Autonomous driving robot and rough terrain escape method of autonomous driving robot

Abstract

This autonomous driving robot comprises: a body; driving wheels installed in the body; motors installed to rotate the driving wheels; a suspension installed in a lower portion of the body and supporting the motors so that the motors can move vertically with respect to the body; a sensor which is installed on the body and detects the surroundings; and a processor for controlling the motors. If it is determined using the sensor that the body is not moving or is moving along a path different from the expected path, the processor determines that at least one of the driving wheels has become stuck in rough terrain. If it is determined that at least one of the driving wheels has become stuck in the rough terrain, the processor causes at least one of the motors corresponding to the at least one driving wheel to rotate in one direction while vibrating.

Description

Autonomous driving robots and methods for autonomous driving robots to escape rough terrain

[0001] The present disclosure relates to an autonomous driving robot, and more specifically, to an autonomous driving robot capable of escaping a rough road and a method for escaping a rough road by an autonomous driving robot.

[0002] With the advancement of robot technology, autonomous robots are being widely used.

[0003] If a user sets a destination, an autonomous driving robot can move to the destination by exploring the surrounding environment in real time and selecting the optimal path on its own, without the user providing direct instructions regarding the movement path or designating a path in advance.

[0004] Therefore, autonomous robots must be able to move on surfaces of various shapes.

[0005] For example, autonomous robots must be able to navigate rough terrain, such as drainage grates installed to cover roads or drains in restaurant kitchens.

[0006] The information disclosed in the background art is information that the inventors already knew or obtained before or during the process of achieving the embodiments of the present application, or technical information obtained during the process of achieving the embodiments. Accordingly, it may include information that does not constitute prior art already known to the general public.

[0007] Additional aspects will be partially disclosed in the description below, and partially apparent in the description or will be known by practicing the disclosed embodiments.

[0008] An autonomous driving robot according to one or more embodiments of the present disclosure may include: a body; driving wheels installed on the body; motors installed to rotate the driving wheels; a suspension installed at the bottom of the body and supporting the motors so that they can move vertically relative to the body; a sensor installed on the body and detecting the surroundings; and a processor that controls the motors. If the processor recognizes using the sensor that the body is not moving or is moving along a path different from the expected path, it recognizes that at least one of the driving wheels has fallen into a rough path, and if it recognizes that at least one of the driving wheels has fallen into the rough path, it may rotate at least one of the motors corresponding to the at least one driving wheel in one direction while vibrating it.

[0009] According to one or more embodiments of the present disclosure, a motor drive unit formed to control the motors may be further included. The processor may be formed to vibrate the at least one motor by adjusting the gain of the motor drive unit.

[0010] According to one or more embodiments of the present disclosure, the motor driving unit may transmit a composite signal including a motor rotation signal that causes the at least one motor to rotate in one direction and a motor vibration signal that causes the at least one motor to vibrate.

[0011] According to one or more embodiments of the present disclosure, the motors may include a left motor and a right motor. The suspension may include a left hinge shaft and a right hinge shaft installed at the lower part of the body; a left viewing link rotatably installed on the left hinge shaft, with the left motor installed at a first end; a left front support wheel installed at a second end of the left viewing link; a right viewing link rotatably installed on the right hinge shaft, with the right motor installed at a first end; and a right front support wheel installed at a second end of the right viewing link.

[0012] According to one or more embodiments of the present disclosure, the motors may be installed at the center of each of the drive wheels.

[0013] According to one or more embodiments of the present disclosure, a method of an autonomous driving robot comprising a body, driving wheels installed on the body, motors driving the driving wheels, and a sensor installed on the body may include: a step of rotating the motors in a first direction at the same speed; a step of checking whether the position of the body changes using the sensor; a step of recognizing that the driving wheels have fallen into a rough road if the position of the body has not changed; and a step of rotating the driving wheels in the first direction while vibrating the driving wheels perpendicularly to the body if the driving wheels have fallen into a rough road.

[0014] According to one or more embodiments of the present disclosure, the autonomous driving robot may further include a motor drive unit formed to control the motors. The method may adjust the gain of the motor drive unit to cause the motors to rotate in the first direction while vibrating.

[0015] According to one or more embodiments of the present disclosure, the method may further include the step of the motor drive unit transmitting a composite signal to the motors. The composite signal may include a motor rotation signal that causes the motors to rotate in the first direction and a motor vibration signal that causes the motors to vibrate.

[0016] According to one or more embodiments of the present disclosure, the frequency of the motor rotation signal may be 0.1 Hz, and the frequency of the motor vibration signal may be 50 Hz.

[0017] According to one or more embodiments of the present disclosure, the motor drive unit may include a PID controller.

[0018] According to one or more embodiments of the present disclosure, the autonomous driving robot may further include a suspension that supports the drive wheels.

[0019] According to one or more embodiments of the present disclosure, a method of an autonomous driving robot comprising a body, a first driving wheel and a second driving wheel installed on the body, a first motor driving the first driving wheel, a second motor driving the second driving wheel, and a sensor installed on the body may include: a step of rotating the first motor and the second motor in a first direction at different speeds; a step of checking whether the movement path of the body matches an expected path using the sensor; a step of recognizing that the first driving wheel has fallen into a rough road if the movement path of the body differs from the expected path; and a step of rotating the first driving wheel that has fallen into the rough road in the first direction while vibrating the first driving wheel perpendicularly to the body if the first driving wheel is recognized as having fallen into the rough road.

[0020] According to one or more embodiments of the present disclosure, the autonomous driving robot further includes a motor drive unit formed to control the first motor and the second motor, and the second drive wheel may not get stuck in the rough road. The method may adjust the gain of the motor drive unit so that the first motor vibrates and rotates in the first direction, and the second motor rotates in the first direction without vibrating.

[0021] According to one or more embodiments of the present disclosure, the method may include the step of the motor driving unit transmitting a composite signal to the first motor. The composite signal may include a motor rotation signal that causes the first motor to rotate in the first direction and a motor vibration signal that causes the first motor to vibrate.

[0022] According to one or more embodiments of the present disclosure, the motor drive unit may include a PID controller.

[0023] The above-described or other aspects, features, and benefits of embodiments of the present disclosure will become more apparent from the following description with reference to the accompanying drawings. In the accompanying drawings:

[0024] FIG. 1 is a perspective view showing an autonomous driving robot according to one or more embodiments of the present disclosure.

[0025] FIG. 2 is a side view showing a pair of drive wheels and a suspension of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0026] FIG. 3 is a bottom view showing a pair of drive wheels and a suspension of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0027] FIG. 4 is a drawing showing a suspension used in an autonomous driving robot according to one or more embodiments of the present disclosure.

[0028] FIG. 5a is a side view showing the state in which the driving wheel of an autonomous driving robot according to one or more embodiments of the present disclosure has fallen into a rough road.

[0029] FIG. 5b is a plan view showing the state in which the driving wheels of an autonomous driving robot according to one or more embodiments of the present disclosure of FIG. 5a have fallen into a rough road.

[0030] FIG. 6a is a side view showing the state in which the driving wheel of an autonomous driving robot according to one or more embodiments of the present disclosure has fallen into a rough road.

[0031] FIG. 6b is a plan view showing the state in which the driving wheels of an autonomous driving robot according to one or more embodiments of the present disclosure of FIG. 6a have fallen into a rough road.

[0032] FIG. 7 is a block diagram showing an autonomous driving robot according to one or more embodiments of the present disclosure.

[0033] FIG. 8 is a diagram showing the relationship between an autonomous driving algorithm and a motor control algorithm of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0034] FIG. 9 is a flowchart illustrating a method for escaping rough terrain of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0035] FIG. 10 is a conceptual diagram showing the state of an autonomous driving robot moving in a straight line according to one or more embodiments of the present disclosure.

[0036] FIG. 11 is a conceptual diagram showing a state in which a pair of driving wheels of an autonomous driving robot according to one or more embodiments of the present disclosure moving in a straight line have fallen into a rough road.

[0037] FIG. 12 is a conceptual diagram showing the state in which the left drive wheel of an autonomous driving robot according to one or more embodiments of the present disclosure, which is moving straight, has fallen into a rough road.

[0038] FIG. 13 is a conceptual diagram showing the state in which the right drive wheel of an autonomous driving robot according to one or more embodiments of the present disclosure, which is moving straight, has fallen into a rough road.

[0039] FIG. 14 is a conceptual diagram showing the state of an autonomous driving robot turning right according to one or more embodiments of the present disclosure.

[0040] FIG. 15 is a conceptual diagram showing the state in which the left drive wheel of an autonomous driving robot according to one or more embodiments of the present disclosure, which is turning right, has fallen into a rough road.

[0041] FIG. 16 is a conceptual diagram showing the state in which the right drive wheel of an autonomous driving robot according to one or more embodiments of the present disclosure, which turns right, has fallen into a rough road.

[0042] FIG. 17 is a conceptual diagram showing the state of an autonomous driving robot turning left according to one or more embodiments of the present disclosure.

[0043] FIG. 18 is a conceptual diagram showing the state in which the right drive wheel of an autonomous driving robot according to one or more embodiments of the present disclosure, which is turning left, has fallen into a rough road.

[0044] FIG. 19 is a conceptual diagram showing the state in which the left drive wheel of an autonomous driving robot according to one or more embodiments of the present disclosure, which is turning left, has fallen into a rough road.

[0045] FIG. 20 is a control block diagram of a pair of motors of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0046] FIG. 21 is a control block diagram of a motor when the speed controller is implemented as a PID (proportional-integration-differential) controller.

[0047] FIG. 22 is a Bode plot showing a speed controller of a motor drive unit of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0048] Figure 23 is a graph showing the change over time of the magnitude and phase of the 10 Hz signal of the Bode plot of Figure 22.

[0049] Figure 24 is a graph with error values ​​added to the graph of Figure 23.

[0050] FIG. 25 is a board diagram showing a speed controller of a motor drive unit of an autonomous driving robot according to one or more embodiments of the present disclosure.

[0051] Figure 26 is a graph showing the change over time of the magnitude, phase, and error value of the 50 Hz signal of the Bode plot of Figure 25.

[0052] Figure 27 is a graph showing the composite signal input to the PID controller of the motor drive unit.

[0053] Figure 28 is a graph showing the composite signal of Figure 27 as separated signals.

[0054] FIG. 29 is a conceptual diagram for explaining the rotation and vibration of a drive wheel by a complex signal input to a motor drive unit.

[0055] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used for identical components, and redundant descriptions are omitted. Since the embodiments described in this specification are exemplary embodiments, the present disclosure is not limited thereto and may be implemented in various other forms.

[0056] Expressions such as "at least one" as used herein modify the entire list of elements when they precede a list of elements, and the individual elements of the list are not. For example, the expression "at least one of a, b, and c" should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.

[0057] When it is stated that an element or layer is "above," "upper," "on," "below," "lower," "under," "connected," or "combined" with another element or layer, it means that the element or layer may be connected or combined directly above, on the upper side, on, below, on the lower side, or under, and that another element or layer may exist in between. Conversely, when it is stated that an element is "directly above," "directly on," "directly below," "directly on," "directly on," "directly on," "directly under," "directly connected," or "directly combined" with another element or layer, it means that no other element or layer exists.

[0058] Terms such as "first," "second," etc., may be used to describe various components, but are used solely for the purpose of distinguishing one component from another. These terms do not limit differences in the material or structure of the components.

[0059] Unless otherwise specified, singular terms may include plural forms. Furthermore, the statement that a particular part "includes" a particular component means that, unless otherwise specified, other components may also be included, rather than excluding other components.

[0060] Additionally, terms such as 'unit' and 'module' described in the specification may represent a unit that handles at least one function or operation, which may be implemented in hardware or software, or a combination of hardware and software.

[0061] The use of "the" and similar pronouns may apply to both singular and plural forms.

[0062] The operations of the method may be performed in an appropriate order unless explicitly specified otherwise. Additionally, the use of all exemplary terms (e.g., e.g., etc.) is merely for the purpose of describing the technical idea in detail, and the scope is not limited by such examples or exemplary terms unless limited by the claims.

[0063]

[0064] Additionally, terms such as 'front end', 'rear end', 'upper part', 'lower part', 'upper part', and 'lower part' used in this disclosure are defined based on the drawings, and the shape and location of each component are not limited by these terms.

[0065] The present disclosure aims to provide an autonomous driving robot capable of escaping rough terrain and a method for escaping rough terrain by an autonomous driving robot.

[0066] Hereinafter, with reference to FIGS. 1 to 3, an autonomous driving robot (1) according to one or more embodiments of the present disclosure will be described.

[0067] FIG. 1 is a perspective view showing an autonomous driving robot (1) according to one or more embodiments of the present disclosure. FIG. 2 is a side view showing a pair of driving wheels (20) and a suspension (40) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure. FIG. 3 is a bottom view showing a pair of driving wheels (20) and a suspension (40) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure.

[0068] Referring to FIGS. 1 to 3, an autonomous driving robot (1) according to one or more embodiments of the present disclosure may include a body (10), a pair of driving wheels (20), a pair of motors (30), a suspension (40), and a plurality of support wheels (50). Expressions such as “at least one of a pair” used herein may refer to one of a pair, for example, one of a pair of wheels.

[0069] The body (10) can form the exterior of the autonomous driving robot (1). Inside the body (10), a processor (90), a sensor (60), and a power supply device can be provided to control the autonomous driving robot (1) to drive autonomously. A base (11) can be provided on the lower surface of the body (10).

[0070] According to one embodiment, the processor (90) can move the body (10) by controlling a pair of motors (30). The processor (90) can move the body (10) to a target point by performing autonomous driving using a sensor (60) and a pair of motors (30).

[0071] According to one embodiment, the processor (90) may be configured to recognize that one of a pair of drive wheels (20) has fallen into a rough road. For example, the processor (90) may include a rough road recognition algorithm (922 of FIG. 8) configured to recognize that at least one of a pair of drive wheels (20) has fallen into a rough road.

[0072] For example, the rough terrain recognition algorithm (922) can recognize that at least one of the pair of drive wheels (20) has fallen into a rough terrain if it recognizes, using the sensor (60), that the body (10) is not moving or that the movement path of the body (10) is different from the expected path. Here, rough terrain refers to a place where the drive wheel (20) cannot move normally and rotates in place because the frictional force of the drive wheel (20) is not applied. For example, rough terrain refers to a slippery place, a place with a small bump, a place with a groove, etc.

[0073] According to one embodiment, the processor (90) may include a rough terrain escape algorithm (923 of FIG. 8) that controls at least one motor (30) driving at least one drive wheel (20) that has fallen into a rough terrain among a pair of motors (30) to rotate at least one drive wheel (20) in one direction while vibrating it. For example, if at least one of a pair of drive wheels (20) falls into a rough terrain, the processor (90) may activate the rough terrain escape algorithm (923).

[0074] According to one embodiment, the sensor (60) may include a plurality of camera sensors (61), a LIDAR sensor (light detection and ranging sensor) (62), and an IMU sensor (inertial measurement unit sensor).

[0075] For example, a plurality of camera sensors (61) may be installed on the front of the body (10). The plurality of camera sensors (61) may be formed to capture the front of the autonomous driving robot (1).

[0076] For example, a LIDAR sensor (62) may be installed on the upper front of the body (10). The LIDAR sensor (62) may be configured to measure the distance to an obstacle located in front of the autonomous driving robot (1).

[0077] For example, an IMU sensor may be installed inside the body (10). The IMU sensor may be configured to measure the position, speed, and direction of the body (10), i.e., the autonomous driving robot (1).

[0078] According to one embodiment, the processor (90) can recognize the current position of the body (10), i.e., the autonomous driving robot (1), by using at least one of the sensors (60), for example, a plurality of camera sensors (61), a LIDAR sensor (62), and an IMU sensor. In other words, the processor (90) can perform localization of the autonomous driving robot (1) by using a plurality of camera sensors (61), a LIDAR sensor (62), and an IMU sensor.

[0079] The power supply unit may be configured to supply power to various components installed in the body (10). For example, the power supply unit may be configured to supply power to a processor (90), a plurality of camera sensors (61), a LIDAR sensor (62), an IMU sensor, and a pair of motors (30). For example, a rechargeable battery may be used as the power supply unit.

[0080] For example, a pair of drive wheels (20) are formed to move the autonomous driving robot (1). A pair of drive wheels (20) can be installed on the base (11) of the body (10). A pair of drive wheels (20) can be installed on the lower surface of the base (11) by a suspension (40).

[0081] A pair of drive wheels (20) may be formed to rotate by being driven by a pair of motors (30). In other words, the drive wheels (20) may be formed to rotate by being driven by a motor (30). For example, the motor (30) may be an in-wheel motor installed at the center of the drive wheels (20). For example, each of the pair of drive wheels (20) may include an in-wheel motor.

[0082] When the motor (30) rotates, the drive wheel (20) can rotate. Here, the rotation of the motor (30) refers to the rotation of the rotor. For example, the motor (30) may include a stator and a rotor. The stator is fixed, and the rotor may be installed around the stator to rotate around the stator. In other words, the rotor may be formed as an outer rotor. For example, the stator of the motor (30) may be fixed to the suspension (40). The rotor may be attached to the center of the drive wheel (20). Thus, when the motor (30) operates, the drive wheel (20) can rotate integrally with the rotor.

[0083] For example, a pair of drive wheels (20) may include a left drive wheel (21) and a right drive wheel (22). The pair of motors (30) may include a left motor (31) and a right motor (32). The left motor (31) may be installed at the center of the left drive wheel (21). The right motor (32) may be installed at the center of the right drive wheel (22). Thus, when the left motor (31) rotates, the left drive wheel (21) can rotate. When the right motor (32) rotates, the right drive wheel (22) can rotate.

[0084] The suspension (40) can be formed to connect a pair of motors (30) to the body (10). The suspension (40) can be formed to support a pair of motors (30) so that the pair of motors (30) can move up and down. Thus, a pair of motors (30) can move up and down (i.e., vertically) relative to the body (10) by means of the suspension (40). Since a pair of motors (30) are installed at the center of each of a pair of drive wheels (20), a pair of drive wheels (20) can move up and down relative to the body (10) by means of the suspension (40).

[0085] A plurality of support wheels (50) may be installed to support the body (10). The plurality of support wheels (50) may be formed to share the load of the body (10) together with a pair of drive wheels (20). The plurality of support wheels (50) may be formed so as not to generate a driving force capable of moving the autonomous driving robot (1). For example, casters may be used as the plurality of support wheels (50). However, the plurality of support wheels (50) are not limited thereto. The plurality of support wheels (50) may be formed of various types of wheels.

[0086] For example, a plurality of support wheels (50) may be installed on the front and rear portions of the lower part of the body (10). The plurality of support wheels (50) may include a pair of front support wheels (51, 52) and a pair of rear support wheels (53, 54). A pair of front support wheels (51, 52) may be located in front of a pair of drive wheels (20), and a pair of rear support wheels (53, 54) may be located behind a pair of drive wheels (20).

[0087] A pair of front support wheels (51, 52) may include a left front support wheel (51) and a right front support wheel (52). A pair of rear support wheels (53, 54) may include a left rear support wheel (53) and a right rear support wheel (54).

[0088] According to one embodiment, the suspension (40) may include a pair of bogie links (41, 42) that support a pair of motors (30). The pair of bogie links (41, 42) may be installed to rotate around a pair of hinge axes (43, 44) provided on the lower surface of the body (10).

[0089] A pair of bogie links (41, 42) may be formed with the same shape. The bogie links (41, 42) may be formed in a roughly rod shape. The bogie links (41, 42) may be installed to rotate around a hinge axis (43, 44). The bogie links (41, 42) may include a hinge hole into which the hinge axis (43, 44) is inserted.

[0090] A pair of hinge shafts (43, 44) can be supported by a pair of hinge brackets (45, 46). A pair of hinge brackets (45, 46) can be formed identically. Each of a pair of hinge brackets (45, 46) may include a pair of support plates (47) facing each other in parallel. Both ends of the hinge shafts (43, 44) can be supported by a pair of support plates (47). The hinge shafts (43, 44) can be inserted into the hinge holes of the bogie links (41, 42). A bearing may be provided between the hinge holes of the bogie links (41, 42) and the hinge shafts (43, 44). Thus, the bogie links (41, 42) can move smoothly up and down around the hinge shafts (43, 44).

[0091] For example, a pair of viewing links (41, 42) may include a left viewing link (41) and a right viewing link (42). A pair of hinge axes (43, 44) may include a left hinge axis (43) and a right hinge axis (44).

[0092] The left viewing link (41) can rotate around the left hinge axis (43). In other words, the left viewing link (41) can perform a seesaw motion around the left hinge axis (43).

[0093] A left drive wheel (21) may be installed at one end of the left viewing link (41). For example, a fixed shaft (311) of a left motor (31) may be fixed to one end of the left viewing link (41). Thus, the left motor (31) is fixed to one end of the left viewing link (41), and the left drive wheel (21) can rotate relative to one end of the left viewing link (41). A left front support wheel (51) may be installed at the other end of the left viewing link (41). For example, a caster bracket (50b) that rotatably supports the caster wheel (50a) of the left front support wheel (51) may be fixed to the other end of the left viewing link (41). Thus, the left front support wheel (51) can rotate relative to the other end of the left viewing link (41).

[0094] Accordingly, the left drive wheel (21) and the left motor (31) can move up and down around the left hinge axis (43). The left drive wheel (21) and the left front support wheel (51) can simultaneously come into contact with the driving surface on which the autonomous driving robot (1) moves. Alternatively, depending on the shape of the driving surface, only one of the left drive wheel (21) and the left front support wheel (51) may come into contact.

[0095] The right viewing link (42) can rotate around the right hinge axis (44). In other words, the right viewing link (42) can perform a seesaw motion around the right hinge axis (44).

[0096] A right drive wheel (22) may be installed at one end of the right viewing link (42). For example, a fixed shaft (321) of a right motor (32) may be fixed to one end of the right viewing link (42). Thus, the right motor (32) is fixed to one end of the right viewing link (42), and the right drive wheel (22) can rotate relative to one end of the right viewing link (42). A right front support wheel (52) may be installed at the other end of the right viewing link (42). For example, a caster bracket (50b) that rotatably supports the caster wheel (50a) of the right front support wheel (52) may be fixed to the other end of the right viewing link (42). Thus, the right front support wheel (52) can rotate relative to the other end of the right viewing link (42).

[0097] Accordingly, the right drive wheel (22) and the right motor (32) can move up and down around the right hinge axis (44). The right drive wheel (22) and the right front support wheel (52) can simultaneously come into contact with the driving surface on which the autonomous driving robot (1) moves. Alternatively, depending on the shape of the driving surface, only one of the right drive wheel (22) and the right front support wheel (52) may come into contact.

[0098] A pair of rear support wheels (53, 54) can be installed on the lower surface of the base (11) of the body (10). The pair of rear support wheels (53, 54) can be formed as casters, just like the pair of front support wheels (51, 52). The pair of rear support wheels (53, 54) can be installed so as not to move up and down relative to the base (11) of the body (10).

[0099] In FIG. 2 and FIG. 3, the suspension (40) is formed as a viewing link, but the suspension (40) used in the autonomous driving robot (1) according to one or more embodiments of the present disclosure is not limited thereto. As shown in FIG. 4, the suspension (40) may be formed similarly to a double wishbone suspension.

[0100] FIG. 4 is a drawing showing a suspension (40) used in an autonomous driving robot (1) according to one or more embodiments of the present disclosure.

[0101] Referring to FIG. 4, a suspension (40) according to one or more embodiments of the present disclosure may include a fixed plate (401), a movable plate (402), an upper link (403), a lower link (404), and a coil spring (405).

[0102] The fixing plate (401) can be installed on the body (10). For example, the fixing plate (401) can be fixed to one side of the lower part of the body (10). The fixing plate (401) can be formed as a rectangular flat plate.

[0103] The movable plate (402) may be installed parallel to the fixed plate (401) and spaced a certain distance from the fixed plate (401). The movable plate (402) may be formed as a rectangular flat plate. A driving wheel (20) may be installed on the movable plate (402). The driving wheel (20) may be installed on the lower part of the movable plate (402). The fixed shaft (311) of the in-wheel motor (30) of the driving wheel (20) may be fixed to the movable plate (402).

[0104] The upper link (403) and the lower link (404) can be installed between the fixed plate (401) and the movable plate (402).

[0105] One end of the upper link (403) may be rotatably installed on the fixed plate (401), and the other end may be rotatably installed on the movable plate (402). The upper link (403) may be formed in the shape of a straight bar.

[0106] The lower link (404) can be installed below the upper link (403). One end of the lower link (404) can be rotatably installed on the fixed plate (401), and the other end can be rotatably installed on the movable plate (402). The lower link (404) can be formed in the shape of a curved bar protruding upward.

[0107] The coil spring (405) can be formed to apply downward force to the drive wheel (20). When the coil spring (405) applies downward force to the drive wheel (20), the drive wheel (20) can maintain contact with the driving surface. Therefore, if the driving surface has curves (bumps), the drive wheel (20) can move while maintaining contact with the driving surface.

[0108] The coil spring (405) can be positioned diagonally between the fixed plate (401) and the movable plate (402). The coil spring (405) can be positioned diagonally between the upper link (403) and the lower link (404). For example, one end of the coil spring (405) can be connected to one end of the upper link (403) installed on the movable plate (402), and the other end of the coil spring (405) can be connected to the other end of the lower link (404) installed on the fixed plate (401). In this case, the coil spring (405) may be a tension spring.

[0109] Hereinafter, with reference to FIGS. 5a to 6b, a case in which an autonomous driving robot (1) according to one or more embodiments of the present disclosure falls into a rough road is described. Here, as an example of a rough road, a drainage grid (1000) used in a restaurant kitchen, etc. is exemplified.

[0110] FIG. 5a is a side view showing the state in which the driving wheel (20) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure has fallen into a rough road. FIG. 5b is a plan view showing the state in which the driving wheel (20) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure of FIG. 5a has fallen into a rough road.

[0111] Referring to FIGS. 5a and 5b, the drainage grid (1000) may include a plurality of rectangular holes (101). A driving wheel (20) may be positioned over the rectangular holes (101) of the drainage grid (1000). At this time, a portion of the driving wheel (20) may be positioned inside the rectangular holes (101). The width (W) of the driving wheel (20) is narrower than the width (W1) of the rectangular holes (101). However, the diameter (D) of the driving wheel (20) is larger than the length (L) of the rectangular holes (101), so that the driving wheel (20) catches on the vertical partition (103), and thus the driving wheel (20) may not fall completely into the rectangular holes (101) of the drainage grid (1000).

[0112] In this way, if only a part of the drive wheel (20) comes into contact with the drainage grid (1000), even if the drive wheel (20) rotates, sufficient frictional force is not applied to the drive wheel (20), so the drive wheel (20) cannot move forward and can rotate in place. That is, the drive wheel (20) may end up in a state where it is stuck in a rough road.

[0113] FIG. 6a is a side view showing the state in which the driving wheel (20) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure has fallen into a rough road. FIG. 6b is a plan view showing the state in which the driving wheel (20) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure of FIG. 6a has fallen into a rough road.

[0114] Referring to FIGS. 6a and 6b, the drive wheel (20) may be positioned over the rectangular hole (101) of the drainage grid (1000). At this time, part of the drive wheel (20) may be positioned inside the rectangular hole (101). The diameter (D) of the drive wheel (20) is smaller than the length (L) of the rectangular hole (101). However, the width (W) of the drive wheel (20) is wider than the width (W2) of the rectangular hole (101), so that the drive wheel (20) catches on the horizontal partition (102), and thus the drive wheel (20) may not fall completely into the rectangular hole (101) of the drainage grid (100).

[0115] In this way, if only a part of the drive wheel (20) comes into contact with the drainage grid (1000), even if the drive wheel (20) rotates, sufficient frictional force is not applied to the drive wheel (20), so the drive wheel (20) cannot move forward and can rotate in place. That is, the drive wheel (20) may end up in a state where it is stuck in a rough road.

[0116] Hereinafter, with reference to FIGS. 7 and FIGS. 8, a method for an autonomous driving robot (1) to perform autonomous driving according to one or more embodiments of the present disclosure will be described.

[0117] FIG. 7 is a block diagram showing an autonomous driving robot (1) according to one or more embodiments of the present disclosure.

[0118] Referring to FIG. 7, an autonomous driving robot (1) according to one or more embodiments of the present disclosure may include a motor (30) and a motor driver (80).

[0119] The motor (30) can be formed to rotate the drive wheel (20). The drive wheel (20) can rotate in both directions by the motor (30).

[0120] For example, the motor (30) may be formed as an in-wheel motor installed at the center of the drive wheel (20). The motor (30) may include a stator and a rotor. The stator is fixed to the suspension (40), and the rotor may be installed around the stator to rotate around the stator. The rotor may be coupled to the center of the drive wheel (20). Thus, when the motor (30) is operated, the drive wheel (20) can rotate integrally with the rotor.

[0121] The motor drive unit (80) may be formed to control the forward and reverse rotation of the motor (30) and the speed of the motor (30). For example, the motor drive unit (80) may include a speed controller (81) (see operation in FIG. 21) and a current controller (82) (see operation in FIG. 21). The speed controller (81) may be formed to control the speed of the motor (30). The current controller (82) may be formed to control the torque of the motor (30).

[0122] The speed controller (81) can be configured to perform PID control (proportional-integration-differential control), PI control, and PD control. The speed controller (81) can be configured to adjust the gain. The gain of the speed controller (81) may include proportional control gain, integral control gain, and deviation control gain.

[0123] According to one embodiment, an autonomous driving robot (1) according to one or more embodiments of the present disclosure may include a sensor (60). For example, the autonomous driving robot (1) may include a plurality of camera sensors (61), LIDAR sensors (62), and IMU sensors.

[0124] A plurality of camera sensors (61) may be formed to capture images of the front of the autonomous driving robot (1). A LIDAR sensor (62) may be formed to measure the distance to an obstacle located in front of the autonomous driving robot (1). An IMU sensor may be formed to measure the position, speed, and direction of the autonomous driving robot (1).

[0125] According to one embodiment, an autonomous driving robot (1) according to one or more embodiments of the present disclosure may include a processor (90) and a memory (91).

[0126] The processor (90) can be configured to control the autonomous driving robot (1) so that the autonomous driving robot (1) drives autonomously.

[0127] According to one embodiment, the processor (90) can recognize the current position of the autonomous driving robot (1) using at least one of the sensors (60), for example, a plurality of camera sensors (61), a LIDAR sensor (62), and an IMU sensor. In other words, the processor (90) can perform localization of the autonomous driving robot (1) using at least one of the plurality of camera sensors (61), a LIDAR sensor (62), and an IMU sensor.

[0128] For example, the processor (90) may be configured to control the motor (30) using information input from the sensor (60). By controlling the sensor (60) and the motor (30), the processor (90) can enable the autonomous driving robot (1) to perform autonomous driving.

[0129] For example, the processor (90) may be configured to recognize that the drive wheel (20) has fallen into a rough road. When the processor (90) recognizes that the drive wheel (20) has fallen into a rough road, the processor (90) may execute a rough road escape algorithm (923). The rough road escape algorithm (923) may be stored in the processor (90) or in memory (91).

[0130] For example, the rough terrain escape algorithm (923) can be configured to rotate the motor (30) that rotates the drive wheel (20) that has fallen into the rough terrain in one direction while vibrating it. When the processor (90) executes the rough terrain escape algorithm (923), the autonomous driving robot (1) can get out of the rough terrain and drive normally.

[0131] According to one embodiment, the processor (90) can be formed in various ways as long as it can control the autonomous driving robot (1). For example, the processor (90) can be implemented as a microprocessor, a GPU (Graphics Processing Unit), an AI (Artificial Intelligence) processor, a NPU (Neural Processing Unit), or a TCON (Time controller). However, it is not limited thereto, and the processor (90) may include one or more of a central processing unit (CPU), an MCU (Micro Controller Unit), an MPU (micro processing unit), a controller, an application processor (AP), a communication processor (CP), or an ARM processor, or may be defined by such terms. Additionally, the processor (90) may be implemented as a System on Chip (SoC) or Large Scale Integration (LSI) with a built-in processing algorithm, or may be implemented in the form of an Application Specific Integrated Circuit (ASIC) or Field Programmable Gate Array (FPGA).

[0132] The memory (91) can store various software programs, application software, data, etc. required for autonomous driving of the autonomous driving robot (1). For example, the memory (91) can store an autonomous driving algorithm (92), a rough terrain escape algorithm (923), and a motor control algorithm (93).

[0133] Additionally, the memory (91) can store at least one instruction regarding the autonomous driving robot (1). The memory (91) can store an O / S (Operating System) for driving the autonomous driving robot (1).

[0134] The memory (91) may include semiconductor memory such as flash memory or magnetic storage media such as hard disk.

[0135] Meanwhile, in the present disclosure, the term memory (91) may be used to include memory, ROM (read-only memory) within the processor (90), RAM (random access memory), or a memory card (e.g., micro SD (secure digital) card, memory stick) mounted on the autonomous driving robot (1).

[0136] The processor (90) may be composed of one or more processors. For example, the processor (90) may perform the operation of an autonomous driving robot (1) according to one or more embodiments of the present disclosure by executing at least one instruction stored in memory (91).

[0137] FIG. 8 is a diagram showing the relationship between the autonomous driving algorithm (92) and the motor control algorithm (93) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure.

[0138] Referring to FIG. 8, the processor (90) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure can perform an autonomous driving algorithm (92).

[0139] The autonomous driving algorithm (92) may include a general driving algorithm (921) and a rough road recognition algorithm (922).

[0140] A general driving algorithm (921) can be configured so that the processor (90) controls the sensor (60) and motor (30) of the autonomous driving robot (1) to perform autonomous driving. For example, when the general driving algorithm (921) is executed, the processor (90) can use the sensor (60) to recognize surrounding information and use it to control the motor (30), thereby enabling the autonomous driving robot (1) to move to a target point.

[0141] The rough terrain recognition algorithm (922) is configured to recognize whether the autonomous driving robot (1) has fallen into a rough terrain. For example, if the current position of the autonomous driving robot (1) recognized by the sensor (60) does not change while the autonomous driving robot (1) is driving autonomously to a target point, the rough terrain recognition algorithm (922) can recognize that the autonomous driving robot (1) has fallen into a rough terrain.

[0142] The rough terrain recognition algorithm (922) may be included in the general driving algorithm (921). For example, while executing the general driving algorithm (921), the processor (90) can recognize the current location of the autonomous driving robot (1) in real time using the sensor (60). If the location of the autonomous driving robot (1) does not change or rotates in place without moving along the expected path, the processor (90) may recognize that the autonomous driving robot (1) has fallen into a rough terrain. Additionally, even if the autonomous driving robot (1) has not completely fallen into a rough terrain, the rough terrain recognition algorithm (922) may recognize that it has encountered a rough terrain by detecting a change in the movement path of the autonomous driving robot (1). For example, the autonomous driving robot (1) may hit the terrain and decrease its speed or require more power to drive at a desired speed, and in such cases, the rough terrain recognition algorithm (922) may recognize that a corrective action is required through, for example, the rough terrain escape algorithm (923).

[0143] When it is recognized that the autonomous driving robot (1) has fallen into a rough road, the processor (90) can transmit rough road recognition information to the motor control algorithm (93). Here, the rough road recognition information may refer to a state where the autonomous driving robot (1) has fallen into a rough road and is in a stationary state or cannot move along the expected path, or a state where it cannot move along the expected path at a desired speed or desired output.

[0144] The motor control algorithm (93) may include a motor drive unit (80) and a rough terrain escape algorithm (923).

[0145] The motor drive unit (80) may be configured to receive a target rotational speed from the autonomous driving algorithm (92) and rotate the motor (30) according to the received target rotational speed. Additionally, the motor drive unit (80) may receive a motor rotational speed from the motor (30) and transmit the motor rotational speed to the autonomous driving algorithm (92). Here, the motor rotational speed refers to the actual rotational speed of the motor (30) measured by a motor sensor (39) installed on the motor (30) (see operation in FIG. 21), for example, a Hall sensor or an encoder. The motor drive unit (80) may control the motor (30) through PID control so that the motor rotational speed matches the target rotational speed.

[0146] When the rough terrain escape algorithm (923) receives rough terrain recognition information from the rough terrain recognition algorithm (922) of the autonomous driving algorithm (92), it can change the gain value of the motor drive unit (80) so that the motor drive unit (80) can simultaneously vibrate the drive wheel (20) up and down and rotate it. For example, the rough terrain escape algorithm (923) can change the gain value of the motor drive unit (80) so that the drive wheel (20) vibrates up and down and rotates in one direction. The gain value that allows the drive wheel (20) to vibrate up and down and rotate in one direction can be stored in the memory (91).

[0147] The motor (30) is configured to rotate according to a signal output from the motor drive unit (80). Additionally, the motor (30) may include a motor sensor (39) capable of measuring the rotational speed of the motor (30).

[0148] According to one embodiment, the general driving algorithm (921) can transmit a target rotational speed to the motor drive unit (80) of the motor control algorithm (93). The motor drive unit (80) of the motor control algorithm (93) can rotate the motor (30) at the target rotational speed.

[0149] The motor (30) can rotate according to a signal transmitted from the motor drive unit (80). A motor sensor (39) installed on the motor (30) can detect the motor rotation speed and transmit the detected motor rotation speed to the motor drive unit (80). The motor drive unit (80) can transmit the motor rotation speed received from the motor (30) to the autonomous driving algorithm (92). The motor drive unit (80) can control the rotation speed of the motor (30) to match the target rotation speed through PID control.

[0150] The processor (90) can recognize that the autonomous driving robot (1) has fallen into a rough road by the rough road recognition algorithm (922) while autonomous driving by performing a general driving algorithm (921). In this case, the rough road recognition algorithm (922) can transmit rough road recognition information to the motor control algorithm (93). Then, the rough road escape algorithm (923) of the motor control algorithm (93) can change the gain value of the motor drive unit (80).

[0151] Then, the motor drive unit (80) controls the motor (30) so that it can rotate in one direction while vibrating. Then, the drive wheel (20), which is installed integrally with the motor (30), can rotate in one direction while vibrating up and down to get out of rough terrain.

[0152] When the processor (90) recognizes that the position of the autonomous driving robot (1) has changed through the sensor (60), it recognizes that the autonomous driving robot (1) has escaped the rough road and can make the autonomous driving robot (1) perform autonomous driving through the general driving algorithm (921).

[0153] Hereinafter, a method for escaping a rough road of an autonomous driving robot (1) according to one or more embodiments of the present disclosure will be described in detail with reference to FIG. 9.

[0154] FIG. 9 is a flowchart illustrating a method for escaping rough terrain of an autonomous driving robot (1) according to one or more embodiments of the present disclosure.

[0155] First, the processor (90) of the autonomous driving robot (1) can control the motor drive unit (80) to rotate the motor (30) (operation S91). The processor (90) can control the motor drive unit (80) using an autonomous driving algorithm (92). When the motor (30) rotates, the drive wheel (20) coupled to the motor (30) rotates, so the autonomous driving robot (1) can move.

[0156] Next, the processor (90) can check whether the position of the autonomous driving robot (1) changes (operation S92). For example, the processor (90) can check whether the autonomous driving robot (1) moves to an expected position through the sensor (60). According to one embodiment, the processor (90) can detect the position of the autonomous driving robot (1) through at least one of a plurality of camera sensors (61), LIDAR sensors (62), and IMU sensors.

[0157] When the autonomous driving robot (1) moves to the expected position (operation S92-Y), the processor (90) performs autonomous driving using a general driving algorithm (921).

[0158] If the position of the autonomous driving robot (1) does not change (operation S92-N), the processor (90) may recognize that the autonomous driving robot (1) has fallen into a rough road (or has encountered a rough road) (operation S93). For example, if the motor (30) is rotating but the position of the autonomous driving robot (1) detected by the sensor (60) does not change, the processor (90) may recognize that the autonomous driving robot (1) has fallen into a rough road. Alternatively, if the motor (30) is rotating but the movement path of the autonomous driving robot (1) detected by the sensor (60) is different from the expected path, the processor (90) may recognize that the autonomous driving robot (1) has fallen into a rough road.

[0159] When the autonomous driving robot (1) is detected to have fallen into a rough road, the processor (90) can operate the rough road escape algorithm (923) (operation S94). For example, to enable the autonomous driving robot (1) to escape the rough road, the rough road escape algorithm (923) can change the gain value of the motor drive unit (80).

[0160] When the rough terrain escape algorithm (923) is activated and the gain value of the motor drive unit (80) changes, the motor (30) can rotate in one direction while vibrating (operation S95). Here, vibrating the motor (30) means that the rotational direction of the rotor of the motor (30) changes rapidly in the forward and reverse directions. For example, vibrating the motor (30) means that the rotational direction of the rotor changes rapidly from clockwise to counterclockwise and then from counterclockwise to clockwise within a certain angle range.

[0161] When the motor (30) vibrates and rotates in one direction, the drive wheel (20) on which the motor (30) is installed can vibrate and rotate in one direction (operation S96). When the drive wheel (20) vibrates and rotates in one direction, the drive wheel (20) can escape from rough terrain (operation S97). Therefore, when the motor (30) vibrates and rotates in one direction, the drive wheel (20) can escape from rough terrain.

[0162] For example, when the motor (30) vibrates and rotates in one direction, moments when the direction of movement of the drive wheel (20) and the direction of rotation of the motor (30) become opposite to each other may occur repeatedly. At the moment when the direction of movement of the drive wheel (20) and the direction of rotation of the motor (30) become opposite to each other, the drive wheel (20) may bounce upward due to resistance. Afterwards, the drive wheel (20) may descend again due to the weight of the autonomous driving robot (1). Also, when the motor (30) vibrates and rotates in one direction, the drive wheel (20) may be lifted upward due to the resistance of the rough terrain and then descend again due to its own weight. Through such operation, the drive wheel (20) can escape from the rough terrain.

[0163] Hereinafter, with reference to FIGS. 10 to 19, various cases in which a rough road recognition algorithm (922) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure recognizes a rough road (100) will be described in detail.

[0164] For reference, FIGS. 10 to 19 conceptually illustrate the body (10) and a pair of drive wheels (20) of an autonomous driving robot (1) to explain the case where the autonomous driving robot (1) falls into a rough road (100). Also, in FIGS. 10 to 19, a pair of black arrows marked on the pair of drive wheels (20) indicate the rotational speed of the drive wheels (20).

[0165] First, with reference to FIGS. 10 to 12, a case in which an autonomous driving robot (1) falls into a rough road while moving straight will be explained.

[0166] FIG. 10 is a conceptual diagram showing the state of an autonomous driving robot (1) moving straight according to one or more embodiments of the present disclosure.

[0167] As illustrated in FIG. 10, when a pair of drive wheels (20), namely the left drive wheel (21) and the right drive wheel (22), rotate in the same direction at the same rotational speed, the autonomous driving robot (1) can move straight. For example, the autonomous driving robot (1) can move straight forward as shown by the white arrow.

[0168] While the autonomous driving robot (1) is moving straight, the processor (90) can confirm that the position of the autonomous driving robot (1) is changing through the sensor (60). Additionally, the processor (90) can confirm that the autonomous driving robot (1) is moving to an expected position through the sensor (60). Here, the expected position refers to the position that the autonomous driving robot (1) will reach, calculated by the processor (90) at regular time intervals when the autonomous driving robot (1) is driving autonomously using a general autonomous driving algorithm (921).

[0169] Figure 11 illustrates a state in which a pair of drive wheels (20) of an autonomous driving robot (1) are driven in a straight line and have fallen into a rough road (100).

[0170] FIG. 11 is a conceptual diagram showing a state in which a pair of driving wheels (20) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure, which is moving straight, have fallen into a rough road (100).

[0171] Referring to FIG. 11, a pair of drive wheels (20) are rotating in the same direction at the same rotational speed, but since a pair of drive wheels (20) are stuck in the rough terrain (100), the autonomous driving robot (1) can remain in place without moving straight. In other words, the position of the autonomous driving robot (1) may not change. As shown in FIG. 11, if the position of the autonomous driving robot (1) does not change, the processor (90) can recognize that a pair of drive wheels (20) of the autonomous driving robot (1), namely the left drive wheel (21) and the right drive wheel (22), are stuck in the rough terrain (100).

[0172] Figure 12 illustrates a state in which the left drive wheel (21) of the autonomous driving robot (1) falls into a rough road (100) while driving autonomously.

[0173] FIG. 12 is a conceptual diagram showing the state in which the left drive wheel (21) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure, which is moving straight, has fallen into a rough road (100).

[0174] Referring to FIG. 12, a pair of drive wheels (20) are rotating in the same direction at the same rotational speed, but the left drive wheel (21) is stuck in the rough road (100) and the right drive wheel (22) is not stuck in the rough road (100). In this case, the left drive wheel (21) cannot move because it is stuck in the rough road (100), but the right drive wheel (22) can move. Therefore, the autonomous driving robot (1) can rotate to the left around the left drive wheel (21) as indicated by the white arrow.

[0175] When a pair of drive wheels (20) rotate in the same direction at the same rotational speed, the expected position of the autonomous robot (1) may be forward. However, even if the position of the autonomous robot (1) detected by the sensor (60) changes, if the position of the autonomous robot (1) is not the expected position and rotates to the left, the processor (90) may recognize that the left drive wheel (21) of the autonomous robot (1) has fallen into a rough road (100).

[0176] Figure 13 illustrates a state in which the right drive wheel (22) of the autonomous driving robot (1) falls into a rough road (100) while driving autonomously.

[0177] FIG. 13 is a conceptual diagram showing the state in which the right drive wheel (22) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure, which is moving straight, has fallen into a rough road (100).

[0178] Referring to FIG. 13, a pair of drive wheels (20) are rotating in the same direction at the same rotational speed, but the right drive wheel (22) is stuck in the rough terrain (100) and the left drive wheel (21) is not stuck in the rough terrain (100). In this case, the right drive wheel (22) cannot move because it is stuck in the rough terrain (100), but the left drive wheel (21) can move. Therefore, the autonomous driving robot (1) can rotate to the right around the right drive wheel (22) as indicated by the white arrow.

[0179] When a pair of drive wheels (20) rotate in the same direction at the same rotational speed, the expected position of the autonomous robot (1) may be forward. However, even if the position of the autonomous robot (1) detected by the sensor (60) changes, if the position of the autonomous robot (1) is not the expected position and rotates to the right, the processor (90) may recognize that the right drive wheel (22) of the autonomous robot (1) has fallen into a rough road (100).

[0180] An autonomous driving robot (1) according to one or more embodiments of the present disclosure can drive autonomously along a curved path that bends to the right or left. In other words, an autonomous driving robot (1) according to one or more embodiments of the present disclosure can turn right or turn left.

[0181] FIG. 14 is a conceptual diagram showing the state of an autonomous driving robot (1) turning right according to one or more embodiments of the present disclosure.

[0182] As illustrated in FIG. 14, when the rotational speed of the left drive wheel (21) is greater than the rotational speed of the right drive wheel (22), the autonomous driving robot (1) can move along a curved path that bends to the right. For example, the autonomous driving robot (1) can move in a curved direction to the right, as shown by the white arrow.

[0183] While the autonomous driving robot (1) is moving along a curve, the processor (90) can confirm that the position of the autonomous driving robot (1) is changing through the sensor (60). Additionally, the processor (90) can confirm that the autonomous driving robot (1) is moving to an expected position through the sensor (60). The expected position may exist on the expected path of the autonomous driving robot (1) having a first curvature determined by the difference between the rotational speed of the left drive wheel (21) and the rotational speed of the right drive wheel (22).

[0184] When a pair of drive wheels (20) of an autonomous driving robot (1) fall into a rough road (100) while the autonomous driving robot (1) is driving autonomously in a curve, the autonomous driving robot (1) cannot move, so the position of the autonomous driving robot (1) may not change. If the position of the autonomous driving robot (1) does not change, the processor (90) may recognize that a pair of drive wheels (20) of the autonomous driving robot (1) have fallen into a rough road (100).

[0185] Figure 15 shows the state in which the left drive wheel (21) falls into a rough road (100) while the autonomous driving robot (1) is turning right as in Figure 14.

[0186] FIG. 15 is a conceptual diagram showing the state in which the left drive wheel (21) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure, which turns right, has fallen into a rough road (100).

[0187] Referring to FIG. 15, the left drive wheel (21) is rotating at a faster speed than the right drive wheel (22), but the left drive wheel (21) is stuck in the rough road (100) and the right drive wheel (22) is not stuck in the rough road (100). In this case, the left drive wheel (21) cannot move because it is stuck in the rough road (100), but the right drive wheel (22) can move. Therefore, the autonomous driving robot (1) can rotate to the left with the left drive wheel (21) as the center, as indicated by the white arrow.

[0188] When the rotational speed of the left drive wheel (21) is faster than the rotational speed of the right drive wheel (22), the autonomous driving robot (1) can turn right along a curved path having a first curvature determined by the difference between the rotational speed of the left drive wheel (21) and the rotational speed of the right drive wheel (22), as shown in FIG. 14. Thus, the expected position of the autonomous driving robot (1) can be located on a curve having a first curvature that is bent to the right. However, if the position of the autonomous driving robot (1) detected by the sensor (60) is not the expected position but another position, for example, if the autonomous driving robot (1) is in a position where it rotates to the left around the left drive wheel (21), the processor (90) can recognize that the left drive wheel (21) of the autonomous driving robot (1) has fallen into a rough road (100).

[0189] Figure 16 shows the state in which the right drive wheel (22) of the autonomous driving robot (1) falls into a rough road (100) while turning right as in Figure 14.

[0190] FIG. 16 is a conceptual diagram showing the state in which the right drive wheel (22) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure, which turns right, has fallen into a rough road (100).

[0191] Referring to FIG. 16, the left drive wheel (21) is rotating at a faster speed than the right drive wheel (22), but the right drive wheel (22) is stuck in the rough road (100) and the left drive wheel (21) is not stuck in the rough road (100). In this case, the right drive wheel (22) cannot move because it is stuck in the rough road (100), but the left drive wheel (21) can move. Therefore, the autonomous driving robot (1) can rotate to the right with the right drive wheel (22) as the center, as indicated by the white arrow.

[0192] When the rotational speed of the left drive wheel (21) is faster than the rotational speed of the right drive wheel (22), the autonomous driving robot (1) can turn right along a curve having a first curvature determined by the difference between the rotational speed of the left drive wheel (21) and the rotational speed of the right drive wheel (22), as shown in FIG. 14. Thus, the expected position of the autonomous driving robot (1) can be located on a curve having a first curvature that is bent to the right. However, if the position of the autonomous driving robot (1) detected by the sensor (60) is not the expected position but another position, for example, if the autonomous driving robot (1) is in a position where it rotates along a curve having a second curvature in the right direction centered on the right drive wheel (22), the processor (90) can recognize that the right drive wheel (22) of the autonomous driving robot (1) has fallen into a rough road (100). The second curvature may be greater than the first curvature.

[0193] FIG. 17 is a conceptual diagram showing the state of an autonomous driving robot (1) turning left according to one or more embodiments of the present disclosure.

[0194] As illustrated in FIG. 17, when the rotational speed of the right drive wheel (22) is faster than the rotational speed of the left drive wheel (21), the autonomous driving robot (1) can move along a curved path that bends to the left. For example, the autonomous driving robot (1) can move along a curved path that bends to the left, as shown by the white arrow.

[0195] While the autonomous driving robot (1) is moving along a curve, the processor (90) can confirm that the position of the autonomous driving robot (1) is changing through the sensor (60). Additionally, the processor (90) can confirm that the autonomous driving robot (1) is moving to an expected position through the sensor (60). The expected position may exist on the expected path of the autonomous driving robot (1) having a third curvature determined by the difference between the rotational speed of the left drive wheel (21) and the rotational speed of the right drive wheel (22), which the processor (90) determines.

[0196] If both of the driving wheels (20) of the autonomous driving robot (1) fall into the rough road (100) while the autonomous driving robot (1) is driving autonomously along a curved path as shown in FIG. 17, the autonomous driving robot (1) cannot move, so the position of the autonomous driving robot (1) may not change. If the position of the autonomous driving robot (1) does not change, the processor (90) may recognize that the driving wheels (20) of the autonomous driving robot (1) have fallen into the rough road (100).

[0197] Figure 18 shows the state in which the right drive wheel (22) falls into a rough road (100) while the autonomous driving robot (1) is turning left as in Figure 17.

[0198] FIG. 18 is a conceptual diagram showing the state in which the right drive wheel (22) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure, which turns left, has fallen into a rough road (100).

[0199] Referring to FIG. 18, the right drive wheel (22) is rotating at a faster speed than the left drive wheel (21), but the right drive wheel (22) is stuck in the rough road (100) and the left drive wheel (21) is not stuck in the rough road (100). In this case, the right drive wheel (22) cannot move because it is stuck in the rough road (100), but the left drive wheel (21) can move. Therefore, the autonomous driving robot (1) can rotate to the right with the right drive wheel (22) as the center, as indicated by the white arrow.

[0200] When the rotational speed of the right drive wheel (22) is faster than the rotational speed of the left drive wheel (21), the autonomous driving robot (1) can turn left along a curve having a third curvature determined by the difference between the rotational speed of the right drive wheel (22) and the rotational speed of the left drive wheel (21), as shown in FIG. 17. Thus, the expected position of the autonomous driving robot (1) can be located on an expected path having a third curvature that curves to the left. However, if the position of the autonomous driving robot (1) detected by the sensor (60) is not the expected position but another position, for example, if the autonomous driving robot (1) is in a position where it rotates to the right around the right drive wheel (22), the processor (90) can recognize that the right drive wheel (22) of the autonomous driving robot (1) has fallen into a rough road (100).

[0201] Figure 19 shows the state in which the left drive wheel (21) falls into a rough road (100) while the autonomous driving robot (1) is turning left as in Figure 17.

[0202] FIG. 19 is a conceptual diagram showing the state in which the left drive wheel (21) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure, which turns left, has fallen into a rough road (100).

[0203] Referring to FIG. 19, the right drive wheel (22) is rotating at a faster speed than the left drive wheel (21), but the left drive wheel (21) is stuck in the rough road (100) and the right drive wheel (22) is not stuck in the rough road (100). In this case, the left drive wheel (21) cannot move because it is stuck in the rough road (100), but the right drive wheel (22) can move. Therefore, the autonomous driving robot (1) can rotate to the left with the left drive wheel (21) as the center, as indicated by the white arrow.

[0204] When the rotational speed of the right drive wheel (22) is faster than the rotational speed of the left drive wheel (21), the autonomous driving robot (1) can turn left along a curved path having a third curvature determined by the difference between the rotational speed of the right drive wheel (22) and the rotational speed of the left drive wheel (21), as illustrated in FIG. 17. Thus, the expected position of the autonomous driving robot (1) can be located on an expected path having a third curvature that curves to the left. However, if the position of the autonomous driving robot (1) detected by the sensor (60) is not the expected position but another position, for example, if the autonomous driving robot (1) is in a position where it rotates along a curve having a fourth curvature in the left direction centered on the left drive wheel (21), the processor (90) can recognize that the left drive wheel (21) of the autonomous driving robot (1) has fallen into a rough road (100). The fourth curvature may be greater than the third curvature.

[0205] Hereinafter, with reference to FIGS. 20 to 27, a method for an autonomous driving algorithm (92) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure to control a motor (30) will be described in detail.

[0206] FIG. 20 is a control block diagram of a pair of motors (30) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure.

[0207] The autonomous driving algorithm (92) can transmit a target rotational speed to the motor drive unit (80). For example, the autonomous driving algorithm (92) can transmit the target rotational speed of the left motor (31) to the left speed controller (81-1) of the motor drive unit (80). Then, a signal corresponding to the target rotational speed can be transmitted to the left motor (31) through the left speed controller (81-1) and the left current controller (82-1). Thus, the left motor (31) can rotate in response to the target rotational speed. The left motor (31) can feed back a signal corresponding to the actual motor rotational speed to the left speed controller (81-1). Then, the left speed controller (81-1) can receive the feedback signal and control the left motor (31) so that the rotational speed of the left motor (31) matches the target rotational speed. The left speed controller (81-1) can be implemented as a PID controller or a PI controller.

[0208] Additionally, the autonomous driving algorithm (92) can transmit the target rotational speed of the right motor (32) to the right speed controller (81-2) of the motor drive unit (80). Then, a signal corresponding to the target rotational speed can be transmitted to the right motor (32) through the right speed controller (81-2) and the right current controller (82-2). Thus, the right motor (32) can rotate in response to the target rotational speed. The right motor (32) can feed back a signal corresponding to the actual motor rotational speed to the right speed controller (81-2). Then, the right speed controller (81-2) can receive the feedback signal and control the right motor (32) so that the rotational speed of the right motor (32) matches the target rotational speed. The right speed controller (81-2) can be formed in the same way as the left speed controller (81-1). For example, the right speed controller (81-2) can be implemented as a PID controller or a PI controller.

[0209] In one or more embodiments, instead of using a sensor to determine whether the autonomous robot (1) has fallen into a rough road, or in addition to using a sensor, the processor (90) may determine whether the autonomous robot (1) has fallen into a rough road by using the target rotational speed of the wheel. For example, the right speed controller (81-2) may receive a feedback signal indicating that the rotational speed of the right motor (32) does not match the target rotational speed. In response to this first feedback signal, the right speed controller (81-2) may control the right motor (32) to reach the target rotational speed. Then, the right speed controller (81-2) may receive a second feedback signal indicating that the rotational speed of the right motor (32) still does not match the target rotational speed. As a result of this second feedback signal, the processor (90) may determine that the right wheel has fallen into a rough road.

[0210] Hereinafter, with reference to FIGS. 21 to 24, a method for the speed controller (81) to match the rotational speed of the motor (30) to the target rotational speed when the left speed controller (81-1) and the right speed controller (81-2) are formed as PID controllers will be explained.

[0211] FIG. 21 is a control block diagram of a motor (30) in which the speed controller (81) is implemented as a PID controller.

[0212] Referring to FIG. 21, the target rotational speed can be input to the speed controller (81). For example, the target rotational speed can be input to the error calculation unit (81a) of the speed controller (81). The error value calculated in the error calculation unit (81a) can be input to the PID controller (81b).

[0213] Initially, since the motor rotation speed fed back from the motor (30) is 0, the input to the PID controller (81b) can be the same as the target rotation speed. When the motor (30) is rotated by the PID controller (81b) and the current controller (82), the motor rotation speed of the motor (30) can be fed back to the speed controller (81), that is, the error calculation unit (81a).

[0214] When the motor (30) rotates, an error value can be input to the PID controller (81b). Here, the error value is the value obtained by subtracting the motor rotation speed from the target rotation speed. That is, error value = target rotation speed - motor rotation speed. The PID controller (81b) can control the motor (30) so that the error value becomes 0.

[0215] FIG. 22 is a Bode plot showing a speed controller (81) of a motor drive unit (80) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure. FIG. 23 is a graph showing the change over time of the magnitude and phase of a signal having a frequency of 10 Hz of the Bode plot of FIG. 22. FIG. 24 is a graph with an error value added to the graph of FIG. 23.

[0216] In FIG. 22, the horizontal axis represents frequency (unit: Hz), and the vertical axis of the upper graph represents the magnitude (unit: dB) of the output (motor rotation speed) relative to the input (target rotation speed). The vertical axis of the lower graph represents the phase (unit: degrees).

[0217] For example, when the frequency of the signal is 10 Hz, the magnitude of the output relative to the input is -10 dB (about 0.31 times), and the phase is about -28 degrees.

[0218] The magnitude and phase of the output relative to the input in Fig. 22 can be represented as shown in Fig. 23 as a function of time. In Fig. 23, the horizontal axis represents time, and the vertical axis represents the multiple. P represents the phase difference between the input and the output, Ai represents the magnitude of the input, and Ao represents the magnitude of the output.

[0219] Referring to FIG. 23, when the maximum target rotational speed (Ai) is 1, the maximum rotational speed (Ao) of the motor (30) is 0.31. Therefore, the rotational speed of the motor (30) can be reduced by 0.31 times compared to the target rotational speed.

[0220] Referring to FIG. 24, it can be seen that the error value becomes smaller than the target rotational speed as time progresses. Therefore, as time passes, the error value input to the PID controller (81b) gradually decreases and can converge to 0. Then, the motor rotational speed can match the target rotational speed. In other words, when the gain value of the PID controller (81b) is less than 0 dB, the error value converges to 0, and the motor rotational speed of the motor (30) can match the target rotational speed.

[0221] When an autonomous driving robot (1) according to one or more embodiments of the present disclosure is driving autonomously, normal driving can be achieved by setting the gain value of the PID controller (81b) as described above to 0 dB or less so that the motor rotation speed matches the target rotation speed.

[0222] When the rough terrain escape algorithm (923) adjusts the gain value of the PID controller (81b), the magnitude of the output relative to the input of the PID controller (81b) can be made greater than 0 dB.

[0223] Referring to FIGS. 25 and 26, the case where the magnitude of the output relative to the input of the PID controller (81b) is greater than 0 dB is described.

[0224] FIG. 25 is a Bode plot showing a speed controller (81) of a motor drive unit (80) of an autonomous driving robot (1) according to one or more embodiments of the present disclosure. FIG. 26 is a graph showing the change over time of the magnitude, phase, and error value of a signal having a frequency of 50 Hz of the Bode plot of FIG. 25.

[0225] In FIG. 25, the horizontal axis represents frequency (unit: Hz), and the vertical axis of the upper graph represents the magnitude (unit: dB) of the output (motor rotation speed) relative to the input (target rotation speed). The vertical axis of the lower graph represents the phase (unit: degrees).

[0226] For example, for a signal with a frequency of 50 Hz, the magnitude of the output relative to the input is 6 dB (about 1.99 times), and the phase is about -90 degrees.

[0227] The magnitude and phase of the output relative to the input in FIG. 25 can be represented as shown in FIG. 26 as a function of time. In FIG. 26, the horizontal axis represents time, and the vertical axis represents the multiple. Ai represents the magnitude of the input, and Ao represents the magnitude of the output.

[0228] Referring to FIG. 26, when the input maximum target rotational speed (Ai) is 1, the output maximum rotational speed (Ao) of the motor (30) is 1.99. In other words, the motor rotational speed of the motor (30) can increase by 1.99 times compared to the target rotational speed. Then, since the feedback motor rotational speed is greater than the target rotational speed, the error value input to the PID controller (81b) can be greater than the target rotational speed.

[0229] If the error value input to the PID controller (81b) becomes larger than the target rotational speed, the signal output to the motor (30) can become larger. If the signal input to the motor (30) becomes larger, the motor (30) can vibrate. Therefore, even if a small value of the target rotational speed is input to the PID controller (81b), a large value of the signal is input to the motor (30), so the motor (30) can vibrate.

[0230] However, as described above, if only a signal causing the motor (30) to vibrate is input to the PID controller (81b), the motor (30) may only vibrate and not rotate in one direction. Then, since the drive wheel (20) coupled to the motor (30) does not rotate, the autonomous driving robot (1) cannot move. To enable the autonomous driving robot (1) to move, an additional signal can be input to the PID controller (81b) to cause the motor (30) to rotate in one direction.

[0231] The magnitude of the signal capable of rotating the motor (30) in one direction is 0 dB or less, and the magnitude of the signal capable of vibrating the motor (30) may be greater than 0 dB. Referring to FIG. 25, a signal having a frequency of less than 1 Hz has a magnitude of 0 dB, and a signal having a frequency of 30 Hz or more has a magnitude of 1 dB or more.

[0232] Accordingly, in order to make the motor (30) rotate in one direction and vibrate simultaneously, a composite signal including a signal having a frequency of less than 1 Hz and a signal having a frequency of 30 Hz or more can be input to the PID controller (81b). In other words, if a composite signal including a motor rotation signal that causes the motor (30) to rotate in one direction and a motor vibration signal that causes the motor (30) to vibrate is input to the PID controller (81b) of the motor drive unit (80), the motor (30) can rotate in one direction and vibrate simultaneously.

[0233] For example, as shown in FIGS. 27 and 28, a signal of 0.1 Hz can be used as a motor rotation signal to cause the motor (30) to rotate in one direction, and a signal of 50 Hz can be used as a motor vibration signal to cause the motor (30) to vibrate.

[0234] FIG. 27 is a graph showing a composite signal input to a PID controller (81b) of a motor drive unit (80). FIG. 28 is a graph showing the composite signal of FIG. 27 separated.

[0235] When a composite signal as shown in FIG. 27 is input to the PID controller (81b) at a target rotational speed, the motor (30) can rotate in one direction while vibrating. Referring to FIG. 28, it can be seen that the motor (30) rotates in one direction by a signal of 0.1 Hz and the motor (30) vibrates in place by a signal of 50 Hz.

[0236] Referring to FIG. 29, the driving wheel (20) vibrates and rotates by means of a composite signal input to the PID controller (81b) of the motor drive unit (80).

[0237] FIG. 29 is a conceptual diagram for explaining the rotation and vibration of a drive wheel (20) by a composite signal input to a motor drive unit (80).

[0238] For reference, in FIG. 29, a motor (30) is coupled to the drive wheel (20). Therefore, when the motor (30) rotates and vibrates, the drive wheel (20) can also rotate and vibrate integrally with the motor (30). Additionally, in FIG. 29, column A represents a state in which the drive wheel (20) rotates in one direction by a motor rotation signal. For example, column A may represent a state in which the drive wheel (20) rotates by a signal having a frequency of 0.1 Hz. Column B represents a state in which the drive wheel (20) vibrates by a motor vibration signal. For example, column B may represent a state in which the drive wheel (20) vibrates by a signal having a frequency of 50 Hz. Column C represents a state in which the drive wheel (20) vibrates while rotating in one direction by a composite signal that combines the motor rotation signal and the motor vibration signal. For example, heat C can represent a state in which the driving wheel (20) rotates and vibrates in one direction by means of a composite signal that combines a signal having a frequency of 0.1 Hz and a signal having a frequency of 50 Hz.

[0239] In FIG. 29, referring to column A, the drive wheel (20) rotates clockwise by a motor rotation signal at the 0-degree position. Column A shows the state in which the reference point (M) of the drive wheel (20) is rotated clockwise by 20 degrees.

[0240] Referring to column B, the drive wheel (20) vibrates by 5 degrees clockwise and counterclockwise relative to the 0-degree position by a motor vibration signal. Specifically, the reference point (M) of the drive wheel (20) can be rotated 5 degrees clockwise from the 0-degree position and then returned to the 0-degree position by the motor vibration signal, and then rotated -5 degrees counterclockwise and then returned to the 0-degree position, and this process can be repeated.

[0241] Referring to column C, the drive wheel (20) can rotate clockwise and vibrate by a 5-degree increment by a composite signal formed by the synthesis of the motor rotation signal and the motor vibration signal. Column C illustrates a state in which the reference point (M) of the drive wheel (20) rotates clockwise by 20 degrees and vibrates by a 5-degree increment.

[0242] In FIG. 29, the drive wheel (20) in column B is shown to vibrate once every 20 degrees, but in reality, the drive wheel (20) can vibrate at shorter intervals. For example, when the drive wheel (20) rotates by a signal of 0.1 Hz and vibrates by a signal of 50 Hz, since the motor vibration signal is 500 times faster than the motor rotation signal, when the drive wheel (20) rotates 20 degrees, the drive wheel (20) can vibrate 1,000 times by 5 degrees to the left and right.

[0243] However, the motor rotation signal and motor vibration signal of the composite signal shown in FIG. 29 are merely examples. The magnitudes of the motor rotation signal and motor vibration signal of the composite signal can be varied as long as the driving wheel (20) can rotate and vibrate.

[0244] In this way, when the drive wheel (20) vibrates and rotates due to the vibration and rotation of the motor (30), the drive wheel (20) can escape from rough terrain.

[0245] An autonomous driving robot (1) according to one or more embodiments of the present disclosure having the above-described structure can recognize that at least one driving wheel has fallen into a rough road using a rough road recognition algorithm.

[0246] In addition, an autonomous driving robot (1) according to one or more embodiments of the present disclosure having the above-described structure can autonomously escape from a rough road by using a rough road escape algorithm when it falls into a rough road.

[0247] In addition, an autonomous driving robot (1) according to one or more embodiments of the present disclosure having the above-described structure can autonomously escape from a rough road and then perform autonomous driving to move to a destination.

[0248] An autonomous driving robot according to one or more embodiments of the present disclosure may include: a body; driving wheels installed on the body; motors installed to rotate the driving wheels; a suspension installed at the bottom of the body and supporting the motors so that they can move vertically relative to the body; a sensor installed on the body and detecting the surroundings; and a processor that controls the motors. If the processor recognizes using the sensor that the body is not moving or is moving along a path different from the expected path, it recognizes that at least one of the driving wheels has fallen into a rough path, and if it recognizes that at least one of the driving wheels has fallen into the rough path, it may rotate at least one of the motors corresponding to the at least one driving wheel in one direction while vibrating it.

[0249] According to one or more embodiments of the present disclosure, a motor drive unit formed to control the motors may be further included. The processor may be formed to vibrate the at least one motor by adjusting the gain of the motor drive unit.

[0250] According to one or more embodiments of the present disclosure, the motor driving unit may transmit a composite signal including a motor rotation signal that causes the at least one motor to rotate in one direction and a motor vibration signal that causes the at least one motor to vibrate.

[0251] According to one or more embodiments of the present disclosure, the motors may include a left motor and a right motor. The suspension may include a left hinge shaft and a right hinge shaft installed at the lower part of the body; a left viewing link rotatably installed on the left hinge shaft, with the left motor installed at a first end; a left front support wheel installed at a second end of the left viewing link; a right viewing link rotatably installed on the right hinge shaft, with the right motor installed at a first end; and a right front support wheel installed at a second end of the right viewing link.

[0252] According to one or more embodiments of the present disclosure, the motors may be installed at the center of each of the drive wheels.

[0253] According to one or more embodiments of the present disclosure, a method of an autonomous driving robot comprising a body, driving wheels installed on the body, motors driving the driving wheels, and a sensor installed on the body may include: a step of rotating the motors in a first direction at the same speed; a step of checking whether the position of the body changes using the sensor; a step of recognizing that the driving wheels have fallen into a rough road if the position of the body has not changed; and a step of rotating the driving wheels in the first direction while vibrating the driving wheels perpendicularly to the body if the driving wheels have fallen into a rough road.

[0254] According to one or more embodiments of the present disclosure, the autonomous driving robot may further include a motor drive unit formed to control the motors. The method may adjust the gain of the motor drive unit to cause the motors to rotate in the first direction while vibrating.

[0255] According to one or more embodiments of the present disclosure, the method may further include the step of the motor drive unit transmitting a composite signal to the motors. The composite signal may include a motor rotation signal that causes the motors to rotate in the first direction and a motor vibration signal that causes the motors to vibrate.

[0256] According to one or more embodiments of the present disclosure, the frequency of the motor rotation signal may be 0.1 Hz, and the frequency of the motor vibration signal may be 50 Hz.

[0257] According to one or more embodiments of the present disclosure, the motor drive unit may include a PID controller.

[0258] According to one or more embodiments of the present disclosure, the autonomous driving robot may further include a suspension that supports the drive wheels.

[0259] According to one or more embodiments of the present disclosure, a method of an autonomous driving robot comprising a body, a first driving wheel and a second driving wheel installed on the body, a first motor driving the first driving wheel, a second motor driving the second driving wheel, and a sensor installed on the body may include: a step of rotating the first motor and the second motor in a first direction at different speeds; a step of checking whether the movement path of the body matches an expected path using the sensor; a step of recognizing that the first driving wheel has fallen into a rough road if the movement path of the body differs from the expected path; and a step of rotating the first driving wheel that has fallen into the rough road in the first direction while vibrating the first driving wheel perpendicularly to the body if the first driving wheel is recognized as having fallen into the rough road.

[0260] According to one or more embodiments of the present disclosure, the autonomous driving robot further includes a motor drive unit formed to control the first motor and the second motor, and the second drive wheel may not get stuck in the rough road. The method may adjust the gain of the motor drive unit so that the first motor vibrates and rotates in the first direction, and the second motor rotates in the first direction without vibrating.

[0261] According to one or more embodiments of the present disclosure, the method may include the step of the motor driving unit transmitting a composite signal to the first motor. The composite signal may include a motor rotation signal that causes the first motor to rotate in the first direction and a motor vibration signal that causes the first motor to vibrate.

[0262] According to one or more embodiments of the present disclosure, the motor drive unit may include a PID controller.

[0263] As used in connection with various embodiments of the present disclosure, the term “module” may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with other terms such as, for example, logic, logic block, part, or circuitry. A module may be a single integrated component to perform one or more functions, or a minimum unit or part thereof. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC).

[0264] The various embodiments described herein may be implemented as software comprising one or more instructions stored in a machine-readable storage medium. For example, a processor of a machine may call at least one of the one or more instructions stored in the storage medium and execute the instruction with or without using one or more other components under the control of the processor. Through this, the machine may be operated to perform at least one function according to the one or more called instructions. One or more instructions may include code generated by a compiler or code executable by an interpreter. The machine-readable storage medium may be provided in the form of a non-volatile storage medium. Here, the term "non-volatile" means that the storage medium is a tangible device and does not contain signals (e.g., electromagnetic waves), but does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily in the storage medium.

[0265] A method according to various embodiments of the present disclosure may be provided by being included in a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., CD-ROM) or an application store (e.g., PlayStore). TM It may be distributed online (e.g., by downloading or uploading) or directly between two user devices (e.g., a smartphone). When distributed online, at least a portion of the computer program product may be temporarily created or at least temporarily stored on a machine-readable storage medium, such as the memory of a manufacturer's server, an application store server, or a relay server.

[0266] According to various embodiments, each component (e.g., module or program) of the components described above may include a single entity or multiple entities, and some of the multiple entities may be placed separately in different components. According to various embodiments, one or more of the components may be omitted, or one or more other components may be added. Alternatively, multiple components (e.g., module or program) may be integrated into a single component. In such cases, according to various embodiments, the integrated component may still perform one or more functions of each of the multiple components in the same or similar manner as the corresponding components performed prior to integration. According to various embodiments, actions performed by the module, program, or other components may be performed sequentially, in parallel, iteratively, or heuristically, and one or more actions may be executed in a different order, omitted, or one or more other actions added.

[0267] At least one of the device, unit, component, module, part, or similar element represented by a block or equivalent designation in the embodiments described above may be physically implemented by analog and / or digital circuits including logic gates, integrated circuits, microprocessors, microcontrollers, memory circuits, passive electronic components, active electronic components, optical components, etc., and may also be implemented or driven by software and / or firmware (formed to perform the functions or operations described herein).

[0268] Each embodiment provided in the above description may be linked to one or more features of other examples or other embodiments that are consistent with the content of the present disclosure, even if provided or not provided in this specification.

[0269] Although the present disclosure has been described above with reference to various embodiments, it will be understood that various changes in form and details may be made without departing from the spirit and scope of the appended claims.

Claims

1. Body; Drive wheels installed on the above body; Motors each formed to rotate the above-mentioned drive wheels; A suspension installed at the lower part of the body and supporting the motors so that they can move vertically relative to the body; A sensor installed on the above body and detecting the surroundings; and A processor for controlling the above motors; is included, An autonomous driving robot, wherein the processor recognizes, using the sensor, that the body is not moving or is moving along a path different from the expected path, and recognizes that at least one of the drive wheels has fallen into a rough path, and when the processor recognizes that the at least one drive wheel has fallen into the rough path, it vibrates and rotates at least one of the motors corresponding to the at least one drive wheel in one direction.

2. In Paragraph 1, It further includes a motor drive unit formed to control the above motors, An autonomous driving robot, wherein the processor is configured to adjust the gain of the motor drive unit so that the at least one motor vibrates.

3. In Paragraph 2, An autonomous driving robot, wherein the motor drive unit transmits a composite signal comprising a motor rotation signal that causes the at least one motor to rotate in the unidirectional direction and a motor vibration signal that causes the at least one motor to vibrate.

4. In Paragraph 1, The above motors include a left motor and a right motor, and The above suspension is, A left hinge shaft and a right hinge shaft installed at the lower part of the above body; A left viewing link rotatably installed on the above-mentioned left hinge axis, with the above-mentioned left motor installed in the first stage; A left front support wheel installed at the second stage of the above-mentioned left viewing link; A right viewing link rotatably installed on the above right hinge axis, wherein the right motor is installed at the first stage; and An autonomous driving robot comprising a right front support wheel installed at the second stage of the above-mentioned right-view link.

5. In Paragraph 1, The above motors are installed at the center of each of the above drive wheels, for an autonomous driving robot.

6. A method of an autonomous driving robot comprising a body, drive wheels installed on the body, motors driving the drive wheels, and sensors installed on the body, A step of rotating the above motors in a first direction at the same speed; A step of checking whether the position of the body changes using the sensor above; A step of recognizing that the drive wheels have fallen into a rough road if the position of the body is not changed; and A method of an autonomous driving robot comprising the step of, when it is recognized that the driving wheels have fallen into a rough road, vibrating the driving wheels perpendicularly with respect to the body while rotating the driving wheels in the first direction.

7. In Paragraph 6, The above-described autonomous driving robot further includes a motor drive unit formed to control the motors, and The above method is a method for an autonomous driving robot that adjusts the gain of the motor drive unit so that the motors vibrate and rotate in the first direction.

8. In Paragraph 7, The above method further includes the step of the motor drive unit transmitting a composite signal to the motors, and A method for an autonomous driving robot to escape rough terrain, wherein the above composite signal includes a motor rotation signal that causes the motors to rotate in the first direction and a motor vibration signal that causes the motors to vibrate.

9. In Paragraph 8, A method for escaping rough terrain for an autonomous driving robot, wherein the frequency of the motor rotation signal is 0.1 Hz and the frequency of the motor vibration signal is 50 Hz.

10. In Paragraph 7, A method for escaping rough terrain for an autonomous driving robot, wherein the motor drive unit includes a PID controller.

11. In Paragraph 6, A method for escaping rough terrain for an autonomous driving robot, wherein the autonomous driving robot further includes a suspension supporting the drive wheels.

12. A method of an autonomous driving robot comprising a body, a first drive wheel and a second drive wheel installed on the body, a first motor driving the first drive wheel, a second motor driving the second drive wheel, and a sensor installed on the body, A step of rotating the first motor and the second motor in a first direction at different speeds; A step of checking whether the movement path of the body matches the expected path using the sensor above; A step of recognizing that the first driving wheel has fallen into a rough road if the movement path of the body differs from the expected path; and A method of an autonomous driving robot comprising: a step in which, when the first driving wheel is recognized as having fallen into the rough road, the first motor rotates the first driving wheel that has fallen into the rough road in the first direction while vibrating it perpendicularly with respect to the body.

13. In Paragraph 12, The above-described autonomous driving robot further includes a motor drive unit formed to control the first motor and the second motor, and If the above second drive wheel does not fall into the above rough road, The above method is a method for an autonomous driving robot, wherein the gain of the motor drive unit is adjusted so that the first motor vibrates and rotates in the first direction, and the second motor rotates in the first direction without vibrating.

14. In Paragraph 13, The above method further includes the step of the motor drive unit transmitting a composite signal to the first motor, and A method for an autonomous driving robot, wherein the above composite signal includes a motor rotation signal that causes the first motor to rotate in the first direction and a motor vibration signal that causes the first motor to vibrate.

15. In Paragraph 13, A method of an autonomous driving robot, wherein the motor drive unit includes a PID controller.

Images