Electronic device and control method therefor

Abstract

This electronic device includes: at least one sensor; a memory storing instructions; and at least one processor including processing circuitry, wherein the instructions, when executed individually or collectively by the at least one processor, cause the electronic device to: identify whether a first event for stopping the electronic device occurs on the basis of the movement of the electronic device; supply a first voltage for stopping the electronic device when the first event is identified; obtain a speed related to the movement of the electronic device and an inclination angle of a floor surface on which the electronic device travels through the at least one sensor; obtain the mass of the electronic device from data stored in the memory; obtain a stop torque for stopping the movement of the electronic device on the basis of the speed, the inclination angle, and the mass; identify whether a second event in which the stop torque is less than or equal to a threshold torque occurs; and supply a second voltage lower than the first voltage when the second event is identified.

Description

Electronic device and control method thereof

[0001] The present disclosure relates to an electronic device and a method for controlling the same, and more specifically, to an electronic device and a method for controlling the same that controls a supply voltage to stop the movement of the electronic device.

[0002] The electronic device can perform movement functions. The electronic device can generate a map related to driving or move to a specific location based on the generated map. The movement functions of the electronic device may include acceleration and stopping functions. The acceleration function may represent a function to increase speed. The stopping function may be a function to decelerate the current speed.

[0003] An electronic device can perform a stop function that halts in response to a specific event. For example, in a situation where the electronic device is located a critical distance from a target location, the device needs to reduce its current speed.

[0004] To reduce the speed of the electronic device, the electronic device can perform a stop function. The electronic device can supply a voltage for the stop function. The electronic device can supply a voltage for the stop function by presetting it.

[0005] However, there is a problem in that power efficiency decreases when the voltage is supplied at a constant level.

[0006] The present disclosure relates to the above-mentioned problem and provides an electronic device and a method for controlling the same that change the magnitude of the voltage supply for stopping in consideration of the stopping torque.

[0007] According to one embodiment, the electronic device comprises at least one sensor, a memory for storing instructions, and at least one processor including processing circuitry. When the instructions are executed individually or collectively by the at least one processor, the electronic device identifies whether a first event occurs to stop the electronic device based on the movement of the electronic device, and if the first event is identified, supplies a first voltage to stop the electronic device, obtains a speed related to the movement of the electronic device and an angle of inclination of the floor surface on which the electronic device travels through the at least one sensor, obtains the mass of the electronic device from data stored in the memory, obtains a stopping torque to stop the movement of the electronic device based on the speed, the angle of inclination, and the mass, identifies whether a second event occurs in which the stopping torque is less than or equal to a threshold torque, and if the second event is identified, supplies a second voltage smaller than the first voltage.

[0008] The above at least one sensor includes an inertial sensor, and when the instructions are executed individually or collectively by the above at least one processor, the electronic device may obtain the speed and the inclination angle based on sensing data received from the inertial sensor.

[0009] The electronic device includes a motor, and the first voltage and the second voltage may be voltages supplied to the motor to stop the electronic device by changing the direction of the current of the motor to the opposite direction.

[0010] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may obtain the wheel radius, gravitational acceleration, and stopping time of the electronic device from the data stored in the memory, and obtain the stopping torque based on at least one of the speed, the angle of inclination, the mass, the wheel radius, the gravitational acceleration, or the stopping time.

[0011] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may acquire a kinetic torque based on at least one of the mass, the velocity, the wheel radius, or the stopping time, acquire a load torque related to the gravitational force and frictional force acting on the electronic device, and acquire a stopping torque based on the kinetic torque and the load torque.

[0012] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may obtain the gravity torque related to the gravity based on at least one of the mass, the gravitational acceleration, the inclination angle, or the wheel radius, obtain the friction torque related to the friction force based on at least one of the friction coefficient, the mass, the gravitational acceleration, the inclination angle, or the wheel radius, and obtain the load torque based on the gravity torque and the friction torque.

[0013] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may obtain the linear velocity of the wheel of the electronic device and obtain the friction coefficient based on the velocity associated with the movement of the electronic device and the linear velocity of the wheel.

[0014] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may identify whether a third event occurs in which the electronic device is in a stopped state when the second voltage is supplied, acquire the inclination angle through the at least one sensor at the time the third event is identified, and if the inclination angle is less than a threshold angle, supply a third voltage smaller than the second voltage.

[0015] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may supply a fourth voltage greater than the second voltage if the inclination angle is greater than or equal to the critical angle.

[0016] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may identify whether a fourth event for power cutoff occurs, and if the fourth event is identified, stop the supply of the third voltage or the fourth voltage.

[0017] According to one embodiment, a control method for an electronic device comprises the steps of: identifying whether a first event occurs to stop the electronic device based on the movement of the electronic device; supplying a first voltage to stop the electronic device when the first event is identified; obtaining a speed related to the movement of the electronic device and an inclination angle of the floor surface on which the electronic device travels through at least one sensor of the electronic device; obtaining a mass of the electronic device stored in the electronic device from data stored in the memory of the electronic device; obtaining a stopping torque to stop the movement of the electronic device based on the speed, the inclination angle, and the mass; identifying whether a second event occurs in which the stopping torque is less than or equal to a threshold torque; and supplying a second voltage smaller than the first voltage when the second event is identified.

[0018] The step of obtaining the above speed and the above inclination angle may be to obtain the speed and the above inclination angle based on sensing data received from the inertial sensor of the electronic device.

[0019] The first voltage and the second voltage may be voltages supplied to the motor to stop the electronic device by changing the direction of the current of the motor of the electronic device to the opposite direction.

[0020] The step of obtaining the above stopping torque may involve obtaining the wheel radius, gravitational acceleration, and stopping time of the electronic device from data stored in the memory of the electronic device, and obtaining the stopping torque based on at least one of the speed, the angle of inclination, the mass, the wheel radius, the gravitational acceleration, or the stopping time.

[0021] The step of obtaining the above static torque may involve obtaining a kinetic torque based on at least one of the mass, the velocity, the wheel radius, or the stopping time, obtaining a load torque related to gravity and frictional force acting on the electronic device, and obtaining the above static torque based on the kinetic torque and the load torque.

[0022] Other aspects, features, and advantages of specific embodiments of the present invention will become more apparent from the following description, together with the accompanying drawings.

[0023] FIG. 1 is a drawing for explaining the operation of an electronic device moving and stopping according to one embodiment.

[0024] FIG. 2 is a block diagram illustrating an electronic device according to one embodiment.

[0025] FIG. 3 is a block diagram illustrating the configuration of the electronic device of FIG. 2 according to one embodiment.

[0026] FIG. 4 is a drawing for explaining a stop torque calculation module according to one embodiment.

[0027] FIG. 5 is a drawing for explaining a stop torque calculation module according to one embodiment.

[0028] FIG. 6 is a drawing for explaining a driving voltage control module according to one embodiment.

[0029] FIG. 7 is a diagram illustrating an operation to control voltage according to a plurality of events according to one embodiment.

[0030] FIG. 8 is a diagram illustrating the operation of changing voltage using static torque according to one embodiment.

[0031] FIG. 9 is a diagram illustrating the operation of calculating static torque according to one embodiment.

[0032] FIG. 10 is a drawing for explaining the operation of calculating static torque according to one embodiment.

[0033] FIG. 11 is a drawing for explaining the operation of calculating static torque according to one embodiment.

[0034] FIG. 12 is a diagram illustrating the operation of calculating static torque according to one embodiment.

[0035] FIG. 13 is a diagram illustrating the operation of calculating the friction coefficient according to one embodiment.

[0036] FIG. 14 is a diagram illustrating the operation of calculating static torque according to one embodiment.

[0037] FIG. 15 is a diagram illustrating an operation to control the magnitude of a voltage using an inclination angle according to one embodiment.

[0038] FIG. 16 is a diagram illustrating the operation of controlling voltage on an uphill road according to one embodiment.

[0039] FIG. 17 is a diagram illustrating the operation of controlling voltage on a flat surface according to one embodiment.

[0040] FIG. 18 is a diagram illustrating the operation of controlling voltage on a downhill slope according to one embodiment.

[0041] FIG. 19 is a diagram illustrating the operation of controlling voltage on an uphill road according to one embodiment.

[0042] FIG. 20 is a drawing for explaining the operation of controlling voltage on a flat surface according to one embodiment.

[0043] FIG. 21 is a diagram illustrating the operation of controlling voltage on a downhill slope according to one embodiment.

[0044] FIG. 22 is a diagram illustrating the operation of controlling voltage on an uphill road according to one embodiment.

[0045] FIG. 23 is a diagram illustrating the operation of controlling voltage on a flat surface according to one embodiment.

[0046] FIG. 24 is a diagram illustrating the operation of controlling voltage on a downhill slope according to one embodiment.

[0047] FIG. 25 is a drawing for explaining power efficiency according to one embodiment.

[0048] FIG. 26 is a drawing for explaining a method of controlling an electronic device according to one embodiment.

[0049] The present disclosure will be described in detail below with reference to the accompanying drawings. The embodiments described in the present disclosure and the configurations illustrated in the drawings are merely examples of embodiments, and various modifications are possible without departing from the spirit and scope of the present disclosure.

[0050] The terms used in the embodiments of this disclosure have been selected to be as widely used as possible, taking into account their functions within this disclosure; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant explanatory section of this disclosure. Therefore, terms used in this disclosure should be defined not merely by their names, but based on their meanings and the overall content of this disclosure.

[0051] In this specification, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of such features (e.g., numerical values, functions, operations, or components such as parts) and do not exclude the presence of additional features.

[0052] The expression "at least one of A or / and B" should be understood as representing either "A" or "B" or "A and B".

[0053] Expressions such as "first," "second," "first," or "second" used in this specification may modify various components regardless of order and / or importance, and are used only to distinguish one component from another and do not limit said components.

[0054] Where it is stated that a component (e.g., Component 1) is "(operatively or communicatively) coupled with / to" or "connected to" another component (e.g., Component 2), it should be understood that the component may be directly connected to the other component or connected through the other component (e.g., Component 3).

[0055] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "consisting of" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0056] In the present disclosure, a "module" or "part" performs at least one function or operation and may be implemented in hardware or software, or a combination of hardware and software. Additionally, a plurality of "modules" or a plurality of "parts" may be integrated into at least one module and implemented by at least one processor, except for a "module" or "part" that needs to be implemented in specific hardware.

[0057] In this specification, the term "user" may refer to a person using an electronic device or a device using an electronic device (e.g., an artificial intelligence electronic device).

[0058] An embodiment of the present disclosure will be described in more detail below with reference to the attached drawings.

[0059] FIG. 1 is a drawing for explaining the operation of an electronic device (100) moving and stopping according to one embodiment.

[0060] The electronic device (100) may refer to a mobile electronic device or an electronic device for controlling a mobile device. For example, the electronic device (100) may refer to a device for controlling a mobile electronic device or a device capable of driving. The electronic device (100) may include a moving member. The electronic device (100) may control a motor to rotate the moving member. Depending on the rotation of the moving member, the electronic device (100) may move its position.

[0061] For example, the electronic device (100) may be a mobile cleaning robot that performs cleaning operations.

[0062] For example, the electronic device (100) may be a mobile service robot that provides various services to the user.

[0063] FIG. 2 is a block diagram illustrating an electronic device (100) according to one embodiment.

[0064] Referring to FIG. 2, the electronic device (100) may include a sensor unit (150), a memory (110) for storing instructions, and at least one processor (120) including a processing circuitry.

[0065] At least one processor (120) can identify whether a first event occurs to stop the electronic device (100) when the electronic device (100) moves.

[0066] The first event may include at least one of an event receiving a stop command, an event located within a threshold distance from the final destination, or an event identifying an obstacle object. A description related to the first event is provided in FIG. 7.

[0067] When a first event is identified, at least one processor (120) can supply a first voltage to stop the electronic device (100).

[0068] The first voltage may be a stopping voltage. The first voltage may be a voltage for transmitting power in the opposite direction to the motor's current rotation direction.

[0069] At least one processor (120) can calculate the first voltage in various ways.

[0070] For example, the first voltage may be a preset value.

[0071] For example, the first voltage may be determined based on at least one of the mass of the electronic device (100), the speed of the electronic device (100), and the inclination angle of the electronic device (100). At least one processor (120) may determine the first voltage based on at least one of the mass, speed, or inclination angle.

[0072] For example, the larger the mass, the greater the first voltage can be.

[0073] For example, the faster the speed, the greater the first voltage can be.

[0074] For example, the larger the angle of inclination, the greater the first voltage can be.

[0075] At least one processor (120) can obtain the speed of the electronic device (100) and the inclination angle of the electronic device (100) through the sensor unit (150).

[0076] The sensor unit (150) may include an inertial sensor (151). At least one processor (120) can obtain the speed related to the movement of the electronic device (100) and the angle of inclination of the floor surface on which the electronic device (100) travels, based on sensing data received from the inertial sensor (151).

[0077] For example, after the first event is identified, at least one processor (120) can receive sensing data from an inertial sensor (151).

[0078] For example, regardless of the identification of the first event, at least one processor (120) can acquire sensing data from an inertial sensor (151) in real time.

[0079] At least one processor (120) can obtain the mass of the electronic device (100) from the data stored in the memory (110).

[0080] At least one processor (120) can obtain a stopping torque to stop the movement of the electronic device (100) based on speed, angle of inclination, and mass. The stopping torque may represent a torque to apply a force in a direction opposite to the current direction of movement of the electronic device (100). The stopping torque may represent a force applied in a direction opposite to the direction in which the wheels of the electronic device (100) rotate. The stopping torque may represent a torque that must be provided to the electronic device (100) to stop the electronic device (100).

[0081] At least one processor (120) can identify whether a second event occurs in which the stopping torque is below a threshold torque. The second event may include at least one of an event in which a preset time elapses from the point in time when the first voltage is supplied, an event in which the stopping torque is below a threshold torque, or an event in which the speed is below a threshold speed. A description of the second event is provided in FIG. 7.

[0082] When a second event is identified, at least one processor (120) may supply a second voltage smaller than the first voltage. The first voltage is the voltage for the initial stop, and the second voltage may be the voltage supplied after a certain amount of time has elapsed. In order to reduce the initial deceleration speed and then reduce the speed slowly thereafter, the magnitude of the second voltage may be smaller than the first voltage.

[0083] The electronic device (100) may include a driving unit (180).

[0084] The electronic device (100) may include a motor. The motor may be included in the drive unit (180).

[0085] The electronic device (100) may include a power supply unit (175). The power supply unit (175) may supply a driving voltage for rotating a motor. At least one processor (120) may control the power supply unit (175) to determine a supply voltage (e.g., a first voltage or a second voltage) and transmit (or supply) the determined supply voltage to the motor. The voltage supplied when the electronic device (100) is accelerating may be described as an acceleration voltage. The voltage supplied when the electronic device (100) is stopping may be described as a stopping voltage.

[0086] The first voltage and the second voltage may be voltages supplied to the motor to stop the electronic device (100) by changing the direction of the motor's current current to the opposite direction.

[0087] At least one processor (120) can obtain the wheel radius, gravitational acceleration, and stopping time of the electronic device (100) from data stored in memory (110). At least one processor (120) can obtain the stopping torque based on at least one of speed, angle of inclination, mass, wheel radius, gravitational acceleration, or stopping time. An explanation related to this is described in FIGS. 5 and FIGS. 10.

[0088] At least one processor (120) can obtain kinetic torque based on at least one of mass, speed, wheel radius, or stopping time. An explanation related to this is described in the embodiment (1220) of FIG. 12.

[0089] At least one processor (120) can obtain a load torque related to gravity and frictional forces acting on the electronic device (100). At least one processor (120) can obtain a static torque based on the kinetic torque and the load torque. An explanation related to this is described in the embodiment (1210) of FIG. 12.

[0090] At least one processor (120) can obtain a static torque by adding a load torque to the kinetic torque.

[0091] At least one processor (120) can obtain a gravity-related gravity torque based on at least one of mass, gravitational acceleration, angle of inclination, or wheel radius. An explanation related to this is described in the embodiment (1230) of FIG. 12.

[0092] At least one processor (120) can obtain a friction torque related to the friction force based on at least one of a friction coefficient, mass, gravitational acceleration, angle of inclination, or wheel radius. An explanation related to this is described in the embodiment (1240) of FIG. 12.

[0093] At least one processor (120) can obtain a load torque based on gravity torque and friction torque. At least one processor (120) can obtain a load torque by subtracting friction torque from gravity torque. An explanation related to this is described in the embodiment (1210) of FIG. 12.

[0094] At least one processor (120) can obtain the friction coefficient in various ways.

[0095] For example, the coefficient of friction can be a preset value. The coefficient of friction can be changed according to the user's settings.

[0096] For example, the friction coefficient can be determined based on the slip coefficient. At least one processor (120) can obtain the linear velocity of the wheel of the electronic device (100). At least one processor (120) can obtain the friction coefficient based on the speed of the electronic device (100) and the linear velocity of the wheel. An explanation related to this is described in the embodiment (1320) of FIG. 13.

[0097] For example, the friction coefficient can be determined based on an object identified in the sensing data. At least one processor (120) can acquire image data through a camera. At least one processor (120) can identify the friction coefficient through an object included in the image data. At least one processor (120) can acquire lidar data acquired through a lidar sensor. At least one processor (120) can identify the friction coefficient through an object included in the lidar data. An explanation related to this is described in the embodiment (1330) of FIG. 13.

[0098] At least one processor (120) can identify whether a third event occurs in which the electronic device (100) is in a stopped state after supplying a second voltage. The third event may include at least one of an event in which the electronic device (100) is in a stopped state or an event in which the speed is zero during a first threshold time. An explanation related to this is described in FIG. 7.

[0099] When a third event is identified, at least one processor (120) can obtain an inclination angle through the sensor unit (150) at the time the third event is identified.

[0100] If the inclination angle is less than the critical angle, at least one processor (120) can supply a third voltage smaller than the second voltage.

[0101] If the inclination angle is greater than or equal to the critical angle, at least one processor (120) can supply a fourth voltage greater than the second voltage.

[0102] An explanation related to this can be described in Fig. 15.

[0103] At least one processor (120) can identify whether a fourth event for power cutoff occurs. If the fourth event is identified, at least one processor (120) can stop supplying the third voltage or the fourth voltage. The fourth event may include at least one of an event of receiving a power cutoff command or an event in which the stop torque is zero during a second threshold time. Power consumption can be reduced by cutting off the power supply. An explanation related to this is described in FIG. 7.

[0104] FIG. 3 is a block diagram illustrating the configuration of the electronic device (100) of FIG. 2 according to one embodiment.

[0105] Referring to FIG. 3, the electronic device (100) may include at least one of a memory (110), at least one processor (120), a communication interface (130), a display (140), a speaker (145), a sensor unit (150), a camera (155), a microphone (160), an operation interface (165), an input / output interface (170), a power supply unit (175), and a driving unit (180).

[0106] The memory (110) may be implemented as internal memory such as ROM (e.g., EEPROM (electrically erasable programmable read-only memory)) or RAM included in at least one processor (120), or as memory separate from at least one processor (120). Depending on the purpose of data storage, the memory (110) may be implemented as a memory embedded in the electronic device (100) or as a memory that can be attached to and detached from the electronic device (100). For example, data for operating the electronic device (100) may be stored in memory embedded in the electronic device (100), and data for the expansion function of the electronic device (100) may be stored in memory that can be attached to and detached from the electronic device (100).

[0107] In the case of memory embedded in the electronic device (100), it may be implemented as at least one of volatile memory (e.g., DRAM (dynamic RAM), SRAM (static RAM), or SDRAM (synchronous dynamic RAM), etc.), non-volatile memory (e.g., OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash), etc.), hard drive, or solid state drive (SSD), and in the case of memory that is detachable from the electronic device (100), it may be implemented in the form of a memory card (e.g., CF (compact flash), SD (secure digital), Micro-SD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card), etc.), external memory that can be connected to a USB port (e.g., USB memory).

[0108] Memory (110) can store at least one instruction. Based on the instruction stored in memory (110), at least one processor (120) can perform various operations.

[0109] At least one processor (120) can perform overall control operations of the electronic device (100). At least one processor (120) can perform the function of controlling the overall operation of the electronic device (100).

[0110] At least one processor (120) may be implemented as a digital signal processor (DSP) that processes digital signals, a microprocessor, or a time controller (TCON). However, it is not limited thereto and may include or be defined by one or more of a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a graphics-processing unit (GPU), a communication processor (CP), or an ARM (advanced reduced instruction set computer (RISC) machine) processor. At least one processor (120) may be implemented as a System on Chip (SoC) or large scale integration (LSI) with a built-in processing algorithm, or may be implemented in the form of a Field Programmable Gate Array (FPGA). At least one processor (120) can perform various functions by executing computer executable instructions stored in memory.

[0111] The communication interface (130) is a configuration that communicates with various types of external devices according to various types of communication methods. The communication interface (130) may include a wireless communication module or a wired communication module. Each communication module may be implemented in the form of at least one hardware chip.

[0112] A wireless communication module may be a module that communicates wirelessly with an external device. For example, a wireless communication module may include at least one module among a Wi-Fi module, a Bluetooth module, an infrared communication module, or other communication modules.

[0113] Wi-Fi modules and Bluetooth modules can perform communication using Wi-Fi and Bluetooth methods, respectively. When using a Wi-Fi module or a Bluetooth module, various connection information, such as the SSID (service set identifier) ​​and session key, is transmitted and received first; after establishing a communication connection using this information, various types of information can be transmitted and received.

[0114] The infrared communication module performs communication according to infrared communication (IrDA, Infrared Data Association) technology, which uses infrared rays located between visible light and millimeter waves to wirelessly transmit data over short distances.

[0115] Other communication modules may include at least one communication chip that performs communication according to various wireless communication standards such as Zigbee, 3G (3rd Generation), 3GPP (3rd Generation Partnership Project), LTE (Long Term Evolution), LTE-A (LTE Advanced), 4G (4th Generation), and 5G (5th Generation), in addition to the communication method described above.

[0116] A wired communication module may be a module that communicates with an external device via a wire. For example, a wired communication module may include at least one of a Local Area Network (LAN) module, an Ethernet module, a pair cable, a coaxial cable, a fiber optic cable, or an Ultra Wide-Band (UWB) module.

[0117] According to one embodiment, the communication interface (130) may use the same communication module (e.g., Wi-Fi module) to communicate with an external device, such as a remote control device, and an external server.

[0118] According to one embodiment, the communication interface (130) may use different communication modules to communicate with external devices, such as a remote control device and an external server. For example, the communication interface (130) may use at least one of an Ethernet module or a Wi-Fi module to communicate with an external server, and may use a Bluetooth module to communicate with an external device, such as a remote control device. However, this is merely one embodiment, and the communication interface (130) may use at least one of various communication modules when communicating with multiple external devices or external servers.

[0119] The display (140) can be implemented as various types of displays such as an LCD (Liquid Crystal Display), an OLED (Organic Light Emitting Diodes) display, and a PDP (Plasma Display Panel). The display (140) may also include a driving circuit, a backlight unit, etc., which can be implemented in forms such as an a-si TFT (amorphous silicon thin film transistor), an LTPS (low temperature poly silicon) TFT, and an OTFT (organic TFT). The display (140) can be implemented as a touch screen combined with a touch sensor, a flexible display, a 3D display, a three-dimensional display, etc. According to one embodiment of the present disclosure, the display (140) may include not only a display panel that outputs an image, but also a bezel that houses the display panel. In particular, according to one embodiment of the present disclosure, the bezel may include a touch sensor for detecting user interaction.

[0120] The speaker (145) may be a component that outputs various audio data as well as various notification sounds or voice messages.

[0121] The sensor unit (150) can collect data indicating a state related to the surrounding environment or the electronic device (100). The sensor unit (150) may include at least one sensor. The sensor unit (150) may include a sensor that senses the external environment of the electronic device (100). The sensor unit (150) may include a sensor that senses the internal state of the electronic device (100). The sensing data collected through the sensor may be transmitted to one of the memory (110) of the electronic device (100), at least one processor (120), or a communication interface (130).

[0122] The camera (155) is configured to capture an object and generate an image, and the image includes both video and still images. The camera (155) can acquire an image of at least one external device and can be implemented as a camera, lens, infrared sensor, etc.

[0123] The camera (155) may include a lens and an image sensor. The types of lenses include general or multi-purpose lenses, wide-angle lenses, zoom lenses, etc., and may be determined according to the type, characteristics, and usage environment of the electronic device (100). As an image sensor, a Complementary Metal Oxide Semiconductor (CMOS) and a Charge Coupled Device (CCD) may be used.

[0124] The microphone (160) is a component for receiving user voice or other sounds and converting them into audio data. The microphone (160) can receive the user's voice when active. For example, the microphone (160) may be formed integrally on the upper side, front side, or side side of the electronic device (100). The microphone (160) may include various components such as a microphone for collecting analog user voice, an amplifier circuit for amplifying the collected user voice, an A / D conversion circuit for sampling the amplified user voice and converting it into a digital signal, and a filter circuit for removing noise components from the converted digital signal.

[0125] The operation interface (165) may be implemented as a device such as a button, touchpad, mouse, and keyboard, or as a touch screen capable of performing the aforementioned display function and operation input function. The button may be a various type of button, such as a mechanical button, touchpad, or wheel, formed in any area of ​​the exterior of the main body of the electronic device (100), such as the front, side, or back portions.

[0126] The input / output interface (170) may be any one of the following interfaces: HDMI (High Definition Multimedia Interface), MHL (Mobile High-Definition Link), USB (Universal Serial Bus), DP (Display Port), Thunderbolt, VGA (Video Graphics Array) port, RGB port, D-SUB (D-subminiature), and DVI (Digital Visual Interface). The input / output interface (170) may input and output at least one of audio and video signals. Depending on the implementation example, the input / output interface (170) may include separate ports for inputting and outputting only audio signals and for inputting and outputting only video signals, or it may be implemented as a single port for inputting and outputting both audio and video signals. The electronic device (100) may transmit at least one of the audio and video signals to an external device (e.g., an external display device or an external speaker) through the input / output interface (170). An output port included in the input / output interface (170) can be connected to an external device, and the electronic device (100) can transmit at least one of audio and video signals to the external device through the output port.

[0127] The input / output interface (170) can be connected to a communication interface. The input / output interface (170) can transmit information received from an external device to the communication interface or transmit information received through the communication interface to an external device.

[0128] The power supply unit (175) can generate, convert, or supply power required for the electronic device (100). The power supply unit (175) can generate a supply voltage or a supply current using the power. The power generated by the power supply unit (175) can be supplied to various components included in the electronic device (100).

[0129] The driving unit (180) may be configured to generate and transmit a physical force that controls the movement of the electronic device (100). The driving unit (180) may include a motor.

[0130] FIG. 4 is a drawing for explaining a stop torque calculation module (10) according to one embodiment.

[0131] Referring to FIG. 4, the electronic device (100) may include at least one of a stop torque calculation module (10), a drive voltage control module (20), a motor driver (30), and an inertia sensor (151).

[0132] When the stop torque calculation module (10), the drive voltage control module (20), and the motor driver (30) are implemented in software, the stop torque calculation module (10), the drive voltage control module (20), and the motor driver (30) can be stored in memory (110).

[0133] When the stop torque calculation module (10), the drive voltage control module (20), and the motor driver (30) are implemented in hardware, the stop torque calculation module (10), the drive voltage control module (20), and the motor driver (30) may be included in at least one processor (120).

[0134] An inertial sensor (151) may be included in the sensor unit (150). The inertial sensor (151) may represent a sensor that measures inertia. The inertial sensor (151) may include an IMU (Inertial Measurement Unit) sensor. The inertial sensor (151) may include at least one of a speed sensor, an acceleration sensor, a gyroscope sensor, and a tilt sensor.

[0135] The inertial sensor (151) can acquire sensing data including the tilt angle of the electronic device (100) through a tilt sensor. The inertial sensor (151) can acquire sensing data including the speed of the electronic device (100) through a speed sensor.

[0136] The inertial sensor (151) can transmit at least one of the inclination angle or speed to the stop torque calculation module (10).

[0137] The motor driver (30) can control the motor included in the drive unit (180). The motor driver (30) can supply power supplied from the power supply unit (175) to the motor. The motor driver (30) can control whether to supply power, the size of the power supply, etc.

[0138] The motor driver (30) can obtain a supply power value indicating the magnitude of the supply power (supply voltage or supply current). The motor driver (30) can transmit the supply power value to the stop torque calculation module (10).

[0139] The stop torque calculation module (10) can receive at least one of an inclination angle or a speed from an inertia sensor (151). The stop torque calculation module (10) can receive a supply power value from a motor driver (30).

[0140] The stop torque calculation module (10) can calculate the load torque using the supply power value received from the motor driver (30). The stop torque calculation module (10) can calculate the stop torque based on at least one of the load torque, the inclination angle, and the speed.

[0141] The stop torque calculation module (10) may be a module that calculates stop torque. The stop torque calculation module (10) may output stop torque based on a preset algorithm or a preset mathematical formula.

[0142] The driving voltage control module (20) may be a module that controls the driving voltage based on the stopping torque. The driving voltage control module (20) may receive the stopping torque from the stopping torque calculation module (10). The driving voltage control module (20) may determine the driving voltage for controlling the motor based on the stopping torque.

[0143] The driving voltage control module (20) can control the motor driver (30) based on the driving voltage. Consequently, the motor driver (30) can control the motor using the driving voltage. Depending on the control of the motor, the movement speed of the electronic device (100) can be accelerated or decelerated.

[0144] FIG. 4 describes the process of a static torque calculation module (10) calculating load torque based on a supply power value. FIG. 5 describes the process of calculating load torque using a value other than the supply voltage value.

[0145] FIG. 5 is a drawing for explaining a stop torque calculation module (10) according to one embodiment.

[0146] The stop torque calculation module (10), drive voltage control module (20), motor driver (30), and inertia sensor (151) of FIG. 5 may correspond to the description of FIG. 4. The memory (110) of FIG. 5 may correspond to the memory (110) of FIG. 3. Therefore, additional implementation details may be referred to in the description of FIG. 3.

[0147] The stop torque calculation module (10) can receive at least one of an inclination angle or a speed from the inertia sensor (151).

[0148] The stop torque calculation module (10) can receive at least one of the wheel radius of the electronic device (100), the mass of the electronic device (100), the acceleration due to gravity, or the stop time from the memory (110).

[0149] The stopping torque calculation module (10) can calculate the stopping torque based on at least one of the inclination angle, speed, wheel radius of the electronic device (100), mass of the electronic device (100), gravitational acceleration, or stopping time.

[0150] The stop torque calculation module (10) can transmit the stop torque to the drive voltage control module (20). The drive voltage control module (20) can determine a drive voltage for controlling the motor based on the stop torque. The drive voltage control module (20) can control the motor using a motor driver (30). Depending on the control of the motor, the movement speed of the electronic device (100) can be accelerated or decelerated.

[0151] FIG. 6 is a drawing for explaining a driving voltage control module according to one embodiment.

[0152] Referring to FIG. 6, the electronic device (100) may include at least one of a power supply unit (175), a driving voltage control module (20), a motor driver (30), and a switch (195).

[0153] The electronic device (100) can implement a brake system based on at least one of a power supply unit (175), a driving voltage control module (20), a motor driver (30), and a switch (195).

[0154] The power supply unit (175) can supply a driving voltage.

[0155] The drive voltage control module (20) can convert the drive voltage. The drive voltage control module (20) can change (or convert) the magnitude of the voltage based on the determined stopping torque. It can control the brake system to transmit the changed drive voltage to the motor drive (30). As an example, the drive voltage control module (20) may include an MCU (Microcontroller Unit).

[0156] The motor drive (30) can perform a braking function to reduce the speed of movement using the changed driving voltage. The motor drive (30) can generate a torque opposite to the current rotation direction of the motor by reversing the direction of the current flowing through the motor.

[0157] The switch (190) can control the switching element so that the driving voltage of the power supply (175) or the changed driving voltage is transmitted to the motor driver (30) (switch on) or not transmitted (switch off). The on or off of the switch (190) can be determined by the driving voltage control module (20).

[0158] For example, the switch (190) can change the driving voltage supplied from the power supply unit (175) to the supply voltage. The switch (190) may represent a voltage conversion module that performs a switching function. The voltage conversion method can be determined by the driving voltage control module (20).

[0159] The driving voltage control module (20) can control the switch (190) by controlling the Pulse Width Modulation (PWM) duty cycle. The electronic device (100) can control the switch (190) so that the driving voltage of the power supply unit (175) is transmitted to the motor driver (30).

[0160] For example, a brake system can be a back EMF braking (plugging) system.

[0161] For example, the brake system can be a dynamic braking system.

[0162] For example, a brake system can be a regenerative braking system.

[0163] FIG. 7 is a diagram illustrating an operation to control voltage according to a plurality of events according to one embodiment.

[0164] Referring to FIG. 7, the electronic device (100) can identify whether a first event has occurred.

[0165] The first event may include at least one of an event receiving a stop command, an event located within a threshold distance from the final destination, or an event identifying an obstacle object.

[0166] For example, a stop command may be received by a user. The electronic device (100) may receive user input to stop the movement of the electronic device (100).

[0167] For example, a stop command can be obtained based on a pre-configured command. The pre-configured command may represent a command that is executed automatically.

[0168] For example, the electronic device (100) can perform driving in a designated space. If the location of the space is set as the final destination, the electronic device (100) can stop within a critical distance from the final destination.

[0169] For example, the electronic device (100) can identify obstacle objects around the electronic device (100) based on sensing data (LiDAR sensing data or image data). When an obstacle object is identified, the electronic device (100) can stop.

[0170] When the first event is identified (S710-Y), the electronic device (100) can supply a first voltage for stopping (S715). The first voltage may be a voltage for generating torque to reduce the speed of the electronic device (100) by supplying the current direction of the motor in the opposite direction.

[0171] For example, the first voltage may be a preset voltage. The first voltage may be changed according to the user's settings.

[0172] For example, the first voltage may be a calculated voltage. The electronic device (100) may calculate the first voltage based on mass, speed, and angle of inclination. The greater the mass, the higher the first voltage may be. The faster the speed, the higher the first voltage may be. The greater the angle of inclination, the higher the first voltage may be.

[0173] After the first voltage is supplied, the electronic device (100) can identify whether a second event has occurred (S720).

[0174] The second event may include at least one of an event in which a preset time elapses from the point in time when the first voltage is supplied, an event in which the stopping torque is below a threshold torque, or an event in which the speed is below a threshold speed.

[0175] For example, the preset time may be changed according to the user's settings. The electronic device (100) may supply a first voltage at a first time point. After a preset time has elapsed from the first time point, the electronic device (100) may change the first voltage.

[0176] For example, the electronic device (100) can calculate the stopping torque in real time. If the stopping torque is less than or equal to the threshold torque, the electronic device (100) can change the first voltage.

[0177] For example, the electronic device (100) can calculate the speed of the electronic device (100) in real time. If the speed is below a critical speed, the electronic device (100) can change the first voltage.

[0178] When a second event is identified (S720-Y), the electronic device (100) may supply a second voltage for stopping (S725). The second voltage may be a voltage for generating torque to reduce the speed of the electronic device (100) by supplying the motor's current direction in the opposite direction.

[0179] The second voltage may be different from the first voltage. For example, the second voltage may be smaller than the first voltage. The electronic device (100) may supply a second voltage smaller than the first voltage to gradually reduce the speed.

[0180] After the second voltage is supplied, the electronic device (100) can identify whether a third event has occurred (S730).

[0181] The third event may include at least one of an event in which the electronic device (100) is in a stationary state or an event in which the speed is 0 during a first threshold time.

[0182] For example, the electronic device (100) can check whether its current state is a stationary state.

[0183] For example, the electronic device (100) can check whether the speed is zero for a critical time to determine whether the current state is a stationary state. The first critical time may be a value for checking whether the speed is constant zero. After the speed of the electronic device (100) becomes zero on an uphill slope, the speed may increase when coming down the uphill slope again.

[0184] When a third event is identified (S730-Y), the electronic device (100) may supply a third voltage for stopping (S735). The third voltage may be a voltage for generating torque to reduce the speed of the electronic device (100) by supplying the motor's current direction in the opposite direction.

[0185] For example, the third voltage may be the same as the second voltage. An explanation related to this is described in FIGS. 16 to 18.

[0186] For example, the third voltage may be smaller than the second voltage. An explanation related to this is described in FIGS. 19 to 21.

[0187] For example, the third voltage may be greater than the second voltage. An explanation related to this is described in FIGS. 22 to 25.

[0188] After the third voltage is supplied, the electronic device (100) can identify whether the fourth event has occurred (S740).

[0189] The fourth event may include at least one of an event in which a power cutoff command is received or an event in which the stop torque is zero during the second threshold time.

[0190] For example, an electronic device (100) can receive a power cutoff command input by a user.

[0191] For example, the electronic device (100) may stop supplying power when a second threshold time has elapsed from the point at which it is determined to be in a stopped state.

[0192] For example, the electronic device (100) can calculate the stopping torque in real time. The electronic device (100) can check whether the stopping torque is zero during a second threshold time. If the stopping torque is zero, it can be determined that the electronic device (100) is currently on a flat surface.

[0193] For example, the first critical time and the second critical time may be the same.

[0194] For example, the first threshold time and the second threshold time may be different. The second threshold time may be greater than the first threshold time. Since the brake function may not be performed when the voltage is cut off, there is a risk that the electronic device (100) may move on the slope. Therefore, the second threshold time may be greater than the first threshold time.

[0195] When the fourth event is identified (S740-Y), the electronic device (100) can cut off the voltage (S745).

[0196] For example, the electronic device (100) can control the switch (190) of FIG. 6 to turn off so that the fourth voltage (driving voltage) is not supplied to the motor.

[0197] The electronic device (100) can stop the power supply by reporting that a brake function is not needed.

[0198] For example, the operation of cutting off the voltage may represent the operation of the electronic device (100) performing a power saving mode.

[0199] For example, the operation of cutting off the voltage may represent the operation of the electronic device (100) completely turning off the power.

[0200] Examples for each of the first, second, third, and fourth events described in FIG. 7 can be combined with each other. Thus, a total of 36 examples (1-a-1-a, 1-a-1b, .. , 3-c-2-b) may exist.

[0201] FIG. 8 is a diagram illustrating the operation of changing voltage using static torque according to one embodiment.

[0202] The operations S810, S815, S820, and S825 of FIG. 8 may correspond to the operations S710, S715, S720, and S725 of FIG. 7. Therefore, additional implementation details may be referred to in the description of FIG. 7.

[0203] After supplying the first voltage, the electronic device (100) can obtain a stopping torque (S816). An explanation regarding the stopping torque is described in FIGS. 9 to 13.

[0204] The electronic device (100) can identify whether the stopping torque is below the threshold torque (S820).

[0205] If the stopping torque is below the threshold torque (S820-Y), the electronic device (100) can supply a second voltage for stopping (S825).

[0206] If the stopping torque exceeds the threshold torque (S820-N), the electronic device (100) can repeat the S816 and S820 operations.

[0207] FIG. 9 is a diagram illustrating the operation of calculating static torque according to one embodiment.

[0208] The operations S910, S915, S920, and S925 of FIG. 9 may correspond to the operations S810, S815, S820, and S825 of FIG. 8.

[0209] After supplying the first voltage, the electronic device (100) can calculate the stopping torque. The electronic device (100) can obtain at least one of the speed or the angle of inclination from the inertia sensor (151) (S916a).

[0210] The electronic device (100) can obtain the mass of the electronic device (100) (S916b).

[0211] The electronic device (100) can obtain a static torque based on at least one of speed, angle of inclination, or mass (S916c).

[0212] The electronic device (100) can store a preset first function having at least one of speed, angle of inclination, or mass as a parameter. The electronic device (100) can calculate a stopping torque based on a preset second function.

[0213] When a stop torque is obtained, the electronic device (100) can perform S920 and S925 operations.

[0214] FIG. 10 is a drawing for explaining the operation of calculating static torque according to one embodiment.

[0215] The operations S1010, S1015, S1020, and S1025 of FIG. 10 may correspond to the operations S810, S815, S820, and S825 of FIG. 8.

[0216] After supplying the first voltage, the electronic device (100) can calculate the stopping torque. The electronic device (100) can obtain at least one of the speed or the angle of inclination from the inertia sensor (151) (S1016a).

[0217] The electronic device (100) can obtain at least one of the wheel radius, mass, gravitational acceleration, and stopping time of the electronic device (100) (S1016b).

[0218] The electronic device (100) can obtain a stopping torque based on at least one of speed, angle of inclination, wheel radius, mass, gravitational acceleration, and stopping time (S1016c).

[0219] The electronic device (100) can store a preset second function having at least one of speed, angle of inclination, wheel radius, mass, gravitational acceleration, and stopping time as parameters. The electronic device (100) can calculate a stopping torque based on the preset second function.

[0220] FIG. 11 is a drawing for explaining the operation of calculating static torque according to one embodiment.

[0221] Referring to FIG. 11, the electronic device (100) can calculate the static torque in real time. The electronic device (100) can obtain at least one of the inclination angle or velocity from the inertial sensor (151) (S1110).

[0222] The electronic device (100) can obtain at least one of wheel radius, mass, gravitational acceleration, and stopping time (S1115).

[0223] The electronic device (100) can obtain kinetic torque based on at least one of mass, speed, wheel radius, and stopping time (S1120). An explanation related to this is described in the embodiment (1320) of FIG. 13.

[0224] The electronic device (100) can obtain gravitational torque based on at least one of mass, gravitational acceleration, angle of inclination, and wheel radius (S1125). An explanation related to this is described in the embodiment (1330) of FIG. 13.

[0225] The electronic device (100) can obtain friction torque based on the coefficient of friction, mass, acceleration by gravity, angle of inclination, and wheel radius (S1130). An explanation related to this is described in the embodiment (1340) of FIG. 13.

[0226] The electronic device (100) can obtain a load torque based on gravity torque and friction torque (S1135). As an example, the electronic device (100) can obtain a load torque by summing the gravity torque and friction torque. The electronic device (100) can obtain a static torque based on motion torque and load torque (S1140). An explanation related to this is described in the embodiment (1310) of FIG. 13.

[0227] The process of calculating the stopping torque described in FIG. 11 can be applied in various situations or operating conditions during the operation of the electronic device (100). For example, the operations of FIG. 11 can be applied in step S816 of FIG. 8. For example, the operations of FIG. 11 can be applied to the operation of determining whether the stopping torque is zero during a second threshold time in step S740 of FIG. 7.

[0228] FIG. 12 is a diagram illustrating the operation of calculating static torque according to one embodiment.

[0229] The electronic device (100) can obtain at least one of an inclination angle or a speed from an inertial sensor (151). The inclination angle may represent an inclination angle relative to the electronic device (100). The speed may be the speed of the electronic device (100).

[0230] The electronic device (100) can receive at least one of the wheel radius of the electronic device (100), the mass of the electronic device (100), the acceleration due to gravity, or the time of standstill from the memory (110).

[0231] The electronic device (100) can obtain a stopping torque based on at least one of an inclination angle, speed, wheel radius of the electronic device (100), mass of the electronic device (100), gravitational acceleration, or stopping time.

[0232] Referring to the embodiment (1210) of FIG. 12, the electronic device (100) can obtain a static torque. The electronic device (100) can obtain a static torque based on kinetic torque, gravity torque, and friction torque. The electronic device (100) can obtain a static torque by summing the kinetic torque and the load torque. The electronic device (100) can obtain a load torque by subtracting the friction torque from the gravity torque. The electronic device (100) can obtain a first torque by summing the gravity torque from the kinetic torque, and obtain a static torque by subtracting the friction torque from the first torque.

[0233] Referring to the embodiment (1220) of FIG. 12, the electronic device (100) can obtain kinetic torque. The electronic device (100) can obtain kinetic torque based on mass, velocity, wheel radius, and stopping time. The kinetic torque may be proportional to the radius, mass, and velocity. The kinetic torque may be inversely proportional to the stopping time.

[0234] The stopping time can be the time taken from the current point in time until coming to a stop. The stopping time can represent the time intended to stop at the point in time when calculating the kinetic torque.

[0235] For example, the pause time can represent a preset time. The pause time can be changed according to the user's settings.

[0236] For example, the pause time can be changed dynamically. The pause time can be calculated multiple times. The pause time can be gradually reduced each time it is calculated multiple times. The electronic device (100) can obtain a first pause time based on the time when the first kinetic torque is calculated. The electronic device (100) can obtain a second pause time based on the time when the second kinetic torque is calculated. The second pause time may be smaller than the first pause time. The electronic device (100) can gradually reduce the pause time based on the passage of time.

[0237] Referring to the embodiment (1230) of FIG. 12, the electronic device (100) can obtain a gravitational torque. The gravitational torque can be obtained based on mass, gravitational acceleration, angle of inclination, and wheel radius. The gravitational torque may be proportional to the mass, gravitational acceleration, and wheel radius. The gravitational torque may have a relationship related to the angle of inclination and a sine function.

[0238] Referring to the embodiment (1340) of FIG. 12, the electronic device (100) can obtain friction torque. The electronic device (100) can obtain friction torque based on the coefficient of friction, mass, acceleration by gravity, angle of inclination, and wheel radius. The friction torque may be proportional to the coefficient of friction, mass, acceleration by gravity, and wheel radius. The friction torque may have a relationship related to the angle of inclination and a cosine function.

[0239] The coefficient of friction can be calculated according to various methods. An explanation related to this is provided in Fig. 13.

[0240] FIG. 13 is a diagram illustrating the operation of calculating the friction coefficient according to one embodiment.

[0241] Referring to the embodiment (1310) of FIG. 13, the friction coefficient (μa) may be a constant value. The electronic device (100) may store a preset friction coefficient (μa). The preset friction coefficient (μa) may be a value representing the average degree of friction. The friction coefficient (μa) may be changed according to the user's settings.

[0242] Referring to the embodiment (1320) of FIG. 13, the electronic device (100) can obtain a friction coefficient (μ) through the degree of slip. The electronic device (100) can calculate the degree of slip by comparing the linear velocity of the wheel (v-wheel) and the speed of the electronic device (100) (v-device). The electronic device (100) can calculate the degree of slip based on the linear velocity of the wheel (v-wheel) and the speed of the electronic device (100) (v-device).

[0243] The electronic device (100) can obtain a final friction coefficient (μ) by considering the basic friction coefficient (μb) and the degree of slippage together. The basic friction coefficient (μb) may be a preset value. For example, the basic friction coefficient (μb) may be the same as the friction coefficient (μa) of the embodiment (1310). For example, the basic friction coefficient (μb) may be different from the friction coefficient (μa) of the embodiment (1310).

[0244] If the linear velocity of the wheel (v-wheel) is greater than the speed (v-device) of the electronic device (100), the electronic device (100) can determine that slippage is occurring. The faster the linear velocity of the wheel (v-wheel) is compared to the speed (v-device) of the electronic device (100), the lower the friction coefficient (μ) can be.

[0245] If the linear velocity of the wheel (v-wheel) and the velocity of the electronic device (100) (v-device) are the same, the electronic device (100) can be determined to have no slippage. The friction coefficient (μ) may be the basic friction coefficient (μb).

[0246] If the linear velocity of the wheel (v-wheel) is less than the speed (v-device) of the electronic device (100), the electronic device (100) can determine that it is a braking operation condition. The slower the linear velocity of the wheel (v-wheel) is compared to the speed (v-device) of the electronic device (100), the greater the friction coefficient (μ) may be.

[0247] Referring to the embodiment (1330) of FIG. 13, the electronic device (100) can obtain a friction coefficient (μ) through sensing data.

[0248] For example, an electronic device (100) can acquire sensing data including a captured image through an image sensor. The electronic device (100) can analyze the sensing data to identify an object representing the material of the floor.

[0249] For example, an electronic device (100) can acquire sensing data including lidar data through a lidar sensor. The electronic device (100) can analyze the sensing data to identify an object representing the material of the floor.

[0250] The electronic device (100) can store a friction coefficient table that matches different friction coefficients to each object. The electronic device (100) can identify a friction coefficient (μ) corresponding to an identified object based on the friction coefficient table.

[0251] For example, when an object (o1) is identified, the electronic device (100) can identify the friction coefficient (μ) as the friction coefficient (μ1) based on a matching table.

[0252] FIG. 14 is a diagram illustrating the operation of calculating static torque according to one embodiment.

[0253] Referring to FIG. 14, the electronic device (100) can obtain speed from an inertial sensor (151). The speed may be the speed of the electronic device (100) (S1416a).

[0254] The electronic device (100) can obtain the wheel radius of the electronic device (100), the mass of the electronic device (100), or the stopping time (S1416b). The electronic device (100) can obtain kinetic torque based on at least one of the mass, speed, wheel radius, and stopping time (S1416c).

[0255] The electronic device (100) may include a load sensor. The load sensor may sense a load associated with the electronic device (100). The load sensor may sense data regarding the load received by the electronic device (100) based on the mass of the electronic device (100). For example, the electronic device (100) may obtain sensing data through the load sensor that distinguishes between the case where the electronic device (100) is on an inclined surface and the case where it is on a flat surface.

[0256] The electronic device (100) can obtain load torque from a load sensor (S1416d). The electronic device (100) can obtain load torque based on sensing data received from the load sensor.

[0257] The electronic device (100) can obtain a static torque based on the motion torque and the load torque (S1416e). The electronic device (100) can obtain a static torque by adding the load torque to the motion torque.

[0258] FIG. 15 is a diagram illustrating an operation to control the magnitude of a voltage using an inclination angle according to one embodiment.

[0259] Steps S1520, S1525, S1530, and S1535 of FIG. 15 may correspond to steps S720, S725, S730, and S735 of FIG. 7. Accordingly, additional implementation details may be referred to in the description of FIG. 7.

[0260] After the second voltage is supplied, the electronic device (100) can obtain the inclination angle and speed from the inertial sensor (151) (S1526).

[0261] The electronic device (100) can identify whether the speed is zero during a first threshold time. The first threshold time may be changed according to the user's settings. If the speed is zero during the first threshold time (S1530-Y), the electronic device (100) can identify whether the inclination angle is greater than or equal to the threshold angle (S1531). The threshold angle may be changed according to the user's settings. If the speed is zero during the first threshold time (S1530-Y), the electronic device (100) can determine that the electronic device (100) is stationary. The electronic device (100) can analyze the inclination angle while stationary.

[0262] If the inclination angle is less than the critical angle (S1531-N), the electronic device (100) can supply a third voltage for stopping (S1535).

[0263] If the inclination angle is greater than the critical angle (S1531-Y), the electronic device (100) can supply a fourth voltage for stopping (S15340).

[0264] For example, the fourth voltage may be greater than the third voltage. If the angle of inclination is greater than or equal to the critical angle (S1531-Y), the electronic device (100) may determine that the electronic device (100) is located on an inclined surface. If located on an inclined surface, the electronic device (100) may supply a voltage for stopping (the fourth voltage) greater than the third voltage. To prevent slipping on the inclined surface, the electronic device (100) may supply a fourth voltage greater than the third voltage.

[0265] FIGS. 16 to 24 show embodiments that change the magnitude of the voltage supplied under various situations or operating conditions.

[0266] It is assumed that the electronic device (100) is moving at a first time point (t1). The speed of movement may vary depending on the embodiment. It is assumed that the electronic device (100) identifies a first event for stopping (see FIG. 7) at the first time point (t1). The electronic device (100) may supply a first voltage (v1) for stopping at the first time point (t1). The electronic device (100) may calculate a stopping torque from the first time point (t1). When the first voltage (v1) for stopping is supplied, the speed of the electronic device (100) may be reduced. When the speed of the electronic device (100) is reduced, the stopping torque may also be reduced. The electronic device (100) may identify whether the stopping torque is below a threshold torque. If the stopping torque is below a threshold torque, the electronic device (100) may change the first voltage (v1) to a second voltage (v2).

[0267] The above situation may apply to all of FIGS. 16 through 24. Accordingly, additional implementation details of the embodiments described in relation to one or more drawings may be referenced in the description of FIGS. 16 through 24. The embodiments of FIGS. 16 through 24 may be individually applied to the electronic device (100). On an uphill slope, one of the embodiments of FIGS. 16, FIG. 19, and FIG. 22 may be applied. On a flat surface, one of the embodiments of FIGS. 17, FIG. 20, and FIG. 23 may be applied. On a downhill slope, one of the embodiments of FIGS. 18, FIG. 21, and FIG. 24 may be applied. Thus, a total of 27 embodiments may be applied to the electronic device (100).

[0268] FIG. 16 is a diagram illustrating the operation of controlling voltage on an uphill road according to one embodiment.

[0269] Referring to the embodiment (1600) of FIG. 16, if the stopping torque is below the threshold torque, the electronic device (100) can identify that a second event has occurred. The electronic device (100) can identify a second time point (t2a) at which the second event is identified. When the second event is identified, the electronic device (100) can change the supply voltage from the first voltage (v1) to the second voltage (v2) at the second time point (t2a).

[0270] The second time point (t2a) in Fig. 16 may be earlier than the second time point (t2b) in Fig. 17 and the second time point (t2c) in Fig. 18. Since gravity acts in the opposite direction to the direction of movement on an uphill slope, the stopping torque may decrease faster than on a flat or downhill slope when the same voltage is supplied.

[0271] The electronic device (100) can stop based on a first voltage (v1) and a second voltage (v2). When identified as being in a stopped state, the electronic device (100) can identify that a third event has occurred. The electronic device (100) can identify a third time point (t3) at which the third event occurred.

[0272] When a third event is identified, the electronic device (100) can supply the second voltage (v2) as is at the third time point (t3). The electronic device (100) can supply the second voltage (v2) equally before and after stopping.

[0273] Even after stopping, since gravity torque acts on the electronic device (100) according to the angle of inclination, the stopping torque may not be zero.

[0274] FIG. 17 is a diagram illustrating the operation of controlling voltage on a flat surface according to one embodiment.

[0275] Referring to the embodiment (1700) of FIG. 17, if the stopping torque is below the threshold torque, the electronic device (100) can identify that a second event has occurred. The electronic device (100) can identify a second time point (t2b) at which the second event is identified. When the second event is identified, the electronic device (100) can change the supply voltage from the first voltage (v1) to the second voltage (v2) at the second time point (t2b).

[0276] The second time point (t2b) of FIG. 17 may be later than the second time point (t2a) of FIG. 16 and earlier than the second time point (t2c) of FIG. 18. Since the gravitational torque is zero on flat ground, when the same voltage is supplied, the static torque may decrease more slowly than on an uphill slope and decrease more quickly than on a downhill slope.

[0277] The electronic device (100) can stop based on a first voltage (v1) and a second voltage (v2). When identified as being in a stopped state, the electronic device (100) can identify that a third event has occurred. The electronic device (100) can identify a third time point (t3) at which the third event occurred.

[0278] When a third event is identified, the electronic device (100) can supply the second voltage (v2) as is at the third time point (t3). The electronic device (100) can supply the second voltage (v2) equally before and after stopping.

[0279] Since the angle of inclination is 0 after stopping, the gravitational torque may not act on the electronic device (100).

[0280] FIG. 18 is a diagram illustrating the operation of controlling voltage on a downhill slope according to one embodiment.

[0281] Referring to the embodiment (1800) of FIG. 18, if the stopping torque is below the threshold torque, the electronic device (100) can identify that a second event has occurred. The electronic device (100) can identify a second time point (t2c) at which the second event is identified. When the second event is identified, the electronic device (100) can change the supply voltage from the first voltage (v1) to the second voltage (v2) at the second time point (t2c).

[0282] The second time point (t2c) of FIG. 18 may be slower than the second time point (t2a) of FIG. 16 and the second time point (t2b) of FIG. 17. Since gravity acts in the direction of movement on a downhill slope, the stopping torque may decrease more slowly than on an uphill slope or flat ground when the same voltage is supplied.

[0283] The electronic device (100) can stop based on a first voltage (v1) and a second voltage (v2). When identified as being in a stopped state, the electronic device (100) can identify that a third event has occurred. The electronic device (100) can identify a third time point (t3) at which the third event occurred.

[0284] When a third event is identified, the electronic device (100) can supply the second voltage (v2) as is at the third time point (t3). The electronic device (100) can supply the second voltage (v2) equally before and after stopping.

[0285] Even after stopping, since gravity torque acts on the electronic device (100) according to the angle of inclination, the stopping torque may not be zero.

[0286] FIG. 19 is a diagram illustrating the operation of controlling voltage on an uphill road according to one embodiment.

[0287] Referring to the embodiment (1900) of FIG. 19, if the stopping torque is below the threshold torque, the electronic device (100) can identify that a second event has occurred. The electronic device (100) can identify a second time point (t2a) at which the second event is identified. When the second event is identified, the electronic device (100) can change the supply voltage from the first voltage (v1) to the second voltage (v2) at the second time point (t2a).

[0288] The second time point (t2a) of FIG. 19 may be earlier than the second time point (t2b) of FIG. 20 and the second time point (t2c) of FIG. 21. Since gravity acts in the opposite direction to the direction of movement on an uphill slope, the stopping torque may decrease faster than on a flat or downhill slope when the same voltage is supplied.

[0289] The electronic device (100) can stop based on a first voltage (v1) and a second voltage (v2). When identified as being in a stopped state, the electronic device (100) can identify that a third event has occurred. The electronic device (100) can identify a third time point (t3) at which the third event occurred.

[0290] When a third event is identified, the electronic device (100) can change the second voltage (v2) to a third voltage (v3) at a third time point (t3). The third voltage (v3) may be lower than the second voltage (v2). In a stopped state, the electronic device (100) can supply a third voltage (v3) lower than the second voltage (v2). Power consumption can be reduced by determining the stopped state and reducing the supply voltage.

[0291] Even after stopping, since gravity torque acts on the electronic device (100) according to the angle of inclination, the stopping torque may not be zero.

[0292] FIG. 20 is a drawing for explaining the operation of controlling voltage on a flat surface according to one embodiment.

[0293] Referring to the embodiment (2000) of FIG. 20, if the stopping torque is below the threshold torque, the electronic device (100) can identify that a second event has occurred. The electronic device (100) can identify a second time point (t2b) at which the second event is identified. When the second event is identified, the electronic device (100) can change the supply voltage from the first voltage (v1) to the second voltage (v2) at the second time point (t2b).

[0294] The second time point (t2b) of FIG. 20 may be later than the second time point (t2a) of FIG. 19 and earlier than the second time point (t2c) of FIG. 21. Since the gravitational torque is zero on flat ground, when the same voltage is supplied, the static torque may decrease more slowly than on an uphill slope and decrease more quickly than on a downhill slope.

[0295] The electronic device (100) can stop based on a first voltage (v1) and a second voltage (v2). When identified as being in a stopped state, the electronic device (100) can identify that a third event has occurred. The electronic device (100) can identify a third time point (t3) at which the third event occurred.

[0296] When a third event is identified, the electronic device (100) can change the second voltage (v2) to a third voltage (v3) at a third time point (t3). The third voltage (v3) may be lower than the second voltage (v2). In a stopped state, the electronic device (100) can supply a third voltage (v3) lower than the second voltage (v2). Power consumption can be reduced by determining the stopped state and reducing the supply voltage.

[0297] Since the angle of inclination is 0 after stopping, the gravitational torque may not act on the electronic device (100).

[0298] FIG. 21 is a diagram illustrating the operation of controlling voltage on a downhill slope according to one embodiment.

[0299] Referring to the embodiment (2100) of FIG. 21, if the stopping torque is below the threshold torque, the electronic device (100) can identify that a second event has occurred. The electronic device (100) can identify a second time point (t2c) at which the second event is identified. When the second event is identified, the electronic device (100) can change the supply voltage from the first voltage (v1) to the second voltage (v2) at the second time point (t2c).

[0300] The second time point (t2c) of FIG. 21 may be slower than the second time point (t2a) of FIG. 19 and the second time point (t2b) of FIG. 20. Since gravity acts in the direction of movement on a downhill slope, the stopping torque may decrease more slowly than on an uphill slope or flat ground when the same voltage is supplied.

[0301] The electronic device (100) can stop based on a first voltage (v1) and a second voltage (v2). When identified as being in a stopped state, the electronic device (100) can identify that a third event has occurred. The electronic device (100) can identify a third time point (t3) at which the third event occurred.

[0302] When a third event is identified, the electronic device (100) can change the second voltage (v2) to a third voltage (v3) at a third time point (t3). The third voltage (v3) may be lower than the second voltage (v2). In a stopped state, the electronic device (100) can supply a third voltage (v3) lower than the second voltage (v2). Power consumption can be reduced by determining the stopped state and reducing the supply voltage.

[0303] Even after stopping, since gravity torque acts on the electronic device (100) according to the angle of inclination, the stopping torque may not be zero.

[0304] FIG. 22 is a diagram illustrating the operation of controlling voltage on an uphill road according to one embodiment.

[0305] Referring to the embodiment (2200) of FIG. 22, if the stopping torque is below the threshold torque, the electronic device (100) can identify that a second event has occurred. The electronic device (100) can identify a second time point (t2a) at which the second event is identified. When the second event is identified, the electronic device (100) can change the supply voltage from the first voltage (v1) to the second voltage (v2) at the second time point (t2a).

[0306] The second time point (t2a) in FIG. 22 may be earlier than the second time point (t2b) in FIG. 23 and the second time point (t2c) in FIG. 24. Since gravity acts in the opposite direction to the direction of movement on an uphill slope, the stopping torque may decrease faster than on a flat or downhill slope when the same voltage is supplied.

[0307] The electronic device (100) can stop based on a first voltage (v1) and a second voltage (v2). When identified as being in a stopped state, the electronic device (100) can identify that a third event has occurred. The electronic device (100) can identify a third time point (t3) at which the third event occurred.

[0308] When a third event is identified, the electronic device (100) can change the second voltage (v2) to a fourth voltage (v4) at the third time point (t3). The fourth voltage (v4) may be greater than the second voltage (v2). In a stationary state, the electronic device (100) can supply a fourth voltage (v4) greater than the second voltage (v2). Even after stopping, the supply voltage can be increased to prevent the electronic device (100) from moving on an inclined surface.

[0309] Even after stopping, since gravity torque acts on the electronic device (100) according to the angle of inclination, the stopping torque may not be zero.

[0310] FIG. 23 is a diagram illustrating the operation of controlling voltage on a flat surface according to one embodiment.

[0311] Referring to the embodiment (2300) of FIG. 23, if the stopping torque is below the threshold torque, the electronic device (100) can identify that a second event has occurred. The electronic device (100) can identify a second time point (t2b) at which the second event is identified. When the second event is identified, the electronic device (100) can change the supply voltage from the first voltage (v1) to the second voltage (v2) at the second time point (t2b).

[0312] The second time point (t2b) of FIG. 23 may be later than the second time point (t2a) of FIG. 22 and earlier than the second time point (t2c) of FIG. 24. Since the gravitational torque is zero on flat ground, when the same voltage is supplied, the static torque may decrease more slowly than on an uphill slope and decrease more quickly than on a downhill slope.

[0313] The electronic device (100) can stop based on a first voltage (v1) and a second voltage (v2). When identified as being in a stopped state, the electronic device (100) can identify that a third event has occurred. The electronic device (100) can identify a third time point (t3) at which the third event occurred.

[0314] When a third event is identified, the electronic device (100) can change the second voltage (v2) to a fourth voltage (v4) at the third time point (t3). The fourth voltage (v4) may be greater than the second voltage (v2). In a stationary state, the electronic device (100) can supply a fourth voltage (v4) greater than the second voltage (v2). Even after stopping, the supply voltage can be increased to prevent the electronic device (100) from moving on an inclined surface.

[0315] Since the angle of inclination is 0 after stopping, the gravitational torque may not act on the electronic device (100).

[0316] FIG. 24 is a diagram illustrating the operation of controlling voltage on a downhill slope according to one embodiment.

[0317] Referring to the embodiment (2400) of FIG. 24, if the stopping torque is below the threshold torque, the electronic device (100) can identify that a second event has occurred. The electronic device (100) can identify a second time point (t2c) at which the second event is identified. When the second event is identified, the electronic device (100) can change the supply voltage from the first voltage (v1) to the second voltage (v2) at the second time point (t2c).

[0318] The second time point (t2c) in FIG. 24 may be slower than the second time point (t2a) in FIG. 22 and the second time point (t2b) in FIG. 23. Since gravity acts in the direction of movement on a downhill slope, the stopping torque may decrease more slowly than on an uphill slope or flat ground when the same voltage is supplied.

[0319] The electronic device (100) can stop based on a first voltage (v1) and a second voltage (v2). When identified as being in a stopped state, the electronic device (100) can identify that a third event has occurred. The electronic device (100) can identify a third time point (t3) at which the third event occurred.

[0320] When a third event is identified, the electronic device (100) can change the second voltage (v2) to a fourth voltage (v4) at the third time point (t3). The fourth voltage (v4) may be greater than the second voltage (v2). In a stationary state, the electronic device (100) can supply a fourth voltage (v4) greater than the second voltage (v2). Even after stopping, the supply voltage can be increased to prevent the electronic device (100) from moving on an inclined surface.

[0321] Even after stopping, since gravity torque acts on the electronic device (100) according to the angle of inclination, the stopping torque may not be zero.

[0322] FIG. 25 is a drawing for explaining power efficiency according to one embodiment.

[0323] Referring to the embodiment (2500) of FIG. 25, voltage change operation conditions for the first embodiment (2510) and the second embodiment (2520) on an uphill road can be shown.

[0324] According to the first embodiment (2510), the electronic device (100) can change (or maintain) the voltage on the same basis without considering the stopping torque.

[0325] The electronic device (100) can determine the magnitude of the stopping voltage and the stopping time under the operating conditions of the electronic device (100). The operating conditions may be related to the moving speed of the electronic device (100) or the angle of inclination of the surface on which the electronic device (100) travels.

[0326] In three situations, such as uphill, flat, and downhill, the electronic device (100) can determine the supply voltage by considering the operating conditions in the downhill where the stopping torque is most (or longer) required. According to the first embodiment (2510), the electronic device (100) can change the first voltage (v1) to the second voltage (v2) at the second time point (t2c) even in the uphill operating conditions.

[0327] According to the second embodiment (2520), the electronic device (100) can determine the voltage change timing by considering the stopping torque. The second embodiment (2520) can represent the supply voltage of the electronic device (100) on an uphill slope.

[0328] The power consumption according to the second embodiment (2520) can be reduced by an area (2530) compared to the power consumption according to the first embodiment (2510).

[0329] FIG. 26 is a drawing for explaining a method of controlling an electronic device (100) according to one embodiment.

[0330] Referring to FIG. 26, a control method for an electronic device (100) may include a step (S2610) of identifying whether a first event occurs to stop the electronic device (100) while the electronic device (100) is moving; a step (S2620) of supplying a first voltage to stop the electronic device (100) when the first event is identified; a step (S2630) of obtaining the speed of the electronic device (100) and the inclination angle of the electronic device (100); a step (S2640) of obtaining the mass of the electronic device (100) from data stored in the memory of the electronic device (100); a step (S2650) of obtaining a stopping torque to stop the movement of the electronic device (100) based on the speed, inclination angle, and mass; a step (S2660) of identifying whether a second event occurs in which the stopping torque is less than or equal to a threshold torque; and a step (S2670) of supplying a second voltage smaller than the first voltage when the second event is identified.

[0331] The step of obtaining the speed and the angle of inclination may be to obtain the speed related to the movement of the electronic device (100) and the angle of inclination of the floor surface on which the electronic device (100) travels, based on sensing data received from the inertial sensor (151).

[0332] The first voltage and the second voltage may be voltages supplied to the motor to stop the electronic device (100) by changing the direction of the current of the motor included in the electronic device (100) to the opposite direction.

[0333] The step of obtaining a stopping torque may involve obtaining the wheel radius, gravitational acceleration, and stopping time of the electronic device (100) from data stored in the memory (110) of the electronic device (100), and obtaining a stopping torque based on at least one of the speed, inclination angle, mass, wheel radius, gravitational acceleration, or stopping time.

[0334] The step of obtaining a static torque may involve obtaining a kinetic torque based on at least one of mass, speed, wheel radius, or stopping time, obtaining a load torque related to gravity and frictional force acting on the electronic device (100), and obtaining a static torque based on the kinetic torque and the load torque.

[0335] The step of obtaining static torque may involve obtaining a gravity-related torque based on at least one of mass, gravitational acceleration, angle of inclination, or wheel radius, obtaining a friction-related torque based on at least one of the coefficient of friction, mass, gravitational acceleration, angle of inclination, or wheel radius, and obtaining a load torque based on the gravity torque and friction torque.

[0336] The step of obtaining a stopping torque may involve obtaining the linear velocity of the wheel of the electronic device (100) and obtaining a friction coefficient based on the speed of the electronic device (100) and the linear velocity of the wheel.

[0337] The control method may include the steps of: identifying whether a third event occurs in which the electronic device (100) is in a stationary state after supplying a second voltage; if the third event is identified, obtaining an inclination angle at the time the third event is identified; and if the inclination angle is less than a threshold angle, supplying a third voltage smaller than the second voltage.

[0338] The control method may include a step of supplying a fourth voltage greater than the second voltage if the inclination angle is greater than or equal to the critical angle.

[0339] The control method may include a step of identifying whether a fourth event for power cutoff occurs, and a step of cutting off the supply of a third voltage or a fourth voltage if the fourth event is identified.

[0340] The methods according to the various embodiments of the present disclosure described above can be implemented in the form of an application that can be installed on an existing electronic device.

[0341] The methods according to the various embodiments of the present disclosure described above can be implemented by software upgrades or hardware upgrades alone for existing electronic devices.

[0342] The various embodiments of the present disclosure described above may also be performed through an embedded server equipped in an electronic device, or through an external server among at least one of the electronic device and the display device.

[0343] According to a specific example of the present disclosure, the various embodiments described above may be implemented as software comprising instructions stored on a machine-readable storage medium (e.g., a computer). The machine may include an electronic device according to the disclosed embodiments, which is a device capable of calling instructions stored from the storage medium and operating according to the called instructions. When instructions are executed by a processor, the processor may perform a function corresponding to the instructions directly or by using other components under the control of the processor. Instructions may include code generated or executed by a compiler or an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, "non-transitory" means only that the storage medium does not contain a signal and is tangible, and does not distinguish whether data is stored semi-permanently or temporarily in the storage medium.

[0344] According to one embodiment of the present disclosure, the method according to the various embodiments described above may be provided as included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or online through an application store. In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created in a storage medium such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0345] Each component (e.g., module or program) according to the various embodiments described above may consist of a singular or multiple entities, and other sub-components may be further included in the various embodiments. Generally or additionally, some components (e.g., module or program) may be integrated into a single entity to perform the same or similar functions as those performed by each corresponding component prior to integration. The operations performed by the module, program, or other components according to the various embodiments may be executed sequentially, in parallel, iteratively, or heuristically, or at least some operations may be executed in a different order, omitted, or other operations added.

[0346] Although preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the scope of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical spirit of the present disclosure.

Claims

1. In an electronic device, At least one sensor; Memory for storing instructions; and at least one processor including processing circuitry; and When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Identify whether a first event occurs to stop the electronic device based on the movement of the electronic device, and When the above first event is identified, a first voltage is supplied to stop the electronic device, and The speed related to the movement of the electronic device and the angle of inclination of the floor surface on which the electronic device travels are obtained through at least one sensor, and Obtaining the mass of the electronic device from the data stored in the memory, Based on the above speed, the above angle of inclination, and the above mass, a stopping torque is obtained to stop the movement of the electronic device, and Identify whether a second event occurs in which the above stopping torque is below the threshold torque, and An electronic device that supplies a second voltage smaller than the first voltage when the second event is identified.

2. In Paragraph 1, The above-mentioned at least one sensor is, Includes an inertial sensor, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, An electronic device for obtaining the speed and the inclination angle based on sensing data received from the inertial sensor.

3. In Paragraph 1, The above electronic device is, Includes a motor; The first voltage and the second voltage are, An electronic device, wherein the voltage supplied to the motor to stop the electronic device by changing the direction of the current of the motor to the opposite direction.

4. In Paragraph 1, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, The wheel radius, gravitational acceleration, and stopping time of the electronic device are obtained from the data stored in the memory above, and An electronic device for obtaining the stopping torque based on at least one of the above speed, the above angle of inclination, the above mass, the above wheel radius, the above gravitational acceleration, or the above stopping time.

5. In Paragraph 4, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Acquiring kinetic torque based on at least one of the mass, the velocity, the wheel radius, or the stopping time, and Obtaining a load torque related to gravity and friction forces acting on the above electronic device, and An electronic device that obtains the static torque based on the above-mentioned kinetic torque and the above-mentioned load torque.

6. In Paragraph 5, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Obtaining the gravitational torque associated with the gravity based on at least one of the mass, the gravitational acceleration, the angle of inclination, or the wheel radius, and Obtaining the friction torque associated with the friction force based on at least one of the coefficient of friction, the mass, the acceleration due to gravity, the angle of inclination, or the wheel radius, and An electronic device that obtains the load torque based on the above gravity torque and the above friction torque.

7. In Paragraph 5, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Obtaining the linear velocity of the wheel of the above electronic device, An electronic device that obtains the coefficient of friction based on the speed related to the movement of the electronic device and the linear velocity of the wheel.

8. In Paragraph 1, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, When the above second voltage is supplied, identify whether a third event occurs in which the electronic device is in a stopped state, and At the time when the above third event is identified, the inclination angle is obtained through the above at least one sensor, and An electronic device that supplies a third voltage smaller than the second voltage when the above-mentioned inclination angle is less than the critical angle.

9. In Paragraph 8, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, An electronic device that supplies a fourth voltage greater than the second voltage when the above-mentioned inclination angle is greater than or equal to the above-mentioned critical angle.

10. In Paragraph 9, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Identify whether a fourth event for power cutoff occurs, and An electronic device that stops the supply of the third voltage or the fourth voltage when the fourth event is identified.

11. In a method for controlling an electronic device, A step of identifying whether a first event occurs to stop the electronic device based on the movement of the electronic device; When the above first event is identified, a step of supplying a first voltage to stop the electronic device; A step of obtaining the speed related to the movement of the electronic device and the angle of inclination of the floor surface on which the electronic device travels through at least one sensor of the electronic device; A step of obtaining the mass of the electronic device stored in the electronic device from data stored in the memory of the electronic device; A step of obtaining a stopping torque to stop the movement of the electronic device based on the above speed, the above inclination angle, and the above mass; A step of identifying whether a second event occurs in which the above stopping torque is below a threshold torque; and A control method comprising the step of supplying a second voltage smaller than the first voltage when the second event is identified.

12. In Paragraph 11, The step of obtaining the above speed and the above inclination angle is, A control method for obtaining the speed and the inclination angle based on sensing data received from an inertial sensor of the electronic device.

13. In Paragraph 11, The first voltage and the second voltage are, A control method, wherein the voltage supplied to the motor is used to stop the electronic device by changing the direction of the current of the motor of the electronic device to the opposite direction.

14. In Paragraph 11, The step of obtaining the above stopping torque is, The wheel radius, gravitational acceleration, and stopping time of the electronic device are obtained from the data stored in the memory of the electronic device, and A control method for obtaining the stopping torque based on at least one of the above speed, the above inclination angle, the above mass, the above wheel radius, the above gravitational acceleration, or the above stopping time.

15. In Paragraph 14, The step of obtaining the above stopping torque is, Acquiring kinetic torque based on at least one of the mass, the velocity, the wheel radius, or the stopping time, and Obtaining a load torque related to gravity and friction forces acting on the above electronic device, and A control method for obtaining the static torque based on the above-mentioned motion torque and the above-mentioned load torque.

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