WO2024019589A2

WO2024019589A2 - Multi-functional autonomous traveling robot, and cleaning module for cleaning robot

Info

Publication number: WO2024019589A2
Application number: PCT/KR2023/010591
Authority: WO
Inventors: 유현석
Original assignee: 주식회사 아이들
Priority date: 2022-07-22
Filing date: 2023-07-21
Publication date: 2024-01-25
Also published as: WO2024019589A3

Abstract

The present invention relates to a multi-functional autonomous traveling robot, and to a multi-functional autonomous traveling robot comprising: a body part autonomously traveling in the traveling direction on the ground; a suction cleaning part connected to a position corresponding to a first surface of the body part, so as to suction foreign material on the ground; and a cleaning module, which is mounted at a position corresponding to a second surface of the body part, supplies water onto the ground, and collects the supplied water, wherein the second surface of the body part is positioned in the opposite direction to the first surface of the body part.

Description

Cleaning modules for multi-functional autonomous robots and cleaning robots

The present invention relates to self-driving robots and cleaning modules for cleaning robots.

Robots have been developed for industrial use and have played a significant role in factory automation. Recently, robots are used in various fields such as medicine and aerospace, and are even used in everyday life. For example, robots are being used for cleaning. These robots clean by sucking up dust, etc., and clean the set area while autonomously driving within the set area.

Recently, as non-face-to-face contact has become routine due to the effects of COVID-19, robots are also used for logistics services such as serving, food delivery, and product delivery. These robots autonomously drive from the starting point to the destination to transport goods such as food and goods, and after transporting the goods to the destination, they autonomously drive from the destination to the starting point. Additionally, the robot does not perform any separate functions while stationary at the starting point. Although these robots are expensive, they are used to perform simple functions.

Robots have been developed for industrial use and have played a significant role in factory automation. Recently, robots are used in various fields such as medicine and aerospace, and are even used in everyday life. A representative robot used in daily life can be seen as a cleaning robot. Cleaning robots clean indoor spaces such as homes, shopping malls, department stores, etc. by sucking in dust and foreign substances. These cleaning robots clean the set area while autonomously driving within the set area.

Meanwhile, in order to clean dirt and dust on the floor of an indoor space, a wet mop is sometimes applied to the bottom of the cleaning robot. The cleaning robot can remove stubborn dirt and dust using a wet mop while driving autonomously. However, moisture from wet mops can remain on the floor of indoor spaces, and safety accidents are occurring where people walking in indoor spaces slip due to moisture. There is a need for a method that can prevent safety accidents from occurring while cleaning the floor of an indoor space using water.

The technical task to be achieved by the self-driving robot according to the technical idea of the present invention is to provide a self-driving robot that can clean the autonomous driving path while driving autonomously in the process of transporting goods.

In addition, the technical problem to be achieved by the self-driving robot according to the technical idea of the present invention is to provide a self-driving robot that can sense the surroundings of the self-driving path and perform cleaning while autonomously driving in the process of transporting goods. .

In addition, the technical task to be achieved by the self-driving robot according to the technical idea of the present invention is to provide a self-driving robot that can maximize operating time and operating efficiency.

The technical problem to be achieved by the cleaning module for a cleaning robot according to the technical idea of the present invention is to provide a cleaning module for a cleaning robot that can be installed on an autonomous cleaning robot to completely remove moisture from the floor and prevent the possibility of a safety incident. is to provide.

The technical problem to be achieved by the cleaning module for a cleaning robot according to the technical idea of the present invention is to provide a cleaning module for a cleaning robot that can be detachably installed on an autonomous cleaning robot and easily maintained.

The technical tasks to be achieved by the self-driving robot according to the technical idea of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

A self-driving robot according to an embodiment of the technical idea of the present invention includes a body portion capable of autonomous driving along a traveling direction so as to correspond to a first surface on the ground and a second surface opposite the first surface; a suction cleaner positioned on a portion of the lower surface of the body to correspond to the first side of the body and capable of sucking air; and an auxiliary cleaning unit located on a part of the lower surface of the body to correspond to the second side of the body, supplying water to the ground to clean the ground, and collecting and suctioning water from the ground, where the body is located between the starting point and the destination. It can be characterized by autonomous driving on the ground and transporting goods from the origin to the destination.

In addition, a plurality of arrangement spaces are concavely formed on the first surface of the body part, and the body part has a shape corresponding to the arrangement space, but the receiving space is formed concavely on the upper surface, and is inserted into or separated from the arrangement space. at least one receiving body that can be; A controller in the form of a touch screen, located on the upper part of the body, and operated to control autonomous driving of the body; and a sensing element located on the first side of the body and capable of detecting people and objects, wherein the goods are located in the body at rest at the point of departure, and after the controller is operated, the body moves from the point of origin to the destination. It drives autonomously, and the sensor can detect people and objects on the ground and generate location data corresponding to the location of the detected objects.

In addition, the body autonomously drives from the starting point to the destination, avoiding people and objects detected by the sensor, and when the body reaches the destination, the body generates an alarm sound, and the body moves through the object corresponding to the location data. It is possible to drive autonomously from the destination to the departure point.

In addition, the suction cleaning unit includes: a pair of rotatable cleaning brushes positioned spaced apart from each other so as to be adjacent to the first surface of the body on the lower surface of the body; a cleaning storage body positioned on the lower surface of the body portion to be adjacent to the auxiliary cleaning unit and spaced apart from the cleaning brush, and having a storage space formed therein; and a cleaning drive body located on the lower surface of the body between the cleaning brush and the cleaning storage body and connected to the cleaning storage body, and capable of sucking air together with foreign substances and leading it into the interior of the cleaning storage body, wherein the body part is on the ground. In the positioned state, the cleaning brush is in contact with the ground, and when the body part runs autonomously, the cleaning brush is rotated, and the cleaning driving body can suck air together with foreign substances and guide it into the interior of the cleaning storage body.

In addition, the auxiliary cleaning unit includes a base portion positioned on the lower surface of the body portion to correspond to the second surface of the body portion and having a mounting space concavely formed on the lower surface; A rotating body portion formed in a circular roller shape and positioned to rotate in the mounting space in a direction perpendicular to the traveling direction; A collection inducing portion that corresponds to the second surface of the body portion and is adjacent to the base portion, is positioned parallel to the rotating body portion and spaced apart from the lower surface of the body portion, and can move in the up and down direction to contact the ground or be spaced apart from the ground; a suction portion positioned to correspond to the mounting space and spaced apart from the rotating body portion and the collection guide portion, and capable of suctioning and storing water; And it may include a supply guide that is positioned to correspond to the mounting space so as to correspond to the first surface of the body and adjacent to the rotating body, and can store water and discharge it to the ground.

In addition, the collection guide unit includes: a guide body that has a plate shape, is spaced apart from the rotation body and is positioned parallel to the rotation body, and is located between the lower surface of the body and the ground; and an induction drive body in the form of a servo motor, located in the mounting space between the rotating body and the induction body, connected to the induction body, and moving the induction body in the up and down directions to contact the ground or separate it from the ground. It includes a suction part, a suction body made of a combination of a nozzle and a pump, positioned to correspond to the mounting space so as to be spaced apart from the rotating body part and the collection guide part, and capable of suctioning water; and a suction reservoir located on the upper side of the suction body and connected to the suction body, located inside the body portion, and configured to guide and store water suctioned in the suction body, wherein the supply guide portion is positioned adjacent to the rotating body portion. a supply body located in the mounting space corresponding to the first surface of the unit, storing water therein, and having a plurality of supply openings formed at the lower part adjacent to the rotating body; A supply storage body located on the upper side of the supply body and connected to the supply body, located inside the body portion, and storing water therein; A storage inductor formed in a plate shape, positioned in the supply body along the rotating body, a first side end in contact with the rotating body, and a second side end opposite the first side end located inside the supply body; and a storage filter body positioned inside the supply body to correspond to the supply opening and capable of filtering foreign substances contained in the water, wherein when the body portion runs autonomously, the supply body sucks water from the supply storage body and supplies the water. The water is guided to the inside of the body, and the water is guided to the ground through the supply opening. The rotating body absorbs the water that falls on the ground while rotating on the ground, and foreign substances contained in the water are attached to the outer peripheral surface of the rotating body and clean the ground. , In the collection induction part, the induction actuator brings the induction body into contact with the ground, and the induction body moves toward the point in contact with the rotation body and the ground, scraping the water on the ground so that it is located on the ground between the induction body and the rotation body. The suction body can collect water located on the ground between the induction body and the rotating body and store it inside the suction storage body.

In addition, the body, administrator terminal, and customer terminal are connected to the operation server through a network, and when the body reaches the destination, an arrival signal is generated and transmitted to the operation server, and the operation server can transmit the arrival signal to the customer terminal. .

In addition, the customer terminal receives research data and transmits it to the operation server, and the operation server transmits the received research data to the manager terminal. The customer terminal is located on one side of the customer terminal and contains research items and research items for the research data. A display unit in the form of a display device capable of displaying an answer area where a response value corresponding to can be input; and a detector unit in the form of a camera or sensor located on one side of the customer terminal away from the display unit and located at the first end portion of the customer terminal. The self-driving robot has both end faces open inside and has a shape corresponding to the customer terminal. A housing space is formed into which a customer terminal can be inserted, a display opening connected to the housing space is formed on the upper surface, and a concave arrangement space is formed on the bottom surface of the housing space to correspond to the customer terminal, and on each side of the housing space. A terminal housing including a plurality of moving guides positioned to be spaced apart from each other along one direction; and an end plate that has a plate shape, has a research opening and an answer opening, is located on both sides in one direction, is in the form of a rack gear, and includes a pair of moving auxiliary bodies that can engage with the moving guide. The moving guide further includes: a moving power body in the form of a motor located on the side of the terminal housing; and a moving transmission body in the form of a pinion gear that is positioned to correspond to the moving power body in the housing space, is connected to the moving power body, can be rotated by the moving power body, and can engage with the moving auxiliary body, and the end plate is positioned in the housing space. is inserted and positioned, the moving auxiliary body and the moving transmission body of the moving guide are engaged, the customer terminal is located in the housing space and inserted into the placement space, the display unit and the detector unit are positioned to correspond to the display opening, and are located on the lower side of the terminal plate. is positioned, and when the moving power body of the moving guide rotates the moving transmission body, the moving auxiliary body is moved so that the terminal plate can move in the housing space.

In addition, a detector mark is formed on the first end portion of the lower surface of the terminal plate, and the terminal plate is positioned to correspond to the display opening and is located above the customer terminal located in the housing space, and the detector mark is positioned to correspond to the detector part. When detected by the detector unit, the display unit displays a plurality of research items corresponding to the detector mark and an answer area corresponding to each of the research items, and the research opening and the answer opening of the terminal plate are each at the first end of the display unit. It is positioned to correspond to one research item displayed on the part and an answer area corresponding to one research item, and when a customer touches the answer area displayed on the display part through the answer opening, the display part responds to the touched answer area. A touch mark is displayed so that the customer terminal generates an operation signal and transmits it to the terminal housing, the moving power body rotates the moving transmission body, and the moving auxiliary body faces the second end portion opposite the first end portion of the display unit. The research opening and the answer opening are positioned to correspond to other research items displayed on the display unit and answer areas corresponding to other research items, and a portion of the terminal plate may be positioned to protrude from the housing space.

In addition, the terminal housing further includes a rectangular plate-shaped auxiliary stopper located near the moving guide and the first longitudinal section of the housing space in the housing space and hinged to the inner surface of the housing space, wherein the first longitudinal portion of the auxiliary stopper is A second end opposite to the first end portion of the auxiliary stopper is hinged to the inner surface of the housing space to be adjacent to the moving conveyor positioned to face the first longitudinal end surface of the housing space, and the second end is in contact with or spaced apart from the placement space. , A stopper protrusion made of rubber is formed on the lower surface of the first end portion of the auxiliary stopper, and when the terminal plate is located in the housing space and the customer terminal is not located in the housing space, the second end of the auxiliary stopper is positioned in the placement space. It is in contact with the customer terminal and is located lower than the first end portion of the auxiliary stopper, and when the customer terminal is gradually inserted into the housing space through the second longitudinal section of the housing space, the auxiliary stopper is rotated in contact with the customer terminal, and the second end of the auxiliary stopper is in contact with the customer terminal. The ends are gradually spaced apart from the arrangement space, and when the display part of the customer terminal is positioned to correspond to the display opening of the terminal housing, the stopper protrusion of the auxiliary stopper is located on one side of the first end part of the customer terminal, and the second end of the auxiliary stopper The end is positioned above the first end of the auxiliary stopper, so that the auxiliary stopper can be tilted to face the first longitudinal end of the end plate.

The cleaning module for a cleaning robot according to an embodiment of the technical idea of the present invention is detachable from the bottom of the robot capable of autonomous driving along the travel direction so as to correspond to the first side on the ground and the second side opposite the first side. A cleaning module installed to do so, comprising: a base portion positioned on the lower surface of the robot to correspond to the second surface of the robot, and having a mounting space concavely formed on the lower surface; A body portion that has a circular roller shape and is rotatably positioned in the mounting space in a direction perpendicular to the traveling direction; a collection inducing part that is positioned parallel to the body part and spaced apart from the body part on the lower surface of the robot, corresponding to the second surface of the robot and adjacent to the base part, and capable of moving in an up and down direction to contact the ground or be spaced apart from the ground; A suction part positioned to correspond to the mounting space and spaced apart from the body part and the collection guide part, and capable of sucking and storing water; And it may be characterized by including a supply guide that is positioned to correspond to the mounting space so as to correspond to the first surface of the robot and adjacent to the body, and can store water and discharge it to the ground.

In addition, the collection guidance unit includes: a guidance body that has a plate shape, is spaced apart from the body and is positioned parallel to the body, and is located between the lower surface of the robot and the ground; and an induction drive body in the form of a servo motor, located in the mounting space between the body and the induction body, connected to the induction body, and moving the induction body in the up and down directions to contact the ground or separate it from the ground. Including, when the robot runs autonomously on the ground, the supply guide part discharges water to the ground, the guide drive body moves the guide body to contact the ground, and the guide body is located between the water body and the guide body. It can be collected.

In addition, the suction part includes a suction body that is composed of a combination of a nozzle and a pump, is positioned to correspond to the mounting space so as to be spaced apart from the body part and the collection guide part, and is capable of suctioning water; and a suction storage body located on the upper side of the suction body and connected to the suction body, located inside the robot, and guiding and storing water sucked into the suction body, wherein the robot runs autonomously on the ground and the water is guided. When collected by the body to be positioned between the body and the guiding body, the suction body can suck water from the ground and guide it to the suction reservoir.

In addition, the supply guide unit includes a supply body that is located in the mounting space while corresponding to the first side of the robot adjacent to the body, has water stored therein, and has a plurality of supply openings formed in the lower portion adjacent to the body. a supply storage body located on the upper side of the supply body and connected to the supply body, located inside the robot, and storing water therein; A storage inductor formed in a plate shape, positioned on the supply body along the body, a first side end in contact with the body, and a second side end opposite the first side end located inside the supply body; and a storage filter positioned inside the supply body to correspond to the supply opening and capable of filtering foreign substances contained in the water.

In addition, when the body part runs autonomously, the supply body sucks water from the supply storage body and guides it into the inside of the supply body, the water is guided to the ground through the supply opening, and the body part rotates on the ground and the water guided to the ground It absorbs and foreign substances contained in the water are attached to the outer circumferential surface of the body, and in the collection guide part, the induction actuator brings the guide body into contact with the ground, and the guide body moves toward the point of contact between the body and the ground, collecting water on the ground. is collected by scraping it to be located on the ground between the induction body and the main body, and the suction body can suction the water located on the ground between the induction body and the body and store it inside the suction reservoir.

In addition, the storage guide is in contact with the outer peripheral surface of the rotating body, pressurizing a part of the outer peripheral surface of the body and scraping the body, so that water and foreign substances in the body are guided into the inside of the supply body along the storage guide, and foreign substances contained in the water are stored. Rather than being filtered through the filter medium and passing through the supply opening, the water may be guided to the ground through the storage filter medium and the supply opening.

In addition, the robot and administrator terminal are connected to the operation server through a network, the administrator terminal receives control data and transmits it to the operation server, the operation server transmits the received control data to the robot, and the robot responds to the control data. It can drive autonomously.

In addition, the administrator terminal includes a display unit in the form of a display device located on one side of the administrator terminal and capable of displaying a control item for control data and an answer area for entering a response value corresponding to the control item; and a detector unit in the form of a camera or sensor located on one side of the manager terminal away from the display unit and located at the first end portion of the manager terminal, wherein the robot has both end faces open inside and has a shape corresponding to the manager terminal. A housing space into which a terminal can be inserted is formed, a display opening connected to the housing space is formed on the upper surface, a concave arrangement space is formed on the bottom surface of the housing space to correspond to the manager terminal, and one direction is provided on each of both sides. A terminal housing including a plurality of moving guides positioned to be spaced apart from each other along; and an end plate that has a plate shape, has a control opening and an answer opening, is located on both sides in one direction, is in the form of a rack gear, and includes a pair of moving auxiliary bodies that can engage with the moving guide. The moving guide further includes: a moving power body in the form of a motor located on the side of the terminal housing; and a moving transmission body in the form of a pinion gear that is positioned to correspond to the moving power body in the housing space, is connected to the moving power body, can be rotated by the moving power body, and can engage with the moving auxiliary body, and the end plate is positioned in the housing space. is inserted and positioned, the moving auxiliary body and the moving transmission body of the moving guide are engaged, the manager terminal is located in the housing space and inserted into the placement space, the display unit and the detector unit are positioned to correspond to the display opening, and are located on the lower side of the terminal plate. is positioned, and when the moving power body of the moving guide rotates the moving transmission body, the moving auxiliary body is moved so that the terminal plate can move in the housing space.

In addition, a detector mark is formed on the first end portion of the lower surface of the terminal plate, and the terminal plate is positioned to correspond to the display opening and is located above the manager terminal located in the housing space, and the detector mark is positioned to correspond to the detector part. When detected by the detector unit, the display unit displays a plurality of control items corresponding to the detector mark and an answer area corresponding to each of the control items, and the control opening and the answer opening of the terminal plate are each at the first end of the display unit. It is positioned to correspond to one control item displayed on the part and the answer area corresponding to one control item, and when the manager touches the answer area displayed on the display part through the answer opening, the display part responds to the touched answer area. A touch mark is displayed, the manager terminal generates an operation signal and transmits it to the terminal housing, the moving power body rotates the moving transmission body, and the moving auxiliary body faces the second end portion opposite the first end portion of the display unit. The control opening and the answer opening are positioned to correspond to other control items displayed on the display unit and answer areas corresponding to the other control items, and a portion of the terminal plate may be positioned to protrude from the housing space.

In addition, the terminal housing further includes a rectangular plate-shaped auxiliary stopper located near the moving guide and the first longitudinal section of the housing space in the housing space and hinged to the inner surface of the housing space, wherein the first longitudinal portion of the auxiliary stopper is A second end opposite to the first end portion of the auxiliary stopper is hinged to the inner surface of the housing space to be adjacent to the moving conveyor positioned to face the first longitudinal end surface of the housing space, and the second end is in contact with or spaced apart from the placement space. , A stopper protrusion made of rubber is formed on the lower surface of the first end portion of the auxiliary stopper, and when the terminal plate is located in the housing space and the manager terminal is not located in the housing space, the second end of the auxiliary stopper is located in the placement space. It is contacted and located lower than the first end portion of the auxiliary stopper, and when the manager terminal is gradually inserted into the housing space through the second longitudinal section of the housing space, the auxiliary stopper is rotated in contact with the manager terminal, and the second end of the auxiliary stopper The ends are gradually spaced apart from the arrangement space, and when the display part of the manager terminal is positioned to correspond to the display opening of the terminal housing, the stopper protrusion of the auxiliary stopper is located on one surface of the first end part of the manager terminal, and the second end of the auxiliary stopper The end is positioned above the first end of the auxiliary stopper, so that the auxiliary stopper can be tilted to face the first longitudinal end of the end plate.

In order to solve this problem, a multi-functional self-driving robot includes: a body portion that autonomously travels along a traveling direction on the ground; a suction cleaner connected to a position corresponding to the first surface of the body portion to suction foreign substances on the ground; and a cleaning module mounted at a position corresponding to the second surface of the body, supplying water to the ground, and collecting the supplied water, wherein the second surface of the body is aligned with the first surface of the body. It provides a multi-functional autonomous driving robot located in the opposite direction of the surface.

In addition, the suction cleaner; includes a suction brush rotating around an axis in the height direction of the body portion; a suction storage body that stores foreign substances on the ground sucked into the body portion through the suction brush; and a suction driver connected to the suction storage body to guide foreign substances on the ground from the suction brush to the interior of the suction storage body.

In addition, the cleaning module; is a cleaning module body portion that rotates around an axis in a direction perpendicular to the traveling direction of the body portion when the body portion autonomously travels; A driving robot is provided.

In addition, the cleaning module; includes a cleaning module suction body spaced apart from the cleaning module body portion and sucking water supplied to the ground; and a cleaning module suction storage body in which the sucked water is stored.

In addition, the cleaning module; is spaced apart from the cleaning module suction body, a cleaning module collection guide body that induces the suction by scraping water on the ground in the direction of the cleaning module suction body; and a cleaning module collection guidance actuator that brings the cleaning module collection guidance body into contact with or separates it from the ground. It provides a multi-functional autonomous driving robot, further comprising a.

In addition, the cleaning module further includes a cleaning module supply body capable of storing water therein, and a cleaning module supply opening capable of discharging the stored water from the cleaning module supply body to the outside of the body portion. Provides a functional self-driving robot, including:

In addition, the cleaning module; provides a multi-function autonomous driving robot that further includes a cleaning module storage filter that filters foreign substances contained in the discharged water when discharging the stored water through the cleaning module supply opening. .

In addition, a cleaning module installed on the body of a multi-function autonomous driving robot includes: a base portion located on the lower side of the body; a cleaning module body portion that rotates about an axis in a direction perpendicular to the traveling direction of the multi-functional autonomous robot and is seated in the mounting space of the base portion; and a cleaning module collection guide unit coupled to the base unit and scraping or suctioning water on the ground.

In addition, in the multi-functional autonomous driving robot, the body part autonomously travels along the driving direction on the ground; a suction cleaner connected to the body to suction foreign substances on the ground; And a self-driving robot monitoring unit connected to the upper part of the body unit to detect a person or object located within a set distance from the body unit; wherein the self-driving robot monitoring unit is located in a space where the detected person or object is located. Provides a multi-functional autonomous driving robot that models and generates corresponding image information.

In addition, in the multi-functional autonomous driving robot, the body part autonomously travels along the driving direction on the ground; A plurality of wheel parts located on the lower side of the body and spaced apart from each other; a power transmission device that provides power to the wheel portion so that the self-driving robot can move in a traveling direction; and a power control unit installed in the body portion to control the power when an external force greater than a threshold value is applied to the body portion while the self-driving robot is traveling in the travel direction. do.

Additionally, in the power transmission device connected to the body of a multi-functional autonomous driving robot, the power transmission device body portion is located in a direction corresponding to the traveling direction of the body portion; Self-driving robot wheels positioned spaced apart from each other along the longitudinal direction of the power transmission device body portion; A power transmission device driving unit that generates power; and a power transmission device power transmission unit that connects the power transmission device driving unit and the autonomous driving robot wheels to transmit the generated power to the autonomous driving robot wheels. Connected to the body of the multi-functional autonomous robot, including a. Provides a power transmission device.

Additionally, an emergency stop device installed on the body of a multi-function autonomous driving robot includes: an emergency stop device damper that protrudes from the front of the self-driving robot and is located at a distance from it, and is compressed by absorbing external force; An emergency stop device switch located between the spaced-apart emergency stop device dampers and pressed by an external force; And, corresponding to the front of the autonomous driving robot, the emergency stop device damper and the emergency stop device switch spaced from the front. Provides an emergency stop device installed on the body of a multi-functional self-driving robot, including an emergency stop device bracket connected to the.

The self-driving robot according to embodiments of the technical idea of the present invention has the following effects.

(1) Ensure that autonomous driving routes are cleaned even while goods are being transported.

(2) Even in the process of transporting goods, the autonomous driving path is detected and cleaning can be carried out.

(3) Ensure maximum operating time and operating efficiency are provided.

The cleaning module for a cleaning robot according to embodiments of the technical idea of the present invention has the following effects.

(1) A cleaning module is installed on an autonomous cleaning robot to completely remove moisture from the floor and prevent the possibility of safety accidents.

(2) The cleaning module is detachably installed on the autonomous cleaning robot, so it can be easily maintained.

However, the effects that can be achieved by the cleaning module for a cleaning robot according to an embodiment of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below. It could be.

Figure 1 is a perspective view showing a self-driving robot according to an embodiment of the present invention.

Figure 2 is a diagram showing a suction cleaner and a cleaning module mounted on an autonomous robot according to an embodiment of the present invention.

Figure 3 is a diagram showing a cleaning module mounted on an autonomous robot according to an embodiment of the present invention.

Figure 4 is a diagram showing a cleaning module of an autonomous robot according to an embodiment of the present invention.

Figure 5 is a cross-sectional view showing a cleaning module of an autonomous robot according to an embodiment of the present invention. Figure 6 is a perspective view showing the terminal housing and terminal plate separated and applied to a user terminal connected to an autonomous robot equipped with a cleaning module according to an embodiment of the present invention.

Figure 7 is a diagram showing the operation of the stopper protrusion of the terminal housing in the cleaning module of the autonomous robot according to an embodiment of the present invention.

Figure 8 is a diagram for explaining the operation of the terminal housing and terminal plate according to the present invention when applied to a user terminal.

FIG. 9 is a diagram illustrating a self-driving robot including a self-driving robot monitoring unit, which is another embodiment of the present invention.

Figure 10 is a diagram showing the suction cleaner of the self-driving robot according to the present invention.

Figure 11 is a diagram showing the suction cleaner of the self-driving robot according to the present invention in more detail.

Figure 12 is a diagram showing a power transmission device for an autonomous robot according to an embodiment of the present invention.

Figure 13 is a diagram showing an isolated power transmission device for an autonomous robot according to an embodiment of the present invention.

Figure 14 is a diagram showing the driving part of an autonomous robot to which a power transmission device for an autonomous robot is applied according to an embodiment of the present invention.

Figure 15 is a diagram showing another embodiment of a power transmission device for an autonomous robot according to the present invention.

Figure 16 is a diagram showing an emergency stop device according to an embodiment of the present invention mounted on a self-driving robot.

Figure 17 is a view showing the emergency stop device in isolation according to an embodiment of the present invention.

Figure 18 is a diagram showing the interior of an autonomous robot when equipped with an emergency stop device according to an embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail through detailed description. However, this is not intended to limit the present invention to specific embodiments, and the present invention should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

In describing the present invention, if it is determined that a detailed description of related known technologies may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. In addition, numbers (eg, first, second, etc.) used in the description of this specification are merely identifiers to distinguish one component from another component.

In addition, in this specification, when a component is referred to as "connected" or "connected" to another component, the component may be directly connected or directly connected to the other component, but specifically Unless there is a contrary description, it should be understood that it may be connected or connected through another component in the middle.

In addition, the components expressed as '~ part' in this specification may be two or more components combined into one component, or one component may be differentiated into two or more components according to more detailed functions. In addition, each of the components described below may additionally perform some or all of the functions of other components in addition to the main functions that each component is responsible for, and some of the main functions of each component may be different from other components. Of course, it can also be performed exclusively by a component.

Hereinafter, embodiments based on the technical idea of the present invention will be described in detail one by one.

Figure 1 is a perspective view showing a self-driving robot according to an embodiment of the present invention. Figure 2 is a diagram showing a suction cleaner and a cleaning module mounted on an autonomous robot according to an embodiment of the present invention. Figure 3 is a diagram showing a cleaning module mounted on an autonomous robot according to an embodiment of the present invention. Figure 4 is a diagram showing a cleaning module of an autonomous robot according to an embodiment of the present invention. Figure 5 is a cross-sectional view showing a cleaning module of an autonomous robot according to an embodiment of the present invention.

자율 주행 로봇(100)Self-driving robot (100)

As shown in FIGS. 1 to 5, the self-driving robot 100 according to an embodiment of the present invention may include a body portion 101, a suction cleaner 102, and a cleaning module 200, and It can transport food, goods, etc. while autonomously driving between the starting point and destination and can be used to clean the autonomous driving route and its surroundings. Here, the starting point may be a point where the manager of the self-driving robot 100 is located and the goods can be placed on the self-driving robot 100, and the destination may be a point where the goods can be placed on the self-driving robot 100. It may be, but is not limited to, a point of the customer's location.

According to the present invention, the body portion 101 may have a pillar shape, but is not limited thereto, and may be located on the ground and travel autonomously, and may travel in a traveling direction corresponding to the first side and the second side opposite the first side. You can drive along (D). Here, the first surface refers to a surface corresponding to the front of the body 101, and the second surface refers to a surface corresponding to the rear of the body 101.

In addition, as shown in FIG. 2, a pair of self-driving robot wheels 30 may be positioned on the lower side of the body 101 to face each other and be spaced apart, and the pair of self-driving robot wheels ( At the rear of 30), a pair of autonomous robot auxiliary wheels 30' may be positioned to face each other and be spaced apart. Specifically, the body portion 101 provides rotational force to the self-driving robot wheels 30, so that the self-driving robot wheels 30 are positioned on the ground and rotated, so that the body portion 101 can autonomously travel. Accordingly, when the body portion 101 is placed on the ground and runs autonomously, the autonomous robot auxiliary wheels 30' may contact the ground and rotate.

The body portion 101 of this embodiment can autonomously travel between a starting point and a destination, and can also autonomously travel within a predetermined range. Additionally, a plurality of arrangement spaces 101' may be formed on the first surface of the body portion 101. Here, each of the arrangement spaces 101' may be formed concavely on the first surface of the body portion 101, and an article may be inserted and positioned in the arrangement space 101'.

Additionally, the body portion 101 may include a storage body 111, a controller 113, and a sensing body 115. Specifically, the storage body 111 may have a shape corresponding to the arrangement space 101', may be inserted into the arrangement space 101', or may be separated from the arrangement space 101'. In addition, a receiving space 111' may be formed concavely on the upper surface of the storage body 111, and the receiving space 111' may be formed in a shape corresponding to the receiving body 111, so that the goods are stored in the receiving space 111'. ) can be inserted and positioned. When the storage body 111 is inserted into the placement space 101', the receiving space 111' can be closed, and when the storage body 111 is separated from the placement space 101', the receiving space 111' can be closed. can be opened.

As shown in FIG. 1, the controller 113 may be in the form of a touch screen and may be located on the top of the body portion 101. The controller 113 may be operated by managers and customers, and may be operated to control autonomous driving of the body portion 101.

For example, the body portion 101 is located at the starting point, and the article is located in the arrangement space 101', or is located in the receiving space 111' of the storage body 111 inserted into the arrangement space 101'. It can be. Here, when the controller 113 is operated by the manager, the body unit 101 can autonomously travel from the starting point to the destination. The body portion 101 can be stopped after reaching the destination and can generate an alarm sound, thereby providing the user with an article located in the receiving space 111'. .

The customer can recognize that the product has reached its destination through the body portion 101 through an alarm sound. The customer can receive the goods from the body unit 101 at the destination.

Meanwhile, the body portion 101 is located at the destination and the customer can operate the controller 113. Here, the body unit 101 can autonomously travel from the destination to the starting point.

In addition, when the body unit 101 is stopped at the starting point and the controller 113 is operated by the manager, the body unit 101 autonomously travels in an indoor space within a predetermined range from the starting point for a predetermined period and then returns to the starting point. It can be reinstated.

According to one embodiment of the present invention, the sensing element 115 is located on the first surface of the body portion 101 and can detect people and objects. Here, the sensing body 115 may include a LiDAR (light detection and ranging) sensor, a camera, etc., and the object may refer to an object that needs to be removed from space, such as trash or dangerous materials. This sensing body 115 can detect the autonomous driving path of the body 101 and its surroundings while the body 101 is autonomously driving. For example, in the process of autonomous driving where the body unit 101 heads from the starting point to the destination, when the sensor 115 detects a person or object, the body unit 101 avoids the person or object and heads toward the destination. It can be driven autonomously. In particular, in the case where the sensing body 115 detects an object, the body portion 101 may generate and store location data corresponding to the point of the object detected by the sensing body 115. Additionally, the body unit 101 can autonomously travel from the destination to the starting point via a point corresponding to the stored location data.

흡입 청소부(102)Suction cleaner(102)

Figure 2 is a diagram showing a suction cleaner and a cleaning module mounted on an autonomous robot according to an embodiment of the present invention. As shown in FIG. 2, the suction cleaning unit 102 may include a suction brush 121, a suction storage unit 123, and a suction driver 125. It may be positioned at a portion of the lower side of the body portion 101 to correspond to the first surface of the body portion 101. This suction cleaner 102 can suction air and foreign substances on the ground. Here, the foreign matter may include dust, etc.

According to one embodiment of the present invention, the suction brush 121 may be positioned adjacent to the first surface of the body 101 on the lower side of the body 101, and may be formed as a pair and spaced apart from each other. It can be. Additionally, the suction brush 121 is rotatably positioned and can be used to separate foreign substances attached to the ground from the ground while in contact with the ground. Here, the suction brush 121 may be rotated around an axis along the height direction of the body portion 101.

According to one embodiment of the present invention, the suction storage body 123 may be positioned adjacent to the suction cleaning unit 102 while being spaced apart from the suction brush 121 on the lower side of the body portion 101. Here, an empty storage space (not shown) may be formed inside the suction storage body 123, and foreign substances on the ground sucked into the body portion 101 through the suction brush 121 can be suctioned. It can be stored in the storage space inside the storage body 123.

According to one embodiment of the present invention, the suction driver 125 may be located on the lower side of the body portion 101 between the suction brush 121 and the suction storage body 123, and the suction storage body 123 can be connected to Here, the suction driver 125 can suck air together with foreign substances, and guide the sucked air and foreign substances into the interior of the suction storage body 123. After the air and foreign substances are introduced into the suction storage body 123, the air is discharged from the suction storage body 123, and the foreign substances can be stored in the suction storage body 123.

The suction cleaner 102 as described above may be operated by the body 101 while the body 101 autonomously travels on the ground. The suction brush 121 may be rotated while in contact with the ground to separate foreign substances from the ground. Here, the suction driver 125 can suck air and foreign substances and guide it into the interior of the suction reservoir 123. In other words, the suction cleaner 102 can operate like a vacuum cleaner in the autonomously traveling body 101 to remove foreign substances.

Additionally, the suction driver 125 can also suck in one type of object when sucking in air. Here, one type of object may refer to an object that has a relatively small size and can pass through the suction driving body 125 and be stored inside the suction storage body 123.

청소 모듈(200)Cleaning module (200)

Figure 2 is a diagram showing a suction cleaner and a cleaning module mounted on an autonomous robot according to an embodiment of the present invention. Figure 3 is a diagram showing a cleaning module mounted on an autonomous robot according to an embodiment of the present invention.

As shown in FIGS. 2 and 3, the cleaning module 200 is positioned at a portion of the lower side of the body portion 101 to correspond to the second side opposite the first side of the body portion 101. You can. This cleaning module 200 can supply water to the ground, and collect, suck, and store water remaining on the ground. That is, the cleaning module 200 can clean the ground using water and completely remove the water used for cleaning.

Additionally, the cleaning module 200 may include a base portion 231, a cleaning module body portion 232, a cleaning module collection guide portion 233, a cleaning module suction portion 234, and a cleaning module supply guide portion 235. .

According to the present invention, the base portion 231 may be positioned on the lower side of the body portion 101 to correspond to the second surface of the body portion 101. The base portion 231 may have a rectangular parallelepiped shape, and the base portion mounting space 230 may be concavely formed on the lower side of the base portion 231, and the base portion mounting space 230 may have a rectangular parallelepiped shape. there is.

As shown in FIG. 3, the cleaning module body 232 may have a circular roller shape and may be located in the base mounting space 230 along a direction perpendicular to the traveling direction D. Here, the cleaning module body 232 may be positioned to rotate around an axis in a direction perpendicular to the traveling direction D. When the body portion 101 is positioned on the ground and stopped, the cleaning module body portion 232 is positioned on the ground and can be in contact with the ground, and when the body portion 101 is autonomously traveling on the ground, the cleaning module The body portion 232 may be rotated around an axis in a direction perpendicular to the traveling direction D.

Meanwhile, the outer peripheral surface of the cleaning module body 232 may be made of microfiber fabric, and a portion of the cleaning module body 232 may be inserted into the lower side of the body 101.

According to one embodiment of the present invention, the cleaning module collection guide portion 233 is formed in a plate shape, and may be positioned parallel to the cleaning module body 232 while being spaced apart from the cleaning module body 232. It may be located on the lower side of the body portion 101 so as to correspond to the second surface of the body portion 101 and adjacent to the base portion 131. This cleaning module collection guide portion 233 may be positioned to be movable in the vertical direction. Because of this, when the body portion 101 is positioned on the ground and the cleaning module body portion 232 is positioned on the ground, the cleaning module collection guide portion 233 may be in contact with the ground or may be spaced apart from the ground. Specifically, when the cleaning module collection guiding unit 233 moves in an upward direction, it may be separated from the ground, and when the cleaning module collection guiding unit 233 moves in a downward direction, it may contact the ground.

Additionally, the cleaning module collection guide unit 233 may include a cleaning module collection guide body 233a and a cleaning module collection guide driver 233b.

The cleaning module collection guide body 233a may have a plate shape and may be positioned parallel to the cleaning module body 232 and spaced apart from the cleaning module body 232 . Here, the cleaning module collection guide body 233a may be located between the lower side of the body portion 101 and the ground.

As shown, the cleaning module collection induction drive body 233b is in the form of a servomotor, and the base portion mounting space 230 between the cleaning module body 232 and the cleaning module collection induction body 233a ) and can be connected to the cleaning module collection guidance body (233a). This cleaning module collection guiding body 233b can move the cleaning module collecting guiding body 233a in the vertical direction, allowing the cleaning module collecting guiding body 233a to contact the ground or separate from the ground. Specifically, when the cleaning module collection guiding body 233b moves the cleaning module collecting guiding body 233a upward, the cleaning module collecting guiding body 233a may be spaced from the ground, and the cleaning module collecting guiding body 233a may be separated from the ground. When moving (233a) in the downward direction, the cleaning module collection guide body (233a) can be brought into contact with the ground.

Figure 4 is a diagram showing a cleaning module of an autonomous robot according to an embodiment of the present invention. As shown in FIG. 4, the cleaning module suction part 234 may be positioned to correspond to the base mounting space 230 and be spaced apart from the cleaning module body 232 and the cleaning module collection guide part 233. This cleaning module suction unit 234 can suck in and store water. Additionally, the cleaning module suction unit 234 may include a cleaning module suction body 234a and a cleaning module suction storage body 234b.

According to one embodiment of the present invention, the cleaning module suction body 234a may include a nozzle and a pump, and the base portion mounting space 230 may be spaced apart from the cleaning module body 232 and the cleaning module collection guide portion 233. ) can be positioned to correspond to. This cleaning module suction body 234a can suction water.

Figure 5 is a cross-sectional view showing a cleaning module of an autonomous robot according to an embodiment of the present invention.

As shown in FIG. 5, the cleaning module suction storage body 234b is located on the upper side of the cleaning module suction body 234a, is connected to the cleaning module suction body 234a, and is located inside the body portion 101. You can. When the cleaning module suction body 234a suctions water, the water may be induced and stored in the cleaning module suction storage body 234b.

As shown, the cleaning module supply guide portion 235 corresponds to the first surface of the body portion 101 and is adjacent to the cleaning module body portion 232. It can be positioned to correspond to the base portion mounting space 230. . Here, the cleaning module supply guide unit 235 can store water and discharge it to the ground. Additionally, the cleaning module supply guide unit 235 may include a cleaning module supply body 235a, a cleaning module supply storage body 235b, a cleaning module storage guide 235c, and a cleaning module storage filter body 235d.

According to one embodiment of the present invention, the cleaning module supply body 235a may have a rectangular parallelepiped shape, corresponds to the first surface of the body 101 so as to be adjacent to the cleaning module body 232, and has a base mounting space. It may be located at (230). Additionally, the cleaning module supply body 235a may include a pump.

According to one embodiment of the present invention, water may be stored inside the cleaning module supply body 235a, and a plurality of cleaning modules are provided at the lower part of the cleaning module supply body 235a adjacent to the cleaning module body 232. Supply openings 235' may be formed. Water may be discharged from the inside of the cleaning module supply body 235a, through the cleaning module supply opening 235', and discharged to the outside of the cleaning module supply body 235a, leading to the ground. Water on the ground may be absorbed into the outer peripheral surface of the cleaning module body 232, and foreign substances on the ground may adhere to the outer peripheral surface of the cleaning module body 232. Due to this, cleaning of the ground can be achieved.

The cleaning module supply storage body 235b is located on the upper side of the cleaning module supply body 235a, is connected to the cleaning module supply body 235a, and may be located inside the body portion 101. This cleaning module supply storage body 235b can store water therein.

When the cleaning module supply body 235a sucks the water in the cleaning module supply storage body 235b, the water is induced into the inside of the cleaning module supply body 235a and passes through the cleaning module supply opening 235'. It may be discharged to the outside of the supply body (235a).

As shown, the cleaning module storage guide 235c may be formed in a plate shape and may be located in the cleaning module supply body 235a along the cleaning module body 232. The first side end of the cleaning module storage guide 235c may be in contact with the cleaning module body portion 232, and the second side end portion opposite to the first side end of the cleaning module storage guide 235c may be in contact with the cleaning module supply body 235a. ) can be located inside.

According to one embodiment of the present invention, when the cleaning module body 232 absorbs water and rotates with foreign substances attached, the cleaning module storage guide 235c is in contact with the outer peripheral surface of the rotating body 102. , Water absorbed into the cleaning module body 232 through the ground may be guided into the cleaning module supply body 235a by the cleaning module storage guide 235c. Here, water may contain foreign substances.

According to one embodiment of the present invention, when the cleaning module supply body 235a sucks water from the cleaning module supply storage body 235b, the water is induced into the cleaning module supply body 235a and supplies the cleaning module. It may be discharged to the outside of the cleaning module supply body 235a through the opening 235'. Specifically, the cleaning module storage filter body 235d may be positioned to correspond to the cleaning module supply opening 235' inside the cleaning module supply body 235a. Here, the cleaning module storage filter body 235d can filter foreign substances contained in the water, and the water passes through the cleaning module supply opening 235' with the foreign substances removed to the outside of the cleaning module supply body 235a. can be discharged to The cleaning module storage filter 235d of this embodiment may be in the form of a sponge.

According to one embodiment of the present invention, when the body portion 101 is located on the ground, the cleaning module body portion 232 is located on the ground, and the cleaning module collection guiding body 233a is located in the cleaning module collecting guiding portion 233. Can be positioned to be spaced apart from the ground when the cleaning module collection guiding body 233a moves upward by the cleaning module collecting guiding body 233b.

Meanwhile, when the body portion 101 runs autonomously, the cleaning module supply body 235a sucks water from the cleaning module supply storage body 235b and guides it into the interior of the cleaning module supply body 235a, thereby supplying the cleaning module. Water induced into the body 235a may fall to the ground through the cleaning module supply opening 235'.

Additionally, the cleaning module body 232 rotates on the ground and absorbs water that falls on the ground, and foreign substances contained in the water may attach to the outer peripheral surface of the cleaning module body 232. Because of this, the ground can be cleaned using water. In addition, the cleaning module collection guiding body 233b in the cleaning module collection guiding unit 233 may move the cleaning module collecting guiding body 233a in the vertical direction and bring it into contact with the ground.

Specifically, when the cleaning module collection guiding body 233b moves the cleaning module collecting guiding body 233a upward, the cleaning module collecting guiding body 233a may be spaced from the ground, and the cleaning module collecting guiding body 233a may be separated from the ground. When moving (233a) in the downward direction, the cleaning module collection guide body (233a) can be brought into contact with the ground.

In addition, the cleaning module collection induction body 233a can scrape water from the ground and collect it to be located on the ground between the cleaning module collection induction body 233a and the cleaning module body 232, and the cleaning module suction body 234a Can suction water located on the ground between the cleaning module collection guide body 233a and the cleaning module body 232 and store it inside the cleaning module suction storage body 234b. Because of this, the water in the cleaning module supply guide portion 235 can be used to clean the ground in combination with the cleaning module body portion 232 on the ground and then be guided to the cleaning module suction portion 234.

The cleaning module 200 as described above ensures that no moisture remains on the cleaned ground, thereby preventing safety accidents such as slipping due to moisture resulting from cleaning. Additionally, as the cleaning module body 232 comes in contact with the ground and absorbs water, foreign substances may attach to the outer peripheral surface of the cleaning module body 232.

Additionally, the cleaning module storage guide 235c in the cleaning module supply guide 235 may be in contact with the outer peripheral surface of the rotating cleaning module body 232 to pressurize the outer peripheral surface of the cleaning module body 232. Here, the cleaning module storage guide 235c can pressurize a portion of the outer peripheral surface of the cleaning module body 232 and scratch the cleaning module body 232, so that water and foreign substances in the cleaning module body 232 are removed from the cleaning module. It may be guided into the interior of the cleaning module supply body 235a along the storage guide 235c. Foreign substances contained in the water are filtered through the cleaning module storage filter 235d and do not pass through the cleaning module supply opening 235', and water without foreign substances is supplied to the cleaning module storage filter 235d and the cleaning module. It may be guided to the ground through the opening 235'. Because of this, the water that has passed through the cleaning module supply opening 235' can be guided to the ground without containing foreign substances. That is, relatively clean water can be used to clean the ground.

사용자 단말기user terminal

Figure 6 is a perspective view showing the terminal housing and terminal plate separated and applied to a user terminal connected to an autonomous robot equipped with a cleaning module according to an embodiment of the present invention.

As shown in FIG. 6, a user of the self-driving robot 100 can connect to an operation server (not shown) using the user terminal 10 and exchange signals with the operation server. The operating server displays a web page through a web browser running on the user terminal 10, logs in to the web page, and then connects to the operating server, or an application that can access the operating server is installed and run on the user terminal 10. It could be.

According to one embodiment of the present invention, each user terminal 10 may be implemented as a computer capable of accessing a remote server or terminal through a network. Here, the computer may include, for example, a laptop, desktop, laptop, etc. equipped with a web browser. Additionally, each user terminal 10 may be implemented as a terminal device capable of connecting to a remote server or terminal through a network. Terminal devices are, for example, wireless communication devices that ensure portability and mobility, such as PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), and PDA ( Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), Wibro (Wireless Broadband Internet) terminal, smartphone, It may include all types of handheld wireless communication devices such as smartpads, tablet PCs, etc.

Here, the network refers to a connection structure that allows information exchange between nodes, such as a plurality of terminals and servers. Examples of such networks include the 3rd Generation Partnership Project (3GPP) network and Long Term Evolution (LTE). Network, 5G network, WIMAX (World Interoperability for Microwave Access) network, Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), PAN (Personal Area Network), It includes, but is not limited to, a Bluetooth network, satellite broadcasting network, analog broadcasting network, and DMB (Digital Multimedia Broadcasting) network.

According to the present invention, the body unit 101 can generate emergency data and transmit it to the operation server, and the operation server can transmit the transmitted emergency data to the user terminal 10. Here, the emergency data may include the type and location of the object detected by the sensor 115 that cannot be cleaned by the suction cleaner 102 and the cleaning module 200. Additionally, the administrator can check emergency data through the user terminal 10 and take action on objects corresponding to the emergency data.

Additionally, the body unit 101 may generate an arrival signal when reaching the destination and transmit it to the operation server, and the operation server may transmit the arrival signal to the user terminal 10.

As shown in FIG. 6, the user terminal 10 can be combined with the terminal housing 201 and the terminal plate 202, and using the terminal housing 201 and the terminal plate 202, research data or control Data can be input and transmitted to the operation server to be transmitted to the user terminal 10. Here, the research data may include customer satisfaction with items transported through the body portion 101, etc. Managers can check the customer's situation regarding the transportation of goods through research data.

According to one embodiment of the present invention, the user terminal 10 may be in the form of a smartphone, located on one side of the user terminal 10 and corresponding to the research item (a) and the research item (a) for the research data. An answer area (b) where the desired score can be input can be displayed, and may be in the form of a display device. Additionally, the detector unit 22 may be in the form of a camera or sensor, and may be located at the top of the user terminal 10, away from the display unit 21.

Here, the research items may be in the form of "satisfaction with the condition of the article," "satisfaction with the transportation of the article," "ease of operation of the body," etc., and the input area allows you to enter any one value from 1 to 3. It can be done. Here, the input area is shown as consisting of three areas, but it is not limited to this and may consist of three or more areas, such as 5, 7, 9, etc. Such research items may be provided mainly when the administrator uses the user terminal 10.

Here, the control items may include “traveling speed of the cleaning robot,” “traveling time of the cleaning robot,” “traveling start point of the cleaning robot,” “traveling return point of the cleaning robot,” etc. The control item may include multiple input areas and may be touchable on the display unit 21 of the user terminal 10. Specifically, the input area may be configured to allow input of any one value from 1 to 3. Here, the input area is shown as consisting of three areas, but it is not limited to this and may consist of three or more areas, such as 5, 7, 9, etc. Such control items may be provided mainly when a customer uses the user terminal 10.

As shown, the terminal housing 201 may have a shape corresponding to the user terminal 10 and may accommodate the user terminal 10 in a detachable manner. This terminal housing 201 may include a housing space 210, a display opening 201a, and a user terminal placement space 201b.

As shown, the housing space 210 may have a shape corresponding to the user terminal 10 inside the terminal housing 201 and may have both longitudinal cross-sections open.

According to the present invention, the display opening 201a may be formed on the upper surface of the terminal housing 201 and connected to the housing space 210. When the user terminal 10 is located in the housing space 210, the display unit 21 and the detector unit 22 of the user terminal 10 may be positioned to correspond to the display opening 201a.

According to the present invention, the user terminal placement space 201b may be concavely formed so that the user terminal 10 can be seated on the bottom surface of the housing space 210, and may be positioned to correspond to the display opening 201a. there is. The user terminal 10 is located in the housing space 210 and can be inserted into the user terminal placement space 201b, and the display unit 21 and the detector unit 22 are positioned to correspond to the display opening 201a to display the display unit 210. It can be confirmed through the opening 201a.

Additionally, the terminal housing 201 may include a moving guide 211 and an auxiliary stopper 213. There may be a plurality of moving guides 211, and they may be positioned on both sides of the terminal housing 201 to be spaced apart from each other along one direction (A). With the customer terminal 10 located in the housing space 210, the moving guide 211 may be located on the upper side of the customer terminal 10 and spaced apart from the upper surface of the housing space 210.

Additionally, the moving guide 211 may include a moving power body 211a and a moving transmission body 211b. The moving power body 211a may be in the form of a motor and may be located on the outer side of the terminal housing 201.

Hereinafter, the surface of the housing space 210 shown in FIG. 6 on which the auxiliary stopper 213 is located is referred to as a first longitudinal cross-section, and the longitudinal cross-section in the opposite direction is referred to as a second longitudinal cross-section.

As shown in FIG. 6, the moving transmission body 211b is formed in the form of a pinion gear, and is located to correspond to the moving power body 211a on the inner side of the housing space 210 and moves the moving power body 211a. ) can be connected to. Here, the moving transmission body 211b may be rotated by the moving power body 211a.

According to one embodiment of the present invention, the auxiliary stopper 213 may have a rectangular plate shape, and is located near the first longitudinal section of the housing space 210 and the moving guide 211 in the housing space 210. , may be connected by a hinge to the inner surface of the housing space 210. Here, the first longitudinal portion of the auxiliary stopper 213 may be hinged to the inner surface of the housing space 210 to be adjacent to the moving transmission body 211b positioned to face the first longitudinal cross-section of the housing space 210, The second end of the auxiliary stopper 213, which is opposite to the first end, may be in contact with the user terminal placement space 201b or may be spaced apart from the user terminal placement space 201b.

Meanwhile, the user terminal 10 may be inserted into the housing space 210 or separated from the housing space 210 through the second longitudinal cross-section opposite the first longitudinal cross-section of the housing space 210 due to the auxiliary stopper 213. You can.

단말 플레이트terminal plate

As shown in FIG. 6, the terminal plate 202 may have a plate shape corresponding to the display opening 201a. Here, the terminal plate 202 may be inserted into the housing space 210 and engaged with the moving guide 211, and may be formed to be movable along one direction (A) by the moving guide 211. The end plate 202 may include a first end plate opening 202a and a second end plate opening 202b.

단말 플레이트 제1 개구(202a)의 컨트롤 데이터Control data of the terminal plate first opening 202a

Specifically, the terminal plate first opening 202a is formed in the terminal plate 202 with a size corresponding to one control item (a) displayed on the display unit 21 of the user terminal 10 for control data. You can. For example, a square hole may be formed with a size corresponding to one control item (a) displayed on the display unit 21.

Specifically, the terminal plate second opening 202b is formed in the terminal plate 202 with a size corresponding to the answer area (b) displayed on the display unit 21 of the user terminal 10 for input of control data. You can. Here, the end plate second opening 202b may be positioned in the end plate 202 in combination with the end plate first opening 202a to form the same straight line along a direction perpendicular to one direction A, and the answer It may be formed in plural pieces corresponding to the area (b).

단말 플레이트 제1 개구(202a)의 리서치 데이터Research data of terminal plate first opening 202a

Specifically, the terminal plate 202 may include a first terminal plate opening 202a and a second terminal plate opening 202b. Specifically, the terminal plate first opening 202a is formed in the terminal plate 202 with a size corresponding to one research item (a) displayed on the display unit 21 of the user terminal 10 for research data. You can.

According to one embodiment of the present invention, the terminal plate second opening 202b has a size corresponding to the answer area (b) displayed on the display unit 21 of the user terminal 10 for input of research data. It can be formed at (202). Here, the terminal plate second opening 202b may be positioned in the terminal plate 202 in combination with the terminal plate first opening 202a to form the same straight line along a direction perpendicular to one direction A, and the answer It may be formed in plural pieces corresponding to the area (b).

단말 플레이트 디텍터 마크(220)Terminal plate detector mark (220)

Hereinafter, reference numeral (a) shown in FIG. 6 may be a control item or a research item, according to an embodiment of the present invention.

Additionally, a detector mark 220 may be formed on one side of the top surface of the terminal plate 202. Here, the detector mark 220 may be in the form of a QR code, bar code, etc.

According to one embodiment of the present invention, in a state where the terminal plate 202 is accommodated in the housing space 210, the detector mark 220 is attached to the detector unit 22 of the user terminal 10 accommodated in the housing space 210. It can be positioned to respond. Here, the detector unit 22 detects the detector mark 220, and the display unit 21 displays a plurality of control items (a) and a control item (a) for inputting control data corresponding to the detector mark 220. ) can be displayed. Additionally, the control item (a) and the corresponding answer area (b) of the display unit 21 can be confirmed through the terminal plate first opening 202a and the terminal plate second opening 202b.

In addition, the detector unit 22 detects the detector mark 220, and the display unit 21 displays a plurality of research items (a) and a research item (a) for inputting research data corresponding to the detector mark 220. ) can display the answer area (b) corresponding to each of them. In addition, one research item (a) displayed on the first end portion of the display unit 21 and an answer area (b) corresponding to one research item (a) are connected to the terminal plate first opening 202a and the terminal plate. It can be confirmed through the second opening 202b.

단말 플레이트 무빙 보조체(221)Terminal plate moving auxiliary (221)

Additionally, as shown in FIG. 6, the terminal plate 202 may include a moving auxiliary body 221. Specifically, the moving auxiliary bodies 221 are composed of a pair, and may be located along one direction (A) on both sides of the lower surface of the terminal plate 202. Here, the moving auxiliary body 221 may be in the form of a rack gear. When the terminal plate 202 is inserted into the housing space 210, the moving auxiliary body 221 may be located on the upper side of the moving transmission body 211b of the moving guide 211 and engage with the moving transmission body 211b. You can. Here, the moving auxiliary body 221 and the moving transmission body 211b may be engaged by combining a rack gear and a pinion gear. When the moving power body 211a rotates the moving transmission body 211b, the moving transmission body 211b can move the moving auxiliary body 221 to move the terminal plate 202.

단말 플레이트 스토퍼 돌기(213a)Terminal plate stopper projection (213a)

Figure 7 is a diagram showing the operation of the stopper protrusion of the terminal housing in the cleaning module of the autonomous robot according to an embodiment of the present invention. As shown in FIG. 7, a stopper protrusion 213a may be formed on the lower side of the first end portion of the auxiliary stopper 213, and the stopper protrusion 213a may be made of an elastic material such as rubber.

According to one embodiment of the present invention, when the user terminal 10 is not located in the housing space 210, the auxiliary stopper 213 is tilted, and the second end of the auxiliary stopper 213 is located in the user terminal placement space ( 201b) and may be located lower than the first end portion of the auxiliary stopper 213.

Meanwhile, when the user terminal 10 is gradually inserted into the housing space 210 through the second longitudinal cross-section of the housing space 210 (the left portion of the housing space 210 in FIG. 7), the auxiliary stopper 213 is provided to the user. When in contact with the terminal 10, it rotates counterclockwise based on FIG. 7(b), and the second end of the auxiliary stopper 213 may be gradually spaced apart from the user terminal placement space 201b. In addition, when the display unit 21 of the customer terminal 10 is positioned to correspond to the display opening 201a of the terminal housing 201, the stopper protrusion 213a of the auxiliary stopper 213 is It may be located on one side of the first longitudinal portion. Here, the auxiliary stopper 213 is inclined, and the second end of the auxiliary stopper 213 is positioned above the first end of the auxiliary stopper 213 by contact between the stopper protrusion 213a and the user terminal 10. You can. Additionally, the auxiliary stopper 213 may be positioned to face the first longitudinal section of the terminal plate 202.

단말 하우징, 단말 플레이트와 사용자 단말기와의 결합Combination of terminal housing, terminal plate and user terminal

Meanwhile, as shown in FIG. 7(b), when the display unit 21 of the user terminal 10 is inserted into the housing space 210 to correspond to the display opening 201a of the terminal housing 201, the auxiliary The auxiliary stopper 213 may be tilted so that the second end of the stopper 213 is positioned above the first end of the auxiliary stopper 213 by the stopper protrusion 213a. Here, the terminal plate 202 is located in the housing space 210 and, while located on the upper side of the user terminal 10, is restricted from moving toward the first longitudinal section of the housing space 210 by the stopper protrusion 213a. You can receive it. That is, when the user terminal 10 is accommodated in the housing space 210 of the terminal housing 201, the terminal plate 202 cannot pass through the first longitudinal section of the housing space 210, and the terminal plate 202 cannot pass through the first longitudinal section of the housing space 210. It can pass through the second longitudinal section of .

The terminal housing 201 and terminal plate 202 as described above can be applied to the user terminal 10 and operated as follows.

First, the terminal plate 202 may be inserted and accommodated in the housing space 210. Here, the terminal plate 202 may be positioned to correspond to the display opening 201a, and the moving auxiliary body 221 of the terminal plate 202 may engage with the moving transmission body 211b of the moving guide 211. .

도 8(a)의 리서치 데이터 Research data in Figure 8(a)

Subsequently, the user terminal 10 may be inserted and accommodated in the housing space 210 of the terminal housing 201. Here, the user terminal 10 is inserted into the user terminal placement space 201b and located on the lower side of the terminal plate 202, and the auxiliary stopper 213 is inclined, and the second end of the auxiliary stopper 213 is the auxiliary stopper. It may be located above the first end of (213). Additionally, the display unit 21 and the detector unit 22 of the user terminal 10 may be positioned to correspond to the display opening 201a.

In the above state, the detector mark 220 of the terminal plate 202 may be positioned to correspond to the detector unit 22 of the user terminal 10. Here, the detector unit 22 detects the detector mark 220, and the display unit 21 displays a plurality of rush value items (a) and research items (a) for inputting research data corresponding to the detector mark 220. The answer area (b) corresponding to each of a) can be displayed.

In addition, the terminal plate first opening 202a and the terminal plate second opening 202b of the terminal plate 202 each display one research item displayed on the first end portion (upper portion of FIG. 8) of the display unit 21. It can be positioned to correspond to the item (a) and the answer area (b) corresponding to one research item (a) (see FIG. 8(a)). Here, the user terminal 10 may generate a research item (a) corresponding to the first opening 202a of the terminal plate through voice. That is, the customer can easily recognize the research item (a) and answer area (b) to be input through the terminal plate first opening 202a and the terminal plate second opening 202b.

Additionally, the customer can touch the answer area (b) displayed on the display unit 21 through the second opening 202b of the terminal plate. Here, the display unit 21 may display a touch mark (c) to correspond to the touched answer area (b), and the response value corresponding to the answer area (b) where the touch mark (c) is displayed is a research item. Regarding (a), it can be input into the customer terminal 10. The customer terminal 10 may generate an operation signal and transmit it to the terminal housing 201.

Additionally, the moving guide 211 may be operated in the terminal housing 201. The moving power body 211a of the moving guide 211 rotates the moving transmission body 211b, and the moving transmission body 211b moves the moving auxiliary body 221 to the second end opposite to the first end portion of the display unit 21. It can be moved toward the longitudinal portion (lower portion in FIG. 8). That is, the detector mark 220 can be moved away from the detector unit 22. For this reason, the research opening 202a of the terminal plate 202 and the second opening 202b of the terminal plate are connected to the other research item (a) displayed on the display unit 21 and the answer area (a) according to the other research item (a). b), and a portion of the terminal plate 202 may be positioned to protrude from the housing space 210.

As described above, the customer can input research data by selectively touching the answer area (b) for the research items (a) displayed on the display unit 21 one by one through the second opening 202b of the terminal plate.

도 8(a)의 컨트롤 데이터Control data in Figure 8(a)

In the above state, the detector mark 220 of the terminal plate 202 may be positioned to correspond to the detector unit 22 of the user terminal 10. Here, the detector unit 22 detects the detector mark 220, and the display unit 21 displays an answer corresponding to each of a plurality of control items (a) for inputting control data corresponding to the detector mark 220. Area (b) can be displayed. In addition, the terminal plate first opening 202a and the terminal plate second opening 202b of the terminal plate 202 display one control item (a) and one control item (a) displayed on the first end portion of the display unit 21, respectively. It can be positioned to correspond to the answer area (b) corresponding to the control item (a). Here, the user terminal 10 may generate a control item (a) corresponding to the first opening 202a of the terminal plate by voice. That is, the manager can easily recognize the control item (a) and answer area (b) to be input through the terminal plate first opening 202a and the terminal plate second opening 202b.

Additionally, the manager can touch the answer area (b) displayed on the display unit 21 through the answer opening 202b. Here, the display unit 21 may display a touch mark (c) to correspond to the touched answer area (b), and the response value corresponding to the answer area (b) where the touch mark (c) is displayed is the control item. Regarding (a), it can be input into the user terminal 10. The user terminal 10 may generate an operation signal and transmit it to the terminal housing 201.

Additionally, the moving guide 211 may be operated in the terminal housing 201. The moving power body 211a of the moving guide 211 rotates the moving transmission body 211b, and the moving transmission body 211b moves the moving auxiliary body 221 to the second end opposite to the first end portion of the display unit 21. It can be moved toward the longitudinal portion (lower portion in FIG. 8(b)). That is, the detector mark 220 can be moved away from the detector unit 22. Because of this, the terminal plate first opening 202a and the terminal plate second opening 202b of the terminal plate 202 are opened according to the other control item (a) and the other control item (a) displayed on the display unit 21. It may be positioned to correspond to the answer area (b), and a portion of the terminal plate 202 may be positioned to protrude from the housing space 210.

As described above, the manager can input control data by selectively touching the answer area (b) for the control items (a) displayed on the display unit 21 one by one through the second opening 202b of the terminal plate.

도 8(b)의 리서치 데이터Research data in Figure 8(b)

As shown in FIG. 8(b), the terminal plate 202 continues to move by the moving guide 211, so that the customer selects the last research item (a) among the research items (a) displayed on the display unit 21. You can touch the answer area (b) for a). When the customer touches the display unit 21 to select the answer area (b) for the last research item (a), the user terminal 10 corresponds to the research items (a) and the research items (a) Research data containing response values corresponding to the selected answer area (b) can be generated. Additionally, the display unit 21 may display a plurality of research items (a) with different contents for inputting research data and an answer area (b) corresponding to each of the research items (a).

In the above state, the user terminal 10 can generate a recovery signal and transmit it to the terminal housing 201. Additionally, the moving guide 211 may be operated in the terminal housing 201. The moving power body 211a of the moving guide 211 rotates the moving transmission body 211b, and the moving transmission body 211b moves the moving auxiliary body 221 to the first end portion of the display unit 21 (the upper part of FIG. 8). part) can be moved to face it.

Here, the detector mark 220 may be moved to be closer to the detector unit 22. The detector mark 220 is positioned to correspond to the detector unit 22, and when the detector unit 22 detects the detector mark 220, the user terminal 10 generates a stop signal and sends it to the terminal housing 201. transmission, and the moving guide 211 can be stopped. Additionally, the terminal plate 202 may not be moved to pass through the first longitudinal section of the housing space 210 by the stopper protrusion 213a of the auxiliary stopper 213.

Here, the terminal plate first opening 202a and the terminal plate second opening 202b of the terminal plate 202 are again configured to display one research item (a) and one displayed on the first end portion of the display unit 21. It can be positioned to correspond to the answer area (b) corresponding to the research item (a) (see FIG. 8(a)). That is, the terminal housing 201 and the terminal plate 202 input research data while checking a plurality of research items (a) with different contents and the answer area (b) corresponding to each of the research items (a). can be used for

With the terminal housing 201 and the terminal plate 202 applied to the customer terminal 10 connected to the self-driving robot 100 of this embodiment, research data can be input through the customer terminal 10. Research items (a) for inputting research data displayed on the display unit 21 of the customer terminal 10 and the answer area (b) corresponding to the research items (a) are in one research item (a). It can be physically identified by the terminal plate 202. As a result, the response value corresponding to the answer area (b) can be entered more accurately for the research item (a) displayed on the display unit 21 of the user terminal 10, so that the customer can more easily and accurately use the user terminal. Research data can be entered in (10).

도 8(b)의 컨트롤 데이터Control data in Figure 8(b)

As described above, the terminal plate 202 may be inserted into and accommodated in the housing space 210. Here, the terminal plate 202 may be positioned to correspond to the display opening 201a, and the moving auxiliary body 221 of the terminal plate 202 may engage with the moving transmission body 211b of the moving guide 211. .

In the above state, the detector mark 220 of the terminal plate 202 may be positioned to correspond to the detector unit 22 of the user terminal 10. Here, the detector unit 22 detects the detector mark 220, and the display unit 21 displays an answer corresponding to each of a plurality of control items (a) for inputting control data corresponding to the detector mark 220. Area (b) can be displayed.

In addition, the terminal plate first opening 202a and the terminal plate second opening 202b of the terminal plate 202 display one control item (a) and one control item (a) displayed on the first end portion of the display unit 21, respectively. It can be positioned to correspond to the answer area (b) corresponding to the control item (a). Here, the user terminal 10 may generate a control item (a) corresponding to the first opening 202a of the terminal plate by voice. That is, the manager can easily recognize the control item (a) and answer area (b) to be input through the terminal plate first opening 202a and the terminal plate second opening 202b.

Additionally, the manager can touch the answer area (b) displayed on the display unit 21 through the second opening 202b of the terminal plate. Here, the display unit 21 may display a touch mark (c) to correspond to the touched answer area (b), and the response value corresponding to the answer area (b) where the touch mark (c) is displayed is the control item. Regarding (a), it can be input into the user terminal 10. The user terminal 10 may generate an operation signal and transmit it to the terminal housing 201.

Additionally, the moving guide 211 may be operated in the terminal housing 201. The moving power body 211a of the moving guide 211 rotates the moving transmission body 211b, and the moving transmission body 211b moves the moving auxiliary body 221 to the second end opposite to the first end portion of the display unit 21. It can be moved to face the longitudinal section. That is, the detector mark 220 can be moved away from the detector unit 22. Due to this, the terminal plate first opening 202a and the terminal plate second opening 202b of the terminal plate 202 are opened according to the other control item (a) and the other control item (a) displayed on the display unit 21. It may be positioned to correspond to the answer area (b), and a portion of the terminal plate 202 may be positioned to protrude from the housing space 210.

As described above, the manager can input control data by selectively touching the answer area (b) for the control items (a) displayed on the display unit 21 one by one through the second opening 202b of the terminal plate. .

As shown in FIG. 8(b), the terminal plate 202 continues to move by the moving guide 211, so that the manager selects the last control item (a) among the control items (a) displayed on the display unit 21. You can touch the answer area (b) for a). Accordingly, when the administrator touches the display unit 21 to select the answer area (b) for the last control item (a), the user terminal 10 displays the control items (a) and the control items (a). Control data that corresponds to and includes a response value corresponding to the selected answer area (b) can be generated. Additionally, the display unit 21 may display a plurality of control items (a) with different contents for inputting control data and an answer area (b) corresponding to each of the control items (a).

In the above state, the user terminal 10 can generate a recovery signal and transmit it to the terminal housing 201. Additionally, the moving guide 211 can be operated in the terminal housing 201. The moving power body 211a of the moving guide 211 rotates the moving transmission body 211b, and the moving transmission body 211b moves the moving auxiliary body 221 toward the first end portion of the display unit 21. You can. Here, the detector mark 220 may be moved to be closer to the detector unit 22. The detector mark 220 is positioned to correspond to the detector unit 22, and when the detector unit 22 detects the detector mark 220, the user terminal 10 generates a stop signal and sends it to the terminal housing 201. transmission, and the moving guide 211 can be stopped.

Additionally, the terminal plate 202 may not be moved to pass through the first longitudinal section of the housing space 210 by the auxiliary stopper 213. Here, the terminal plate first opening 202a and the terminal plate second opening 202b of the terminal plate 202 are again configured to display one control item (a) and one displayed on the first end portion of the display unit 21. It can be positioned to correspond to the answer area (b) corresponding to the control item (a). That is, the terminal housing 201 and the terminal plate 202 input control data while checking a plurality of control items (a) with different contents and the answer area (b) corresponding to each of the control items (a). can be used for

The self-driving robot 100 with the cleaning module 200 installed in this embodiment is installed with the user terminal 10 in a state where the terminal housing 201 and the terminal plate 202 are applied to the user terminal 10. You can receive control data through . The control items (a) for inputting control data displayed on the display unit (21) of the user terminal (10) and the answer area (b) corresponding to the control items (a) are connected to one control item (a). It can be physically identified by the terminal plate 202. Because of this, the response value corresponding to the answer area (b) for the control item (a) displayed on the display unit 21 of the user terminal 10 can be input more accurately.

자율 주행 로봇 감시부(300)Self-driving robot monitoring unit (300)

As shown in FIG. 9, the self-driving robot 100 according to an embodiment of the present invention may include a body portion 101, a self-driving robot monitoring unit 300, and a suction cleaner 102, and It is located on the ground and can patrol by monitoring the surroundings of the autonomous driving path while driving autonomously. It may be desirable for the self-driving robot 100 of this embodiment to autonomously drive not only in indoor spaces but also in outdoor spaces.

According to one embodiment of the present invention, as mentioned above, the user terminal 10 can exchange signals with the self-driving robot 100. The self-driving robot 100 displays a web page through a web browser run on the user terminal 10, logs in on the web page, and then connects to the self-driving robot 100, or allows self-driving robots to be connected to the user terminal 10. An application accessible to the robot 100 may be installed and run.

자율 주행 로봇 감시부(300)Self-driving robot monitoring unit (300)

As shown in FIG. 9, control buttons 112 may be installed on each side of the body portion 101. Specifically, the control button 112 may be positioned to protrude from the side of the body portion 101. Here, when the body portion 101 is traveling and the control button 112 is inserted into the side of the body portion 101 by an external force, the body portion 101 may be stopped.

According to the present invention, the self-driving robot monitoring unit 300 may be located on the upper part of the body 101, detects a person or object located within a set distance from the body 101, and detects the detected person or object. And image information corresponding to the space where the detected person or object is located can be modeled and generated. Here, the video information may be in the form of an image or video.

In addition, the self-driving robot monitoring unit 300 controls the body unit 101 to avoid the detected person or object based on the image information, and detects whether the detected object is a foreign substance or garbage based on the image information. In this case, the suction cleaner 102 may be operated.

Additionally, the self-driving robot monitoring unit 300 may generate a notification signal when a detected person or object is in a dangerous state based on image information. Here, the notification signal may be output in the form of sound from the self-driving robot monitoring unit 300, and people located around the self-driving robot 100 may be alerted to people or objects that may cause danger nearby through the notification signal. You can recognize that it exists.

In addition, the self-driving robot monitoring unit 300 may be connected to the user terminal 10 through a network, and a notification signal may be transmitted to the user terminal 10 and output in the form of sound or text through the user terminal 10. You can. Additionally, the self-driving robot monitoring unit 300 may generate location information according to the location of the body portion 101.

This self-driving robot monitoring unit 300 can transmit image information and location information to the user terminal 10. The user terminal 10 can output video information and location information. Meanwhile, when the user terminal 10 receives a notification signal, the administrator selects abnormal parts from the video information output through the user terminal 10. You can check it.

Here, the abnormal part of the image information may mean a part corresponding to a risk caused by a person or object corresponding to the image information. The manager can move to take action on the body unit 101 and the surroundings of the body unit 101 through location information corresponding to the notification signal.

자율 주행 로봇 메인 감시체 및 자율 주행 로봇 서브 감시체Self-driving robot main monitoring body and self-driving robot sub-monitoring body

The self-driving robot monitoring unit 300 as described above may include a self-driving robot main monitoring body 321 and a self-driving robot sub-monitoring body 323. Hereinafter, each embodiment of the self-driving robot main monitoring body 321 and the self-driving robot sub-monitoring body 323 will be described.

According to one embodiment of the present invention, the self-driving robot main monitoring body 321 may be located on the upper surface of the body portion 101, and the self-driving robot main monitoring body 321 may be located on the upper surface of the body portion 101, and may be located on the autonomous driving path of the body portion 101. A person or object located within a set distance along the circumferential direction of (101) can be detected, and three-dimensional image information corresponding to the detected person or object and the space in which the detected person or object is located can be modeled and generated. . Additionally, the self-driving robot main monitoring body 321 may include a LiDAR sensor (light detection and ranging sensor), and may detect a person or object.

According to another embodiment of the present invention, the self-driving robot main monitoring body 321 is capable of generating location information according to the location of the body portion 101, and detecting a person or person detected based on 3D image information. A notification signal can be generated when it is determined that an object is in a state that could cause danger. Additionally, when the self-driving robot main monitor 321 generates a notification signal, it can transmit the notification signal along with the location information and 3D image information of the body unit 101 to the user terminal 10.

According to one embodiment of the present invention, the self-driving robot sub-monitor 323 may be located in front of the body portion 101, and may be positioned at the first position of the body portion 101 in the autonomous driving path of the body portion 101. It is possible to detect a person or object located within a set distance from the surface (hereinafter, the front of the body 101 is referred to as the 'first surface'), and the space where the detected person or object and the detected person or object are located. It can be generated by modeling two-dimensional image information corresponding to . Additionally, the self-driving robot sub-monitoring body 323 may include a LiDAR sensor, etc., and may detect a person or object.

According to the present invention, the self-driving robot sub-monitor 323 can control the body 101 to run to avoid a detected person or object based on two-dimensional image information, and the detected object is foreign matter or trash. In this case, the suction cleaner 102 can be operated.

According to another embodiment of the present invention, the self-driving robot monitoring unit 300 can provide patrol and crime prevention functions when the body unit 101 is driving.

자율 주행 로봇 흡입 청소부(102)Self-driving robot suction cleaner (102)

Figure 10 is a diagram showing the suction cleaner of the self-driving robot according to the present invention. Figure 11 is a diagram showing the suction cleaner of the self-driving robot according to the present invention in more detail. The suction cleaner 102 may be located at the lower part of the body 101, and may store foreign substances and trash on the ground by guiding them to be located at the lower side of the body 101. Here, the foreign matter may include dust, etc. Additionally, the suction cleaning unit 102 may include a suction brush 121, a suction collection unit 133, and a suction storage unit 123.

According to the present invention, the suction brushes 121 may be formed as a pair, and may be positioned to be spaced apart from each other at the lower part of the first surface of the body portion 101. Each suction brush 121 may be used to contact the ground and separate foreign substances attached to the ground from the ground. Here, when the body portion 101 travels, the pair of suction brushes 121 are operated to guide foreign substances between the suction brushes 121, and the foreign substances are moved to the body portion 101 due to the traveling of the body portion 101. ) can be located on the lower side. Additionally, as shown in FIG. 11, each of the suction brushes 121 may include a suction brush guiding base 121a, a suction brush guiding body 121b, and a suction brush guiding driving body 121c.

According to one embodiment of the present invention, the suction brush guiding base 121a may be formed in the shape of an elongated plate, and is perpendicular to the first surface of the body 101 near the lower surface of the body 101 and is in contact with the ground. Can be positioned parallel. Here, the first end of the suction brush guiding base 121a may be fixed to the first surface of the body portion 101.

According to one embodiment of the present invention, the suction brush guiding body 121b is made of a cylindrical shape, and is located near the second end of the suction brush guiding base 121a, which is opposite to the first end of the suction brush guiding base 121a. It can be rotatably positioned on the lower surface and can be in contact with the ground. When the suction brush guiding body 121b is in contact with the ground and rotated about an axis along the center of the suction brush guiding body 121b, the suction brush guiding body 121b can separate foreign substances attached to the ground from the ground. .

According to one embodiment of the present invention, the suction brush guiding body 121c may be located on the upper surface of the suction brush guiding base 121a to correspond to the suction brush guiding body 121b, and the suction brush guiding body 121b can be connected to the center of Here, the suction brush guiding body 121c may include a motor and a reducer, and may generate power to rotate the suction brush guiding body 121b. Each suction brush guiding body 121c may rotate the suction brush guiding body 121b in different directions.

흡입 수집부(133)Suction collection unit (133)

According to one embodiment of the present invention, the suction collection unit 133 is a surface located in the suction collection unit mounting space 310 in a direction opposite to the first surface of the body 101 (hereinafter referred to as the 'second surface'). ), and foreign substances located on the lower side of the body portion 101 can be guided toward the first surface of the body portion 101. Additionally, the suction collection unit 133 may include a collection rotation body 133a, a collection body 133b, and a collection drive body 133c.

According to the present invention, the collection rotating body 133a may have a circular bar shape, and is located near the second surface of the body portion 101 along a direction perpendicular to the traveling direction D in the suction collection unit mounting space 310. It can be located in . Here, the collection rotor 133a may be rotated around an axis along the longitudinal direction of the collection rotor 133a (that is, a direction perpendicular to the traveling direction D).

According to the present invention, there may be a plurality of collection bodies (133b) and may be located across the outer peripheral surface of the collection rotation body (133a). Here, the collection bodies 133b may each have a wire shape, may be positioned in a direction perpendicular to the tangential direction of the outer peripheral surface of the collection rotor 133a, and may contact the ground through rotation of the collection rotor 133a. You can.

According to the present invention, the collection driving body 133c may be connected to either end portion of the collecting rotating body 133a. Here, the collection driving body 133c may include a motor and a reducer, and may generate power to rotate the collecting rotating body 133a. In particular, the collection driving body 133c may rotate the collecting rotating body 133a in a direction toward the first surface of the body portion 101, that is, clockwise with respect to FIG. 11 . Because of this, the collection body 133b can guide foreign substances on the ground located below the body 101 toward the first surface of the body 101.

흡입 저장부(123)Suction reservoir (123)

Shown in FIG. 2, the suction storage unit 123 can be located in the suction collection unit mounting space 310, and the suction storage storage space 123' is formed concavely on the upper surface of the suction storage unit 123. It can be. In the suction storage storage space 123', the suction collection portion 133 may be located near the second surface of the body portion 101. Additionally, in the suction storage storage space 123', a portion of the lower surface corresponding to the suction collection portion 133 and the surface facing the second side of the body portion 101 may be open and connected to each other.

Here, the suction collection unit 133 may be located in the suction collection unit mounting space 310 while being located in the suction storage unit storage space 123'. In addition, both end portions of the collection rotor 133a of the suction collection unit 133 may be inserted and positioned on both sides of the suction storage storage space 123', and the collection body 133b of the suction collection unit 133. ) may pass through a portion of the lower surface of the suction storage space 123' corresponding to the suction collection unit 133.

According to one embodiment of the present invention, when the suction collection unit 133 is operated, foreign substances on the ground located on the lower side of the body portion 101 are guided toward the first side of the body portion 101 and are suctioned. It passes through the surface facing the second surface of the body portion 101 in an open state in the storage storage space 123' and is located in the suction storage storage space 123' of the suction storage portion 123 for storage. It can be.

In addition, a pair of suction storage rotation guides 123a are inserted into both sides of the suction storage unit 123 to correspond to each other, and each of the suction storage rotation guides 123a may have a circular bar shape, and the suction collection unit It can be fixed to the inner side of the mounting space 310. Because of this, the suction reservoir 123 can be rotated around the suction reservoir rotation guide 123a. In particular, the suction storage unit 123 may be rotated so as not to restrict the running of the body unit 101 even if it contacts the ground depending on the condition of the ground.

The cleaning unit 103 as described above can be used to collect and store foreign substances on the ground while the body unit 101 is traveling.

While the self-driving robot 100 according to this embodiment is traveling using the body 101, a person or object is located within a set distance from the body 101 using the self-driving robot monitoring unit 300. By detecting, it controls the running of the body part 101, determines whether there is an abnormality in the detected person or object, and takes action according to the abnormality. At the same time, it uses the suction cleaner 102 to remove foreign substances in the driving path. Cleaning can be done to remove and collect. Therefore, the self-driving robot 100 according to this embodiment can patrol along the self-driving path and clean the autonomous driving path at the same time.

Additionally, the self-driving robot 100 according to this embodiment can perform patrolling and cleaning simultaneously, thereby significantly increasing operating time and operating efficiency.

자율 주행 로봇의 동력 전달 장치Power transmission device of self-driving robot

Figure 12 is a diagram showing a power transmission device 400 for an autonomous robot according to an embodiment of the present invention. Figure 13 is a diagram showing the power transmission device 400 for a self-driving robot in isolation according to an embodiment of the present invention. Figure 14 is a diagram showing the traveling unit 500 of an autonomous robot to which the power transmission device 400 for an autonomous robot according to an embodiment of the present invention is applied.

As shown in FIGS. 12 to 14, the power transmission device 400 for a self-driving robot according to an embodiment of the present invention includes a power transmission device body portion 401, an autonomous robot wheel 30, and a power transmission device. It may include a driving unit 403 and a power transmission unit 404, and is installed on the lower side of the robot to implement the robot's driving. It is controlled by the robot and can be provided as an autonomous robot in combination with the robot. You can.

동력 전달 장치 몸체부Powertrain body

According to the present invention, the power transmission device body portion 401 may be pillar-shaped and may be positioned along the horizontal direction. Here, the horizontal direction may mean a direction along the ground and may correspond to the traveling direction (D) of the robot. The power transmission device body portion 401 of this embodiment may have a square pillar shape, both longitudinal cross-sections and both sides may be positioned in a vertical direction, and the upper and lower surfaces may be positioned parallel to the ground. Additionally, the power transmission body 401 may include a power transmission body frame 411 and a power transmission frame cover 413.

동력 전달 장치 몸체부 프레임Powertrain body frame

According to the present invention, the power transmission device body frame 411 may have a square pillar shape and may be positioned along the horizontal direction. Here, autonomous driving robot wheels 30, which will be described in detail later, may be located on the first side of the power transmission device body frame 411.

In addition, on the second side opposite to the first side of the power transmission device body frame 411, a power transmission device body mounting space 410 having a shape corresponding to the power transmission device body frame 411 is concave. can be formed. A power transmission unit 404, which will be described in detail later, may be located in the power transmission device body mounting space 410. Here, both longitudinal cross-sections of the power transmission device body mounting space 410 may be open.

In addition, a plurality of power transmission device body parts are mounted on the first side of the power transmission device body frame 411 along the longitudinal direction of the power transmission device body frame 411 to correspond to the position of the self-driving robot wheel 30. Openings 401a may be formed. Here, the power transmission device body mounting openings 401a are connected to the power transmission device body mounting space 410 and are formed in two, the first end portion of the power transmission device body frame 411 and the power transmission device. It may be formed on the second end portion of the body frame 411, which is opposite to the first end portion. In addition, a power transmission device body mounting opening 401a may be selectively formed in the power transmission device body frame 411 between the first and second end portions of the power transmission device body frame 411. .

동력 전달 장치 프레임 커버Drivetrain Frame Cover

According to the present invention, the power transmission frame cover 413 may have a plate shape corresponding to the second side of the power transmission device body frame 411, and is located on the second side of the power transmission device body frame 411. It may be positioned to close a portion of the power transmission device body mounting space 410. This power transmission frame cover 413 can be separated from the second side of the power transmission body frame 411.

Additionally, power transmission device body cover openings 401b may be formed in the power transmission device frame cover 413 to correspond to the power transmission device body mounting openings 401a. That is, with the power transmission frame cover 413 positioned on the power transmission body frame 411, the power transmission device body mounting openings 401a and the power transmission device body cover openings 401b are connected to each other. It can be positioned to correspond to the liver.

자율 주행 로봇 바퀴self-driving robot wheels

According to the present invention, the self-driving robot wheels 30 are made of a plurality of cylindrical shapes, and are spaced apart from each other along the longitudinal direction of the power transmission device body 401 on the first side of the power transmission device body 401. and can be located. Here, the self-driving robot wheel 30 may be positioned to correspond to each of the power transmission device body mounting openings 401a. Additionally, the lowermost end of the self-driving robot wheel 30 may be located lower than the lower side of the power transmission device body portion 401.

In particular, the self-driving robot wheel 30 consists of two wheels, respectively, on the first side of the power transmission device body 401, a first end portion of the power transmission device body 401, and a first end portion opposite the first end portion. 2 Can be located in the longitudinal section. When the power transmission device body mounting openings 401a are comprised of three or more, the self-driving robot wheels 30 are installed in the power transmission device body mounting openings 401a located between the power transmission device body mounting openings 401a. ) can be optionally positioned. These self-driving robot wheels 30 can be combined with tires to provide a wheel function.

동력 전달 장치 구동부powertrain drive unit

According to the present invention, the power train drive unit 403 may include a power train drive body 431, a power train drive reducer 433, and a power train drive encoder 435.

According to the present invention, the power transmission device driving body 431 can generate power to the autonomous driving robot wheel 30. More specifically, the powertrain drive body 431 is positioned at the second side of the powertrain body portion 401 at the first end portion of the powertrain body portion 401, i.e., at the powertrain frame cover 413. It may be positioned to correspond to the power transmission device body cover opening 401b formed in the first end portion. Here, the power transmission device driving body 431 may be in the form of a motor and may generate power in the form of rotational force.

According to the present invention, the power train drive reducer 433 is located on the first side of the power train drive body 431 and drives the power train drive body 431 to the second side of the power train body portion 401. It can be fixed to the side. Here, the power transmission device drive reducer 433 may be fixed to the first end portion of the power transmission device frame cover 413 to increase the rotational force generated from the power transmission device drive body 431.

According to the present invention, the power transmission drive encoder 435 may be located on the upper side of the power transmission drive body 431 and may be fixed to the power transmission drive body 431. Here, the power transmission device drive encoder 435 is connected to a control unit (not shown) and receives signals from the control unit to control the power transmission device driving body 431, and is connected to the rotational force of the power transmission device driving body 431. Drive data of the power transmission device drive body 431, such as rotation speed, direction of rotation, number of rotations per minute, etc., can be detected. Additionally, the power transmission drive encoder 435 may generate a signal according to the detected drive data of the power transmission drive body 431 and transmit it to the control unit. That is, the power transmission drive encoder 435 can be used in combination with the control unit to control the driving of the power transmission drive body 431.

동력 전달 장치 동력 전달부Powertrain Powertrain

According to one embodiment of the present invention, the power transmission device power transmission unit 404 may be located inside the power transmission device body portion 401, that is, in the power transmission device body mounting space 410, and The driving unit 403 and the self-driving robot wheel 30 can be connected. Here, the power generated from the power transmission device driving unit 403, that is, the rotational force, is transmitted to the self-driving robot wheel 30 through the power transmission device power transmission unit 404 to rotate the self-driving robot wheel 30. .

Additionally, the power transmission unit 404 may include power transmission shafts 441, power transmission bearings 442, power transmission gears 443, and a power transmission chain 444. there is.

동력 전달부 샤프트power transmission shaft

According to the present invention, the power transmission shafts 441 may be in the shape of a plurality of bars, and are provided in the power transmission device body mounting opening 401a and the power transmission device body cover opening 401b corresponding to each other. While corresponding, it may be located in the power transmission device body mounting space 410.

Here, the first end portion of each of the power transmission shafts 441 may be connected to and fixed to the self-driving robot wheel 30, so that the power transmission shaft 441 and the self-driving robot wheel 30 rotate together. It can be. In addition, among the power transmission shafts 441, the second end portion opposite to the first end portion of the power transmission shaft 441 corresponding to the first end portion of the power transmission device body portion 401 is the power transmission device. It may be connected to the drive unit 403, especially the power transmission drive reducer 433. Because of this, one of the power transmission shafts 441 can be rotated by the power transmission drive unit 403.

Power transmission bearing

According to the present invention, the power transmission bearings 442 are positioned to correspond to the power transmission body mounting openings 401a and the power transmission body cover openings 401b, respectively, and are located in the power transmission body mounting space ( 410) can be fixed inside. Here, each of the power transmission shafts 441 may be positioned to penetrate a pair of power transmission bearings 442 corresponding to each other, and may be located inside the power transmission device body mounting space 410. there is.

In addition, a portion of each of the power transmission unit bearings 442 may be fixed to the power transmission shaft 441 and rotate together with the power transmission shaft 441, and each remaining portion of the power transmission unit bearings 442 may be rotated together with the power transmission shaft 441. may be fixed inside the power transmission device body mounting space 410 and may not rotate. Here, when the power transmission shaft 441 rotates, friction is minimized between a portion of the power transmission portion bearing 442 and the remaining portion of the power transmission portion bearing 442, so that the power transmission shaft 441 operates smoothly. can be rotated.

동력 전달부 기어power transmission gear

According to the present invention, each of the power transmission gears 443 may be in the form of a circular plate-shaped gear, and may include a plurality of power transmission gear teeth 443' along the edge. Each of the power transmission gears 443 may be located on the power transmission shaft 441 between a pair of power transmission bearings 442 that correspond to each other. Here, the power transmission shaft 441 penetrates the center of the power transmission gear 443, the power transmission gear 443 may be spaced apart from the power transmission bearings 442, and the power transmission shaft ( 441) can be rotated together.

According to the present invention, the power transmission unit chain 444 is formed as one, and can be located in the power transmission device body mounting space 410 to wind and connect a plurality of power transmission unit gears 443. Here, the power transmission gears 443 may each be engaged with the power transmission chain 444 through some of the power transmission gear teeth 443', and may be simultaneously rotated by the power transmission chain 444. there is.

According to the present invention, when the power transmission shaft 441 located at the first end portion of the power transmission device body portion 401 is rotated by the power transmission drive portion 403, the power transmission shaft 441 The power transmission gear 443 located in can be rotated around the power transmission shaft 441. Additionally, the self-driving robot wheel 30 connected to the power transmission shaft 441 can be rotated.

Here, the power transmission unit chain 444 may be moved to correspond to the rotation of the power transmission unit gear 443 while engaged with the power transmission unit gear 443, and the remaining power transmission unit gears 443 may be moved to each other. It can be rotated around the power transmission shaft 441. The power transmission shafts 441 corresponding to the remaining power transmission gears 443 may also rotate and rotate the autonomous robot wheels 30. Because of this, the autonomous robot wheels 30 can rotate simultaneously in the same direction around the power transmission shafts 441 as axes. Accordingly, the power transmission device 400 for the self-driving robot of this embodiment can be moved to correspond to the rotation of the self-driving robot wheels 30.

As shown in FIG. 14, a pair of power transmission devices 400 for an autonomous robot are installed on the lower side of the autonomous robot 100 and can function as a traveling unit 500, and the power transmission device 400 installed on the robot Controlled by a delivery device control unit (not shown), the robot can be operated as an autonomous robot. Here, the power transmission device body portions 401 of each of the power transmission devices 400 for the autonomous robot may be positioned to be spaced apart from and parallel to each other, and each power transmission device drive portion 403 may also be spaced apart from and parallel to each other. It can be positioned to do so.

Additionally, power train drives 403 may be located between power train body portions 401. Because of this, the traveling part 500 of the robot may have a width corresponding to the distance between the power transmission device body parts 401. That is, the distance between the power transmission device body parts 401 can be formed from a distance corresponding to the size of the power transmission device driving part 403, so that a pair of power transmission devices 400 for autonomous robots have various widths. It can be applied to the running unit 500. Additionally, the power transmission devices 400 for self-driving robots can be connected in series and applied to the traveling unit 500 of various lengths.

According to the present invention, the power transmission device driving units 403 of each power transmission device 400 for an autonomous robot can generate rotational force in different directions to realize forward, backward, and direction changes of the robot.

For example, in FIG. 14 , when the driving unit 500 of the autonomous robot 100 wants to move in the traveling direction D, the power transmission device driving unit 403 of the power transmission device 400 for one autonomous robot ) can generate a rotational force in a counterclockwise direction, and the power transmission device drive unit 403 of the other power transmission device 400 for an autonomous robot can generate a rotational force in a clockwise direction. Here, the power transmission device drivers 403 are operated at the same speed, so that the self-driving robot 100 can move in a straight line in the traveling direction (D).

In addition, in FIG. 14, when the traveling unit 500 of the robot wants to move in the reverse direction opposite to the traveling direction D, the power transmission device driving unit 403 of the power transmission device 400 for one autonomous robot Can generate rotational force in a clockwise direction, and the power transmission device drive unit 403 of the other power transmission device 400 for an autonomous robot can generate rotational force in a counterclockwise direction. Here, the power transmission device drivers 403 operate at the same speed, allowing the robot to move straight in the backward direction.

In addition, in Figure 14, when the traveling unit 500 of the robot moves in the traveling direction (D), the power transmission device driving unit 403 of the power transmission device 400 for one autonomous robot is used for the other autonomous robot. It is possible to generate rotational force at a faster speed than the power transmission device driving unit 403 of the power transmission device 400.

Here, the traveling unit 500 of the robot may change direction by rotating to the left while moving straight in the forward direction. On the other hand, when the traveling unit 500 of the robot moves in the traveling direction (D), the power transmission device driving unit 403 of one power transmission device 400 for an autonomous robot is connected to the power transmission device 100 of the other power transmission device 100. It is possible to generate rotational force at a slower speed than the power transmission device driving unit 403. Here, the traveling unit 500 of the robot may change direction by rotating to the right while moving straight in the traveling direction (D).

Figure 15 is a diagram showing another embodiment of a power transmission device for an autonomous robot according to the present invention. As shown in FIG. 15, the power transmission device 400 for a self-driving robot of the present invention can be modified. Here, the power transmission unit power transmission unit 404 may further include a power transmission unit light emitting body 445, and the power transmission unit driving unit 403 may further include a power transmission unit light receiving body 437.

In addition, the power transmission gear 443 is formed with a plurality of power transmission gear openings 443” spaced apart from each other along the center circumference of the power transmission gear 443, and the power transmission gear openings 443” They may be formed by more than the number of power transmission gear teeth 443', and each power transmission gear opening 443" is located at the center of the power transmission gear 443 and the power transmission gear teeth 443'. It can be located in between.

Each power transmission gear opening 443” and the power transmission gear opening 443′ may be positioned at the same distance from the center of the power transmission gear 443. In addition, a plurality of power transmission bearing openings 442' may be formed in the power transmission bearing 442 corresponding to the power transmission device body cover opening 401b, and the power transmission bearing openings 442' are It may be formed to correspond to the power transmission gear openings 443” and may be located in the remaining part of the power transmission bearing 442 that is fixed and does not rotate.

According to the present invention, the power transmission unit light-emitting body 445 is formed in a plate shape, and is located between the power transmission unit bearing 442 and the power transmission unit gear 443 corresponding to the power transmission device body mounting opening 401a. It may be positioned on the power transmission shaft 441 to be penetrated by the power transmission shaft 441. Here, the power transmission unit light emitting body 445 is fixed to the remaining part of the power transmission unit bearing 442 corresponding to the power transmission device body mounting opening 401a and is positioned so as not to rotate with the power transmission shaft 441. It can be.

In addition, a plurality of power transmission light emitting bodies 145' may be located on the first surface of the power transmission light emitting body 445, and the power transmission light emitting bodies 145' transmit power of the power transmission gear 443. It may be positioned to correspond to secondary gear opening 443”. These power transmission light emitters 145' can emit a laser toward the power transmission gear 443, and the laser is directed to the power transmission gear 443 between the rotating power transmission gear openings 443". It may be blocked at the same time, and may be discharged to the outside of the power transmission device body mounting space 410 through the power transmission gear openings 443” and the power transmission bearing openings 442’.

According to the present invention, the power transmission light receiving body 437 is located on the second side opposite to the first side of the power transmission drive body 431 of the drive unit 103, and is connected to the power transmission drive encoder 435. can be connected Here, the power transmission light-receiving body 437 may be comprised of a plurality of power transmission light-emitting bodies 445, and may be positioned to correspond to the power transmission light emitting bodies 145' of the power transmission light-emitting body 445, and may detect the laser.

Additionally, the power transmission light receiving bodies 437 may generate a detection cycle of the laser and transmit the generated detection cycle to the power transmission device driving encoder 435. Here, the power transmission device drive encoder 435 may control the power transmission device drive body 431 to correspond to the rotational speed of the power transmission gear 443 based on the laser detection cycle.

A pair of power transmission devices 400 for a self-driving robot in this embodiment can be installed in a modified state at the bottom of the robot and combined as follows to function as the traveling unit 500. Here, the power transmission device body portions 401 of each of the pair of power transmission devices 400 for the autonomous robot are spaced apart from each other and positioned in parallel, and the power transmission device driving portions 403 of each power transmission device are also spaced apart from each other. Can be positioned parallel. Additionally, power train drives 403 may be located between power train body portions 401.

As shown in FIG. 14, when the traveling unit 500 moves straight in the traveling direction (D) by a pair of power transmission devices 400 for autonomous robots, one power transmission device for autonomous robots ( The power transmission light emitting body of the power transmission light emitting body 445 in a fixed state while corresponding to the power transmission gear 443 rotated by the power transmission chain 444 in the power transmission device body portion 401 of 400 (145') may emit a laser toward the power transmission gear 443.

Here, the laser may be blocked by the power transmission gear 443 or may pass through the power transmission gear openings 443' of the power transmission gear 443. In particular, the laser passes through the power transmission gear openings 443' and then passes through the power transmission bearing opening 442' of the power transmission bearing 442 positioned to correspond to the power transmission body cover opening 401b. can pass through.

This laser may be emitted toward the power transmission device driving unit 403 of another power transmission device 400 for an autonomous robot. Here, the laser reaches the power transmission light-receiving bodies 437 of the power transmission device driving unit 403 of the power transmission device 400 for another autonomous robot, and the power transmission light-receiving bodies 437 transmit the laser. It can be sensed.

자율 주행 로봇의 비상 정지 장치Emergency stop device for self-driving robots

Figure 16 is a diagram showing an emergency stop device according to an embodiment of the present invention mounted on a self-driving robot. Figure 17 is a view showing the emergency stop device in isolation according to an embodiment of the present invention. Figure 18 is a diagram showing the interior of an autonomous robot when equipped with an emergency stop device according to an embodiment of the present invention.

16 to 18, the emergency stop device 700 according to an embodiment of the invention includes an emergency stop device damper 701, an emergency stop device switch 702, an emergency stop device bracket 703, and an emergency stop device 703. It may include a stopping device exterior panel 704 and may be installed on the outer surface of the self-driving robot 100. The emergency stop device 700 of this embodiment is shown as installed on the front of the self-driving robot 100, but may be installed on the rear side, which is opposite to the front of the self-driving robot 100. Can be installed both front and rear.

The self-driving robot 100 on which the emergency stop device 700 of this embodiment is installed can be driven by a plurality of self-driving robot wheels 30, and can be driven in a direction corresponding to the front of the self-driving robot 100. You can. Additionally, the self-driving robot 100 may include a wheel drive body 31, a driving battery 712, a relay 713, a signal collection unit 714, and a control unit 715.

바퀴 구동체wheel drive body

As shown, the wheel drive body 31 consists of a pair, and may be located on both sides of the self-driving robot 100 inside the self-driving robot 100. Each wheel drive body 31 may be connected to the self-driving robot wheel 30 and may be operated to generate rotational force in the self-driving robot wheel 30 .

구동 배터리driving battery

As shown, the drive battery 712 may be located inside the autonomous robot 100 between the wheel drive bodies 31. Here, the driving battery 712 can store power and can be connected to each wheel drive body 31 to supply power. The wheel driving body 31 can be operated by receiving power from the driving battery 712 and can drive the autonomous robot wheel 30. Meanwhile, when the wheel driving body 31 is not supplied with power from the driving battery 712, the wheel driving body 31 is not operated, so the autonomous robot wheels 30 may not be driven.

릴레이relay

As shown, the relay 713 is located between the wheel drive body 31 and the drive battery 712 inside the self-driving robot 100 to connect the wheel drive body 31 and the drive battery 712. You can control it. Here, the relay 713 maintains the connection between the wheel drive body 31 and the drive battery 712 and supplies power from the drive battery 712 to the wheel drive body 31, or By disconnecting the battery 712, the power of the driving battery 712 supplied to the wheel drive body 31 can be cut off. Additionally, the relay 713 is connected to an emergency stop device switch 702, which will be specifically described later, and can be controlled by the emergency stop device switch 702.

신호 수집부signal collection unit

As shown, the signal collection unit 714 is located inside the self-driving robot 100 and may be connected to the emergency stop device switch 702. When the self-driving robot wheel 30 is driven by the wheel driving body 31, the signal collection unit 714 may generate a stop signal according to the operation of the emergency stop device switch 702.

제어부control unit

As shown, the control unit 715 is located inside the self-driving robot 100 and can receive a stop signal from the signal collection unit 714 and generate emergency information according to the stop signal. Here, the emergency information may include the location of the self-driving robot 100 corresponding to the control unit 715 and an emergency message (for example, in the form of “the robot has emergency stopped,” etc.).

Additionally, the control unit 715 can control the self-driving robot 100 as a whole and control the driving speed, driving time, driving section, etc. of the self-driving robot 100.

비상 정지 장치 댐퍼emergency stop damper

According to the present invention, there are a plurality of emergency stop device dampers 701, each of which may be made of an elastic material. These emergency stop device dampers 701 may be positioned to protrude from the front of the self-driving robot 100 and may be spaced apart from each other.

According to one embodiment of the present invention, when an external force greater than the set value is applied to the emergency stop device damper 701, the emergency stop device damper 701 absorbs the external force and can be compressed while accumulating a restoring force to restore the original shape. .

Here, the external force exceeding the set value may be an impact force resulting from a collision between the self-driving robot 100 and an object, an impact force applied by a person's foot, etc. In addition, the first longitudinal cross-section of the emergency stop damper 701 is fixed to the front of the self-driving robot 100, and the second longitudinal cross-section opposite the first longitudinal cross-section of the emergency stop damper 701 is fixed to the self-driving robot 100. It can be moved to face the front of.

Specifically, the emergency stop device damper 701 can absorb an applied shock. Meanwhile, if an external force is applied to the emergency stop device damper 701 and then not applied, the emergency stop device damper 701 may be expanded from its compressed state and restored to its original shape. Here, the second longitudinal cross-section of the emergency stop device damper 701 may be moved away from the self-driving robot 100.

In addition, the emergency stop device damper 701 is made of an elastic material, especially rubber or urethane, so that it can be easily compressed and restored, and can be manufactured at a low cost.

비상 정지 장치 스위치emergency stop switch

The emergency stop device switch 702 consists of at least one device and may be positioned between the emergency stop device dampers 701 on the front of the self-driving robot 100 so as to protrude from the front of the self-driving robot 100. Here, the emergency stop device switch 702 may be spaced apart from the emergency stop device dampers 701 and may be positioned to protrude from the front of the self-driving robot 100 by the emergency stop device damper 701. Additionally, the emergency stop device switch 702 may be inserted into the front of the self-driving robot 100. While the self-driving robot 100 is traveling, the emergency stop device switch 702 may be pressed by an external force and inserted into the front of the self-driving robot 100. Here, the self-driving robot 100 may be stopped while traveling.

Additionally, the emergency stop device switch 702 may be connected to the relay 713 and the signal collection unit 714 located inside the self-driving robot 100.

비상 정지 장치 브라켓emergency stop bracket

According to the present invention, the emergency stop device bracket 703 may be positioned at a distance from the front of the self-driving robot 100 while corresponding to the front of the self-driving robot 100. Here, one emergency stop device bracket 703 can be simultaneously connected to a plurality of emergency stop device dampers 701 and an emergency stop device switch 702, and a plurality of emergency stop device dampers 701 and an emergency stop device switch ( 702) may be located between the autonomous robot 100 and the emergency stop device bracket 703.

In particular, the emergency stop device damper 701 may maintain the emergency stop device bracket 703 spaced apart from the autonomous driving robot 100. When an external force exceeding the set value is applied to the emergency stop device bracket 703, the emergency stop device bracket 703 moves toward the front of the self-driving robot 100 and simultaneously compresses a plurality of emergency stop device dampers 701, It can be inserted into the self-driving robot 100 by pressing the emergency stop device switch 702. Here, the self-driving robot 100 can be controlled according to insertion of the emergency stop device switch 702.

Additionally, the emergency stop device bracket 703 may include an emergency stop device base bracket 731 and an emergency stop device guide bracket 732.

비상 정지 장치 베이스 브라켓Emergency stop base bracket

According to one embodiment of the present invention, the emergency stop device base bracket 731 may be formed in a plate shape corresponding to the front of the self-driving robot 100. This emergency stop device base bracket 731 is connected to a plurality of emergency stop device dampers 701 and the emergency stop device switch 702, and corresponds to the front of the self-driving robot 100. It may be located away from. Additionally, a plurality of emergency stop device dampers 701 and emergency stop device switches 702 may be positioned orthogonal to the emergency stop device base bracket 731.

비상 정지 장치 가이드 브라켓Emergency stop guide bracket

The emergency stop device guide bracket 732 is made of a plurality of plate shapes, and may be positioned at right angles to the emergency stop device base bracket 731 at the edges of the emergency stop device base bracket 731, respectively. Here, the emergency stop device guide brackets 732 may be spaced apart to be parallel to each other, and may be positioned to be further spaced from the front of the autonomous robot 100 than the emergency stop device base bracket 731.

비상 정지 장치 외장 패널Emergency stop device exterior panel

According to the present invention, the emergency stop device exterior panel 704 is located on the emergency stop device bracket 703 to form the appearance of the autonomous driving robot 100. Here, the emergency stop device exterior panel 704 may be positioned and fixed to the emergency stop device base bracket 731 between the emergency stop device guide brackets 732.

Additionally, the emergency stop device exterior panel 704 prevents the emergency stop device bracket 703 from being exposed to the exterior of the self-driving robot 100 and may be located in the front of the self-driving robot 100.

The emergency stop device 700 of this embodiment as described above can be operated to control the self-driving robot 100 as follows. As previously mentioned, the emergency stop device 700 may be located in front of the self-driving robot 100, and the self-driving robot 100 may travel in a direction corresponding to the front.

When the self-driving robot 100 runs in a direction corresponding to the front of the self-driving robot 100, an external force greater than a set value may be applied to the front of the self-driving robot 100. Here, an external force may be applied to the emergency stop device exterior panel 704, and the emergency stop device exterior panel 704 may be moved to face the front of the self-driving robot 100 together with the emergency stop device bracket 703. . The emergency stop device bracket 703 can be inserted into the front of the self-driving robot 100 by compressing the emergency stop device dampers 701 and pressing the emergency stop device switch 702. Here, the emergency stop device dampers 701 can absorb external force, and the self-driving robot 100 can be stopped from a traveling state by the emergency stop device switch 702.

In particular, while the self-driving robot 100 is running, when the emergency stop device switch 702 is pressed, the relay 713 blocks the connection between the drive battery 712 and the wheel drive body 31, The power supplied from the battery 712 to the wheel drive body 31 can be cut off. As a result, the wheel drive body 31 is not operated, thereby stopping the self-driving robot wheels 30, so that the self-driving robot 100 can be stopped.

In addition, when the emergency stop device switch 702 is pressed while the self-driving robot 100 is running, the signal collection unit 714 may generate a stop signal by the emergency stop device switch 702, The control unit 715 may receive a stop signal and generate emergency information according to the stop signal.

The emergency stop device 100 of this embodiment is installed on at least one of the front and rear of the self-driving robot 100, and switches one emergency stop device switch 702 to the corresponding front or rear of the self-driving robot 100. The emergency stop device exterior panel 704, which is connected to the emergency stop device bracket 703 and forms the exterior of the self-driving robot 100, can be connected to the emergency stop device bracket 703.

Here, when an external force greater than the set value is applied to a part of the emergency stop device exterior panel 704 that does not correspond to the emergency stop device switch 702, the emergency stop device switch 702 is pressed by the emergency stop device bracket 703 to operate autonomously. When inserted into the driving robot 100, the autonomous driving robot 100 can be stopped.

For example, a person applies an external force to the emergency stop device exterior panel 704 using his or her feet around the self-driving robot 100, thereby pressing the emergency stop device switch 702 to stop the self-driving robot 100. You can do it.

Because of this, the emergency stop device 700 of this embodiment can easily stop the self-driving robot 100 in the event of an emergency such as a malfunction. In addition, the emergency stop device 700 of this embodiment is capable of absorbing external force through the emergency stop device damper 701 in the event of a collision between a person and the self-driving robot 100 or an object and the self-driving robot 100, while immediately driving autonomously. The robot 100 can be stopped, thereby minimizing damage caused by a collision with the self-driving robot 100.

In addition, in the emergency stop device 700 of this embodiment, the emergency stop device dampers 701 are comprised of a plurality, and can absorb external force applied to the emergency stop device exterior panel 704. This emergency stop damper 701 may be made of rubber or urethane. Therefore, the emergency stop device 700 of this embodiment has a simple structure and can be manufactured at low cost.

운영자 단말기 및 운영 서버Operator terminal and operation server

Meanwhile, the self-driving robot 100 installed with the emergency stop device 700 of this embodiment can be operated and managed by an operator. The operator can connect to the operation server 800 using the user terminal 10 and exchange signals with the operation server 800. The operating server 800 may be a computing device including a processor, memory, data transceiver, etc., and displays a web page through a web browser running on the user terminal 10, logs in on the web page, and then operates the operating server 800. ), or an application that can connect to the operation server 800 may be installed and run on the user terminal 10.

According to the present invention, the control unit 715 of the self-driving robot 100 can generate emergency information and transmit it to the operation server 800, and the operation server 800 can transmit the transmitted emergency information to the user terminal 10. You can. Here, the operator can check emergency information through the user terminal 10 and recognize the location of the self-driving robot 100 that has stopped due to an external force while driving and the fact that the self-driving robot 100 has stopped. Additionally, the operator can directly check the self-driving robot 100 corresponding to the emergency information and take action according to the state of the self-driving robot 100.

Above, the technical idea of the present invention has been described in detail with preferred embodiments, but the technical idea of the present invention is not limited to the above embodiments, and is within the scope of the technical idea of the present invention. Various modifications and changes are possible depending on the user.

[부호의 설명][Explanation of symbols]

A: One direction

D: Direction of travel

10: User terminal

21: Display unit

22: detector unit

30: Self-driving robot wheels

31: wheel driving body

30': training wheels

100: Self-driving robot

101: body part

101': placement space

102: suction cleaner

111: storage body

111': accommodation space

112: control button

113: controller

115: Sensing body

121: Suction brush

121a: Suction brush guide base

121b: suction brush guide body

121c: Suction brush induction drive body

123: suction reservoir

123a: Suction reservoir rotation inductor

123': Suction reservoir storage space

125: Suction actuator

133: Suction collection unit

133a: collection rotor

133b: collection body

133c: collection actuator

200: cleaning module

201: terminal housing

201a: display aperture

201b: user terminal placement space

202: terminal plate

202a: terminal plate first opening

202b: terminal plate second opening

210: housing space

211: Moving guide

211a: moving power body

211b: moving carrier

213: Auxiliary stopper

213a: Stopper projection

220: detector mark

221: Moving auxiliary body

230: Base mounting space

231: Base part

232: Cleaning module body

233: Cleaning module collection guide unit

233a: Cleaning module collection guide body

233b: Cleaning module collection induction drive body

234: Cleaning module suction part

234a: Cleaning module suction body

234b: cleaning module suction reservoir

235: Cleaning module supply induction unit

235': Cleaning module supply opening

235a: cleaning module supply body

235b: Cleaning module supply reservoir

235c: cleaning module storage inductor

235d: cleaning module storage filter body

300: Self-driving robot monitoring unit

310: Suction collection unit mounting space

321: Self-driving robot main monitoring body

323: Self-driving robot sub-monitor

401: Power transmission body part

401a: Powertrain body mounting opening

401b: Power transmission body cover opening

403: Power transmission drive unit

404: Power transmission unit Power transmission unit

410: Power transmission device body mounting space

411: Power transmission body frame

413: Drivetrain frame cover

431: Powertrain drive body

433: Powertrain drive reducer

435: Powertrain drive encoder

437: Power transmission unit light receiving body

441: Power transmission shaft

442: Power transmission bearing

442': Power transmission bearing opening

443: Power transmission gear

443': Power transmission gear gear

443": Power transmission gear opening

444: Power transmission chain

445: Power transmission unit light emitting body

445': Power transmission unit light emitter

500: Running part

700: Emergency stop device

701: Emergency stop damper

702: Emergency stop device switch

703: Emergency stop device bracket

704: Emergency stop device exterior panel

712: Drive battery

713: Relay

714: Signal collection unit

715: Control unit

731: Emergency stop base bracket

732: Emergency stop guide bracket

800: Operation server

Claims

In a multi-functional autonomous robot,

A body portion that autonomously travels along the travel direction on the ground;

a suction cleaner connected to a position corresponding to the first surface of the body portion to suction foreign substances on the ground; and

A cleaning module mounted at a position corresponding to the second surface of the body, supplies water to the ground, and collects the supplied water.

The second side of the body portion is located in the opposite direction to the first side of the body portion.

Multi-functional self-driving robot.
According to claim 1,

The suction cleaner;

a suction brush rotating around an axis in the height direction of the body portion;

a suction storage body that stores foreign substances on the ground sucked into the body portion through the suction brush; and

A suction driver connected to the suction reservoir and guiding foreign substances on the ground from the suction brush into the interior of the suction reservoir.

Multi-functional self-driving robot.
According to claim 1,

The cleaning module;

Centered on an axis along a direction perpendicular to the traveling direction of the body portion,

When the body part autonomously travels, the cleaning module body part rotates around the axis;

containing,

Multi-functional self-driving robot.
According to claim 3,

The cleaning module;

a cleaning module suction body spaced apart from the cleaning module body portion and sucking in water supplied to the ground; and

Further comprising a cleaning module suction storage body in which the sucked water is stored.

Multi-functional self-driving robot.
According to claim 4,

The cleaning module;

a cleaning module collection guide body spaced apart from the cleaning module suction body and scraping water on the ground in the direction of the cleaning module suction body to induce suction; and

It further includes a cleaning module collection guiding body that contacts or separates the cleaning module collecting guiding body from the ground.

Multi-functional self-driving robot.
According to claim 1,

The cleaning module;

It further includes a cleaning module supply body capable of storing water therein,

It further includes a cleaning module supply opening capable of discharging the stored water from the cleaning module supply body to the outside of the body portion.

Multi-functional self-driving robot.
According to claim 6,

The cleaning module;

When discharging the stored water through the cleaning module supply opening,

It further includes a cleaning module storage filter that filters foreign substances contained in the discharged water.

Multi-functional self-driving robot.
In the cleaning module installed on the body of the multi-functional autonomous robot,

A base portion located on the lower side of the body portion;

a cleaning module body portion that rotates about an axis in a direction perpendicular to the traveling direction of the multi-functional autonomous robot and is seated in the mounting space of the base portion; and

A cleaning module collection guide unit coupled to the base unit and scraping or suctioning water on the ground,

A cleaning module installed on the body of a multi-functional autonomous robot.
According to claim 8,

A cleaning module supply storage body located inside the body and storing water therein;

a cleaning module supply body connected to the cleaning module supply storage body and sucking water stored inside the cleaning module supply storage body;

Further comprising a cleaning module supply opening for discharging the sucked water to the outside of the body.

A cleaning module installed on the body of a multi-functional autonomous robot.
According to clause 9,

When the cleaning module body rotates with foreign matter or water attached to the ground,

It further includes a cleaning module storage guide that contacts the outer peripheral surface of the cleaning module body and guides the attached water into the interior of the cleaning module supply body.

A cleaning module installed on the body of a multi-functional autonomous robot.
According to claim 10,

positioned to correspond to the cleaning module supply opening,

It further includes a cleaning module storage filter that filters foreign substances contained in the water stored in the cleaning module supply body,

The cleaning module supply opening discharges the water in which the foreign substances have been filtered to the outside.

A cleaning module installed on the body of a multi-functional autonomous robot.
According to claim 8,

The cleaning module collection guide unit,

a cleaning module collection guide body that scrapes water on the ground; and

A cleaning module collection guiding actuator capable of moving the cleaning module collection guiding body in an upward and downward direction and bringing it into contact with the ground.

A cleaning module installed on the body of a multi-functional autonomous robot.
According to claim 10,

The cleaning module storage derivative presses the outer peripheral surface of the cleaning module body,

Guiding water or foreign substances attached to the outer peripheral surface of the cleaning module body into the interior of the cleaning module supply body,

A cleaning module installed on the body of a multi-functional autonomous robot.
The method according to any one of claims 8 to 13,

Located in the mounting space of the base portion,

When the cleaning module suction body absorbs water on the ground,

Further comprising a cleaning module suction storage body for storing the suctioned water on the ground,

A cleaning module installed on the body of a multi-functional autonomous robot.
In a multi-functional autonomous robot,

A body portion that autonomously travels along the travel direction on the ground;

a suction cleaner connected to the body to suction foreign substances on the ground; and

It includes a self-driving robot monitoring unit connected to the upper part of the body unit and detecting a person or object located within a set distance from the body unit,

The self-driving robot monitoring unit models and generates image information corresponding to the space where the detected person or object is located,

Multi-functional self-driving robot.
According to claim 15,

The suction cleaner;

a suction brush rotating around an axis in the height direction of the body portion;

a suction storage body that stores foreign substances on the ground sucked into the body portion through the suction brush; and

A suction driver connected to the suction reservoir and guiding foreign substances on the ground from the suction brush into the interior of the suction reservoir.

Multi-functional self-driving robot.
According to claim 15,

The self-driving robot monitoring unit,

Generating control information to control the body part to drive while avoiding the detected person or object based on the generated image information,

Multi-functional self-driving robot.
According to claim 15,

The self-driving robot monitoring unit,

If the detected object is a foreign substance or trash based on the generated image information,

Generating control information to operate the suction cleaner,

Multi-functional self-driving robot.
According to claim 15,

The self-driving robot monitoring unit,

If the detected person or object is in a state that may cause danger based on the generated image information,

Generating control information to generate a notification signal,

Multi-functional self-driving robot.
According to claim 19,

The self-driving robot monitoring unit,

Outputting the alarm signal in the form of sound according to the generated control information,

Multi-functional self-driving robot.
According to claim 19,

The self-driving robot monitoring unit,

Transmitting the generated control information to a user terminal connected through a network,

Multi-functional self-driving robot.
In a multi-functional autonomous robot,

A body portion that autonomously travels along the travel direction on the ground;

A plurality of wheel parts located on the lower side of the body and spaced apart from each other;

a power transmission device that provides power to the wheel portion so that the self-driving robot can move in a traveling direction; and

A power control unit installed in the body unit to control the power when an external force greater than a threshold value is applied to the body unit while the self-driving robot is traveling in the travel direction.

Multi-functional self-driving robot.
According to claim 22,

The power transmission device is,

a power transmission device body portion located in a direction corresponding to the traveling direction of the body portion;

Self-driving robot wheels positioned spaced apart from each other along the longitudinal direction of the power transmission device body portion;

A power transmission device driving unit that generates power; and

Comprising a power transmission device power transmission unit that connects the power transmission device driving unit and the autonomous driving robot wheel to transmit the generated power to the autonomous driving robot wheel.

Multi-functional self-driving robot.
According to claim 23,

The power transmission device body part,

The autonomous robot wheels are connected,

A power transmission device body frame having a concavely formed power transmission device body mounting space; and

Closing a portion of the power transmission device body mounting space,

Comprising: a power transmission frame cover separated from a side of the power transmission body frame;

Multi-functional self-driving robot.
According to claim 24,

On the side of the power transmission device body frame,

A plurality of power transmission device body mounting openings are formed along the longitudinal direction of the frame,

The self-driving robot wheels are positioned to respectively correspond to the power transmission device body mounting openings,

Multi-functional self-driving robot.
According to claim 24,

The power transmission device driving unit,

a power transmission device drive body that generates power to the autonomous robot wheels in the form of rotational force;

a power transmission device drive reducer fixed to the power transmission frame cover and increasing the rotational force generated by the power transmission device drive body; and

A power train drive encoder connected to the power train drive body and detecting drive data of the power train drive body.

Multi-functional self-driving robot.
According to claim 24,

The power transmission unit power transmission unit,

a power transmission shaft located in the power transmission device body mounting space, connected to the self-driving robot wheel, and rotating together with the self-driving robot wheel;

a pair of power transmission unit bearings, some of which are fixed to the power transmission shaft and rotated together with the power transmission shaft, and some of which are fixed to the power transmission device body mounting space and do not rotate; and

A power transmission gear that is centrally penetrated by the power transmission shaft, is located between the pair of power transmission bearings, and rotates together with the power transmission shaft.

Multi-functional self-driving robot.
According to claim 22,

An emergency stop device damper that protrudes and is positioned in front of the self-driving robot and is compressed by absorbing external force;

An emergency stop device switch located between the spaced emergency stop device dampers and pressed by an external force; And

In response to the front of the self-driving robot, an emergency stop device bracket is spaced from the front and connected to the emergency stop device damper and the emergency stop device switch.

Multi-functional self-driving robot.
According to clause 28,

The emergency stop device bracket is,

an emergency stop device base bracket connected to the emergency stop device damper and the emergency stop device switch and spaced from the front of the autonomous driving robot; and

An emergency stop device guide bracket positioned to be perpendicular to the emergency stop device base bracket and spaced farther from the front of the autonomous robot than the emergency stop device base bracket. Including,

Multi-functional self-driving robot.
In the power transmission device connected to the body of a multi-functional autonomous robot,

a power transmission device body portion located in a direction corresponding to the traveling direction of the body portion;

Self-driving robot wheels positioned spaced apart from each other along the longitudinal direction of the power transmission device body portion;

A power transmission device driving unit that generates power; and

Comprising a power transmission device power transmission unit that connects the power transmission device driving unit and the autonomous driving robot wheel to transmit the generated power to the autonomous driving robot wheel.

A power transmission device connected to the body of a multi-functional autonomous robot.
According to claim 30,

The power transmission device body part,

The autonomous robot wheels are connected,

A power transmission device body frame having a concavely formed power transmission device body mounting space; and

Closing a portion of the power transmission device body mounting space,

A power transmission frame cover separated from a side of the power transmission body frame,

A power transmission device connected to the body of a multi-functional autonomous robot.
According to claim 31,

On the side of the power transmission device body frame,

A plurality of power transmission device body mounting openings are formed along the longitudinal direction of the frame,

The self-driving robot wheels are positioned to respectively correspond to the power transmission device body mounting openings,

A power transmission device connected to the body of a multi-functional autonomous robot.
According to claim 31,

The power transmission device driving unit,

a power transmission device drive body that generates power to the autonomous robot wheels in the form of rotational force;

a power transmission device drive reducer fixed to the power transmission frame cover and increasing the rotational force generated by the power transmission device drive body; and

A power train drive encoder connected to the power train drive body and detecting drive data of the power train drive body.

A power transmission device connected to the body of a multi-functional autonomous robot.
According to claim 31,

The power transmission unit power transmission unit,

a power transmission shaft located in the power transmission device body mounting space, connected to the self-driving robot wheel, and rotating together with the self-driving robot wheel;

a pair of power transmission unit bearings, some of which are fixed to the power transmission shaft and rotated together with the power transmission shaft, and some of which are fixed to the power transmission device body mounting space and do not rotate; and

A power transmission unit gear penetrated in the center by the power transmission shaft, located between the pair of power transmission bearings, and rotating together with the power transmission shaft.

A power transmission device connected to the body of a multi-functional autonomous robot.
In the emergency stop device installed on the body of a multi-functional autonomous robot,

An emergency stop device damper that protrudes and is positioned in front of the self-driving robot and is compressed by absorbing external force;

An emergency stop device switch located between the spaced emergency stop device dampers and pressed by an external force; And

In response to the front of the self-driving robot, an emergency stop device bracket is spaced from the front and connected to the emergency stop device damper and the emergency stop device switch.

An emergency stop device installed on the body of a multi-functional autonomous robot.
According to claim 35,

The emergency stop device bracket is,

an emergency stop device base bracket connected to the emergency stop device damper and the emergency stop device switch and spaced from the front of the autonomous driving robot; and

An emergency stop device guide bracket positioned to be perpendicular to the emergency stop device base bracket and spaced farther from the front of the autonomous robot than the emergency stop device base bracket. Including,

An emergency stop device installed on the body of a multi-functional autonomous robot.
According to claim 36,

To prevent the emergency stop device base bracket from being exposed externally,

Located in front of the self-driving robot,

An emergency stop device exterior panel forming the exterior of the self-driving robot;

Containing more,

An emergency stop device installed on the body of a multi-functional autonomous robot.
According to claim 36,

The self-driving robot,

Self-driving robot wheels connected to the body part; and

Includes a driving battery that supplies power to the autonomous robot wheels,

When the self-driving robot drives,

When an external force exceeding a threshold is applied and the emergency stop device exterior panel and the emergency stop device bracket press the emergency stop device switch,

A relay that cuts off the power supplied between the self-driving robot wheels and the driving battery; further comprising,

An emergency stop device installed on the body of a multi-functional autonomous robot.