Autonomous mobile robot

Abstract

Provided is an autonomous mobile robot comprising: a bottom frame; a pair of main driving units located under the bottom frame and providing driving power; a lift module seated on top of the bottom frame and having a variable height which changes vertically; and a top frame which is lifted upward from the bottom frame by the lift module to transition from a standby state to a lift state. The bottom frame includes: a board-like base plate forming a common plane with the bottom frame; a pair of first openings formed in the base plate, positioned above the main driving units; and first rigid bars extending in a first direction on the top surface of the base plate.

Description

autonomous driving robot

[0001] The present invention relates to an autonomous mobile robot (AMR) capable of stable driving.

[0002] Robots have been developed for industrial use to play a part in factory automation. Recently, however, the fields of robot application have been expanding further, with the development of not only medical and aerospace robots but also robots for use in daily life.

[0003] Among industrial robots, automation using robots was prioritized because robots performing precision assembly tasks repeatedly execute the same movements at fixed locations without unexpected situations.

[0004] However, the transportation sector, which includes driving—an area where judgments regarding unexpected situations are required—has not yet seen active commercialization of robots. Nevertheless, the number of driving robots is increasing recently as the performance of surrounding perception sensors improves and computing power capable of rapidly processing recognized information to respond is enhanced.

[0005] Industrially, robots responsible for transportation functions are attracting attention, and competition is intensifying day by day. However, when loading goods onto the top of robots transporting large or bulky items, there is a problem of reduced utilization efficiency because the robot must remain stationary while waiting during loading and unloading.

[0006] Rather than directly loading goods, autonomous robots that transport loading structures loaded with goods are being used in logistics.

[0007] An autonomous robot must enter the bottom of a loading structure and lift the bottom surface of the loading structure to transport it. Complex support structures are required to support a load of 500 kg or more. However, there are height limitations on the autonomous robot when entering the bottom of a loading structure, making it difficult to implement a stable lift structure.

[0008] In addition, autonomous driving robots may experience a problem where the load supported by multiple wheels varies due to the difference in weight before and after loading, which can lead to weakened traction of the main wheel.

[0009] The present invention aims to provide an autonomous mobile robot (AMR) capable of stable driving.

[0010] An autonomous driving robot is provided, comprising: a bottom frame; a pair of main driving units located at the lower part of the bottom frame and providing driving power; a lift module seated on the upper part of the bottom frame and having a height that varies vertically; and a top frame that is spaced upward from the bottom frame by the lift module and switches from a standby state to a lift state, wherein the bottom frame comprises a plate-shaped base plate forming a coplanar plane; a pair of first openings formed on the upper part of the main driving units of the base plate; and a first rigid bar extending in a first direction on the upper surface of the base plate.

[0011] It includes a second rigid bar arranged in a second direction on the lower surface of the base plate, and the first rigid bar and the second rigid bar can form a grid.

[0012] It may include a second opening formed in the base plate into which a battery is inserted; and a battery mounting frame fastened to the second opening and protruding downward from the base plate.

[0013] The above top frame may have an area corresponding to the second opening opened.

[0014] It may include a lift bracket located on the upper surface of the base plate and on which the lift module is seated.

[0015] It includes a lidar that is connected to the bottom frame and detects obstacles adjacent to the autonomous driving robot,

[0016] The lift module can be positioned at the rear of the lidar so as not to overlap with the lidar's field of view.

[0017] It includes a middle frame that is fastened to the upper side of the bottom frame and covers the upper perimeter of the bottom frame, and the lidar can protrude between the upper surface of the middle frame and the top frame.

[0018] The lift module may include a lift motor; a power transmission screw arranged horizontally and rotating by receiving power from the lift motor; and a plurality of jack screws arranged vertically and moving up and down by receiving power from the power transmission screw.

[0019] The above lift module may include a plurality of lift units; and a plurality of lift guides that guide the vertical movement of the top frame.

[0020] The plurality of lift units may include a pair of rear lift units located at the rear; and a pair of front lift units located at the front and spaced closer together than the spacing between the pair of rear lift units.

[0021] It includes a front lidar module located in front of the above-mentioned pair of front lift units, and the above-mentioned pair of front lift units may be located outside the field of view of the lidar module from the center of the front lidar module.

[0022] The plurality of lift guides above include a front lift guide located outside the front lift unit, and the front lift guide may be located outside the field of view of the lidar module from the center of the front lidar module.

[0023] The plurality of lift units above include non-slip protrusions protruding from the upper surface, and the top frame may include a non-slip groove into which the non-slip protrusions are inserted.

[0024] The lift guide comprises a guide pin extending downward from the top frame; and a guide flange formed in the bottom frame into which the guide pin is inserted, wherein the guide pin may protrude downward from the bottom frame in correspondence with the movement distance of the top frame in the standby state.

[0025] It may include a pin stopper that is fastened to the lower end of the guide pin and limits the upward movement distance of the guide pin.

[0026] The pin stopper may include a stopper elastic part that contacts the lower surface of the bottom frame and contracts when pressure is applied.

[0027] The guide pin may include a stepped portion that contacts the upper surface of the guide flange in the standby state.

[0028] The apparatus includes a bottom frame; a driving unit comprising a plurality of wheels located at the lower part of the bottom frame; a lift module mounted on the upper part of the bottom frame and having a vertically variable height; and a top frame that is spaced upward from the bottom frame by the lift module and switches from a standby state to a lift state, wherein the lift module may include the plurality of lift units; and a plurality of lift guides that guide the vertical movement of the top frame.

[0029] The system includes a front lidar module located at the front, and the plurality of lift units includes a pair of rear lift units located at the rear; and a pair of front lift units located at the front and spaced closer together than the spacing between the pair of rear lift units, wherein the pair of front lift units may be located outside the field of view of the lidar module from the center of the front lidar module.

[0030] The lift guide may include: a guide pin extending downward from the top frame; a guide flange formed on the bottom frame into which the guide pin is inserted; a pin stopper fastened to the lower end of the guide pin to limit the upward movement distance of the guide pin; and a stopper elastic part that contacts the lower surface of the bottom frame and contracts when pressure is applied.

[0031] The autonomous driving robot of the present invention can avoid a decrease in rigidity caused by bending by using a plate-shaped base plate.

[0032] In addition, the autonomous driving robot of the present invention can improve the accuracy of SLAM because the lift unit does not obstruct the field of view of the lidar.

[0033] In addition, the autonomous driving robot of the present invention has the advantage of being easy to mount on the body by modularizing the LiDAR and 3D camera.

[0034] In addition, the autonomous driving robot of the present invention can finely adjust the angle of the lidar, thereby obtaining accurate information about obstacles and terrain ahead.

[0035] In addition, the autonomous driving robot of the present invention can drive stably without slipping by stably distributing the load to the wheels of the driving unit regardless of whether a loading structure is mounted.

[0036] In addition, the autonomous driving robot of the present invention can prevent slipping by ensuring that the load is not concentrated on a specific wheel even when passing over a stepped floor surface.

[0037] The effects obtainable from the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description below.

[0038] FIG. 1 is a drawing showing a 5G network-based cloud system according to one embodiment of the present invention.

[0039] FIG. 2 is a block diagram illustrating the configuration of an autonomous driving robot according to one embodiment of the present invention.

[0040] FIG. 3 is a drawing illustrating a robot control system according to one embodiment of the present invention.

[0041] FIG. 4 is a perspective view of an autonomous driving robot according to one embodiment of the present invention, viewed from above.

[0042] FIG. 5 is a perspective view of an autonomous driving robot according to one embodiment of the present invention, viewed from below.

[0043] FIG. 6 is a diagram illustrating the process of an autonomous driving robot docking with a loading structure according to one embodiment of the present invention.

[0044] FIG. 7 is an exploded perspective view of an autonomous driving robot according to a first embodiment of the present invention.

[0045] FIG. 8 is a plan view of an autonomous driving robot according to a first embodiment of the present invention.

[0046] FIG. 9 is an exploded perspective view of an autonomous driving robot according to a second embodiment of the present invention.

[0047] FIG. 10 is a plan view of an autonomous driving robot according to a second embodiment of the present invention.

[0048] FIG. 11 is a drawing comparing the support areas of an autonomous driving robot according to the first and second embodiments of the present invention.

[0049] FIG. 12 is a perspective view illustrating the bottom frame of the autonomous driving robot of the present invention.

[0050] FIG. 13 is a drawing illustrating a lift unit of an autonomous driving robot according to a second embodiment of the present invention.

[0051] FIG. 14 is a drawing illustrating a lift module of an autonomous driving robot according to a second embodiment of the present invention.

[0052] FIG. 15 is a cross-sectional view of the standby state of an autonomous driving robot according to a second embodiment of the present invention.

[0053] FIG. 16 is a cross-sectional view of the lift state of an autonomous driving robot according to a second embodiment of the present invention.

[0054] FIG. 17 is a perspective view illustrating an optical sensor module of an autonomous driving robot of the present invention.

[0055] FIG. 18 is an exploded perspective view illustrating an optical sensor module of an autonomous driving robot of the present invention.

[0056] FIG. 19 is a drawing showing an angle marker formed in a level guide projection and a level guide hole of an optical sensor module of an autonomous driving robot of the present invention.

[0057] FIG. 20 is a diagram showing the irregularities of the terrain detected by the lidar before and after level adjustment of the optical sensor module of the autonomous driving robot of the present invention.

[0058] FIG. 21 is a diagram illustrating the field of view of a 3D camera of an optical sensor module of an autonomous driving robot of the present invention.

[0059] FIG. 22 is a perspective view illustrating the main driving unit of the autonomous driving robot of the present invention.

[0060] FIG. 23 is a cross-sectional view illustrating the main driving unit of the autonomous driving robot of the present invention.

[0061] FIG. 24 is a diagram illustrating the propulsion force of the main driving unit of the autonomous driving robot of the present invention.

[0062] FIGS. 25 and 26 are drawings illustrating the load distribution of the driving part of an autonomous driving robot without a stopper module.

[0063] FIG. 27 is a diagram illustrating the load distribution of the driving part of the autonomous driving robot of the present invention.

[0064] FIG. 28 is a drawing illustrating a modified embodiment of the stopper module of the main driving part of the autonomous driving robot of the present invention.

[0065] FIG. 29 is a flowchart illustrating the driving method of the stopper module of the autonomous driving robot of FIG. 28.

[0066] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components regardless of drawing symbols will be assigned the same reference number, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably solely for the ease of drafting the specification and do not inherently possess distinct meanings or roles. Furthermore, in describing embodiments disclosed in this specification, if it is determined that a detailed description of related prior art could obscure the essence of the embodiments disclosed in this specification, such detailed description will be omitted. Additionally, the attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification; the technical concept disclosed in this specification is not limited by the attached drawings, and it should be understood that they include all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the present invention.

[0067] Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another.

[0068] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0069] A singular expression includes a plural expression unless the context clearly indicates otherwise.

[0070] In this application, terms such as “comprising” or “having” 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.

[0071] A robot is a mechanical device capable of automatically performing tasks or operations; it may be controlled by an external control device or have a control device built in. It can perform tasks that are difficult for humans to execute, such as repeatedly processing pre-set movements, lifting heavy objects, performing precision work, or working in extreme environments.

[0072] To perform tasks, a horizontal moving part including an actuator or motor is provided to perform various physical movements, such as moving robot joints.

[0073] Due to issues such as high manufacturing costs and operational expertise, industrial and medical robots, which feature designs specialized for specific tasks, were developed first. While industrial and medical robots repeatedly perform identical actions in designated locations,

[0074] Recently, mobile robots have been emerging. In particular, they can perform exploration tasks on distant planets that are difficult for humans to reach directly, such as in the aerospace industry, and these robots are equipped with driving capabilities.

[0075] Robots equipped with artificial intelligence are emerging to perform driving functions, which are equipped with horizontal movement parts and may include wheels, brakes, casters, motors, etc., and to identify surrounding obstacles and drive while avoiding them.

[0076] Artificial intelligence refers to the field of researching artificial intelligence or the methodologies to create it, while machine learning refers to the field of researching methodologies to define and solve various problems addressed within the field of artificial intelligence. Machine learning is also defined as an algorithm that improves performance on a task through continuous experience.

[0077] An Artificial Neural Network (ANN) is a model used in machine learning that can refer to any model capable of problem-solving, composed of artificial neurons (nodes) that form a network through the connection of synapses. An artificial neural network can be defined by connection patterns between neurons in different layers, a learning process that updates model parameters, and an activation function that generates output values.

[0078] An artificial neural network may include an input layer, an output layer, and optionally one or more hidden layers. Each layer may include one or more neurons, and the artificial neural network may include synapses connecting the neurons.

[0079] In an artificial neural network, each neuron can output a function value of an activation function for input signals, weights, and biases input through synapses.

[0080] Model parameters refer to parameters determined through learning, including synaptic connection weights and neuron biases. Hyperparameters, on the other hand, refer to parameters that must be set prior to training in a machine learning algorithm, including the learning rate, number of iterations, mini-batch size, and initialization function.

[0081] The objective of training an artificial neural network can be viewed as determining model parameters that minimize the loss function according to the robot's purpose or field of application. The loss function can be used as an indicator to determine optimal model parameters during the training process of the artificial neural network.

[0082] Machine learning can be classified into supervised learning, unsupervised learning, and reinforcement learning depending on the learning method.

[0083] Supervised learning refers to a method of training an artificial neural network with labels provided for the training data; a label can refer to the correct answer (or result) that the neural network must infer when the training data is input. Unsupervised learning refers to a method of training an artificial neural network without labels provided for the training data. Reinforcement learning refers to a learning method in which an agent defined within an environment is trained to select an action or sequence of actions that maximizes the cumulative reward in each state.

[0084] Machine learning implemented using a Deep Neural Network (DNN) that includes multiple hidden layers among artificial neural networks is also called Deep Learning, and Deep Learning is a part of Machine Learning. Hereinafter, Machine Learning is used in a sense that includes Deep Learning.

[0085] Robots can be implemented as guide robots, transport robots, cleaning robots, wearable robots, entertainment robots, pet robots, unmanned flying robots, etc. by applying AI technology.

[0086] A robot may include a robot control module for controlling motion, and the robot control module may refer to a software module or a chip that implements it in hardware.

[0087] The robot can use sensor information obtained from various types of sensors to acquire state information of the robot, detect (recognize) the surrounding environment and objects, generate map data, determine movement paths and driving plans, determine responses to user interactions, or determine actions.

[0088] A robot can perform the aforementioned actions using a learning model composed of at least one artificial neural network. For example, the robot can recognize the surrounding environment and objects using the learning model, and can determine actions using the recognized surrounding environment information or object information. Here, the learning model may be learned directly by the robot or learned from an external device such as an AI server.

[0089] In this case, the robot may perform an action by generating results using a direct learning model, but it may also perform an action by transmitting sensor information to an external device such as an AI server and receiving the results generated accordingly.

[0090] Robots can perform autonomous driving through artificial intelligence. This refers to technology capable of independently determining the optimal path and moving while avoiding obstacles. Currently applied autonomous driving technologies can include lane-keeping technology, speed-regulating technology such as adaptive cruise control, automatic driving along a predetermined route, and driving technology that automatically sets a route once a destination is set.

[0091] To perform autonomous driving, numerous sensors may be included to perceive data regarding the surrounding environment. Examples of sensors include proximity sensors, light sensors, accelerometers, magnetic sensors, gyroscopes, inertial sensors, RGB sensors, IR sensors, fingerprint recognition sensors, ultrasonic sensors, optical sensors, microphones, LiDAR, and radar.

[0092] In addition to information collected from sensors, autonomous driving can be performed using image information collected through RGBC cameras, infrared cameras, etc., and acoustic information collected through microphones. Furthermore, driving can be performed based on information entered through the user input unit. Map data, location information, and information on surrounding conditions collected through the wireless communication unit are also necessary for performing autonomous driving.

[0093] Map data may include object identification information for various objects placed in the space where the robot moves. For example, the map data may include object identification information for fixed objects such as walls and doors, and movable objects such as flowerpots and desks. Additionally, the object identification information may include names, types, distances, and locations.

[0094] Therefore, robots are essentially equipped with sensors, various input units, and wireless communication units to collect data for artificial intelligence learning, and can perform optimal operations by synthesizing various types of information. The learning processor executing artificial intelligence can be installed in the control unit within the robot to perform learning, or it can transmit collected information to servos, learn through a server, and then transmit the learning results back to the robot to perform autonomous driving based on this.

[0095] Robots equipped with artificial intelligence can collect surrounding information even in new locations to create a complete map, and since the amount of accumulated information in their main activity radius is large, they can perform more accurate autonomous driving.

[0096] A touchscreen or buttons may be provided to receive user input, and commands may be received by recognizing the user's voice. The processor may obtain intent information corresponding to the user input by utilizing at least one of a Speech-to-Text (STT) engine to convert voice input into a string or a Natural Language Processing (NLP) engine to obtain intent information of natural language.

[0097] At this time, at least one of the STT engine or NLP engine may be composed of an artificial neural network in which at least a portion is trained according to a machine learning algorithm. Additionally, at least one of the STT engine or NLP engine may be trained by a learning processor, trained by a learning processor of an AI server, or trained by distributed processing thereof.

[0098] FIG. 1 shows a 5G network-based cloud system (1000) according to one embodiment of the present invention.

[0099] Referring to FIG. 1, the cloud system (1000) may include an autonomous driving robot (100), a mobile terminal (300), a robot control system (200), various devices (400), and a 5G network (500).

[0100] The autonomous driving robot (100) is a robot that transports goods from a starting point to a destination. The autonomous driving robot (100) can move directly from the logistics center to the destination, and can move from the logistics center to the vicinity of the goods destination by loading them onto a vehicle, then unload them near the destination and move to the destination.

[0101] Additionally, the autonomous driving robot (100) can move items to a destination not only outdoors but also indoors. The autonomous driving robot (100) can be implemented as an AGV (Automated Guided Vehicle), and the AGV can be a transport device that moves by means of sensors on the floor surface, magnetic fields, vision devices, etc.

[0102] The autonomous driving robot (100) may include a storage area for storing items, and the storage area may be divided to load various items, and various types of items may be placed in a plurality of divided partial storage areas. Accordingly, mixing of items may be prevented.

[0103] The mobile terminal (300) can communicate with the autonomous driving robot (100) via a 5G network (500). The mobile terminal (300) may be a device possessed by a user who installs a partition in a storage area to load goods, or a device possessed by a recipient of the loaded goods. The mobile terminal (300) may provide information based on video, and the mobile terminal (300) may include mobile devices such as a mobile phone, a smartphone, a wearable device (e.g., a smartwatch, a smart glass, a head-mounted display (HMD)).

[0104] The robot control system (200) can remotely control the autonomous driving robot (100) and respond to various requests from the autonomous driving robot (100). For example, the robot control system (200) can perform calculations using artificial intelligence based on requests from the autonomous driving robot (100).

[0105] Additionally, the robot control system (200) can set the movement path of the autonomous driving robot (100), and if there are multiple destinations, the robot control system (200) can set the order of movement of the destinations.

[0106] Various devices (400) may include a personal computer (PC, 400a), an autonomous vehicle (400b), a home robot (400c), etc. When the autonomous vehicle robot (100) arrives at the destination of the goods, it can deliver the goods directly to the home robot (400c) through communication with the home robot (400c).

[0107] Various devices (400) can be connected wirelessly or via wired connection to autonomous driving robots (100), mobile terminals (300), robot control systems (200), etc., through a 5G network (500).

[0108] The above-mentioned autonomous driving robot (100), mobile terminal (300), robot control system (200), and various devices (400) are all equipped with a 5G module to transmit and receive data at a speed of 100 Mbps to 20 Gbps (or higher), thereby enabling the transmission of large video files to various devices and allowing for low-power operation to minimize power consumption. However, the transmission speed may be implemented differently depending on the embodiment.

[0109] The 5G network (500) may include a 5G mobile communication network, a short-range network, the internet, etc., and may provide a communication environment for devices via wired and wireless connections.

[0110] FIG. 2 is a drawing for explaining the configuration of an autonomous driving robot (100) according to an embodiment of the present invention. An autonomous driving robot (100) according to an embodiment of the present invention will be described with reference to FIG. 3 to 5.

[0111] Referring to FIG. 2, the autonomous driving robot (100) may include a body (110) including a storage area, and the components described below may be included in the body. The autonomous driving robot (100) may include a communication unit (130), an input unit (120), a sensor unit (140), an output unit (150), a memory (185), a lift module (160), a wheel horizontal movement unit (170), a control unit (180), and a power supply unit (190). Since the components illustrated in FIG. 2 are not essential for implementing the autonomous driving robot (100), the autonomous driving robot (100) described herein may have more or fewer components than those listed above.

[0112] The communication unit (130, Transceiver) may include a wired or wireless communication module capable of communicating with the robot control system (200).

[0113] As an optional embodiment, the communication unit (130) may be equipped with modules for GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, and NFC (Near Field Communication) communication.

[0114] The input unit (120) may include a user input unit (122) for receiving information from a user. As an optional embodiment, the input unit (120) may include a camera (121) for inputting a video signal and a microphone (123, hereinafter referred to as "micro") for receiving an audio signal. Here, the camera (121) or the microphone (123) may be treated as a sensor, and the signal obtained from the camera (121) or the microphone (123) may be referred to as sensing data or sensor information.

[0115] The input unit (120) can obtain input data, etc., to be used when obtaining an output using training data and a training model for model training. The input unit (120) may also obtain unprocessed input data, in which case the control unit (180) can extract input feature points as a preprocessing step for the input data.

[0116] The camera (121) is positioned in front to detect obstacles in front, and as shown in FIG. 3, multiple cameras (121) with different shooting directions may be provided, such as a camera that recognizes a wide area in front and a camera that photographs the floor.

[0117] Alternatively, a camera having different functions may be provided. For example, a wide-angle camera, an infrared camera, etc. may be provided. The camera may serve as a sensor unit (140) to detect surrounding objects.

[0118] The user input unit (122) may be equipped with a button or a touch panel for touch input. Alternatively, user commands may be input remotely through the communication unit (130), in which case the user input unit (122) may include a personal computer (400) or a remote control device provided separately from the autonomous driving robot (100).

[0119] The user input unit (122) includes all methods for receiving user commands, so user commands can be recognized through voice recognition. That is, a voice recognition device that extracts user commands by analyzing voice collected from a microphone (123) can also serve as the user input unit (122).

[0120] The input unit (120) may include an item information input unit, which can receive information such as the size, weight, destination, and shipping requester of the item. At this time, the item information input unit may include a code reader.

[0121] The sensor unit (140) can acquire at least one of internal information of the autonomous driving robot (100), surrounding environment information of the autonomous driving robot (100), and user information using various sensors.

[0122] At this time, the sensor unit (140) may include various types of sensors for recognizing the surroundings for autonomous driving. Representative examples include a distance sensing sensor or proximity sensor (141) and a LiDAR (142).

[0123] The proximity sensor (141) may include an ultrasonic sensor that recognizes nearby objects and determines the distance to the objects based on the time it takes for the emitted ultrasonic waves to return. Multiple proximity sensors may be provided along the perimeter, and may also be provided on the upper side to detect obstacles on the upper side.

[0124] Lidar (142) is a device that emits laser pulses and receives the light reflected back from surrounding objects to create a precise image of the surroundings. Although its principle is similar to that of radar, the electromagnetic waves used are different, so the technology and scope of application differ.

[0125] Lasers use light with a wavelength of 600 to 1000 nm, which can damage human eyesight. Lidar (142) uses longer wavelengths than this and is used to measure not only the distance to a target object but also the speed and direction of movement, temperature, and the analysis and concentration of surrounding atmospheric substances. In addition, the sensor unit (140) may include an illuminance sensor, an accelerometer, a magnetic sensor, a gyroscope, an inertial sensor, an RGB sensor, an infrared sensor, a fingerprint recognition sensor, an ultrasonic sensor, a light sensor, a Hall sensor, etc.

[0126] The output unit (150) may generate outputs related to sight, hearing, or touch, and the output unit (150) may include a light output unit that outputs visual information, a display (151), etc., a speaker (152) that outputs auditory information, an ultrasonic output unit that outputs ultrasonic signals belonging to inaudible frequencies, etc., and may include a haptic module that outputs tactile information.

[0127] The lift module (160) is a structure that raises and lowers the upper surface of the body so that the upper surface of the body supports the lower part of the loading structure. The lift module (160) may include an actuator / motor that applies force in the vertical direction.

[0128] The memory (185) stores data that supports various functions of the autonomous driving robot (100). The memory (185) can store multiple applications (application programs or applications) running on the autonomous driving robot (100), data for the operation of the autonomous driving robot (100), and commands.

[0129] In addition, the memory (185) can store information necessary to perform calculations using artificial intelligence, machine learning, and artificial neural networks. The memory (150) can store a deep neural network model. The deep neural network model can be used to infer a result value for new input data that is not training data, and the inferred value can be used as a basis for judgment to perform an action.

[0130] The power supply unit (190), under the control of the processor (190), receives external power and internal power and supplies power to each component of the autonomous driving robot (100). This power supply unit (190) includes a battery (191), and the battery (191) may be an internal battery or a replaceable battery. The battery may be charged via wired or wireless charging, and the wireless charging method may include magnetic induction or magnetic resonance.

[0131] The driving unit (170) is a means for moving the autonomous driving robot (100) and may include a wheel or a leg, and may include a wheel driving unit and a leg driving unit for controlling the same. The autonomous driving robot (100) including a body can be moved by controlling a plurality of wheels provided on the bottom surface of the wheel driving unit.

[0132] The wheel may include a main wheel (171) for fast driving, a caster including a main shaft that rotates in conjunction with the body (110) in addition to the axle on which the wheel rotates, and an auxiliary caster (172) that reinforces support to prevent loaded items (L) from falling off while driving.

[0133] The control unit (180) is a module that controls the components of the autonomous driving robot (100). The control unit (180) may refer to a data processing device embedded in hardware having a physically structured circuit to perform a function expressed by code or commands included in a program. Examples of such data processing devices embedded in hardware may include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), etc., but the scope of the present invention is not limited thereto.

[0134] The control unit (180) may, for example, collect the above information through the input unit (120). The input of the input unit (120) may also include touch input on the display.

[0135] Based on the collected information, the control unit (180) can transmit information about the item (L) loaded in the loading area (50) to the mobile terminal (200 of FIG. 1) through the communication unit (130).

[0136] Referring to FIG. 3, the robot control system (200) may include an AI server. The AI ​​server may refer to a device that trains an artificial neural network using a machine learning algorithm or uses a trained artificial neural network. Here, the robot control system (200) may be composed of multiple servers to perform distributed processing and may be defined as a 5G network. In this case, the AI ​​server may be included as part of the autonomous driving robot (100) and may perform at least some of the AI ​​processing together with the autonomous driving robot (100) itself.

[0137] The robot control system (200) may include a communication unit (210), memory (230), a learning processor (240), and a processor (260), etc.

[0138] The communication unit (210) can transmit and receive data with external devices such as autonomous driving robots (100).

[0139] The memory (230) may include a model storage unit (231). The model storage unit (231) may store a model (or artificial neural network, 231a) that is being learned or has been learned through a learning processor (240).

[0140] The learning processor (240) can train the artificial neural network (231a) using training data. The training model may be used while mounted on the robot control system (200) of the artificial neural network, or it may be used while mounted on an external device such as an autonomous driving robot (100).

[0141] The learning model may be implemented in hardware, software, or a combination of hardware and software. If part or all of the learning model is implemented in software, one or more instructions constituting the learning model may be stored in memory (230).

[0142] The processor (260) can use a learning model to infer a result value for new input data and generate a response or control command based on the inferred result value.

[0143] FIG. 4 is a perspective view of an autonomous driving robot (100) according to an embodiment of the present invention viewed from the top, and FIG. 5 is a perspective view of an autonomous driving robot (100) according to an embodiment of the present invention viewed from the bottom. The autonomous driving robot (100) of the present invention can move through a driving unit (170) located at the bottom of a body (110). The body (110) of the autonomous driving robot (100) may have a box shape, and the body (110) may be composed of a bottom frame (111), a middle frame (112), and a top frame (113).

[0144] The bottom frame (111) has various parts mounted on its upper surface and a driving unit (170) located on its lower surface, serving as the foundation of the body (110). The middle frame (112) is fastened to the upper part of the bottom frame (111) and covers the parts loaded on the bottom frame (111). The middle frame (112) can form the side exterior of the body (110), and its upper surface can be partially opened for driving the lift module (160).

[0145] The top frame (113) may include a flat upper surface so that a loading structure can be placed on it. The height of the top frame (113) can be adjusted by a lift module (160) placed on the bottom frame (111), and a low-profile body (110) can be realized by placing the lift module (160) and the driving unit on the same plane.

[0146] The top frame (113) may include a contact pad (114) made of an elastic material such as silicone or urethane to cushion and prevent slipping when in contact with a loading structure on its upper surface. The upper surface of the top frame (113) may further include an upper sensor (147), such as a proximity sensor or a contact sensor, to determine whether it is docked with the loading structure.

[0147] The top frame (113) may include a battery replacement hole (1139) at a position corresponding to the battery mounting portion (119) for the convenience of replacing the battery (191). The battery (119) may be detachable, and for the convenience of replacing the battery (191), the battery replacement hole (1139) may be omitted as shown in FIG. 5.

[0148] A control box (181) containing a plurality of circuit boards as a control unit is mounted on a bottom frame (111), and for maintenance of the control box (181), the top frame (113) may include a maintenance opening (1138) including an openable cover.

[0149] A driving unit (170), a power supply unit (190), a control unit (180), a sensing unit (140), and a lift module (160) may be installed inside a flat box-shaped body (110). The control unit (180) generates a driving path to reach a destination using a map that is stored or received from a server, and can move to the destination while avoiding obstacles not on the map by recognizing surrounding objects through the sensor unit (140).

[0150] The sensor unit (140) may include a lidar (142) capable of generating a two-dimensional precision map. The lidar (142) may be located on the body (110), and the lidar (142) requires a long horizontal opening to secure a sufficient sensing angle.

[0151] As shown in FIGS. 4 and 5, the present invention can secure a sensing angle of the lidar (142) by positioning the lidar (142) between the top frame (113) and the middle frame (112) using the gap between the top frame (113) and the middle frame (112). The lidar (142) can be positioned at the front and rear of the autonomous driving robot, respectively. As shown in FIG. 5, the driving unit (170) may be composed of a pair of main driving units (171) that rotate by receiving power from a driving motor and a plurality of casters (172) that support the body (110). A pair of main driving units may be symmetrically positioned in the center of the body (110), and the casters (172) may be positioned at the four corners of the body (110).

[0152] The caster (172) can rotate around a vertical axis, so that the wheel axis of the caster can be positioned perpendicular to the driving direction of the autonomous driving robot (100). The main driving unit (171) may include a suspension spring to minimize shaking when passing over unevenness on the floor surface.

[0153] The main driving unit (171) may include a reduction gear to increase the driving force of the driving motor. The size of the main wheel (1711) of the main driving unit (171) is larger than the caster wheel (1721) of the caster (172). For example, the main wheel (1711) may be a 6-inch wheel and the caster wheel (1721) may be a 3-inch wheel.

[0154] FIG. 6 is a diagram illustrating the process of the autonomous driving robot (100) of the present invention docking with a loading structure (10).

[0155] After the autonomous driving robot (100) enters the lower part of a loading structure (10), such as a shelf or pallet cart as shown in FIG. 6, the height of the upper housing (610) is raised so that the upper surface (611) comes into contact with the lower surface of the loading structure (10), thereby allowing the loading structure (10) to be lifted.

[0156] The autonomous driving robot (100) can use the sensor unit (140) to enter between the wheels of the loading structure (10), and can drive the lift module (160) at the bottom of the loading structure (10) to control the top frame (113) and the bottom surface of the loading structure to come into contact.

[0157] The autonomous driving robot (100) moves to a destination with a loading structure (10) mounted on its upper side, and upon reaching the destination, lowers the height of the lift module (160) and can then move out from the bottom of the loading structure (10).

[0158] Since the height of the bottom surface of the loading structure (10) is about 300mm or less, the height of the autonomous driving robot is required to be 280mm or less in order to enter the lower part of the bottom surface of the loading structure.

[0159] By configuring the loading structure (10) and the autonomous driving robot (100) individually in this way, the autonomous driving robot (100) can continue to perform transportation even during the time of loading or unloading goods, thereby increasing the amount of goods that can be transported by a single autonomous driving robot (100).

[0160] FIG. 7 is an exploded perspective view of an autonomous driving robot (100) according to a first embodiment of the present invention, and FIG. 8 is a plan view of the autonomous driving robot (100) of FIG. 7 with the middle frame (112) and top frame (113) removed.

[0161] The autonomous driving robot (100) may include a body (110) composed of a bottom frame (111), a middle frame (112), and a top frame (113). A battery (191), a lift module (160), a control box (181) including a plurality of substrates, a lidar (142), etc., may be mounted on the upper surface of the bottom frame (111). A driving unit (170) located on the lower surface of the bottom frame (111) may be composed of a pair of main driving units (171) and four casters (172).

[0162] The bottom frame (111) may include a plate-shaped base plate (1115). Since the height of the body (110) increases when the bottom frame (111) is spaced from the floor by the size of the main wheel (1711), conventional autonomous driving robots (100) have secured a space for the main wheel (1711) by bending the bottom frame (111). However, a bottom frame (111) in which the part where the main wheel (1711) is located protrudes upward has a problem of being weak in rigidity.

[0163] The bent bottom frame (111) of the present invention utilizes a flat plate-shaped base plate (1115) to improve rigidity. The base plate (1115) may include openings to secure mounting space for the main wheel (1711), battery (191), etc. The base plate (1115) may include a pair of first openings (1111) on both the left and right sides for the placement of the main wheel of the main driving unit (171). Through the first openings (1111), the upper part of the main wheel of the main driving unit (171) and suspension structures can be positioned on the upper side of the base plate (1115), thereby lowering the height from the bottom of the base plate (1115).

[0164] In addition, among the structures located on the upper part of the base plate (1115), the battery (191) or the shaft of the lift module (160) cannot secure sufficient space with only the space between the base plate (1115) and the top frame (113).

[0165] In order to use a larger size battery (191), a second opening (1112) can be formed in the base plate (1115), and a battery (191) seating portion (119) protruding downward in the second opening (1112) can be formed.

[0166] The lift module (160) may include a vertically positioned shaft that moves in an up-and-down direction, and if the shaft can only move on the upper surface of the base plate (1115), the stroke of the lift module (160) cannot be sufficiently secured.

[0167] Accordingly, the base plate (1115) may include a third opening (1113) into which the shaft is inserted so that the shaft can protrude to the lower part of the base plate (1115).

[0168] By using a plate-shaped base plate (1115) to omit the bending process, errors occurring during the bending process and a decrease in rigidity caused by the bending process can be prevented. However, as the rigidity may become weak if the number of openings increases, the bottom frame (111) may further include rigidity bars (115a, 115b) to compensate for the rigidity.

[0169] The autonomous driving robot (100) may include a first rigid bar (115a) located on the upper surface of a base plate (1115). The first rigid bar (115a) may be provided as a pair, extending in a first direction (driving direction) and spaced apart in a second direction (width direction) perpendicular to the first direction.

[0170] The first rigid bar (115a) may be provided as a pair instead of in a shape that crosses the center for the placement of the lift module (160) and battery (191) inside. A pair of first rigid bars (115a) may be placed adjacent to the first opening (1111), and the upper surface of the base plate (1115) may be divided into three spaces in the width direction through the pair of first rigid bars (115a).

[0171] The intermediate area between a pair of first rigid bars (115a) can accommodate a battery (191) or a control box (181), which has the advantage of increasing the usability of the space inside the body (110).

[0172] Meanwhile, referring to FIG. 5, a second rigid bar (115b) located on the lower surface of the base plate (1115) may be further included. The second rigid bar (115b) may be extended in a second direction and spaced apart in a first direction. The second rigid bar (115b) may be orthogonal to the first rigid bar (115a) to prevent bending deformation or damage of the bottom frame (111). The second rigid bar (115b) may be positioned between the caster (172) and the main driving part (171).

[0173] The bottom frame (111) may further include an edge skirt protruding downward along the circumference of the base plate (1115). The edge skirt (1114) can cover the driving part (170) so that it is not exposed to the outside, thereby protecting the driving part (170). A bumper (117) may further include the edge skirt (1114) to prevent it from being damaged by colliding with obstacles, etc.

[0174] Sensors such as a control box (181), a lift module (160), a battery (191), and a lidar (142) may be placed on the upper surface of the bottom frame (111). The middle frame (112) covers the parts seated on the bottom frame (111) and can be coupled to the bottom frame (111).

[0175] The middle frame (112) may also include an upper surface portion (1125) that covers the upper surface of the part. However, the lift module (160) must be connected to the top frame (113) by penetrating the middle frame (112), and since the top frame (113) is positioned on the upper part of the middle frame (112), the middle portion of the upper surface portion (1125) may be configured in an open form.

[0176] The top frame (113) is connected to a lift module (160) installed on the bottom frame (111) and can move up and down according to the operation of the lift module (160). To stably support the loading structure (10), the top frame (113) may be configured in a plate shape having a predetermined thickness. The upper surface of the top frame (113) forms a flat surface, but the lower surface may include irregularities for rigidity and for connection with the lift module (160).

[0177] The lift module (160) has a variable height in the vertical direction, and the lift module (160) of this embodiment is an integrated lift module (160) capable of driving a plurality of jack screws (1651) in the up and down direction with a single lift motor (1655).

[0178] The lift module (160) of the present embodiment may include a lift motor (1655), a plurality of jack screws (1651), and a power transmission screw (1653) that is arranged horizontally from the lift motor (1655) and transmits power from the lift motor (1655) to the jack screws (1651).

[0179] The lift motor (1655) can be positioned at the center in the width direction and can be connected through a power transmission screw (1653) and a gear block (1654), such as a bevel gear. The power transmission screw (1653) is positioned in the first direction and the second direction and can drive jack screws (1651) positioned at multiple points.

[0180] The lift module (16) of the present embodiment includes four jack screws (1651) and is driven by one lift motor (1655), so the four jack screws (1651) can move in synchronization. Thus, the top frame (113) can move up and down without tilting, and the top frame (113) can be fixed to the top of the jack screws (1651).

[0181] Each jack screw (1651) includes a screw shaft positioned vertically, and the screw shaft can be inserted into and withdrawn in the direction of the lower surface of the base plate (1115). The bottom frame (111) may include a shaft cover (not shown) that covers the screw shaft protruding downward.

[0182] As shown in FIG. 8, the rectangular area (A1) formed by four jack screws (1651) becomes the supporting area that supports the loading structure (10). The larger the supporting area, the more stably it can move during driving. However, if the spacing between a pair of jack screws (1651) arranged laterally is widened further or moved further in the forward and backward directions, there is a problem of overlapping with the LiDAR (142) field of view.

[0183] In addition, since the screw shaft protrudes downward, it must be positioned so that it does not interfere with the caster (172), so the jack screw (1651) can be positioned in a location that does not overlap with the caster (172) as shown in FIG. 8.

[0184] FIG. 9 is an exploded perspective view of an autonomous driving robot (100) according to another embodiment of the present invention, and FIG. 10 is a plan view of the autonomous driving robot (100) of FIG. 9 with the middle frame (112) and top frame (113) removed.

[0185] Unlike the embodiment of FIG. 7, the lift module (160) of this embodiment is composed of a plurality of independent lift units (161) that operate individually. The independent lift units (161) have the advantage of being less expensive and having a larger load capacity than the integrated lift module of FIG. 7.

[0186] However, since each independent lift unit (161) is driven individually, if a failure occurs in one lift unit (161), the top frame (113) may tilt and, in some cases, the top frame (113) may be damaged.

[0187] The lift unit (161) can stably support the top frame (113) because its longitudinal length is larger than that of the embodiment of FIG. 7, but there is a problem in that it is difficult to secure mounting space on the bottom frame (111).

[0188] In particular, the lidar (142) has a field of view of 200° or more, and the lift unit (161) must be positioned so as not to overlap with the field of view of the lidar (142) in order to accurately identify surrounding obstacles and terrain.

[0189] For safe driving of the autonomous driving robot (100), it is necessary to secure a wide field of view (FVA) of the front lidar (142) as much as possible, and to secure the field of view of the front lidar (142a), the front lift unit (161a) can be positioned with a narrower horizontal spacing than the rear lift unit (161)b.

[0190] The autonomous driving robot (100) of the present invention may additionally include a lidar (142b) at the rear in addition to the lidar (142a) located at the front to detect obstacles at the rear as well as at the front.

[0191] Since the rear lidar (142b) detects the opposite direction of travel, the field of view (RVA) of the rear lidar (142b) may be narrower than the field of view (FVA) of the front lidar (142a). Therefore, the spacing of the rear lift unit (161b) can be positioned slightly wider than that of the front lift unit (161a).

[0192] Since the first rigid bar (115a) is positioned on the upper surface of the base plate (1115), the front lift unit (161a) can be positioned inside the first rigid bar (115a) and the rear lift unit (161) can be positioned outside the first rigid bar (115a).

[0193] As shown in FIG. 10, the spacing of the front lift unit (161a) is narrow so that it can be positioned substantially behind the front lidar (142a). By positioning the front lift unit (161a) between a pair of first rigid bars (115a), the field of view (FVA) of the front lidar (142a) can be extended to approximately 250°.

[0194] The field of view (RVA) of the rear lidar (142b) is required to be 200°, which is smaller than that of the front lidar, and even if the rear lift unit (161b) is positioned wider than the front lift unit (161a), it does not overlap with the field of view (RVA) of the rear lidar (142).

[0195] Four lift units (161) can be positioned so as not to overlap with the field of view (FVA) of the front lidar (142), which is 250°, and the field of view (RVA) of the rear lidar (142), which is 200°. Unlike the embodiment of FIG. 8 described above, the support area (A2) formed by the four lift units (161a, 161b) has different widths in the front and rear.

[0196] However, since there is no shaft screw moving in the vertical direction, the lift unit (161) can be positioned to overlap with the cast in the vertical direction, and the lift unit (161) can be positioned to protrude further forward and backward than in the embodiment of FIG. 7.

[0197] FIG. 11 is a drawing comparing the support areas of an autonomous driving robot (100) according to a first embodiment and a second embodiment of the present invention. The support area (A1) of the first embodiment of FIG. 7 has a rectangular shape, but the support area (A2) of the second embodiment of FIG. 9 has a wider rear width, a narrower front width, and is longer in the front-rear direction (first direction) compared to the first embodiment.

[0198] In the case of the second embodiment, the shape is not rectangular, but the support area is actually increased to secure sufficient support capacity.

[0199] FIG. 12 is a perspective view illustrating the bottom frame (111) of the autonomous driving robot (100) of the present invention. The lift module (160) of the first embodiment and the second embodiment are different, but the configuration of the remaining driving part (170), battery (191), and control box (181), etc., is similar.

[0200] Since the first embodiment and the second embodiment have the same components other than the lift module (160), the basic structure of the bottom frame (111) can use the same structure. As shown in FIG. 12 (a), the basic bottom frame (111) can be constructed by attaching a battery mounting portion (119) and a rigid bar (115a) to a base plate (1115) that includes a first opening (1111) and a second opening (1112).

[0201] The bottom frame (111a) of the first embodiment and the bottom frame (111b) of the second embodiment can be implemented respectively by attaching lift mounting brackets (116a, 116b) corresponding to the shape of the lift module (160) installed on the basic bottom frame (111).

[0202] FIG. 13 is a drawing illustrating a lift unit (161) of an autonomous driving robot (100) according to a second embodiment of the present invention, and FIG. 14 is a drawing illustrating a lift module (160) of an autonomous driving robot (100) according to a second embodiment of the present invention.

[0203] The lift module (160) of the second embodiment includes four lift units (161), and FIG. 13 (a) shows a lift unit (161) in a standby state, and FIG. 13 (b) shows a lift unit (161) in a lift state.

[0204] The independent lift unit (161) of the present embodiment may include a lift base (1611) fixed to a bottom frame (111), a lift top (1612) that moves up and down relative to the lift base (1611), and an actuator (1615, 1616) located between the lift base (1611) and the lift top (1612) and having a variable length.

[0205] The actuator (1615, 1616) may include a screw boss (1616) formed in the lift base (1611) in a jack screw manner, an actuator screw (1615) that rotates and moves in and out of the screw boss, and an actuator motor (1617) that provides rotational force to the actuator screw (1615).

[0206] In the lift unit (161) of the present embodiment, since the actuator screw (1615) is located on the lift top (1612), the actuator (1615) motor can also be coupled to the lift top (1612). In the lift state, as shown in (b) of FIG. 13, the actuator screw (1615) is pulled out from the screw boss, and the lift top (1612) can be pushed upward.

[0207] The lift module (160) of the second embodiment is composed of four independent lift units (161), so that if one is not driven or is not synchronized and the height of at least one independent lift unit (161) is different, the top frame (113) may tilt or be damaged.

[0208] In order to prevent damage to the top frame (113) when the lift unit (161) is not synchronized, the independent lift unit (161) may be configured so that the top frame (113) is not directly connected to the top frame (113) and the top frame (113) is placed on the lift unit (161).

[0209] However, to prevent the top frame (113) from being pushed out of position from the lift top (1612) of the lift unit (161), it may include a non-slip projection (1613) formed on the lift top (1612). The top frame (113) may include a non-slip groove (1136) into which the non-slip projection (1613) is inserted. Additionally, a lift pad (1614) may be added to the upper surface of the lift top (1612) to prevent the top frame (113) and the lift top (1612) from being out of position.

[0210] However, in this case, the top frame (113) is not fixed to the lower structure and can be easily separated from the body (110). To fix the top frame (113) to the body (110) without restricting the vertical movement of the top frame (113), a lift guide (163) connecting the top frame (113) and the bottom frame (111) of the present invention may be included.

[0211] Referring to FIG. 14, the lift guide (163) may include a guide pin (1631) fixed to the top frame (113) and a guide flange (1632) fixed to the bottom frame (111) into which the guide pin (1631) is inserted.

[0212] The lift guide (163) also includes a pin-shaped member that extends in a vertical direction and affects the field of view of the lidar (142). As shown in FIG. 10, the lift guide (163) can be positioned adjacent to the lift unit (161) and not overlap with the field of view of the lidar (142).

[0213] Additionally, the lift guide (163) can protrude from the lower part of the base plate (1115) and can be positioned so as not to overlap with the driving part (170) located at the lower part of the base plate (1115).

[0214] As shown in FIG. 10, the front lift guide (163a) may be located outside the first rigid bar (115a), and the rear lift guide (163b) may be positioned between a pair of first rigid bars (115a).

[0215] FIG. 15 is a cross-sectional view of the standby state of the autonomous driving robot (100) according to the second embodiment of the present invention, and is the AA cross-sectional view of FIG. 10. FIG. 16 is a cross-sectional view of the lift state of the autonomous driving robot (100) according to the second embodiment of the present invention. As shown in FIG. 15 and FIG. 16, the guide pin (1631) penetrates the guide flange (1632) and protrudes to the lower surface of the base plate (1115). The guide pin (1631) may include a pin stopper (1633) at the lower end of the guide pin (1631) to prevent it from detaching from the guide flange (1632). As shown in FIG. 16, the pin stopper (1633) may be configured to come into contact with the lower surface of the base plate (1115) when the lift module (160) is in a lifted state.

[0216] As shown in FIG. 16, when one side of the top frame (113) is pressed while the top frame (113) is in a raised state, the other side of the top frame (113) may be lifted upwards because it is not fixed to the lift unit (161) and the top frame (113). However, the pin stopper (1633) located at the bottom of the guide pin (1631) can come into contact with the lower surface of the base plate (1115) to prevent the top frame (113) from coming off.

[0217] The pin stopper (1633) may include an elastic member such as urethane or a spring. The elastic member can prevent noise from occurring when the pin stopper (1633) and the lift frame come into contact while the lift state is reached or while the autonomous driving robot (100) is driving. Additionally, the elastic member can absorb the impact applied to the pin stopper (1633) of the lift guide (163) located on the other side of the top frame (113) when an impact is applied to one side of the top frame (113).

[0218] The lift module (160) may include a lift sensor (146) for detecting the amount of lifting. The lift sensor (146) may include limit switches that detect the lower and upper operating ranges of the lift module (160), i.e., the standby state position and the lift state position.

[0219] As shown in FIG. 14, the lift sensor (146) is connected to the top frame (113) and moves up and down, and can detect changes in the position of the top frame (113).

[0220] FIG. 17 is a perspective view illustrating an optical sensor module (145) of an autonomous driving robot (100) of the present invention, and FIG. 18 is an exploded perspective view illustrating an optical sensor module (145) of an autonomous driving robot (100) of the present invention.

[0221] The autonomous driving robot (100) can use SLAM (Simultaneous Localization and Mapping) technology to draw a map in real time, check its location within the map, and then drive to find a desired destination or perform a desired mission.

[0222] In order for the autonomous driving robot (100) to draw a map and measure the location of surrounding objects to determine its own location, it performs this through the analysis of measurement data from the measuring device, the LiDAR (142) and the 3D camera (143).

[0223] A LiDAR (142) capable of collecting a wide range of 2D data in real time and a 3D camera for 3D object recognition are required, and the precision of SLAM can be improved by precisely adjusting the positions of the measurement sensors.

[0224] The LiDAR (142) and 3D camera (143) required for implementing SALM technology can be configured into a single optical sensor module (145) and mounted on an autonomous driving robot (100). The optical sensor module (145) of the autonomous driving robot (100) of the present invention has the advantage of facilitating the mounting of the LiDAR (142) and 3D camera (143) on the body (110). The autonomous driving robot (100) can mount the optical sensor module (145) on the front and rear of the body (110).

[0225] The optical sensor module (145) may include an optical bracket (1451) fixed to a base plate (1115). The optical bracket (1451) may include a mounting surface (1451a) on which a lidar (142) is mounted and may include a lidar cover (1451b) for protecting the upper part of the lidar (142).

[0226] The lower part of the optical bracket (1451) may include a leg so that the mounting surface (1451a) is spaced apart from the base plate (1115) by a predetermined distance. The optical bracket (1451) positions the lidar (142) at a position spaced apart from the base plate (1115) by a predetermined distance, so that the light-emitting part and the light-receiving part of the lidar (142) can be located on the upper surface of the middle frame (112).

[0227] Since the lidar (142) has a field of view of 180° or more, a slit extending to the rear based on the position of the lidar (142) is required. The autonomous driving robot (100) of the present invention omits a long slit in the body (110) that corresponds to the field of view of the lidar (142) in a lateral direction, and can utilize the space between the middle frame (112) and the top frame (113) as a gap to secure the field of view of the lidar (142).

[0228] Since the lidar (142) detects objects on a plane, if the detection plane of the lidar (142) is twisted by even 1°, a completely different result may occur, so the placement of the lidar (142) is important. After mounting the optical sensor module (145) on the bottom frame (111), the lidar (142) must be zeroed, that is, adjusted so that the observation plane forms a plane.

[0229] The optical sensor module (145) of the present invention may include a level adjustment screw (1454) that can individually adjust the height of four corners to adjust the angle of the lidar (142).

[0230] If the level adjustment screw (1454) is directly attached to the lower part of the lidar (142) module, the height of the lidar (142) may increase, and the level adjustment screw (1454) may be obscured by the lidar (142), making adjustment inconvenient.

[0231] The present invention may connect adjustment blocks (1452) to the left and right sides of the lidar (142) using fastening pins (1455) and arrange a level adjustment screw (1454) that can adjust the amount of protrusion at the bottom of the adjustment blocks (1452).

[0232] The lower end of the level adjustment screw (1454) contacts the mounting surface (1451a) of the optical bracket (1451), and the distance from the mounting surface (1451a) of the adjustment block (1452) can be adjusted by adjusting the amount of protrusion of the level adjustment screw (1454) on the adjustment block (1452).

[0233] A pair of adjustment blocks (1452) each have two level adjustment screws (1454) arranged in the front-rear direction, and the tilt of the lidar (142) in the x-axis and y-axis directions can be adjusted by adjusting the protrusion amount (insertion amount) of the four level adjustment screws (1454).

[0234] The vertical hole (1452c) into which the level adjustment screw (1454) is inserted extends to the upper part of the adjustment block (1452) to expose the upper driver groove (1454b) of the level adjustment screw (1454) upward. The insertion amount of the level adjustment screw (1454) can be adjusted by inserting a driver into the vertical hole (1452c).

[0235] The lower end (1454a) of the level adjustment screw (1454) has a hemispherical shape so that the level adjustment screw (1454) can maintain contact with the seating surface (1451a) even if the adjustment block (1452) is tilted by adjusting the length of some of the level adjustment screws (1454).

[0236] The level adjustment screw (1454) may further include a fixing pin (1456) that fixes the adjustment block (1452) to the seating surface (1451a) while the level adjustment screw (1454) is placed on top without being fastened to the seating surface (1451a). The fixing pin (1456) is positioned between a pair of level adjustment screws (1454), so that the central part of the adjustment block (1452) is fixed by the fixing pin (1456) and the height of the front and rear can be different by the level adjustment screw (1454).

[0237] The side bracket (1453) is located on the left and right sides of the adjustment block (1452) and may include a level guide hole (1453a) into which a level guide projection (1452a) protruding from the adjustment block (1452) is inserted. The side bracket (1453) is fixed to the base plate (1115) to fix the optical sensor module (145) to the bottom frame (111).

[0238] FIG. 19 is a drawing showing angle markers (1452b, 1453b) formed in the level guide projection (1452a) and level guide hole (1453a) of the optical sensor module (145) of the autonomous driving robot (100) of the present invention.

[0239] Angle markers (1452b, 1453b) may be included in the level guide projection (1452a) of the adjustment block (1452) and the level guide hole (1453a) of the side bracket (1453) so that the amount of angle adjustment of the LiDAR (142) module can be visually checked. The first angle marker (1452b) may have a cross shape, and the second angle marker (1453b) may have lines indicating four angles corresponding to the cross shape of the first angle marker (1452b).

[0240] When the angle is adjusted by increasing the protrusion amount of the rear level adjustment screw (1454) in the state shown in FIG. 19 (a), the position of the first angle marker (1452b) changes as shown in FIG. 19 (b), causing it to be misaligned with the second angle marker (1453b). The amount of angle adjustment of the lidar (142) can be roughly checked visually through the first angle marker (1452b) and the second angle marker (1453b).

[0241] FIG. 20 is a diagram illustrating the unevenness of the terrain detected by the lidar (142) before and after level adjustment of the optical sensor module (145) of the autonomous driving robot (100) of the present invention. When the lidar (142) detects a flat floor surface as in (a), there is a problem with a height error of about 30-40 mm. The error can be reduced as in (b) of FIG. 20 by adjusting the angle of the lidar (142) with a level adjustment screw (1454).

[0242] The level adjustment screw (1454) of the present invention has the advantage of being easy to implement as it can easily improve the precision of the lidar (142) without expensive and complex equipment.

[0243] Referring to FIG. 17, the optical sensor module (145) of the autonomous driving robot (100) of the present invention may have a 3D camera (143) positioned below the mounting surface (1451a). Although the 3D camera (143) has lower precision and a smaller field of view than the LiDAR (142), it can obtain a three-dimensional image, thereby supplementing the insufficient information of the LiDAR (142) and enabling the implementation of SLAM (Simultaneous Localization and Mapping) technology based on the information detected by the LiDAR (142) and the 3D camera (143).

[0244] The 3D camera (143) includes a plurality of image sensors spaced apart in the horizontal direction to create a 3D image, and may also include an infrared camera. Since the optical sensor is located below the lidar (142), the middle frame (112) may include a camera hole (112a, see FIG. 9) for the 3D camera (143).

[0245] The autonomous driving robot (100) may collide with an obstacle, and in this case, the 3D camera (143) may be damaged, so the 3D camera (143) may be positioned spaced inward from the camera hole (112a). However, in this case, the size of the camera hole (112a) must be increased to secure the camera field of view, and if the camera hole (112a) is large, the internal structure may be exposed.

[0246] A ring-shaped protrusion that surrounds the camera hole (112a) can be further formed on the outer side of the camera hole (112a), but the size is increased for the camera angle and it is easy to separate due to impact.

[0247] The 3D camera (143) of the present invention may further include a camera protective cover (1431) that protects the 3D camera (143) at the front. The camera protective cover (1431) may form a camera slit (1431a) of a size that does not obstruct the field of view of the 3D camera (143).

[0248] FIG. 21 is a diagram illustrating the field of view of a 3D camera (143) of an optical sensor module (145) of an autonomous driving robot (100) of the present invention. Each of the multiple image sensors may have a different field of view. Since the camera protective cover (1431) is positioned closer to the 3D camera (143) than the camera hole (112a), the size of the camera slit (1431a) may be smaller than the camera hole (112a).

[0249] The field of view of the 3D camera (143) is smaller in the vertical direction, so the vertical width of the camera slit (1431a) can be implemented thinly to the level of 6 mm.

[0250] FIG. 22 is a perspective view showing the main driving unit (171) of the autonomous driving robot (100) of the present invention, and FIG. 23 is a cross-sectional view showing the main driving unit (171) of the autonomous driving robot (100) of the present invention.

[0251] The main driving unit (171) includes a driving motor (1712) and provides driving power for the driving robot. A pair of main driving units (171) are arranged in the left and right directions and can be positioned in the center in the front and rear directions.

[0252] The main driving unit (171) can be arranged to be symmetrical on the left and right sides, and the caster (172) can be positioned in the front and rear directions of the main driving unit (171). The caster (172) is positioned slightly inward from the main driving unit (171), so that the two wheels of the main driving unit (171) and the four wheels of the caster (172) can be arranged to form a hexagonal shape.

[0253] The autonomous driving robot (100) of the present invention may include a main driving unit (171) that provides power, a driving motor (1712), a wheel bracket (1715) to which the driving motor (1712) is attached, a main wheel (1711) that is rotatably attached to the wheel bracket (1715) and rotates by receiving power from the driving motor (1712), a suspension spring (1718) that is elastic and is located between the wheel bracket (1715) and the body (110), and a stopper module (1714) that limits the vertical position of the wheel bracket (1715).

[0254] The driving motor (1712) may be located inwardly relative to the main wheel (1711) and is fixed to the wheel bracket (1715). The driving motor (1712) may be located inwardly relative to the wheel bracket (1715), and the main wheel (1711) may be located outwardly relative to the wheel bracket (1715).

[0255] If the main wheel (1711) is too large, there is a problem that the lower space of the driving robot becomes too large, making it difficult to implement a structure that can enter the lower part of the loading structure (10) with a height of 300 mm. The main wheel (1711) of this embodiment is implemented to have a diameter of 150 mm.

[0256] FIG. 24 is a diagram illustrating the propulsion force of the main driving unit (171) of the autonomous driving robot (100) of the present invention.

[0257] A reduction gear (1713) may be used to amplify the torque of the driving motor (1712). The reduction gear (1713) is a plurality of gear structures positioned between the driving motor (1712) and the main wheel (1711), which reduces the rotational speed of the driving motor (1712) and transmits it to the main wheel (1711), thereby increasing the torque instead of reducing the rotational speed of the main wheel (1711).

[0258] For example, when a driving motor (1712) with a torque of 1.27 Nm is reduced by a reduction gear (1713) with a reduction ratio of 25:1 and the driving force is transmitted to the main wheel (1711), the torque of the reduction gear (1713) can be 25 times the torque of the driving motor (1712). However, depending on the efficiency of the reduction gear, it may be reduced slightly (e.g., by 10%) and the torque of 28.57 Nm can be transmitted to the main wheel (1711). Since the driving force is the value obtained by dividing the torque by the radius of the main wheel (1711), the driving force of a pair of main driving parts (171) becomes 762.7 N.

[0259] The suspension spring (1718) is a device that absorbs unevenness in the driving path of the autonomous robot (100). The suspension spring (1718) can be positioned between the bottom frame (111) and the wheel bracket (1715) and can have the form of a coil spring extended in the vertical direction.

[0260] Considering the arrangement of the suspension spring (1718), a first opening (1111) is formed in the base plate (1115) at a position corresponding to the main wheel (1711), and a suspension bracket protruding upward from the first opening (1111) is installed so that the suspension is positioned so that it protrudes upward from the base plate (1115).

[0261] The suspension spring (1718) can effectively absorb shocks from the floor surface to prevent damage to the autonomous driving robot (100) and the items of the loading structure (10) loaded thereon. Since stability may be an issue when the main driving unit (171) is connected only by the body (110) and the suspension spring (1718), the wheel bracket (1715) may include a suspension hinge (1716) that extends from the suspension spring (1718) to one side and is rotatably connected to the bottom frame (111).

[0262] While the suspension spring (1718) has the advantage of providing stable operation for the autonomous driving robot (100), the load that the driving unit (170) must support may vary depending on whether the loading structure (10) is loaded. In particular, if a step is formed on the floor surface and the height of the floor surface where the main driving unit (171) and the caster (172) are located is different, there is a problem where the weight is concentrated on the caster (172).

[0263] FIGS. 25 and 26 are drawings illustrating the load distribution of the driving part (170) of an autonomous driving robot (100) without a stopper module (1714).

[0264] FIG. 25 illustrates a state where the loading structure (10) is not positioned on the upper surface, and FIG. 25 illustrates a state where the loading structure (10) is mounted on the upper surface. (a) shows a state where the bottom surface is flat, and (b) and (c) show cases where the bottom surface where the main wheel (1711) is positioned is 10mm lower and 20mm lower than the bottom surface where the caster wheel (1721) is positioned.

[0265] As illustrated in FIG. 25 (a), the description will be based on the case where the mass of the autonomous driving robot (100) is 240 kg. In a standby state, most of the weight of the autonomous driving robot (100) can be carried on the main driving section (171). Each of the two main driving sections (171) can support a load of 100 kgf, and each of the four casters (172) can support a load of 10 kgf.

[0266] The main wheel (1711) of the main driving unit (171) may slip when the driving force is greater than the frictional force of the floor surface, and if slip occurs in the main wheel (1711), the power of the driving motor is not transmitted to the body (110), and the caster wheel (172) also does not rotate, so the autonomous driving robot (100) cannot be driven, so it can be designed so that most of the load is placed on the main driving unit (171).

[0267] However, as shown in Fig. 25 (b), if there is a step on the floor surface, when the main driving unit (171) is located on a floor surface lower than the caster (172), the suspension spring (1718) of the main driving unit (171) extends and the main wheel (1711) comes into contact with the floor surface.

[0268] However, in this case, the load transmitted to the main driving unit (171) through the suspension spring (1718) is reduced, and as shown in Fig. 25(c), if the size of the step is large, the amount of reduced load becomes greater. The weight reduced from the main driving unit (171) is transmitted to the caster (172), and the load supported by the caster (172) can be increased.

[0269] FIG. 26 illustrates a state in which a loading structure (10) is placed on the upper part of a driving robot. The description is based on the case where the mass of the loading structure (10) is 500 kg, and the actual transport form is represented as a 500 kg box for comparison with the loading structure in the shape of a trailer or load.

[0270] The magnitude of the load transmitted to the main wheel (1711) varies depending on the length of the suspension spring (1718). Since the height of the caster (172) does not change, the length of the suspension spring (1718) is the same regardless of whether the loading structure (10) is mounted. However, as seen in FIG. 25, the length of the suspension spring (1718) may vary depending on the change in the height of the floor surface, and the load applied to the main driving part (171) may vary.

[0271] As shown in FIG. 26 (a), when the loading structure (10) is positioned on a flat surface and is at the same height as the main driving unit (171) and the caster (172), even if the loading structure (10) is mounted on the autonomous driving robot (100), the length of the suspension spring (1718) is the same, so that one main driving unit (171) bears only a load of 100 kg.

[0272] Therefore, in practice, the 500kg load of the loading structure (10) is borne by 4 casters (172) at a rate of 125kg each, and there is a problem that the magnitude of the load supported by the casters (172) increases.

[0273] Additionally, as shown in Fig. 26 (b) and (c), when passing through a step, if the main driving part (171) is located at a lower position than the caster (172), the length of the suspension spring (1718) is increased, so that the load borne by the main driving part (171) is reduced and the load borne by the caster (172) is increased.

[0274] In addition to the problem of the caster (172) being overloaded, there is a problem of slipping occurring in the main driving unit (171). If the driving force of the main driving unit (171) is greater than the frictional force of the main wheel (1711), the main wheel (1711) may not be able to move the body (110) forward and may rotate in place.

[0275] The frictional force between the main wheel (1711) and the floor surface can be determined by the product of the magnitude of the load applied to the main wheel (1711) and the coefficient of friction. In the case of a typical asphalt road, the (kinetic) coefficient of friction is approximately 0.6, and the coefficient of friction can be increased by forming irregularities on the floor of the logistics center to prevent slipping.

[0276] For example, if the coefficient of static friction of the floor surface of the logistics center is 0.7, the maximum static friction force for a load of 200 kgf applied to a pair of main wheels (1711) is 1372 N. Since the propulsion force of the main wheels (1711) (762.7 N in the embodiment of FIG. 25) is smaller than the maximum static friction force, it is possible to propel without slip.

[0277] However, if the height of the main wheel (1711) is lower than that of the caster wheel (172), the load applied to the main wheel (1711) decreases, and thus the maximum static friction force also decreases. At a step of 10 mm, it is 960 N, which is greater than the propulsion force of the main wheel, but at a step of 20 mm, it is only 548.8 N, so slip may occur.

[0278] In addition, even if it is not located on a step, if the output of the driving motor (1712) is increased to transport a heavy load structure (10), the propulsion force increases and slip may occur.

[0279] Therefore, when a suspension spring (1718) is provided, there is less shaking and the impact applied to the autonomous driving robot (100) and the loading structure (10) can be reduced, but the load applied to the caster (172) is excessively increased, and the problem of slipping occurs when increasing the output of the driving motor (1712) or passing over a step is involved.

[0280] FIG. 27 is a diagram illustrating the load distribution of the driving unit (170) of the autonomous driving robot (100) of the present invention. To resolve the above problem, the present invention may add a stopper module (1714) to the main driving unit (171).

[0281] Referring to FIG. 27, the stopper module (1714) may include a stopper bracket (1714a) fixed to a wheel bracket (1715), and an upper stopper (1714b) located on the upper part of the stopper bracket (1714a) and fixed to a bottom frame (111).

[0282] Since the wheel bracket (1715) rotates around the suspension hinge (1716), the stopper module (1714) can be positioned on the opposite side of the suspension hinge (1716) relative to the main wheel (1711) to effectively limit the movement of the suspension spring (1718).

[0283] To limit the tension length of the suspension spring (1718), a lower stopper (1714c) may be further included at the bottom. Since the wheel bracket (1715) rotates around the suspension hinge (1716), the position of the lower stopper (1714c) may be positioned offset toward the suspension hinge (1716) than the upper stopper (1714b).

[0284] The upper stopper (1714b) can be configured to come into contact with the stopper bracket (1714a) when the main wheel is on a flat surface, so that the load loaded through the stopper module (1714) is transferred to the main wheel (1711). As shown in FIG. 27, the load added by the loading structure (10) is equally distributed to the main wheel (1711) through the stopper module (1714), so that a load of 183.5 kgf is placed on the main wheel (1711).

[0285] By configuring the upper stopper (1714b) and the stopper bracket (1714a) to come into contact on a flat surface, the load on the main wheel (1711) increases, thereby increasing the maximum static friction force and preventing slippage.

[0286] However, even if the upper stopper (1714b) and the stopper bracket (1714a) are configured to come into contact on a flat surface, if the upper stopper (1714b) and the stopper bracket (1714a) are separated from each other on a floor surface where a step is formed, the load is again applied to the caster (172) as shown in (b) and (c) of FIG. 26, and the main wheel (1711) may slip.

[0287] FIG. 28 is a drawing illustrating another embodiment of a stopper module (1714) of the main driving unit (171) of the autonomous driving robot (100) of the present invention.

[0288] Since the stopper module (1714) of the above-described embodiment has a problem in that the load is not applied to the main wheel (1711) when passing through a step, this embodiment may further provide a stopper actuator (1717) to resolve this.

[0289] The stopper actuator (1717) is characterized by optionally inserting a stopper block (1717b) between the upper stopper (1714b) and the stopper bracket (1714a) to fill the gap between the upper stopper (1714b) and the stopper bracket (1714a) when the autonomous driving robot (100) is driving.

[0290] The stopper block (1717b) may include a first inclined surface (1717d) as shown in FIG. 28, and may also include a second inclined surface (1714e) on the surface facing the first inclined surface (1717d) of the stopper block (1717b).

[0291] As shown in FIG. 28, when the first inclined surface (1717d) faces the stopper bracket (1714a), the second inclined surface (1714e) may be formed on the stopper block (1717b), and when the first inclined surface (1717d) faces the lower surface of the bottom frame (111), the second inclined surface (1714e) may be formed on the lower surface of the upper stopper (1714b).

[0292] Due to the first inclined surface (1717d), the stopper block (1717b) has a shorter height at one end and a greater height at the other end closer to the stopper actuator (1717).

[0293] When the gap between the stopper bracket (1714a) and the upper stopper (1714b) increases, the stopper actuator (1717) can extend its length so that a section with a greater height of the stopper block (1717b) can be positioned between the stopper bracket (1714a) and the upper stopper (1714b).

[0294] The control unit (180) can detect a height difference on the floor surface through sensors such as a lidar (142) and a 3D camera (143) and determine whether there is a step in the driving direction based on this. When passing a step in the driving direction, the control unit (180) controls the stopper actuator (1717) so that the stopper block (1717b) can fill the gap between the stopper bracket (1714a) and the upper stopper (1714b). Through this real-time control of the stopper actuator (1717), the load that was placed on the main wheel (1711) is distributed to the caster (172), thereby preventing slippage.

[0295] It may include a step sensor (1714s) that detects the position of one side of the stopper bracket (1714a) or the wheel bracket (1715). The control unit (180) determines that the main wheel (1711) passes through the step when the distance of the stopper bracket (1714a) or the wheel bracket (1715) changes at the step sensor (1714s), and can drive the stopper actuator (1717).

[0296] Alternatively, if the stopper actuator (1717) provides force in the direction of pressing the stopper block (1717b), causing the gap between the stopper bracket (1714a) and the bottom frame (111) to widen, the stopper block (1717b) can be inserted.

[0297] Alternatively, a stopper elastic member (not shown) may be interposed between the stopper actuator (1717) and the stopper block (1717b) to press the stopper block (1717b) toward one end. When the gap between the stopper bracket (1714a) and the upper stopper (1714b) widens, the stopper elastic member may push the stopper block (1717b) toward one end to fill the gap.

[0298] The stopper actuator (1717) must interpose a stopper block (1717b) between the stopper bracket (1714a) and the upper stopper (1714b) before the load is applied by the loading structure touching the upper frame, so that an overload is prevented on the caster (172).

[0299] FIG. 29 is a flowchart illustrating the driving method of the stopper module (1714) of the autonomous driving robot (100) of FIG. 28. First, when the autonomous driving robot (100) completes moving to the lower part of the loading structure (10) (S110), the stopper actuator (1717) can be driven (S120). When it is not located at the lower part of the loading structure (10), the driving unit (170) can continue to drive.

[0300] It is preferable that the stopper block (1717b) be inserted between the stopper bracket (1714a) and the upper stopper (1714b) while the driving unit (170) is stopped, so that it can operate after the autonomous driving module has finished moving to the bottom of the loading structure (10) and before the lift module (160) is driven. Since load distribution is impossible if the stopper actuator (1717) is not driven, the lift module (160) may not be driven.

[0301] After the stopper actuator (1717) is driven to fill the gap between the upper stopper (1714b) and the stopper bracket (1714a), the lift module (160) is driven to move the top frame (113) upward (S130) so that the lower surface of the loading structure (10) can be lifted.

[0302] When using multiple lift units (161), if even one is not driven, the top frame (113) cannot be stably raised, so a lift sensor (146) may be included as seen in FIG. 14.

[0303] The lift sensor (146) may include a rim switch that generates a signal at the bottom or top of the lift module (160). When the bottom limit switch is OFF (S140), it can be determined that the top frame (113) has moved upward. When the bottom limit switch is ON, it is determined that the top frame (113) is located at the bottom, so driving is impossible (S170), and the lift module (160) can be attempted to operate again.

[0304] When the lift module (160) is driven up to the top (S150) and the upper sensor (147) located on the upper surface of the top frame (113) touches the lower surface of the loading structure (10) and recognizes the loading structure (10) (S160), it is determined that the lift operation is completed and driving to transport the loading structure (10) can begin (S180).

[0305] If the lift module (160) does not reach the top or the upper sensor (147) does not recognize the lower surface of the loading structure (10), it is determined that the loading structure (10) is not loaded onto the autonomous driving robot (100), so driving cannot be started (S170). If it is determined that driving is impossible, the operation of the lift module (160) (S130) can be attempted again.

[0306] As seen above, the autonomous driving robot of the present invention can avoid a decrease in rigidity caused by bending by using a plate-shaped base plate.

[0307] In addition, the autonomous driving robot of the present invention can improve the accuracy of SLAM because the lift unit does not obstruct the field of view of the lidar.

[0308] In addition, the autonomous driving robot of the present invention has the advantage of being easy to mount on the body by modularizing the LiDAR and 3D camera.

[0309] In addition, the autonomous driving robot of the present invention can finely adjust the angle of the lidar, thereby obtaining accurate information about obstacles and terrain ahead.

[0310] In addition, the autonomous driving robot of the present invention can drive stably without slipping by stably distributing the load to the wheels of the driving unit regardless of whether a loading structure is mounted.

[0311] In addition, the autonomous driving robot of the present invention can prevent slippage by ensuring that the load is not concentrated on a specific wheel even when passing over a stepped surface. The above detailed description should not be interpreted restrictively in all respects and should be considered exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included within the scope of the present invention.

[0312] Regarding various embodiments for implementing the present invention, descriptions that are redundant with those described above in the previous section on the best mode for carrying out the invention are omitted.

[0313] Since the present invention is applicable to autonomous driving robots in various fields, its industrial applicability is recognized.

Claims

1. Bottom frame; A pair of main driving units located at the lower part of the above bottom frame and providing driving power; A lift module that is seated on the upper part of the bottom frame and has a vertically variable height; and It includes a top frame that is spaced upward from the bottom frame by the lift module and switches from a standby state to a lift state, The above bottom frame is A plate-shaped base plate forming a coplanar plane; A pair of first openings formed on the upper part of the main driving portion of the base plate; and An autonomous driving robot comprising a first rigid bar extending in a first direction on the upper surface of the base plate.

2. In Paragraph 1, It includes a second rigidity bar disposed in a second direction on the lower surface of the base plate, and An autonomous driving robot characterized in that the first rigid bar and the second rigid bar form a grid.

3. In Paragraph 1, A second opening formed in the base plate and into which a battery is inserted; and An autonomous driving robot characterized by including a battery mounting frame that is fastened to the second opening and protrudes downward from the base plate.

4. In Paragraph 3, An autonomous driving robot characterized in that the top frame has an open area corresponding to the second opening.

5. In Paragraph 1, An autonomous driving robot characterized by including a lift bracket located on the upper surface of the base plate and on which the lift module is seated.

6. In Paragraph 1, It includes a lidar that is connected to the bottom frame and detects obstacles adjacent to the autonomous driving robot, An autonomous driving robot characterized by the above-mentioned lift module being positioned at the rear of the lidar so as not to overlap with the lidar's field of view.

7. In Paragraph 6, It includes a middle frame that is fastened to the upper side of the bottom frame and covers the upper perimeter of the bottom frame, and The above LiDAR is characterized by protruding between the upper surface of the middle frame and the top frame, in an autonomous driving robot.

8. In Paragraph 1, The above lift module is Lift motor; A power transmission screw arranged horizontally and rotating by receiving power from the lift motor; and An autonomous driving robot characterized by including a plurality of jack screws arranged in a vertical direction that receive power from the power transmission screw and move in an up-and-down direction.

9. In Paragraph 1, The above lift module is Multiple lift units; and An autonomous driving robot characterized by including a plurality of lift guides that guide the vertical movement of the top frame.

10. In Paragraph 9, The above plurality of lift units A pair of rear lift units located at the rear; and An autonomous driving robot characterized by including a pair of front lift units positioned at the front and arranged more narrowly than the spacing of the pair of rear lift units.

11. In Paragraph 10, It includes a front lidar module located in front of the aforementioned pair of front lift units, and An autonomous driving robot characterized in that the above-mentioned pair of front lift units are located outside the field of view of the lidar module from the center of the front lidar module.

12. In Paragraph 11, The above plurality of lift guides It includes a front lift guide located on the outside of the above-mentioned front lift unit, and The above front lift guide is An autonomous driving robot characterized by being located outside the field of view of the lidar module at the center of the aforementioned front lidar module.

13. In Paragraph 9, The above plurality of lift units include non-slip protrusions protruding from the upper surface, and An autonomous driving robot characterized in that the top frame includes a non-slip groove into which the non-slip projection is inserted.

14. In Paragraph 9, The above lift guide is A guide pin extending downward from the top frame; and It includes a guide flange formed on the bottom frame and into which the guide pin is inserted, An autonomous driving robot characterized in that the guide pin protrudes downward from the bottom of the bottom frame in correspondence with the travel distance of the top frame in the standby state.

15. In Paragraph 14, An autonomous driving robot characterized by including a pin stopper that is fastened to the lower end of the guide pin and limits the upward movement distance of the guide pin.

16. In Paragraph 15, The above pin stopper is An autonomous driving robot characterized by including a stopper elastic part that contacts the lower surface of the bottom frame and contracts when pressure is applied.

17. In Paragraph 14, The above guide pin is An autonomous driving robot characterized by including a stepped portion that contacts the upper surface of the guide flange in the above standby state.

18. Bottom frame; A driving unit comprising a plurality of wheels located at the lower part of the bottom frame; A lift module that is seated on the upper part of the bottom frame and has a vertically variable height; and It includes a top frame that is spaced upward from the bottom frame by the lift module and switches from a standby state to a lift state, The above lift module is The above plurality of lift units; and An autonomous driving robot characterized by including a plurality of lift guides that guide the vertical movement of the top frame.

19. In Paragraph 18, It includes a front lidar module located at the front, and The above plurality of lift units A pair of rear lift units located at the rear It includes a pair of front lift units positioned at the front and arranged more narrowly than the spacing of the pair of rear lift units mentioned above, An autonomous driving robot characterized in that the front outer corners of the above-mentioned pair of front lift units are located outside the field of view of the lidar module from the center of the front lidar module.

20. In Paragraph 18, The above lift guide is A guide pin extending downward from the top frame; and A guide flange formed on the bottom frame and into which the guide pin is inserted; A pin stopper fastened to the lower end of the guide pin to limit the upward movement distance of the guide pin; and An autonomous driving robot characterized by including a stopper elastic part that contacts the lower surface of the bottom frame and contracts when pressure is applied.

Images