KR20130044859A - Autonomously travelling mobile robot and travel control method and system thereof - Google Patents

Abstract

PURPOSE: A driving control method for an autonomously driving mobile robot is provided to prevent a collision by rapidly moving the autonomously driving mobile robot to a preset safe space when an obstacle is located. CONSTITUTION: Environmental information about a safe space is stored(ST11). An obstacle is sensed in a movement process(ST14). It is determined whether to pass or not by sensing the obstacle(ST16). The movement process is continuously performed if the pass is determined(ST17). A robot moves to the safe space if the pass is not allowed(ST19). [Reference numerals] (ST11) Store environment information; (ST12) Receive a movement command; (ST13) Start the movement; (ST14) Find an obstacle; (ST15) Fixed obstacle?; (ST16) Can be passed?; (ST17) Continuously move; (ST18) Set a safe space?; (ST19) Move to the safe space and wait; (ST20) Restart the movement after a constant time; (ST21) Generate an emergency alarm

Description

Autonomous traveling mobile robot and travel control method and system

The present invention relates to a self-driving mobile robot (hereinafter referred to as "mobile robot" for convenience), and more particularly, to a driving control method and system that can increase the driving stability of the mobile robot and minimize the possibility of collision.

In general, a mobile robot, which is equipped with a power source, a driving device, a sensor, and the like, can move itself to a target point, and has recently received much attention for practical purposes such as carrying or cleaning objects on behalf of a person.

The mobile robot moves to a target point using environmental information of its moving space and its location information, and is equipped with a distance sensor or a collision detection sensor in case an obstacle appears during the movement.

However, in the actual use environment, it is very rare to provide a unique mobile path exclusively for a mobile robot, and most people use a mobile path together with a person or other mobile object. do.

For example, in the case of manufacturing a mobile robot for the purpose of transporting medical specimens (blood, samples, etc.) or surgical instruments in a hospital, the function of determining whether or not it is possible to pass through a narrow moving passage such as a corridor, a hospital room, or an operating room To determine behavior when encountering fixed obstacles in narrow travel paths or to moving obstacles such as patients, guardians, wheelchairs, or moving beds, and to determine behaviors when encountering other mobile robots in narrow travel paths. It is very difficult to avoid malfunctions in actual use without considering functions.

And even if these factors are taken into account, unexpected unforeseen situations can occur at any time, so it is almost impossible to keep moving forward by avoiding all obstacles in complex environments using only the environmental information or sensors stored in the mobile robot. .

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and an object thereof is to provide a traveling control method of a mobile robot which can be effectively applied even in a complicated real environment, and a mechanical auxiliary device required for the same.

One embodiment of the present invention, to achieve the above object, (a) storing the environment information for the space to move; (b) determining whether it is possible to pass if an obstacle is detected during movement; (c) continuing to move if determined to be passable, and checking whether information on the avoided space is registered if it is determined to be impossible to pass; (d) if it is determined that it is impossible to pass, if the information on the avoidance space is registered, moving to the avoidance space according to the registered information; otherwise, searching for another route and moving or generating an emergency signal. It provides a driving control method of an autonomous driving mobile robot.

In the traveling control method, step (b) comprises: determining whether the obstacle moves; If the obstacle is a stationary object, it may include determining whether the passage is possible by checking the passage size around the obstacle, and if it is a moving object, determining that the passage is impossible or passing only when the moving speed exceeds a set speed.

In addition, the mobile robot has a plurality of side wheels protruding to the side, in the traveling control method, it is determined that the passage is possible in the step (c) when moving continuously driving to keep the side wheels in close contact with the wall surface The direction can be set in an oblique direction toward the wall surface.

In addition, another embodiment of the present invention, the step of (a) the mobile robot reaches the entrance of the narrow passage transmitting the entry request signal to the access control system; (b) the access control system determining whether to permit in response to the entry request signal; (c) When the access control system sends a permission signal, the mobile robot enters the narrow path and sends an entrance signal. When the access control system sends a reject signal, the mobile robot moves to a preset waiting area. Waiting for a set time; (d) if the mobile robot passes through the narrow passage, transmitting a departure signal, and the access control system determines whether the entrance and exit permission of the other mobile robot is allowed by using the entrance signal and the entrance signal. A driving control method of an autonomous driving mobile robot is provided.

In another aspect, the present invention, the first wireless communication unit which is installed at the entrance of the narrow passage to communicate with the mobile robot wirelessly; A second wireless communication unit installed at an exit of the narrow passage to communicate wirelessly with the mobile robot; It provides an access control system for an autonomous mobile robot including a control unit for determining whether a mobile robot exists in the narrow passage using the signals received from the first wireless communication unit and the second wireless communication unit.

In addition, an embodiment of the present invention, the frame; A driving wheel which protrudes below the frame and has a horizontal axis of rotation; As a wall contact driving, a plurality of side wheels installed to protrude to the side of the frame and having a vertical axis of rotation; It provides an autonomous driving mobile robot including a driving means for operating the driving wheel.

In addition, another embodiment of the present invention, the frame; A pair of traveling wheels protruding to the lower portion of the frame and each operated by separate driving means; A suspension installed between the frame and each of the driving wheels; For load distribution and driving stability, it provides an autonomous driving mobile robot including a plurality of auxiliary wheels respectively installed in front and rear of the driving wheel.

In this case, the bracket is coupled to each of the driving wheels to rotatably support the driving wheels; A first parallel link rotatably connected at one end to a first position of the frame and at the other end rotatably connected to one side of the bracket; One end may be rotatably connected to a second position of the frame, and the other end may further include a second parallel link rotatably connected to the other side of the bracket.

In addition, another embodiment of the present invention, the drive means for operating the driving wheel; Storage means for storing a travel control program; Control means for controlling the drive means in accordance with the travel control program; It provides an autonomous driving mobile robot including emergency adjusting means for inputting a command for controlling the driving means in preference to the command according to the driving control program.

According to the present invention, when the autonomous mobile robot encounters obstacles during the movement, the autonomous mobile robot can quickly move to a predetermined avoiding space, thereby easily coping with a complicated real environment.

In addition, through the access control system, it is possible to check whether the narrow passage can be entered in advance, thereby preventing the risk of collision when multiple mobile robots are used.

In addition, by using the side wheels to enable close-to-wall driving can reduce the required space when driving in a narrow space, thereby minimizing the possibility of collision and can effectively distribute the impact even if side collision occurs.

In addition, by installing a large number of auxiliary wheels before and after the driving wheel, the load applied to the robot can be effectively distributed over a large area, and the suspension is mounted on the driving wheel to maintain a constant traction force and to drive against the curvature or slope of the ground. Stability can be improved.

1 is a perspective view of a mobile robot according to an embodiment of the present invention;
2 to 4 are a perspective view, a plan view and a side view showing a lower structure of the mobile robot according to an embodiment of the present invention, respectively
5 is a view showing a connection structure of the driving wheel and the suspension of the mobile robot according to an embodiment of the present invention;
6 is a view showing a state in which the suspension of the driving wheel is compressed
7 is a flowchart illustrating a driving method for obstacle avoidance.
8 is a view showing a close contact with the wall surface
9 is a flowchart illustrating a driving method passing through a narrow passage.
10A to 10D are schematic diagrams sequentially illustrating a process of passing through a narrow passage.

Hereinafter, with reference to the drawings will be described a preferred embodiment of the present invention. In the present specification, for convenience of description, the forward direction of the mobile robot will be defined as the x-axis direction and the horizontal and vertical directions perpendicular to the y-axis direction and the z-axis direction, respectively.

1. Mobile Robot

Mobile robot 10 according to an embodiment of the present invention, as shown in the perspective view of Figure 1, the lower unit 100 and the upper unit 200 is coupled to the upper portion of the lower unit 100 is equipped with a wheel, etc. necessary for driving ).

The upper unit 200 includes a display unit 210 for displaying predetermined information, and emergency adjusting means 220 which can be moved by the user by operating the mobile robot 10 in an emergency. In the case of a mobile robot 10 for carrying goods, a cradle 230 or a storage box is installed.

In addition, although not shown in detail, the upper unit 200, the control means for controlling the operation of the mobile robot 10 according to the set algorithm, various environmental information (for example, map information, fixed obstacle information, etc.) for the moving space And a storage means for storing the driving control program, infrared sensor, distance sensor such as laser sensor, ultrasonic sensor, camera for recognizing the surrounding situation, battery for power supply and the like are installed.

In addition, the upper unit 200 is a wireless communication for communicating with a light emitting means such as a speaker for generating a guide message or a warning sound, an LED indicating the state of the mobile robot 10, a central control system, an access control system, or other peripheral communication devices. Means, input means for inputting necessary information or commands may be provided.

Meanwhile, since the mobile robot 10 is divided into the lower unit 100 and the upper unit 200 for convenience of description, the whole may be manufactured as one unit. In addition, some or all of the above components installed in the upper unit 200 may be installed in the lower unit 100, and may be omitted depending on the purpose.

As shown in FIGS. 2 to 4 (removed from the cover), the lower unit 100 includes a pair of traveling wheels connected to the frame 101 and the frame 101 and spaced apart from each other in the y-axis direction ( 110, a suspension 140 installed between the frame 101 and the driving wheel 110, a plurality of auxiliary wheels 120 installed at the front and rear of the driving wheel 110, and a plurality of protruding sides of the frame 101. The side wheel 130 of the.

The pair of driving wheels 110 are each operated by a separate motor, through which the mobile robot 10 moves forward, backward and rotates.

The running wheel 110 has its axis installed in the y-axis direction, and the side wheel 130 has its axis installed in the z-axis direction.

The auxiliary wheel 120 distributes the load evenly and serves to increase the stability when moving. The side wheel 130 serves to disperse the impact in the event of a side collision while allowing the mobile robot 10 to be in close contact with the wall in an emergency.

The auxiliary wheel 120 is coupled to the bracket coupled to rotate 360 degrees with respect to the frame 101 in a horizontal axis of rotation. In the exemplary embodiment of the present invention, the first and second auxiliary wheels 120a and 120b which are installed at the front of the driving wheel 110 and spaced apart from each other in the y-axis direction are installed at the rear of the driving wheel 110 and are in the y-axis direction. And third and fourth auxiliary wheels 120c and 120d spaced apart from each other.

In the embodiment of the present invention, the lower unit 100 has a substantially rectangular planar shape, and the first to fourth auxiliary wheels 120a, 120b, 120c, and 120d are installed near each corner of the lower unit 100. As a result, the load of the mobile robot 10 is not even concentrated on the driving wheel 110 and is evenly distributed to four points through the auxiliary wheel around the driving wheel 110.

The side wheel 130 is coupled to the frame 101 at the front of the driving wheel 110 and the first and second side wheels 130a and 130b spaced apart from each other in the y-axis direction, and the frame at the rear of the driving wheel 110. And third and fourth side wheels 130c and 130d coupled to 101 and spaced apart from each other in the y-axis direction.

Side wheel 130 is preferably installed near each corner of the lower unit 100, like the auxiliary wheel (120). In addition, the side wheel 130 should be installed to protrude out of the cover of the lower unit 100, as shown in Figure 1, for this purpose, as shown in Figure 3 protrudes laterally than at least the outermost frame 101a in the x-axis direction Should be. This is because the lower unit 100 can be prevented from colliding with the wall when driving in close contact with the wall surface.

Side wheel 130 is not limited to the position or the number shown, it may be mounted on the upper unit 200, if necessary, may be installed only on the side, not the corner, or may be installed on both the corner and side. .

On the other hand, the vibration is generated when the mobile robot 10 passes through the bend or inclination of the ground. In the embodiment of the present invention, in order to reduce vibration and increase driving stability in this case, in addition to installing the pair of auxiliary wheels 120 before and behind the driving wheel 110 as described above, the suspension on the driving wheel 110 is provided. 140 was mounted.

Hereinafter, an embodiment of a connection structure of the driving wheel 110 and the suspension 140 will be described with reference to FIG. 5. However, the specific coupling structure is not limited thereto.

Suspension frame 103 for the suspension connection is fixed to the frame 101 forming the skeleton of the lower unit 100, the suspension frame 103 is a substantially rectangular box shape with the lower surface opened, spaced apart in the x-axis direction to face And a pair of side portions 103a and an upper surface portion 103b coupled to an upper end of the side portions 103a. The suspension frame 103 is fixed to the frame 101 and may be regarded as part of the frame 101.

First brackets 150 having lengths in the x-axis direction are mounted at both ends of the upper surface portion 103b, and second brackets 160 having the driving wheels 110 coupled to the lower portions of the first brackets 150. ) Is located. Each second bracket 160 is coupled to the suspension frame 103 by a parallel link 170.

Each of the second brackets 160 rotatably supports each of the driving wheels 110 and supports the driving means 180 for driving each of the driving wheels 110.

Coupling protrusions 162 for mounting the suspension 140 are formed at both ends of the second bracket 160 in the x-axis direction. Coupling protrusion 162 is to easily mount the suspension 140 may be omitted as necessary.

The suspension 140 is installed between both end portions of the first bracket 160 in the x-axis direction and the engaging protrusion 162 of the second bracket 160 positioned below the first bracket 160. Therefore, one driving wheel 110 is provided. In the front and rear of the axle, respectively, that is, two suspensions 140 are mounted.

The parallel link 170 serves to maintain a constant angle formed by the driving wheel 110 with respect to the ground, each end is rotatably connected to the side portion (103a) of the suspension frame, each end is a second bracket Is rotatably connected to 160.

The parallel link 170 includes first and second links 171 and 172 parallel to each other, and each link 171 and 172 independently rotates on the side portion 103a and the second bracket 160 of the suspension frame. Possibly connected. The number of links constituting the parallel link 170 may be two or more.

As such, the mobile robot 10 according to the embodiment of the present invention includes a pair of driving wheels 110 each having a separate suspension 140 and four auxiliary wheels 120 installed one by one in front and behind. do.

As a result, as shown in FIG. 6, a substantial portion of the load applied to the mobile robot 10 is distributed to the ground through the four auxiliary wheels 120, and the driving wheel 110 is relatively moved by the action of the suspension 140. Since a constant load is applied, the traction force of the driving wheel 110 is kept constant, thereby increasing driving stability.

In addition, when passing the slope or bend can prevent the mobile robot 10 from vibrating due to the action of the suspension 140, it can prevent the situation that the running wheel 110 is impossible to run due to the bent or irregularities in the air. have.

On the other hand, the mobile robot 10 according to the embodiment of the present invention is not necessarily limited to the above-described structure.

For example, the planar shape of the frame 101 is not necessarily limited to a quadrangle, and thus may have a polygonal shape such as a pentagon and a hexagon.

In addition, since the number of the auxiliary wheels 120 is not necessarily limited to four, two or more auxiliary wheels 120 may be installed in front of and behind the axle of the driving wheel 110, respectively. However, in order to distribute the load back and forth in a balanced manner, it may be more preferable to install the same number in front of and behind the axle of the driving wheel 110.

In addition, the mobile robot 10 according to the embodiment of the present invention is manufactured in a shape and size suitable for transporting a sample or a sample in a hospital, but of course, it can be used for other purposes in other places.

2. Driving control method of mobile robot (How to use avoidance space)

Hereinafter, a method of controlling driving of the mobile robot 10 will be described with reference to the flowchart of FIG. 7.

First, environmental information about a space to be moved by the mobile robot 10 should be stored in the mobile robot 10. (ST 11)

To this end, previously prepared map information may be stored in the mobile robot 10, the mobile robot 10 may acquire environmental information while moving by itself, and may be fixed while moving by itself while storing the map information. The map information may be updated by adding the obstacle information.

In this state of obtaining environmental information, when the movement command is received or received, the mobile robot 10 checks the driving route to the destination and starts the movement along the confirmed driving route. (ST12, ST13)

In order to move to the destination by using the stored environment information, it is necessary to be able to accurately identify its own location.To do this, it is necessary to check landmarks displayed at various points of the space through a camera, how to use encoder information of the driving motor, Various known methods may be used, such as using a wireless recognition device (RFID, etc.) installed at various points, and moving while tracking the identification mark displayed on the floor or ceiling.

During the movement, the mobile robot 10 continuously monitors the presence of an obstacle, and in one embodiment of the present invention, when an obstacle is found (ST14), it is first determined whether the obstacle is fixed or moving. The mobility of the obstacles can be checked through a distance sensor or the like, and it may be preferable to set it to recognize the moving obstacle only when the distance to the mobile robot 10 or the distance from the mobile robot 10 decreases gradually. (ST15)

If the detected obstacle is fixed, it is determined whether the passage is possible. This is because the mobile robot 10 may not pass if an obstacle exists in the passage of the limited width. Passability may be determined using image data or a distance sensor obtained through the camera. (ST16)

If it is determined that the passage is possible in step ST16, the movement is continued using a known obstacle avoidance method. (ST17)

If it is determined in step ST15 that the obstacle is moving, it is determined whether information on the avoided space is stored. The avoidance space is a space of a predetermined area set at one or more points so that the mobile robot 10 can wait in an emergency. The evacuation space is a space defined to be always empty by a predetermined mark on the floor, wall, or ceiling. (ST18)

If there is a registered evacuation space, it moves to the nearest evasion space and waits. When a certain time elapses, the movement to the destination is resumed. (ST19, ST20)

If the evacuation space is not registered, stop and generate warning sound or light, or notify the administrator or user of the emergency situation through the wireless communication means. The same action should be performed when there is an object or other mobile robot in the evacuation space and thus cannot enter the evasion space. (ST21)

On the other hand, if it is determined in step ST16 that it is impossible to pass through a narrow width despite the stop obstacle, step ST18 (avoidance space check step) may proceed.

In one embodiment of the present invention, after determining whether the obstacle is fixed or moving (ST15), it is determined whether the passage is possible only for the fixed obstacle (ST16), but whether it can pass through all obstacles regardless of mobility It is also possible to set to move to the avoidance space only when it is determined that it is impossible to pass. This is because even in the case of a mobility obstacle, the size is small so that it can pass through.

In addition, even if it is determined that the moving obstacle can be passed, if the moving speed is faster than the set speed, it may be set to stop as a dangerous situation or move to the avoidance space.

In addition, if it is determined that the passage is impossible, it may be set to search for another movement route and to move along another movement route if found.

In addition, when it is determined that the passage is possible to pass through the obstacle, it can be set to run in close contact with the wall to prevent the collision.

It is also possible to drive the mobile robot 10 at a distance from the wall using a distance sensor without the mobile robot 10 being in close contact with the wall, but in this case, due to sensor error, wheel slip, etc. There is a risk that the mobile robot 10 will collide with the wall.

However, when the side wheel 130 is mounted on the mobile robot 10 as in the embodiment of the present invention, as shown in FIG. 8, the side wheel 130 may be driven in close contact with the wall. That is, when the obstacle 40 is detected and determined to be able to pass through at ST15, the moving direction may be set to move by changing the driving direction to be in close contact with the wall, and may be set to return to the normal path again after passing the obstacle.

This method eliminates the need to continuously detect the distance to the wall using a distance sensor to prevent collision with the wall, and has the advantage of minimizing the moving space.

On the other hand, it is preferable to set the driving direction to run slightly obliquely toward the wall without setting the running direction in parallel with the wall when the wall is closely adhered. This is because the side wheel 130 can be stably in close contact with the wall even if there is bending of the wall or slip of the running wheel 110.

In addition, if the side wheel 130 is installed on the moving wheel 10, even if the collision with the object close to the side, since the impact force is distributed in the front and rear of the driving direction, there is an advantage that the direct impact is greatly alleviated and quickly escape from the collision state.

In this way, after the vehicle is in close contact with the wall using the side wheels 130 and passes through the obstacle, if the obstacle is no longer sensed, it may be set to move back to the normal path again.

On the other hand, if the mobile robot 10 does not enter the evacuation space or if the evacuation space is not set and is generating an emergency alarm in the stopped state (ST21), it is necessary to move the mobile robot 10 from the current position to a safe position. There is.

The emergency adjustment means 220 shown in FIG. 1 is prepared for such a situation, and the command input through the emergency adjustment means 220 is set to control the driving means in preference to the autonomous driving program. The emergency adjusting means 220 is, for example, in the form of a joystick, and by manipulating this can move the mobile robot 10 to a desired position.

Therefore, in the state where the mobile robot 10 is in an emergency stop, a person or an administrator in the vicinity can operate the emergency adjustment means 220 to move to a safe position, and the mobile robot 10 runs before the normal time. You will return to your route and resume your journey to your destination.

Meanwhile, in order to prevent unauthorized operation of the emergency adjustment means 220, it may be desirable to set a password before the operation or to transmit the relevant situation information to the central control system immediately after the operation.

3. Driving control method of mobile robot ( Narrow passage  Pass method)

When a plurality of mobile robots 10 are used at the same time, it is necessary to control the driving to prevent the collision between them. In particular, when there is a narrow passage where two vehicles cannot pass at the same time, it is necessary to set a passing method in advance.

Hereinafter, an embodiment of a driving control method for passing a narrow passage will be described with reference to the flowchart of FIG. 9.

First, when the mobile robot 10 arrives at the entrance of the narrow passage (ST31), it must go through a procedure to check whether there are other mobile robots entering the narrow passage (P) first. (ST32)

The confirmation procedure may be performed by, for example, the mobile robot 10 wirelessly transmitting an entry request signal to the access control system, and the access control system wirelessly transmitting a confirmation signal (a permission signal or a reject signal) in response thereto. The access control system of FIG. 9 may be a central control system for direct wireless communication with the mobile robot 10.

The request signal may include location information of the mobile robot 10, identification information of a narrow passage obtained by the mobile robot 10, an ID of the mobile robot 10, and the like.

Upon receiving the permission signal from the central control system, the mobile robot 10 moves inside the narrow passage and transmits a predetermined entry signal to the access control system. (ST33)

Subsequently, when the mobile robot 10 passes the narrow passage (ST34), the predetermined advance signal is transmitted to the central control system. (ST35)

As such, when the mobile robot 10 transmits the entrance signal and the exit signal whenever entering and exiting the narrow passage, the central control system may determine whether the mobile robot exists in the narrow passage using the same.

On the other hand, when the ST32 finds that there is another mobile robot, the central control system wirelessly transmits a reject signal indicating that it cannot enter. Receiving the reject signal, the mobile robot 10 moves to a preset waiting area, waits for a predetermined time, and then moves to the entrance of the narrow passage again and transmits an entry request signal for re-entry. (ST36)

In the above method, the mobile robot 10 directly communicates with the central control system to determine whether the narrow passage passes. However, when the space for the mobile robot 10 to move is large, it may be expensive to construct a wireless communication facility. have.

In this case, it may be more effective to have a separate access control system for each narrow passage. For example, as shown in Fig. 10A, the access control system includes a first wireless communication unit 51, a second wireless communication unit 52, and first and second wireless communication units provided at the inlet and the outlet of the narrow passage P, respectively. And a controller 70 connected to the 51 and 52.

At this time, the first and second wireless communication unit 51, 52 may be a device for wireless communication with the mobile robot 10 by using a known short-range wireless communication technology such as Bluetooth, Zigbee, infrared communication, mobile robot 10 The RFID reader may correspond to an RFID tag mounted on the RFID tag.

Hereinafter, a narrow passage driving control method using such an access control system will be described with reference to FIGS. 10A to 10D.

When the mobile robot 10 arriving at the entrance of the narrow passage P transmits the entry request signal, the first wireless communication unit 10 receives the signal and transmits it to the control unit 70.

The controller 70 determines whether there is another mobile robot in the narrow passage P based on the entry signal and / or the exit signal of the other mobile robot received in the past. (See Figure 10A)

If there is no other mobile robot, the control unit 70 transmits a permission signal through the first wireless communication unit 51, and the mobile robot 10 receives this and then starts to move into the narrow passage P. The start signal of the signal is transmitted to the first wireless communication unit 51. (See Figure 10b)

Subsequently, after passing through the narrow passage P, the mobile robot 10 should transmit a predetermined advance signal, and the second wireless communication unit 52 which has received the advance signal transmits it to the controller 70. The controller 70 stores the entry signal and the entry signal of the mobile robot 10 and controls entry / exit of another mobile robot based on this. (See Figure 10c)

If the control unit 70 sends a reject signal to the entry request signal of the mobile robot 10-for example, as shown in FIG. 10D, the other mobile robot 10 'enters the narrow path P first. In case of moving, move to the predetermined waiting area (S), wait for a certain time, and then move to the entrance of the narrow passage (P) again to send an entry request signal for re-entry.

On the other hand, when the length of the narrow passage P is short, it is not necessary to use two wireless communication units 51 and 52 in the access control system, and only one wireless communication unit may be used. However, if the communication distance is very short (for example, RFID) it may be desirable to install a wireless communication unit at the entrance and exit, respectively.

In the above description of the preferred embodiment of the present invention, the present invention is not limited to the above-described embodiment may be modified or modified in various forms, the modified or modified embodiment of the present invention included in the claims to be described later If it includes the technical idea it will be natural to belong to the scope of the present invention.

10: mobile robot 100: lower unit
101: frame 103: suspension frame
110: driving wheel 140: suspension
120a, 120b, 120c, 120d: first, second, third and fourth auxiliary wheels
130a, 130b, 130c, 130d: first, second, third and fourth side wheels
150: first bracket 160: second bracket
162; Coupling protrusion 170: parallel link
180: driving means 200: upper unit
210: display unit 220: emergency adjustment means
230: cradle P: narrow passage
S: waiting area

Claims (11)

In the method of controlling the running of the autonomous mobile robot,
(a) storing environmental information about a space to be moved;
(b) determining whether it is possible to pass if an obstacle is detected during movement;
(c) continuing to move if determined to be passable, and checking whether information on the avoided space is registered if it is determined to be impossible to pass;
(d) if it is determined that passing is impossible, moving to the avoiding space according to the registered information if information on the avoiding space is registered; otherwise, searching for another route and moving or generating an emergency signal;
Driving control method of self-driving mobile robot comprising a The method of claim 1,
The step (b)
Determining whether the obstacle moves;
If the obstacle is a stationary object, determine whether the passage is possible by checking the passage size around the obstacle, and if it is a moving object, determining whether to pass or not to pass when the moving speed exceeds a set speed;
Driving control method of the autonomous driving mobile robot, comprising a The method of claim 1,
The mobile robot has a plurality of side wheels protruding laterally,
In the step (c), when it is determined that the vehicle can continue to pass, the traveling control method of the autonomous driving mobile robot, wherein the driving direction is set in an oblique direction toward the wall in order to travel while keeping the side wheels in close contact with the wall. In the traveling control method of the autonomous mobile robot for passing the narrow passage,
(a) the mobile robot reaching the entrance of the narrow passage to transmit an entry request signal to the access control system;
(b) the access control system determining whether to permit in response to the entry request signal;
(c) When the access control system sends a permission signal, the mobile robot enters the narrow path and sends an entrance signal. When the access control system sends a reject signal, the mobile robot moves to a preset waiting area. Waiting for a set time;
(d) transmitting a departure signal when the mobile robot passes the narrow passage;
It includes, The access control system is a driving control method of the autonomous driving mobile robot, characterized in that for determining whether the entry and exit permission of the other mobile robot using the entry signal and the entry signal. In the access control system for controlling the narrow passage of the autonomous mobile robot,
A first wireless communication unit installed at the entrance of the narrow passage to communicate wirelessly with the mobile robot;
A second wireless communication unit installed at an exit of the narrow passage to communicate wirelessly with the mobile robot;
A control unit which determines whether a mobile robot exists in the narrow passage using signals received from the first wireless communication unit and the second wireless communication unit;
Access control system of self-driving mobile robot including frame;
A driving wheel which protrudes below the frame and has a horizontal axis of rotation;
As a wall contact driving, a plurality of side wheels installed to protrude to the side of the frame and having a vertical axis of rotation;
Driving means for operating the driving wheel;
Self-driving mobile robot including The method according to claim 6,
The frame has a polygonal planar shape, each side wheel is an autonomous mobile robot, characterized in that installed in the corner of the frame frame;
A pair of traveling wheels protruding to the lower portion of the frame and each operated by separate driving means;
A suspension installed between the frame and each of the driving wheels;
As a load distribution and driving stability, a plurality of auxiliary wheels are respectively provided in front and rear of the driving wheel;
Self-driving mobile robot including 9. The method of claim 8,
A bracket coupled to each of the driving wheels to rotatably support the driving wheels;
A first parallel link rotatably connected at one end to a first position of the frame and at the other end rotatably connected to one side of the bracket;
A second parallel link one end of which is rotatably connected to a second position of the frame and the other end of which is rotatably connected to the other side of the bracket
Self-driving mobile robot, characterized in that it comprises a 10. The method of claim 9,
The suspension is,
An autonomous system comprising a first suspension installed between the bracket and the frame at the front of each of the driving wheels, and a second suspension installed between the bracket and the frame at the rear of the driving wheels; Driving Mobile Robot Driving means for operating the driving wheel;
Storage means for storing a travel control program;
Control means for controlling the drive means in accordance with the travel control program;
Emergency adjusting means for inputting a command to control the driving means in preference to a command according to the traveling control program;
Self-driving mobile robot including

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