Mobile robot device and control method thereof

Abstract

Disclosed is a mobile robot device. The mobile robot device includes a main body, first and second wheels arranged on both side surfaces of the main body and having convex side surfaces, respectively, a first driving device for rotating the first and second wheels, respectively, a second driving device for moving the first and second wheels to a first position or a second position, respectively, and a processor for controlling the second driving device such that a driving walking wheel between the first and second wheels is moved from the second position to the first position when it is determined that the mobile robot device is flipped to one side, wherein a center axis of the first and second wheels is closer to a center of gravity of the main body at the first position than at the second position.

Description

Technical Field

[0001] This disclosure relates to a mobile robot device and its control method, and more specifically, to a mobile robot device and its control method that can easily return to the original posture by shifting the center of gravity when the mobile robot device falls in the lateral direction. Background Technology

[0002] With the development of robotics technology, robots for general household use and in industrial sectors requiring specialized academic fields or large-scale labor can become widespread. Furthermore, two-wheeled robots can move and perform functions while stationary.

[0003] In related technologies, two-wheeled robots are typically designed with a high center of gravity for posture control, thus possessing a high probability of flipping. However, it can be difficult to restore the posture using restoring forces. In particular, when a two-wheeled robot is flipped in the lateral direction, the flat side surfaces of the wheels may contact the ground, making it difficult to return to the original posture even when the robot's center of gravity is shifted. Summary of the Invention

[0004] Technical issues

[0005] A mobile robot device and its control method are provided, which can return to the original posture by shifting the center of gravity when the mobile robot device falls in the lateral direction.

[0006] Technical solution

[0007] According to an embodiment, a mobile robot device includes: a main body; a first wheel and a second wheel, respectively disposed on two side surfaces of the main body, wherein the first wheel and the second wheel include side surfaces having a convex shape; a first drive device configured to rotate the first wheel and the second wheel; a second drive device configured to move the first wheel and the second wheel to a first position or a second position; and a processor configured to, based on determining that the mobile robot device is flipped to one side, control the second drive device to move the drive wheel of the first wheel and the second wheel from the second position to the first position, and the central axis of the first wheel and the second wheel may be closer to the center of gravity of the main body at the first position rather than at the second position.

[0008] The processor can control a second drive device to move the drive wheels from the first position to a second position and then back to the first position, based on the determination that the mobile robot device is flipped to one side when the drive wheels are in the first position.

[0009] The processor can control the second drive device to move the drive wheel from the second position to the first position faster than when moving the wheel from the first position to the second position.

[0010] The processor can control the second drive device to move the wheel that is not in contact with the ground to the second position based on the movement of the driving wheel from the second position to the first position.

[0011] The mobile robot device may also include sensors configured to sense the tilt of the subject, and the processor may determine whether the mobile robot device has been flipped to one side based on signals received from the sensors indicating the tilt of the subject.

[0012] The mobile robot device may also include a camera configured to capture the surrounding environment of the mobile robot device, wherein, when it is determined that the mobile robot device has been flipped to one side, the processor controls a first drive device to rotate the driving wheels, generates an obstacle map of the mobile robot device based on the images captured by the camera, and controls a first drive device and a second drive device to rotate the mobile robot device in a direction that does not collide with obstacles identified based on the obstacle map, so that the mobile robot device returns to its original posture.

[0013] If it is determined that the mobile robot device has been flipped to one side on the inclined surface, the processor can control the first drive device and the second drive device to rotate the mobile robot device in the downward tilting direction of the inclined surface, thereby returning the mobile robot device to its original posture.

[0014] The first drive device may include a first motor configured to provide a first driving force to a first wheel and a second motor configured to provide a second driving force to a second wheel.

[0015] The second drive device may include a first rack disposed in a first wheel, a second rack disposed in a second wheel, a first pinion engaging with the first rack, a second pinion engaging with the second rack, a third motor configured to rotate the first pinion, and a fourth motor configured to rotate the second pinion.

[0016] The first wheel may include a rotatable first wheel cover and a first intermediate member disposed between the rotatable first wheel cover and the main body, and the second wheel may include a rotatable second wheel cover and a second intermediate member disposed between the rotatable second wheel cover and the main body, and a first rack may be disposed in the first intermediate member, and a second rack may be disposed in the second intermediate member.

[0017] The mobile robot device may also include a guide rail disposed on at least one of the first intermediate member and the second intermediate member, and the body may include a block configured to move along the guide rail on its side surface.

[0018] A method for controlling a mobile robot device in which a first wheel and a second wheel are respectively arranged on both sides of a body may include: determining whether the mobile robot device is flipped to one side; and moving the drive wheels of the first and second wheels from a second position to a first position, wherein, in the first position, the central axes of the first and second wheels may be set closer to the center of gravity of the body than in the second position.

[0019] The determining step may include determining whether the mobile robot device has been flipped to one side while the drive wheels are in the first position, and the step of moving the drive wheels may also include moving the drive wheels back to the first position.

[0020] The drive wheels can move from the second position to the first position faster than when moving from the first position to the second position.

[0021] The steps of moving the drive wheel may include: moving the drive wheel from the second position to the first position, and moving the wheel that is not in contact with the ground to the second position.

[0022] The method for controlling the mobile robot device may further include: rotating the drive wheels when it is determined that the mobile robot device has been flipped to one side; and generating a map of obstacles around the mobile robot device based on images captured by a camera capturing the surrounding environment of the mobile robot device, wherein the movement step may include rotating the mobile robot device in a direction in which the mobile robot device does not collide with obstacles and returning to the original posture based on the obstacle map.

[0023] The determining step may include determining that the mobile robot device has been flipped to one side from the inclined surface, and the moving step may include allowing the mobile robot device to return to its original posture by rotating it in the downward tilting direction of the inclined surface. Attached Figure Description

[0024] Figure 1 This is a perspective view of a mobile robot device according to an embodiment of the present disclosure;

[0025] Figure 2 It is shown Figure 1 A perspective view of the main body in an upward state;

[0026] Figure 3 This is a block diagram illustrating the operation of a mobile robot device according to embodiments of the present disclosure;

[0027] Figures 4a to 4d It is shown Figure 2 A diagram illustrating the process of a mobile robot device being flipped to one side and its posture being restored;

[0028] Figures 5a to 5e It is shown Figure 1A diagram illustrating the process of a mobile robot device being flipped to one side and then returning to its original posture;

[0029] Figures 6a to 6d This is a diagram illustrating the process of restoring posture by rotating the mobile robot device in a direction in which it does not collide with obstacles;

[0030] Figures 7a to 7c This is a diagram illustrating the process of a mobile robot device regaining its posture when it is flipped over on an inclined surface;

[0031] Figure 8 This is an exploded perspective view of a mobile robot device according to an embodiment of the present disclosure;

[0032] Figure 9 It is along Figure 1 A cross-sectional view of the mobile robot device shown, taken from line II;

[0033] Figure 10 It is along Figure 1 A cross-sectional view of the mobile robot device shown, taken along line II-II;

[0034] Figure 11 A side view of a first round according to an embodiment of the present disclosure; and

[0035] Figure 12 This is a flowchart illustrating a method for controlling a mobile robot device according to an embodiment of the present disclosure. Detailed Implementation

[0036] The examples described below are for ease of understanding of this disclosure, and it should be understood that various changes can be made to the examples described herein, and this disclosure can be embodied in different forms. Furthermore, detailed descriptions of well-known functions or configurations will be omitted in the following description, as they would unnecessarily obscure the subject matter of this disclosure. Additionally, it should be noted that the accompanying drawings are for ease of understanding of this disclosure only and are not shown to scale, and the dimensions of some components may be exaggerated.

[0037] The terminology used in this specification and claims are general terms identified in consideration of the functionality of various embodiments of this disclosure. However, these terms may vary depending on the intent of those skilled in the art, legal or technical interpretations, the emergence of new technologies, etc. Furthermore, some terms may be arbitrarily identified by the applicant. Unless a specific definition of a term exists, it can be interpreted based on the overall knowledge and technical common sense of those skilled in the art.

[0038] It should be understood that terms such as “comprising” or “consisting of” can be used, for example, to specify the presence of a characteristic, quantity, operation, element, component or combination thereof, and do not preclude the possibility of the presence of one or more other characteristics or the addition of one or more other characteristics.

[0039] In this disclosure, the components required for the description of each embodiment of the present disclosure are described, and therefore, the embodiments are not necessarily limited thereto. Accordingly, some components may be changed or omitted, and other components may be added. In addition, components may be arranged and configured in different independent devices.

[0040] Furthermore, embodiments of the present disclosure have been described in detail with reference to the accompanying drawings and the content described therein, but the present disclosure is not limited to the embodiments.

[0041] This disclosure will be described in detail with reference to the accompanying drawings.

[0042] Figure 1 This is a perspective view of a mobile robot device according to an embodiment of the present disclosure; Figure 2 It is shown Figure 1 A perspective view of the main body in an upward state; Figure 3 This is a block diagram illustrating the operation of a mobile robot device according to embodiments of the present disclosure.

[0043] Mobile robot device 1 is a device with various functions such as recognizing the surrounding environment, achieving autonomous driving and information collection, and transmitting information to users. Mobile robot device 1 can recognize the surrounding environment based on voice, sound, and image recognition. Furthermore, mobile robot device 1 can send information to users by controlling another electronic product via wireless communication or by outputting voice.

[0044] The mobile robot device 1 can collect and analyze various information from its surrounding environment, such as sound, speech, and images, thereby achieving stable autonomous driving. For example, the mobile robot device 1 may include microphones, cameras, sensors, etc., for collecting information about the surrounding environment.

[0045] The mobile robot device 1 includes a drive component for realizing physical movement, thereby enabling the various functions of the mobile robot device 1 to be performed in the user's entire environment (including indoor and outdoor environments).

[0046] When the mobile robot device 1 is used at home, it can perform functions and collect information by interacting with electronic products placed in the home (such as televisions, cleaners, and washing machines), and can send the collected information to family members, including pets. Therefore, all members of the home and electronic products can be connected.

[0047] Even when the user is not present, the mobile robot device 1 can continuously monitor and check the indoor environment, thereby connecting the user with family members, including pets, who may require assistance. Furthermore, it can identify and operate other household appliances through physical movement. Therefore, home security and safety can be enhanced.

[0048] The mobile robot device 1 according to the embodiments of the present disclosure can be implemented in the form of performing tasks at home, but is not limited thereto, and can be implemented as a robot device according to various embodiments.

[0049] Reference Figures 1 to 3 According to embodiments of the present disclosure, the mobile robot device 1 may include a main body 100, a first wheel 200, a second wheel 300, a first driving device 400, a second driving device 500, a processor 600, and a sensor 700.

[0050] The main body 100 and the covers of the first wheel 200 and the second wheel 300 can have the same curvature, so the appearance of the mobile robot device 1 can be formed as a sphere. Specifically, the side surfaces of the first wheel 200 and the second wheel 300 can have a convex shape.

[0051] Despite Figures 1 to 3 Although not shown, the motor, battery, actuator, gear, bearing, etc. used to drive the mobile robot device 1 may be included in the main body 100 of the mobile robot device 1.

[0052] A camera 101 for capturing the surrounding environment of the mobile robot device 1 can be arranged on the outer surface of the body 100. Additionally, the body 100 may include at least one sensor (e.g., sensor 700). Sensor 700 may be at least one of an image sensor for detecting obstacles, a sound sensor for sensing speech, a temperature sensor for sensing temperature, a humidity sensor for sensing humidity, and a tilt sensor for sensing the tilt of the body 100.

[0053] Specifically, the sensor 700 used to detect the tilt of the main body 100 can sense the direction and angle of the tilt of the main body 100 by detecting the direction of gravitational acceleration, and the processor 600 can determine whether the mobile robot device 1 has flipped.

[0054] The mobile robot device 1 can identify its surrounding environment based on information collected by a camera 101 and at least one sensor (e.g., sensor 700) disposed in the main body 100, enabling autonomous driving and information collection, and sending the information to the user.

[0055] The first round 200 and the second round 300 can be respectively set on the two side surfaces of the main body 100.

[0056] The first drive device 400 can rotate the first wheel 200 and the second wheel 300 relative to the central axis X1.

[0057] When the first wheel 200 and the second wheel 300 rotate around the central axis X1, the mobile robot device 1 can move forward or backward or freely move to the desired position by rotating.

[0058] The first wheel 200 and the second wheel 300 can move when they contact the side surfaces of the body 100, respectively, along the two side surfaces of the body 100. The first wheel 200 and the second wheel 300 can move perpendicularly to the body 100.

[0059] The second drive device 500 can move the first wheel 200 and the second wheel 300 to a first position or a second position, respectively. Specifically, the central axes of the first wheel 200 and the second wheel 300 can be arranged so that they are closer to the center of gravity of the main body 100 in the first position than in the second position.

[0060] For example, Figure 1 In the first round, 200 and in the second round, 300 can be in the first position, and Figure 2 The first round of 200 and the second round of 300 can be in the second position.

[0061] The first ring 200 and the second ring 300 at the first position can cover all sides of the main body 100. The first ring 200 and the second ring 300 at the second position may not cover the upper area of ​​the side surface of the main body 100, so the upper area of ​​the side surface of the main body 100 can be exposed to the outside.

[0062] In the second position, the first round 200 and the second round 300 can be positioned relative to the main body 100 at a lower position than when the first round 200 and the second round 300 are in the first position.

[0063] When the second drive device 500 moves the first wheel 200 and the second wheel 300 from the first position to the second position, the lower surfaces of the first wheel 200 and the second wheel 300 contact the ground, so the main body 100 can move upward by reaction.

[0064] If the mobile robot device 1 needs to perform high-speed driving or avoid obstacles, the processor 600 can control the second drive device 500 to move the main body 100 upward relative to the central axis of the first wheel 200 and the second wheel 300.

[0065] The mobile robot device 1 may include a processor 600 for controlling the operation of the mobile robot device 1, sensors (e.g., sensor 700) for identifying the surrounding environment, and communication devices for communicating with another electronic device.

[0066] The processor 600 can control the overall operation of the mobile robot device 1. The processor may include one or more of a central processing unit (CPU), an application processor (AP), and a communication processor (CP). The processor may be a microcontroller unit (MCU).

[0067] The processor 600 can drive an operating system or application to control hardware or software components connected to the processor 600, and can process and compute various types of data. Additionally, the processor 600 can load commands or data received from at least one other component into volatile memory, process the loaded commands or data, and store various types of data in non-volatile memory.

[0068] The processor 600 can receive environmental information of the mobile robot device 1 from the camera 101 and at least one sensor (e.g., sensor 700), and control the first drive device 400 and the second drive device 500 based on the received information. The control of the first drive device 400 and the second drive device 500 by the processor 600 will be described in detail later.

[0069] Figures 4a to 4d It is shown Figure 2 The diagram illustrates the process of a mobile robot device being flipped to one side and its posture being restored.

[0070] refer to Figure 4a and Figure 4b The mobile robot device 1 can flip to one side while the main body 100 is moving upward. That is, both the first wheel 200 and the second wheel 300 are in the second position.

[0071] The mobile robot device 1 can be flipped to one side by colliding with a person's foot, an animal, or an obstacle while stationary or moving.

[0072] refer to Figure 4b and Figure 4c When it is determined that the mobile robot device 1 has been flipped to one side, the processor 600 can control the second drive device 500 to move the drive wheels in the first wheel 200 and the second wheel 300 from the second position to the first position. The drive wheels are wheels that contact the ground G and the side surface, and can be directed... Figure 4b and Figure 4c The first wheel 200, but not limited to this, and the second wheel 300, depending on the direction in which the wheel is flipped, can be the driving wheel.

[0073] The central axis of the first round 200 and the second round 300 can be closer to the center of gravity of the main body in the first position rather than in the second position.

[0074] The processor 600 can determine whether the mobile robot device 1 has been flipped to one side based on signals received from the sensor 700 used to detect the tilt of the body 100. However, the processor 600 can determine whether the mobile robot device 1 has been flipped not only by the tilt of the body 100, but also by the pressure applied to the side surfaces of the first wheel 200 and the second wheel 300 or by abnormal operation of the first drive device 400 and the second drive device 500.

[0075] When the second drive device 500 provides driving force to the drive wheel to move it from the second position to the first position, the drive wheel can be fixed in place by friction with the ground. When the main body 100 moves relative to the drive wheel in the opposite direction of the rotation, the drive wheel can move from the second position to the first position.

[0076] Therefore, the center of gravity M of the mobile robot device 1 moves from one side to the other relative to the grounding point C of the driving wheel, and the return torque can be applied to the mobile robot device 1.

[0077] The side surfaces of the first wheel 200 and the second wheel 300 of the mobile robot device 1 have a convex shape, which makes the contact point C of the driving wheels narrow. Therefore, the center of gravity M of the mobile robot device 1 can be moved more easily from one side of the contact point C to the other.

[0078] Furthermore, because the convex ground surface of the driving wheels minimizes friction with the ground, the mobile robot device 1, which rotates under the action of return torque, can rotate smoothly.

[0079] In other words, the mobile robot device 1 can rotate relative to the grounding point C in the opposite direction to the flipping direction with a certain angular velocity using the return torque.

[0080] Furthermore, after the driving wheels have completed moving to the first position, the mobile robot device 1 can continue to rotate in the same direction due to rotational inertia.

[0081] The drive wheels can accelerate and decelerate rapidly as they move from the second position to the first position. Therefore, as the center of gravity M moves faster from one side of the ground contact point C to the other due to the rapid acceleration of the drive wheels, a greater return torque can be generated. After the movement of the drive wheels stops due to their rapid deceleration, the rotational inertia of the mobile robot device 1 can be maximized.

[0082] refer to Figure 4c and Figure 4d The mobile robot device 1 can easily return to its original posture by the return torque and inertia acting by the center of gravity M around the ground point C.

[0083] Figures 5a to 5e It is shown Figure 1 The diagram illustrates the process of a mobile robot device being flipped to one side and then returning to its original posture.

[0084] refer to Figure 5a and Figure 5b The mobile robot device 1 can flip to one side while the main body 100 is moving downwards. That is, both the first wheel 200 and the second wheel 300 are in the first position.

[0085] refer to Figures 5b to 5d When it is determined that the mobile robot device 1 is flipped to one side while the drive wheels are in the first position, the processor 600 can control the second drive device 500 to move the drive wheels from the first position to the second position, and then move them back to the first position.

[0086] For example, when the drive wheels move from the first position to the second position, the center of gravity M of the mobile robot device 1 can move further in the flipping direction. Then, when the drive wheels move back to the first position, the center of gravity M of the mobile robot device 1 can accelerate at high speed along a sufficiently long segment, allowing the mobile robot device 1 to rotate with a greater return torque.

[0087] In addition, the processor can control the second drive device so that when the drive wheel moves from the second position to the first position, the wheel that is not in contact with the ground in the first and second wheels moves to the second position.

[0088] For example, the second wheel 300, which is not in contact with the ground, can move to the second position. Therefore, the center of gravity M of the entire mobile robot device 1 moves rapidly in the opposite direction to the flip, making it easier for the mobile robot device 1 to return to the original posture.

[0089] Furthermore, because the second wheel 300, which returns to the original posture and moves to the second position, makes contact with the ground more quickly, the mobile robot device 1 can land more stably on the ground.

[0090] The processor can control the second drive device 500 so that the drive wheels move from the second position to the first position faster than they move from the first position to the second position.

[0091] Therefore, the center of gravity M of the mobile robot device 1 moves at a faster speed in the opposite direction of the flip, so the mobile robot device 1 can return to the original posture more easily.

[0092] refer to Figure 5d and 5eThe mobile robot device 1 can easily return to its original posture through inertia and the return torque exerted by the center of gravity M around the ground point C.

[0093] Figures 6a to 6d This is a diagram illustrating the process of restoring posture by rotating the mobile robot device in a direction that prevents it from colliding with obstacles.

[0094] refer to Figure 6a and Figure 6b When it is determined that the mobile robot device 1 has been flipped to one side, the processor 600 can control the first drive device 400 to rotate the drive wheel one revolution relative to the A axis, and generate a map S of the surrounding obstacles of the mobile robot device 1 based on the image captured by the camera 101 while the drive wheel is rotating.

[0095] For example, the processor 600 can compare the position of the obstacle O located to the right of the mobile robot device 1 with the return motion occupied space B of the mobile robot device 1. When there is an overlapping area B1 between the obstacle O and the return motion occupied space B, the processor 600 can control the first drive device 400 and the second drive device 500 based on the obstacle map S to return to the original posture by rotating the mobile robot device 1 in a direction in which it does not collide with the obstacle O.

[0096] refer to Figure 6c and Figure 6d The mobile robot device 1 can perform the above-mentioned return motion while driving the walking wheels to rotate 180 degrees from the initial state and avoiding collision with the obstacle O as much as possible.

[0097] In other words, the mobile robot device 1, which has been flipped to one side, can easily perform the above-mentioned posture return movement while minimizing collisions with nearby obstacles.

[0098] Figures 7a to 7c This is a diagram illustrating the process of a mobile robot device regaining its posture when it flips over on an inclined surface.

[0099] refer to Figures 7a to 7c When it is determined that the mobile robot device 1 has flipped from the inclined plane I to one side, the processor 600 can control the first drive device 400 and the second drive device 500 to make the mobile robot device 1 rotate in the downward tilting direction of the inclined plane I and return to the original posture.

[0100] For example, refer to Figure 7a When performing the return motion, the mobile robot device 1 may not easily perform the return motion because the center of gravity may move upward against gravity.

[0101] After the driving wheels rotate 180 degrees relative to axis A, when the mobile robot device 1 performs the return motion, the center of gravity moves to the lower side by gravity, so the return motion can be easily performed.

[0102] Figure 8 This is an exploded perspective view of a mobile robot device according to an embodiment of the present disclosure; Figure 9 It is along Figure 1 A cross-sectional view of the mobile robot device shown, taken from line II; Figure 10 It is along Figure 1 A cross-sectional view of the mobile robot device shown, taken along line II-II; Figure 11 This is a side view of a first round according to an embodiment of the present disclosure.

[0103] Reference Figures 8 to 11 The first wheel 200 may include a first wheel cover 210 and a first intermediate member 220, and the second wheel 300 may include a second wheel cover 310 and a second intermediate member 320.

[0104] The first drive device 400 may include a first motor 410 that provides driving force to the first wheel 200 and a second motor 420 that provides driving force to the second wheel 300.

[0105] In addition, the second drive device 500 may include racks 530 and 560 respectively arranged on at least one of the first wheel 200 and the second wheel 300, and pinions 520 and 550 arranged in the body 100 to engage with racks 530 and 560 respectively.

[0106] The first wheel cover 210 and the second wheel cover 310 can be rotatably connected to the non-rotating first intermediate member 220 and the second intermediate member 320, respectively. In addition, the two sides of the main body 100 can be connected to the first intermediate member 220 and the second intermediate member 320 to enable vertical movement.

[0107] In other words, the first wheel cover 210 and the second wheel cover 310 can rotate around the first intermediate member 220 and the second intermediate member 320 respectively, and the main body 100 can move up and down relative to the first intermediate member 220 and the second intermediate member 320.

[0108] The first intermediate component 220 and the second intermediate component 320 are respectively arranged between the wheel covers 210 and 310 and the main body 100. The first intermediate component 220 and the second intermediate component 320 can support the first drive device 400, the racks 530 and 560, and the guide rails 221 and 321.

[0109] A first motor 410 may be disposed in a first intermediate member 220 to rotate a first wheel cover 210, and a second motor 420 may be disposed on a second intermediate member 320 to rotate a second wheel cover 310.

[0110] The second drive device 500 may include a third motor 510, a first pinion 520, a first rack 530, a fourth motor 540, a second pinion 550, and a second rack 560.

[0111] The first pinion 520 can be arranged in the body 100 to engage with the first rack 530, and the first rack 530 can be arranged in the first wheel 200.

[0112] When the third motor 510 rotates the first pinion 520, the first pinion 520 can move along the first rack 530. Therefore, the main body 100 and the first wheel 200 can move upward and downward relative to each other.

[0113] The second pinion 550 can be arranged in the main body 100 to engage with the second rack 560, and the second rack 560 can be arranged in the second wheel 300.

[0114] When the fourth motor 540 rotates the second pinion 550, the second pinion 550 can move along the second rack 560. Therefore, the main body 100 and the second wheel 300 can move upward and downward relative to each other.

[0115] The first rack 530 and the second rack 560 can be arranged vertically. Therefore, the main body 100 can move relative to the first wheel 200 and the second wheel 300 in a direction perpendicular to the ground.

[0116] Furthermore, the first rack 530 and the second rack 560 can be respectively arranged in the first intermediate member 220 and the second intermediate member 320. Therefore, since the first rack 530 and the second rack 560 maintain a constant shape regardless of how the first wheel cover 210 and the second wheel cover 310 rotate, the main body 100 can move stably up and down relative to the first intermediate member 220 and the second intermediate member 320.

[0117] As described above, since the second drive device includes two pairs of motors 510 and 540, pinions 520 and 550, and racks 530 and 560, the main body 100 can move stably upward and downward.

[0118] In addition, the mobile robot device 1 may also include guide rails 221 and 321 respectively arranged on at least one of the first intermediate member 220 and the second intermediate member 320, and the main body 100 may include a first block 110 and a second block 120 respectively movable along the guide rails 221 and 321 on its side surface.

[0119] The first guide rail 221 can be disposed on the first intermediate member 220, and the second guide rail 321 can be disposed on the second intermediate member 320. The first guide rail 221 and the second guide rail 321 can be arranged perpendicularly.

[0120] The main body 100 may include a first block 110 movable along a first guide rail 221 on a side surface and a second block 120 movable along a second guide rail 321 on the other side surface.

[0121] When the first block 110 and the second block 120 of the main body 100 move by being coupled to the first guide rail 221 and the second guide rail 321 respectively, the main body 100 can move upward and downward relative to the first intermediate member 220 and the second intermediate member 320 respectively. In addition, since the first guide rail 221 and the second guide rail 321 guide the movement path of the main body 100, the main body 100 can move upward and downward more stably.

[0122] Figure 12 This is a flowchart illustrating a method for controlling a mobile robot device according to an embodiment of the present disclosure.

[0123] A method for controlling a mobile robot device having a first wheel and a second wheel disposed on both sides of a main body includes: in operation S1210, determining whether the mobile robot device is flipped to one side; and in operation S1220, moving the drive wheels of the first and second wheels from a second position to a first position. The central axis of the first and second wheels may be closer to the center of gravity of the main body at the first position rather than the second position.

[0124] In operation S1210, the determining step may include determining whether the mobile robot device is flipped to one side when the drive wheel is in the first position, and the moving step may include moving the drive wheel from the first position to the second position, and then moving it back to the first position.

[0125] In operation S1220, the drive wheels can move from the second position to the first position faster than when moving from the first position to the second position.

[0126] In operation S1220, in response to the drive wheel moving from the second position to the first position, the wheel that is not in contact with the ground in the first and second wheels can move to the second position.

[0127] A method for controlling a mobile robotic device may include: determining that the mobile robotic device has been flipped to one side, rotating its drive wheels, and generating a map of nearby obstacles around the mobile robotic device based on images captured by a camera. Movement steps may include rotating the mobile robotic device in a direction that does not collide with obstacles based on the obstacle map and returning to the original posture.

[0128] In operation S1210, it can be determined that the mobile robot device is flipped to one side on the inclined surface, and in operation S1220, the mobile robot device can rotate in the downward tilting direction of the inclined surface to return to the original posture.

[0129] While embodiments of the present disclosure have been shown and described, the present disclosure is not limited to the specific embodiments described above, and it will be apparent to those skilled in the art that various modifications may be made within the scope of the present disclosure without departing from its spirit.

Claims

1. A mobile robot device, comprising: main body; The first wheel and the second wheel are respectively arranged on the two side surfaces of the main body, wherein the first wheel and the second wheel include side surfaces with convex shapes; A first drive device is configured to rotate the first wheel and the second wheel; A second drive device is configured to move the first wheel and the second wheel to a first position or a second position; and The processor is configured to, based on determining that the mobile robot device is flipped to one side such that the convex side surfaces of the drive wheels in the first and second wheels contact the ground, control the second drive device to move the drive wheels from the second position to the first position. In the first position, the central axes of the first and second wheels are closer to the center of gravity of the main body than in the second position.

2. The mobile robot device according to claim 1, wherein, The processor is also configured to: based on determining that the mobile robot device is flipped to one side when the drive wheel is in the first position, control the second drive device to move the drive wheel from the first position to the second position, and then return it to the first position.

3. The mobile robot device according to claim 2, wherein, The processor is also configured to control the second drive device to move the drive wheel from the second position to the first position faster than when moving the wheel from the first position to the second position.

4. The mobile robot device according to claim 1, wherein, The processor is also configured to: based on the movement of the drive wheel from the second position to the first position, control the second drive device to move the wheel that is not in contact with the ground to the second position.

5. The mobile robot device according to claim 1, further comprising: A sensor is configured to sense the tilt of the body. The processor is further configured to determine whether the mobile robot device has been flipped to one side based on a signal received from the sensor indicating the tilt of the main body.

6. The mobile robot device according to claim 1, further comprising: A camera is configured to capture the surrounding environment of the mobile robotic device. The processor is further configured to determine that the mobile robot device has been flipped to one side: Control the first drive device to rotate the drive wheel. An obstacle map around the mobile robot device is generated based on images captured by the camera, and The first and second drive devices are controlled to rotate the mobile robot device in a direction that does not collide with obstacles identified based on the obstacle map, thereby returning the mobile robot device to its original posture.

7. The mobile robot device according to claim 1, wherein, The processor is also configured to: based on determining that the mobile robot device is flipped to one side on the inclined surface, control the first drive device and the second drive device to rotate the mobile robot device in the downward tilting direction of the inclined surface, so that the mobile robot device returns to its original posture.

8. The mobile robot device according to claim 1, wherein, The first driving device includes: A first motor is configured to provide a first driving force to the first wheel, and The second motor is configured to provide a second driving force to the second wheel.

9. The mobile robot device according to claim 1, wherein, The second drive device includes: The first rack is disposed inside the first wheel. The second rack is installed inside the second wheel. The first pinion engages with the first rack. The second pinion engages with the second rack. A third motor is configured to rotate the first pinion, and A fourth motor is configured to rotate the second pinion.

10. The mobile robot device according to claim 9, in, The first round includes: The rotatable first wheel cover, and A first intermediate component is disposed between the rotatable first wheel cover and the main body. The second round includes: A rotatable second wheel cover, and A second intermediate component is disposed between the rotatable second wheel cover and the main body. The first rack is disposed in the first intermediate component, and The second rack is disposed in the second intermediate component.

11. The mobile robot device according to claim 10, further comprising: A guide rail is disposed on at least one of the first intermediate component and the second intermediate component. The main body includes a block configured to move along the guide rail on its side surface.

12. A method for controlling a mobile robot device, the mobile robot device comprising a first wheel and a second wheel respectively arranged on two side surfaces of a body, wherein, The first wheel and the second wheel include side surfaces with convex shapes, and the method includes: Determine whether the mobile robot device has been flipped to one side; and Based on the determination that the mobile robot device is flipped to one side such that the convex side surfaces of the drive wheels in the first and second wheels contact the ground, the drive wheels are moved from the second position to the first position. In the first position, the central axes of the first and second wheels are closer to the center of gravity of the main body than in the second position.

13. The method according to claim 12, wherein, When the drive wheels are in the first position, the step of determining whether the mobile robot device has been flipped to one side is performed, and The step of moving the drive wheel further includes moving the drive wheel back to the first position.

14. The method according to claim 13, wherein, The drive wheel moves from the second position to the first position faster than it moves from the first position to the second position.

15. The method according to claim 12, wherein, The step of moving the drive wheel includes: moving the wheel that is not in contact with the ground to the second position based on the drive wheel moving from the second position to the first position.

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