Mobile vehicle

Abstract

The present invention provides a mobile vehicle comprising: a main body part; a moving portion including a wheel configured to move the main body portion, and a steering region configured to rotate the wheel about a steering rotation axis with respect to the main body portion and steer the wheel; and at least one variable frame configured to connect the main body portion and the moving portion, move relative to the main body portion in a guide direction intersecting the steering rotation axis, and change a spacing distance between one region of the main body portion and the moving portion.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2024-0066621, filed with the Korean Intellectual Property Office on May 22, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a mobile vehicle. Background Technology

[0004] Recently, mobile vehicles based on plug-and-play (PnD) modules have been actively developed. The mobile vehicle is equipped with a main body capable of supporting objects, multiple wheels configured to move the main body, and a steering system configured to steer the multiple wheels.

[0005] In related technologies, mobile vehicles are manufactured with the position of the wheels fixed relative to the main body. The problem with this fixed wheel position is that the gap between the wheels and the main body cannot be adjusted.

[0006] For example, if a mobile vehicle is manufactured with a relatively large gap between the wheels and the main body, it will encounter difficulties when entering narrow spaces such as elevators or corridors. If a mobile vehicle is manufactured with a relatively small gap between the wheels and the main body, the problem is that the risk of a rollover accident increases when the mobile vehicle is traveling at high speed.

[0007] The statements in this section are provided only as background information in relation to the present invention and do not constitute prior art. Summary of the Invention

[0008] The present invention provides a mobile vehicle capable of adjusting the distance between the wheels and the main body.

[0009] To achieve the above objectives, one aspect of the present invention provides a mobile vehicle, comprising: a main body; a mobile part including: wheels configured to move the main body; and a steering region configured to rotate the wheels relative to the main body about a steering rotation axis and to steer the wheels. The mobile vehicle further includes: at least one variable frame configured to connect the main body and the mobile part, move relative to the main body in a guiding direction intersecting the steering rotation axis, and change the spacing between a region of the main body and the mobile part.

[0010] In one embodiment, the movable part is fixed to at least one variable frame, and the at least one variable frame is connected to the main body and configured to move relative to the main body.

[0011] In one embodiment, the mobile vehicle further includes a guide portion fixed to the main body portion, extending in a guide direction, and configured to guide at least one variable frame to move in the guide direction.

[0012] In one embodiment, at least one variable frame may be configured as a plurality of variable frames. Each of the plurality of variable frames is configured to be in a first state in which each variable frame moves to its maximum relative to the body in a first guiding direction, wherein the first guiding direction is the direction in which the wheel moves toward the body. When viewing one side of the moving vehicle based on the steering axis of rotation parallel to the steering axis of rotation, two variable frames oriented in intersecting directions among the plurality of variable frames in the first state are configured to overlap each other.

[0013] In one embodiment, the plurality of variable frames includes a first variable frame and a second variable frame oriented in directions intersecting each other, and the first variable frame and the second variable frame are configured to be spaced apart from each other in the direction of the steering rotation axis.

[0014] In one embodiment, the first variable frame is configured as a plurality of first variable frames. The plurality of first variable frames includes: a first-first variable frame; and a first-second variable frame oriented parallel to the first-first variable frame. At least a portion of the first-first variable frame and at least a portion of the first-second variable frame are configured to face each other in a direction perpendicular to the steering rotation axis.

[0015] In one embodiment, the mobile vehicle further includes a drive unit configured to move at least one variable frame, and the drive unit includes a rotating region configured to engage with the at least one variable frame and rotate about a drive rotation axis. The at least one variable frame is configured to move linearly in a guiding direction by rotation of the rotating region.

[0016] In one embodiment, at least one variable frame is configured as a rack extending in the guide direction, and the rotating region is configured as a pinion engaging with at least one variable frame.

[0017] In one embodiment, the steering axis extends vertically, and the lower end of the main body is positioned above the upper end of the wheel.

[0018] In one embodiment, the moving vehicle further includes a controller configured to control the moving part. When an adjustment signal is input indicating that the size of the moving vehicle needs to be adjusted, the controller is configured to control the steering region to steer the wheels parallel to the guide direction.

[0019] In one embodiment, when the input is a shrinking signal indicating that the size of the moving vehicle needs to be reduced, the controller is configured to control the wheels so that the wheels move closer to a region of the main body. When the input is an expanding signal indicating that the size of the moving vehicle needs to be increased, the controller is configured to control the wheels so that the wheels move away from a region of the main body.

[0020] In one embodiment, the wheels and at least one variable frame are respectively configured as multiple wheels and multiple variable frames, and when a shrinking signal or an expanding signal is input, the controller is configured to control the multiple wheels such that all the multiple variable frames move at the same speed.

[0021] In one embodiment, the mobile vehicle further includes a drive unit configured to move at least one variable frame. When an input is a shrinking signal indicating a need to reduce the size of the mobile vehicle, the controller is configured to control the drive unit such that the wheels move closer to a region of the main body; and when an input is an expanding signal indicating a need to increase the size of the mobile vehicle, the controller is configured to control the drive unit such that the wheels move away from a region of the main body.

[0022] In one embodiment, at least one variable frame is configured as multiple variable frames, and when a shrinking or expanding signal is input, the controller is configured to control the drive unit such that all the multiple variable frames move at the same speed.

[0023] In one embodiment, the moving vehicle further includes a detection unit configured to detect the movement of an object within a peripheral area of ​​the moving vehicle, wherein the wheels and at least one variable frame are respectively configured as a plurality of wheels and a plurality of variable frames. When the detection unit detects the movement of an object within the peripheral area, a controller is configured to receive an avoidance signal from the detection unit, the avoidance signal being a signal indicating that the moving vehicle needs to avoid the object, and when, among the plurality of wheels, the wheel closest to the object is the close-range wheel, and the wheel farthest from the close-range wheel is the far-range wheel, the controller receiving the avoidance signal is configured to control the moving unit such that the speed of the close-range wheel is greater than the speed of the far-range wheel.

[0024] In one embodiment, the controller receiving the avoidance signal is configured to control the moving part to brake the far wheel.

[0025] In one embodiment, the controller receiving the avoidance signal is configured to control the steering region such that the far-wheels orient themselves in a direction that intersects with the near-wheels.

[0026] In one embodiment, the plurality of wheels includes a first wheel, a second wheel, and a third wheel arranged circumferentially and spaced apart from each other, wherein when the near-distance wheel and the far-distance wheel are the first wheel and the third wheel, respectively, the controller is configured to control the plurality of wheels such that the speed of the first wheel is greater than the speed of the second wheel.

[0027] The mobile vehicle according to the invention can be configured to adjust the gap between the wheels and the main body, thereby flexibly responding to various situations by adjusting the gap between the wheels and the main body. Attached Figure Description

[0028] Figure 1 A first perspective view of a moving vehicle according to a first embodiment of the present invention;

[0029] Figure 2 A second perspective view of a moving vehicle according to a first embodiment of the present invention;

[0030] Figure 3 This is a top view of a moving vehicle according to a first embodiment of the present invention;

[0031] Figure 4 To show Figure 3 A view of the variable frame movement state of a moving vehicle;

[0032] Figure 5 A side view of a moving vehicle according to a first embodiment of the present invention;

[0033] Figure 6 A side view of a moving vehicle according to a variant of the first embodiment of the present invention;

[0034] Figure 7 This is a top view of a moving vehicle according to a second embodiment of the present invention;

[0035] Figure 8 This is a top view of a moving vehicle according to a third embodiment of the present invention;

[0036] Figure 9 This is a top view of a moving vehicle according to a fourth embodiment of the present invention.

[0037] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way, and wherein:

[0038] 1: Moving vehicles

[0039] 100: Main body

[0040] 200: Mobile Division

[0041] 201, 201a, 201b, 201c: First moving part

[0042] 202, 202a, 202b, 202c: Second moving part

[0043] 203, 203a, 203b, 203c: Third moving part

[0044] 204, 204b, 204c: Fourth Moving Unit

[0045] 210: Wheel

[0046] 211: The First Wheel

[0047] 212: Second Wheel

[0048] 213: The Third Wheel

[0049] 214: The Fourth Wheel

[0050] 220: Turning Area

[0051] 300: Variable Frame

[0052] 310, 310a, 310b, 310c: First variable frame

[0053] 311: First-First Variable Frame

[0054] 312: First-Second Variable Frame

[0055] 320, 320a, 320b, 320c: Second variable frame

[0056] 321: Second-First Variable Frame

[0057] 322: Second-Second Variable Frame

[0058] 330a: Third Variable Frame

[0059] 400: Guidance Department

[0060] 410, 410a, 410b, 410c: First guiding section

[0061] 411: First - First Guiding Section

[0062] 412: First and Second Guiding Sections

[0063] 420, 420a, 420b, 420c: Second guidance section

[0064] 421: Second-First Guiding Section

[0065] 422: Second-Second Guiding Section

[0066] 430a: Third Guiding Section

[0067] 500: Drive Unit

[0068] 510: Rotation area

[0069] 520: Electric motor

[0070] 600: Testing Department

[0071] 700: Controller. Detailed Implementation

[0072] In the following description, some embodiments of the invention are described in detail with reference to the illustrative drawings. When providing reference numerals for the constituent elements of the various drawings, it should be noted that, where possible, the same reference numerals denote the same constituent elements, even if these constituent elements are shown in different drawings. Furthermore, in the following description of embodiments of the invention, detailed descriptions of related well-known configurations or functions are omitted when it is determined that a detailed description obscures the understanding of the embodiments of the invention.

[0073] In the following description, a mobile vehicle 1 according to the present invention is described with reference to the accompanying drawings.

[0074] Figure 1 This is a first perspective view of a moving vehicle according to a first embodiment of the present invention. Figure 2 This is a second perspective view of a moving vehicle according to a first embodiment of the present invention. Figure 3 This is a top view of a moving vehicle according to a first embodiment of the present invention. Figure 4 To show Figure 3 A view of the variable frame movement state of a moving vehicle.

[0075] refer to Figures 1 to 4 The mobile vehicle 1 can travel on the ground. The mobile vehicle 1 can move an object that needs to be moved between positions to a target position. The mobile vehicle 1 may be referred to as a movable body 1. The mobile vehicle 1 may include a main body 100, a moving part 200, a variable frame 300, a guide part 400, a drive part 500, a detection part 600, and a controller 700.

[0076] The main body 100 provides space for placing objects that need to be moved. The main body 100 can be moved by the movable part 200. The main body 100 may include multiple plates. The multiple plates can be arranged to be spaced apart from each other in the vertical direction "H". For example, a variable frame 300 may be provided between two adjacent plates of the multiple plates.

[0077] The movable part 200 can move relative to the ground-moving main body 100. The movable part 200 can be fixed to the variable frame 300. In addition, the movable part 200 can be controlled by the controller 700. The movable part 200 may include wheels 210 and a steering area 220.

[0078] The wheel 210 may be disposed below the steering area 220. The upper end of the wheel 210 may be disposed below the lower end of the main body 100. As described above, the main body 100 may be disposed above the wheel 210, which avoids or prevents the wheel 210 and the main body 100 from interfering with each other when the wheel 210 moves relative to the main body 100.

[0079] The steering region 220 allows the wheel 210 to steer. The steering region 220 allows the wheel 210 to rotate relative to the main body 100 about a steering rotation axis Xs. For example, the steering rotation axis Xs may be parallel to the vertical direction H. The steering region 220 and the wheel 210 may be connected to each other and configured to rotate relative to each other. Furthermore, the steering region 220 may be fixed to one end of the variable frame 300.

[0080] In one embodiment, the moving part 200 may be configured as a plurality of moving parts 200. The plurality of moving parts 200 may include a first moving part 201, a second moving part 202, a third moving part 203, and a fourth moving part 204. The first moving part 201, the second moving part 202, the third moving part 203, and the fourth moving part 204 may be arranged sequentially in the peripheral direction of the main body 100. Furthermore, the wheels respectively provided in the first moving part 201, the second moving part 202, the third moving part 203, and the fourth moving part 204 may be referred to as a first wheel 211, a second wheel 212, a third wheel 213, and a fourth wheel 214. Furthermore, the steering regions 220 respectively provided in the first moving part 201, the second moving part 202, the third moving part 203, and the fourth moving part 204 may be referred to as a first steering region, a second steering region, a third steering region, and a fourth steering region.

[0081] The variable frame 300 can change the distance between a region of the main body 100 and the moving part 200. The variable frame 300 can move relative to the main body 100 in the guiding direction. The variable frame 300 can connect the main body 100 and the moving part 200.

[0082] For example, the movable part 200 may be fixed to the variable frame 300, and the variable frame 300 may be movably connected to the main body 100. As a more detailed example, the variable frame 300 may be movably connected to the guide part 400 fixed to the main body 100.

[0083] The variable frame 300 can be configured as a plurality of variable frames 300. The plurality of variable frames 300 can be configured to be spaced apart from each other. Each of the plurality of variable frames 300 can be placed in a first state, in which the variable frame 300 moves to its maximum relative to the main body 100 in a first guiding direction. The first guiding direction can be defined as a direction in which the wheel 210 moves toward the main body 100.

[0084] refer to Figure 4 When the upper part of the moving vehicle 1 is viewed parallel to the vertical direction H, two variable frames oriented in intersecting directions among the plurality of variable frames 300 in the first state can be configured to overlap each other. The plurality of variable frames 300 may include a first variable frame 310 and a second variable frame 320.

[0085] The first variable frame 310 and the second variable frame 320 may be spaced apart from each other in the vertical direction H. For example, the first variable frame 310 may be positioned above the second variable frame 320. Furthermore, the directions in which the first variable frame 310 extends and the directions in which the second variable frame 320 extends may intersect each other. In other words, the first variable frame 310 and the second variable frame 320 may be oriented in the directions in which they intersect each other.

[0086] Furthermore, when the upper part of the moving vehicle 1 is viewed parallel to the vertical direction H, the first variable frame 310 and the second variable frame 320, which are in the first state, can be arranged to overlap each other. In other words, since the first variable frame 310 and the second variable frame 320 can be arranged to be spaced apart from each other in the vertical direction H, the first variable frame 310 and the second variable frame 320 can move relative to the main body 100 without interfering with each other. The first variable frame 310 can be configured as a plurality of first variable frames 310. The plurality of first variable frames 310 may include a first-first variable frame 311 and a first-second variable frame 312.

[0087] At least a portion of the first-first variable frame 311 and at least a portion of the first-second variable frame 312 may be arranged to face each other in a first horizontal direction intersecting the steering rotation axis Xs. For example, the first horizontal direction may be perpendicular to the direction in which the steering rotation axis Xs and the first variable frame 310 extend. For example, the first-first variable frame 311 and the first-second variable frame 312 may be oriented parallel to each other. The first-first variable frame 311 and the first-second variable frame 312 may have the same shape.

[0088] The first moving part 201 may be fixed to the first-first variable frame 311. For example, the first moving part 201 may be configured to move together with the first-first variable frame 311. Furthermore, the third moving part 203 may be fixed to the first-second variable frame 312. For example, the third moving part 203 may be configured to move together with the first-second variable frame 312.

[0089] The first-first variable frame 311 and the first-second variable frame 312 can be configured to move at the same speed relative to the main body 100. For example, the speed of the first moving part 201 relative to the main body 100 can be equal to the speed of the third moving part 203 relative to the main body 100.

[0090] Furthermore, the second variable frame 320 may be configured as a plurality of second variable frames 320. The plurality of second variable frames 320 may include a second-first variable frame 321 and a second-second variable frame 322. At least a portion of the second-first variable frame 321 and at least a portion of the second-second variable frame 322 may be configured to face each other in a second horizontal direction intersecting the steering rotation axis Xs. For example, the second horizontal direction may be perpendicular to the first horizontal direction and the steering rotation axis Xs. For example, the second-first variable frame 321 and the second-second variable frame 322 may be oriented parallel to each other. The second-first variable frame 321 and the second-second variable frame 322 may have the same shape.

[0091] The second moving part 202 may be fixed to the second-first variable frame 321. For example, the second moving part 202 may be configured to move together with the second-first variable frame 321. Furthermore, the fourth moving part 204 may be fixed to the second-second variable frame 322. For example, the fourth moving part 204 may be configured to move together with the second-second variable frame 322.

[0092] The second-first variable frame 321 and the second-second variable frame 322 can be configured to move at the same speed relative to the main body 100. For example, the speed of the second moving part 202 relative to the main body 100 can be equal to the speed of the fourth moving part 204 relative to the main body 100.

[0093] The guide portion 400 can guide the movement of the variable frame 300 in the guide direction. For example, the variable frame 300 can be slidably engaged with the guide portion 400. The guide portion 400 can be fixed to the main body portion 100. The guide portion 400 can be configured as a plurality of guide portions 400. The plurality of guide portions 400 may include a first guide portion 410 and a second guide portion 420.

[0094] The first guide portion 410 can guide the movement of the first variable frame 310. The first guide portion 410 can be configured as a plurality of first guide portions 410. The plurality of first guide portions 410 may include a first-first guide portion 411 and a first-second guide portion 412.

[0095] The first guide portion 411 can guide the first variable frame 311 to move. For example, the first variable frame 311 can be slidably engaged with the first guide portion 411. The first guide portion 412 can guide the first variable frame 312 to move. For example, the first variable frame 312 can be slidably engaged with the first guide portion 412.

[0096] The second guide portion 420 can guide the movement of the second variable frame 320. The second guide portion 420 can be configured as a plurality of second guide portions 420. The plurality of second guide portions 420 may include a second-first guide portion 421 and a second-second guide portion 422.

[0097] The second-first guide portion 421 can guide the movement of the first-second variable frame 312. For example, the second-first variable frame 321 can be slidably engaged with the second-first guide portion 421. The second-second guide portion 422 can guide the movement of the second-second variable frame 322. For example, the second-second variable frame 322 can be slidably engaged with the second-second guide portion 422.

[0098] Further reference Figure 5 The drive unit 500 can provide power for the variable frame 300 to move the variable frame 300.

[0099] Figure 5 This is a side view of a moving vehicle according to a first embodiment of the present invention.

[0100] The drive unit 500 may be disposed at the central portion of the main body 100. The drive unit 500 may include a rotation region 510. The rotation region 510 may rotate about a first rotation axis. The first rotation axis may be defined as an imaginary straight line passing through the center of the rotation region 510 and extending in the vertical direction H. The rotation region 510 may have a columnar shape extending in the vertical direction H.

[0101] Return to reference Figure 3 and Figure 4 The rotating region 510 can be configured to engage with a plurality of variable frames 300. For example, the plurality of variable frames 300 can engage with the outer peripheral surface of the rotating region 510. As a more detailed example, the variable frames 300 can be configured as racks extending in a guiding direction, and the rotating region 510 can be configured as pinions engaging with the variable frames 300. In other words, the variable frames 300 can move linearly by the rotational movement of the rotating region 510, or the rotating region 510 can rotate by the linear movement of the variable frames 300.

[0102] The detection unit 600 can detect changes in the spatial width of the peripheral area of ​​the moving vehicle 1. For example, the detection unit 600 can detect the difference between the spatial width where the moving vehicle 1 is currently located and the spatial width located in a predetermined driving route. Furthermore, the detection unit 600 can detect the movement of objects in the peripheral area of ​​the moving vehicle 1. For example, the detection unit 600 may include at least one of an infrared sensor, an ultrasonic sensor, and a lidar sensor capable of detecting objects. In this invention, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", "at least one of A, B or C", and "at least one of A, B or C or a combination thereof" may include any one or all possible combinations of the items listed together in the corresponding phrase.

[0103] The controller 700 can control the wheels 210. When an adjustment signal is input, indicating that the size of the moving vehicle 1 needs to be adjusted, the controller 700 can control the steering region 220 to steer the wheels 210 parallel to the guide direction. For example, when receiving an adjustment signal, the controller 700 can control the steering region 220 such that the first wheel 211 and the third wheel 213 are oriented parallel to a second horizontal direction, and the second wheel 212 and the fourth wheel 214 are oriented parallel to a first horizontal direction.

[0104] When a shrinkage signal is input to the controller 700, the controller 700 can control the wheels 210 to move closer to a region of the main body 100. The shrinkage signal can be a signal indicating that the size of the moving vehicle 1 needs to be reduced. For example, the shrinkage signal can be generated by the detection unit 600 based on the detection results from the detection unit 600. For example, when the detection unit 600 detects that the width of the space in the predetermined driving route has become smaller than the width of the space currently occupied by the moving vehicle 1 based on the driving state of the moving vehicle 1, the detection unit 600 can generate a shrinkage signal, and the generated shrinkage signal can be input to the controller 700.

[0105] Furthermore, when the amplification signal is input to the controller 700, the controller 700 can control the wheels 210, causing the wheels 210 to move away from a region of the main body 100. The amplification signal can be a signal indicating that the size of the moving vehicle 1 needs to be increased. For example, the amplification signal can be generated by the detection unit 600 based on the detection results from the detection unit 600. For example, when the detection unit 600 detects that the width of the space in the predetermined driving route has become greater than the current width of the space where the moving vehicle 1 is located, based on the driving state of the moving vehicle 1, the detection unit 600 can generate an amplification signal, and the generated amplification signal can be input to the controller 700.

[0106] When a shrinking or expanding signal is input to the controller 700, the controller 700 can control multiple wheels 211, 212, 213 and 214, so that all multiple variable frames move at the same speed.

[0107] Furthermore, when the detection unit 600 detects an object moving within the peripheral area, the controller 700 can receive an avoidance signal from the detection unit. The avoidance signal can be a signal instructing the moving vehicle to avoid the object. For example, the avoidance signal can be generated by the detection unit 600 based on detection results from the detection unit 600.

[0108] The controller 700, which receives the avoidance signal, can control the moving part 200 so that the speed of the closer wheel is higher than the speed of the farther wheel. The closer wheel can refer to the wheel that is closest to the object among the multiple wheels 211, 212, 213, and 214 arranged therein. The farther wheel can refer to the wheel that is farthest from the object among the multiple wheels 211, 212, 213, and 214 arranged therein.

[0109] When an avoidance signal is input to the controller 700, the controller 700 can control the moving part to brake the far wheel. For example, when an avoidance signal is input to the controller 700, the controller 700 can control multiple wheels such that, with the far wheel stopped in the appropriate position, the near wheel moves toward the far wheel in a guiding direction. For example, when an avoidance signal is input to the controller 700, the far wheel can be used as an anchor to support the moving vehicle 1 on the ground.

[0110] When an avoidance signal is input to the controller 700, the controller 700 can control the steering region 220 so that the far wheel is oriented in a direction intersecting with the near wheel (e.g., perpendicular to the near wheel). As described above, when an avoidance signal is input to the controller 700, the far wheel can firmly support the moving vehicle 1 on the ground while the near wheel is moving.

[0111] Furthermore, when the first wheel 211 is the closest wheel and the third wheel 213 is the furthest wheel, the controller 700 can control multiple wheels 211, 212, 213, and 214 such that the speed of the first wheel 211 is greater than the speed of the second wheel 212 and the speed of the fourth wheel 214. For example, when an avoidance signal is input to the controller 700, the controller 700 can control multiple wheels such that the first wheel 211 moves at a first speed in a first horizontal direction, the second wheel 212 and the fourth wheel 214 each move at a second speed (lower than the first speed) in a second horizontal direction, and the third wheel 213 stops. Furthermore, for example, the first speed can be twice the second speed.

[0112] The controller 700 can be electrically connected to the moving unit 200, the driving unit 500 and the detection unit 600, and is implemented as a process for decoding and executing instructions based on input information.

[0113] refer to Figure 6 According to a variant of the first embodiment of the present invention, the drive unit 500 may further include a motor 520.

[0114] Figure 6 This is a side view of a mobile vehicle according to a variant of the first embodiment of the present invention.

[0115] refer to Figure 6 The motor 520 can provide rotational power to the rotating area 510 to rotate the rotating area 510. The motor 520 can be controlled by the controller 700.

[0116] The controller 700 can control the motor 520 based on the detection results from the detection unit 600. For example, when a reduction signal is input to the controller 700, the controller 700 can control the drive unit 500 (e.g., the motor 520) so that the wheel 210 moves closer to a region of the main body 100.

[0117] Furthermore, when an amplified signal is input to the controller 700, the controller 700 can control the drive unit 500 (e.g., motor 520) to move the wheel 210 away from a region of the main body 100.

[0118] Furthermore, when a shrinking or expanding signal is input to the controller 700, the controller 700 can control the drive unit 500 (e.g., motor 520) so that all the multiple variable frames 300 move at the same speed.

[0119] In the following text, see references Figure 7 A mobile vehicle 1 according to a second embodiment of the present invention is described. The description of the mobile vehicle 1 according to the second embodiment will focus on the differences between the first and second embodiments.

[0120] Figure 7 This is a top view of a moving vehicle according to a second embodiment of the present invention.

[0121] refer to Figure 7 According to a second embodiment of the present invention, a mobile vehicle may include a main body (100), a moving part (201a, 202a and 203a), a variable frame (310a, 320a and 330a), a guide part (410a, 420a and 430a), a drive part, a detection part and a controller.

[0122] The description of the main body 100, drive unit, detection unit and controller according to the second embodiment of the present invention can be replaced with the description of the main body 100, drive unit 500, detection unit 600 and controller 700 according to the first embodiment of the present invention.

[0123] The moving parts 201a, 202a, and 203a may be configured as multiple moving parts 201a, 202a, and 203a. The multiple moving parts 201a, 202a, and 203a may include a first moving part 201a, a second moving part 202a, and a third moving part 203a. For example, the multiple moving parts 201a, 202a, and 203a may be configured as three moving parts 201a, 202a, and 203a.

[0124] The variable frames 310a, 320a, and 330a can be configured as multiple variable frames 310a, 320a, and 330a. These multiple variable frames 310a, 320a, and 330a may include a first variable frame 310a, a second variable frame 320a, and a third variable frame 330a. For example, the multiple variable frames 310a, 320a, and 330a can be configured as three variable frames 310a, 320a, and 330a.

[0125] When the upper part of the moving vehicle 1 is viewed parallel to the vertical direction H, the first variable frame 310a, the second variable frame 320a and the third variable frame 330a may have a shape that is rotationally symmetrical with respect to the rotation region 510.

[0126] An imaginary straight line extending along the direction of the first variable frame 310a may be called the first straight line, an imaginary straight line extending along the direction of the second variable frame 320a may be called the second straight line, and an imaginary straight line extending along the direction of the third variable frame 330a may be called the third straight line. For example, the acute angle defined between two different straight lines among the first, second, and third straight lines may be 60 degrees.

[0127] The first variable frame 310a, the second variable frame 320a, and the third variable frame 330a can be configured to move at the same speed. For example, the first variable frame 310a, the second variable frame 320a, and the third variable frame 330a can each be configured to move linearly at the same speed when the rotation region 510 rotates.

[0128] The first variable frame 310a, the second variable frame 320a, and the third variable frame 330a can be configured to be spaced apart from each other in the vertical direction H. In other words, the first variable frame 310a, the second variable frame 320a, and the third variable frame 330a can be configured such that any one of the variable frames can move without interfering with the other variable frame.

[0129] Guide portions 410a, 420a, and 430a can be configured as multiple guide portions 410a, 420a, and 430a. The multiple guide portions 410a, 420a, and 430a may include a first guide portion 410a, a second guide portion 420a, and a third guide portion 430a. The first guide portion 410a can guide the first variable frame 310a to move in a direction extending along a first straight line. The second guide portion 420a can guide the second variable frame 320a to move in a direction extending along a second straight line. The third guide portion 430a can guide the third variable frame 330a to move in a direction extending along a third straight line.

[0130] In the following text, see references Figure 8 A mobile vehicle according to a third embodiment of the present invention is described. The description of the mobile vehicle according to the third embodiment will focus on the differences between the third embodiment and the first and second embodiments.

[0131] Figure 8 This is a top view of a moving vehicle according to a third embodiment of the present invention.

[0132] refer to Figure 8 According to a third embodiment of the present invention, a mobile vehicle may include a main body (100), a moving part (201b, 202b, 203b and 204b), a variable frame (310b and 320b), a guide part (410b and 420b), a drive part, a detection part and a controller.

[0133] The description of the main body 100, drive unit, detection unit and controller according to the third embodiment of the present invention can be replaced by the description of the main body 100, drive unit 500, detection unit 600 and controller 700 according to the first embodiment of the present invention.

[0134] The moving parts 201b, 202b, 203b, and 204b can be configured as multiple moving parts 201b, 202b, 203b, and 204b. The multiple moving parts 201b, 202b, 203b, and 204b may include a first moving part 201b, a second moving part 202b, a third moving part 203b, and a fourth moving part 204b. For example, the multiple moving parts 201b, 202b, 203b, and 204b can be configured as four moving parts 201b, 202b, 203b, and 204b.

[0135] The variable frames 310b and 320b may each include a first region and a second region. The first region may extend along the guide direction. The first region is slidably connected to the guide portions 410b and 420b. The first region may be configured to engage with the rotating region 510.

[0136] The second region may extend from one end of the first region in a direction intersecting the guiding direction. For example, the first region may have a shape that protrudes from the center of the second region in the guiding direction.

[0137] The variable frames 310b and 320b can be configured as multiple variable frames 310b and 320b. The multiple variable frames 310b and 320b may include a first variable frame 310b and a second variable frame 320b.

[0138] The first region of the first variable frame 310b and the first region of the second variable frame 320b can be configured to be spaced apart from each other in a direction intersecting the guiding direction, with the rotation region 510 located between them. For example, the first region of the first variable frame 310b and the first region of the second variable frame 320b can be configured to face each other in a direction intersecting the guiding direction. Furthermore, for example, the first region of the first variable frame 310b and the first region of the second variable frame 320b can be oriented parallel to each other.

[0139] The first moving part 201b and the second moving part 202b can be fixed to opposite ends of the second region of the first variable frame 310b, respectively. In other words, in the case of the mobile vehicle according to the third embodiment, the two moving parts can be fixed to one variable frame. Furthermore, the third moving part 203b and the fourth moving part 204b can be fixed to opposite ends of the second region of the second variable frame 320b, respectively. In addition, the width of the mobile vehicle 1 in the guiding direction can be determined by means of the rotation of the rotation region 510.

[0140] Guide portions 410b and 420b can be configured as multiple guide portions 410b and 420b. The multiple guide portions 410b and 420b may include a first guide portion 410b and a second guide portion 420b. The first guide portion 410b guides the first variable frame 310b to move in a guide direction. The second guide portion 420b guides the second variable frame 320b to move in the guide direction. The first guide portion 410b and the second guide portion 420b may be arranged to be spaced apart from each other in the guide direction and in a direction intersecting the guide direction, wherein the rotation region 510 is located between them.

[0141] In the following text, reference will be made to Figure 9 A mobile vehicle according to a fourth embodiment of the present invention is described. The description of the mobile vehicle according to the fourth embodiment will focus on the differences between the fourth embodiment and the first, second, and third embodiments.

[0142] Figure 9 This is a top view of a moving vehicle according to a fourth embodiment of the present invention.

[0143] refer to Figure 9According to the fourth embodiment of the present invention, the mobile vehicle may include a main body (100), a moving part (201c, 202c, 203c and 204c), a variable frame (310c and 320c), a guide part (410c and 420c), a drive part, a detection part and a controller.

[0144] The description of the main body 100, drive unit, detection unit and controller according to the fourth embodiment of the present invention can be replaced by the description of the main body 100, drive unit 500, detection unit 600 and controller 700 according to the first embodiment of the present invention.

[0145] The moving parts 201c, 202c, 203c, and 204c can be configured as multiple moving parts 201c, 202c, 203c, and 204c. The multiple moving parts 201c, 202c, 203c, and 204c may include a first moving part 201c, a second moving part 202c, a third moving part 203c, and a fourth moving part 204c. For example, the multiple moving parts 201c, 202c, 203c, and 204c can be configured as four moving parts 201c, 202c, 203c, and 204c.

[0146] The variable frames 310c and 320c may each include a first region, a second region, and a third region. The first region may extend along the guide direction. The first region is slidably connected to the guide portions 410c and 420c. The first regions may be configured as a plurality of first regions spaced apart from each other in a direction intersecting the guide direction.

[0147] The second region may extend from one end of the first region in a direction intersecting the guiding direction. For example, multiple first regions may each have a shape that protrudes from the periphery of the second region in the guiding direction.

[0148] The third region may have a shape that protrudes from the center of the second region in the guiding direction. The third region may be configured to engage with the rotating region 510. The third region may be disposed among a plurality of first regions based on a direction intersecting the guiding direction. Furthermore, the length of the third region extending along the guiding direction may be greater than the length of the first regions extending along the guiding direction.

[0149] The variable frames 310c and 320c can be configured as multiple variable frames 310c and 320c. The multiple variable frames 310c and 320c may include a first variable frame 310c and a second variable frame 320c.

[0150] The third region of the first variable frame 310c and the third region of the second variable frame 320c can be configured to be spaced apart from each other in a direction intersecting the guiding direction, with the rotation region 510 located between them. For example, the third region of the first variable frame 310c and the third region of the second variable frame 320c can be configured to face each other in a direction intersecting the guiding direction. Furthermore, for example, the third region of the first variable frame 310c and the third region of the second variable frame 320c can be oriented parallel to each other.

[0151] The first moving part 201c and the second moving part 202c can be fixed to opposite ends of the second region of the first variable frame 310c, respectively. In other words, in the case of the mobile vehicle according to the fourth embodiment, the two moving parts can be fixed to one variable frame. Furthermore, the third moving part 203c and the fourth moving part 204c can be fixed to opposite ends of the second region of the second variable frame 320c, respectively. In addition, the width of the mobile vehicle 1 in the guiding direction can be determined by means of the rotation of the rotation region 510.

[0152] Guide portions 410c and 420c can be configured as multiple guide portions 410c and 420c. The multiple guide portions 410c and 420c may include a first guide portion 410c and a second guide portion 420c. A first guide portion 410c can be configured as multiple first guide portions 410c. The multiple first guide portions 410c can be configured to be spaced apart from each other in a direction intersecting the guide direction. Furthermore, the multiple first guide portions 410c can be configured such that they are not spaced apart from each other in the guide direction. In other words, when viewing the side of the moving vehicle in a direction perpendicular to both the guide direction and the vertical direction H, the multiple first guide portions 410c can overlap each other.

[0153] Multiple first guides 410c can guide the movement of multiple first regions disposed in the first variable frame 310c. In other words, the multiple first regions disposed in the first variable frame 310c can be slidably connected to the multiple first guides 410c respectively.

[0154] The second guide portion 420c can be configured as a plurality of second guide portions 420c. The plurality of second guide portions 420c can be configured to be spaced apart from each other in a direction intersecting the guide direction. Alternatively, the plurality of second guide portions 420c can be configured such that they are not spaced apart from each other in the guide direction. In other words, when viewing the side of the moving vehicle in a direction perpendicular to both the guide direction and the vertical direction H, the plurality of second guide portions 420c can overlap each other.

[0155] Multiple second guides 420c can guide the movement of multiple second regions disposed in the second variable frame 320c. In other words, the multiple second regions disposed in the second variable frame 320c can be slidably connected to the multiple second guides 420c respectively.

[0156] Furthermore, each of the plurality of first guide portions 410c and each of the plurality of second guide portions 420c may be configured to face each other in the guide direction. For example, when the side of the moving vehicle is viewed parallel to the guide direction, each of the plurality of first guide portions 410c and each of the plurality of second guide portions 420c may be configured to overlap each other.

[0157] All constituent elements constituting an embodiment of the present invention may be operated integrally or in combination, but the invention is not necessarily limited to this embodiment. In other words, one or more of the constituent elements may be selectively combined and operated within the scope of the invention. Furthermore, unless explicitly stated otherwise, the words “comprising,” “including,” or “having,” and variations thereof, should be understood to imply inclusion of the stated elements but not exclusion of any other elements. Unless otherwise defined, all terms including technical or scientific terms may have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms such as those defined in common dictionaries may be interpreted as having a meaning consistent with their meaning in the context of the relevant art and should not be construed as having an ideal or overly formal meaning unless explicitly defined herein.

[0158] The foregoing description is provided simply to illustrate the technical spirit of the invention, and those skilled in the art should understand that various changes and modifications can be made without departing from the essential characteristics of the invention. Therefore, the embodiments disclosed in this invention are provided for illustrative purposes only and are not intended to limit the technical spirit of the invention. The scope of the technical spirit of the invention is not limited thereto. The scope of protection of this invention should be interpreted based on the following claims, and all technical spirit within the scope of the claims and their equivalents should be interpreted as falling within the scope of this invention.

Claims

1. A mobile vehicle, comprising: Main body; The mobile unit includes: Wheels are configured to move the main body, and The steering region is configured to allow the wheel to rotate relative to the main body about a steering rotation axis and to steer the wheel. as well as At least one variable frame is configured as follows: Connect the main body and the moving part. It moves relative to the main body in a guide direction intersecting the steering rotation axis, and Change the distance between a region of the main body and the moving part.

2. The mobile vehicle according to claim 1, wherein, The movable part is fixed to the at least one variable frame, and the at least one variable frame is connected to the main body and configured to move relative to the main body.

3. The mobile vehicle according to claim 1, further comprising: A guide portion, fixed to the main body portion, extending along the guide direction, and configured to guide the at least one variable frame to move in the guide direction.

4. The mobile vehicle according to claim 1, wherein, The at least one variable frame includes multiple variable frames. Each of the plurality of variable frames is configured to be in a first state, in which each variable frame moves to its maximum relative to the main body in a first guiding direction, wherein the first guiding direction is the direction in which the wheel moves toward the main body. Specifically, when viewing one side of the moving vehicle based on the direction of the steering rotation axis parallel to the steering rotation axis, two of the plurality of variable frames oriented in intersecting directions among the first state are configured to overlap each other.

5. The mobile vehicle according to claim 4, wherein, The plurality of variable frames includes a first variable frame and a second variable frame oriented in directions intersecting each other, and the first variable frame and the second variable frame are arranged to be spaced apart from each other in the direction of the steering rotation axis.

6. The mobile vehicle according to claim 5, wherein, The first variable frame is configured as multiple first variable frames. The plurality of first variable frames include: First-first variable frame; and The first and second variable frames are oriented parallel to the first and second variable frames, and Wherein, at least a portion of the first-first variable frame and at least a portion of the first-second variable frame are arranged to face each other in a direction perpendicular to the steering rotation axis.

7. The mobile vehicle according to claim 1, further comprising: The drive unit is configured to move the at least one variable frame. The drive unit includes a rotating region configured to engage with the at least one variable frame and rotate about a drive rotation axis. The at least one variable frame is configured to move linearly in the guiding direction by rotating the rotating region.

8. The mobile vehicle according to claim 7, wherein, The at least one variable frame is configured as a rack extending along the guide direction, and the rotating region is configured as a pinion engaging with the at least one variable frame.

9. The mobile vehicle according to claim 1, wherein, The steering rotation shaft extends in the vertical direction, and the lower end of the main body is positioned above the upper end of the wheel.

10. The mobile vehicle according to claim 1, further comprising: The controller is configured to control the moving part. When an adjustment signal is input as an indication that the size of the moving vehicle needs to be adjusted, the controller is configured to control the steering region so that the wheels steer parallel to the guide direction.

11. The mobile vehicle according to claim 10, wherein, When a shrinking signal is input, indicating that the size of the moving vehicle needs to be reduced, the controller is configured to control the wheels so that the wheels move closer to a region of the main body, and When the input is an amplified signal indicating that the size of the moving vehicle needs to be increased, the controller is configured to control the wheels so that the wheels move away from a region of the main body.

12. The mobile vehicle according to claim 11, wherein, The wheels and the at least one variable frame are respectively configured as multiple wheels and multiple variable frames, and When the shrinking signal or the expanding signal is input, the controller is configured to control the plurality of wheels so that all the plurality of variable frames move at the same speed.

13. The mobile vehicle according to claim 10, further comprising: The drive unit is configured to move the at least one variable frame. When a reduction signal is input, indicating that the size of the moving vehicle needs to be reduced, the controller is configured to control the drive unit so that the wheels move closer to a region of the main body. When the input is an amplified signal indicating that the size of the moving vehicle needs to be increased, the controller is configured to control the drive unit so that the wheels move away from a region of the main body.

14. The mobile vehicle according to claim 13, wherein, The at least one variable frame is configured as multiple variable frames, and When the shrinking signal or the expanding signal is input, the controller is configured to control the drive unit so that all the plurality of variable frames move at the same speed.

15. The mobile vehicle according to claim 10, further comprising: The detection unit is configured to detect the movement of objects within the peripheral area of ​​the moving vehicle. The wheels and the at least one variable frame are respectively configured as multiple wheels and multiple variable frames. Specifically, when the detection unit detects movement of an object within the peripheral area, the controller is configured to receive an avoidance signal from the detection unit. This avoidance signal is an indication that the moving vehicle needs to avoid the object. Wherein, when among the plurality of wheels, the wheel closest to the object is the close-range wheel, and the wheel farthest from the close-range wheel is the far-range wheel, the controller receiving the avoidance signal is configured to control the moving part such that the speed of the close-range wheel is greater than the speed of the far-range wheel.

16. The mobile vehicle according to claim 15, wherein, The controller that receives the avoidance signal is configured to control the moving part to brake the far wheel.

17. The mobile vehicle according to claim 15, wherein, The controller receiving the avoidance signal is configured to control the steering region such that the far wheel orients itself in a direction intersecting the near wheel.

18. The mobile vehicle according to claim 15, wherein, The plurality of wheels includes a first wheel, a second wheel, and a third wheel arranged circumferentially spaced apart from each other along the main body, and Wherein, when the near-distance wheel and the far-distance wheel are the first wheel and the third wheel respectively, the controller is configured to control the plurality of wheels such that the speed of the first wheel is greater than the speed of the second wheel.

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