Driving robot and driving control method thereof

Abstract

A driving robot is disclosed. The disclosed driving robot comprises: a robot body; a plurality of wheels provided in the robot body; a driving unit for adjusting the height of at least one wheel among the plurality of wheels; a memory storing at least one instruction; at least one sensor; and a processor, wherein the processor identifies an environment in which the robot body is to travel on the basis of a sensing value of the at least one sensor, and according to the at least one instruction, controls the driving unit to bring a wheel corresponding to the identified environment among the plurality of wheels into contact with a ground surface.

Description

Driving robot and its driving control method

[0001] The present disclosure relates to a driving robot that operates appropriately according to changes in the driving environment and a driving control method thereof.

[0002] As robotics technology advances, robots for various purposes, such as delivery and serving, are being developed.

[0003] However, most robots are currently designed to operate in a single driving environment, either indoors or outdoors. Consequently, robots that move between indoors and outdoors often use the same wheels indoors after driving outdoors, leading to the problem of dust and other foreign substances entering the environment, potentially contaminating the indoor environment.

[0004] A mobile robot according to one or more embodiments of the present disclosure comprises: a robot body; a plurality of wheels provided on the robot body; a driving unit for adjusting the height of at least one wheel among the plurality of wheels; a memory storing at least one command; at least one sensor; and a processor; wherein the processor can identify an environment in which the robot body will drive based on a sensed value of the at least one sensor, and control the driving unit to bring a wheel among the plurality of wheels corresponding to the identified environment into contact with a floor surface according to the at least one command.

[0005] Meanwhile, a driving control method of a driving robot according to at least one embodiment of the present disclosure includes a step of identifying an environment in which the driving robot will drive; and a step of adjusting the height of at least one wheel among a plurality of wheels provided on the driving robot so that a wheel corresponding to the identified environment comes into contact with the floor surface.

[0006] FIG. 1 is a perspective view illustrating a driving robot according to one or more embodiments of the present disclosure.

[0007] FIG. 2 is a block diagram of a driving robot according to one or more embodiments of the present disclosure.

[0008] FIG. 3 is a right side view of a driving robot in a first driving state according to one or more embodiments of the present disclosure.

[0009] FIG. 4 is a right side view of a driving robot in a second driving state according to one or more embodiments of the present disclosure.

[0010] Figure 5 is a drawing of the driving robot of Figure 1 with the upper cover removed.

[0011] FIG. 6 is a drawing showing an LM guide structure provided to a driving robot according to one or more embodiments of the present disclosure.

[0012] FIG. 7 is a drawing showing the operating structure of an LM guide in a first driving state of a driving robot according to one or more embodiments of the present disclosure.

[0013] FIG. 8 is a drawing showing the operating structure of an LM guide in a second driving state of a driving robot according to one or more embodiments of the present disclosure.

[0014] FIG. 9 is a bottom view of a driving robot according to one or more embodiments of the present disclosure.

[0015] FIG. 10 is a drawing showing a caster of a driving robot according to one or more embodiments of the present disclosure.

[0016] FIG. 11 is a perspective view showing a suspension structure of a plurality of first wheels provided to a driving robot according to one or more embodiments of the present disclosure.

[0017] FIG. 12 is a perspective view showing a suspension structure of a plurality of second wheels and a plurality of third wheels provided to a driving robot according to one or more embodiments of the present disclosure.

[0018] Fig. 13 is a cross-sectional view showing the inside of the suspension illustrated in Fig. 10.

[0019] FIG. 14 is a diagram showing the operating states of a plurality of wheels when a driving robot according to one or more embodiments of the present disclosure crosses a threshold while driving.

[0020] FIG. 15 is a flowchart illustrating a driving control method of a driving robot according to one or more embodiments of the present disclosure.

[0021] The embodiments described in this specification and the configurations illustrated in the drawings are merely one or more preferred embodiments of the disclosed invention, and there may be various modified examples that can replace the embodiments and drawings of this specification at the time of filing of this application.

[0022] Additionally, the same reference numbers or symbols presented in each drawing of this specification represent parts or components that perform substantially the same function.

[0023] In addition, the terminology used in this specification is used to describe embodiments and is not intended to limit and / or restrict the disclosed invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, the terms "comprises" or "has" and the like are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0024] Additionally, terms including ordinal numbers such as “first,” “second,” etc., used herein may be used to describe various components, but the components are not limited by the terms, and the terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present disclosure, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term “and / or” includes any combination of multiple related listed items or any item among multiple related listed items.

[0025] Meanwhile, the terms “leading end”, “rear end”, “upper end”, “lower end”, “front end”, “rear end”, “top” and “bottom end”, “X-axis direction”, “Y-axis direction”, “Z-axis direction”, etc. used in the description below are defined based on the drawing, and the shape and position of each component are not limited by these terms.

[0026] Hereinafter, a driving robot (1) is described with reference to the drawings to which one or more embodiments are attached.

[0027] FIG. 1 is a perspective view showing a driving robot (1) according to one or more embodiments of the present disclosure, and FIG. 2 is a block diagram of a driving robot (1) according to one or more embodiments of the present disclosure.

[0028] Referring to FIGS. 1 and 2, a driving robot (1) according to one or more embodiments of the present disclosure includes a robot body (10), a plurality of wheels (30) provided on the robot body (10), a driving unit (40) for adjusting the height of at least one wheel among the plurality of wheels, a memory (23) in which at least one command is stored, at least one sensor (27), a processor (21), a first driving motor (71) for providing driving force to the plurality of wheels (30), and a second driving motor (72).

[0029] Among these components, the processor (21), the driving unit (40), the first driving motor (71) and the second driving motor (72) for providing driving force to the plurality of wheels (30), or some sensors among at least one sensor (27), etc. may be mounted inside the main body (10) of the driving robot (1). In addition, each of the first and second driving motors (71, 72) may be implemented as an in-wheel motor built into the plurality of wheels (30), but is not necessarily limited thereto, and may also be a separately provided motor.

[0030] The robot body (10) forms the exterior of the driving robot (1) and is a configuration for mounting or supporting various components of the driving robot (1). In Fig. 1, the robot body (10) is shown in a state in which it is manufactured to include a cover (51) positioned on the upper surface and a base plate (52) positioned on the lower surface.

[0031] The cover (51) and the base plate (52) can be connected to each other and fixed by a side body or an internal support member, etc. Depending on the purpose of the driving robot (1), the size, height, shape, etc. of the robot body (10) can be changed in various ways. For example, when implemented as a delivery robot that loads and delivers objects, a shelf or a loading box for loading objects can be additionally provided on the upper side of the robot body (10). Alternatively, a cart-type loading box that can be driven together with the driving robot (1) can be provided on the rear side of the robot body (10), or a connecting part that can be connected to the cart-type loading box can be provided.

[0032] The robot body (10) may be described in various ways, such as a case or housing, but in the present disclosure, it is described as a robot body (10).

[0033] In Fig. 1, the cover (51) is depicted as forming the upper exterior of the robot body (10), but the structure of Fig. 1 may be a part placed below the driving robot (1). In this case, another body part on which some of the various components of the driving robot (1) are mounted may be additionally placed above the cover (51).

[0034] The base plate (52) forms the bottom part of the driving robot (1).

[0035] Referring to Fig. 1, a base plate (52) is provided with openings corresponding to a plurality of wheels, and a structure in which a plurality of wheels (30) are arranged within the openings is shown. However, this is merely an example, and the plurality of wheels (30) may be connected in a protruding form to the outer edge portion of the base plate (52).

[0036] Each of the plurality of wheels (30) is configured to support the driving robot (1) from the floor surface. The driving robot (1) can move by the rotation of the plurality of wheels (30). The plurality of wheels (30) can be divided into a plurality of groups to operate differently depending on the driving environment. For example, the wheels can be divided into a first wheel used in a first environment and a second wheel used in a second environment. The driving environment can include characteristic information of the space in which the driving robot (1) drives.

[0037] For example, the driving environment can be broadly divided into outdoor and indoor environments. The indoor environment can be a specific area distinct from the outdoors, such as inside a home, an office, or the interior of a building. The outdoor environment can refer to any environment other than the indoor environment. For example, it can be a regular road or street.

[0038] However, the distinction between indoor and outdoor environments isn't simply determined by the presence or absence of a ceiling. For example, even if there's a ceiling, spaces with a large number of users (e.g., subway stations, building lobbies, restrooms, etc.) can still be classified as outdoor environments. Conversely, even if there's no ceiling, spaces with cleanly maintained floors where people walk without shoes can still be considered indoor environments.

[0039] Additionally, even within a typical home, there can be differences between an environment with carpet and an environment with a smooth, hard floor.

[0040] As such, the driving environment in the present disclosure may be an environment with a floor surface having different characteristics. The driving robot (1) can drive the wheels to be used in each driving environment by differentiating them. For example, if there are various driving environments, such as wheels to be used in an outdoor environment, wheels to be used in a general indoor environment, wheels to be used in an indoor wet floor environment, and wheels to be used in an indoor carpet environment, the wheels can be used by differentiating them for each driving environment.

[0041] In the following, for convenience of explanation, the driving environment is broadly divided into two environments, the first environment and the second environment.

[0042] In this case, the plurality of wheels (30) of the driving robot (1) may include a plurality of first wheels for use in a first environment and a plurality of second wheels for use in a second environment.

[0043] The driving unit (40) is configured to adjust the height of at least one wheel among the plurality of wheels (30). The driving unit (40) may be configured in various forms depending on the embodiment. For example, it may be configured to lift up or lift down the plurality of first wheels and the plurality of second wheels, respectively. In this case, the driving unit (40) lifts up the plurality of second wheels so that the vehicle can travel only with the plurality of first wheels in a first environment, and lifts up the plurality of first wheels so that the vehicle can travel only with the plurality of second wheels in a second environment.

[0044] As another example, it may be configured to lift up or lift down only one of the plurality of first wheels or the plurality of second wheels. In this case, if the driving unit (40) lifts up the plurality of first wheels higher than the plurality of second wheels, only the plurality of second wheels will touch the floor, and thus the driving robot (1) can drive using only the plurality of second wheels. On the other hand, if the driving unit (40) lifts down the plurality of first wheels to a position lower than the plurality of second wheels, only the plurality of first wheels will touch the floor, and thus the driving robot (1) can drive using only the plurality of first wheels.

[0045] As described above, the structure and operation method of the driving unit (40) may vary depending on the embodiment. In the following, the driving unit (40) is described based on a case where it is implemented with a structure that lifts up or lifts down only the first wheels among the plurality of wheels.

[0046] As illustrated in Fig. 1, the driving unit (40) may include a motor (41a) for lifting up or lifting down a plurality of first wheels. The motor (41a) provides driving force to the LM guide block to raise or lower the plurality of first wheels. The specific structure and operating method of the driving unit (40) will be described in detail again in the following section.

[0047] According to FIG. 2, the driving robot (1) includes at least one sensor (27). The sensor (27) may include various sensors such as a radar sensor, a camera sensor, a lidar sensor, an ultrasonic sensor, and an infrared sensor.

[0048] The processor (21) can identify the location of the driving robot (1) or the driving environment of the space (place) in which the driving robot (1) is driving based on the sensing value of the sensor (27).

[0049] In Fig. 1, a case is shown where a front sensor (27a), such as a camera sensor, is placed in the front direction of a driving robot (1).

[0050] The camera sensor can capture real-time images of the front of the driving robot (1) along its driving path. The processor (21) analyzes the captured images to identify areas corresponding to the floor within the captured images, and analyzes the shape, color, uniformity, etc. of the identified areas. Based on the analysis results, the processor (21) can identify the driving environment.

[0051] For example, the processor (21) divides all pixels in the captured image into pixel blocks of a certain size, and then extracts a representative pixel value of each pixel block. The representative pixel value may be the average pixel value or other characteristic value within the corresponding pixel block. The processor (21) compares the representative pixel values ​​for each adjacent pixel block to detect pixel blocks with similar values, and connects the detected pixel blocks to identify an object existing in the captured image. The processor (21) can identify the size or shape of the object based on the number or arrangement of pixel blocks corresponding to the object, and can identify the color of the object based on the average of the representative pixel values ​​of the pixel blocks. In an outdoor environment, various types of dirt or fallen leaves may be on the ground, and the patterns of sidewalk blocks may vary, so the shape of the object in the captured image may change very frequently during driving. The processor (21) can determine that the environment is outdoor if the characteristics of the object detected from the captured image change beyond a preset threshold condition. On the other hand, the interior of a typical home or office is relatively cleaner than an outdoor environment, so the frequency or size of objects identified on the floor may be below a critical condition. If identified in this state, the processor (21) can identify it as an indoor environment.

[0052] The above describes an example of a method for identifying a driving environment using a camera sensor, but the driving environment can also be identified using various other sensors.

[0053] For example, if an infrared sensor or an ultrasonic sensor is positioned so as to face the front floor, there may be a difference in the amount of reflected signals depending on the roughness or dirtiness of the floor. The processor (21) can collect reflected signals reflected from the driving environment after the infrared sensor or the ultrasonic sensor emits an infrared signal or an ultrasonic signal, respectively, and identify the driving environment based on the size of the reflected signal.

[0054] As another example, an artificial intelligence model may be utilized. In this case, the manufacturer or other person in charge of the driving robot (1) can train the artificial intelligence model using captured images, sensing data, and labeling data for various driving environments, and then load the model into the memory (23). The processor (21) inputs sensing data or captured images acquired by the sensor (27) into the artificial intelligence model, and can identify the driving environment based on the output value. The processor (21) is a component for controlling the overall operation of the driving robot (1). Although one processor (21) is illustrated in FIG. 2, at least one or more processors may be used.

[0055] The processor (21) can be implemented in various forms such as a central processing unit (CPU), an application processor (AP), a digital signal processor (DSP), a microprocessor, a micro controller unit (MCU), a micro processing unit (MPU), a neural processing unit (NPU), a controller, a timing controller (TCON), etc.

[0056] The processor (21) may be implemented as a SoC (System on Chip), LSI (large scale integration), or may be implemented in the form of an FPGA (Field Programmable gate array).

[0057] The memory (23) is a configuration that stores various programs, data, commands, etc. required for the operation of the driving robot (1). Like the processor (21), the memory (23) can also be implemented with at least one or more memories, and some of these memories can be mounted on the processor (21) or implemented in the form of external memory.

[0058] Specifically, the memory (23) may be implemented in various forms, such as volatile memory (e.g., dynamic RAM (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM)), non-volatile memory (e.g., one time programmable ROM (OTPROM), programmable ROM (PROM), erasable and programmable ROM (EPROM), electrically erasable and programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash), hard drive, or solid state drive (SSD)).

[0059] The processor (21) can perform various operations using various programs, data, commands, etc. stored in the memory (23).

[0060] Specifically, the processor (21) can obtain information about the location of the driving robot (1), a map of the space (place) in which the driving robot (1) is driving, floor characteristics, etc., based on sensing data sensed by at least one sensor (27). At least some of the obtained information can be used as driving environment information for identifying the driving environment described above.

[0061] The map can be received and used from an external device (e.g., a server device, etc.) or can be directly generated by the processor (21). For example, if the driving robot (1) is implemented as a delivery robot that must drive through various driving environments including indoors and outdoors, the driving route from the delivery departure point to the destination and map information for that area can be received from a server device, etc. On the other hand, if the driving robot (1) drives within a space specified in a certain range (e.g., a university campus, a factory, a park, etc.), the processor (21) can generate a map for the space based on sensing data acquired during driving.

[0062] When generating a map, the processor (21) can divide the space into a plurality of zones based on the acquired structure information and generate information about a map that includes information about the structure of each of the divided zones. The processor (21) can store information about the generated map in the memory (23).

[0063] The processor (21) can control a plurality of wheels (30) to drive along a driving path determined according to the purpose of the driving robot (1). In Fig. 2, the first and second driving motors (71, 72) are configured to drive the first wheel and the second wheel, respectively.

[0064] The processor (21) can identify an environment in which the robot body will drive based on the sensing value of at least one sensor (27), and control the driving unit (40) to bring a wheel corresponding to the identified environment among a plurality of wheels (30) into contact with the floor surface according to at least one command.

[0065] As described above, the driving unit (40) may be implemented in a form that adjusts the height of each of the plurality of first wheels and the plurality of second wheels, or may be implemented in a structure that adjusts only the plurality of first wheels or the plurality of second wheels. The following description will be based on a case where the driving unit (40) is implemented in a structure that adjusts only the height of the plurality of first wheels.

[0066] If the identified environment is a second environment, the processor (21) can control the driving unit (40) to lift the plurality of first wheels to a higher position than the plurality of second wheels. In this case, only the plurality of second wheels touch the floor. The processor (21) controls the second driving motor (72) to rotate the plurality of second wheels. Accordingly, the driving robot (1) can drive only with the plurality of second wheels within the second environment.

[0067] On the other hand, if the identified environment is the first environment, the processor (21) can control the driving unit (40) to lift down the plurality of first wheels to a position lower than the plurality of second wheels. In this case, only the plurality of first wheels touch the floor. The processor (21) controls the first driving motor (71) to rotate the plurality of first wheels. Accordingly, the driving robot (1) can drive only with the plurality of first wheels within the first environment.

[0068] If the primary environment is outdoors, the vehicle will ultimately be driven solely on the primary wheel outdoors and solely on the secondary wheel indoors. This prevents the indoor environment from becoming contaminated by various outdoor contaminants.

[0069] The first driving motor (71) and the second driving motor (72) are configured to drive a plurality of first wheels and a plurality of second wheels, respectively.

[0070] Although not shown in Fig. 2, the driving robot (1) may further include various components such as a display or a communication module. The illustration and description of these components are omitted.

[0071] FIG. 3 is a right side view of a driving robot (1) in a first environment according to one or more embodiments of the present disclosure, and FIG. 4 is a right side view of a driving robot (1) in a second environment according to one or more embodiments of the present disclosure.

[0072] Referring to FIGS. 3 and 4, in a first environment, a plurality of first wheels (31) are lifted down to a lower position than a plurality of second wheels (32), and in a second environment, a plurality of first wheels (31) are lifted up to a higher position than a plurality of second wheels (32). The height of the lift-up or lift-down may vary depending on the size of the plurality of second wheels (32).

[0073] According to FIG. 3, in the first environment, a plurality of first wheels (31) are lifted down and come into contact with the floor surface, so the driving robot (1) can drive using only the first wheels (31).

[0074] According to Fig. 4, the driving robot (1) can drive in the second environment using only a plurality of second wheels (32).

[0075] The driving unit (40) may include a motor (41a), a connecting unit (41b), and a rotating wheel (41c) to lift up or lift down a plurality of first wheels (31). The connecting unit (41b) is a device that connects the motor (41a) and the rotating wheel (41c), and can transmit the driving force of the motor (41a) to the rotating wheel (41c) to rotate it.

[0076] Through this, multiple first wheels (31) can be lifted up or lifted down.

[0077] Fig. 5 is a drawing of the driving robot (1) of Fig. 1 with the upper cover (51) removed.

[0078] Referring to FIG. 5, according to one or more embodiments of the present disclosure, a driving robot (1) may include a base plate (52) supporting components of the driving robot (1), a plurality of first wheels (31), a plurality of second wheels (32), first dampers (61) attached to the plurality of first wheels (31) to alleviate impact of the driving robot (1) when the driving robot (1) is driven in a first environment, second dampers (62) attached to the plurality of second wheels (32) to alleviate impact of the driving robot (1) when the driving robot (1) is driven in a second environment, and third dampers (63) attached to the plurality of third wheels to alleviate impact of the driving robot (1) when the driving robot (1) is driven in the second environment.

[0079] According to one or more embodiments of the present disclosure, the first damper (61) and the third damper (63) may be spring dampers, and the second damper (62) may be a cylinder damper.

[0080] However, this is not limited to this, and the first damper (61), the second damper (62), and the third damper (63) may each be a spring damper or a cylinder damper.

[0081] In addition, according to FIG. 5, the driving unit (40) may include a motor (41a), a connecting unit (41b), as well as a fastening wheel (41c), a first rail (42), a second rail (43), an LM guide (44), and a lead screw (45).

[0082] The motor (41a) is configured to provide driving force to the connection part (41b) according to an electric signal.

[0083] The connecting portion (41b) transmits the driving force of the motor (41a) to the fastening wheel (41c), thereby rotating the fastening wheel (41c). The fastening wheel (41c) is connected to the lead screw (45) and rotates together, thereby driving the LM guide (Linear Motion Guide, 44).

[0084] The LM guide (44) can appropriately adjust the height of a plurality of first wheels (31) through precise and smooth linear movement in the driving robot (1).

[0085] In addition, the LM guide (44) can evenly distribute the load of the entire driving robot (1) to multiple first wheels (31). This can enhance the stability of the driving robot (1), and can also be utilized in various industrial fields that use heavy wheels.

[0086] When it is determined that the driving environment has changed, the processor (21) can drive the motor (41a) belonging to the driving unit (40) so that only the wheels that match the driving environment can touch the floor. When the motor (41a) is driven, a rotational driving force is transmitted through the connecting portion (41b), and the fastening wheel (41c) connected to this connecting portion (41b) can rotate by receiving the driving force from the motor (41a). The lead screw (45) is coupled with the fastening wheel (41c), so that as the fastening wheel (41c) rotates by receiving the driving force of the motor (41a), the lead screw (45) can also rotate by receiving the driving force of the motor (41a).

[0087] The LM guide (44) is coupled with the lead screw (45), and the LM guide (44) can slide according to the rotation of the lead screw (45). As a result, a plurality of first wheels (31) can be lifted up or lifted down.

[0088] According to another embodiment, the driving robot (1) may further include a first damper (61) for preventing impact when driving in a first environment on a plurality of first wheels (31), and may further include a second damper (62) for preventing impact when driving in a second environment on a plurality of second wheels (32).

[0089] FIG. 6 is a drawing showing the operating structure of an LM guide (44) driven by a motor (41a) when a driving state changes according to one or more embodiments of the present disclosure.

[0090] According to one or more embodiments of the present disclosure of FIG. 6, the driving unit (30) may include a motor (41a), a connecting unit (41b), a fastening wheel (41c), a first rail (42), a second rail (43), an LM guide (44), and a lead screw (45).

[0091] In Fig. 6, the LM guide (44) may include a first slider (44a), a second slider (44b), and a block (44c).

[0092] Two first sliders (44a) can be arranged symmetrically with respect to the center of the first rail (42), and two second sliders (44b) can be arranged symmetrically with respect to the center of the second rail (43).

[0093] According to one or more embodiments of the present disclosure of FIG. 6, the first rail (42) may be arranged parallel to the lead screw (45) and spaced apart at a predetermined distance, and the second rail (43) may be arranged in a V shape with respect to the center.

[0094] According to one or more embodiments of the present disclosure of FIG. 6, the first rail (42) may be spaced apart from the lead screw (45) at a predetermined distance and arranged in a V shape with respect to the center, and the second rail (43) may be spaced apart from the lead screw (45) at a predetermined distance and arranged parallel to the lead screw (45).

[0095] In Fig. 6, the block (44c) may be coupled with the lead screw (45), the first guide (44a) may be arranged on the upper side of the block (44c), and the second guide (44b) may be arranged on the lower side of the block (44c).

[0096] Additionally, in FIG. 6, the first guide (44a) can be coupled to the lower side of the first rail (42), and the second guide (44c) can be coupled to the upper side of the second rail (43).

[0097] According to one or more embodiments of the present disclosure of FIG. 6, the block (44c) of the LM guide (44) can move left and right due to the rotation of the lead screw (45) driven by the motor (41a).

[0098] FIG. 7 is a drawing showing the operating structure of an LM guide (44) in a first driving state of a driving robot (1) according to one or more embodiments of the present disclosure, and FIG. 8 is a drawing showing the operating structure of an LM guide (44) in a second driving state of a driving robot (1) according to one or more embodiments of the present disclosure.

[0099] Referring to FIGS. 7 and 8, the driving robot (1) may include a first rail (42), a second rail (43), a first guide (44a), a second guide (44b), and a block (44c).

[0100] Referring to FIGS. 7 and 8, the second rail (43) can be supported by a holder on the lower side.

[0101] According to one or more embodiments of the present disclosure of FIGS. 7 and 8, the driving robot (1) can operate the motor (41a) to rotate the lead screw (45) clockwise or counterclockwise when switching from a first environment to a second environment. By this rotation, the block (44c) connected to the lead screw (45) can move. For example, when the lead screw (45) rotates clockwise, the block (44c) can move from the outside to the inside of the LM guide (44). Therefore, due to such movement of the block (44c), the plurality of first wheels (31) can be lifted up.

[0102] Conversely, when the driving robot (1) switches from the second environment to the first environment, the motor (41a) can be operated to rotate the lead screw (45) counterclockwise. This rotation can cause the block (44c) connected to the lead screw (45) to move. For example, when the lead screw (45) rotates counterclockwise or clockwise, the block (44c) can move from the inside to the outside of the LM guide (44). Therefore, due to this movement of the block (44c), the plurality of first wheels (31) can be lifted down.

[0103] The direction of rotation of the lead screw (45) and the direction of movement of the block (44c) are not necessarily limited thereto, and may be opposite depending on the structure of the lead screw (45), etc.

[0104] According to one or more embodiments of the present disclosure of FIGS. 7 and 8, when the environment changes from a first environment to a second environment, the block (44c) of the LM guide (44) moves from the outside to the inside due to the second rail (43) having a V shape, and the plurality of first wheels (41) connected thereto follow and can rise vertically.

[0105] Conversely, when the environment changes from the second environment to the first environment, the block (44c) of the LM guide (44) moves from the inside to the outside due to the second rail (43) having a V shape, and the plurality of first wheels (41) connected thereto can descend vertically while following along. However, this is not limited thereto, and the first rail (42) can have a V shape, and the plurality of first wheels (41) connected thereto can rise or descend vertically as the block (44c) moves mutually outside and inside due to the first rail (42).

[0106] According to one or more embodiments of the present disclosure of FIGS. 7 and 8, the upper cover (51) of the driving robot (1) can be raised or lowered by mutually moving outward and inward along the second rail (43) having a V shape in conjunction with the movement of the block (44c) according to environmental changes.

[0107] According to one or more embodiments of the present disclosure of FIGS. 7 and 8, the driving robot (1) can move the block (44c) by driving the motor (41a) in a special environment so that all of the plurality of first wheels (31), the plurality of second wheels (32) and the plurality of third wheels (33) can participate in driving.

[0108] In FIGS. 7 and 8, the first wheel (31) is lifted down when the second guide (44b) moves to the uppermost part of the second rail (43), and the first wheel (31) is lifted up when the second guide (44b) moves to the lowermost part of the second rail (43). However, the second guide (44b) does not necessarily have to move only between the two ends of the second rail (43). For example, the height can be adjusted in various ways by moving the second guide (44b) to the middle part of the second rail (43). FIG. 9 is a bottom view of a driving robot (1) according to one or more embodiments of the present disclosure.

[0109] According to one or more embodiments of the present disclosure of FIG. 9, a driving robot (1) may be configured with a plurality of first wheels (31) for use in a first environment, a plurality of second wheels (32) for use in a second environment, and a plurality of third wheels (33). The plurality of first wheels (31) for use in the first environment may further include a first drive motor (71), and the plurality of second wheels (32) for use in the second environment may further include a second drive motor (72). The first drive motor (71) and / or the second drive motor (72) may be in-wheel motors capable of driving the wheels, respectively.

[0110] A plurality of third wheels (33) may be positioned on the front center and both rear sides of the lower surface of the robot body. The plurality of third wheels (33) may be omni wheels. However, this is not limited to this, and various types of wheels such as casters and mecanum wheels may be used.

[0111] Here, the omni wheel is a shape in which multiple small wheels that can move in the direction of the wheel's axis and in the vertical direction are attached to the edge of the wheel, so that the driving robot (1) can flexibly rotate in any direction 360 degrees, i.e., in multiple directions.

[0112] The Mecanum wheel is a type of omni-wheel that allows free movement in all directions in an automated driving robot (1). Specifically, the Mecanum wheel is equipped with inclined rollers around the wheel, allowing free movement in all directions, including forward, backward, left, right, and diagonal directions. This allows the plurality of third wheels (33) to move freely in a second environment. If a threshold of a certain height exists within the second environment, the plurality of third wheels (33) act as auxiliary wheels, enabling the robot to flexibly overcome the threshold.

[0113] In the above-described section, a case including a front sensor (27a) is illustrated, but the location of the sensor may not necessarily be limited to the front.

[0114] That is, according to one or more embodiments of the present disclosure of FIG. 9, the driving robot (1) may include a sensor (27b) on the lower surface of the base plate (52). In the present disclosure, such a sensor is referred to as a sensor (27b).

[0115] The sensor (27b) can detect the driving environment of the terrain floor surface and, together with the front sensor (27a), can detect the driving environment such as the first and second environments.

[0116] The lower surface sensor (27b) may include various sensors such as a camera sensor or an infrared sensor. Meanwhile, in FIG. 8, the lower surface sensor (27b) may be arranged to sense in a direction inclined toward the front from the lower surface.

[0117] According to one or more embodiments of the present disclosure of FIG. 9, the plurality of first wheels (31) may include a pair of front first wheels arranged forward and a pair of rear first wheels arranged rearward on the lower surface of the robot body (10). The plurality of second wheels (32) are respectively arranged at opposite edges of a central portion between the front and rear on the lower surface of the robot body (10), and the pair of front first wheels and the pair of rear first wheels can be lifted up or lifted down collectively by the driving unit (40). In addition, the plurality of third wheels (33) may be arranged between the pair of front first wheels and on one side of each of the pair of rear first wheels on the lower surface of the robot body (10), and the plurality of third wheels (33) can come into contact with the floor surface together with the plurality of second wheels (32) in a state in which the pair of front first wheels and the pair of rear first wheels are lifted up by the driving unit (40).

[0118] FIG. 10 is a drawing showing a caster (34) of a driving robot (1) according to one or more embodiments of the present disclosure.

[0119] A caster (34) may be placed on at least one of the plurality of third wheels (33). By being placed on at least one of the plurality of third wheels (33), the caster (34) may play an assisting role when the plurality of second wheels (32) drive for driving when the driving robot (1) is placed on the floor surface and drives in the second environment.

[0120] In Fig. 10, the caster (34) may include a rotation shaft (34a), a bracket (34b), and a caster wheel (34c).

[0121] The rotation axis (34a) is located on the upper part of the bracket (34b), allowing the caster (34) to rotate 360 ​​degrees. This allows the caster (34) to move easily in any direction.

[0122] The bracket (34b) can support the caster wheel (34c), and the caster wheel (34c) can be brought into contact with the floor surface in the second environment to enable movement.

[0123] Caster wheels (34c) can be made of various materials such as rubber, polyurethane, nylon, and metal.

[0124] The caster (34) can be used as an auxiliary wheel when crossing a threshold in the first environment. Specifically, the caster (34) can first ascend the threshold, and then, among the plurality of first wheels (31), the front wheel can ascend the threshold a second time to flexibly cross the threshold.

[0125] FIG. 11 is a perspective view showing a suspension structure of a plurality of first wheels (31) provided to a driving robot (1) according to one or more embodiments of the present disclosure, and FIG. 12 is a perspective view showing a suspension structure of a plurality of second wheels (32) provided to a driving robot (1) according to one or more embodiments of the present disclosure.

[0126] Referring to FIGS. 11 and 12, a driving robot (1) according to one or more embodiments of the present disclosure may include a plurality of first wheels (31), a plurality of second wheels (32), a plurality of third wheels (33), a first damper (61) for alleviating impact when driving in a first environment, a second damper (62) for alleviating impact when driving in a second environment, and a third damper (63) for alleviating impact when driving in the second environment.

[0127] Referring to FIGS. 11 and 12, the first damper (61) and the third damper (63) may be spring dampers, and the second damper (62) may be a cylinder damper.

[0128] Referring to FIGS. 11 and 12, a plurality of first wheels (31) and a first damper (61) are coupled with an LM guide (44) and a case supporting the same, and a plurality of second wheels (32), a plurality of third wheels (33), a second damper (62), and a third damper (63) are coupled to a base plate (52).

[0129] The first damper (61), second damper (62) and third damper (63) for alleviating shock during driving can be collectively referred to as suspension.

[0130] According to one or more embodiments of the present disclosure of FIGS. 11 and 12, the first damper and the third damper (61, 63) have a structure including a spring and a damper, and when the driving robot (1) receives an impact while driving, the first damper and the third damper can absorb and restore energy by compressing or expanding them, thereby alleviating the impact.

[0131] According to one or more embodiments of the present disclosure of FIGS. 11 and 12, the second damper (62) has a cylinder filled with fluid, and when the piston moves while the driving robot (1) moves, the fluid is compressed to absorb shock and vibration.

[0132] Referring to FIGS. 11 and 12 , a driving robot (1) according to one or more embodiments of the present disclosure may include a suspension (61, 62, 63) structure that can prevent or minimize unstable driving of the driving robot (1) due to rolling and pitching while driving on an uneven driving surface (e.g., an unpaved floor surface, a floor surface having a number of uniform or uneven thresholds, etc.). Here, rolling may mean tilting of the driving robot (1) from side to side. Pitching may mean tilting of the driving robot (1) forward and backward.

[0133] Referring to FIGS. 11 and 12, a driving robot (1) according to one embodiment of the present disclosure can adjust the strength of a suspension (61, 62, 63) based on mapping information on a movement area of ​​the driving robot (1) stored in a memory (23) via a processor (21).

[0134] Fig. 13 is a cross-sectional view showing the inside of the second damper (62) illustrated in Fig. 12.

[0135] Referring to FIG. 13, the second damper (62) may include a cylinder (631), a piston (633) slidably coupled to the cylinder (631), an elastic member (635) disposed inside the cylinder (631) to elastically support the piston (633), and a fixing member (631a, 631b).

[0136] In Fig. 13, air or fluid can be supplied or discharged into the cylinder interior space (632) to flexibly adjust the damping force. Through this, the driving robot (1) can mitigate impact when driving in a second environment.

[0137] However, it is not limited to this, and in the first environment, the first damper (61) may also include the structure of the second damper (62), and the driving robot (1) may alleviate shock when driving in the first environment.

[0138] FIG. 14 is a right side view showing the operating state of a plurality of wheels (30) when a driving robot (1) according to one or more embodiments of the present disclosure crosses a threshold (90) while driving.

[0139] According to one or more embodiments of the present disclosure of FIG. 14, in the first environment, when crossing a threshold (90), the front wheels among the plurality of third wheels (33) may act as auxiliary wheels to provide assistance. Specifically, in the first environment, the front wheels among the plurality of third wheels (33) may first cross the threshold (90) and ascend first, and then the front wheels among the plurality of first wheels (31) may ascend second, thereby smoothly crossing the threshold (90).

[0140] The threshold (90) is shown as a rectangular solid, but this is only an example and in an actual environment, it can have various shapes such as a stone shape, and obstacles of various shapes such as thresholds can be crossed, and stairs, etc. can also be used.

[0141] The first damper (61) positioned on the upper side of the plurality of third wheels (33) can contract and absorb shock when crossing the threshold (90).

[0142] In Fig. 14, among the plurality of third wheels (33), the front wheel may be an omni wheel. However, this is not limited to this, and various wheels such as casters and mecanum wheels may be used.

[0143] Various wheels, such as omni wheels, casters, and mecanum wheels, are wheels that can move freely in 360 degrees, and the driving robot (1) can flexibly overcome the shape of the threshold (90).

[0144] FIG. 15 is a flowchart illustrating a driving control method of a driving robot according to one or more embodiments of the present disclosure.

[0145] Referring to FIG. 15, after the driving robot identifies an environment in which to drive (S1510), it can adjust the height of the wheels so that a wheel corresponding to the identified environment among a plurality of wheels comes into contact with the floor surface (S1520).

[0146] In FIG. 15, the step of adjusting the height of at least one wheel (S1520) may include a step of lifting down the plurality of first wheels lower than the plurality of second wheels so that the plurality of first wheels contact the floor surface, if the identified environment is the first environment.

[0147] Additionally, the step of adjusting the height of at least one wheel (S1520) may include a step of lifting up the plurality of first wheels higher than the plurality of second wheels so that the plurality of second wheels contact the floor surface, if the identified environment is a second environment.

[0148] The method for identifying the driving environment and the method for adjusting the height of the wheel can be implemented in the same manner as described in the various embodiments described above.

[0149] Specifically, the step of adjusting the height of at least one wheel (S1520) may include a step of sliding the block (44c) from the inside to the outside of the LM guide (44) so ​​that the plurality of first wheels (31) come into contact with the floor surface, if the identified environment is the first environment.

[0150] Additionally, the step of adjusting the height of at least one wheel (S1520) may include a step of sliding the block (44c) from the outside to the inside of the LM guide (44) so ​​that the plurality of second wheels (32) come into contact with the floor surface, if the identified environment is a second environment.

[0151] Since specific descriptions of each step of Fig. 15 have been described in the above-described embodiments, redundant descriptions are omitted.

[0152] The driving control method of FIG. 15 can be performed by a driving robot (1) having the structure described in FIGS. 1 to 14, but is not necessarily limited thereto, and may be performed by a driving robot having different configurations from the various embodiments described above. For example, rather than dividing the environment into two, such as a first and a second environment, it may be implemented so that three or more environments are distinguished and different wheels are used for each environment. Specifically, wheels used outdoors, wheels used on a hard and flat floor indoors, wheels used on a carpet indoors, etc. can be distinguished, and wheels suitable for each environment can be implemented so that they contact the floor surface.

[0153] Each of the components described in this document may be composed of one or more components, and the names of the components may vary depending on the type of electronic device.

[0154] Although various embodiments of the present disclosure have been individually described above, each embodiment does not necessarily have to be implemented alone, and the configuration and operation of each embodiment may be implemented in combination with at least one other embodiment.

[0155] In addition, although various embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above, and various modifications can be made by a person having ordinary skill in the art to which the present invention pertains without departing from the gist of the present disclosure claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the present disclosure.

Claims

1. In driving robots, Robot body; A plurality of wheels provided on the robot body; A driving unit for adjusting the height of at least one wheel among the plurality of wheels; Memory in which at least one instruction is stored; At least one sensor; Processor; including; The above processor, Identifying the environment in which the robot body will drive based on the sensing value of at least one sensor; A driving robot that controls the driving unit to bring a wheel corresponding to the identified environment among the plurality of wheels into contact with the floor surface according to at least one command.

2. In paragraph 1, The plurality of wheels includes a plurality of first wheels for use in a first environment and a plurality of second wheels for use in a second environment, The above driving unit includes a motor for lifting up or lifting down the plurality of first wheels, The above processor, If the identified environment is the second environment, the driving unit is controlled to lift the plurality of first wheels to a higher position than the plurality of second wheels; If the identified environment is the first environment, the driving unit is controlled to lift down the plurality of first wheels to a position lower than the plurality of second wheels. Driving robot.

3. In paragraph 2, The above driving part, LM Guide; including more; A driving robot in which the LM guide drives the motor under the control of the processor to slide along a rail arranged inside the LM guide to lift up or lift down a plurality of first wheels to a position higher or lower than a plurality of second wheels.

4. In paragraph 2, Each of the plurality of first wheels includes a first drive motor that is individually driven, A driving robot, wherein the first drive motor is an in-wheel motor.

5. In paragraph 4, Each of the plurality of second wheels includes a second drive motor that is individually driven, A driving robot, wherein the second driving motor is an in-wheel motor.

6. In paragraph 2, The plurality of wheels further include a plurality of third wheels in contact with the floor surface together with the plurality of second wheels in the second environment; A driving robot, wherein the plurality of third wheels include omni wheels that can rotate in a plurality of directions.

7. In paragraph 2, The plurality of wheels further include a plurality of third wheels in contact with the floor surface together with the plurality of second wheels in the second environment; A driving robot, wherein the plurality of third wheels include casters that can rotate in a plurality of directions.

8. In the above paragraph 1, The above plurality of wheels are, A plurality of first wheels for use in the first environment; a plurality of second wheels for use in a second environment; The above plurality of first wheels are, The robot body includes a pair of front first wheels positioned forward and a pair of rear first wheels positioned rearward, The above plurality of second wheels are, On the lower surface of the robot body, they are respectively placed on both edges of the central portion between the front and the rear, A driving robot in which the pair of front first wheels and the pair of rear first wheels are lifted up or down simultaneously by the driving unit.

9. In the above paragraph 8, The above plurality of wheels are, Further comprising a plurality of third wheels arranged between the pair of front first wheels on the lower surface of the robot body and on one side of each of the pair of rear first wheels, A driving robot in which the plurality of third wheels are in contact with the floor surface together with the plurality of second wheels while the pair of front first wheels and the pair of rear first wheels are lifted up by the driving unit.

10. In paragraph 2, Further comprising a first damper for alleviating shock transmitted through the plurality of first wheels when driving in the first environment; The above first damper is a spring damper, a driving robot.

11. In paragraph 2, The above plurality of second wheels further include a second damper for alleviating shock when driving in a second environment, The above second damper is a driving robot, which is a cylinder damper.

12. In paragraph 11, The above plurality of third wheels further include a third damper for alleviating shock when driving in a second environment, The third damper is a driving robot, which is a spring damper.

13. In a driving control method of a driving robot, A step of identifying an environment in which the driving robot will drive; and A driving control method, comprising: a step of adjusting the height of at least one wheel among a plurality of wheels provided on the driving robot so that a wheel corresponding to the identified environment comes into contact with the floor surface.

14. In paragraph 13, The plurality of wheels includes a plurality of first wheels for use in a first environment and a plurality of second wheels for use in a second environment, The step of adjusting the height of at least one wheel is: If the identified environment is the first environment, a step of lifting down the plurality of first wheels lower than the plurality of second wheels so that the plurality of first wheels contact the floor surface; A driving control method, comprising: a step of lifting the plurality of first wheels higher than the plurality of second wheels so that the plurality of second wheels contact the floor surface, if the identified environment is the second environment.

15. In paragraph 13, The above driving robot, A plurality of first wheels for use in a first environment among the plurality of wheels, a plurality of second wheels for use in a second environment among the plurality of wheels, an LM guide, and a block for adjusting the height of the plurality of first wheels inside the LM guide, The step of adjusting the height of at least one wheel is: If the identified environment is a first environment, a step of sliding the block from the inside to the outside of the LM guide so that the plurality of first wheels come into contact with the floor surface; A driving control method, comprising: a step of sliding the block from the outer side to the inner side of the LM guide so that the plurality of second wheels come into contact with the floor surface, if the identified environment is a second environment.

Images