Driving robot device

Patent metadata

Field	Value
Publication number	US-12157343-B2
Application number	US-202217752528-A
Country	US
Kind code	B2
Filing date	May 24, 2022
Priority date	Jun 25, 2021
Publication date	Dec 3, 2024
Grant date	Dec 3, 2024

Abstract

A driving robot device is provided. The driving robot device may include a plurality of suspensions configured to absorb a shock applied by a driving surface on which the driving robot device drives; a first driving part that includes a motor and is configured to adjust a strength of the plurality of suspensions; and at least one processor configured to control the first driving part to adjust the strength of the plurality of suspensions based on driving surface information with respect to a state of driving surface, and based on food information with respect to a state of food carried by the driving robot device.

First claim

What is claimed is:

1. A driving robot device comprising:
a plurality of suspensions configured to absorb a shock applied by a driving surface on which the driving robot device drives;
a first driving part that comprises a motor and is configured to adjust a strength of the plurality of suspensions; and
at least one processor configured to control the first driving part to adjust the strength of the plurality of suspensions based on driving surface information with respect to a state of driving surface, and based on food information with respect to a state of food carried by the driving robot device,
wherein the plurality of suspensions comprises a first suspension that comprises a center part and two side parts at opposite sides of the center part, respectively,
wherein each of the two side parts comprises a cantilever,
wherein the at least one processor is further configured to vary a supporting point of the cantilever of each of the two side parts of the first suspension by controlling driving of the first driving part,
wherein the plurality of suspensions comprises the first suspension and a second suspension re provided on a lower side of a base plate of the driving robot device at an interval, and in parallel to each other,
wherein the second suspension comprises ter part and two side parts at opposite sides of the center part of the second suspension, respectively,
wherein the center part of the first suspension and the center part of the second suspension is fixed to the base plate,
wherein each of the two side parts of the first suspension further comprise a caster provided on a lower surface of the cantilever of a respective one of the two side parts of the first suspension,
wherein each of the two side parts of the second suspension comprises a cantilever and a caster provided on a lower surface of the cantilever of a respective one of the two side parts of the second suspension, and
wherein the at least one processor is further configured to vary a supporting point of the cantilever of each of the two side parts of each of the first suspension and the second suspension by controlling driving of the first driving part.

2. The driving robot device of claim 1 , wherein the at least one processor is further configured to:
based on a state of the driving surface being determined as a plane, control the first driving part to adjust the strength of the plurality of suspensions to a first strength, and
based on the state of the driving surface being determined as having at least one bump, control the first driving part to adjust the strength of the plurality of suspensions to a second strength that is lower than the first strength.

3. The driving robot device of claim 2 , further comprising:
a plurality of driving wheels; and
a second driving part that comprises a motor and is configured to drive the plurality of driving wheels,
wherein the at least one processor is further configured to:
based on the state of the driving surface being determined as the plane, control the second driving part such that the driving robot device drives at a first speed, and
based on the state of the driving surface being determined as having the at least one bump, control the second driving part such that the driving robot device drives at a second speed that is slower than the first speed.

4. The driving robot device of claim 1 , wherein the at least one processor is further configured to:
based on the state of the food being determined to have a first fluidity, control the first driving part to adjust the strength of the plurality of suspensions to a first strength, and
based on the state of the food being determined to have second fluidity that is higher than the first fluidity, control the first driving part to adjust the strength of the plurality of suspensions to a second strength that is lower than the first strength.

5. The driving robot device of claim 4 , further comprising:
a plurality of driving wheels; and
a second driving part that comprises a motor and is configured to drive the plurality of driving wheels,
wherein the at least one processor is further configured to:
based on the state of the food being determined to have the first fluidity, control the second driving part such that the driving robot device drives at a first speed, and
based on the state of the food being determined to have the second fluidity, control the second driving part such that the driving robot device drives at a second speed that is slower than the first speed.

6. The driving robot device of claim 1 , further comprising:
a memory storing mapping information with respect to an area wherein the driving robot device is configured to move,
wherein the at least one processor is further configured to determine the state of the driving surface based on the mapping information, and control the first driving part to adjust the strength of the plurality of suspensions based on the state of the driving surface.

7. The driving robot device of claim 1 , further comprising:
a plurality of driving wheels; and
a second driving part that comprises a motor and is configured to drive the plurality of driving wheels,
wherein the at least one processor is further configured to:
determine the state of the driving surface, and
control the second driving part to adjust a driving speed of the driving robot device based on the state of the driving surface.

8. The driving robot device of claim 1 , further comprising:
a sensor configured to detect the state of the driving surface,
wherein the at least one processor is further configured to control the first driving part to adjust the strength of the plurality of suspensions based on the state of the driving surface detected by the sensor.

9. The driving robot device of claim 8 , wherein the sensor is a tilt sensor.

10. The driving robot device of claim 1 , wherein the cantilever has a plate shape.

11. The driving robot device of claim 10 , further comprising, for each of the first suspension and the second suspension:
a first operating block configured to move along a first longitudinal direction of the cantilever of a first side part from among the two side parts based on driving of the first driving part, and operate as the supporting point of the cantilever of the first side part while moving along the first longitudinal direction.

12. The driving robot device of claim 11 , further comprising, for each of the first suspension and the second suspension:
a second operating block configured to move along a second longitudinal direction of the cantilever of a second side part from among the two side parts based on driving of the first driving part, and operate as the supporting point of the cantilever of the second side part while moving along the second longitudinal direction.

13. The driving robot device of claim 12 , wherein the first driving part further comprises:
a first connector that connects the first operating block associated with the first suspension to the first operating block associated with the second suspension, wherein the first operating block associated with the first suspension and the first operating block associated with the second suspension are on a first side of the driving robot device;
a second connector that connects the second operating block associated with the first suspension to the second operating block associated with the second suspension, wherein the second operating block associated with the first suspension and the second operating block associated with the second suspension are on a second side of the driving robot device that is opposite to the first side, and

Assignees

• Samsung Electronics Co Ltd

Inventors

• Koo Donghan
• Kang Sanghyun
• Kwak Hyunsuk
• Lee Minhee

Classifications

• G05D1/246

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title

• G05D1/245

  using dead reckoning · CPC title

• G05D1/65

  Following a desired speed profile · CPC title

• B60G2600/21

  Self-controlled or adjusted · CPC title

• B60G2400/821

  Uneven, rough road sensing affecting vehicle body vibration · CPC title