Robot

Abstract

This robot (1) is provided with: a main body (10) on which a person sits; a handle (23) to be gripped by a person sitting on the main body; a moving device (30A, 30B, 30C, 30D, 90) that moves the main body; an operation terminal (50) that is attachable to and detachable from the robot and receives input of a command relating to operation of the robot; and a control device (40) that controls the robot on the basis of a command received from the operation terminal, the operation terminal being disposed at a position where a person grasps the handle and operates the operation terminal in a state where the operation terminal is attached to the robot.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the priority and the rights of Japanese Patent Application No. 2022-35736 filed with the Japan Patent Office on March 8, 2022, and is hereby incorporated by reference in its entirety as a part of this application. Technical Field

[0003] The present disclosure relates to robots. Background Art

[0004] For example, Japanese Patent No. 4482677 and Japanese Patent No. 4724845 disclose robots capable of moving on uneven ground. These robots are respectively provided with a pair of wheels disposed on both sides of a trunk, four legs disposed at the front and rear ends of the trunk, and a seat disposed on the trunk. The robots of Japanese Patent No. 4482677 and Japanese Patent No. 4724845 move using only wheels, only legs, or both wheels and legs.

[0005] The robots disclosed in Japanese Patent Nos. 4482677 and 4724845 are configured to be operated by an operator sitting on a seat. The present disclosure provides a robot that can be operated by a user in both a riding state and a non-riding state of the robot with a simple structure. Summary of the invention

[0006] A robot involved in one embodiment of the present invention comprises: a main body for a person to ride on; a handle for the person riding on the above-mentioned main body to grasp; a moving device to move the above-mentioned main body; an operation terminal that can be loaded and unloaded on the above-mentioned robot and accepts input of instructions related to the operation of the above-mentioned robot; and a control device, which controls the above-mentioned robot according to the instructions received from the above-mentioned operation terminal, and when the above-mentioned operation terminal is installed on the above-mentioned robot, the above-mentioned operation terminal is configured at a position where the person grasps the above-mentioned handle and operates the above-mentioned operation terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a perspective view showing an example of the structure of the robot involved in the embodiment.

[0008] Figure 2 yes Figure 1 Side view of the robot.

[0009] Figure 3 Yes means Figure 1 A side view of an example of the structure of the robot in a walking state.

[0010] Figure 4 Yes means Figure 1A side view of an example of the structure of the robot's wheel driving state.

[0011] Figure 5 Is installed in Figure 1 A diagram of an example of the structure of a robot status operation terminal.

[0012] Figure 6 It means from Figure 1 A diagram of an example of the structure of an operation terminal in a state where a robot is removed.

[0013] Figure 7 This is a block diagram showing an example of the configuration of a controller of a robot according to an embodiment.

[0014] Figure 8 This is a diagram showing an example of a first screen displayed on the operation terminal according to the embodiment.

[0015] Fig. 9 It is a diagram showing an example of a second screen displayed on the operation terminal according to the embodiment.

[0016] Fig.10 It is a side view showing an example of the structure of a robot according to a modification. DETAILED DESCRIPTION

[0017] Hereinafter, illustrative embodiments of the present disclosure will be described with reference to the accompanying drawings. The embodiments described below all represent general or specific examples. Among the constituent elements of the following embodiments, constituent elements that are not recorded in the independent claims representing the highest-level concepts are described as arbitrary constituent elements. Each figure in the accompanying drawings is a schematic diagram and is not necessarily a rigorous illustration. In each of the drawings, substantially the same constituent elements are marked with the same figure numerals, and repeated descriptions are sometimes omitted or simplified. In this specification and claims, "device" may refer not only to one device but also to a system including multiple devices.

[0018] Edge Reference Figure 1 , while explaining the structure of the robot 1 involved in the embodiment. Figure 1: is a stereoscopic diagram showing an example of the structure of the robot 1 involved in the embodiment. Although not limited, in the present embodiment, the robot 1 is a quadruped walking robot. The robot 1 has a structure that walks on all fours whether alone or with a person on board. Although not limited, in the present embodiment, the robot 1 has an appearance that imitates a four-limbed mammal, for example, a four-limbed mammal that imitates a body shape that can be ridden by a person such as a horse, a cow, a deer, a goat, and a sheep. The robot 1 has a structure in which one person sits astride the robot 1, but for example, it can also have a structure in which two or more people sit astride the robot 1 in a front-to-back arrangement. The robot 1 can also have the same size as the above-mentioned four-limbed mammal or a motorcycle, and thus can have a compact structure. The robot 1 can function as a simple moving mechanism for a person, that is, a small or ultra-small moving body.

[0019] The robot 1 includes a trunk 10, two or more legs, a controller 40, and an operation terminal 50. Although not limited, in the present embodiment, the robot 1 includes four legs 30A, 30B, 30C, and 30D connected to the trunk 10 and performing a flexion action. The controller 40 is an example of a control device, and controls the robot 1 as a whole. The trunk 10 includes a seat 11 for a person to sit on at a position in the upper direction Du of the trunk 10. The trunk 10 includes a footrest 12 for a person sitting on the seat 11 to place his feet at a position in the lower direction Dd of the trunk 10.

[0020] In the present specification and claims, the “front direction Df”, “rear direction Db”, “upper direction Du”, “lower direction Dd” and “lateral direction Dl” in the trunk 10 are directions set in the trunk 10 with the trunk 10 as a reference. The front direction Df is a direction toward the forward direction of the robot 1 when walking on four legs. The rear direction Db is a direction opposite to the front direction Df. The lateral direction Dl includes a first lateral direction Dl1 and a second lateral direction Dl2. The first lateral direction Dl1 and the second lateral direction Dl2 are directions opposite to each other, and are directions intersecting the front direction Df and the rear direction Db, for example, directions perpendicular to them. The upper direction Du and the lower direction Dd are directions opposite to each other, and are directions intersecting the front direction Df, the rear direction Db, the first lateral direction Dl1 and the second lateral direction Dl2, for example, directions perpendicular to them. The upper direction Du is a direction toward the upper direction of the robot 1 when walking on four legs.

[0021] Figure 2 yes Figure 1 A side view of the robot 1 is shown. Figure 2 As shown, the seat 11 includes a seat 11A extending from the front direction Df to the rear direction Db. Although not limited, in this embodiment, the seat 11A has a size that allows one person to sit astride, but may also have a size that allows two or more people to sit astride.

[0022] The two footrests 12 are arranged in the lateral directions D11 and D12 of the trunk 10. Although not limited, in the present embodiment, the two footrests 12 are arranged in a state of being suspended from the trunk 10. The footrests 12 are fixedly fixed relative to the trunk 10, but may be movable in the up-down direction, the front-back direction, or a combination of the two directions so as to be able to change their positions.

[0023] The robot 1 further includes a neck 20. The neck 20 has a columnar shape and extends from the trunk 10 in the upper direction Du at a position forward of the seat 11 in the direction Df. The neck 20 is fixed to the trunk 10 in an immovable manner or is integrated with the trunk 10.

[0024] The robot 1 further includes a handle 23 on the neck 20 for a person sitting on the seat 11 to grip. Although not limited, in the present embodiment, the handle 23 protrudes from the neck 20 in the lateral directions D11 and D12. The handle 23 is fixed to the neck 20 without moving. The handle 23 includes a rod 23a for a person sitting on the seat to grip. The rod 23a has a linear shape extending in the lateral directions D11 and D12. The handle 23 includes handle grips 23b as a portion for a person to grip at both ends of the rod 23a.

[0025] For example, the neck 20 is not essential, and the handle 23 may be disposed at any part of the robot 1 other than the neck 20. For example, the handle 23 may be disposed at the trunk 10. The handle 23 may be disposed at a position where a person sitting on the trunk 10, for example, sitting on the seat 11, can grasp it.

[0026] One rod 23a is arranged in the rear direction Db of the neck 20, but it can also be arranged to pass through the neck 20. The two rods 23a can be arranged to extend from the neck 20 to the lateral directions Dl1 and Dl2. The rod 23a can also be movable relative to the neck 20. For example, the rod 23a can also be rotatable like the handle bar of a bicycle or motorcycle. The structure of the handle 23 is not limited to the above, as long as it is a structure that can be grasped by a human hand. For example, it can also have an arc-shaped or U-shaped rod extending along the lateral directions Dl1 and Dl2, an airplane control stick, a car steering wheel, an armrest, a U-shaped handle, or a structure like a horse reins. In this case, the handle 23 can be stationary or movable relative to the neck 20.

[0027] The robot 1 also includes a head 21 imitating the head of a four-limbed mammal at the end portion of the neck 20 in the upper direction Du. The robot 1 includes a first sensor 22A for scanning the surroundings of the robot 1 at the head 21. The first sensor 22A outputs a signal indicating the detection result to the controller 40. The first sensor 22A may also be configured at a portion of the robot 1 other than the head 21. The trunk 10, the neck 20, and the head 21 are an example of a main body of the robot 1.

[0028] Although not limited, in the present embodiment, the first sensor 22A includes a camera. The shooting direction of the camera is oriented to the front direction Df. The first sensor 22A includes a three-dimensional camera capable of detecting the distance of the subject, but may also include a camera capable of only acquiring an image. Examples of three-dimensional cameras are stereo cameras, TOF cameras (Time-of-Flight-Camera), pattern light projection cameras such as fringe projection, or cameras using a light cutting method. The first sensor 22A is a 360-degree camera of a full spherical or hemispherical type with a full field of view, but may also be a camera with a limited field of view such as a wide-angle camera.

[0029] The first sensor 22A may also be a sensor capable of detecting the distance of an object. Such a sensor 22 is configured to detect using light waves, lasers, magnetism, radio waves, electromagnetic waves, ultrasonic waves, or a combination of two or more thereof, and may also include a photoelectric sensor, a laser sensor, a radio wave sensor, an electromagnetic wave sensor, an ultrasonic sensor, various laser radars (LiDAR), or a combination of two or more thereof.

[0030] The robot 1 includes a second sensor 22B and a third sensor 22C in the trunk 10. The second sensor 22B detects the movement of the trunk 10. Although not limited, in the present embodiment, the second sensor 22B includes a gyro sensor that detects the angular velocity of the trunk 10. For example, the second sensor 22B detects the angular velocity around three orthogonal axes. The second sensor 22B may also include an acceleration sensor that detects the acceleration of the trunk 10. For example, the second sensor 22B may also detect the acceleration in the three orthogonal axes. Such a second sensor 22B may also include an inertial measurement device. The second sensor 22B outputs a signal representing the detection result to the controller 40.

[0031] The third sensor 22C detects the position of the robot 1. For example, the third sensor 22C can detect the position of the robot 1 on the earth. The third sensor 22C may include a GNSS (Global Navigation Satellite System), a gyro sensor, an acceleration sensor, a geomagnetic sensor, or a combination of two or more thereof. Although not limited, in the present embodiment, the third sensor 22C includes a GNSS, and utilizes the gyro sensor and the acceleration sensor of the second sensor 22B. By using the position detection result of the GNSS and the position and posture detection results of the gyro sensor and the acceleration sensor, the detection accuracy of the position of the robot 1 is improved. The third sensor 22C outputs a signal indicating the detection result to the controller 40. The third sensor 22C may also be configured at a portion of the robot 1 other than the torso 10.

[0032] like Figure 1 As shown, the legs 30A and 30B are connected to the front direction Df portion of the trunk 10, and can function as the front legs of the robot 1. The legs 30C and 30D are connected to the rear direction Db portion of the trunk 10, and can function as the rear legs of the robot 1. The connection positions of the legs 30A to 30D to the trunk 10 are not limited to the above, and can be any positions.

[0033] The legs 30A, 30B, 30C, and 30D each include two or more joints. Although not limited, in the present embodiment, the legs 30A, 30B, 30C, and 30D each include base joints 31A, 31B, 31C, and 31D connected to the trunk 10, and intermediate joints 32A, 32B, 32C, and 32D disposed between the base joints 31A, 31B, 31C, and 31D and the front ends of the legs 30A, 30B, 30C, and 30D. In addition, the legs 30A, 30B, 30C, and 30D each include intermediate links 33A, 33B, 33C, and 33D, and front end links 34A, 34B, 34C, and 34D.

[0034] The intermediate links 33A to 33D respectively connect the joints to each other and form a part of the skeleton of the legs 30A to 30D. The front links 34A to 34D are respectively connected to the intermediate joints 32A to 32D and extend to the front ends of the legs 30A to 30D, forming a part of the skeleton of the legs 30A to 30D. The base joints 31A to 31D can each move with two or more degrees of freedom, and the intermediate joints 32A to 32D can each move with one or more degrees of freedom.

[0035] Although not limited, in the present embodiment, the base joints 31A to 31D can each move with two degrees of freedom and can bend in the pitch direction and the roll direction relative to the trunk 10. The base joints 31A to 31D can each cause the intermediate links 33A to 33D to perform a movement that combines the swing in the front-back directions Df and Db as the pitch direction and the swing in the side directions Dl1 and Dl2 as the roll direction. The intermediate joints 32A to 32D can each move with one degree of freedom and bend in a manner that changes the angle formed by the intermediate links 33A to 33D and the front end links 34A to 34D. The intermediate joints 32A to 32D can each cause the front end links 34A to 34D to swing in the front-back directions Df and Db as the pitch direction.

[0036] The robot 1 has a plurality of joint actuators JA that respectively drive the base joints 31A to 31D and the intermediate joints 32A to 32D. The base joints 31A to 31D respectively include two joint actuators JA for flexion in two directions. The intermediate joints 32A to 32D respectively include one joint actuator JA for flexion in one direction. Although not limited, in the present embodiment, the joint actuators JA each include a servo motor, a reducer, and a rotation sensor such as an encoder. The servo motor is controlled by a controller 40, and the rotation sensor detects the rotation amount of the servo motor and outputs a signal indicating the detection result to the controller 40. The reducer reduces the rotation speed of the servo motor and increases the rotational driving force, and transmits the rotational driving force of the servo motor to the joint.

[0037] The robot 1 further includes one or more rotatable driven wheels 38A, 38B, 38C, and 38D at the intermediate joints 32A, 32B, 32C, and 32D, respectively. The driven wheels 38A to 38D are arranged at the intermediate joints 32A to 32D so as to contact with the supporting surface supporting the robot 1 through the operation of the base joints 31A to 31D and the intermediate joints 32A to 32D, respectively, to support the robot 1 in a movable manner.

[0038] Figure 3 Yes means Figure 1 FIG. 1 is a side view of an example of the structure of the robot 1 in a walking state. Figure 4 Yes means Figure 1 A side view of an example of a structure of a wheel driving state of the robot 1. Figure 3 and Figure 4 In the figure, the footrest 12 is omitted. Figure 3 and Figure 4 As shown, the robot 1 further includes a travel device 90 on the trunk 10 .

[0039] The travel device 90 can be stored in the trunk 10. The travel device 90 can be operated to protrude from the trunk 10 in the downward direction Dd from the state stored in the trunk 10 and to contact the support surface supporting the robot 1, and can move the robot 1 while contacting the support surface.

[0040] The travel device 90 includes travel wheels 91A and 91B, first actuators 92A and 92B, a support body 93, and a second actuator 94. The first actuators 92A and 92B drive the travel wheels 91A and 91B, respectively, and rotate them, and are an example of a wheel actuator. The second actuator 94 moves the support body 93. The actuators 92A, 92B, and 94 each include a servo motor, a speed reducer, and a rotation sensor such as an encoder. The servo motor is controlled by the controller 40, and the rotation sensor outputs a signal indicating the detection result of the rotation amount of the servo motor to the controller 40. The speed reducer transmits the rotational driving force of the servo motor to the driven object.

[0041] The support body 93 is arranged and fixed to the trunk 10, and supports the running wheels 91A and 91B on the trunk 10. Although not limited, in this embodiment, the support body 93 includes a link mechanism including a plurality of links operatively connected to each other, and the support body 93 supports the running wheels 91A and 91B at the front end of the link mechanism so that they can rotate coaxially. The support body 93 is actuated by the driving force of the second actuator 94 so as to move the running wheels 91A and 91B between the first position and the second position. Figure 4 As shown, in the first position, the travel wheels 91A and 91B protrude from the trunk 10 in the downward direction Dd. Figure 3 As shown, in the second position, the traveling wheels 91A and 91B are close to the trunk 10 and stored in the trunk 10.

[0042] For example, in the walking state, Figure 3 As shown, the controller 40 controls the second actuator 94 to store the running wheels 91A and 91B in the second position. The controller 40 controls the joint actuators JA of the legs 30A to 30D to make the front ends of the front links 34A to 34D contact the support surface of the robot 1 to make the legs 30A to 30D walk.

[0043] When the wheels are in motion, Figure 4 As shown, the controller 40 controls the joint actuators JA of the legs 30A to 30D so that the driven wheels 38A to 38D come into contact with the support surface of the robot 1. The controller 40 controls the second actuator 94 so that the traveling wheels 91A and 91B project to the first position.

[0044] The controller 40 controls the first actuators 92A and 92B to drive the travel wheels 91A and 91B. The controller 40 drives the travel wheels 91A and 91B to rotate them in the same rotation direction and at the same rotation speed, thereby causing the robot 1 to move forward or backward. The controller 40 drives the travel wheels 91A and 91B to rotate them in the same rotation direction and at different rotation speeds, or in different rotation directions, thereby causing the robot 1 to turn left or right. The controller 40 may also drive the joint actuators JA of the base joints 31A to 31D to rotate the intermediate links 33A to 33D, thereby causing the robot 1 to turn forward or right.

[0045] like Figure 2 As shown, the robot 1 also includes a controller 40, a secondary battery module 60, a power circuit 70 and a second communicator 80 in the trunk 10. Although not limited, in the present embodiment, the controller 40, the secondary battery module 60, the power circuit 70 and the second communicator 80 are arranged in a portion of the trunk 10 located in the front direction Df of the seat 11 on the trunk 10. The secondary battery module 60 functions as a power source for the robot 1. The secondary battery module 60 includes one or more secondary batteries. A secondary battery is a battery that can charge and discharge electricity. Examples of secondary batteries may include lead batteries, lithium-ion secondary batteries, all-solid batteries, nickel-hydrogen storage batteries, nickel-cadmium storage batteries, etc. The secondary battery module 60 is an example of a battery.

[0046] The power circuit 70 is a circuit for controlling the supply and demand of power to the secondary battery module 60. The power circuit 70 is configured to perform power control according to instructions from the controller 40. For example, the power circuit 70 may include devices such as a converter, an inverter, a transformer, and a power amplifier.

[0047] The power circuit 70 is configured to be connected to an external power source such as a commercial power source. The power circuit 70 receives power supply from an external power source and supplies the power to the secondary battery module 60 for storage. The power circuit 70 controls the power supplied to the secondary battery module 60. The power circuit 70 supplies the power stored in the secondary battery module 60 to the power-consuming components in the robot 1. The power circuit 70 controls the power supplied to each component. The power circuit 70 controls the power stored in the secondary battery module 60 and supplies it to the operation terminal 50 connected to the robot 1.

[0048] The second communicator 80 is a device for wirelessly communicating with the operation terminal 50. The second communicator 80 can be configured to directly or indirectly communicate with the first communicator 51 for wireless communication included in the operation terminal 50. In the indirect wireless communication, the communicators 51 and 80 can also be configured to be connected to a communication network via wireless communication and communicate with each other via the communication network. The wireless communication used by the communicators 51 and 80 is not particularly limited.

[0049] The communication network is not particularly limited, and can include, for example, a local area network (LAN), a wide area network (WAN), the Internet, or a combination of two or more thereof. The communication network can be constructed using short-range wireless communications such as Bluetooth (registered trademark) and ZigBee (registered trademark), network dedicated lines, dedicated lines of communication companies, public switched telephone networks (PSTN), mobile communication networks, the Internet, satellite communications, or a combination of two or more thereof. The mobile communication network can use the fourth generation mobile communication system and the fifth generation mobile communication system, etc. The communication network can include one or more networks.

[0050] Figure 5 Is installed in Figure 1 FIG. 1 is a diagram showing an example of a structure of an operation terminal 50 for displaying a state of the robot 1 . Figure 6 It means from Figure 1 FIG. 1 is a diagram showing an example of the structure of the operation terminal 50 in a state where the robot 1 is removed. Figure 5 and Figure 6 As shown, the robot 1 and the operation terminal 50 are configured so that the operation terminal 50 can be loaded and unloaded on the robot 1. Although not limited, in this embodiment, the operation terminal 50 can be loaded and unloaded on the neck 20. For example, the neck 20 may also include a holder such as a stand, a stand or a bracket for holding the operation terminal 50, a recess or a hole for engaging or fitting at least a part of the operation terminal 50, or a combination thereof. Although not limited, in this embodiment, the operation terminal 50 is held by the neck 20 by a part of the operation terminal 50 being embedded in the recess 20a configured in the neck 20. That is, the operation terminal 50 is installed on the robot 1.

[0051] The operation terminal 50 mounted on the robot 1 is arranged near the handle 23 so that a person can grasp the handle grip 23b with one or both hands and operate the operation terminal 50. Although not limited, in the present embodiment, the recess 20a is arranged at a position so that a person can grasp the handle grip 23b with both hands and operate the operation terminal 50. The recess 20a is arranged between the handle grips 23b.

[0052] The operation terminal 50 receives input of instructions related to the operation of the robot 1, and outputs a signal of information, instructions or data corresponding to the received input content to the controller 40. The operation terminal 50 is configured to communicate with the controller 40 via wireless communication, wired communication, or both. Although not limited, in the present embodiment, the operation terminal 50 is configured to use both wireless communication and wired communication. The operation terminal 50 can operate the robot 1 regardless of whether it is connected to the robot 1 via wireless communication or wired communication. The operation terminal 50 includes a first communicator 51 for wireless communication and a first terminal 52 for wired connection.

[0053] The first communicator 51 performs wireless communication with the second communicator 80 of the robot 1. The structures of the communicators 51 and 80 are not particularly limited, and any structure may be used as long as it is suitable for the wireless communication used.

[0054] The first terminal 52 has a structure capable of transmitting and receiving signals, but may also have a structure capable of supplying and requesting power. The first terminal 52 has a structure capable of being connected to the terminal 20b disposed on the neck 20. The terminal 20b is connected to the controller 40. Any wired communication may also be used between the terminals 52 and 20b.

[0055] When the first terminal 52 is connected to the terminal 20b, the operation terminal 50 can communicate with the controller 40, but may be configured to receive power from the secondary battery module 60. The structure of the terminals 52 and 20b is not particularly limited, as long as it is suitable for the wired communication and power supply used.

[0056] For example, the terminals 52 and 20b may have a structure for transmitting electronic signals and power by interlocking or engaging with each other, or may have a structure for transmitting electronic signals and power by contacting each other. Either or both of the terminals 52 and 20b may be connected to a cable and may be repositioned. Either or both of the terminals 52 and 20b may also be fixed to the operating terminal 50 and the neck 20. Although not limited, in the present embodiment, the terminal 20b has a structure such as one or more pins or connectors protruding from the recess 20a, and the first terminal 52 has a structure such as a jack or socket for receiving the terminal 20b. In the present specification and claims, "terminal" also includes connectors such as plugs, jacks, sockets, and adapters.

[0057] The operation terminal 50 also includes one or more second terminals 53, a prompting device 54, an input device 55, and a power source 56. The power source 56 supplies power to the components of the operation terminal 50. The power source 56 may include a power supply circuit, a primary battery, a secondary battery, or a combination of two or more thereof that receives power supply from an external power source such as a commercial power supply. A primary battery is a battery that can discharge the stored power. Although not limited, in the present embodiment, the power source 56 includes at least a secondary battery. The second terminal 53 is a terminal that connects the operation terminal 50 to an external device. For example, the second terminal 53 may also have a structure such as a jack or socket such as a headphone jack or a USB interface.

[0058] The prompting device 54 prompts various information related to the robot 1. Although not limited, in this embodiment, the prompting device 54 includes a display 54A, a speaker 54B, and a display lamp 54C such as an indicator lamp and a warning lamp. The display 54A is a touch panel having a contact-based input function and a screen display function, but may only have a screen display function.

[0059] The input device 55 receives various inputs and outputs the received input information to the controller 40. The input device 55 is an example of an operating element and may include one or more of a joystick, a key, a slide switch, a push button switch, a rod, and a microphone.

[0060] Although not limited, in this embodiment, the input device 55 includes two joysticks 55A, a plurality of button switches 55B, a keyboard 55C, and a microphone 55D. The two joysticks 55A are arranged on both sides of the display 54A. The joystick 55A receives inputs such as selections on the screen of the display 54A and manual operations of the robot 1. For example, the joystick 55A can also receive inputs of the moving direction and moving speed of the robot 1 during manual operation. The input device 55 may include one joystick 55A, or may include more than two joysticks 55A. The keyboard 55C is arranged between the two joysticks 55A. Although not limited, in this embodiment, the display 54A can slide. The display 54A slides in the direction of the double-headed arrow SD between a position where the keyboard 55C is shielded and a position where the keyboard 55C is exposed.

[0061] Although not limited to this, in the present embodiment, the display 54A, the joystick 55A, the push button switch 55B, and the keyboard 55C are located at positions where a person can respectively grip the handle grip 23b with both hands and operate them.

[0062] In the present embodiment, the operation terminal 50 has a structure and size like a portable game terminal. The operation terminal 50 may be a terminal developed specifically for the robot 1, or may be a general-purpose terminal available on the market. The operation terminal 50 of the present embodiment is a general-purpose terminal, which has the function of the operation terminal 50 by accepting the installation of a program for controlling the robot 1. The operation terminal 50 preferably has a size that can be carried by a person. Examples of the operation terminal 50 may include a portable game terminal, a personal computer such as a small notebook computer, a smart device such as a smart phone and a tablet computer, and other electronic devices.

[0063] In the present embodiment, part of the functions of the input device 55 is implemented by a touch panel display 54A. Part of the functions of the input device 55 may also be implemented by the handle 23. When the handle 23 is movable, the input device 55 may also include a rotation sensor such as an encoder that detects the rotation amount and rotation speed of the handle 23. The input device 55 may also receive the rotation amount and rotation speed of the handle 23 as input information for operation of the robot 1, etc. When the handle 23 is stationary, the input device 55 may also include a force sensor disposed on the two handle grips 23b or near them. The input device 55 may also receive the magnitude and direction of the force detected by the force sensor as input information for operation of the robot 1, etc.

[0064] Figure 7 1 is a block diagram showing an example of the structure of the controller 40 of the robot 1 according to the embodiment. Figure 7As shown, the controller 40 includes a computer, for example, an electronic circuit substrate, an electronic control unit or a microcomputer. The controller 40 includes a circuit or a processing circuit, and the circuit or the processing circuit includes a processor P and a memory M. Similarly, the operation terminal 50 also includes a circuit or a processing circuit, and the circuit or the processing circuit includes a processor P and a memory M. In either the controller 40 or the operation terminal 50, the circuit may also include a processing circuit. The processor P and the memory M send and receive instructions, information, and data with other devices. The processor P and the memory M input signals from various devices and output control signals to the controlled object.

[0065] For example, the memory M may include a volatile semiconductor memory such as a RAM (Random Access Memory), a non-volatile semiconductor memory such as a ROM (Read-Only Memory), a hard disk, an SSD (Solid State Drive), or a combination of two or more thereof. The memory M stores programs executed by the processor P and various data.

[0066] For the controller 40 and the operation terminal 50, at least a part of the functions of each of them can also be realized by the cooperative action of the processor P and the memory M. The processor P and the memory M including the RAM and the ROM form a computer system. For example, the computer system can also realize the above functions by the processor P using the RAM as a work area to execute the program recorded in the ROM.

[0067] For the controller 40 and the operation terminal 50, part or all of their functions may be implemented by the above-mentioned computer system, or by a dedicated hardware circuit such as an electronic circuit or an integrated circuit, or by a combination of the above-mentioned computer system and hardware circuit. For example, the controller 40 and the operation terminal 50 may respectively perform processing by centralized control based on a single computer, or by decentralized control based on the coordinated actions of multiple computers.

[0068] Although not limited to the following, for example, the processor P may include one or more of a CPU (central processing unit), an MPU (MicroProcessing Unit), a GPU (Graphics Processing Unit), a microprocessor, a processor core, a multiprocessor, an ASIC (Application-Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), and a reconfigurable processor. The processor P may be implemented by a logic circuit or a dedicated circuit as a hardware circuit formed on an integrated circuit such as an IC (Integrated Circuit) chip and an LSI (Large Scale Integration). The multiple functions of the controller 40 and the operation terminal 50 may be implemented by a single-chip integrated circuit alone, or by a single-chip integrated circuit that includes a part or all of the functions.

[0069] The controller 40 is connected to the sensors 22A to 22C, the secondary battery module 60 , the power supply circuit 70 , the second communicator 80 , the joint actuators JA of the legs 30A to 30D, and the actuators 92A, 92B, and 94 of the travel device 90 .

[0070] The controller 40 receives a signal indicating the detection result from the first sensor 22A and processes it. In the case where the first sensor 22A includes a three-dimensional camera, the controller 40 may also process the image received from the first sensor 22A and detect the subject contained in the image and the distance between the subject and the first sensor 22A. In addition, the controller 40 may also detect the three-dimensional position of the subject. For example, the controller 40 may also generate a distance image in which each pixel indicates the three-dimensional position of the subject through color, shade, etc., an image indicating information of the subject in the image through emphasis display and marking, an image including indicators such as the direction of travel, or an image combining two or more of them. The first sensor 22A may also include a processing circuit for performing the above-mentioned image processing. The controller 40 may output the processing result to the operation terminal 50, or may use it for processing performed by itself such as controlling the robot 1.

[0071] The controller 40 receives a signal indicating the detection result from the second sensor 22B and processes it. The controller 40 may also process the signal received from the second sensor 22B and detect the angular velocity and acceleration of the trunk 10. The second sensor 22B may also include a processing circuit for performing the detection processing of the angular velocity and acceleration. The controller 40 may output the detection result to the operation terminal 50, or may use it for processing performed by itself, such as movement control and posture control of the robot 1.

[0072] The controller 40 receives a signal indicating the detection result from the third sensor 22C and processes it. The controller 40 may also process the signal received from the third sensor 22C and detect the position of the robot 1. The third sensor 22C may also include a processing circuit for performing detection processing of the position of the robot 1. The controller 40 may output the detection result to the operation terminal 50, or may use it for processing performed by itself, such as movement control and posture control of the robot 1.

[0073] The controller 40 controls the connection and communication between the controller 40 and the operation terminal 50. The controller 40 determines the connection method to be executed from the wireless connection and the wired connection, and establishes the connection using the determined connection method. The controller 40 processes the signal received from the operation terminal 50 and executes the instruction contained in the signal. The controller 40 stores the information and data contained in the signal in the memory M and the like and uses it for the processing executed by itself. The controller 40 sends various information and data to the operation terminal 50. For example, the controller 40 can also be configured to send information and data corresponding to the wireless connection state to the operation terminal 50, and send information and data corresponding to the wired connection state to the operation terminal 50.

[0074] Although not limited, in the present embodiment, when the controller 40 and the operation terminal 50 are connected by wire, the controller 40 performs control so as to transmit and receive signals with the operation terminal 50 and supply the power of the secondary battery module 60 to the operation terminal 50. Therefore, the operation terminal 50 can receive power supply from the robot 1 via the wired connection and operate the robot 1. When the controller 40 and the operation terminal 50 are connected wirelessly, the controller 40 transmits and receives signals with the operation terminal 50. Therefore, the operation terminal 50 can operate the robot 1 via the wireless connection.

[0075] For example, the controller 40 may determine the connection method to be executed according to the instruction received from the operation terminal 50. The operation terminal 50 may send the instruction to execute wireless connection to the controller 40 via wireless communication, or may send the instruction to execute wired connection to the controller 40 via wireless communication or wired communication.

[0076] For example, the controller 40 may also determine the connection method to be executed based on the signal received from the operation terminal 50. When the controller 40 receives a signal from the operation terminal 50 via wireless communication, it may determine the execution of wireless connection. When the first terminal 52 of the operation terminal 50 is connected to the terminal 20b, the controller 40 may determine the execution of wired connection. The controller 40 may also determine the execution of wired connection if it receives a signal from the operation terminal 50 via wired communication after the first terminal 52 is connected to the terminal 20b.

[0077] The controller 40 may also prioritize the wired connection between the operation terminal 50 and the controller 40 over the wireless connection between the operation terminal 50 and the controller 40. For example, if the controller 40 establishes the wired connection between the operation terminal 50 and the controller 40 while the operation terminal 50 and the controller 40 are wirelessly connected, the controller 40 may transmit and receive signals with the operation terminal 50 using only wired communication, or may cut off the wireless connection.

[0078] Alternatively, the operation terminal 50 may prioritize the wired connection between the operation terminal 50 and the controller 40 over the wireless connection between the operation terminal 50 and the controller 40, instead of or in addition to the above control of the controller 40. For example, if the operation terminal 50 establishes the wired connection between the operation terminal 50 and the controller 40 while the operation terminal 50 and the controller 40 are wirelessly connected, the operation terminal 50 may transmit and receive signals with the controller 40 using only wired communication, or may cut off wireless communication.

[0079] The controller 40 and the operation terminal 50 may also be configured to use a wireless connection and a wired connection between the operation terminal 50 and the controller 40. The controller 40 and the operation terminal 50 may also supply power from the secondary battery module 60 to the operation terminal 50 via the wired connection between the controller 40 and the operation terminal 50, and transmit and receive signals to each other via the wireless connection between the controller 40 and the operation terminal 50.

[0080] The controller 40 is connected to the external power source EP via the power source circuit 70 . The controller 40 controls the charging of electric power from the external power source EP to the secondary battery module 60 by controlling the power source circuit 70 .

[0081] The controller 40 is connected to the joint actuator JA of each leg 30A to 30D via the power circuit 70. The controller 40 outputs the command value of the current to the joint actuator JA to the power circuit 70, and the power circuit 70 supplies the current according to the command value from the secondary battery module 60 to the joint actuator JA. The controller 40 obtains the detection result of the rotation sensor of the joint actuator JA and the current value of the joint actuator JA via the power circuit 70, and uses them as feedback information when determining the command value of the current. That is, the controller 40 performs servo control on the servo motor of the joint actuator JA.

[0082] The controller 40 is connected to the actuators 92A, 92B, and 94 of the travel device 90 via the power circuit 70. The controller 40 outputs the command value of the current to the actuators 92A, 92B, and 94 to the power circuit 70, and the power circuit 70 supplies the current according to the command value from the secondary battery module 60 to the actuators 92A, 92B, and 94. The controller 40 obtains the detection results of the rotation sensors of the actuators 92A, 92B, and 94 and the current values ​​of the actuators via the power circuit 70, and uses them as feedback information when determining the command value of the current. That is, the controller 40 performs servo control on the servo motors of the actuators 92A, 92B, and 94.

[0083] Here, the operation terminal 50 receives inputs such as various settings for the robot 1, settings for executing tasks in automatic operation mode, settings for moving destinations, selection of operation modes, selection of action modes, and manual operations in manual operation mode via the input device 55, and sends signals representing the above input contents to the controller 40.

[0084] The operation mode includes an automatic operation mode and a manual operation mode. In the automatic operation mode, the controller 40 controls the robot 1 according to a prescribed program so that the robot 1 autonomously performs a specified execution task. In the manual operation mode, the controller 40 controls the robot 1 so that the robot 1 performs an action according to a manual operation input to the joystick 55A or the like of the operation terminal 50.

[0085] The action mode includes a walking mode and a wheel driving mode. In the walking mode, the controller 40 controls the robot 1 so that the robot 1 walks with the four legs 30A, 30B, 30C and 30D. In the wheel driving mode, the controller 40 controls the robot 1 so that the robot 1 drives with the driving wheels 91A and 91B of the driving device 90.

[0086] The execution task is the work performed by the robot 1 in the automatic operation mode, including a series of actions of the robot 1. The movement destination is the movement destination of the robot 1. The movement destination can be set relative to the GNSS of the third sensor 22C. The movement destination can be set in any mode of the automatic operation mode and the manual operation mode.

[0087] In the automatic operation mode, the controller 40 executes the program for automatic operation according to the instruction including the execution task and the moving destination received from the operation terminal 50. For example, the program for automatic operation in the walking mode includes control data including information such as the position and speed of the legs 30A to 30D to be executed by the robot 1. The program for automatic operation in the wheel driving mode includes control data including information such as the position, moving direction and speed of the robot 1 to be executed by the robot 1. The control data may also be teaching data set by a teaching operation.

[0088] The controller 40 uses the control data and the processing results of the detection signals of the sensors 22A to 22C to calculate the target position and target speed of the legs 30A to 30D in the walking mode, and the target position and target speed of the robot 1 in the wheel driving mode. The controller 40 uses the processing results related to the detection signals of the first sensor 22A to calculate the target position and target speed corresponding to the state of the ground surface around the robot 1 and the position of the object around the robot 1. The controller 40 uses the processing results related to the detection signals of the second sensor 22B to calculate the target position and target speed such that the robot 1 can be balanced according to the movement and posture of the trunk 10. The controller 40 uses the processing results related to the detection signals of the third sensor 22C to calculate the target position and target speed corresponding to the path to the moving destination. The controller 40 determines the command value of the current to the joint actuator JA so that the state of the legs 30A to 30D becomes the target position and target speed. The controller 40 determines the command value of the current to the actuators 92A and 92B of the travel device 90 so that the state of the robot 1 reaches the target position, the target speed, and the like.

[0089] In the manual operation mode, the controller 40 executes a program for manual operation. The controller 40 receives a signal indicating the content of a manual operation input to the joystick 55A or the like of the operation terminal 50 from the operation terminal 50 .

[0090] The controller 40 processes the signal indicating the content of the manual operation according to the program for manual operation, and calculates the target position and target speed of the legs 30A to 30D in the walking mode, and calculates the target position and target speed of the robot 1 in the wheel driving mode. The controller 40 determines the command value of the current to the joint actuator JA so that the state of the legs 30A to 30D becomes the target position and target speed. The controller 40 determines the command value of the current to the actuators 92A and 92B of the driving device 90 so that the state of the robot 1 becomes the target position and target speed.

[0091] The controller 40 may also use the processing results of the detection signals of the sensors 22A to 22C in the calculation of the target position and the target speed. The controller 40 may also use the processing results related to the detection signal of the first sensor 22A to calculate the target position and the target speed so as to avoid collision and contact between the ground surface around the robot 1 and the objects around the robot 1 and the robot 1. The controller 40 may also use the processing results related to the detection signal of the second sensor 22B to calculate the target position and the target speed so as to achieve the balance of the robot 1 in accordance with the movement and posture of the trunk 10. Thus, even if the instruction based on the manual operation is a simple instruction indicating the forward movement, backward movement, left turn, right turn, and travel speed of the robot 1, the controller 40 can cause the robot 1 to move in accordance with the situation around the robot 1 and the balance of the robot 1.

[0092] The controller 40 may also perform control in accordance with a program, the detection result of the first sensor 22A, or a command from the operation terminal 50 in each of the walking mode and the wheel travel mode in the automatic operation mode and the manual operation mode so as to use the legs 30A to 30D and the travel device 90 together. The controller 40 may also calculate the respective target positions and target speeds, etc., in a manner such that the legs 30A to 30D and the travel device 90 are balanced, using the processing results related to the detection signals of the sensors 22A and 22B.

[0093] The controller 40 may autonomously switch the operation mode between the walking mode and the wheel driving mode, or may switch the operation mode in accordance with an instruction from the operation terminal 50. For example, the controller 40 may autonomously determine the operation mode in accordance with the state of the ground surface based on the detection result of the first sensor 22A.

[0094] The controller 40 may also select information and data to be sent to the operation terminal 50 according to the operation mode, action mode, wireless connection, wired connection, the state of the operation terminal 50, the command received from the operation terminal 50, or a combination of two or more thereof. The operation terminal 50 may also select information and data received from the controller 40 for use according to the operation mode, action mode, wireless connection, wired connection, the state of the operation terminal 50, the command input to the operation terminal 50, or a combination of two or more thereof, and may also change either or both of the object displayed on the display 54A and the screen itself.

[0095] For example, the operation terminal 50 may also change one or both of the object displayed on the display 54A and the screen itself according to the state of the operation terminal 50, that is, whether the operation terminal 50 is installed on the robot 1. For example, one or both of the operation terminal 50 and the robot 1 may also have a proximity sensor or a contact sensor, and detect whether the operation terminal 50 is installed on the robot 1 based on the detection result of the sensor. The proximity sensor may have any known structure, for example, it may use a magnetic field or an electric field. One or both of the operation terminal 50 and the robot 1 may also detect whether the operation terminal 50 is installed on the robot 1 based on whether the terminals 52 and 20b are connected.

[0096] For example, when the operation terminal 50 is mounted on the robot 1, the operation terminal 50 may display a first object, a first screen, or a combination thereof on the display 54A. The first object and the first screen are used when a person is riding on the trunk 10. For example, when the operation terminal 50 is removed from the robot 1, the operation terminal 50 may display a second object, a second screen, or a combination thereof on the display 54A. The second object and the second screen are used when a person leaves the robot 1.

[0097] For example, the operation terminal 50 may change one or both of the object and the screen itself displayed on the display 54A according to the state of the operation terminal 50, such as the distance between the operation terminal 50 and the robot 1. One or both of the operation terminal 50 and the robot 1 may also include a proximity sensor, a contact sensor, and a sensor that can detect the distance of the object, such as the sensor exemplified for the first sensor 22A. For example, the operation terminal 50 may also be configured to display the first object, the first screen, or a combination thereof on the display 54A when the detection distance is less than a threshold value, and to display the second object, the second screen, or a combination thereof on the display 54A when the detection distance exceeds the threshold value. The operation terminal 50 may also change one or both of the object and the screen itself displayed on the display 54A according to the result of combining the information on whether the operation terminal 50 is installed on the robot 1 and the information on the distance between the operation terminal 50 and the robot 1.

[0098] Figure 8 It is a diagram showing an example of a first screen displayed on the operation terminal 50 according to the embodiment. Fig. 9 FIG. 4 is a diagram showing an example of a second screen displayed on the operation terminal 50 according to the embodiment. Figure 8As shown, the first screen S1 includes display objects suitable for operation on the robot 1. Although not limited, in this embodiment, the display objects include a map S1A indicating the position of the robot 1, an operation state S1B of the robot 1, a battery state S1C, and a communication state S1D. The operation terminal 50 receives a map indicating the position of the robot 1, information about the operation state of the robot 1, and the state of the secondary battery module 60 from the controller 40. The first object may include one or more display objects included in the first screen S1.

[0099] The map indicates the position and target path of the robot 1 on the map, and may be generated by the controller 40 or the operation terminal 50 using the detection result of the third sensor 22C. The action state of the robot 1 may also include the moving speed, posture, center of gravity balance, gait state, operation mode, and action mode of the robot 1. The battery state may also include the remaining power and temperature of the secondary battery of the operation terminal 50 and the secondary battery module 60, and the supply state of power from the secondary battery module 60 to the operation terminal 50. The communication state indicates the communication used between the operation terminal 50 and the controller 40.

[0100] like Fig. 9 As shown, the second screen S2 includes display objects suitable for remote operation of the robot 1. Although not limited, in this embodiment, the display objects include any one or both of the image S2A obtained by the camera of the first sensor 22A and the image after image processing of the image, a map S2B indicating the position of the robot 1, the action state S2C of the robot 1, the state S2D of the battery, and the communication state S2E. The display objects may also include the ground surface state around the robot 1 and the position of the objects around the robot 1 detected based on the processing result related to the detection signal of the first sensor 22A. The second object includes at least one or both of the image of the first sensor 22A and the image after image processing of the image in the display object contained in the second screen S2. The image after image processing may also be a distance image, an image indicating information of the subject in the image, an image containing indicators, or a combination thereof.

[0101] For example, the operation terminal 50 may also change one or both of the object and the screen itself displayed on the display 54A between the state where the operation terminal 50 is wirelessly connected to the controller 40 and the state where the operation terminal 50 is wiredly connected to the controller 40. For example, when the operation terminal 50 is wiredly connected to the controller 40, the operation terminal 50 may display the first object, the first screen S1, or a combination thereof on the display 54A. When the operation terminal 50 is wirelessly connected to the controller 40, the display 54A may display the second object, the second screen S2, or a combination thereof. When the operation terminal 50 is wiredly connected to the controller 40 and wirelessly connected, the display 54A may display the first object, the first screen S1, or a combination thereof.

[0102] In the robot 1 according to the above-mentioned embodiment, the base joints 31A to 31D of the legs 30A to 30D are configured to bend around two axes, the pitch direction and the roll direction, relative to the trunk 10, but the present invention is not limited thereto. For example, the base joints 31A to 31D may be configured to bend around two axes, the pitch direction and the yaw direction, around two axes, the roll direction and the yaw direction, or around two other axes relative to the trunk 10 when the intermediate links 33A to 33D extend in the downward direction Dd. The base joints 31A to 31D may also be configured to bend around three or more axes relative to the trunk 10.

[0103] In the robot 1 involved in the embodiment, the intermediate joints 32A to 32D of the legs 30A to 30D are configured to bend in the pitch direction relative to the trunk 10, but are not limited to this. For example, the intermediate joints 32A to 32D may also be configured to bend in the yaw direction, the roll direction, or other directions relative to the trunk 10 when the legs 30A to 30D extend in the downward direction Dd. The intermediate joints 32A to 32D may also be configured to bend around two or more axes. In the case where a leg includes more than two intermediate joints, the flexion directions of the intermediate joints may be the same as or different from each other.

[0104] The appearance of the robot 1 according to the embodiment is not limited to the appearance imitating a four-limbed mammal. For example, the appearance of the robot 1 other than the legs 30A to 30D may be any appearance. For example, the appearance of the robot 1 other than the legs 30A to 30D may be the appearance imitating various vehicles such as motorcycles, bicycles, cars with three or more wheels, ships, and airplanes.

[0105] (Variation Example)

[0106] The robot 1 involved in the embodiment is a quadruped walking robot including legs 30A to 30D as a moving device, but the robot is not limited to a quadruped walking robot. The robot may be a bipedal humanoid or a robot with a transport vehicle. The robot may be configured to allow a person to ride and move.

[0107] For example, Fig.10 1A is a side view showing an example of the structure of a robot 1A according to a modified example. Fig.10 As shown, the robot 1A includes a trolley 300, a robot arm 100 disposed on the trolley 300, a controller 40, and an operation terminal 50. Although one robot arm 100 is disposed, two or more robot arms 100 may be disposed. The robot arm 100 includes one or more joints and an actuator that drives the one or more joints. The actuator is controlled by the controller 40.

[0108] The trolley 300 includes a travel device 310 and two or more driven wheels 320. The travel device 310 includes travel wheels 311 and 312 arranged on the same axis, and actuators 313 and 314 that drive the travel wheels 311 and 312 and rotate them. The two or more driven wheels 320 and the travel wheels 311 and 312 are arranged to contact with the support surface supporting the trolley 300 at the same time. The driven wheels 320 can freely change the direction of travel, for example, free casters. The actuators 313 and 314 are the same as the travel device 90 and are controlled by the controller 40.

[0109] The robot 1A includes a handle 330 and a seat 340 on a carriage 300 . The seat 340 is large enough to seat one or more persons. The robot 1A further includes a controller 40 , a secondary battery module 60 , a power supply circuit 70 , and a second communicator 80 in the carriage 300 .

[0110] The operation terminal 50 is configured to be attachable to and detachable from the trolley 300 or the handle 330. For example, the operation terminal 50 may be mounted on a holder mounted on the trolley 300, a recess formed on the trolley 300, or a combination thereof. The operation terminal 50 may also be mounted on a holder mounted on the handle 330. The operation terminal 50 mounted on the robot 1A is arranged at a position near the handle 330 such that a person can grasp the handle 330 with either or both hands and operate the operation terminal 50.

[0111] The other configurations of the robot 1A according to the modification are the same as those of the embodiment, and thus descriptions thereof are omitted. According to the robot 1A according to the modification, the same effects as those of the robot 1 according to the embodiment can be obtained.

[0112] In the robot 1A according to the modification, the vehicle 300 is configured to move using the wheels 311 , 312 , and 320 , but the present invention is not limited thereto. For example, the vehicle 300 may be configured to move using crawler tracks.

[0113] The robot 1A according to the modification example is configured so that a person sits on the seat 340 and rides on the vehicle 300 , but the robot 1A may be configured so that a person rides on the vehicle 300 in a standing state.

[0114] In the robot 1A according to the modification, the robot arm 100 is a vertical multi-joint type, but the present invention is not limited thereto. For example, the robot arm 100 may be a horizontal multi-joint type, a polar coordinate type, a cylindrical coordinate type, a rectangular coordinate type, or other types.

[0115] (Other embodiments)

[0116] The embodiments of the present disclosure are described above, but the present disclosure is not limited to the above-mentioned embodiments and variations. That is, various modifications and improvements can be made within the scope of the present disclosure. For example, a method obtained by implementing various modifications to the embodiments and variations and a method constructed by combining constituent elements in different embodiments and variations are also included in the scope of the present disclosure.

[0117] For example, in the robots 1 and 1A involved in the embodiments and the modified examples, the actuator includes a servo motor as a driving source, and the servo motor has a structure of a rotary electric motor, but the driving source of the actuator is not limited to a rotary electric motor. For example, the actuator may also include a rotary electric motor, a direct-acting electric motor, a rotary hydraulic or pneumatic motor, a direct-acting hydraulic or pneumatic motor, or a combination of two or more thereof as a driving source. The various motors mentioned above may not be servo motors.

[0118] The robots 1 and 1A involved in the embodiment and the modified example use the secondary battery module 60 as a power source, but are not limited to this. For example, the robots 1 and 1A may use an external power source such as a commercial power source as a power source. In this case, the robots 1 and 1A may also be electrically connected to the external power source via a wire or contact, and receive power supply from the external power source to operate.

[0119] The robots 1 and 1A involved in the embodiments and modifications may also include an operating device in addition to the operating terminal 50. For example, the robot may also include an operating device in the main body. The operating device may include an input device having the same function as at least a part of the input device 55 of the operating terminal 50, or may include an input device different from the input device 55. The input device of the operating device may also have a structure suitable for operation by a person riding on the robot, for example, it may be configured on a handle, or may include a handle. The operating terminal 50 and the operating device may also be configured such that when the operating terminal 50 is installed on the robot 1 or 1A, at least a part of the function of the operating terminal 50 is implemented by the operating device. The operating terminal 50 and the operating device may be configured to perform functions simultaneously, or may be configured to perform functions alternately with each other.

[0120] The robots 1 and 1A involved in the embodiments and modified examples are configured so that a person sits on the seat and rides on the robot, but the present invention is not limited thereto. The robot disclosed herein can be used as long as a person can ride on it. For example, the robots 1 and 1A can also be configured so that a person can ride on the robot in a standing state or a lying state.

[0121] The various modes of the technology disclosed in the present invention are exemplified as follows. A robot according to one mode of the present invention comprises: a main body for a person to ride on; a handle for a person riding on the main body to grip; a moving device for moving the main body; an operation terminal that can be attached to and detached from the robot and receives input of instructions related to the operation of the robot; and a control device for controlling the robot according to instructions received from the operation terminal, wherein the operation terminal is arranged at a position where a person grips the handle and operates the operation terminal when the operation terminal is attached to the robot.

[0122] According to the above method, the operation terminal installed on the robot can function as an operator mounted on the robot that can be operated by an operator who grasps the handle. As a result, the operation equipment mounted on the robot can be reduced. In addition, the operation terminal removed from the robot can function as a remote operator of the robot. The operation terminal can function as an operator mounted on the robot and can also function as a remote operator of the robot. Therefore, the user's operations in both the riding state and the non-riding state of the robot can be performed by using a simple structure of one operation terminal.

[0123] In a robot involved in one embodiment of the present disclosure, it can also be configured as follows: the above-mentioned operation terminal includes a display and an operation element operated by a person, and when the above-mentioned operation terminal is installed on the above-mentioned robot, the above-mentioned operation element is arranged at a position where the person grasps the above-mentioned handle and operates the above-mentioned operation element. According to the above-mentioned embodiment, the operation element installed on the operation terminal of the robot can be operated by the operator grasping the handle. Therefore, the number of operation elements mounted on the robot can be reduced.

[0124] In a robot involved in one embodiment of the present disclosure, it can also be constructed as follows: the above-mentioned operating element includes a plurality of joysticks arranged on both sides of the above-mentioned display, and when the above-mentioned operating terminal is installed on the above-mentioned robot, the above-mentioned plurality of joysticks are arranged at a position where a person grasps the above-mentioned handle and operates the above-mentioned plurality of joysticks.

[0125] According to the above-mentioned mode, since the joystick can be freely moved, the operation of the robot is simplified. The operation terminal including the joystick can operate the robot with the operation feeling of a game operator, for example. In addition, the joystick installed on the operation terminal of the robot can be operated by an operator who grasps the handle. Since the display is located between the joysticks, the operator can easily visually recognize the display while operating the joysticks. The operation terminal can operate the robot with the feeling of game operation in both remote operation of the robot and operation on the robot.

[0126] In the robot involved in one embodiment of the present disclosure, it can also be configured that: the above-mentioned operation terminal includes a display, and the above-mentioned operation terminal selectively displays a first screen used when a person is riding on the above-mentioned body, and a second screen used when the person leaves the above-mentioned robot. According to the above-mentioned embodiment, the operation terminal can display appropriate screens in the remote operation of the robot and the operation on the robot. Therefore, the operation terminal can make the operator's operation easy.

[0127] In a robot involved in one embodiment of the present disclosure, it can also be configured that: the above-mentioned operation terminal displays the above-mentioned first screen when it is installed on the above-mentioned robot, and displays the above-mentioned second screen when it is removed from the above-mentioned robot. According to the above-mentioned embodiment, the operation terminal can switch the display screen according to the loading and unloading of the operation terminal relative to the robot. For example, the operation terminal can detect the loading and unloading of the operation terminal relative to the robot, the distance between the robot and the operation terminal, or both, and autonomously switch the screen based on the detection result. The operation terminal can also switch the screen according to the instruction input by the operator to the operation terminal. For example, the instruction can also be the switching of the screen, the switching of the operation, the switching of the communication method with the control device, or a combination of two or more thereof.

[0128] It can also be configured as follows: the robot involved in one embodiment of the present disclosure further includes a camera, and the operation terminal displays one or both of an image obtained by the camera and an image processed from the image on the second screen. According to the above embodiment, during remote operation of the robot, the operation terminal displays the image of the camera, etc. Therefore, the operation terminal can facilitate the operation of the operator.

[0129] In the robot involved in one embodiment of the present disclosure, it can also be configured as follows: the above-mentioned operation terminal includes a wireless communicator for wireless communication with the above-mentioned control device and a terminal connected to the above-mentioned control device by wire, and the above-mentioned operation terminal sends instructions to the above-mentioned control device regardless of whether it is wireless communication or wired communication, thereby operating the above-mentioned robot. According to the above-mentioned embodiment, the operation terminal can communicate with the control device through either or both of wireless communication and wired communication and operate the robot. Reliable communication can be performed between the operation terminal and the control device.

[0130] In the robot involved in one embodiment of the present disclosure, it can also be configured that: the above-mentioned operation terminal makes the wired connection between the above-mentioned terminal and the above-mentioned control device take precedence over the wireless connection between the above-mentioned wireless communicator and the above-mentioned control device to communicate with the above-mentioned control device. According to the above-mentioned embodiment, the operation terminal can more reliably establish the connection between the operation terminal and the control device. For example, if the operation terminal makes a wired connection while being wirelessly connected to the control device, the communication via the wired connection can be given priority to make the communication reliable.

[0131] In the robot involved in one embodiment of the present disclosure, it can also be configured as follows: the above-mentioned operation terminal includes a display, and the above-mentioned operation terminal displays different screens on the above-mentioned display between a state in which the above-mentioned wireless communicator is wirelessly connected to the above-mentioned control device and a state in which the above-mentioned terminal is wiredly connected to the above-mentioned control device.

[0132] According to the above method, the operation terminal switches the screen according to the connection status with the control device. For example, the operation terminal can display the first screen for operation on the robot in the case of wired connection, and can also display the second screen for remote operation in the case of wireless connection. The operation terminal can display a screen suitable for the operator's operation status based on the connection status.

[0133] It can also be configured as follows: the robot involved in one embodiment of the present disclosure further includes a battery as a power source, the above-mentioned operation terminal also includes a secondary battery as a power source, and the above-mentioned operation terminal is connected to the above-mentioned control device via the above-mentioned terminal, and receives power supply from the above-mentioned battery of the above-mentioned robot. According to the above-mentioned embodiment, the operation terminal can receive power supply from the battery of the robot via the wired connection between the operation terminal and the control device. It is possible to achieve long-term stable operation of the operation terminal.

[0134] In the robot involved in one embodiment of the present disclosure, it can also be configured that: the above-mentioned operation terminal is connected to the above-mentioned control device via the above-mentioned terminal, receives power supply from the above-mentioned battery of the above-mentioned robot, and communicates with the above-mentioned control device. According to the above-mentioned embodiment, through the wired connection between the operation terminal and the control device, the operation terminal can reliably communicate with the control device and obtain power from the battery of the robot.

[0135] In the robot involved in one embodiment of the present disclosure, it can also be configured that: the above-mentioned operation terminal receives power supply from the above-mentioned battery of the above-mentioned robot via a wired connection between the above-mentioned terminal and the above-mentioned control device, and communicates with the above-mentioned control device via a wireless connection between the above-mentioned wireless communicator and the above-mentioned control device. According to the above embodiment, a device for wired communication between the operation terminal and the control device is not required. The structure of the operation terminal and the robot can be simplified.

[0136] In the robot involved in one embodiment of the present disclosure, the mobile device may include: two or more legs connected to the main body and performing a flexion action, each including two or more joints; and a plurality of joint actuators driving the plurality of joints, and the control device controls the plurality of joint actuators. According to the embodiment, the operation terminal can remotely operate the robot that uses legs to walk and can be ridden by a person, and can operate the robot.

[0137] In the robot involved in one embodiment of the present disclosure, it can also be configured as follows: the above-mentioned moving device includes one or more rotatable wheels and one or more wheel actuators driving the above-mentioned one or more wheels, and the above-mentioned control device controls the above-mentioned one or more wheel actuators. According to the above embodiment, the operation terminal can remotely operate the robot that uses wheels to walk and can be ridden by people, and operate the robot.

[0138] The functions of the elements disclosed in this specification can be performed using a circuit or processing circuit that includes a general-purpose processor, a special-purpose processor, an integrated circuit, an ASIC, an existing circuit, and / or a combination thereof that is configured or programmed to perform the disclosed functions. Since the processor includes transistors and other circuits, it is considered to be a processing circuit or circuit. In the present disclosure, a circuit, a unit, or a mechanism is hardware that performs the listed functions, or is hardware that is programmed to perform the listed functions. The hardware may be the hardware disclosed in this specification, or it may be other known hardware that is programmed or configured to perform the listed functions. In the case where the hardware is a processor that is considered to be a type of circuit, the circuit, mechanism, or unit is a combination of hardware and software, and the software is used for the structure of the hardware and / or processor.

[0139] The numbers such as ordinal numbers and quantities used above are exemplified for the purpose of specifically describing the technology of the present disclosure, and the present disclosure is not limited by the exemplified numbers. The connection relationship between the constituent elements is exemplified for the purpose of specifically describing the technology of the present disclosure, and the connection relationship for realizing the functions of the present disclosure is not limited thereto.

[0140] The scope of the present disclosure is defined by the attached claims rather than by the description in the specification, so that the present disclosure can be implemented in various forms without departing from its essential characteristic scope, and therefore the illustrative embodiments and modifications are illustrative rather than restrictive. It is intended that the claims include all changes within the claims and the scope thereof, or equivalents of the claims and the scope thereof.

Claims

1. A robot, characterized in that: The robot has: The main body is for people to ride on; a handle for a person riding on the body to grasp; A moving device for moving the main body; an operation terminal that can be attached to and detached from the robot and receives input of instructions related to the operation of the robot; as well as a control device, controlling the robot according to instructions received from the operation terminal, In a state where the operation terminal is mounted on the robot, the operation terminal is arranged at a position where a person grasps the handle and operates the operation terminal.

2. The robot according to claim 1, characterized in that: The operation terminal includes a display and an operation element operated by a person. In a state where the operation terminal is mounted on the robot, the operation element is arranged at a position where a person grasps the handle and operates the operation element.

3. The robot according to claim 2, characterized in that: The operating element includes a plurality of joysticks arranged on both sides of the display. In a state where the operation terminal is mounted on the robot, the plurality of joysticks are arranged at positions where a person grasps the handle and operates the plurality of joysticks.

4. The robot according to any one of claims 1 to 3, characterized in that: The operation terminal includes a display, The operation terminal selectively displays a first screen used when a person rides on the main body and a second screen used when the person leaves the robot.

5. The robot according to claim 4, characterized in that: The operation terminal displays the first screen when the operation terminal is attached to the robot, and displays the second screen when the operation terminal is detached from the robot.

6. The robot according to claim 4 or 5, characterized in that: The robot is also equipped with a camera. The operation terminal displays, on the second screen, either one or both of an image acquired by the camera and an image obtained after image processing of the image.

7. The robot according to any one of claims 1 to 6, characterized in that: The operation terminal includes a wireless communicator for wirelessly communicating with the control device, and a terminal connected to the control device by wire. The operation terminal sends a command to the control device via either wireless communication or wired communication, thereby operating the robot.

8. The robot according to claim 7, characterized in that: The operation terminal communicates with the control device by giving priority to a wired connection between the terminal and the control device over a wireless connection between the wireless communicator and the control device.

9. The robot according to claim 7 or 8, characterized in that: The operation terminal includes a display, The operation terminal displays different screens on the display between a state in which the wireless communicator is wirelessly connected to the control device and a state in which the terminal is wiredly connected to the control device.

10. The robot according to any one of claims 7 to 9, characterized in that: The robot also has a battery as a power source. The operation terminal further includes a secondary battery as a power source, The operation terminal is connected to the control device via the terminal by wire, and receives power supply from the battery of the robot.

11. The robot according to claim 10, characterized in that: The operation terminal is connected to the control device via the terminal by wire, receives power supply from the battery of the robot, and communicates with the control device.

12. The robot according to claim 10, characterized in that: The operation terminal receives power supply from the battery of the robot via a wired connection between the terminal and the control device, and communicates with the control device via a wireless connection between the wireless communicator and the control device.

13. The robot according to any one of claims 1 to 12, characterized in that: The mobile device comprises: Two or more legs connected to the main body and capable of flexion, each of which includes two or more joints; and A plurality of joint actuators driving the plurality of said joints, The control device controls the plurality of joint actuators.

14. The robot according to any one of claims 1 to 13, characterized in that: The mobile device comprises: one or more rotatable wheels; and one or more wheel actuators driving said one or more wheels, The control device controls the one or more wheel actuators.

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