Autonomous driving robot

Abstract

The technology disclosed in the present specification relates to an autonomous driving robot capable of preventing the autonomous driving robot from slipping when the autonomous driving robot stops. The autonomous driving robot may comprise: a rail unit provided toward the front surface from the rear surface of the autonomous driving robot and inclined such that one side faces downward and the other side faces upward; a seating unit which is provided on the rail unit and in which an article is seated; a sensing unit which senses the center of gravity of the article; a moving unit which moves the seating unit; and a control unit which is connected to the sensing unit and the moving unit to control the moving unit so that the center of gravity of the article is not biased to any one side of the autonomous driving robot, and moves the seating unit downward to control the end of the seating unit to be in contact with the ground when the autonomous driving robot stops.

Description

autonomous robots

[0001] The technology disclosed in this specification relates to an autonomous driving robot, and more particularly, to an autonomous driving robot that can prevent the autonomous driving robot from slipping when stopped.

[0002] The conventional Korean Patent Publication No. 10-1832904 (published on February 27, 2018, 'Two-wheeled transport cart') discloses a technology including a pair of wheels installed on a main body, a driving motor driving the pair of wheels, a motor encoder that detects that the wheels rotate as an unbalanced load is applied to the main body and measures the number of rotations of the wheels, and an estimator that calculates a target angle, which is an angle by which the main body should be tilted from its current position by the movement of the wheels so that a new center of gravity due to the load is positioned on a vertical line, using the number of rotations of the wheels received from the motor encoder.

[0003] The conventional Korean Patent Publication No. 10-2021-0060123 (published on May 26, 2021, 'Robot') may include a main body having a driving wheel and an opening formed on an upper surface; a seat covering the opening from above; an elevating mechanism disposed inside the main body and elevating the seat with respect to the main body; and a gap cover elevating together with the seat and covering a gap between the seat and the main body. The technology disclosed herein includes a seat base to which the gap cover is connected and inserted into the opening; and a seat pad covering the seat face from above and located on the upper side of the main body.

[0004] The conventional Korean Patent Publication No. 10-1912806 (published on October 29, 2018, ‘Exploration robot with improved mobility’) includes: a robot body; a multi-legged walking drive unit installed at the lower portion of the robot body to move the robot body in a multi-legged walking manner; a wheel driving drive unit installed at the lower portion of the robot body to move the robot body in a wheel driving manner; an elevation unit that elevates and lowers the wheel driving drive unit relative to the robot body according to an extension and contraction movement; a flatness detection sensor installed at the robot body to detect the flatness of the ground; a slope detection sensor installed at the robot body to detect the incline of the ground; a center of gravity movement unit installed at the robot body to move the center of gravity of the robot body forward or backward; A technology is disclosed in which the control unit controls each of the above components, and the control unit extends the lifting unit according to the measured flatness detected by the flatness detection sensor to lower the wheel drive unit with respect to the robot body so that the wheel drive unit contacts the ground and the multi-pedal walking drive unit is separated from the ground, thereby allowing driving movement to be achieved through the wheel drive unit, or contracts the lifting unit to raise the wheel drive unit toward the robot body so that the wheel drive unit is separated from the ground and the multi-pedal walking drive unit is in contact with the ground, thereby allowing walking movement to be achieved through the multi-pedal walking drive unit.

[0005] In the conventional Korean Patent Publication No. 10-2018-0129242 (published on December 5, 2018, 'Automatic Cargo Transport and Picking System'), a docking device (200) is provided with a space for loading cargo, a moving wheel (210) is provided at the bottom, and a docking connection part (220) and a device recognition marker (205) are respectively installed at the front; a docking transport robot (100) that recognizes a set movement path within the work site (w) according to a control signal received through a wireless communication network and drives to a destination, recognizes the device recognition marker (205) to distinguish each docking device (200), and is provided with a docking drive device (105) at the rear that is detachably coupled by engaging the connection part (220) to dock with the set docking device (200) and transports it to the set destination; A technology is disclosed that includes an operation server (300) that establishes a transport operation plan according to a user's cargo transport instructions, plans a route for each docking transport robot (100), and transmits a control signal according to the route plan to each docking transport robot (100) through the wireless communication network to perform integrated control.

[0006] In the existing technology related to autonomous driving robots, autonomous driving robots are currently preventing slipping on slopes, etc., by including brakes or a separate support structure that is selectively in contact with the ground.

[0007] The technology disclosed in this specification aims to solve the problem of providing an autonomous driving robot that can prevent slipping as disclosed in the prior Korean Patent Publication No. 10-2018-0129242 (published on December 5, 2018, ‘Automatic cargo transport and picking system’) while maintaining balance as disclosed in the prior Korean Patent Publication No. 10-1832904 (published on February 27, 2018, ‘Two-wheeled transport cart’).

[0008] In one embodiment, an autonomous robot is disclosed.

[0009] In an autonomous driving robot, a rail part (100) provided on the upper part of the autonomous driving robot so as to face from the rear to the front, and inclined so that one side faces downward and the other side faces upward, a mounting part (200) provided on the rail part (100) and moved along the rail part (100) by an external force, a sensing part (300) provided on the other side of the rail part (100) and configured to detect a center of gravity (inclination of the rail) due to the item, a moving part (400) provided on the other side of the rail part (100) and configured to move the mounting part (200) upward and downward, and a control part (500) connected to the sensing part (300) and the moving part (400) and controlling the moving part (400) so that the center of gravity due to the item is not biased to either side of the autonomous driving robot.

[0010] The above autonomous driving robot may include a control unit (500) that controls the moving unit (400) so that the end of the mounting unit (200) comes into contact with the ground when the autonomous driving robot stops.

[0011] The autonomous driving robot may further include a passive detection unit (600) that detects that the autonomous driving robot is being pulled by a user, and the control unit (500) may further include stopping control of the moving unit (400) when the autonomous driving robot is detected by the passive detection unit (600) to be being pulled by a user.

[0012] An autonomous driving robot further comprising a slope assist unit (700) positioned at the lower rear portion of the rail unit (100) and provided so that the parking assist unit (710) can selectively come into contact with the ground.

[0013] The above-described tilt assist unit (700) may include a parking assist unit (710) located at the rear of the autonomous driving robot, a support unit (720) provided in the shape of the letter 'L' to support the parking assist unit (710) at one end thereof, a hinge unit (730) provided so that a corner portion of the support unit (720) is hinge-structuredly connected to the body of the autonomous driving robot, and a tilt operation unit (740) provided at the other end of the body of the autonomous driving robot and connected to one end of the support unit (720), such that the other end of the support unit (720) rotates in an upward and downward direction around the hinge unit (730).

[0014] The above autonomous driving robot is designed to be driven by two wheels, and may further include a linkage (800) designed to individually control the height of each wheel.

[0015] The autonomous driving robot disclosed in this specification can maintain balance while driving by changing the position of an object as the placement unit (200) moves along a downwardly inclined rail unit (100).

[0016] The autonomous driving robot disclosed in this specification can prevent the autonomous driving robot from slipping when stopped by increasing the friction between the autonomous driving robot (200) and the ground along the rail portion (100) facing the bottom of the autonomous driving robot by having the lower portion of the mounting portion (200) come into contact with the ground along with the load of the object.

[0017] The autonomous driving robot disclosed in this specification can prevent a problem that may cause discomfort to the user due to the movement of the moving part (400) caused by the shaking of the autonomous driving robot in the up / down direction caused by the user's walking when the user moves the autonomous driving robot while holding the robot with his / her hand through the passive sensing part (600).

[0018] The autonomous driving robot disclosed in this specification has the effect of preventing the autonomous driving robot from overturning backwards in the event of a momentary loss of balance through the tilt assist unit (700).

[0019] The autonomous driving robot disclosed in this specification has the effect of enabling stable driving along with balance in the forward / backward direction through the rail unit (100) by maintaining the balance in the left / right direction of the autonomous driving robot through the linkage (800).

[0020] The foregoing provides only a simplified, selective overview of the subject matter described in greater detail below. This disclosure is not intended to limit the scope of the claims, nor is it intended to define key or essential features of the claims.

[0021] FIG. 1 is a drawing illustrating one embodiment of an autonomous driving robot disclosed in this specification.

[0022] FIG. 2 is a drawing illustrating another embodiment of the autonomous driving robot disclosed in this specification.

[0023] FIG. 3 is a drawing illustrating another embodiment of the autonomous driving robot disclosed in this specification.

[0024] Figure 4 is a flowchart illustrating the operation sequence of the autonomous driving robot according to Figure 3.

[0025] FIG. 5 is a drawing illustrating another embodiment of the autonomous driving robot disclosed in this specification.

[0026] FIG. 6 is a drawing illustrating another embodiment of the autonomous driving robot disclosed in this specification.

[0027] Hereinafter, embodiments disclosed in the present specification will be described in detail with reference to the drawings. Unless otherwise specified herein, similar reference numerals in the drawings represent similar components. The exemplary embodiments described in the detailed description, drawings, and claims are not intended to be limiting, and other embodiments may be utilized and other changes may be made without departing from the spirit or scope of the technology disclosed herein. Those skilled in the art will readily understand that the components of the present disclosure, i.e., the components generally described herein and illustrated in the drawings, can be arranged, configured, combined, and designed in various different configurations, all of which are expressly contemplated and form a part of the present disclosure. In the drawings, the width, length, thickness, or shape of the components may be exaggerated to clearly represent various layers (or films), regions, and shapes.

[0028] When one component is referred to as being "provided" to another component, this may include cases where the one component is provided directly to the other component, as well as cases where additional components are interposed between them.

[0029] When one component is referred to as being "provided" to another component, this may include cases where the one component is provided directly to the other component, as well as cases where additional components are interposed between them.

[0030] The description of the disclosed technology is merely an example for structural and functional explanation. Therefore, the scope of the disclosed technology should not be construed as limited by the embodiments described herein. In other words, since the embodiments are capable of various modifications and may take various forms, the scope of the disclosed technology should be understood to include equivalents that can realize the technical concepts.

[0031] Singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and terms such as “comprises” or “has” should be understood to specify the presence of a feature, number, step, operation, component, part or combination thereof, but not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0032] Unless otherwise defined, all terms used herein have the same meaning as commonly understood by those skilled in the art to which the disclosed technology pertains. Terms defined in commonly used dictionaries should be interpreted to be consistent with their meaning within the context of the relevant technology, and should not be interpreted as having an idealized or overly formal meaning unless explicitly defined herein.

[0033] FIG. 1 of the drawings attached to this specification is a drawing illustrating an embodiment of an autonomous driving robot disclosed in this specification. FIG. 2 is a drawing illustrating another embodiment of an autonomous driving robot disclosed in this specification. FIG. 3 is a drawing illustrating another embodiment of an autonomous driving robot disclosed in this specification. FIG. 4 is a flowchart illustrating an operation sequence of the autonomous driving robot according to FIG. 3. FIG. 5 is a drawing illustrating another embodiment of an autonomous driving robot disclosed in this specification. FIG. 6 is a drawing illustrating another embodiment of an autonomous driving robot disclosed in this specification.

[0034] The technology disclosed in this specification relates to an autonomous robot that moves by driving two or more wheels. For ease of explanation, this specification will use a two-wheeled autonomous robot as an example. The technology disclosed in this specification is implemented in an autonomous robot that moves by following a specific path or user. In particular, in the case of a two-wheeled autonomous robot, the technology includes technology for detecting and compensating for tilting to maintain balance in the forward and backward directions of the autonomous robot.

[0035] The technology disclosed in this specification may include a rail part (100) provided on the upper part of the autonomous driving robot so as to face from the rear to the front, and inclined so that one side faces downward and the other side faces upward, a mounting part (200) provided on the rail part (100) and moved along the rail part (100) by an external force, a sensing part (300) provided on the other side of the rail part (100) and configured to detect a center of gravity (inclination of the rail) due to an item, a moving part (400) provided on the other side of the rail part (100) and configured to move the mounting part (200) upward and downward, and a control part (500) connected to the sensing part (300) and the moving part (400) and configured to control the moving part (400) so that the center of gravity due to the item is not biased to either side of the autonomous driving robot.

[0036] The above autonomous driving robot may include a control unit (500) that controls the moving unit (400) so that the end of the mounting unit (200) comes into contact with the ground when the autonomous driving robot stops.

[0037] The autonomous driving robot may further include a passive detection unit (600) that detects that the autonomous driving robot is being pulled by a user, and the control unit (500) may further include stopping control of the moving unit (400) when the autonomous driving robot is detected by the passive detection unit (600) to be being pulled by a user.

[0038] An autonomous driving robot further comprising a slope assist unit (700) positioned at the lower rear portion of the rail unit (100) and provided so that the parking assist unit (710) can selectively come into contact with the ground.

[0039] The above-described tilt assist unit (700) may include a parking assist unit (710) located at the rear of the autonomous driving robot, a support unit (720) provided in the shape of the letter 'L' to support the parking assist unit (710) at one end thereof, a hinge unit (730) provided so that a corner portion of the support unit (720) is hinge-structuredly connected to the body of the autonomous driving robot, and a tilt operation unit (740) provided at the other end of the body of the autonomous driving robot and connected to one end of the support unit (720), such that the other end of the support unit (720) rotates in an upward and downward direction around the hinge unit (730).

[0040] The above autonomous driving robot is designed to be driven by two wheels, and may further include a linkage (800) designed to individually control the height of each wheel.

[0041] The present specification is described in more detail below with reference to the attached drawings.

[0042] An autonomous driving robot according to an embodiment referring to FIG. 1 may include a rail unit (100), a mounting unit (200), a sensing unit (300), a moving unit (400), and a control unit (500).

[0043] The rail unit (100) may be provided as a conventional rail. The rail unit (100) may be provided from the rear to the front of the autonomous driving robot, but may be provided so that one side faces downward and the other side faces upward. The rail unit (100) may be provided above a drive shaft that drives two wheels of the autonomous driving robot. One side of the rail unit (100) faces the lower rear of the autonomous driving robot, and the other side is inclined toward the upper front of the autonomous driving robot. The rail unit (100) provides a movement path for the mounting unit (200) and suppresses shaking, etc., when the mounting unit (200) moves.

[0044] Alternatively, the rails can be curved. The rail ends at the rear of the autonomous robot can face the top of the robot, while the rail ends at the front of the autonomous robot can face the bottom of the robot.

[0045] A mounting portion (200) may be provided on the rail portion (100) to allow items to be mounted thereon. More specifically, the mounting portion (200) may be provided in the form of a basket capable of storing items. The mounting portion (200) may be freely moved along the rail portion (100) by an external force.

[0046] Meanwhile, the placement unit (200) can be transformed into various shapes depending on the size or shape of the item to be placed.

[0047] Meanwhile, the side of the mounting portion (200) can be arranged to be inserted into the rail portion (100).

[0048] The sensing unit (300) may be provided as a conventional gyro sensor. The sensing unit (300) may be provided on the body of the autonomous driving robot. The sensing unit (300) may be provided to detect the center of gravity of an object. More specifically, the sensing unit (300) may be capable of predicting the center of gravity of an object through the tilted state of the autonomous driving robot or the rail unit (100), similar to a conventional two-wheeled autonomous driving robot.

[0049] Meanwhile, the sensing unit (300) may utilize an inertial sensor or gyro sensor implemented in a conventional two-wheeled autonomous driving robot, or may additionally utilize one.

[0050] The moving unit (400) may be provided to move the mounting unit (200). More specifically, the moving unit (400) may be provided as a conventional cylinder or a motor rail slide, etc. The cylinder may be provided in the longitudinal direction of the rail unit (100). The forward / backward piston of the cylinder is connected to the mounting unit (200). That is, the moving unit (400) moves the mounting unit (200). The moving unit (400) moves the mounting unit (200) so that the load of the object is applied to the center, rear, or front of the autonomous robot. That is, the center of gravity of the autonomous robot due to the object can be adjusted by the moving unit (400), thereby maintaining the balance in the forward / backward direction of the autonomous robot.

[0051] The control unit (500) may be connected to the sensing unit (300) and the moving unit (400) to control the moving unit (400) so that the center of gravity of the object does not shift to either side of the autonomous driving robot. In other words, the control unit maintains the balance of the autonomous driving robot. The control unit (500) may be formed of a conventional PCB. The control unit (500) detects the forward / backward inclination of the autonomous driving robot through the sensing unit (300), and operates the moving unit (400) to adjust the center of gravity, thereby maintaining the balance of the autonomous driving robot.

[0052] The autonomous driving robot including the rail unit (100), the mounting unit (200), the sensing unit (300), the moving unit (400), and the control unit (500) described above with reference to FIG. 1 has the effect of maintaining the balance in the forward / backward directions of the autonomous driving robot only by moving the mounting unit (200) on which the item is mounted in the upper and lower directions through the rail unit (100) and the moving unit (400).

[0053] Another embodiment of the autonomous driving robot referring to FIG. 2 may be such that the length of the rail portion (100) described above may be extended so that the lower end of the mounting portion (200) described above may be moved to a position where it can contact the ground. The control portion (500) described above controls the moving portion (400) to move the mounting portion (200) downward when the autonomous driving robot stops so that the end of the mounting portion (200) contacts the ground. That is, when the autonomous driving robot stops, the control portion (500) stops maintaining the forward / backward balance of the autonomous driving robot and operates the moving portion (400) so that the mounting portion (200) contacts the ground.

[0054] The autonomous driving robot described above with reference to FIG. 2 prevents the autonomous driving robot from slipping by causing the lower part of the mounting part (200) to contact the ground when the autonomous driving robot stops by the control unit (500), and increasing the frictional force between the mounting part (200) and the ground through the load of the object.

[0055] Meanwhile, the operation of the control unit (500) with respect to the movement of the mounting unit (200) described above will be described in detail.

[0056] When an item is placed on the placement unit (200), the control unit (500) detects the tilting of the autonomous driving robot through the sensing unit (300). At this time, when it is determined that the autonomous driving robot is tilting forward, the control unit (500) operates the moving unit (400) so that the placement unit (200) moves to the rear of the autonomous driving robot. The control unit (500) operates the moving unit (400) until the tilting caused by the sensing unit (300) does not occur, thereby setting the center of gravity. Thereafter, the control unit (500) operates the moving unit (400) in response to the tilting of the autonomous driving robot caused by shaking or inclination while the autonomous driving robot is driving, thereby maintaining the driving balance. Thereafter, when the autonomous driving robot stops, the control unit (500) operates the moving unit (400) so that the placement unit (200) moves to the lower rear of the autonomous driving robot and makes contact with the ground.

[0057] The autonomous driving robot described above can maintain balance while driving by changing the position of the object as the mounting portion (200) moves along the rail portion (100) inclined downward, and can prevent the autonomous driving robot from slipping when stopped at an inclined position as the lower part of the mounting portion (200) contacts the ground along the rail portion (100) facing downward of the autonomous driving robot.

[0058] Meanwhile, the mounting portion (200) may be provided in a ring shape, and a bag-shaped item may be hung on the ring of the mounting portion (200). At this time, the mounting portion (200) may be moved to the lower rear of the autonomous robot so that the lower portion of the item is in contact with the ground.

[0059] Another embodiment of the autonomous driving robot with reference to FIGS. 3 and 4 may further include a passive detection unit (600), and the control unit (500) may further include stopping control of the moving unit (400) according to the passive detection unit (600).

[0060] A passive detection unit (600) may be provided to detect when the autonomous robot is being pulled by a user. The passive detection unit (600) may be configured by installing a conventional pressure sensor on a handle provided on the autonomous robot, or may include a separate button on the control panel provided on the autonomous robot.

[0061] The control unit (500) further includes stopping the control of the moving unit (400) when the passive detection unit (600) detects that the autonomous robot is being pulled by a user.

[0062] The autonomous driving robot including the above-described manual detection unit (600) and the control unit (500) for stopping the control of the moving unit (400) with reference to FIG. 3 can suppress the problem that the autonomous driving robot may shake in the up / down direction due to the user's walking when the user moves the autonomous driving robot while holding it by hand, and may cause discomfort to the user due to the movement of the moving unit (400) to maintain balance.

[0063] Another embodiment of the autonomous driving robot referring to FIG. 5 may further include a slope assist unit (700) including a parking assist unit (710).

[0064] For example, the tilt assist unit (700) may include a tilt operation unit (740) provided as a conventional cylinder on one side of the body of the autonomous driving robot. The tilt operation unit (740) may be provided in the longitudinal direction of the rail unit (100) or in the downward direction of the autonomous driving robot. A conventional wheel may be provided at the end of the piston of the tilt operation unit (740). The tilt operation unit (740) is connected to the control unit (500) described above and its operation is controlled. The tilt assist unit (700) is provided so that the parking assist unit (710) is selectively brought into contact with the ground by the control unit (500).

[0065] As another example, the tilt assist unit (700) may include a parking assist unit (710), a support unit (720), a hinge unit (730), and a tilt operation unit (740). The tilt assist unit (700) is provided so that the support unit (720) rotates around the hinge unit (730) by the tilt operation unit (740), thereby selectively allowing the parking assist unit (710) to come into contact with the ground.

[0066] The parking assist unit (710) may be provided with a conventional wheel. The parking assist unit (710) may be located at the rear of the autonomous driving robot. In other words, the parking assist unit (710) is located at the rear of the rail unit (100) facing the lower part of the autonomous driving robot.

[0067] The support member (720) supports the parking assist member (710) at one end, and may be provided in an ‘ㄱ’ shape. One end of the support member (720) may be connected to the parking assist member (710).

[0068] The hinge portion (730) is a conventional hinge structure, and the corner portion of the support portion (720) can be provided to be connected to the body of the autonomous driving robot in a hinge structure.

[0069] The tilting motion unit (740) may be provided as a conventional cylinder. The tilting motion unit (740) may be provided on the other side of the body of the autonomous driving robot. The tilting motion unit (740) may be connected to one end of the support unit (720). The tilting motion unit (740) is provided so that the other side of the support unit (720) rotates in an upward and downward direction around the hinge unit (730).

[0070] The autonomous driving robot including the tilt assist unit (700) described above with reference to FIG. 5 has the effect of enabling stable driving through the parking assist unit (710) selectively by the tilt assist unit (700). The autonomous driving robot has the effect of preventing the backward rollover of the autonomous driving robot in the event of a momentary loss of balance through the tilt assist unit (700).

[0071] Another embodiment of an autonomous driving robot, referring to FIG. 6, is configured to be driven by two wheels, and may further include a conventional linkage (800). The linkage (800) individually modifies the height of each wheel. The linkage (800) operates by a single conventional cylinder, such that when one wheel is raised in height, the opposite wheel is lowered. The linkage (800) may be connected to a control unit (500).

[0072] The autonomous driving robot including the linkage (800) described above with reference to FIG. 6 has the effect of enabling stable driving along with the balance in the forward / backward direction through the rail unit (100) by maintaining the balance in the left / right direction of the autonomous driving robot through the linkage (800).

[0073] The above-described autonomous driving robot including the rail unit (100), the mounting unit (200), the sensing unit (300), the moving unit (400) and the control unit (500) may be implemented in a state in which all of the above-described passive sensing unit (600), the incline assist unit (700) and the linkage (800) are combined, and may be implemented in a freely combined manner.

[0074] From the above, it will be understood that various embodiments of the present disclosure have been described for illustrative purposes, and that various modifications are possible without departing from the scope and spirit of the present disclosure. Furthermore, the various embodiments disclosed are not intended to limit the scope and spirit of the present disclosure, and the true scope and spirit will be set forth in the claims that follow.

Claims

1. In autonomous driving robots, A rail section provided on the upper part of the autonomous driving robot, facing from the rear to the front, and having one side inclined toward the bottom and the other side inclined toward the top; A mounting part provided on the above rail part and moving along the rail part by an external force; A sensing unit provided on the other side of the above rail section, which detects the center of gravity of an item loaded on the above mounting section; A moving part provided on another side of the above rail part to move the mounting part up and down; and An autonomous driving robot including a control unit that is connected to the sensing unit and the moving unit and controls the moving unit so that the center of gravity of the object does not shift to either side of the autonomous driving robot.

2. In paragraph 1, An autonomous driving robot including a control unit that controls a moving unit so that the end of the mounting unit comes into contact with the ground when the autonomous driving robot stops.

3. In paragraph 1, The autonomous driving robot further includes a passive detection unit that detects that it is being pulled by a user, An autonomous driving robot, wherein the control unit further includes stopping control of the moving unit when the passive detection unit detects that the autonomous driving robot is being pulled by a user.

4. In paragraph 1, An autonomous driving robot further comprising a slope assist unit located at the lower rear portion of the above rail unit, wherein the parking assist unit is selectively provided to contact the ground.

5. In paragraph 4, The above slope assistance part A parking assistance unit located at the rear of the autonomous driving robot; A support portion that supports the above parking assistance part at one end, and is provided in the shape of the letter ‘ㄱ’; The corner portion of the above support is a hinge portion designed to be connected to the body of the autonomous driving robot in a hinge structure; and An inclined motion part provided on the other side of the body of the autonomous driving robot and connected to one end of the support part, such that the other end of the support part rotates in an upward and downward direction around the hinge part; Autonomous driving robots including .

6. In paragraph 1, An autonomous driving robot is an autonomous driving robot that is designed to be driven by two wheels, but further includes a linkage designed to individually control the height of each wheel.

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