Autonomous driving device and identification reinforcement unit detachable therefrom

Abstract

An autonomous driving device and an identification reinforcement unit detachable from the autonomous driving device are provided. The autonomous driving device comprises: a first body; a second body spaced apart from the first body; a support part supported by the second body on the first body; a sensor positioned in a separation space formed between the first body and the second body; and an identification reinforcement unit positioned in a blind area that is within the sensing area of the sensor and is obscured by the support part, wherein the identification reinforcement unit is to be identified by an external identification entity that performs position identification, and can reinforce identifiability for position identification.

Description

Autonomous driving device and identification reinforcement unit attachable thereto

[0001] The present disclosure relates to an autonomous driving device and an identification reinforcement unit detachable to the autonomous driving device.

[0002] Autonomous vehicles perceive their surroundings along a preset driving path and determine their driving path based on this information. Given the relatively high cost of these vehicles, it is necessary to reduce maintenance, repair, and management costs that arise from damage during operation.

[0003] Furthermore, it is necessary to prevent damage to autonomous vehicles, as well as to prevent damage to the vehicle itself. This need is only heightened when multiple autonomous vehicles are deployed.

[0004] An autonomous driving device according to one or more embodiments of the present disclosure includes: a first body; a second body spaced apart from the first body; a support member supported by the second body on the first body; a sensor positioned on a spaced space formed between the first body and the second body; and an identification reinforcement member positioned on a blind area covered by the support member among sensing areas of the sensor, wherein the identification reinforcement member becomes an identification target of an external identification subject performing location identification, and can reinforce identification power for location identification.

[0005] An identification reinforcement unit detachable from an autonomous driving device according to one or more embodiments of the present disclosure includes an identification reinforcement unit including a first identification reinforcement part positioned between support members and a sensor, and a second identification reinforcement part positioned between a border member and the support member on an upper surface of a first body, wherein the identification reinforcement part becomes an identification target of an external identification subject performing location identification and reinforces identification power for location identification, and the first identification reinforcement part, the second identification reinforcement part, and the third identification reinforcement part may be provided to protrude upward on the upper surface of the first body with a preset thickness.

[0006] FIG. 1 is a block diagram illustrating a configuration of an autonomous driving device according to one or more embodiments of the present disclosure.

[0007] FIG. 2 is a schematic diagram illustrating an autonomous driving device according to one or more embodiments of the present disclosure.

[0008] FIG. 3 is a plan view illustrating a state in which a sensor, a support member, and an identification reinforcement member are positioned on a first body among the configurations of an autonomous driving device according to one or more embodiments of the present disclosure.

[0009] FIG. 4 is a diagram illustrating a method in which an identification reinforcement part on a first body of an autonomous driving device according to one or more embodiments of the present disclosure provides location information to an external identification subject.

[0010] FIG. 5 is a front view exemplarily illustrating the configuration positions of an autonomous driving device according to one or more embodiments of the present disclosure.

[0011] FIG. 6 is a side view illustrating an exemplary configuration of an autonomous driving device according to one or more embodiments of the present disclosure.

[0012] FIG. 7 is a block diagram illustrating a configuration of an autonomous driving device according to one or more embodiments of the present disclosure.

[0013] FIG. 8 is a plan view illustrating an upper surface of a first body according to one or more embodiments of the present disclosure.

[0014] FIG. 9 is a detailed drawing of an upper surface of a first body of an autonomous driving device according to one or more embodiments of the present disclosure.

[0015] FIGS. 10, 11, and 12 are drawings illustrating a first body among the configurations of an autonomous driving device according to one or more embodiments of the present disclosure.

[0016] FIG. 13 and FIG. 14 are drawings illustrating a state in which a top plate is installed in an autonomous driving device according to one or more embodiments of the present disclosure.

[0017] FIG. 15 and FIG. 16 are drawings illustrating a state in which a top cover is installed on the upper surface of a first body according to one or more embodiments of the present disclosure.

[0018] FIG. 17 is a drawing exemplarily illustrating the shape of an identification reinforcement part and a support part according to one or more embodiments of the present disclosure.

[0019] FIG. 18 is a drawing exemplarily illustrating the shape of an identification reinforcement part and a support part according to one or more embodiments of the present disclosure.

[0020] FIG. 19 is a drawing exemplarily illustrating a shape of an identification reinforcement part according to one or more embodiments of the present disclosure.

[0021] FIG. 20 and FIG. 21 are diagrams illustrating an operating state of an autonomous driving device according to one or more embodiments of the present disclosure.

[0022] FIG. 22 is a drawing illustrating an exterior of an autonomous driving device according to one or more embodiments of the present disclosure.

[0023] FIG. 23 is a plan view illustrating a portion of an autonomous driving device according to one or more embodiments of the present disclosure.

[0024] FIGS. 24, 25, 26, and 27 are drawings illustrating exemplary locations where identification reinforcement parts of autonomous driving devices according to one or more embodiments of the present disclosure are installed.

[0025] FIG. 28 is a schematic diagram illustrating an autonomous driving device according to one or more embodiments of the present disclosure.

[0026] FIG. 29 is a plan view schematically illustrating the positioning of a sensor, a support member, and an identification reinforcement member on a first body among the configurations of an autonomous driving device according to one or more embodiments of the present disclosure.

[0027] FIG. 30 is a plan view schematically illustrating a state in which components of an autonomous driving device according to one or more embodiments of the present disclosure are positioned.

[0028] FIGS. 31 and 32 are plan views schematically illustrating how a cloud point of an autonomous driving device according to one or more embodiments of the present disclosure is set.

[0029] FIG. 33 is a plan view schematically illustrating a state in which components of an autonomous driving device according to one or more embodiments of the present disclosure are positioned.

[0030] The embodiments described in this disclosure and the configurations illustrated in the drawings are merely one or more preferred embodiments, and there may be various modified examples that can replace the embodiments and drawings of this disclosure at the time of filing of this application.

[0031] In this disclosure, the same reference numbers or symbols presented in each drawing represent parts or components that perform substantially the same function.

[0032] The terminology used in this disclosure is for the purpose of describing embodiments and is not intended to limit and / or restrict the disclosed invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, the terms “comprise” or “have” and the like are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0033] Terms including ordinal numbers, such as “first,” “second,” etc., used in this disclosure may be used to describe various components; however, the components are not limited by these terms, and these terms are used only to distinguish one component from another. For example, without departing from the scope of the present disclosure, the first component could be referred to as the second component, and similarly, the second component could also be referred to as the first component. The term “and / or” includes any combination of a plurality of related listed items or any one of a plurality of related listed items.

[0034] The terms “leading end,” “rear end,” “upper end,” “lower end,” “front end,” “rear end,” “top surface,” “bottom surface,” “upper end,” “lower end,” “one end,” “the other end,” “left side,” and “right side” used in this disclosure are defined based on the drawings, and the shape and position of each component are not limited by these terms.

[0035] Meanwhile, the support portion, as a name of the configuration used below, may serve to connect the first body and the second body and provide separation support. In the present disclosure, the configuration performing this function is described as a support portion, but it is to be understood that it may be referred to by various names such as a pillar portion, a support portion, a support portion, a connecting portion, etc.

[0036] The identification reinforcement part of the present disclosure is a structural part that serves as the identification target of the identification subject, and may be included in a part that performs mutual identification between the autonomous driving device of the present disclosure and an external identification subject (e.g., another autonomous driving device, etc.). While described as an identification reinforcement part in the present disclosure, it should be understood that it may also be referred to by various other names, such as a device, structure, or identification object.

[0037] Hereinafter, an autonomous driving device according to one or more embodiments is described with reference to the attached drawings.

[0038] Referring to FIGS. 1 and 2, the autonomous driving device (100) may include a first body (110), a second body (120), a sensor (130), a support member (140), and an identification reinforcement member (150). The autonomous driving device (100) may be a device capable of autonomous driving without human intervention.

[0039] The autonomous driving device (100) may be referred to in various ways, such as a driving robot or an unmanned mobile robot. Depending on the intended use, the autonomous driving device (100) may be implemented in various ways, such as a cleaning robot, a mobile projector, a serving robot, or an industrial robot.

[0040] In addition, the first body (110) and the second body (120) partially distinguish the exterior of the autonomous driving device (100). In the present disclosure, the first body (110) is positioned on the lower side, and the second body (120) is positioned on the upper side.

[0041] A wheel capable of moving the autonomous driving device (100) is arranged at the bottom of the first body (110), and a drive motor, gear, shaft, etc. for rotating the wheel may be provided inside the first body (110).

[0042] Here, the second body (120) of the autonomous driving device (100) is provided to be spaced apart from the first body (110). The support member (140) of the autonomous driving device (100) is configured to support the second body (120) on the first body (110).

[0043] The support (140) may include a first support (141) and a second support (142). The support (140) may also be referred to as a connecting portion or an intermediate portion, or may be referred to as a third body separately from the first and second bodies.

[0044] This second body (120) may be implemented as a structure that can be separated and connected to the first body (110) based on the support (140), or may be implemented as an integrated structure together with the first body (110) and the support (140).

[0045] A predetermined separation space is formed between the first body (110) and the second body (120) of the autonomous driving device (100). The sensor (130) of the autonomous driving device (100) is positioned on the separation space between the first body (110) and the second body (120) and can perform a position identification operation (e.g., a sensing operation, etc.).

[0046] The processor (101) (see FIG. 7) of the autonomous driving device (100) can obtain various information, such as the shape of the space in which the autonomous driving device (100) is located, the position of the autonomous driving device (100) within the space, the position of surrounding objects, the shape of surrounding objects, the distance to surrounding objects, etc., based on the sensing value of the sensor (130).

[0047] The sensor (130) may include at least one of various sensors, such as a lidar sensor, an IR (Infra Red) sensor, and an ultrasonic sensor. When the sensor (130) includes a lidar sensor, the lidar sensor may rotate 360 ​​degrees with respect to the space where the autonomous driving device (100) is located and irradiate a laser.

[0048] When a laser is reflected from an object around an autonomous driving device (100) and received again by a lidar sensor, the lidar sensor can provide data such as the time of reception or the direction of reception to the processor.

[0049] The processor (101) (see FIG. 7) can measure the distance to an object based on this data, perform this distance measurement from various angles and directions, and generate data points of the surrounding environment. These data points are generated in the form of cloud points. Each point contains information about 3D coordinate values.

[0050] At this time, cloud points typically include information about 2D coordinate values, but may also include information about 3D coordinate values. The processor organizes the generated information into a map format and stores it in memory (102) (see FIG. 7), and can utilize the stored map when setting a driving route or while driving.

[0051] As described above, the role of the sensor (130) for accurate positioning in the operation of the autonomous driving device (100) is important. Therefore, it is necessary to not obstruct the sensing range of the sensor (130) as much as possible, and generally, no structures that interfere with sensing are installed around the sensor (130).

[0052] However, this structure may actually be a factor in causing collision accidents in an environment where it is used together with other autonomous driving devices of the same type. That is, when multiple autonomous driving devices (100) with sensors (130) positioned at the same height are used together, the sensing range of the sensor (130) may only include sensors (130) installed in other autonomous driving devices.

[0053] If the sensor (130) is positioned toward the center of the exterior of the autonomous driving device (100), then even if the sensor (130) recognizes the distance to the sensor of another autonomous driving device, it can only recognize the distance between the centers of multiple autonomous driving devices (100), so the edge portions of the autonomous driving devices (100) may be positioned closer together. This may cause a collision.

[0054] Additionally, if the sensor (130) is small in size, it may not be recognized well by the sensors of other autonomous driving devices at a certain distance. Therefore, collisions may also occur due to this.

[0055] Taking these points into consideration, in various embodiments of the present disclosure, an identification reinforcement part (150) recognizable by a sensor of another autonomous driving device is applied. The identification reinforcement part may be a structure that serves as an identification target of an external identification subject (50) (e.g., another autonomous driving device) performing location identification, and that reinforces the identification ability for location identification.

[0056] Below, the structures of various autonomous driving devices and identification reinforcement parts are described in detail.

[0057] Referring to FIGS. 2 and 3, the identification reinforcement part (150) of the autonomous driving device (100) can form a blind area (B1 to B4) (see FIG. 3) covered by the support part (140) among the position identification areas of the sensor (130).

[0058] The identification reinforcement part (150) of the autonomous driving device (100) may be positioned on the square areas (B1 to B4) (see FIG. 3). In addition, the identification reinforcement part (150) may be a location identification target of an external identification subject (50) performing location identification.

[0059] The identification reinforcement unit (150) can perform location identification for the autonomous driving device (100) through an external identification subject (50). The autonomous driving device (100) can also perform location identification for an external identification subject (50) having the identification reinforcement unit (150).

[0060] The autonomous driving device (100) can have enhanced identification capability through the identification reinforcement part (150) compared to a case where the autonomous driving device (100) is not equipped with the identification reinforcement part (150). This allows for easy and accurate identification of distances and locations between devices, thereby reducing the possibility of collision.

[0061] Assuming that there is no such identification reinforcement part (150), the external identification subject (50) may distort the identification position for collision prevention and determine it according to the structural shape of the autonomous driving device (100) (e.g., a protruding structure protruding outward compared to a basic flat structure, a dent structure recessed inward, etc.).

[0062] Depending on the point at which the external identification subject (50) performs location identification for the autonomous driving device (100), the autonomous driving device (100) can be recognized as being separated from the external identification subject (50) even when the autonomous driving device (100) is in proximity to the external identification subject (50).

[0063] The sensor (130) of the autonomous driving device (100) is arranged on the upper surface (111) of the first body (110). The support member (140) of the autonomous driving device (100) can be positioned in a plurality of directions based on the position of the sensor (130) on the upper surface (111) of the first body (110).

[0064] In addition, the first identification reinforcement part (151) of the identification reinforcement part (150) may be positioned between the support parts (140) and the sensor (130), respectively. The second identification reinforcement part (152) of the identification reinforcement part (150) may be positioned between the edge part on the upper surface (111) of the first body (110) and the support part (140).

[0065] The first support portion (141) of the support portion (140) can be positioned at a preset first position on the first body (110). The second support portion (142) of the support portion (140) can be positioned at a second position different from the first position on the first body (110).

[0066] The first identification reinforcement part (151) can be positioned between the first support part (141) and the sensor (130). The second identification reinforcement part (152) can be positioned between the second support part (142) and the edge of the upper surface (111).

[0067] The first_1 support portion (1411) of the first support portion (141) may be positioned on a preset side of the first body (110). The first_2 support portion (1412) of the first support portion (141) may be positioned on a preset other side of the first body (110).

[0068] Here, the second_1 support (1421) of the second support (142) can be positioned on a preset side on the first body (110). The second_2 support (1422) of the second support (142) can be positioned on the preset other side on the first body (110).

[0069] The first_1 identification reinforcement part (1511) of the first identification reinforcement part (151) may be positioned between the first_1 support part (1411) and the sensor (130). The first_2 identification reinforcement part (1512) of the first identification reinforcement part (151) may be positioned between the first_2 support part (1412) and the sensor (130).

[0070] Meanwhile, the first_3 identification reinforcement part (1513) of the first identification reinforcement part (151) may be positioned between the second_1 support part (1421) and the sensor (130). The first_4 identification reinforcement part (1514) of the first identification reinforcement part (151) may be positioned between the second_2 support part (1422) and the sensor (130).

[0071] Among these first identification reinforcement parts (151), the first_3 identification reinforcement part (1513) and the first_4 identification reinforcement part (1514) can be installed in the first subsequent installation method, which is a subsequent installation method, if it is necessary to reinforce the positional identification ability of the external identification subject (50) after the first_1 identification reinforcement part (1511) and the first_2 identification reinforcement part (1512) are first installed.

[0072] In addition, the 1_3 identification reinforcement part (1513) and the 1_4 identification reinforcement part (1514) of the 1st identification reinforcement part (1511) can be installed in a pre-installation manner together with the 1_1 identification reinforcement part (1511) and the 1_2 identification reinforcement part (1512) so that the position identification ability of the external identification subject (50) is displayed at a high level from the beginning.

[0073] The second_1 identification reinforcement part (1521) of the second identification reinforcement part (152) may be positioned between the second_1 support part (1421) and the sensor (130). The second_2 identification reinforcement part (1522) of the second identification reinforcement part (152) may be positioned between the second_2 support part (1422) and the sensor (130).

[0074] In addition, the 1_3 identification reinforcement part (1513) and the 1_4 identification reinforcement part (1514) may be installed in a second subsequent manner in which they are additionally installed to reinforce location identification ability after the 1_1 identification reinforcement part (1511), the 1_2 identification reinforcement part (1512), and the 2nd identification reinforcement part (152) are first installed.

[0075] Meanwhile, the sensor (130) can perform location identification for adjacent objects on the driving path before, during, and after driving of the first body (110) on the driving path. The external identification subject (50) can also perform location identification for the driving path and adjacent objects (e.g., the first structure, the second structure, the identification reinforcement part (150), etc.) on the autonomous driving device (100) before, during, and after driving.

[0076] Here, it is most important that the location identification of the external identification subject (50) is performed while driving, but it is possible to have the location identification performed continuously before and after driving.

[0077] Through this, it is possible to enable the external identification subject (50) to perform the maximum level of recognition of the autonomous driving device (100). The first body (110) is basically capable of stopping and avoiding actions to prevent collision with surrounding terrain, obstacles, or other moving objects, depending on the sensing value of the sensor (130).

[0078] In addition, the external identification subject (50) performs stopping operations, avoidance operations, etc. based on recognition of the identification reinforcement part (150) of the autonomous driving device (100), in addition to the stopping operations and avoidance operations of the autonomous driving device (100), so that collisions between the external identification subject (50) and the autonomous driving device (100) can be comprehensively prevented.

[0079] Meanwhile, the autonomous driving device (100) can operate independently on a preset driving path, as well as in conjunction with a separate target. Here, the separate target may include both a target that does not drive on the driving path and a subject that does drive.

[0080] However, it may correspond to a target that can recognize an autonomous driving device (100) and perform a stopping action, an avoidance action, etc. on the driving path to prevent a collision with the autonomous driving device (100).

[0081] Such a separate object may include an external identification entity (50) capable of performing the above-described location identification operation for recognizing the autonomous driving device (100). This external identification entity (50) may identify the location outside the autonomous driving device (100).

[0082] The external identification subject (50) can identify the location of the autonomous driving device (100) through a first structure, which is an external structure whose location is identified from the outside of the autonomous driving device (100), and a second structure, which is an internal structure located inside the autonomous driving device (100) but whose location can also be identified from the outside.

[0083] In addition, the identification reinforcement part (150) of the autonomous driving device (100) may be included in the first structure or the second structure described above. An external identification subject (50) can more easily recognize the location of the autonomous driving device (100) through the identification reinforcement part (150) installed in the autonomous driving device (100).

[0084] FIG. 4 is a diagram illustrating a method in which an identification reinforcement part (150) on a first body (110) among the configurations of an autonomous driving device (100) according to one or more embodiments of the present disclosure provides location information to an external identification subject (50). FIG. 4 illustrates cloud points that can be recognized by a sensor (not shown) equipped on an external identification subject (50) with respect to the identification reinforcement parts (1513, 1514).

[0085] FIG. 5 is a front view illustrating an exemplary configuration of an autonomous driving device (100) according to one or more embodiments of the present disclosure. FIG. 6 is a side view illustrating an exemplary configuration of an autonomous driving device (100) according to one or more embodiments of the present disclosure.

[0086] Referring to FIGS. 3 and 4, the first support member (141) described above is positioned on the upper surface (111) of the first body (110) toward the periphery of the sensor (130) in one direction. The second support member (142) is positioned on the upper surface (111) of the first body (110) toward the periphery of the sensor (130) with respect to the sensor (130).

[0087] In a case where multiple support members (1411, 1412, 1421, 1422) are distributed around the sensor (130) as shown in FIG. 3, a square area (B1, B2, B3, B4) is inevitably created between the sensor (130) and each support member (1411, 1412, 1421, 1422).

[0088] In at least one embodiment of the present disclosure, an identification reinforcement member (150) may be placed in whole or in part for at least some of these square areas (B1, B2, B3, B4).

[0089] Accordingly, since the area or direction where sensing is impossible due to the square area (B1, B2, B3, B4) can be utilized as the installation space of the identification reinforcement part (150), the identification ability for the external identification subject (50) can be reinforced without lowering the sensing accuracy or efficiency.

[0090] Specifically, an external identification subject (50) can obtain cloud points, which are information about the location of the autonomous driving device (100), through the identification reinforcement unit (150) of the autonomous driving device (100). Based on these cloud points, the external identification subject (50) can perform stopping and evasive maneuvers for the autonomous driving device (100).

[0091] More specifically, the external identification subject (50) can perform stopping and evasive maneuvers without distortion of identification (e.g., sensing for distance and position recognition, etc.) based on the cloud point, etc., by the structure of the autonomous driving device (100) (e.g., at least some protruding structures, concave structures, etc. formed on the first body (110) and the second body (120), etc.).

[0092] The first_1 support part (1411) and the first_2 support part (1412) of the first support part (141) can be positioned spaced apart from each other by a first predetermined distance in front of the sensor (130). The second_1 support part (1421) and the second_2 support part (1422) of the second support part (142) can be positioned spaced apart from each other by a second distance.

[0093] The second separation distance may be a narrower separation distance than the first separation distance. The first_1 support portion (1411) and the first_2 support portion (1412) may be positioned on the same line so as to face each other. Of course, the first_1 support portion (1411) and the first_2 support portion (1412) may also be positioned off the same line.

[0094] In addition, the first identification reinforcement part (1511), the first identification reinforcement part (1512), the first identification reinforcement part (1513), and the first identification reinforcement part (1514) of the first identification reinforcement part (1511) can be positioned based on the positions of the sensor (130) and the first support part (141), and the sensor (130) and the second support part (142), respectively.

[0095] The second_1 identification reinforcement part (1521) and the second_2 identification reinforcement part (1522) of the second identification reinforcement part (152) may be positioned between the second support part (142) and the corner of the first body (110) and the upper surface (111). The first_1 identification reinforcement part (1511) of the first identification reinforcement part (151) may be positioned forward of the sensor (130) on one side of the sensor (130).

[0096] In addition, the 2_1 identification reinforcement part (1521) and the 2_2 identification reinforcement part (1522) of the 2nd identification reinforcement part (152) may also be positioned forward relative to the sensor (130). The 2_1 identification reinforcement part (1521) and the 2_2 identification reinforcement part (1522) may be positioned forward relative to the 1_1 identification reinforcement part (1511) and the 1_2 identification reinforcement part (1512).

[0097] However, this is an example, and the arrangement of the first identification reinforcement part (151) and the second identification reinforcement part (152) is not limited. For example, the first_1 identification reinforcement part (1511) and the first_2 identification reinforcement part (1512) of the first identification reinforcement part (151) may be positioned radially toward one side of the sensor (130).

[0098] The second_1 identification reinforcement part (1521) and the second_2 identification reinforcement part (1522) of the second identification reinforcement part (152) may be positioned radially in the other direction of the sensor (130) with the sensor (130) as the center.

[0099] It is preferable that the positions of the first identification reinforcement part (151) and the second identification reinforcement part (152) be positioned on the square area of ​​the sensor (130) on the autonomous driving device (100) so as not to interfere with the position identification operation of the sensor (130).

[0100] When the external identification subject (50) performs sensing while facing the first body (110) and simultaneously faces the first identification reinforcement part (151), it can obtain cloud points for the outer surface (e.g., outer surface in the longitudinal direction, etc.) of at least one of the first_1 identification reinforcement part (1511), the first_2 identification reinforcement part (1512), the first_3 identification reinforcement part (1513), and the first_4 part of the first identification reinforcement part (151).

[0101] FIG. 7 is a block diagram illustrating a configuration of an autonomous driving device (100) according to one or more embodiments of the present disclosure. Referring to FIG. 7, the autonomous driving device (100) may include a processor (101), a memory (102), and a driving unit (103). The driving unit (103) may provide driving force for driving the first body (110).

[0102] The processor (101) can control the driving unit (103) to control the overall driving of the first body (110). The processor (101) and the memory (102) can be located at predetermined locations such as the first body (110), the second body (120), etc.

[0103] FIG. 8 is a plan view illustrating an upper surface (111) of a first body (110) according to one or more embodiments of the present disclosure. FIG. 9 is a detailed view illustrating an upper surface (111) of a first body (110) of an autonomous driving device (100) according to one or more embodiments of the present disclosure.

[0104] Referring to FIGS. 8 and 9, the first body (110) may include an upper surface (111). The upper surface (111) may have an area that is open in the vertical direction and a border formed around the area. The first identification reinforcement part (1511) of the first identification reinforcement part (151) may be installed on one side of the sensor (130).

[0105] The first identification reinforcement part (1511) is installed on one side of a sensor bracket (131) on which a sensor (130) is installed, via a fastening member (BT). The first body (1511c) may be provided with an extension panel having a preset area so as to be secured to the edge of the first body (110) adjacent to the sensor (130).

[0106] In addition, the first_1 identification reinforcement part (1511) is installed on the first_1 support part (1411) with the second body (1511b) of the other side. The second body (1511b) may be installed so as to surround at least a portion of the outer surface of the first_1 support part (1411) with its inner surface.

[0107] The third body (1511a) of the first_1 identification reinforcement part (1511) is provided so as to be connected between the first body (1511c) and the second body (1511b). The third body (1511a) of the first_1 identification reinforcement part (1511) may be provided in a form that is tapered toward one side.

[0108] Here, the second_1 identification reinforcement part (1521) is provided so that one end (1521b) that is mounted on the upper surface (111) of the first body (110) has magnetism. The other end (1521c) of the second_1 identification reinforcement part (1521) is installed so as to be detachable from the second_1 support part (1421).

[0109] The second_1 support part (1421) may correspond to a structure having an internal space (H3). The other end (1521c) of the second_1 identification reinforcement part (1521) is provided in at least one pair. The other end (1521c) of the second_1 identification reinforcement part (1521) can enter the internal space (H3) while being pressed by an external force.

[0110] The other end (1521c) of the 2nd_1 identification reinforcement part (1521) enters the internal space (H3), and then, when the external force is released, it performs a restoration operation to its original position by elastic restoring force. By this restoration operation, the other end (1521c) of the 2nd_1 identification reinforcement part (1521) can be restricted from being separated from the internal space (H3).

[0111] For example, the other end (1521c) of the 2_1 identification reinforcement part (1521) may include a slanted edge portion (1521c1) tapered in the direction of entry into the internal space (H3) and a bottom edge portion (1521c2) connected to the slanted edge portion (1521c1).

[0112] The other end (1521c) of the 2nd_1 identification reinforcement part (1521) can enter the internal space while being subjected to an external force. To facilitate the application of such an external force, the other end (1521c) of the 2nd_1 identification reinforcement part (1521) can be formed with a protruding area (1521d) that protrudes outward in the longitudinal direction.

[0113] The other end (1521c) of the 2nd_1 identification reinforcement part (1521) is triangular in shape, and when the external force is released after entering the internal space (H3), the bottom end (1521c2) is fixed by being caught on the inner surface of the 2nd_1 support part (1421), thereby restricting removal to the outside.

[0114] FIGS. 10, 11, and 12 are drawings illustrating a first body (110) among the configurations of an autonomous driving device (100) according to one or more embodiments of the present disclosure. Referring to FIGS. 10, 11, and 12, the first body (110) may be equipped with a pair of left and right main wheels (113) and a pair of front and rear auxiliary wheels (114, 115).

[0115] Of course, the main wheel (113) and auxiliary wheels (114, 115) of the first body (110) are exemplary and are not limited thereto. The first body (110) may be provided with an additional panel-type part (121) on the upper surface (111).

[0116] This panel-shaped component (121) may be a part that serves as a medium for installing the second body (120) on the first body (110). Meanwhile, the above-described 1_3 identification reinforcement part (1513) and the 1_4 identification reinforcement part (1514) may be formed integrally with the 2_1 identification reinforcement part (1521) and the 2_2 identification reinforcement part, respectively.

[0117] A first round region (R1) may be formed between the first_3 identification reinforcement part (1513) and the second_1 identification reinforcement part (1521). A second_1 support part (1421) may be positioned in this first round region (R1). A second round region (R2) may be formed between the first_4 identification reinforcement part (1514) and the second_2 identification reinforcement part (1522). A second_2 support part (1422) may be positioned in this second round region (R2).

[0118] FIGS. 13 and 14 are drawings illustrating a state in which a top plate (111p) is installed in an autonomous driving device (100) according to one or more embodiments of the present disclosure. Referring to FIGS. 13 and 14, the autonomous driving device (100) may include a top plate (111p) as the upper surface (111) of the first body (110).

[0119] The upper plate (111p) may have the identification reinforcement part (150) described above positioned on the lower surface. Furthermore, the identification reinforcement part (150) may be provided separately from the upper plate (111p) or may be provided as an integral part.

[0120] In addition, the identification reinforcement part (150) provided on the upper plate (111p) may be provided to protrude from the upper plate (111p) at a preset thickness. In this case, the first_1 identification reinforcement part (1511), the first_2 identification reinforcement part (1512), the first_3 identification reinforcement part (1513), and the first_4 identification reinforcement part (1514) on the upper plate (111p) may be provided as an integral whole.

[0121] In addition, it is possible that the first identification reinforcement part (1511), the first identification reinforcement part (1512), the first identification reinforcement part (1513), and the first identification reinforcement part (1514) on the top plate (111p) are not all integral, but only some of them are integral.

[0122] The second_1 identification reinforcement part (1521) and the second_2 identification reinforcement part (1522) on the upper plate (111p) may be provided as an integral part, or only a portion thereof may be provided as an integral part. Through this selection, the identification reinforcement part (150) can be pre-installed from the manufacturing stage of the autonomous driving device (100).

[0123] In addition, the autonomous driving device (100) may be configured to additionally have an identification reinforcement part (150) installed on the first body (110) after the manufacturing stage. FIGS. 15 and 16 are drawings illustrating a state in which an upper plate cover (111c) is installed on the upper surface (111) of the first body (110) according to one or more embodiments of the present disclosure.

[0124] Referring to FIGS. 15 and 16, the autonomous driving device (100) may include a top cover (111c) as the upper surface (111) of the first body (110). This may be a part separately installed on the upper surface (111) of the first body (110).

[0125] It goes without saying that the identification reinforcement part (150) provided on the upper cover (111c) can be set to have a preset thickness upward. The first identification reinforcement part (1511), the first identification reinforcement part (1512), the first identification reinforcement part (1513), and the first identification reinforcement part (1514) on the upper cover (111c) can be provided as an integral whole.

[0126] In addition, it is possible that only some, not all, of the first identification reinforcement part (1511), the first identification reinforcement part (1512), the first identification reinforcement part (1513), and the first identification reinforcement part (1514) on the top cover (111c) are provided as an integral part.

[0127] The second_1 identification reinforcement part (1521) and the second_2 identification reinforcement part (1522) on the upper cover (111c) may be provided as an integral part, or only a portion thereof may be provided as an integral part. Through this selection, the identification reinforcement part (150) can be pre-installed from the stage of manufacturing the autonomous driving device (100).

[0128] In addition, the autonomous driving device (100) may be configured to additionally have an identification reinforcement part (150) installed on the first body (110) after the manufacturing stage. FIGS. 17 and 18 are drawings exemplarily illustrating the shapes of an identification reinforcement part (150) and a support part (140) according to one or more embodiments of the present disclosure.

[0129] Referring to FIGS. 17 and 18, the autonomous driving device (100) may be formed in such a way that the first_1 support part (1411), the first_2 support part (1412), the second_1 support part (1421), the second_2 support part (1422), the first_1 identification reinforcement part (1511), the first_2 identification reinforcement part (1512), the first_3 identification reinforcement part (1513), and the first_4 identification reinforcement part (1514) are formed integrally with each other.

[0130] More specifically, the first_1 identification reinforcement part (1511) can be formed by being folded as an integral part on the first_1 support part (1411). The first_2 identification reinforcement part (1512) can be formed by being folded as an integral part on the first_2 support part (1412).

[0131] Likewise, the 2_1 identification reinforcement part (1521) can be formed by being folded as an integral part on the 2_1 support part (1421). The 2_2 identification reinforcement part (1522) can be formed by being folded as an integral part on the 2_2 support part (1422).

[0132] Here, the bending direction and length of the first_1 identification reinforcement part (1511), the first_2 identification reinforcement part (1512), the first_3 identification reinforcement part (1513), the first_4 identification reinforcement part (1514), the second_1 identification reinforcement part, and the second_2 identification reinforcement part (1522) can be suitably set within the above-described rectangular areas (B1, B2, B3, B4).

[0133] In addition, it is preferable that the bending direction and length of the first_1 identification reinforcement part (1511), the first_2 identification reinforcement part (1512), the first_3 identification reinforcement part (1513), the first_4 identification reinforcement part (1514), the second_1 identification reinforcement part, and the second_2 identification reinforcement part (1522) are arranged so that interference does not occur when the sensor (130) of the autonomous driving device (100) performs sensing.

[0134] FIG. 19 is a drawing exemplarily illustrating a form of an identification reinforcement part (150) according to one or more embodiments of the present disclosure. Referring to FIG. 19, the autonomous driving device (100) may have a first identification reinforcement part (1511), a first identification reinforcement part (1512), a first identification reinforcement part (1513), and a first identification reinforcement part (1514) positioned on the sensor bracket (131) described above at one end or in a portion of the longitudinal direction.

[0135] In particular, one end or a portion of the longitudinal direction of the first identification reinforcement part (1511), the first identification reinforcement part (1512), the first identification reinforcement part (1513), and the first identification reinforcement part (1514) may be fastened as individual parts on the sensor bracket (131) or installed in the form of an integrated module.

[0136] FIGS. 20 and 21 are diagrams illustrating the operational state of an autonomous driving device (100) according to one or more embodiments of the present disclosure. FIG. 22 is a diagram illustrating the exterior of an autonomous driving device (100) according to one or more embodiments of the present disclosure. FIG. 23 is a plan view illustrating a portion of an autonomous driving device (100) according to one or more embodiments of the present disclosure.

[0137] In the following, parts similar to the above-described content will be omitted and the description will focus on parts with technical features. Referring to FIGS. 20, 21, and 22, the autonomous driving device (100) can drive on a driving path.

[0138] On the driving route, the autonomous driving device (100) may not operate alone, but may also operate with other driving objects. Here, the other driving objects may include the external identification subject (50) described above. The external identification subject (50) may be an autonomous driving device (100) or the like installed separately from the autonomous driving device (100).

[0139] The external identification subject (50) is sufficient if it can perform identification to prevent collisions while driving and perform stopping and evasive maneuvers based on the identification. As illustrated, the support member (140) of the autonomous driving device (100) can be positioned on the center of the upper surface (111).

[0140] The upper surface (111) of the first body (110) of the autonomous driving device (100) may have a rectangular cross-sectional shape. The support portion (140) may have a dent area (H2) formed along at least a portion of the periphery. The first body (110) may include a first corner point (C1) and a second corner point (C2).

[0141] The first corner point (C1) may be one of two corner points diagonally opposite to each other on the periphery of the first body (110). The second corner point (C2) may be another corner point different from the first corner point (C1).

[0142] The sensor (130) may include a first sensor (130a) located at a first corner point (C1), a second sensor (130b) located at a second corner point (C2), etc. The identification reinforcement part (150) may include a third identification reinforcement part (153) and a fourth identification reinforcement part (154).

[0143] The third identification reinforcement part (153) may be positioned at the first corner point (C1) and provided to correspond to the first sensor (130a). The fourth identification reinforcement part (154) may be positioned at the second corner point (C2) and provided to correspond to the second sensor (130b).

[0144] The third identification reinforcement part (153) and the fourth identification reinforcement part (154) may each include a first identification reinforcement body (1551, 1561), a second identification reinforcement body (1552, 1562), and a third identification reinforcement body (1553, 1563). Referring to FIGS. 22 and 23, the first identification reinforcement body (1551, 1561) may be positioned on the above-described indentation area (H2).

[0145] The first identification reinforcement part (151) can be positioned in a tapered shape from one end positioned close to the sensor (130) toward the other end positioned farther from the sensor (130).

[0146] The second identification reinforcement body (1552, 1562) of the identification reinforcement part (150) is positioned on the second corner point (C2) and can be connected to the first identification reinforcement body (1551) in one direction. The third identification reinforcement body (1553, 1563) of the identification reinforcement part (150) can be extended to the other direction of the first identification reinforcement body (1551).

[0147] This third identification reinforcement body (155) can be installed on the support member (140) to fix the second identification reinforcement body (1552). The support member (140) can be provided with a flange member (PL) on the upper circumference.

[0148] Meanwhile, although not directly illustrated, the third identification reinforcement body (1553) may include an inner circumferential shape based on a longitudinal cross-section, such as a “ㄷ” shape. The third identification reinforcement body (1553) may be fixed by accommodating a flange portion (PL) on the inner circumferential surface of such a shape. The fixing here is not limited to a fitting method, and it goes without saying that other methods that allow for detachment may be applied.

[0149] FIGS. 4, 25, 26, and 27 are drawings illustrating exemplary locations where an identification reinforcement part (150) of an autonomous driving device (100) according to one or more embodiments of the present disclosure is installed. Referring to FIG. 24, the identification reinforcement part (150) may be installed on the aforementioned dent area (H2).

[0150] More specifically, it may be positioned at a first position on the upper surface (111) of the first body (110) while being positioned on the indentation area (H2). Referring to Fig. 25, the identification reinforcement part (150) may be positioned at a second position that is lower than the first position and is positioned on the periphery of the first body (110).

[0151] Referring to Fig. 26, the first identification reinforcement part (151) may be positioned at a corner on the side spaced apart from the first sensor (130a) on the indentation area (H2). The second identification reinforcement part (152) may also be positioned at a corner on the side spaced apart from the second sensor (130b) on the indentation area.

[0152] Referring to Fig. 27, the second identification reinforcement body (1552, 1562) and the third identification reinforcement body (1553, 1563) of the identification reinforcement part (150) described above can be fixed together to the flange part (PL) of the support part (140). As for the fixing method here, as described above, any method that can be detached and exerts a certain fixing force can be applied.

[0153] FIG. 28 is a schematic diagram illustrating an autonomous driving device (100) according to one or more embodiments of the present disclosure. FIG. 29 is a plan view schematically illustrating a state in which a sensor (130), a support member (140), and an identification reinforcement member (150) are positioned on a first body (110) among the components of an autonomous driving device (100) according to one or more embodiments of the present disclosure.

[0154] FIG. 30 is a plan view schematically illustrating a state in which components of an autonomous driving device (100) according to one or more embodiments of the present disclosure are positioned. Referring to FIGS. 28, 29, and 30, the support member (140) of the autonomous driving device (100) may be spaced apart from the sensor (130) on the upper surface (111) of the first body (110).

[0155] The support member (140) may be provided with a finishing surface (1401) facing the sensor (130) so as to finish at least a portion of one side of the sensor (130). The identification reinforcement member (150) may be positioned on the first interspace (SP1) between the sensor (130) and the finishing surface (1401) on the upper surface (111) of the first body (110).

[0156] The identification reinforcement part (150) may include a third identification reinforcement part (153) to reinforce identification power. The third identification reinforcement part (153) may include a third_1 identification reinforcement part (1531) and a third_2 identification reinforcement part (1532).

[0157] The third_1 identification reinforcement part (1531) may be positioned diagonally between the sensor (130) and the finishing surface (1401) to reinforce the identification ability. The third_2 identification reinforcement part (1532) may be positioned diagonally between the sensor (130) and the finishing surface (1401) at a different location from the third_1 identification reinforcement part (1531) to reinforce the identification ability.

[0158] FIG. 30 is a plan view schematically illustrating a state in which components of an autonomous driving device (100) according to one or more embodiments of the present disclosure are positioned. FIG. 31 and FIG. 32 are plan views schematically illustrating a method for setting a cloud point of an autonomous driving device (100) according to one or more embodiments of the present disclosure.

[0159] Referring to FIG. 28 and FIG. 30, the identification reinforcement part (150) may include a fourth identification reinforcement part (154). The fourth identification reinforcement part (154) may include a fourth_1 identification reinforcement part (1541), a fourth_2 identification reinforcement part (1542), and a fourth_3 identification reinforcement part (1543).

[0160] In addition, the fourth identification reinforcement part (154) may be positioned on the second inter-area (SP2) between the sensors (130) and the other side of the sensors (130) on the upper surface (111) of the first body (110). This fourth identification reinforcement part (154) may enable the external identification subject (50) to have its identification ability reinforced.

[0161] The 4_1 identification reinforcement part (1541) of the 4th identification reinforcement part (154) may be positioned diagonally on the 2nd inter-area (SP2) to reinforce the identification ability. The 4_2 identification reinforcement part (1542) of the 4th identification reinforcement part (154) may be positioned diagonally on the 2nd inter-area (SP2) to a different location from the 4_1 identification reinforcement part (1541) to reinforce the identification ability.

[0162] Referring to Fig. 31, if the sensing direction (SN) of the external identification subject (50) is assumed to be the front of the first body (110), the cloud point acquisition here can be acquired by targeting at least a portion of the outer circumference in the longitudinal direction of the 4_1 identification reinforcement part (1541) and the 4_2 identification reinforcement part (1542). In addition, the cloud point can be acquired by targeting the above-described finishing surface (1401). At this time, it is assumed that the finishing surface (1401) faces the sensing direction of the external identification subject (50).

[0163] Referring to Fig. 32, if the sensing direction of the external identification subject (50) is assumed to be the side of the first body (110), the cloud point acquisition here can be acquired by targeting at least a portion of the outer circumference in the longitudinal direction of the 4_1 identification reinforcement part (1541) or the 4_2 identification reinforcement part (1542). In addition, the cloud point can be acquired by targeting the side of the support part (140) rather than the above-described finishing surface (1401). At this time, it is assumed that the finishing surface (1401) does not face the sensing direction of the external identification subject (50).

[0164] FIG. 33 is a plan view schematically illustrating a state in which components of an autonomous driving device (100) according to one or more embodiments of the present disclosure are positioned. Referring to FIG. 33, a support member (140) of the autonomous driving device (100) may be spaced apart from a sensor (130) on the upper surface (111) of the first body (110).

[0165] In addition, the support member (140) may be provided with a finishing surface (1401) facing the sensor (130) so as to finish at least a portion of one side of the sensor (130). The identification reinforcement member (150) may include a third identification reinforcement part (153) and a fourth identification reinforcement part (154).

[0166] The third identification reinforcement part (153) may include a third_1 identification reinforcement part (1531) and a third_2 identification reinforcement part (1532). The fourth identification reinforcement part (154) may include a fourth_1 identification reinforcement part (1541) and a fourth_2 identification reinforcement part (1542). The third identification reinforcement part (153) may be located on the first interlayer area (SP1) between the sensor (130) and the finishing surface (1401) on the upper surface (111) of the first body (110).

[0167] The third_1 identification reinforcement part (1531) can be positioned diagonally between the sensor (130) and the finishing surface (1401). The third_2 identification reinforcement part (1532) can be positioned diagonally between the sensor (130) and the finishing surface (1401) at a different location from the third_1 identification reinforcement part (1531), so as to reinforce the identification ability.

[0168] Here, the fourth identification reinforcement part (154) of the identification reinforcement part (150) can be positioned on the second inter-area (SP2) between the sensors (130) and the other side of the sensors (130) on the upper surface (111) of the first body (110).

[0169] The 4_1 identification reinforcement part (1541) of the 4th identification reinforcement part (154) can be positioned diagonally on the 2nd inter-area (SP2). The 4_2 identification reinforcement part (1542) of the 4th identification reinforcement part (154) can be positioned diagonally at a different location from the 4_1 identification reinforcement part (1541) on the 2nd inter-area (SP2).

[0170] Meanwhile, with reference to FIGS. 1, 2, and 3, a detachable identification reinforcement unit for an autonomous driving device according to one or more embodiments of the present disclosure will be described. Referring to FIGS. 1, 2, and 3, the detachable identification reinforcement unit for an autonomous driving device may include an identification reinforcement portion (150) on an autonomous driving device (100).

[0171] The identification reinforcement part (150) may include a first identification reinforcement part (151) and a second identification reinforcement part (152). The first identification reinforcement part (151) may be positioned between the support parts (140) and the sensor (130), respectively. The second identification reinforcement part (152) may be positioned between the edge part on the upper surface (111) of the first body (110) and the support part (140).

[0172] The identification reinforcement part (150) can be an identification target of an external identification subject (50) that performs location identification, and can reinforce the identification power for location identification. The first identification reinforcement part (151), the second identification reinforcement part (152), and the third identification reinforcement part (153) can be provided to protrude upward with a preset thickness on the upper surface (111) of the first body (110). Meanwhile, a symbol F that is not explicitly specified throughout the specification indicates the movement direction of the autonomous driving device (100).

[0173] The objectives of the present disclosure are not limited to those mentioned herein, and other objectives not mentioned herein will become apparent to those skilled in the art from the description below. While the present disclosure has been illustrated and described with reference to various embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present disclosure as defined by the appended claims and their equivalents.

Claims

1. In autonomous driving devices, First body; A second body spaced apart from the first body; A support member supporting the second body on the first body; A sensor positioned on a space formed between the first body and the second body; and Including an identification reinforcement part located on a blind area covered by the support part among the sensing area of ​​the sensor, An autonomous driving device in which the above identification reinforcement part becomes an identification target of an external identification subject performing location identification, and the identification power for the location identification is reinforced.

2. In paragraph 1, The above sensor is arranged on the upper surface of the first body, The above support part, On the upper surface of the first body, the sensors are positioned in multiple directions based on the positions of the sensors, The above identification reinforcement part is, An autonomous driving device, comprising a first identification reinforcement part positioned between the above-described support members and the above-described sensor.

3. In paragraph 2, The above identification reinforcement part is, An autonomous driving device including a second identification reinforcement part positioned between a border portion on the upper surface of the first body and the support portion.

4. In paragraph 3, The above support part, A first support part positioned at a first position preset on the first body; Including a second support member positioned at a second position different from the first position on the first body, The above first identification reinforcement part is located between the first support part and the sensor, The autonomous driving device, wherein the second identification reinforcement part is located between the second support part and the edge part of the upper surface.

5. In paragraph 4, The above first support part includes a first_1 support part on one side and a first_2 support part on the other side, The above second support part includes a 2_1 support part on one side and a 2_2 support part on the other side, The above first identification reinforcement part is, A 1_1 identification reinforcement part positioned between the above 1_1 support part and the sensor, An autonomous driving device including a first_2 identification reinforcement part positioned between the first_2 support part and the sensor.

6. In paragraph 5, The above first identification reinforcement part is, A 1_3 identification reinforcement part located between the above 2_1 support part and the sensor, Further comprising a 1_4 identification reinforcement part positioned between the 2_2 support part and the sensor, An autonomous driving device, wherein the first_1 identification reinforcement part and the first_2 identification reinforcement part are installed first, and then additional parts are installed to reinforce the identification capability.

7. In paragraph 6, The above second identification reinforcement part is, A 2_1 identification reinforcement part positioned between the above 2_1 support part and the sensor, Further comprising a 2_2 identification reinforcement part positioned between the 2_2 support part and the sensor, The above 1_3 identification reinforcement part and the above 1_4 identification reinforcement part, An autonomous driving device, wherein the first identification reinforcement part, the first identification reinforcement part, and the second identification reinforcement part are installed first, and then additional parts are installed to reinforce identification capability.

8. In paragraph 1, The above support part, An autonomous driving device, wherein a finishing surface is provided on the upper surface of the first body, spaced from the sensor, and facing the sensor, and is provided to finish at least a part of one side of the sensor.

9. In paragraph 8, The above identification reinforcement part is, An autonomous driving device, comprising a third identification reinforcement part, positioned on a first inter-area between the sensor and the finishing surface on the upper surface of the first body, to reinforce the identification ability.

10. In paragraph 9, The third identification reinforcement part above is, A third_1 identification reinforcement part positioned diagonally between the above sensor and the above finishing surface to enhance identification, An autonomous driving device including a third_2 identification reinforcement part, which is positioned diagonally between the sensor and the finishing surface and is different from the third_1 identification reinforcement part, so as to reinforce the identification ability.

11. In paragraph 8, The above identification reinforcement part is, An autonomous driving device including a fourth identification reinforcement part, which is positioned on a second inter-region between the sensor and the other side of the sensor on the upper surface of the first body, to reinforce the identification ability.

12. In paragraph 11, The above 4th identification reinforcement part is, On the above second inter-area, a 4_1 identification reinforcement part is positioned diagonally to enhance identification, An autonomous driving device, comprising a 4_2 identification reinforcement part, which is positioned diagonally different from the 4_1 identification reinforcement part on the second inter-region to reinforce identification capability.

13. In paragraph 1, The above support part, On the upper surface of the first body, spaced apart from the sensor, A finishing surface facing the sensor is provided, and is provided to finish at least a part of one side of the sensor. The above identification reinforcement part is, On the upper surface of the first body, a third identification reinforcement part is positioned on the first inter-area between the sensor and the finishing surface to reinforce the identification ability, An autonomous driving device including a fourth identification reinforcement part, which is positioned on a second inter-area between the sensor and the other side of the sensor on the upper surface of the first body, to reinforce identification capability.

14. In paragraph 1, The above support member is located on the center of the upper surface of the first body, The upper surface of the above first body has a square cross-sectional shape, The above support member has a dent area formed along at least a portion of the periphery, The above first body, Among the corner points on the circumference of the first body, the first corner point is one of two corner points in a diagonal direction on one side, and the other is the second corner point, The above sensor, It includes a first sensor located at the first corner point and a second sensor located at the second corner point, The above identification reinforcement part is, A third identification reinforcement part corresponding to the first sensor, An autonomous driving device comprising a fourth identification reinforcement part positioned at the second corner point and corresponding to the second sensor.

15. As a detachable identification reinforcement unit for an autonomous driving device, A first identification reinforcement part positioned between the supports and the sensor; and Including an identification reinforcement part including a second identification reinforcement part positioned between the edge part and the support part on the upper surface of the first body, The above identification reinforcement part becomes the identification target of an external identification subject performing location identification, and the identification power for the location identification is reinforced. The first identification reinforcement part and the second identification reinforcement part are identification reinforcement units that can be detached from an autonomous driving device and are provided to protrude upward from the upper surface of the first body with a preset thickness.

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