Granted Patent B2

US 12,570,326 · App. 18/119,588 · Granted Mar 10, 2026

Inventor: Joon Hoo Lim (Yongin-si, KR)

Assignee: HL Robotics Co., Ltd.

B60W60/0025B60W30/09B60W30/182B60W2520/00B60W2554/00

Abstract

Claims (64)

1 . A method of controlling driving of an autonomous driving charging robot performed by an autonomous driving charging robot control device, comprising:

obtaining a first position and a second position, the first position being within a predetermined distance from a charging vehicle to which a charging power is to be supplied, and the second position being a position of the autonomous driving charging robot that is to supply the charging power;

calculating a displacement vector from the second position to the first position;

calculating an angle between a first direction and a direction of the displacement vector, the first direction being a current heading direction of the autonomous driving charging robot;

determining whether a driving mode is a first driving mode or a second driving mode, the first driving mode being determined when the angle is less than 40 degrees and the second driving mode being determined when the angle is greater than 50 degrees;

in case the first driving mode is determined, controlling the autonomous driving charging robot to move along the first direction, and then to move along a second direction perpendicular to the first direction, the first direction and the second direction corresponding to component vectors of the displacement vector; and

in case the second driving mode is determined, controlling the autonomous driving charging robot to move along the second direction, and then to move along the first direction,

wherein the current heading direction of the autonomous driving charging robot is maintained while the autonomous driving charging robot is moving from the second position to the first position.

2 . The method of claim 1 , wherein the method is performed when a magnitude of the displacement vector is equal to or less than a predetermined value.

3 . The method of claim 1 , further comprising:

determining whether the autonomous driving charging robot reaches the first position;

determining a third direction, the third direction being a heading direction of the charging vehicle, the heading direction of the charging vehicle being sensed by a sensor of the autonomous driving charging robot;

calculating a fourth direction based on the third direction, the fourth direction being a heading direction in which the autonomous driving charging robot is capable of charging with respect to the charging vehicle;

controlling the autonomous driving charging robot to change its heading direction from the first direction to the fourth direction.

4 . The method of claim 3 , wherein the fourth direction is perpendicular to the third direction, the third direction and the fourth direction are defined on a horizontal plane.

5 . The method of claim 1 , further comprising:

determining obstacle information including size and position information of an obstacle located in a driving direction of the autonomous driving charging robot detected by a sensor included in the autonomous driving charging robot while driving;

calculating the size of the obstacle from the obtained obstacle information; and

stopping the autonomous driving charging robot for a predetermined time when the calculated size of the obstacle is equal to or greater than a predetermined size.

6 . The method of claim 5 , further comprising:

after the stopping of the autonomous driving charging robot for the predetermined time,

determining whether or not the obstacle exists in the driving direction of the autonomous driving charging robot detected by the sensor;

if the obstacle exists, determining an outside of the obstacle from information of the obstacle; and

controlling driving of the autonomous driving charging robot by being spaced apart from the outside of the determined obstacle by a safe distance.

7 . A device of controlling an autonomous driving charging robot, comprising:

a transceiver configured to obtain a first position and a second position, the first position being within a predetermined distance from a charging vehicle to which a charging power is to be supplied, and the second position being a position of the autonomous driving charging robot that is to supply the charging power;

a memory; and

a processor configured to:

calculate a displacement vector from the second position to the first position;

calculate an angle between a first direction and a direction of the displacement vector, the first direction being a current heading direction of the autonomous driving charging robot;

determining whether a driving mode is a first driving mode or a second driving mode, the first driving mode being determined when the angle is less than 40 degrees and the second driving mode being determined when the angle is greater than 50 degrees;

in case the first driving mode is determined, controlling the autonomous driving charging robot to move along the first direction, and then to move along a second direction perpendicular to the first direction, the first direction and the second direction corresponding to component vectors of the displacement vector; and

in case the second driving mode is determined, controlling the autonomous driving charging robot to move along the second direction, and then to move along the first direction,

wherein the current heading direction of the autonomous driving charging robot is maintained while the autonomous driving charging robot is moving from the second position to the first position.

8 . The device of claim 7 , wherein the processor is further configured to control the autonomous driving charging robot when a magnitude of the displacement vector is equal to or less than a predetermined value.

9 . The device of claim 7 , wherein the processor is further configured to:

determine whether the autonomous driving charging robot reaches the first position;

determine a third direction, the third direction being a heading direction of the charging vehicle, the heading direction of the charging vehicle being sensed by a sensor of the autonomous driving charging robot;

calculate a fourth direction based on the third direction, the fourth direction being a heading direction in which the autonomous driving charging robot is capable of charging with respect to the charging vehicle;

control the autonomous driving charging robot to change its heading direction from the first direction to the fourth direction.

10 . The device of claim 9 , wherein the fourth direction is perpendicular to the third direction, the third direction and the fourth direction are defined on a horizontal plane.

11 . The device of claim 7 , wherein the transceiver is configured to obtain obstacle information including size and position information of an obstacle located in a driving direction of the autonomous driving charging robot detected by a sensor included in the autonomous driving charging robot while driving, and

the processor is further configured to calculate the size of the obstacle from the obtained obstacle information, and stop the autonomous driving charging robot for a predetermined time when the calculated size of the obstacle is equal to or greater than a predetermined size.

12 . The device of claim 11 , wherein the processor is further configured to:

after the stopping of the autonomous driving charging robot for the predetermined time, determine whether or not the obstacle exists in the driving direction of the autonomous driving charging robot detected by the sensor; if the obstacle exists, determine an outside of the obstacle from information of the obstacle; and control driving of the autonomous driving charging robot by being spaced apart from the outside of the determined obstacle by a safe distance.

13 . A non-transitory computer-readable storage medium including computer executable instructions, wherein the instructions, when executed by a processor, cause the processor to perform a method of controlling driving of an autonomous driving charging robot, the method comprising:

obtaining a first position and a second position, the first position being within a predetermined distance from a charging vehicle to which a charging power is to be supplied, and the second position being a position of the autonomous driving charging robot that is to supply the charging power;

calculating a displacement vector from the second position to the first position;

calculating an angle between a first direction and a direction of the displacement vector, the first direction being a current heading direction of the autonomous driving charging robot;

determining whether a driving mode is a first driving mode or a second driving mode, the first driving mode being determined when the angle is less than 40 degrees and the second driving mode being determined when the angle is greater than 50 degrees;

in case the first driving mode is determined, controlling the autonomous driving charging robot to move along the first direction, and then to move along a second direction perpendicular to the first direction, the first direction and the second direction corresponding to component vectors of the displacement vector; and

in case the second driving mode is determined, controlling the autonomous driving charging robot to move along the second direction, and then to move along the first direction,

wherein the current heading direction of the autonomous driving charging robot is maintained while the autonomous driving charging robot is moving from the second position to the first position.

14 . The non-transitory computer-readable storage medium of claim 13 , wherein the method is performed when a magnitude of the displacement vector is equal to or less than a predetermined value.

15 . The non-transitory computer-readable storage medium of claim 13 , wherein the method further comprises:

determining whether the autonomous driving charging robot reaches the first position;

determining a third direction, the third direction being a heading direction of the charging vehicle, the heading direction of the charging vehicle being sensed by a sensor of the autonomous driving charging robot;

calculating a fourth direction based on the third direction, the fourth direction being a heading direction in which the autonomous driving charging robot is capable of charging with respect to the charging vehicle;

controlling the autonomous driving charging robot to change its heading direction from the first direction to the fourth direction.

16 . The non-transitory computer-readable storage medium of claim 15 , wherein the fourth direction is perpendicular to the third direction, the third direction and the fourth direction are defined on a horizontal plane.

17 . The non-transitory computer-readable storage medium of claim 13 , wherein the method further comprises:

determining obstacle information including size and position information of an obstacle located in a driving direction of the autonomous driving charging robot detected by a sensor included in the autonomous driving charging robot while driving;

calculating the size of the obstacle from the obtained obstacle information; and

stopping the autonomous driving charging robot for a predetermined time when the calculated size of the obstacle is equal to or greater than a predetermined size.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (19)