Autonomous traveling robot having floor sensing device

Abstract

The present invention provides an autonomous traveling robot having a floor sensing device, comprising: a mounting housing in which wheels and a wheel driving means are mounted; a driving control unit for setting a traveling direction and a traveling path of the autonomous traveling robot, and controlling driving of the wheel driving means; and a floor detection device which is mounted on the central part of the mounting housing, and which generates floor surface condition analysis result information about floor surface condition information including whether an obstacle is present on the floor surface, whether a fallen element is present on the floor surface, and whether a ramp is present, so as to transmit same to the driving control unit.

Description

Autonomous robot equipped with a floor detection device

[0001] The present invention relates to an autonomous driving robot equipped with a floor detection device, and more particularly, to an autonomous driving robot equipped with a floor detection device that applies a 3D TOF Array sensor and an IMU sensor of an autonomous driving robot, and calculates information on the movement of the robot when driving on a floor surface such as a road, a road surface, or an indoor floor, and determines whether there are obstacles and slopes on the floor surface on which the robot is driving, and determines whether there are falling elements such as cliffs, and resets the path of the robot while driving to enable stable driving.

[0002] Typically, multiple sensors are used to detect falling robots, obstacles on the floor, and slopes, but detection is limited and many sensors are required to determine the detection area.

[0003] In the past, sensors such as infrared and PSD, which had limited installation at the bottom, were used to determine the condition of the driving surface (presence of slopes, drops, and obstacles, etc.). However, this only determined whether the autonomous driving robot had fallen, so driving was inevitably based on very fragmentary judgments, making stable driving difficult.

[0004] Accordingly, improvements have been made to control driving by detecting the presence of drops and slopes using 2D or 3D lidar, but when detecting using 2D or 3D lidar, detection is limited, and because 2D or 3D lidar has to be installed in a high place due to its characteristics, there is bound to be a blind spot in front when driving, so there is a problem that the reliability of the collected information is low.

[0005] That is, in the case of the floor detection device of a conventional autonomous driving robot, it was very difficult to determine the presence of a slope, the presence of an obstacle on the floor, and to simultaneously judge the condition of the floor on which it was driving.

[0006] Due to this, the small robot is inevitably exposed to various problems, such as the risk of collision or falling against the side of a ramp, and the increased risk of structural damage due to the reduced contact area with the edge of the stairs when running on the stairs.

[0007] The background technology or prior art described herein is merely intended to help understand the technical significance of the present invention, and does not mean technology widely known in the technical field to which the present invention belongs prior to the filing of the present invention.

[0008] [Prior Art Literature]

[0009] [Patent Document]

[0010] (Patent Document 1) Republic of Korea Publication Patent No. 10-2009-0119984

[0011] (Patent Document 2) Republic of Korea Publication No. 10-2021-0030296

[0012] The technical problem to be achieved by the present invention is to provide an autonomous driving robot equipped with a floor detection device that can prevent blind spots from occurring in the driving path by calculating information about the movement of the robot when driving on a floor surface such as a road, a road surface, or an indoor floor by constructing a floor detection device that applies a 3D TOF Array sensor and an IMU sensor of an autonomous driving robot, thereby determining the presence of obstacles and slopes on the floor surface while driving, thereby providing an autonomous driving robot equipped with a floor detection device that can improve the reliability of the floor state information.

[0013] In addition, the technical problem to be achieved by the present invention is to provide an autonomous driving robot equipped with a floor detection device that determines whether a falling element, such as a cliff, exists on the status information of the floor surface being detected and resets the path of the moving robot to enable stable driving.

[0014] However, the purpose of the present invention is not limited thereto, and it is obvious that the purpose or effect that can be understood from the solution or embodiment of the problem even if not explicitly mentioned is also included.

[0015] In order to solve these problems, an autonomous driving robot equipped with a floor detection device according to the present invention is characterized by including: a mounting housing in which wheels and a wheel drive means are mounted; a driving control unit that sets a driving direction and a driving path of the autonomous driving robot and controls the driving of the wheel drive means; and a floor detection device mounted in the center of the mounting housing that generates floor condition analysis result information from floor condition information including the presence or absence of obstacles and falling elements on the floor surface and the presence or absence of a slope, and transmits the generated floor condition analysis result information to the driving control unit.

[0016] In one embodiment, the floor detection device is characterized by including: a lower housing formed to have an open front end; a TOF sensor module mounted on the lower housing, which simultaneously detects the front and driving floor of the autonomous driving robot and generates and transmits the floor state information; an upper housing detachably coupled to the lower housing; an IMU sensor module configured on the upper portion of the lower housing, which generates and transmits inclination information of the autonomous driving robot while driving; and a detection control unit which receives and analyzes floor state information and inclination information from the TOF sensor module and the IMU sensor module, respectively, to generate floor state analysis result information, and transmits the floor state analysis result information to the drive control unit.

[0017] In one embodiment, the lower housing is characterized by including: a first module fixing part on which a plurality of the TOF sensor modules are mounted in a semicircular arrangement and are inclined at a predetermined angle of inclination; a first fixing shaft configured to be spaced apart from the inside of the first module housing by a predetermined interval and to support the IMU sensor module so that it can be detachably coupled; a second fixing shaft penetrating the upper housing and allowing separation and coupling with the mounting housing; and a lower fixing groove for supporting the detection control unit so that it can be mounted and fixed.

[0018] In one embodiment, the first module fixing part is characterized in that it is configured to have an inclination angle of 6° to 9°.

[0019] In one embodiment, the TOF sensor module is characterized by including a module casing that is inserted and fixed to the first module fixing portion, a TOF sensor that is coupled to the module casing and is composed of a 3D TOF Array sensor, and a mounting flange on which a cable connecting the detection control portion and the TOF sensor is mounted.

[0020] In one embodiment, the detection control unit receives a horizontal position value of the autonomous driving robot from the IMU sensor module, receives a difference value between the driving floor surface and the front from the TOF sensor module, and analyzes the difference value to determine whether an obstacle exists on the current driving floor surface or whether a slope exists.

[0021] In one embodiment, the detection control unit receives a slope value of the autonomous driving robot from the IMU sensor module, and analyzes the received slope value to determine whether the state of the floor surface is an upward slope, a downward slope, or a side slope.

[0022] In addition to the technical problems of the present invention mentioned above, other features and advantages of the present invention are described below or may be clearly understood by a person skilled in the art to which the present invention pertains from such description and explanation.

[0023] According to the present invention as described above, the following effects are achieved.

[0024] An autonomous driving robot equipped with a floor detection device according to the present invention can produce information on the movement of the robot while driving on a floor surface such as a road, a road surface, or an indoor floor, and determine whether there are obstacles or slopes on the floor surface on which the robot is driving, thereby preventing the occurrence of blind spots on the driving path, thereby having the effect of improving the reliability of the floor surface status information.

[0025] In addition, the autonomous driving robot equipped with a floor detection device according to the present invention has the effect of enabling stable driving by resetting the path of the driving robot by determining whether a falling element, such as a cliff, exists in the status information of the floor surface being detected.

[0026] In addition, the various advantageous advantages and effects of the present invention are not limited to the above-described contents, and will be more easily understood in the process of explaining specific embodiments of the present invention.

[0027] Figure 1 is an exemplary diagram showing an autonomous driving robot equipped with a floor detection device according to one embodiment of the present invention.

[0028] Figures 2 and 3 are perspective views showing a floor detection device according to one embodiment of the present invention;

[0029] Figure 4 is a plan view showing a floor detection device according to one embodiment of the present invention;

[0030] FIG. 5 is an exemplary diagram showing the angle of the direction viewed by the TOF sensor through an autonomous driving robot equipped with a floor detection device according to one embodiment of the present invention.

[0031] FIG. 6 is a schematic diagram showing an obstacle detection state of an autonomous driving robot equipped with a floor detection device according to one embodiment of the present invention.

[0032] FIG. 7 is a schematic diagram illustrating an example of a judgment for an uphill slope of an autonomous driving robot equipped with a floor detection device according to one embodiment of the present invention.

[0033] FIG. 8 is a schematic diagram illustrating an example of a judgment for a downhill slope of an autonomous driving robot equipped with a floor detection device according to one embodiment of the present invention.

[0034] FIG. 9 is a schematic diagram illustrating an example of a judgment of a ground connected to a downhill slope of an autonomous driving robot equipped with a floor detection device according to one embodiment of the present invention.

[0035] FIG. 10 is a schematic diagram illustrating an example of a judgment for cliff identification by an autonomous driving robot equipped with a floor detection device according to one embodiment of the present invention.

[0036] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. First, when assigning reference numerals to components in each drawing, it should be noted that, where possible, identical components are assigned the same numerals even if they are shown in different drawings.

[0037] In addition, it should be noted that the technical terms used in describing the present invention are only used to describe specific embodiments and are not intended to limit the present invention. If a specific description of a related known configuration or function is determined to obscure the gist of the present invention, the detailed description will be omitted. In addition, in describing the present invention, general terms used should be interpreted according to their dictionary definitions or according to the preceding and following context, and should not be interpreted in an excessively narrow sense. In addition, when a technical term used is an incorrect technical term that does not accurately express the spirit of the present invention, it should be replaced with a technical term that can be correctly understood by a person skilled in the art.

[0038] In addition, in describing the present invention, terms such as “include,” “comprise,” or “have,” unless specifically stated to the contrary, mean that the corresponding component may be included, and should not be construed to necessarily include all components or multiple steps, and some of the components or some steps may not be included, or may further include additional components or steps, and all terms including technical or scientific terms have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs, unless defined otherwise.

[0039] Additionally, in describing the components of the present invention, identification codes such as first, second, A, B, (a), (b), etc. may be used. These identification codes are intended to distinguish the components from other components and are used only for the convenience of description, and the nature, order, or sequence of the components are not limited by the identification codes.

[0040] In addition, the suffixes "module" and "part" used for components in this specification are given or used interchangeably only for the convenience of writing the specification, and do not have distinct meanings or roles in themselves.

[0041] [Explanation of symbols]

[0042] 110: Mounting housing

[0043] 120: Wheel

[0044] 130: Wheel drive means

[0045] 140: Drive control unit

[0046] 200: Floor detection device

[0047] 210: Lower housing

[0048] 212: Fixing the first module

[0049] 214: First fixed axis

[0050] 215: Lower fixing groove

[0051] 216: Second fixed axis

[0052] 218: Buffer slit

[0053] 220: TOF sensor module

[0054] 222: Module casing

[0055] 224: TOF sensor

[0056] 226: Mounting flange

[0057] 230: IMU sensor module

[0058] 232: Module body

[0059] 234: IMU sensor

[0060] 235: Upper fixed panel

[0061] 236: Module fixing groove

[0062] 238: Axial through hole

[0063] 250: Upper housing

[0064] 252: Axis coupling hole

[0065] 300: Detection control unit

[0066] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0067] As illustrated, the autonomous driving robot equipped with the floor detection device of the present invention includes a lower frame, a mounting housing (110) in which the floor detection device (200) is mounted at the center, wheels (120) coupled to the side of the mounting housing (110) and supporting the driving of the autonomous driving robot, a wheel driving means (130) connected to the wheels (120) and rotating the wheels (120), a driving control unit (140) connected to the floor detection device (200) and the wheel driving means (130) through a network and setting and controlling whether the wheels (120) are driven, the driving direction, and the driving path according to the detection value transmitted from the floor detection device (200), and a plurality of TOF sensor modules (220) and IMU sensor modules (230), and generates and drives floor surface status information including the presence or absence of obstacles on the floor surface such as a driving road, a road surface, and an indoor floor, the presence or absence of falling elements on the floor surface, and the presence or absence of a slope. It is configured to include a floor detection device (200) that transmits to a control unit (140).

[0068] Here, the driving control unit (140) may include a display that outputs information about the set driving path.

[0069] In addition, the drive control unit (140) of the present invention can be configured to control the drive of the wheel drive means (130) to control the rotation amount of the wheel (120) based on the floor surface state analysis result information received from the detection control unit (300).

[0070]

[0071] The floor detection device (200) comprises a lower housing (210) formed to have an open front end, a TOF sensor module (220) mounted on the lower housing (210) and transmitting floor condition information about the floor surface on which the autonomous driving robot is driving to the detection control unit (300) by irradiating a light source including infrared rays, an upper housing (250) detachably coupled to the lower housing (210) and housing an IMU sensor module (230), an IMU sensor module (230) configured on the upper portion of the lower housing (210) and generating inclination information of the autonomous driving robot while driving and transmitting the inclination information to the detection control unit (300), and a detection unit (140) that is connected to the TOF sensor module (220) and the IMU sensor module (230) through a network, analyzes the floor condition information and the inclination information of the autonomous driving robot to generate floor condition analysis result information, and transmits the floor condition analysis result information to the drive control unit (140) so that the autonomous driving robot can drive stably according to the floor condition. It is configured to include a control unit (300).

[0072] The lower housing (210) is configured with a first module fixing part (212) on which a plurality of TOF sensor modules (220) are mounted at an angle along the open front portion.

[0073] The first module fixing part (212) is configured so that the TOF sensor module (220) can be installed at an angle so as to detect the front and bottom of the autonomous driving robot simultaneously, and preferably, an inclined groove is formed so that the module casing (222) of the TOF sensor module (220) described later is installed at an angle toward the front side of the lower housing (210) from the lower part to the upper part of the lower housing (210).

[0074] At this time, the inclined groove may be configured to have an inclination angle of 6° to 9°, but is not limited thereto.

[0075] In addition, the lower housing (210) is configured to be spaced apart from the inside of the first module housing (212) by a predetermined interval, and a first fixed axis (214) is formed along the circumference of the lower housing (210) so as to protrude upward, and supports the IMU sensor module (230) so that it can be detachably coupled.

[0076] Here, it is preferable that a screw groove be formed in the first fixed axis (214) so ​​that a fixed bolt or screw can be connected in a screw-joining manner.

[0077] Additionally, a second fixed shaft (216) is formed in the lower housing (210) that penetrates the upper housing (250) and is separated and coupled with the mounting housing (110).

[0078] At this time, the second fixed axis (216) may be coupled with the mounting housing (110) by penetrating both the IMU sensor module (230) and the upper housing (250), but is not limited thereto.

[0079] Meanwhile, the lower housing (210) of the present invention may be configured with a lower fixing groove (215) formed on one side of the rear side to support the detection control unit (300) to be described later so that it can be mounted and fixed.

[0080] The lower fixing groove (215) is configured so that the lower surface of the detection control unit (300) can be fixed. At this time, the lower fixing groove (215) may further include a sealing member that adheres closely to the outer surface of the detection control unit (300) along the inner circumference.

[0081] The lower housing (210) is configured so that a buffer member can be inserted into the central portion, and a buffer slit (218) may be further configured to minimize the transmission of vibration or shock to the IMU sensor module (230) when the autonomous driving robot is driving.

[0082] This buffer slit (218) may be configured to protrude from the rear of the second fixed shaft (216), and an insertion groove may be formed in the upper central portion so that a buffer member such as rubber or a spring can be inserted.

[0083] The TOF sensor module (220) is composed of multiple units, and is inserted and fixed to the first module fixing part (212) formed in the lower housing (210) at a predetermined angle of inclination, thereby simultaneously recognizing the front and bottom surface of the autonomous driving robot, detecting the presence of obstacles on the bottom surface of the driving path, and the presence of falling elements such as slopes and cliffs formed on the bottom surface, and transmitting the detection information to the detection control part (300).

[0084] This TOF sensor module (220) is configured to include a module casing (222) that is inserted and fixed to a first module fixing part (212), a TOF sensor (224) that is coupled to the module casing (222) and configured to be connected to a detection control unit (300) to transmit and receive detection information, and a mounting flange (226) on which a cable connecting the detection control unit (300) and the TOF sensor (224) is mounted.

[0085] Here, the module casing (222) has a sensor mounting groove formed in its central portion so that a TOF sensor (224) can be mounted thereon.

[0086] In addition, guide panels may be further configured on both sides of the module casing (222) to guide the first module fixing part (212) formed at an angle so that it can be detachably coupled in a sliding manner.

[0087] The TOF sensor (224) may be composed of a light emitting unit that emits a light source including infrared rays, and a light receiving unit that receives a light source reflected from an object located in front or from the floor.

[0088] This TOF sensor (224) may be, but is not limited to, a 3D TOF Array sensor.

[0089] Additionally, the module casing (222) may be arranged to have a semicircular shape along the curvature of the open front portion of the lower housing (210).

[0090] That is, the TOF sensor module (210) of the present invention can be configured in at least nine units, and can be arranged in a semicircle to cover 180° of the front and bottom surfaces of the autonomous driving robot.

[0091] Meanwhile, the mounting flange (226) is joined to the rear of the module casing (222) and is made of a thin metallic panel and is formed in a roughly “U” shape so that the cable can be secured.

[0092] These mounting flanges (226) are configured in a module casing (222) arranged in a semicircle, so that when connecting a plurality of TOF sensors (222) to a detection control unit (300), connection is possible with a minimum of space.

[0093] The IMU sensor module (230) is configured on the upper part of the lower housing (210) and is configured to detect a three-axis gyro value and an acceleration value for the floor detection device (200) to determine whether there is a slope on the floor surface.

[0094] This IMU sensor module (230) is configured to include a module body (232) that is coupled to the upper part of the lower housing (210) and has an IMU sensor (234) mounted on one side, an IMU sensor (234) that calculates values ​​for speed and inclination in the direction of travel of the autonomous driving robot and transmits them to the detection control unit (300), and an upper fixing panel (235) that fixes the upper surface of the detection control unit (300).

[0095] Here, the module body (232) is configured to be mounted on the upper surface of the first fixed shaft (214) of the aforementioned lower housing (210), and includes a module fixing groove (236) to which a connecting means such as a fixing bolt or screw is fastened, and an axis through hole (238) through which the second fixed shaft (216) passes.

[0096] Such a module body (232) is combined with the lower housing (210) so that the rear part of the TOF sensor module (220) can be sealed.

[0097] In addition, the upper fixing panel (235) is formed to extend on one side of the rear side of the module body (232) and is configured in a position corresponding to the lower fixing groove (215) so that the upper surface of the detection control unit (300) is in close contact with it.

[0098] This IMU sensor module (230) may be composed of a 3-axis angular velocity sensor (gyroscope) and a 3-axis acceleration sensor, but is not limited thereto.

[0099] The upper housing (250) is mounted on the upper part of the IMU sensor module (230), and is configured so that the IMU sensor module (230) can be built in by being connected to the lower housing (210) in a fitting manner on both sides.

[0100] In this upper housing (250), a shaft coupling hole (252) is formed to support a second fixed shaft (216) that penetrates the shaft through hole (238) toward the front side so that it can be coupled with the mounting housing (110).

[0101]

[0102] The detection control unit (300) is configured at the rear of the lower housing (210) and the IMU sensor module (230), and is connected to the TOF sensor (224) and the IMU sensor (234) via a wired or wireless network. The unit analyzes information transmitted from the TOF sensor (224) and the IMU sensor (234) to generate floor state information including the presence or absence of obstacles on the floor surface including the driving road, road surface, and indoor floor on which the autonomous driving robot is driving, the presence or absence of falling elements on the floor surface, and the presence or absence of a slope, and transmits the information to the driving control unit (140).

[0103] This detection control unit (300) can determine the presence of obstacles and slopes on the floor while driving by calculating information about the movement of the autonomous driving robot from information transmitted from the TOF sensor (224) and the IMU sensor (234).

[0104] At this time, the detection control unit (300) can receive the horizontal position value of the autonomous driving robot from the IMU sensor (234) and the difference value between the driving floor surface and the front from the TOF sensor (224), analyze the received information to determine whether an obstacle exists on the current driving floor surface or whether a slope exists, and generate floor surface status analysis result information corresponding to the determination result and transmit it to the driving control unit (140).

[0105] In addition, the detection control unit (300) receives the inclination value of the autonomous driving robot from the IMU sensor (234), analyzes the received inclination value to determine whether the state of the floor surface is an upward slope, a downward slope, or a side slope, and generates floor surface state analysis result information corresponding to the determination result and transmits it to the driving control unit (140).

[0106] Such a detection control unit (300) can be configured to correct deviations in information transmitted from the TOF sensor (224) and the IMU sensor (234) depending on the state of the floor surface, and can analyze the corrected information to determine whether there are obstacles or slopes on the floor surface while driving.

[0107]

[0108] Meanwhile, the detection control unit (300) of the present invention can calculate an angle value from the forward direction viewed by the autonomous driving robot while the TOF sensor (224) is driving to the floor surface on which the autonomous driving robot is driving, as shown in FIG. 5 and the calculation formula 1 below, and transmit the calculated angle value to the driving control unit (140). At this time, the driving control unit (140) can output the angle value so that the inclination angle of the TOF sensor (224) can be set.

[0109] [Equation 1] Angle of the direction the TOF sensor is looking

[0110]

[0111]

[0112] In addition, the detection control unit (300) of the present invention can determine whether an obstacle exists on the floor surface through FIG. 6 and the following calculation formula 2.

[0113] [Equation 2] Obstacle detection formula

[0114]

[0115] At this time, d1+d set >d3 or h2>h set At times, it can be judged as an obstacle that the robot cannot overcome.

[0116]

[0117] In addition, the detection control unit (300) of the present invention can determine whether the driving floor surface is an uphill slope through FIG. 7 and the calculation formula 3 below.

[0118] [Equation 3] Uphill slope discrimination equation

[0119]

[0120] At this time, a certain size When obtained, the detection control unit (300) determines the angle It can be recognized as an uphill slope.

[0121]

[0122] In addition, the detection control unit (300) of the present invention can determine whether the driving floor surface is a downhill slope through FIG. 8 and the calculation formula 4 below.

[0123] [Equation 4] Downhill slope discrimination equation

[0124]

[0125] At this time, a certain size When obtained, the detection control unit (300) determines the angle It can be recognized as a downward slope.

[0126]

[0127] In addition, the detection control unit (300) of the present invention can determine whether a drivable floor surface exists that is connected to a downhill slope through FIG. 9 and the calculation formula 5 below.

[0128] [Equation 5] Determination of drivable floor surface connected to a downhill slope

[0129]

[0130] All of them If satisfied, the detection control unit (300) can determine that there is a floor surface that is connected to a downhill slope and on which the autonomous driving robot can drive.

[0131]

[0132] In addition, the detection control unit (300) of the present invention can determine whether a cliff exists on the driving floor surface through FIG. 10 and the calculation formula 6 below.

[0133] [Equation 6] Cliff Determinant

[0134] Under human conditions,

[0135] And, In this case, the detection control unit (300) can determine that a cliff exists on the driving floor.

[0136] The above description is merely an illustrative illustration of the technical idea of ​​the present invention, and those skilled in the art will appreciate that various modifications and variations can be made without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the technical idea of ​​the present invention, and the scope of the technical idea of ​​the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of the rights of the present invention.

Claims

1. A mounting housing in which wheels and wheel drive means are mounted; A driving control unit that sets the driving direction and driving path of an autonomous driving robot and controls the driving of a wheel drive means; and A floor detection device mounted in the central portion of the above-mentioned mounting housing, which generates floor condition analysis result information from floor condition information including the presence or absence of obstacles and falling elements on the floor surface and the presence or absence of a ramp, and transmits the information to the drive control unit; An autonomous robot equipped with a floor detection device, characterized by including a .

2. In paragraph 1, The above floor detection device, A lower housing formed so that the front part is open; A TOF sensor module mounted on the lower housing, which simultaneously recognizes the front and driving floor surfaces of the autonomous driving robot and generates and transmits floor surface status information; An upper housing detachably coupled with the lower housing; An IMU sensor module configured on the upper part of the lower housing and generating and transmitting tilt information of a driving autonomous robot; and A detection control unit that receives and analyzes floor surface condition information and inclination information from the TOF sensor module and the IMU sensor module, respectively, to generate floor surface condition analysis result information, and transmits the floor surface condition analysis result information to the driving control unit; An autonomous robot equipped with a floor detection device, characterized by including a .

3. In paragraph 2, The above lower housing, A first module fixing part in which a plurality of the above TOF sensor modules are arranged in a semicircle and mounted obliquely so as to have a predetermined inclination angle; A first fixed axis configured to be spaced apart from the inside of the first module housing by a predetermined interval and to support the IMU sensor module so that it can be detachably coupled; A second fixed shaft penetrating the upper housing and configured to separate and join with the mounting housing; and A lower fixing groove for supporting the above detection control unit so that it can be mounted and fixed; An autonomous robot equipped with a floor detection device, characterized by including a .

4. In paragraph 3, The above first module fixing part is, An autonomous robot equipped with a floor detection device, characterized in that it is configured to have an inclination angle of 6° to 9°.

5. In paragraph 2, The above TOF sensor module, A module casing inserted and fixed into the first module fixing portion, A TOF sensor coupled to the above module casing and consisting of a 3D TOF Array sensor, A mounting flange on which a cable connecting the above detection control unit and the TOF sensor is mounted An autonomous robot equipped with a floor detection device, characterized by including a .

6. In paragraph 2, The above detection control unit, An autonomous driving robot equipped with a floor detection device, characterized in that it receives a horizontal position value of the autonomous driving robot from the IMU sensor module, receives a difference value between the floor surface on which it is driving and the front surface from the TOF sensor module, and analyzes the difference value to determine whether an obstacle or a slope exists on the floor surface on which it is currently driving.

7. In paragraph 2, The above detection control unit, An autonomous driving robot equipped with a floor detection device, characterized in that it receives a slope value of the autonomous driving robot from the IMU sensor module and analyzes the received slope value to determine whether the state of the floor surface is an upward slope, a downward slope, or a side slope.

8. In paragraph 2, The above detection control unit, An autonomous driving robot equipped with a floor detection device, characterized in that the TOF sensor module calculates an angle value from the forward direction viewed by the autonomous driving robot to the floor surface on which the autonomous driving robot is driving using the following calculation formula 1 and transmits the calculated angle value to the driving control unit. [Equation 1] 9. In paragraph 2, The above detection control unit, Determine whether there is an obstacle on the floor surface by the following calculation formula 2. d 1 +d set >d 3 This or h 2 >h set An autonomous robot equipped with a floor detection device characterized by determining that an obstacle is insurmountable by the robot at the time. [Equation 2] 10. In paragraph 2, The above detection control unit, Determine whether the driving surface is an uphill slope by using the following calculation formula 3. of a certain size When obtained, the angle is determined by the sensing control unit. An autonomous robot equipped with a floor detection device characterized by recognizing an uphill slope. [Equation 3] 11. In paragraph 2, The above detection control unit, Determine whether the driving surface is a downhill slope by using the following calculation formula 4. of a certain size When obtained, the angle is determined by the sensing control unit. An autonomous robot equipped with a floor detection device characterized by recognizing a downhill slope. [Equation 4] 12. In paragraph 2, The above detection control unit, The existence of a drivable floor surface connected to a downhill slope is determined by the following calculation formula 5. All of them An autonomous driving robot equipped with a floor detection device, characterized in that when satisfied with the above, the detection control unit determines that there is a floor surface connected to a downhill slope and on which the autonomous driving robot can drive. [Equation 5] 13. In paragraph 1, The above detection control unit, An autonomous driving robot equipped with a floor detection device characterized by determining whether a cliff exists on the floor while driving through the following calculation formula 6. [Equation 6] Under these conditions, And, If

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