KR20190004986A - Guidance robot - Google Patents

Abstract

According to an embodiment of the present invention, a guide robot comprises: a display part; a head case provided so as to be rotatable; an upper case coupled to the display part and the head case, and accommodating a sensor for detecting a shape of the ground therein; and a lower case located on a lower side of the upper case and having a wheel and a motor therein. The sensor is disposed such that a sensing signal transmitted from the sensor is facing the ground through a gap between a lower end of the upper case and an upper end of the lower case.

Description

Guide Robot {GUIDANCE ROBOT}

The present invention relates to a guidance robot.

The application fields of robots are generally classified into industrial, medical, space, and submarine applications. For example, in the mechanical processing industry such as automobile production, robots can perform repetitive tasks. In other words, if you teach the work of the human arm only once, many industrial robots that repeat the same operation for a few hours are already in operation.

In addition, a technique in which a camera is mounted on a robot has already been widely implemented. The robot can recognize the position or recognize the obstacle by using the camera. In addition, displaying the photographed image on the display unit is sufficiently implemented.

Generally, the service provided by the robot varies according to the place, the user, the purpose, and the like. On the other hand, the operation performed by the robot for the service provided by the robot itself is a movement operation in accordance with the speed, It is universal.

In recent years, there has been an attempt to provide services through robots in airports due to the explosive increase in airport users and efforts to make a leap to smart airports. When an artificial intelligent robot is introduced to the airport, it can be expected that the robots can perform the unique role of the person who could not replace the existing computer system, thereby contributing to the quantitative and qualitative improvement of the provided services.

Robots capable of providing convenience to users or replacing the role of people are rapidly increasing in demand not only at the airport but also throughout social facilities such as large shopping facilities, cultural facilities, and public facilities.

Preceding Literature In Korean Patent Registration No. 10-1193610 (Oct. 26, 2012), a traffic guidance intelligent robot capable of autonomous travel is disclosed. According to the above-mentioned prior art, a robot that autonomously travels on a crosswalk or the like for traffic guidance guidance while avoiding obstacles is disclosed.

Specifically, the robot disclosed in the prior art is provided with an ultrasonic sensor, an infrared sensor and a bumper sensor so as to detect and avoid an obstacle. Particularly, the driving part of the robot is provided with a fall prevention sensor for detecting the fall in advance and preventing the robot from dropping. The fall prevention sensor is installed at the lower portion of the robot adjacent to the wheel to accurately detect the shape of the ground.

However, in the conventional robot, since the fall prevention sensor for detecting the cliff is installed on the bottom of the driving part of the robot, there is a problem that the sensing range (distance) capable of detecting the shape of the ground is relatively narrow. That is, if the sensing range is narrow, even if the robot senses the cliff and immediately stops driving, it is difficult to secure the braking distance due to the traveling speed. If the braking distance is not ensured, there is a problem that the robot falls to the cliff or collides with an obstacle and is greatly damaged.

An object of the present invention is to provide a guide robot capable of improving a sensing range (distance) of a sensor for detecting a shape of a ground.

It is another object of the present invention to provide a guide robot capable of detecting cliffs or obstacles through the sensor in advance and ensuring a sufficient braking distance.

It is still another object of the present invention to provide a guide robot capable of detecting not only the forward direction of the robot but also the terrain of the ground corresponding to both sides of the robot.

It is still another object of the present invention to provide a guide robot having a structure in which a slit is not separately required for operation of a sensor for detecting a shape of a ground.

It is still another object of the present invention to provide a guide robot which protects the sensor from the outside and can solve the interference problem caused by the reflection of the outer case on the detection signal transmitted from the sensor.

It is still another object of the present invention to provide a guidance robot capable of emergency stop or avoidance travel according to the shape of the ground detected through the sensor.

A guide robot according to an embodiment of the present invention includes a display unit, a head case provided to be rotatable, an upper case coupled to the display unit and the head case, and a sensor for detecting a shape of the ground, And a lower case located below the upper case and having a wheel and a motor therein.

Here, the sensor is disposed such that a sensing signal transmitted from the sensor is directed toward the ground through a gap between the lower end of the upper case and the upper end of the lower case. According to such a configuration, since the sensor of the present invention is operated at a higher position than the sensor provided in the conventional robot, the sensing range (distance) capable of detecting the shape of the ground can be greatly increased.

Further, in the guide robot according to the embodiment of the present invention, a rider for autonomous travel is disposed inside the lower case, and the upper part of the lower case is cut along the periphery of the lower case for operation of the rider An incision is formed.

At this time, since the sensor is disposed so that the detection signal transmitted from the sensor is directed to the ground through the cutout portion, it is not necessary to form a separate slit for the operation of the sensor, and the sensor can be protected from the outside .

The guide robot according to an embodiment of the present invention further includes a base plate disposed on the lower side of the sensor and a sensor fixing unit fixed on the base plate to support the sensor. At this time, the sensor fixing unit fixes the sensor so that the sensor faces downward at a certain angle, so that the sensor can be stably operated without vibration or external shock.

Also, in the guide robot according to the embodiment of the present invention, a groove through which the sensing signal transmitted from the sensor passes is formed on the base plate, and the sensing signal passes through the groove formed in the base plate, To the ground.

At this time, the grooves are formed to be spaced apart from each other along the periphery of the base plate, and are formed to be inclined downwardly outward at the point where the sensor is directed, so that not only the front of the guide robot but also the top Can be accurately detected.

The fixing portion may include a first support portion fixed to the base plate, a second support portion to which the sensor is mounted, and a second support portion that connects the first support portion and the second support portion, And the like.

At this time, the connecting portion is bent to be inclined upward from the front end of the first supporting portion toward the rear, and the second supporting portion is bent so as to be inclined upward toward the front at the end of the connecting portion, As shown in Fig.

The guidance robot according to the embodiment of the present invention recognizes that a proximity obstacle exists when the distance sensing value obtained through the sensor is less than the first reference value while driving, If the reference value is exceeded, it is recognized that a cliff exists, and if it is equal to or more than the first reference value and is equal to or less than the second reference value, it can be recognized as a normal ground.

At this time, if the guidance robot recognizes that the proximity obstacle exists, it stops the driving immediately or redirects to avoid the proximity obstacle. If the guidance robot recognizes that the cliff exists, the guide robot immediately stops driving, It is possible to decelerate the running speed according to the distance between them.

According to the present invention, since the sensor for detecting the shape of the ground is installed at a higher position than in the prior art, the sensing range (distance) of the sensor is greatly increased, and a sufficient braking distance can be ensured.

According to the present invention, since the sensor is located inside the upper case, the sensor signal transmitted from the sensor is not interfered by the reflection of the upper case, so that the sensor can be protected from the outside, There is an effect that a separate slit is not needed.

According to the present invention, since a plurality of sensors are spaced apart from each other along the front periphery of the base plate inside the upper case, the terrain of the ground corresponding to both sides of the robot can be accurately detected, Stable running is possible.

According to the present invention, it is possible to selectively perform the emergency stop or avoiding travel according to the shape of the ground detected through the sensor, thereby enabling more efficient traveling.

1 is a perspective view showing an appearance of a guide robot according to an embodiment of the present invention;
FIG. 2 is a view showing an upper module and a lower module of the guide robot of FIG. 1 separated. FIG.
3 is a side view of the guide robot of Fig.
4 is an enlarged view showing a part of the configuration of the guide robot according to the embodiment of the present invention;
FIG. 5 is a perspective view showing an inside of an upper module of a guide robot according to an embodiment of the present invention. FIG.
FIG. 6 is a perspective view of the inside of the upper module of FIG. 5 viewed from another direction; FIG.
7 is a view showing the base plate of Fig. 5;
8 is a perspective view showing a sensor fixing portion of the guide robot according to the embodiment of the present invention.
9 is a view illustrating a ground sensing method of a cliff detection sensor according to an embodiment of the present invention.
10 is a perspective view showing a lower module of the guide robot according to the embodiment of the present invention.
FIG. 11 is a perspective view showing the inside of the lower module of FIG. 10; FIG.
FIG. 12 is a perspective view of the inside of the lower module of FIG. 11 viewed from another direction; FIG.
13 is a view showing a cliff or an obstacle avoiding method of a guide robot according to an embodiment of the present invention.
14 is a view showing a cliff or obstacle avoiding method of a guide robot according to another embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

Hereinafter, a guide robot according to an embodiment of the present invention will be described in detail with reference to the drawings.

The guide robot according to the present invention can provide various information such as route guidance, product guidance, and airport information to a user using a guide robot such as an airport or a department store. In addition, the guide robot according to the present invention can travel in one direction or another direction according to a predetermined travel route.

FIG. 1 is a perspective view showing the appearance of a guide robot according to an embodiment of the present invention, and FIG. 2 is a view showing an upper module and a lower module of the guide robot of FIG.

1 and 2, the guide robot 1 according to the embodiment of the present invention may include an upper module 10 and a lower module 20. [

The upper module 10 may perform a user interface function. The lower module 20 may perform a driving function.

The upper module 10 may include a body part 100, a head part 180, and a display part 170 that form a body.

The body part 100 includes an upper case 15 forming an outer appearance, a first camera 16 disposed on one side of the upper case 15, and a second camera 16 disposed on the other side of the upper case 15 17).

The upper case 15 may have a cylindrical shape with a larger diameter toward the lower side. The first camera 16 may be installed on the front surface of the upper case 15 so as to be directed forward. The second camera (17) may be provided on the side surface of the upper case (15).

The first camera 16 may include a 3D stereo camera. The 3D stereo camera can perform obstacle detection, user face recognition, stereo image acquisition, and the like. Using this, the guiding robot 1 can detect and avoid an obstacle according to its moving direction, grasp the current position, recognize the user, and perform various control operations.

The second camera 17 may include a simultaneous localization and mapping (SAM) camera. The slam camera tracks the position of the camera through feature point matching and creates a three-dimensional map based on the position of the camera. By using this, the guide robot 1 can grasp its current position.

The body 100 may further include an RGBD sensor (not shown) and a speaker (not shown) provided on one side of the upper case 15. The RGBD sensor may perform a function of detecting collision between obstacles while the guidance robot 1 is running. For this purpose, the RGBD sensor may be positioned in front of the traveling direction of the guide robot 1, that is, with the first camera 16.

The loudspeaker can perform a function of informing a user of airport related information by voice. The speaker may be formed on an outer circumferential surface of the upper case (15).

The internal structure of the body part 100 will be described later.

The display unit 170 may be positioned in one direction of the body 100. For example, the display unit 170 may be installed behind the guide robot 1. [ In addition, the display unit 170 may include a curved surface display extending in the vertical direction. The display may display a screen for providing visual information.

1, the direction in which the first camera 16 is mounted is defined as a front side with respect to the central axis of the guide robot 1, and the direction in which the display unit 170 is installed as a rear side.

The display unit 170 may be coupled to the movement guide unit 140 of the body 100 to be described later. The display unit 170 may open or block the inside of the body 100 by the guide of the movement guide unit 140. Of course, the display unit 170 may be fixed to the body 100 using a fixing member.

The display unit 170 may be provided for the guide robot 1 to perform guidance functions and the like to the user. Accordingly, the display unit 170 is located in a direction opposite to the moving direction of the guide robot 1, and can visually provide guidance information to a user following the display unit 170. [

That is, the display unit 170 may display time information (e.g., airport gate inquiry information, route guidance service information, etc.) related to the service currently being provided. For example, the guide robot 1 may first move along a path set to guide the user to the path. The user can see the display unit 170 installed behind the guide robot 1 while moving along the guide robot 1. [ That is, even if the guide robot 1 is traveling for guidance, the user can easily see the service information displayed on the display unit 170 while following the guide robot 1. [

The head part 180 may be located above the body part 100. In detail, the head part 180 may be connected to the upper end of the body part 100 to form the upper part of the guide robot 1. [

The head unit 180 may include an operation unit 183 for receiving a command from the user, and a head case 185 for protecting the internal configuration.

The operation unit 183 may include a touch monitor for receiving a touch input from a user. The operation unit 183 may further include a subject recognition sensor.

The object recognition sensor may include a 2D camera and an RGBD sensor. The 2D camera may be a sensor for recognizing a person or an object based on a two-dimensional image. In addition, the RGBD sensor may be a sensor for acquiring a person's position or a face image.

The head case 185 may be spaced apart from the upper case 15 by a predetermined distance. The head case 185 is spaced apart from the upper case 15 so as to be rotated together by the rotation of the rotary member 182 to be described later. For this, the head case 185 may be spaced apart from the upper end of the upper case 15 by a predetermined height.

The head case 185 may be formed so that the upper case 15 extends upward to have a dome shape. Further, the head case 185 may be configured to be rotatable 360 degrees.

In addition, the head unit 180 may further include a microphone (not shown). The microphone performs a function of receiving a command of an audio signal from a user.

The lower module 20 may include a lower case 25 and an illumination unit 280 which form an outer appearance.

The lower case 25 may have a cylindrical shape with a larger diameter toward the lower side. The illumination unit 280 may be installed at a lower portion of the lower case 25 to be integrated with the lower case 25. In this case, the lower module 20 may have a jar-like appearance.

The illuminating unit 280 may provide various illuminations provided according to the functions of the guide robot 1.

The lower module 20 may further include an ultrasonic sensor (not shown) having a plurality of spaced apart portions on one side of the lower case 25. For example, the plurality of ultrasonic sensors may be spaced apart from each other around the lower end of the lower case 25 by a predetermined distance.

The ultrasonic sensor can perform a function of determining the distance between the obstacle and the guide robot 1 by using the ultrasonic signal. In addition, the ultrasonic sensor may perform a function of detecting an obstacle close to the guide robot 1.

Since the upper module 10 and the lower module 20 are structurally independent from each other, they can be separated or combined with each other. Therefore, the lower end of the upper module 10 and the upper end of the lower module 20 may be provided with a configuration for hardware and software connection with each other.

For example, the main power switch 271, the input assembly 270, the connection guide 262, etc., which will be described later, may be positioned at the lower end of the upper module 10 and the upper end of the lower module 20.

That is, since the lower end of the upper module 10 and the upper end of the upper module 10 are provided with a plurality of parts for separating or coupling the guide robot 1, It is necessary to improve the accessibility of the worker.

FIG. 3 is a side view of the guide robot shown in FIG. 1, and FIG. 4 is an enlarged view showing a part of the guide robot according to the embodiment of the present invention. 4 is an enlarged view of a rear portion of the upper module 10 from which the display unit 170 is removed.

Referring to FIGS. 3 and 4, the upper case 10 may include a sub-case 18.

The upper case 15 is provided with an opening at the lower end thereof for facilitating access to the main power switch 271 provided in the lower module 20 and the power plug 272 for charging the battery . A main power switch 271 and a power plug 272 may be located inside the opening.

The opening portion may be formed at the rear of the upper case 15 and may be located below the connection opening which is opened or closed depending on whether the display portion 170 is connected or not. Further, the opening may be formed by extending the connection opening downward.

Here, the connection opening may include an opening formed in the upper case 15 so that the operator can easily access the internal structure of the upper module 10 through opening / closing or disassembly of the display unit 170 it means. For example, the operator pulls the display part 170 connected to the body part 100 backward by the movement guide part 140 and moves the display part 170 inside the upper module 10 through the connection opening of the upper case 15 Configuration can be managed.

The sub case 18 may be rotatably connected to the upper case 15 so as to open and close the opening of the upper case 15. [ For example, the sub-case 18 may be connected to the upper case 15 by a rotary hinge. The rotary hinge may be provided at the center of both side edges of the sub-case 18 to engage with the upper case 15.

By the rotation hinge, the sub-case 18 can be rotated around a central portion of both side ends of the upper case 15 forming the opening by supporting points.

A spring is provided on the rotary hinge to provide an elastic force. According to this, the rotation of the sub-case 18 can be restricted within a range of a certain angle, and return to the home position after pressurization is possible. For example, the operator can press the upper portion of the sub-case 18 in the inner direction of the upper module 10. The upper end of the sub-case 18 rotates and moves inward of the upper module 10 by the pressure of the operator and the lower end of the sub-case 18 rotates in the outer direction of the upper module 10 .

That is, the main power switch 271 or the power plug 272 may be exposed to the outside by moving the lower end of the sub case 18 to the outside. At this time, the operator can turn on / off the main power switch 271 or connect the power plug 272. When the pressurization of the worker is completed, the sub-case 18 is returned to its original position by the elastic force, so that the opening can be shielded again.

That is, the connection opening can be opened / closed by the display unit 170, and the opening can be opened / closed by the sub case 18.

The operator for performing the connection of the main power switch 271 and the power plug 272 does not need to separate or draw the display unit 170 from the body 100, There is an advantage that the case 18 can be opened to perform an operation. That is, there is an advantage that the access for the job becomes simple and easy, and the management becomes convenient. In addition, at the time of operating the guide robot 1, the sub-case 18 can be hidden from the view of the user by the display unit 170 and have a cosmetic advantage.

Meanwhile, the lower case 25 may include a first cutout 31 and a second cutout 32.

The first incision part 31 may be formed on the front surface of the lower case 25. The first incision portion 31 is a portion cut from the lower case 25 so that a front rider 233 to be described later can operate.

The first cutout portion 31 can function as a handle capable of supporting the upper module 10 at the lower end when the upper module 10 and the lower module 20 are engaged or disengaged have.

The front rider 233 is located inside the lower case 25. The first incision part 31 may be formed along the circumference of the lower case 25 at a position corresponding to the position of the front rider 233. Therefore, the front rider 233 can be exposed to the outside by the first cutout portion 31. [

The second cut portion 32 may be formed on a rear surface of the lower case 25. [ The second incision portion 32 is a portion that is incised in the lower case 25 so that a rear rider 234 to be described later can operate. Specifically, the second incision part 32 may be incised at a predetermined length in the radial direction from the rear surface of the lower case 25. Here, the rear rider 234 is located inside the rear case 25.

The second incision part 32 may be formed along the circumference of the lower case 25 at a position corresponding to the position of the rear rider 234. [ Accordingly, the rear rider 234 may be exposed to the outside by the second cut portion 32. [

The first incision part 31 may be spaced apart from the second incision part 32 in the vertical direction. For example, the first incision portion 31 may be located above the second incision portion 32.

FIG. 5 is a perspective view showing the inside of the upper module of the guide robot according to the embodiment of the present invention, FIG. 6 is a perspective view of the inside of the upper module of FIG. 5 viewed from another direction, FIG. 7 is a view FIG. 8 is a perspective view showing a sensor fixing part of a guide robot according to an embodiment of the present invention, and FIG. 9 is a view illustrating a ground sensing method of a cliff detection sensor according to an embodiment of the present invention.

5 to 9, the internal structure of the upper module 10 will be described in detail. 5 and 7, the body 100 includes a base plate 110 providing a bottom surface of the upper module 10, a middle plate 120 positioned above the base plate 110, And a top plate 130 positioned above the middle plate 120. The body 100 includes a subframe 105 connecting the base plate 110 and the middle plate 120 and a main frame connecting the middle plate 120 and the top plate 130 125).

In detail, the base plate 110 may provide a base surface of the upper module 10. The base plate 110 may include an insertion opening 112 having a central opening. The insertion port 112 may be formed so that an input assembly 270 of a lower module 20 to be described later is inserted from below. Therefore, the operator can easily connect the cord for communication, control, etc. between the upper module 10 and the lower module 20 through the input assembly 270 positioned higher than the base plate 110.

The base plate 110 may be formed in a disc shape. In addition, the base plate 110 may have a larger outer circumference than the middle plate 120. The middle plate 120 may have a larger outer circumference than the top plate 130. Accordingly, when the upper case 15 is engaged with the base plate 110, the middle plate 120, and the top plate 130, the diameter of the upper case 15 may be increased toward the lower side.

The base plate 110 may be seated on the lower module 20 and coupled or separated. To this end, a configuration for coupling with or separation from the lower module 20 may be provided. For example, the body 100 may further include a fastening member 106 for fastening the base plate 110 and the lower module 20 together. The coupling member 106 can couple the coupling plate 261 between the base plate 110 and a lower module 20 to be described later. A detailed description thereof will be described later.

The subframe 105 may be positioned perpendicular to the upper surface of the base plate 110. That is, the sub-frame 105 may be coupled to the upper surface of the base plate 110 and extend upwardly.

The plurality of sub-frames 105 may be provided. For example, the subframe 105 may include a first subframe 105a, a second subframe 105b, a third subframe 105c, and a fourth subframe 105d.

 The first to fourth sub-frames 105a, 105b, 105c, and 105d may be spaced apart from each other to be symmetrical on the upper surface of the base plate 110. [ The upper side of the first to fourth subframes may be coupled to the middle plate 120 and the lower side of the first to fourth subframes may be coupled to the base plate 110. For example, the first sub-frame 105a and the fourth sub-frame 105d may be arranged in front of the second sub-frame 105b and the third sub-frame 105c.

The lower surface of the middle plate 120 is coupled to the upper end of the sub frame 105 and the upper surface of the middle plate 120 is coupled to the main frame 125. The main frame 120 may be positioned perpendicular to the upper surface of the middle plate 120.

A plurality of main frames 125 may be provided. For example, the main frame 125 may include a first main frame 125a and a second main frame 125b. The first main frame 125a and the second main frame 125b may be spaced apart from each other by a predetermined distance to be symmetrical with respect to each other.

The PC supporter 126 may be coupled to the front surfaces of the first main frame 125a and the second main frame 125b. The PC supporter 126 functions to fix and support the main PC 127, which will be described later.

One side of the first main frame 125a may be provided with a movement guide unit 140 coupled to the display unit 170 to guide sliding movement of the display unit 170 forward and backward.

The movement guide unit 140 may include a supporting plate coupled to the first main frame 125a and a moving plate connected to the supporting plate so as to be slidable forward and backward. The display unit 170 may be coupled to the moving plate so as to perform forward and backward sliding movement.

As described above, in order to repair or replace the internal configuration of the upper module 10, the operator pulls the display portion 170 backward to open the above-described connection opening, Can be performed.

The top plate 130 may be coupled to the upper end of the main frame 125.

The body part 100 may further include a cliff detection sensor 101 interlocked with the lower module 20 to complement the traveling function of the guide robot 1. [

The cliff detection sensor 101 may detect a step or a floor of a traveling surface on which the guide robot 1 moves. In conjunction with this, the guide robot 1 can perform stopping or avoiding driving in the case of detecting a cliff or sensing an obstacle while driving.

On the other hand, in the case of a conventional robot, a cliff detection sensor for detecting a cliff is installed at a lower portion of the robot adjacent to the wheel to detect the shape of the ground. However, in such a case, there is a problem that it is difficult to secure the braking distance due to the running speed even if the running is stopped immediately after detecting the cliff.

Therefore, in order to solve the above problem, the present invention is characterized in that the cliff-detecting sensor is disposed at a higher position than the existing cliff-sensing sensor, and the direction of the detection signal transmitted from the cliff-detecting sensor is inclined downward.

A plurality of cliff-detecting sensors 101 according to the present invention are disposed on the upper side of the base plate 110. Specifically, the plurality of cliff-sensing sensors 101 are spaced from each other along the circumference at the front of the base plate 110. For example, the plurality of cliff-sensing sensors 101 may be spaced apart by 270 degrees around the entire circumference of the base plate 110.

In addition, the cliff detection sensor 101 is disposed below a predetermined angle so that the direction of the detection signal transmitted from the cliff detection sensor 101 is inclined downward. For this purpose, the cliff detection sensor 101 is fixed by a sensor fixing part 102 to be described later.

The sensor fixing unit 102 will be described later in detail.

Meanwhile, the cliff detection sensor 101 can detect the distance to the ground by using the time that the detection signal transmitted from the cliff detection sensor 101 collides with the ground and then returns to the sensor. That is, if the time for which the reflection signal returns to the cliff-detecting sensor 101 is too long, it is recognized as a cliff, and if the returning time is too short, it can be recognized as a close object.

A method of detecting the shape of the ground by the cliff detection sensor 101 will be described later.

The body part 100 may further include a main PC 127 configured to perform a UI function according to various service environments.

The main PC 127 may be positioned above the middle plate 120. The main PC 127 may be fixedly coupled to the PC supporter 126. That is, the main PC 127 may be positioned on the front side of the PC supporter 126.

The main PC 127 may be set according to various service environments provided by the guide robot 1. [ That is, the main PC 127 may be programmed to provide the service of the guide robot 1 according to the service environment, according to the service environment. In addition, the operating environment and the service provision of the guide robot 1 can be improved through the continuous upgrade of the main PC 127.

On the other hand, the heat released from the main PC 127 can be escaped to the outside by the first cooling fan 103a and the second cooling fan 103b provided in the base plate 110. That is, the first cooling fan 103a and the second cooling fan 103b can perform the heat dissipation function of the upper module 10.

In addition, the body 100 may further include various boards for controlling the operation of the guide robot 1. The body unit 100 may further include a main board 121, a user interface board, and a stereo board.

The main board 121 may be positioned above the middle plate 120. The main board 121 is connected to the main PC 127 and can perform stable operation of the main PC 127 and exchange data input / output between various control devices.

The user interface board can control an operation of a component responsible for user input and output.

The stereo board processes and processes sensing data collected from various sensors and cameras to manage data for recognizing the position of the guide robot 1 and recognizing obstacles.

The body 110 may further include a communication device 122 capable of performing communication between the upper module 10 and an external device or between the upper module 10 and the lower module 20. The communication device 122 may be located above the middle plate 120. The communication device 122 may include an IP sharer.

The head unit 180 may further include a reader 181. The reader 181 may be positioned above the top plate 130.

The reader 181 may scan or recognize the user's passport, ticket, mobile barcode, and the like. Therefore, the information required by the user can be displayed on the display unit 170 based on the information acquired through the reader 181. [ For example, when the user inserts the mobile device into the reader 181 and recognizes the barcode of the mobile boarding pass, the display unit 170 displays the boarding gate to which the user should move based on the information obtained through the mobile boarding pass .

In addition, the head unit 180 may further include a rotating member 182 and a rotating motor. The rotating motor may be located at the center of the top plate 130. And the rotating member 182 may be connected to the rotating motor in an upward direction.

The head case 185 may be coupled to an edge of the rotating member 182. Therefore, the rotation of the rotating member 182 can rotate the head case 185 together. The rotating motor can provide power for rotating the rotating member 182. [

The base plate 110 supports the structure of the upper module 10 at the lowest level and is seated on the lower module 20 so as to stably engage or disengage the upper module 10 and the lower module 20. [ Can be achieved. The base plate 110 will be described in detail with reference to FIG.

Referring to FIG. 7, the base plate 110 may have a disc shape. Further, the base plate 110 may be formed with a plurality of cliff grooves 111 spaced a predetermined distance along the front half-circle. The cliff groove 111 provides a path for the operation of the cliff detection sensor 101 described above. That is, the detection signal transmitted from the cliff-detecting sensor 101 may be directed to the ground through the closure groove 111 and then through the first cut-out portion 33.

Since the cliff detection sensor 101 must detect the floor of the traveling robot 1, the detection signal should be directed downward. However, the detection signal of the cliff detection sensor 101 installed along the frontmost edge of the upper surface of the base plate 110 may cause an interference problem due to reflection of the base plate 110. Therefore, the cliff groove 101 may be formed in the base plate 110 according to the present invention to prevent interference of the sensing signal.

In detail, the cliff groove 111 may be formed as an outwardly inclined groove corresponding to a position where the cliff-sensing sensor 101 is installed and downward.

A plurality of the cliff grooves 111 are provided. The plurality of cliff grooves 111 are spaced apart from each other along the circumference at the front of the base plate 110. For example, the plurality of cliff grooves 111 may be spaced apart by 270 ° around the entire circumference of the base plate 110.

A fastening hole 117 may be formed in the rear of the cliff groove 111 to fasten the sensor fixing part 102 for fixing the cliff detection sensor 101. That is, the cliff detection sensor 101 may be mounted on the sensor fixing part 102, and the sensor fixing part 102 may be fastened to the fixing hole 117 by a fastening member.

Hereinafter, the sensor fixing unit 110 will be described in detail with reference to FIG.

8, the sensor fixing part 110 includes a first supporting part 102a fixed to the base plate 110, a second supporting part 102c to which the cliff detection sensor 101 is fixed, And a connecting portion 102b connecting the first supporting portion 102a and the second supporting portion 102c.

In detail, the first support portion 102a serves to fix the sensor fixing portion 110 on the base plate 110. [ To this end, the first support portion 102a is formed with a hole 102d for fastening with the fastening hole 117. [

The connection portion 102b is bent upward at an end of the first support portion 102a to provide a height to the cliff detection sensor 101. [ The connection portion 102b is bent and extended to be inclined upward from the tip of the first support portion 102a toward the rear.

The second support portion 102c is bent forward at an end of the connection portion 102b. Therefore, when the cliff detection sensor 101 is mounted on the bottom of the second support portion 102c, the direction of the detection signal transmitted from the cliff detection sensor 101 may be inclined downward. For this purpose, a mounting hole 102e for mounting the cliff-detecting sensor 101 is formed on the second supporting portion 102c.

Meanwhile, as described above, the cliff grooves 111 are formed on the circumferential surface of the base plate 110 so as to be inclined downward outward at the point where the cliff-detecting sensor 101 is directed. The angle formed by the inclined surface of the cliff groove 111 and the base plate 110 may be equal to the angle between the inclined surface of the connection portion 102b and the base plate 110. In another aspect, the inclined surface of the cliff groove 111 and the inclined surface of the connection portion 102b can be smoothly connected without a step.

According to such a configuration, since the detection signal transmitted from the cliff-detecting sensor 101 can be accurately reached to the ground without being interfered by the base plate 110, the shape of the ground can be accurately detected.

Hereinafter, a method of sensing the ground of the cliff detection sensor 101 will be described in detail with reference to FIG.

Referring to FIG. 9, the cliff detection sensor 101 is fixedly supported on the base plate 110 by the sensor fixing portion 102, as described above. At this time, the cliff-detecting sensor 101 is fixed to the upper end of the sensor fixing part 102 and is arranged to face downward at a certain angle.

The cliff detection sensor 101 allows the detection signal transmitted from the cliff detection sensor 101 to pass through the cliff groove 111 and the first cutout part 31. At this time, the detection signal transmitted from the cliff detection sensor 101 may be a linear signal. Therefore, the detection signal sent from the cliff-detecting sensor 101 may pass through the cliff groove 111 and then pass through the first cut-out portion 31 to be directed to the ground.

Also, a plurality of the cliff detection sensors 101 are spaced apart from each other along the front edge of the base plate 110. Therefore, the cliff-detecting sensor 101 can detect the terrain of the ground corresponding to both the front and the back of the guide robot 1. [

The cliff detection sensor 101 according to the present invention is installed at a higher position than the cliff detection sensor mounted on the conventional robot, and the detection signal sent from the cliff detection sensor 101 is inclined downward toward the ground. Therefore, the sensing range (distance) capable of detecting the shape of the ground greatly increases, and accordingly, a sufficient braking distance can be secured when an obstacle or a cliff is detected.

Since the cliff detection sensor 101 according to the present invention is located at approximately the midpoint of the guide robot 1, when an object suddenly appears in front of the robot, for example, when a child with a small key jumps to hold the robot It is possible to accurately determine the situation of the user. Therefore, in this case, since the running of the robot can be stopped urgently, there is an advantage that the stability is improved.

A plurality of cliff detection sensors 101 according to the present invention are spaced apart from each other at a front edge (270 degrees) of the base plate 110 so that not only the forward direction, which is the traveling direction of the guide robot 1, It is possible to detect an object or a cliff located in the vehicle.

Meanwhile, the detection signal transmitted from the cliff-detecting sensor 101 may cause a problem of interference due to reflection of the lower case 25. Therefore, in the present invention, when the lower case 25 has a cylindrical shape, the diameter of the lower case 25 should have a diameter that is not disturbed by the sensing signal.

Referring to FIG. 7 again, an insertion port 112 is formed at the center of the base plate 110. The insertion port 112 may be inserted through an input assembly 270 of a lower module 20 to be described later.

The base plate 110 is provided with a first cooling fan mounting hole 113a in which the first cooling fan 103a and the second cooling fan 103b are installed on the front side and the other side of the insertion hole 112, And a second cooling fan mount 113b may be formed. In addition, the base plate 110 may be formed with a subframe coupling groove 115 to guide and couple the coupling of the surf frame 105.

The subframe coupling groove 115 includes first to fourth subframe coupling grooves 115a, 115b, 115c, and 115d. The first to fourth sub-frame coupling grooves 115a, 115b, 115c, and 115d are formed at positions corresponding to the lower ends of the first to fourth sub-frames 105a, 105b, 105c, Is formed on the upper surface.

The base plate 110 has a first pressing groove 114a and a second pressing groove 114b provided to press the upper surface of the base plate 110 against the pressing links 265 and 266 of the lower module 20, 0.0 > 114b. ≪ / RTI >

The first pressing grooves 114a and the second pressing grooves 114b are positioned symmetrically with respect to each other and may be formed as grooves downwardly formed on the upper surface of the base plate 110. [

The base plate 110 further includes a first guide hole 118a and a second guide hole 118b through which a connection guide 262 of a lower module 20 to be described later is inserted and fixed from below . The base plate 110 may further include a first guide groove 119a and a second guide groove 119b for supporting the connection guide 262 of the lower module 20, which will be described later, .

In detail, the first guide hole 118a and the second guide hole 118b are positioned symmetrically with respect to each other and may be formed into holes having the same shape. The first guide hole 118a and the second guide hole 118b can be understood as a point where a first connection guide 262a and a fourth connection guide 262d to be described later are inserted. Accordingly, the upper module 10 can be stably fixed to the lower module 20.

The first guide groove 119a and the second guide groove 119b are spaced apart from each other at the rear of the first guide hole 118a and the second guide hole 118b, . The first guide groove 119a and the second guide groove 119b may be recessed forward from the rear end of the base plate 110 to open rearward.

Since the second and third guide grooves 119a and 119b are inserted and fixed from the rear, the second and the third connection guides 262b and 262c to be described later can be stably And may be guided to engage with the lower module 20.

The base plate 110 may include a fastening hole 116 into which a fastening member 106 for fastening with the lower module 20 is inserted. The fastening hole 116 may be positioned symmetrically about the insertion hole 112. The fastening holes 116 may be formed in a corresponding number according to the fastening member 106.

For example, the fastening hole 116 may include a first fastening hole 116a and a second fastening hole 116b, and the fastening member 106 may include a first fastening member 106a and a second fastening hole 116b. (106b). The first fastening hole 116a is fastened to the lower module 20 by inserting the first fastening member 106a and the second fastening hole 116b is fastened to the lower module 20 by insertion of the second fastening member 106b, So that it can be fastened to the lower module 20.

Meanwhile, the middle plate 120 is positioned above the base plate 110 and supports the top plate 130 in a fixed manner. The mid plate 120 is positioned at a corresponding height between the base plate 110 and the top plate 130 so as to maintain the outer shape of the upper case 15.

The outer circumferential surface of the mid plate 120 may be in contact with or coupled to a part of the inner circumferential surface of the upper case 150. Accordingly, when an external force is applied from the outside of the upper case 15, the upper case 15 is prevented from being deformed by the support of the middle plate 120, Can be prevented.

Hereinafter, the lower module 20 will be described in detail with reference to the drawings.

FIG. 10 is a perspective view showing the lower module of the guide robot according to the embodiment of the present invention, FIG. 11 is a perspective view showing the inside of the lower module of FIG. 10, and FIG. 12 is a perspective view of the inside of the lower module of FIG. .

10 to 12, the lower module 20 may further include a driving unit 200, a traveling unit 210, and a connection unit 260. The lower module 20 may further include a shielding case 26 for shielding an open space between the upper end of the lower case 25 and the connection part 260. [

As described above, the upper module 10 performs a user interface (UI) function that can be changed according to various service environments of the guide robot 1. The lower module 20 can be changed And performs a driving function with a low possibility.

The lower module 20 includes a traveling unit 210 having a wheel, a wheel, a motor, etc., a battery capable of supplying power to the traveling unit 210, And a connection unit 260 for making a stable and firm connection with the upper module 10. [

Of course, the functions that the guide robot can commonly use in various service environments are not limited to the traveling functions as in the embodiment of the present invention. However, in the embodiment of the present invention, the common functions of the guide robot 1 will be described in detail from the viewpoint of running.

The driving unit 200 includes a row plate 203 forming a base surface of the lower module 20, a battery 201 seated on the row plate 203, an upper plate 203 positioned above the battery 201, And a lower frame 204 connecting the upper plate 205 and the lower plate 203 to each other.

The lower plate (203) may form a bottom surface of the lower module (20). The low plate 203 may be connected to the driving unit 210. The shape of the row plate 203 may vary. For example, the row plate 203 may be formed as a rectangular plate.

The lower frame 204 may extend upwardly from the end of the lower plate 203. For example, the lower frame 204 may be provided at a plurality of positions corresponding to the vertexes of the row plate 203.

The lower frame 204 may include a first lower frame 204a, a second lower frame 204b, a third lower frame 204c, and a fourth lower frame 204d. The first to fourth lower frames 204 may be provided at respective ends of the rectangular plate 203 having four vertexes. Therefore, the upper plate 205 connected to the upper side of the first to fourth lower frames 204 can be stably supported.

The lower frame 204 may be vertically connected to the lower plate 203 and the upper plate 206. In detail, the lower frame 204 may be coupled to the upper surface of the lower plate 203 and the lower surface of the upper plate 205. The lower frame 204 may have a hexagonal column shape extending in one direction.

The center of the upper plate 205 may form a hole. A plurality of electronic parts may be installed in the holes of the upper plate 205 by providing electric plates 243 to be described later.

The upper plate 205 may have various shapes. For example, the upper plate 205 may be formed as a rectangular plate. At this time, the size of the upper plate 205 may be the same as the size of the lower plate 203. Accordingly, the position where the lower frame 204 and the row plate 203 are coupled may correspond to a position where the lower frame 204 and the upper plate 205 are engaged. However, the size of the upper plate 205 is not limited to the size of the lower plate 203.

The lower surface of the upper plate 205 is connected to the lower frame 204 and the upper surface of the upper plate 205 may be connected to an upper frame 245 to be described later.

The lower plate 203, the lower frame 204, and the upper plate 205 may form a rectangular parallelepiped shape with an empty interior. The inner space between the lower plate 203 and the upper plate 205 is called an installation space 206. The installation space 206 can be understood as a space where the battery 201 having a relatively heavy weight is located.

The battery 201 may include a Li-Ion battery. However, the present invention is not limited thereto, and the battery 201 may include a battery other than a lithium-ion battery.

The battery 201 may supply power for driving the guide robot 1. [ The battery 201 may be located in the installation space 206. Since the battery 201 occupies the largest weight of the total weight of the guide robot 1, the battery 201 is preferably mounted on the upper surface of the row plate 203 in terms of the center of gravity.

The driving unit 200 may further include an upper frame 245 for supporting the connection unit 260 and an electric plate 243 positioned at the center of the upper plate 205.

The full length plate 243 may be located at the center of the upper plate 205. The electric plate 243 may include a plurality of vertically extending layers. The plurality of electric plates 243 are arranged in a vertical direction to form a plurality of layers, and the plurality of layers are called an electric field space 246.

A plurality of electronic components may be located in the electric field space 246. The plurality of electronic parts may be coupled to the electric plate 243. For example, the electric field space 246 may include a plurality of boards.

The plurality of boards may include an AP (Application Processor), an MCU (Micro Controller Unit), a power board, and a PCB board.

The AP board can function as a device for managing the hardware module system of the guide robot 1, that is, a control unit.

The MCU board can control the overall driving of the guide robot 1 and may include a memory in which data supporting various functions of the guide robot 1 are stored.

The power supply board can control that power of the battery 201 is supplied to each component included in the guide robot 1. [

The upper frame 245 may be connected to the upper plate 205. The upper frame 245 may be positioned between the outer periphery of the upper plate 205 and the inner periphery of the center hole. More specifically, the upper frame 245 may be positioned such that an imaginary triangle is drawn from the upper surface of the upper plate 205 to the outside of the electric plate 243. And the upper frame 235 may be positioned at each of the virtual triangular vertices.

That is, a plurality of the upper frames 245 may be provided to support the connection portion 260 at three points. For example, the upper frame 245 includes a first upper frame 245a positioned in front of the electric plate 243, a second upper frame 245b positioned on both sides of the electric plate 243, 3 upper frame 245c. The connection plate 261 of the connection unit 260 may be coupled to the upper side of the first to third upper frames 245.

The upper frame 245 may be vertically coupled to the upper surface of the upper plate 205. The upper frame 245 may have a hexahedral shape extending in one direction. The length of the upper frame 245 in the vertical direction is fixedly supported by the connecting portion 260 for coupling or separation with the upper module 10. Therefore, when the upper module 10 and the lower module 20 are coupled May be formed to be smaller than the vertical length of the lower frame 204 in order to achieve a stable balance.

The connection unit 260 will be described in detail later.

The driving unit 200 includes a block 240 located on the upper side of the upper plate 205, a load sensor 241 located on the upper side of the block 240, Ring 242 as shown in FIG.

The block 240 may extend upward at a position corresponding to a vertex of the upper plate 205. That is, the block 240 may be located outside the upper frame 245.

A load sensor 241 may be provided on the upper side of the block 240. That is, the block 240 may serve to support the load sensor 241 and the contact ring 242 in a fixed manner.

The load sensor 241 may be a plurality of sensors connected to the contact ring 242 and sensing a load due to a force transmitted from the contact ring 242. The block 240 may be provided in a number corresponding to the number of the load sensors 241.

The load sensor 241 includes a first load sensor 241a, a second load sensor 241b, a third load sensor 241c and a fourth load sensor 241d so as to correspond to the vertex of the upper plate 205 .

The block 240 includes a first block 240a connected to the inner end of the first load sensor 241a downwardly, a second block 240b connected to the inner end of the second load sensor 241b downwardly, A third block 240c connected to the inner end of the third load sensor 241c downwardly and a fourth block 240d connected downward to the inner end of the fourth load sensor 241d, . ≪ / RTI >

The first to fourth load sensors 241 may be located outside the upper plate 205. The contact rings 242 may be connected to the first to fourth load sensors 241 along the outer ends of the first to fourth load sensors 241.

The contact rings 242 may be seated outwardly along the upper ends of the first to fourth load sensors 241. [ The contact ring 242 may be spaced outwardly above the block 240.

The contact ring 242 may be formed into a ring shape having an inner space. The outer diameter of the contact ring 242 may be relatively large so that the upper plate 205 can be positioned inside the contact ring 242. The contact ring 242 may be connected to the lower case 25. Therefore, when a collision of the lower module 20 occurs, the amount of impact transmitted to the interior of the lower module 20 can be effectively reduced.

The load sensor 241 and the contact ring 242 detect the collision of the lower module 20 and control the traveling operation. In detail, when the lower module 20 is collided, the contact ring 242 may be twisted due to an impact transmitted by the lower case 25. That is, momentum is generated in the contact ring 242, and the load sensor 241 senses the momentum and can transmit a signal. At this time, the control unit can receive the signal of the load sensor 241 and control the rolling movement of the driving unit 210 to stop. According to such a configuration, there is an effect that the safety by the running of the guide robot 1 can be improved.

Meanwhile, the low plate 203 may be connected to the traveling unit 210. The traveling unit 210 may include a main wheel 211, a sub-wheel 212 and a suspension (not shown) so that the sub-module 20 can be easily moved.

The suspension (not shown) may be located on both sides of the row plate 203. Specifically, the suspensions may be coupled to both ends of the row plate 203, respectively. The suspension may connect the main wheel 211 to the outside.

The main wheels 211 may be connected to both sides of the row plate 203. In detail, the main wheel 211 may be connected to a motor assembly (not shown) located on a lower surface of the lower plate 203. The motor may be supplied with power from the battery 201 to provide rotational power to the main wheel 211. [ The main wheel 211 may perform a rolling motion by receiving a rotational force of the motor, thereby driving the lower module 20. Also, as described above, the main wheels 211 may be connected to the suspensions and positioned outside the suspensions.

The auxiliary wheel 212 may be positioned below the lower plate 203. In detail, the auxiliary wheels 212 may be coupled to the auxiliary wheel plates connected to the front and rear ends of the row plates 203 downwardly. The plurality of auxiliary wheels 212 may be provided. The plurality of auxiliary wheels 212 can stably support the lower module 20 in the front-rear direction of the lower surface of the lower plate 203. That is, the auxiliary wheel 212 may serve to hold the center of the lower module 20 so that the running of the lower module 20 can be stably performed.

The auxiliary wheel 212 may perform rolling motion depending on the main wheel 211 rotated by the motor during driving. That is, the auxiliary wheel 212 does not rotate independently, but can perform rolling motion depending on the external force or the rotation of the main wheel 211. The auxiliary wheel 212 may include a caster.

Meanwhile, the lower module 20 may further include a front rider 233 and a rear rider 234. The front rider 233 and the rear rider 234 are laser radar sensors that perform position recognition by irradiating a laser beam and collecting and analyzing back scattered light among light absorbed or scattered by the aerosol.

The front rider 233 may be positioned on the upper surface of the upper plate 205 so as to face the front of the guide robot 1. [ For example, the front rider 233 may be located at the center of the front end of the upper plate 205. Therefore, the front rider 233 can be exposed to the outside through the first cutout portion 31. [

The rear rider 234 may be positioned on the upper surface of the row plate 203 so as to face the rear of the guide robot 1. [ For example, the rear rider 234 may be located at the rear end center of the row plate 203. Accordingly, the rear rider 234 may be exposed to the outside through the second cutout portion 32. [ Also, the front rider 233 may be positioned above the rear rider 234.

Hereinafter, an operation method of the guide robot according to the detection result of the cliff detection sensor described above will be described in detail with reference to the drawings.

13 is a view showing a cliff or obstacle avoiding method of a guide robot according to an embodiment of the present invention.

Referring to FIG. 13, the guide robot 1 can travel in one direction. For example, the guide robot 1 can travel in a predetermined direction according to the travel route calculated by the control unit. At this time, the guide robot 1 can detect a cliff or an obstacle in the traveling range of the guide robot 1 through the cliff detection sensor 101 while driving.

For example, a method of operating the guiding robot 1 in the case of detecting a cliff or an obstacle located in front of the guiding robot 1 will be described.

According to the embodiment, the guidance robot 1 may determine whether the distance detection value obtained through the cliff detection sensor 101 is a value less than the first reference value, a value exceeding the second reference value, It can be determined whether the value is between the reference value and the second reference value.

Here, the second reference value is greater than the first reference value. In this embodiment, the first reference value may be 68 cm, and the second reference value may be 78 cm.

For example, if the distance sensing value obtained through the cliff detection sensor 101 is less than the first reference value while the guide robot 1 is traveling, it is recognized that a proximity obstacle exists, If the second reference value is larger than the second reference value, it is recognized that the cliff exists, and if the first reference value is equal to or greater than the second reference value, it can be recognized as a normal ground.

That is, the guide robot 1 may determine whether there is a cliff or an obstacle in the vicinity according to the distance detection value obtained through the cliff detection sensor 101. [

If the guidance robot 1 recognizes that a proximity obstacle is present in front of the guidance robot 1, the guidance robot 1 can immediately stop driving or redirect to avoid the proximity obstacle. Further, if the guiding robot 1 recognizes that a cliff is present in front of the guiding robot 1, the guiding robot 1 can stop the driving immediately or decelerate the traveling speed according to the distance between the cliffs.

In particular, in the present invention, the cliff detection sensor 101 is installed at a higher position than the cliff detection sensor of the conventional robot, and the detection signal transmitted from the cliff detection sensor 101 is inclined downward toward the ground. Accordingly, the sensing range (distance) capable of detecting the shape of the ground greatly increases. Therefore, a sufficient braking distance can be ensured when a cliff or an obstacle is detected, so that it is possible to avoid cliffs or obstacles. Thereby, there is an advantage that stable and efficient autonomous running is possible.

FIG. 14 is a view showing a cliff or obstacle avoiding method of a guide robot according to another embodiment of the present invention.

Referring to FIG. 14, the guide robot 1 can travel in one direction. For example, the guide robot 1 can travel in a predetermined direction in accordance with the travel route calculated by the control unit. At this time, the guide robot 1 can detect cliffs or cliffs in the running range of the guide robot 1 through the cliff detection sensor 101 while driving.

For example, a method of operating the guiding robot 1 in the case of detecting a cliff or an obstacle located on the front side of the guiding robot 1 will be described.

According to the embodiment, the cliff-detection sensor 101 can detect cliffs or obstacles located on the front side of the guide robot 1 while the guide robot 1 is running. The guidance robot 1 can determine whether there is a cliff or an obstacle in the vicinity according to the distance value obtained through the cliff detection sensor 101 in the same manner as described above.

When the guidance robot 1 recognizes that the proximity obstacle exists on the front side, it can immediately stop driving or redirect the obstacle to avoid the obstacle. Further, if the guiding robot 1 recognizes that the cliff is present on the front side, it can stop driving immediately or decelerate the traveling speed according to the distance between the cliffs.

Particularly, in the present invention, since a plurality of the cliff detection sensors 101 are spaced apart from each other at a front edge (270 degrees) of the base plate 110, the guide rods 1, It is possible to detect a cliff or an obstacle located thereon, thereby making it possible to carry out a more stable traveling.

Claims (14)

A display unit;
A head case provided to be rotatable;
An upper case coupled to the display unit and the head case and receiving a sensor for detecting the shape of the ground; And
And a lower case located below the upper case and having a wheel and a motor therein,
Wherein the sensor is disposed such that a sensing signal transmitted from the sensor is directed to the ground through a gap between a lower end of the upper case and an upper end of the lower case. The method according to claim 1,
A rider for autonomous travel is disposed inside the lower case,
And a cutout portion is formed in the upper portion of the lower case so as to be cut along the periphery of the lower case for operation of the rider. 3. The method of claim 2,
Wherein the sensor is disposed such that a detection signal transmitted from the sensor passes through the incision portion and is directed toward the ground. The method of claim 3,
A base plate disposed below the sensor; And
And a sensor fixing unit fixed to the base plate to support the sensor,
Wherein the sensor fixing unit fixes the sensor so that the sensor faces downward at a certain angle. 5. The method of claim 4,
A groove through which the detection signal transmitted from the sensor passes is formed in the base plate,
Wherein the sensing signal passes through a groove formed in the base plate and then is directed to the ground through the cutout. 6. The method of claim 5,
Wherein the grooves are spaced apart from one another along the circumference of the base plate. The method according to claim 6,
Wherein the sensor is located behind the groove,
Wherein the groove is formed to be inclined downward outward at a point where the sensor is directed. 6. The method of claim 5,
The sensor fixing unit includes:
A first support portion fixed to the base plate;
A second support portion on which the sensor is mounted; And
And a connection portion connecting the first support portion and the second support portion and providing the sensor with a predetermined height with respect to the base plate. 9. The method of claim 8,
Wherein the connection portion is bent to be inclined upward from the front end of the first support portion toward the rear,
And the second support portion is formed to be bent so as to be inclined upward toward the front at the end of the connection portion. 10. The method of claim 9,
Wherein the groove is formed so as to be inclined downward outward at a point where the sensor faces the circumferential surface of the base plate,
Wherein an angle formed by the inclined surface of the groove and the base plate is equal to an angle formed by the inclined surface of the connection portion and the base plate. The method according to claim 1,
The upper case and the lower case each have a cylindrical shape with an upper portion and a lower portion opened,
Wherein the lower case is formed to have a larger diameter as it goes down from the upper part to the lower part. The method according to claim 1,
Wherein, during traveling of the guide robot, the distance detection value obtained through the sensor
If it is less than the first reference value, it is recognized that a proximity obstacle exists,
If the second reference value is larger than the first reference value, recognizes that a cliff exists,
And recognizes the information as a normal ground if it is equal to or greater than the first reference value and equal to or less than the second reference value. 13. The method of claim 12,
And when it is recognized that the proximity obstacle exists, the guidance robot immediately stops driving or changes direction to avoid the proximity obstacle. 13. The method of claim 12,
When the cliff is recognized as being present, the guide robot immediately stops running or decelerates the traveling speed according to the distance between the cliffs.

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