higher than the height of the driving robot (100), if an emergency stop device (200) is provided on the front portion of the driving robot (100), the driving robot (100) may fall in the driving direction due to inertia as the first anchor member (271) and the second anchor member (275) that are fixed to the ground when the driving robot (100) makes an emergency stop act as a catch.

[0054] Accordingly, an emergency stop device (200) can be provided at the rear portion of the driving robot (100) to minimize the driving robot (100) from falling in the driving direction due to inertia when making an emergency stop while driving.

[0055] The emergency stop device (200) can cut off the power to the driving robot (100) and simultaneously stop the movement of the driving robot (100) when the push button (230) is operated by the user. In this way, the emergency stop device (200) can simultaneously achieve an electrical stop and a physical stop with a single action of pressing the push button (230). Hereinafter, the structure of the emergency stop device (200) will be described in detail with reference to the drawings.

[0056] FIG. 4 is a perspective view illustrating an emergency stop device provided to a driving robot according to one or more embodiments. FIG. 5 is a cross-sectional view of the driving device taken along line A-A' shown in FIG. 3. FIG. 6 is an enlarged view of a portion of an emergency stop device provided to a driving robot according to one or more embodiments shown in FIG. 5. FIG. 7 is a cross-sectional view taken along line B-B' shown in FIG. 5. FIG. 8 is an enlarged view of a portion of an emergency stop device provided to a driving robot according to one or more embodiments shown in FIG. 7. FIG. 9 is a cross-sectional view taken along line C-C' shown in FIG. 8.

[0057] Referring to FIGS. 4 and 5, the emergency stop device (200) may include a first housing (210) and a second housing (220) coupled to the first housing (210).

[0058] The first housing (210) may form the rear of the driving robot (100) together with the main body (110). The first housing (210) may be provided with a groove (211) to which a push button (230) is movably coupled along the Y-axis direction, and a cylindrical support (213) extended from the groove (211). The groove (211) may be recessed into the inside of the first housing (210), and the cylindrical support (213) may be located inside the first housing (210).

[0059] The second housing (220) may be formed approximately symmetrically with the first housing (210), but is not limited thereto. The second housing (220) may, together with the first housing (210), form a movable member (240) and a power transmission device for transmitting the power of the movable member (240) to the first and second anchor members (271, 275), and a storage space (217) in which an emergency switch (280) is stored. The second housing (220) may be provided with a guide hole (221) through which a cam member (235) coupled to a push button (230) passes. The guide hole (221) may slidably support the cam member (235) when the push button (230) moves forward or backward along the Y-axis direction.

[0060] The emergency stop device (200) may include a push button (230), a movable member (240), a power transmission device, a first anchor member (271), and a second anchor member (275).

[0061] Referring to FIG. 7, the rear end of the push button (230) may protrude a predetermined length outward from the first housing (210) so that a user can easily press the push button (230).

[0062] The push button (230) can be slidably inserted into the cylindrical support member (213) in the Y-axis direction. A cam member (235) can be coupled to the tip of the push button (230) by a coupling shaft (237). The push button (230) can rotate around the coupling shaft (237). The push button (230) can be switched from a locking mode to an unlocking mode by rotating around the coupling shaft (237).

[0063] Referring to FIGS. 8 and 9, a first locking groove (231) may be provided on an outer surface (230a) of a push button (230). A first locking member (261) may be detachably inserted into the first locking groove (231). The first locking member (261) may be elastically supported on a cylindrical support member (213) by a first elastic member (265). An elastic force may be applied to the first locking member (261) in a direction perpendicular to the longitudinal direction of the push button (230) by the first elastic member (265). The first locking member (261) may be elastically pressed against the outer surface (230a) of the push button (230) in a locking release mode of the push button (230). The first locking member (261) can be inserted into the first locking groove (231) of the push button (230) in the locking mode of the push button (230).

[0064] A first cam curved surface (232) that contacts a first locking groove (231) may be provided on the outer surface (230a) of the push button (230). One side of the first cam curved surface (232) may be connected to the bottom of the first locking groove (231) and the other side may be connected to the outer surface (230a) of the push button (230). The first cam curved surface (232) may protrude to the outside of the push button (230) at a predetermined curvature. The first cam surface (232) can guide the first locking member (261) to come out from the first locking groove (231) to the outer surface (230a) of the push button (230) when the push button (230) is rotated clockwise in the locking mode of the push button (230) (the first locking member (261) is inserted into the first locking groove (231)) (see FIG. 14).

[0065] A second locking groove (233) may be provided on the outer periphery of the push button (230) symmetrically arranged with respect to the first locking groove (231). A second locking member (263) may be detachably inserted into the second locking groove (233). The second locking member (263) may be elastically supported on the cylindrical support member (213) by a second elastic member (267). The second locking member (263) may be symmetrically arranged with respect to the first locking member (261). The second locking member (263) may have an elastic force applied in a direction perpendicular to the longitudinal direction of the push button (230) by the second elastic member (267). The second locking member (263) may be elastically pressed against the outer periphery of the push button (230) in the unlocking mode of the push button (230). The second locking member (263) can be inserted into the second locking groove (233) of the push button (230) in the locking mode of the push button (230).

[0066] A second cam curved surface (234) that comes into contact with a second locking groove (233) may be provided on the outer surface (230a) of the push button (230). One side of the second cam curved surface (234) may be connected to the bottom of the second locking groove (233) and the other side may be connected to the outer surface (230a) of the push button (230). The second cam curved surface (234) may protrude outward from the push button (230) at a predetermined curvature. The second cam curved surface (234) may be arranged in an opposite direction to the first cam curved surface (232). For example, in FIG. 9, the first cam curved surface (232) may be arranged on the right side of the first locking groove (231), and the second cam curved surface (234) may be arranged on the left side of the second locking groove (233).

[0067] The second cam surface (234) can guide the second locking member (263) to come out from the second locking groove (233) to the outer surface (230a) of the push button (230) when the push button (230) is rotated clockwise in the locking mode of the push button (230) (with the second locking member (263) inserted into the second locking groove (233)) (see FIG. 14).

[0068] When the user rotates the push button (230) clockwise and then releases the push button (230), the push button (230) can be rotated counterclockwise by a separate elastic member to return to its initial position.

[0069] The cylindrical support portion (213) of the first housing (210) may be provided with first and second locking members (261, 263), but is not limited thereto. For example, only one locking member among the first and second locking members (261, 263) may be provided on the cylindrical support portion (213) of the first housing (210). In addition, the cylindrical support portion (213) of the first housing (210) may further be provided with an additional locking member in addition to the first and second locking members (261, 263). In this case, the push button (230) may be provided with an additional locking groove and an additional cam surface corresponding to the additional locking member.

[0070] Referring to FIGS. 7 and 8, the movable member (240) can mediate the push button (230) and the power transmission device. For example, the movable member (240) can transmit the pressing force of the push button (230) to the power transmission device in conjunction with the operation of the push button (230). The movable member (240) can move along the Z-axis direction by the movement of the push button (230) when the push button (230) moves along the Y-axis direction. The movable member (240) can transmit the power of the push button (230) to the power transmission device in conjunction with the push button (230).

[0071] A pressure portion (241) that can press the button (281) of the emergency switch (280) when the movable member (240) is lowered by being bent toward the emergency switch (280) may be provided on the upper part of the movable member (240). When the button (281) is pressed by the pressure portion (241) of the movable member (240), the emergency switch (280) can turn off the power provided to the drive motor (132, see FIG. 18) that drives the first and second drive wheels (131a, 131b) from the power supply device (150). When the button (281) of the emergency switch (280) is not pressed by the pressure portion (241) of the movable member (240), the power provided to the drive motor (132) can be kept on. The button (281) of the emergency switch (280) can be elastically supported by a separate elastic member. Therefore, when the pressure applied by the pressurizing portion (241) of the movable member (240) is released, it can rise.

[0072] A first rack gear (243) that is gear-connected to the first gear (251) and the second gear (252a) of the power transmission device may be provided at the lower portion of the movable member (240). Accordingly, when the movable member (240) moves along the Z-axis direction, the first gear (251) and the second gear (252a) can simultaneously rotate in opposite directions.

[0073] The movable member (240) can be elastically supported within the first housing (210) by the third elastic member (247). The movable member (240) is elastically pressed toward the cam member (235) along the Z-axis direction by the third elastic member (247). Accordingly, the third elastic member (247) can prevent the movable member (240) from descending in the direction of gravity due to its own weight.

[0074] Referring to Fig. 8, the cam member (235) can move forward or backward along the Y-axis direction together with the push button (230). The cam member (235) may be provided with a first inclined surface (236). The height of the first inclined surface (236) on the side adjacent to the push button (230) is smaller than the height of the side far from the push button (230). The first inclined surface (236) of the cam member (235) may be in cam contact with the second inclined surface (245) of the movable member (240). The first inclined surface (236) of the cam member (235) and the second inclined surface (245) of the movable member (240) may be flat.

[0075] When the cam member (235) is moved along the Y-axis direction by the push button (230), the movable member (240) can move along the Z-axis direction which is perpendicular to the moving direction of the cam member (235). That is, the first inclined surface (236) of the cam member (235) and the second inclined surface (245) of the movable member (240) change the moving direction of the cam member (235) to vertical, so that the movable member (240) can move along the Z-axis direction.

[0076] Referring to FIGS. 4 and 5, the power transmission device may have a gear chain structure. Here, the gear chain structure may be a structure in which multiple gears are connected in series, so that when one gear is driven, the remaining gears are also driven. For example, the power transmission device may include a first rack gear (243), a first gear (251) and a second gear (252) gear-connected to the first rack gear (243), a third gear (253) gear-connected to the first gear (251), a fourth gear (254) coaxially connected to the second gear (252), a fifth gear (255) gear-connected to the fourth gear (254), a sixth gear (256) coaxially connected to the third gear (253), a seventh gear (257) coaxially connected to the fifth gear (255), a second rack gear (258) gear-connected to the sixth gear (256), and a third rack gear (259) gear-connected to the seventh gear (257).

[0077] The first gear (251) can rotate around the first axis (S1). The second gear (252) and the fourth gear (254) can rotate around the second axis (S2). The third gear (253) and the sixth gear (256) can rotate around the third axis (S3). The fifth gear (255) and the seventh gear (257) can rotate around the fourth axis (S4). The first, second, third, and fourth axes (S1, S2, S3, S4) can be arranged parallel to each other in the Y-axis direction.

[0078] The power transmission device can adjust the gear ratio to make the stroke of the first anchor member (271) and the second anchor member (275) larger than the stroke of the push button (230). For example, the gear ratio of the first rack gear (243) and the first gear (251) can be 1:3, and the gear ratio of the first rack gear (243) and the second gear (252) can be 1:3. The gear ratio of the first gear (251) and the second gear (252) can be 1:1. The gear ratio of the sixth gear (256) and the second rack gear (258) can be 1:9. The gear ratio of the seventh gear (257) and the third rack gear (259) can be 1:9. The gear ratio of the sixth gear (256) and the seventh gear (257) can be 1:1. In this case, the gear ratios of the first gear (251), second gear (252), third gear (253), and fifth gear (255) may be the same. The gear ratios of the fourth gear (254), sixth gear (256), and seventh gear (257) may be the same.

[0079] In this way, by setting the gear ratio of the starting point of the power transmission device to 1:3 and setting the gear ratio of the ending point of the power transmission device to 1:9, the first anchor member (271) and the second anchor member (275) can have a stroke longer than the stroke of the push button (230) so that they can be brought into close contact with the ground (1) by the operation of the push button (230).

[0080] The gear ratios (1:3 and 1:9) applied to the power transmission device in the present disclosure are exemplary and are not limited thereto. For example, the gear ratio applied to the power transmission device may vary depending on the distance G (see FIG. 7) between the first and second anchor members (271, 275) and the ground (1). Here, the distance G may be the distance between the lower ends of the first and second anchor members (271, 275) and the ground (1) when the push button (230) is in unlock mode.

[0081] A first anchor member (271) may be connected to the lower end of the second rack gear (258). A second anchor member (275) may be connected to the lower end of the third rack gear (249).

[0082] The first anchor member (271) can be raised and lowered along the Z-axis together with the second rack gear (258). The second anchor member (275) can be raised and lowered along the Z-axis together with the third rack gear (259).

[0083] The first anchor member (271) and the second anchor member (275) can be connected to both ends of a connecting member (279) arranged in the X-axis direction. Accordingly, the first anchor member (271) and the second anchor member (275) can be raised and lowered together. The first anchor member (271) can be elastically supported by the fourth elastic member (273), and the second anchor member (275) can be elastically supported by the fifth elastic member (277).

[0084] The distance between the lower end of the first anchor member (271) and the ground (1) may be the same as the distance between the lower end of the second anchor member (275) and the ground (1). When the push button (230) is pressed to emergency stop the driving robot (100), the first anchor member (271) and the second anchor member (275) may descend along the Z-axis direction in conjunction with the operation of the power transmission device and come into close contact with the ground (1).

[0085] The first anchor member (271) and the second anchor member (275) may each have rubber members (272, 276) attached to their lower portions. When the rubber members (272, 276) are in close contact with the ground (1), they can increase friction with the ground. Accordingly, even when the ground on which the mobile robot (100) has made an emergency stop is inclined, the mobile robot (100) can be stopped stably without slipping.

[0086] The first anchor member (271) and the second anchor member (275) may not have rubber members (272, 276) and may have spikes formed at the bottom. In this case, when the push button (230) is pressed, the first anchor member (271) and the second anchor member (275) may be fixed by having the spikes dig into the ground (1). One or more spikes may be provided at the bottoms of each of the first anchor member (271) and the second anchor member (275).

[0087] An emergency stop device (200) according to one or more embodiments has a plurality of gear structures as a power transmission device that lowers the first anchor member (271) and the second anchor member (275) in conjunction with the operation of the push button (230), but is not limited thereto. For example, the power transmission device may be formed of a link structure including a plurality of links. The link structure may lower the first anchor member (271) and the second anchor member (275) and be fixed to the ground as the movable member (240) lowers, and raise the first anchor member (271) and the second anchor member (275) and be separated from the ground as the movable member (240) rises.

[0088] The emergency stop device (200) is described as using two anchor members (271, 275), but is not limited thereto. For example, one or more additional anchor members may be provided in the connecting member (279) between the two anchor members (271, 275). In this case, an additional hole may be provided in the guide portion (123) through which the additional anchor members pass.

[0089] Additionally, the emergency stop device (200) may be equipped with only one anchor member. In this case, the first anchor member (271) and the second anchor member (275) may be omitted, and one anchor member may be provided at the center of the connecting member (279). The one anchor member may be elastically supported within the guide portion (123) by an elastic member.

[0090] Hereinafter, with reference to the drawings, an example is described in which an electrical stop and a physical stop are performed simultaneously when an emergency stop is performed on a driving robot according to one or more embodiments.

[0091] When the push button (230) is pressed, the driving robot (100) can be powered off by the emergency switch (280) and at the same time, the first and second anchor members (271, 275) can be brought into contact with the ground (1) to an emergency stop. The process of the driving robot (100) being brought to an emergency stop will be described below.

[0092] The driving robot (100) can drive along a preset driving path. The driving robot (100) can avoid people or obstacles located along the driving path through a number of obstacle sensors (141, 143).

[0093] FIG. 10 is a drawing showing an example of a movable member being linked when a push button of an emergency stop device equipped on a driving robot according to one or more embodiments is operated.

[0094] Referring to Fig. 10, a user can press a push button (230) to make an emergency stop of a driving robot (100) while it is driving. The push button (230) can move along the Y-axis direction.

[0095] The cam member (235) can move toward the movable member (240) along the Y-axis direction together with the push button (230). The first inclined surface (236) of the cam member (235) can press the second inclined surface (245) of the movable member (240) that is in contact with the cam. Accordingly, the movable member (240) can descend along the Z-axis direction.

[0096] FIG. 11 is a drawing showing an example in which an emergency switch is turned off when a push button of an emergency stop device equipped on a driving robot according to one or more embodiments is operated.

[0097] Referring to Fig. 11, as the movable member (240) descends along the Z-axis direction, the pressurizing portion (241) of the movable member (240) can press the button (281) of the emergency switch (280). Accordingly, the power supplied from the power supply device (150) to the drive motor (132) that drives the first and second drive wheels (131a, 131b) can be turned off.

[0098] The first and second drive wheels (131a, 131b) stop rotating when the drive motor (132) is turned off. If there is no slope on the ground (1) at the point where the drive motor (132) is turned off, the driving robot (100) can be stopped. Even if there is a slope on the ground (1) at the point where the drive motor (132) is turned off, the driving robot (100) can be stopped stably without slipping along the inclined ground (1) by the following physical stopping operation performed simultaneously with the emergency switch being turned off.

[0099] FIGS. 12 and 13 are drawings showing examples in which a plurality of anchor members are fixed to the ground when a push button of an emergency stop device equipped on a driving robot according to one or more embodiments is operated.

[0100] Referring to FIGS. 12 and 13, as the movable member (240) descends in the Y-axis direction, the first gear (251) and the second gear (252) connected to the first rack gear (243) can simultaneously rotate in opposite directions.

[0101] As the first gear (251) rotates, the third gear (253) and the sixth gear (256) coaxially coupled with the third gear (253) can simultaneously rotate in the opposite direction to the rotation direction of the first gear (251). As the sixth gear (256) rotates, the second rack gear (258) and the first anchor member (271) can descend along the Y-axis. The rubber member (272) of the first anchor member (271) can be pressed against the ground (1). In this way, the driving robot (100) can be physically stopped at the same time as the emergency switch (280) is turned off. Therefore, even if there is an incline in the ground (1) at the point where the driving robot (100) stops, the driving robot (100) can be stably stopped by the first anchor member (271) without slipping due to its own weight.

[0102] In this case, since the gear ratio of the first rack gear (243) and the first gear (251) is 1:3, and the gear ratio of the sixth gear (256) and the second rack gear (258) is 1:9, the first anchor member (271) can have a stroke greater than the stroke of the push button (230). In this way, the power transmission device of the driving robot (100) according to the present disclosure can form the height of the driving robot (100) low by converting the short stroke of the push button (230) into a long stroke of the first anchor member (271).

[0103] By the rotation of the first gear (251), the rubber member (272) of the first anchor member (271) can finally be brought into close contact with the ground (1), and at the same time, by the rotation of the second gear (252), the rubber member (276) of the second anchor member (275) can finally be brought into close contact with the ground (1). That is, by the rotation of the second gear (252), the fourth gear (254) coaxially coupled to the second gear (252) can rotate. By the rotation of the fourth gear (254), the fifth gear (255) and the seventh gear (257) coaxially coupled with the fifth gear (255) can simultaneously rotate in the direction opposite to the rotation direction of the second gear (252). By the rotation of the seventh gear (257), the third rack gear (259) and the second anchor member (275) can descend along the Y-axis direction. The rubber member (276) of the second anchor member (275) can be in close contact with the ground (1).

[0104] In this way, by the operation of the push button (230), the first and second anchor members (271, 275) can finally be lowered, and the rubber members (272, 276) of the first and second anchor members (271, 275) can be brought into close contact. Therefore, even if there is an incline in the ground (1) at the point where the driving robot (100) stops, the driving robot (100) can be stably stopped by the first and second anchor members (271, 275) without slipping due to its own weight.

[0105] FIG. 14 is a drawing showing an example in which a push button of an emergency stop device equipped on a driving robot according to one or more embodiments is locked.

[0106] Referring to Fig. 14, when the push button (230) moves forward toward the movable member (240) along the Y-axis direction, the first locking member (261) is inserted into the first locking groove (231) of the push button (230), and the second locking member (263) is inserted into the second locking groove (233) of the push button (230). Accordingly, the push button (230) can be locked by the first and second locking members (261, 263). In this case, the push button (230) cannot move backward along the Y-axis direction to the initial position.

[0107] The first and second anchor members (271, 275) can be maintained in a state of being lowered toward the ground (1) while the push button (230) is locked. Accordingly, the driving robot (100) can be continuously stopped on the ground (1) while the push button (230) is maintained in a locked state.

[0108] The driving robot (100) can perform a physical stop by the first and second anchor members (271, 275) simultaneously with an electrical stop by turning off the emergency switch (280) through the emergency stop device (200). Therefore, even if there is an incline on the ground (1), if separate brake devices are not installed on the first and second driving wheels (131a, 131b), the driving robot (100) can be prevented from being moved unintentionally by its own weight.

[0109] FIG. 15 is a drawing showing an example in which a push button of an emergency stop device equipped on a driving robot according to one or more embodiments is unlocked.

[0110] Referring to Fig. 15, in order to switch the push button (230) from the locked state to the unlocked state, the push button (230) can be rotated clockwise. The first locking member (261) inserted into the first locking groove (231) can be moved backward by the first cam curve (232) while making sliding contact with the first cam curve (232) and can be removed from the first locking groove (231). At the same time, the second locking member (263) inserted into the second locking groove (233) can be moved backward by the second cam curve (234) while making sliding contact with the second cam curve (234) and can be removed from the second locking groove (233).

[0111] The unlocked push button (230) can be moved backward along the Y-axis to the initial position by the elastic force of the fourth and fifth elastic members (273, 277) that elastically support the first and second anchor members (271, 275).

[0112] When the push button (230) is unlocked, the movable member (240) can rise along the Z-axis. When the button (281) of the emergency switch (280) that was pressed by the pressurizing portion (241) of the movable member (240) rises, power can be supplied from the power supply unit (150) to the drive motor (132). Accordingly, the driving of the first and second drive wheels can be resumed.

[0113] A driving robot (100) according to one or more embodiments can be physically released from a stop by causing the first and second anchor members (271, 275) to rise along the Z-axis direction at the same time as the electrical stop is released through the emergency stop device (200).

[0114] FIGS. 16 and 17 are drawings showing various examples of anchor members of an emergency stop device provided in a driving robot according to one or more embodiments.

[0115] Referring to Fig. 16, the rubber member (272-2) coupled to the lower end of the anchor member (271-1) may be formed in a roughly conical shape to increase the friction area with the ground (1).

[0116] Referring to Fig. 17, the emergency stop device (200) may be placed at the rear of the driving robot (100). Accordingly, the anchor member (271-2) may be formed in a shape extending toward the front of the driving robot (100) to further increase the frictional area of ​​the rubber member (272-2).

[0117] FIG. 18 is a block diagram illustrating a driving robot according to one or more embodiments.

[0118] Referring to FIG. 18, the driving robot (100) may include a driving motor (132) for driving the first and second driving wheels (131a, 131b), a sensor unit (140), a power supply unit (150), a processor (160), and a memory (161) for storing map information such as a driving path and various other information.

[0119] The processor (160) is a component for controlling the overall operation of the driving robot (100). The processor (160) can control the driving and stopping operations of the driving robot (100) by controlling the driving motor (132).

[0120] The processor (160) can control the drive motor (132) to avoid obstacles while driving based on sensing data received from a plurality of obstacle sensors (141, 143) included in the sensor unit (140).

[0121] The processor (160) can obtain information about the structure of the space (place) where the driving robot (100) is located from the first camera included in the sensor unit (140). Based on the information about the obtained structure, the processor (160) can divide the space into a plurality of zones and generate information about a map including information about the structure of each of the divided zones. The processor (160) can store information about the generated map in the memory (161).

[0122] The processor (160) can input the captured image of the second camera included in the sensor unit (140) into an artificial intelligence model and analyze the captured image. One or more second cameras may be used. Based on the output value of the artificial intelligence model, the processor (160) can determine the type of the processing target captured by the second camera or the position in which it is positioned. The artificial intelligence model can be trained based on captured images of various targets captured in various positions and labeling data therefor.

[0123] The processor (160) may be composed of one or more processors. The one or more processors may include at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and an NPU (Neural Processing Unit), but are not limited to the examples of the processors described above.

[0124] A CPU is a general-purpose processor capable of performing not only general calculations but also artificial intelligence calculations. Its multi-layered cache structure allows for the efficient execution of complex programs. CPUs are advantageous for serial processing, enabling organic linking of previous and subsequent calculation results through sequential calculations. A general-purpose processor is not limited to the examples described above, except where specifically designated as a CPU.

[0125] A GPU is a processor designed for large-scale computations, such as floating-point operations used in graphics processing. It integrates a large number of cores to perform large-scale computations in parallel. In particular, GPUs may be advantageous over CPUs in parallel processing methods, such as convolution operations. Furthermore, GPUs can be used as coprocessors to supplement the functions of CPUs. Processors for large-scale computations are not limited to the examples described above, except in cases where they are specifically referred to as GPUs.

[0126] An NPU is a processor specialized in artificial intelligence computation using artificial neural networks, and each layer of the artificial neural network can be implemented in hardware (e.g., silicon). Since an NPU is designed specifically according to the company's specifications, it has less freedom than a CPU or GPU, but can efficiently process the AI ​​computations requested by the company. Meanwhile, as a processor specialized in artificial intelligence computation, an NPU can be implemented in various forms, such as a Tensor Processing Unit (TPU), an Intelligence Processing Unit (IPU), or a Vision Processing Unit (VPU). Except as specifically stated as an NPU, an AI processor is not limited to the examples described above.

[0127] Additionally, one or more processors may be implemented as a System on Chip (SoC). In this case, in addition to one or more processors, the SoC may further include a memory (161) and a network interface such as a bus for data communication between the processor (160) and the memory (161).

[0128] When a system on chip (SoC) included in a service robot according to one or more embodiments includes multiple processors, the service robot may perform artificial intelligence-related operations (e.g., operations related to learning or inference of an artificial intelligence model) by using some of the multiple processors. For example, the service robot may perform artificial intelligence-related operations by using at least one of a GPU, NPU, VPU, TPU, or hardware accelerator specialized in artificial intelligence operations such as convolution operations or matrix multiplication operations among the multiple processors. However, this is only one or more embodiments, and it is obvious that operations related to an object recognition function may be processed by using a general-purpose processor such as a CPU.

[0129] The memory (161) is a component for storing various programs and data required for the operation of the driving robot (100). The memory (161) may include volatile memory or non-volatile memory. The program may be stored as software in the memory (161) and may include, for example, an operating system, middleware, or an application.

[0130] A mobile robot (100) may include a communication unit for wired or wireless communication with a separate electronic device. The communication unit may perform communication with the electronic device using various communication methods (e.g., WiFi, Bluetooth, ZigBee, UWB (Ultra-Wideband), etc.). To this end, the communication unit may include circuits corresponding to each communication method.

[0131] The mobile robot (100) may include an interface. The interface is a component for receiving signals or data from various external means. The interface may be implemented in various forms, such as an input / output interface connected to an input means such as a keyboard, mouse, or microphone, an output means such as a display device or speaker, a communication interface for communicating with an external device, or an interface connected to an external storage means such as a USB memory. A user may directly input data through the interface, or the service robot may receive input data through an external device. Alternatively, data input through both paths may be utilized as input data.

[0132] Although the preferred embodiments have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above, and various modifications may be made by a person having ordinary skill in the art to which the present disclosure pertains without departing from the gist of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the present disclosure.

Claims

1. In driving robots, entity; A driving wheel provided on the bottom of the above main body; a drive motor for driving the above drive wheel; and Including an emergency stop device provided in the above body; The above emergency stop device, A push button protruding from the outside of the above body; A movable member interlocked with the above push button; An emergency switch that turns the drive motor on or off by the above-mentioned movable member; A power transmission device linked to the movement of the above movable member; and An anchor member driven by the power transmission device and fixed to the ground or spaced apart from the ground; A driving robot, wherein the emergency switch is operated by the operation of the push button to electrically stop the driving robot and at the same time the anchor member is operated to physically stop the driving robot.

2. In paragraph 1, The above push button comprises a cam member having a first inclined surface, The above movable member includes a second inclined surface that makes cam contact with the first inclined surface, A driving robot, wherein the above-mentioned movable member moves in a direction perpendicular to the movement direction of the above-mentioned push button.

3. In paragraph 2, A mobile robot in which the anchor member is raised and lowered in the same direction as the moving direction of the movable member.

4. In paragraph 1, The above power transmission device, A mobile robot including a gear chain structure in which a gear ratio increases at each of a power transmission start point and a power transmission end point.

5. In paragraph 4, The gear ratio at the above power transmission start point is 1:3, A driving robot having a gear ratio of 1:9 at the end of the above power transmission.

6. In paragraph 4, The above movable member is, A gear connected to a part of the above gear chain structure; and A driving robot, comprising a pressurizing portion for pressing a button of the above emergency switch.

7. In paragraph 1, The above anchor absence, A mobile robot further comprising a rubber member coupled to the lower end of the anchor member facing the ground.

8. In paragraph 1, The above anchor absence, A mobile robot, wherein the lower part of the anchor member facing the ground is formed in a spike shape.

9. In paragraph 1, The above emergency stop device, A mobile robot further comprising a housing in which the push button is slidably coupled and in which the movable member, the emergency switch and the power transmission device are built in.

10. In paragraph 9, The above housing, A driving robot further comprising a locking member for locking or unlocking the push button.

11. In paragraph 10, On the outer surface of the above push button, A locking groove into which the above locking member can be inserted; and Including a cam curved surface that is formed convexly on the outside of the locking member and contacts the locking groove; A driving robot, wherein the locking member is moved to a position by the cam surface and withdrawn from the locking groove when the push button is rotated.

12. In paragraph 1, A driving robot, wherein the above emergency stop device is placed at the rear of the main body.

13. In driving robots, entity; A driving wheel provided on the above main body; a drive motor for driving the above drive wheel; and An emergency stop device provided at the rear of the main body and including a push button; The above emergency stop device, A driving robot that electrically stops the driving motor by operating the push button and simultaneously physically stops the movement of the driving robot.

14. In paragraph 13, The above emergency stop device, A movable member linked to the above push button; An emergency switch for turning on or off the power provided to the above driving robot; Anchor member that is in close contact with the ground; A gear chain structure that transmits the power of the above movable member to the above anchor member; and A mobile robot comprising a housing in which the push button is guided and the movable member, the emergency switch and the anchor member are built in.

15. In paragraph 14, The gear ratio at the starting point of power transmission of the above gear chain structure is 1:3, A driving robot having a gear ratio of 1:9 at the end of the power transmission of the above gear chain structure.

Images