Robot

Abstract

The present invention relates to a robot comprising a robot main body, a leg part coupled to the robot main body, a wheel rotatably coupled to the leg part, and an arm pivotally coupled to both side surfaces of the robot main body, so that the robot has various actions of rotating the arm to support the ground. And the function of the robot is expanded or changed by combining with the functional module.

Description

Technical Field

[0001] The present invention relates to a robot, and more particularly to a robot capable of providing various services according to a user's command input. Background Art

[0002] In recent years, with the development of robot technology, the frequency of using robots at home has gradually increased not only in the industrial field.

[0003] As for household robots, there are robots that help with housework such as cleaning or control home appliances to perform household affairs instead of humans, robots that use artificial intelligence (AI) to act as secretaries for users or provide education to users, and robots that replace pets.

[0004] However, existing household robots have the limitation of only performing one of the above functions and cannot perform various functions according to the needs or conditions of the user.

[0005] On the other hand, as for robots, in addition to robots that perform functions in a state of being fixed at a specific position, there are also mobile robots that can move. In particular, home robots mainly use mobile robots that replace users or move around the house with users.

[0006] Among mobile robots, a two-wheeled robot having two wheels has the advantage of being easy to store due to its small footprint, and has the advantage of being easy to use in a home with a relatively small space due to its small rotation radius when the robot changes direction.

[0007] On the other hand, the US patent publication US2020-0362972A1 (2020.11.19) discloses a mobile robot that moves using a pair of legs with wheels.

[0008] The mobile robot can move by rotating wheels provided on a pair of legs in a state where an object is lifted by the arm.

[0009] However, the above-mentioned mobile robot has a limitation in that its arm only has the function of lifting objects, and the arm cannot be used to expand the function of the robot.

[0010] In addition, in order to maintain balance during travel or when stopped, the mobile robot rotates a main body connected to the leg portion in a pendulum-like manner, and rotates a counter-balance in accordance with the rotation of the main body, thereby maintaining balance.

[0011] Therefore, in order to stably maintain the posture of the mobile robot, the motor needs to be continuously operated to rotate the wheels and the counterweight. In this case, the mobile robot has the limitation that it needs to continuously consume electric energy even if the robot stops at the original place or waits at the original place.

[0012] On the other hand, Japanese utility model JP3136601U (2007.10.10) discloses a walking toy capable of standing up.

[0013] The walking toy can stand up by rotating two arms and two legs in a state of lying flat on the ground.

[0014] However, the two arms of the walking toy are separated from each other and each supports the ground, so there is a limitation that the walking toy cannot maintain a posture in a state of supporting the body.

[0015] In addition, the arms of the walking toys described above do not have a structure that can be combined with other objects, and thus there is a limitation that functions other than the toy cannot be added. Summary of the invention

[0016] Problems to be solved by the invention

[0017] The present invention has been made in order to improve the above-mentioned conventional problems, and an object of the present invention is to provide a robot having an arm that executes various functions according to situations or user instructions.

[0018] Another object of the present invention is to provide a robot capable of changing a function currently in use to a new function, or adding a new function to a function currently in use.

[0019] Another object is to provide a robot that can minimize power consumption while maintaining an original position or in a standby state.

[0020] Another object is to provide a robot that can stand up after falling down.

[0021] Another object is to provide a robot that can express the robot's emotions by performing facial expressions and movements according to the situation.

[0022] Another object is to provide a robot capable of changing the display on a display according to the shape of a display cover.

[0023] Technical solutions to the problem

[0024] In order to achieve the above-mentioned objectives, the robot of the present invention may include: a robot body; a leg part, which is combined with the robot body; a wheel, which is rotatably combined with the leg part; and an arm, which is pivotally combined with two sides of the robot body.

[0025] At this time, the arm may include: a rotational coupling portion rotatably coupled to both side surfaces of the robot body; and a connection portion connecting a pair of the rotational coupling portions to each other.

[0026] The rotationally coupled portion of the arm and the connecting portion may rotate integrally with the rotationally coupled portion as a rotation axis.

[0027] The arm may be detachably coupled to a functional module, and the functional module is coupled to the robot body to impart functions to the robot body.

[0028] The connection portion may be provided with a connection terminal electrically connected to the functional module.

[0029] The connection portion may be provided with a detachable portion to be detachably coupled to the functional module.

[0030] The arm may be in contact with the ground and support the robot body together with the wheels.

[0031] The leg portion may include a first link coupled to the robot body link, a second link coupled to the robot body link, and a third link coupled to the first link and the second link and coupled to the wheel portion.

[0032] At this time, the rotation radius of the arm may be longer than the maximum length of the first link, and the rotation radius of the arm may be shorter than the maximum length of the leg portion. Thus, the end of the arm may be arranged closer to the ground than the first link.

[0033] On the other hand, in a case where the robot falls down and at least a portion of the robot body contacts the ground, the arm and the wheel may rotate to raise the robot body.

[0034] Alternatively, in a case where the robot falls down and at least a portion of the third link contacts the ground, the arm and the wheel may rotate to raise the robot body.

[0035] The robot of the present invention may further include: a display configured on the robot body to display the status of the robot body; and a robot mask detachably coupled to the robot body and covering the display.

[0036] The display may change a graphic displayed in a state where the robot mask is coupled according to the shape of the mask.

[0037] The robot mask may include a mask function portion that provides a function to the robot body when the robot mask is combined with the robot body.

[0038] Effects of the Invention

[0039] As described above, according to the robot of the present invention, various actions can be achieved by rotating one arm pivotably provided on both sides of the robot body, and the function of the robot can be expanded or changed.

[0040] In addition, a functional module may be combined in front of or behind the robot body according to a user's instruction or situation, and various functions may be performed using the functional module.

[0041] Alternatively, a functional module may be combined on the lower side of the robot body according to a user's instruction or situation, and various functions may be performed using the functional module.

[0042] In addition, by replacing the robot mask that is detachably connected to the robot body, the design of the robot can be changed or new functions can be added.

[0043] In addition, a space for coupling the functional module is formed between the pair of wheels and the pair of legs, so that even when the robot body and the functional module are coupled, the overall volume does not increase significantly.

[0044] In addition, when the functional module is combined with the robot body, the functional module also contacts the ground, so that the balance of the robot can be easily maintained.

[0045] In addition, when the robot stops at the original position, the rotation of the wheel can be stopped, and the arm can be rotated to support the ground. Thus, the power consumption generated by the drive of the wheel can be minimized.

[0046] In addition, by enabling the robot to stand up using its arms after falling down, the robot can stand up more stably and maintain balance. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1a and Figure 1b It is a perspective view of a robot for explaining an embodiment of the present invention.

[0048] Figure 2a and Figure 2b 2 is a front view of a robot according to an embodiment of the present invention.

[0049] Figure 3 is a side view of a robot according to an embodiment of the present invention.

[0050] Figure 4 FIG. 1 is a rear view of a robot according to an embodiment of the present invention.

[0051] Figure 5 FIG. 1 is a top view of a robot according to an embodiment of the present invention.

[0052] Figure 6 FIG. 1 is a bottom view of a robot according to an embodiment of the present invention.

[0053] Figure 7 It is a three-dimensional diagram of a robot according to an embodiment of the present invention observed from another angle.

[0054] Figure 8 This is a partial cross-sectional view for explaining the power transmission for rotating the arm in the robot according to one embodiment of the present invention.

[0055] Fig. 9 FIG. 1 is a top view of a robot according to an embodiment of the present invention.

[0056] Fig.10 It is a diagram for explaining a robot arm according to another embodiment of the present invention.

[0057] Fig.11 It is used to illustrate Fig.10 A diagram showing a state in which the loading and unloading portion of the arm is rotated.

[0058] Fig.12 It is a bottom view for explaining an embodiment in which a charging terminal is provided in a robot according to an embodiment of the present invention.

[0059] Fig.13a and Fig.13b It is a diagram for explaining a structure for restricting the rotation of an arm.

[0060] Fig.14a and Fig.14b It is used to illustrate Fig.13a and Fig.13b FIG. 1 is a diagram of another embodiment of the present invention.

[0061] Fig.15 This is a diagram for explaining a state in which the robot according to one embodiment of the present invention does not move and is on standby.

[0062] Fig.16 yes Fig.15 Side view of.

[0063] Fig.17a and Fig.17b The diagram is used to explain the action of the robot according to the embodiment of the present invention standing up from a state of falling forward.

[0064] Fig.18a and Fig.18b The diagram is used to explain the action of the robot according to the embodiment of the present invention standing up from a state of falling backwards.

[0065] Fig.19 and Fig. 20 It is a diagram for explaining a state where a robot and a functional module are combined according to an embodiment of the present invention.

[0066] Fig.21 It is a perspective view for explaining the functional modules of a robot according to an embodiment of the present invention.

[0067] Fig. 22 It is a diagram for explaining a state in which a robot main body and functional modules are combined in a robot according to an embodiment of the present invention.

[0068] Fig.23a and Figure 23b It is a diagram for explaining the connection relationship between the robot mask and the robot body in the robot according to one embodiment of the present invention.

[0069] Fig.24 A diagram for explaining a state in which a robot mask is separated in a robot according to an embodiment of the present invention.

[0070] Fig.25 It is a diagram for explaining the structure of a robot mask in a robot according to an embodiment of the present invention.

[0071] Figure 26 to Figure 29 It is a diagram for explaining a state in which various functions are added to the robot mask of the robot of the present invention.

[0072] Fig.30 This is a block diagram for explaining the control structure of a robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0073] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0074] The present invention can be modified in various ways and can have various embodiments, so specific embodiments are shown in the drawings and are specifically described in the detailed description. This is not intended to limit the present invention to specific embodiments, but should be interpreted as including all changes, equivalents and substitutes within the scope of the present invention.

[0075] exist Figures 1a to 12 Detailed description is given of the drawings which illustrate a stereoscopic view, a front view, a side view, a rear view, a top view, a bottom view and a diagram for explaining the arm of the robot according to an embodiment of the present invention.

[0076] Below, refer to Figures 1a to 12 , a robot 1 according to an embodiment of the present invention is described.

[0077] The robot 1 according to the embodiment of the present invention is placed on the floor and moves along the floor surface B. Therefore, the following description will be given with the up-down direction defined based on the state where the robot 1 is placed on the floor.

[0078] Furthermore, the description will be given by defining the side where the obstacle detection camera 610 described later is arranged as the front of the robot 1. Furthermore, the description will be given by defining the opposite direction of the front as the rear of the robot 1.

[0079] The “lowest part” of each component described in the embodiment of the present invention may be the lowest part of each component when the robot 1 of the embodiment of the present invention is placed on the floor for use, or may be the part closest to the floor.

[0080] The robot 1 of the embodiment of the present invention includes a robot body 100, a leg part 200, a wheel part 300, an arm 400, and a robot mask 500. At this time, the robot body 100 is combined with the leg part 200, and the leg part 200 is combined with the wheel part 300. In addition, the arm 400 is pivotally combined on both sides of the robot body 100. In addition, the robot mask 500 is detachably combined with the robot body 100.

[0081] Robot body

[0082] Below, refer to Figures 1a to 12 , a robot body 100 of a robot 1 according to an embodiment of the present invention is described.

[0083] The robot body 100 may be combined with various components constituting the robot 1. For example, the robot mask 500 may be detachably combined with the robot body 100. In addition, the arm 400 may be pivotally combined with the robot body 100. The arm 400 may be pivotally combined with both side ends of the robot body 100. The robot body 100 may be combined with the function module 900 by using the arm 400, or the robot body 100 may be directly combined with the function module 900 to perform additional functions. In addition, the robot body 100 may realize a standby posture for power saving and a posture for standing up after falling by using the arm 400.

[0084] Some components constituting the robot 1 may be accommodated inside the robot body 100 .

[0085] The main body cover 110 may constitute the outer shape of the robot body 100. In the internal space of the main body cover 110, one or more motors including the suspension motor MS, one or more sensors, and a battery 800 may be accommodated.

[0086] In addition, although not shown in the drawings, at least one buffer may be provided inside the main body housing 110 .

[0087] The buffer may be provided to be relatively movable relative to the main body cover 110. For example, the buffer may be combined with the main body cover 110 to be reciprocatingly movable along the front-rear direction of the main body cover 110.

[0088] The buffer may be combined along a portion or the entire front edge of the main body cover 110. In addition, the buffer may be disposed on the inner rear side of the main body cover 110.

[0089] With the configuration described above, when the robot 1 collides with another object or a person, the buffer can protect the robot main body 100 and components accommodated inside the robot main body 100 by absorbing the impact applied to the robot main body 100 .

[0090] A pair of leg portions 200 are coupled to the interior of the main housing 110. The pair of leg portions 200 may penetrate the main housing 110 and be exposed to the outside.

[0091] Specifically, the first link 210 and the second link 220 may be rotatably coupled inside the main housing 110. For example, a link frame (not shown) coupled to the first link 210 and the second link 220 may be provided inside the main housing 110.

[0092] Furthermore, the suspension motor MS may be accommodated inside the main body housing 110 . For example, the suspension motor MS may be disposed on a link frame (not shown). The suspension motor MS may be connected to the first link 210 .

[0093] A pair of leg guide holes 111 may be formed in the main body cover 110. For example, the pair of leg guide holes 111 may be formed in parallel along the front-rear direction of the main body cover 110.

[0094] With such a configuration, the leg portion 200 can be rotationally moved along the leg portion guide hole 111 , and the rotational movement range of the leg portion 200 can be guided.

[0095] The main body cover 110 may be configured in a shape in which the horizontal width (or diameter) is greater than the vertical height. For example, the main body cover 110 may be formed in a shape similar to an ellipsoid.

[0096] Such a robot body 100 helps the robot 1 to form a stable structure and can provide a structure that helps the robot 1 to maintain balance during movement (driving).

[0097] The robot body 100 may be arranged vertically above the wheel 310 described later. The load of the robot body 100 may be transferred to the wheel 310 through the leg portion 200, and the wheel 310 may support the leg portion 200 and the robot body 100. With the above-described configuration, the wheel 310 may stably support the load of the robot body 100.

[0098] The robot body 100 may include a display 120. The display 120 may be combined with the main body cover 110. The display 120 may be formed in a flat plate shape. The display 120 may be arranged at a predetermined angle with respect to the ground. For example, the display 120 may be arranged at a position facing the upper front side. With such a configuration, when the robot 1 approaches the user, if the user looks at the robot 1, the display 120 can be seen.

[0099] On the other hand, the display 120 can convey information about the operating status of the robot 1 to the user in a visual manner.

[0100] The display 120 may be formed by any device of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel (Plasma Display Panel), or an organic light emitting diode (OLED).

[0101] The display 120 can display information such as the operation time information of the robot 1 and the power information of the battery 800 .

[0102] According to an embodiment, the display 120 may be the input unit 125. That is, the display 120 may receive a control instruction input by a user. For example, the display 120 may be a touch screen that visually displays an operating state and receives a control instruction input by a user.

[0103] The display 120 may display the facial expression of the robot 1. Alternatively, the display 120 may display the eyes of the robot 1. By displaying the facial shape or eye shape on the display 120, the current state of the robot 1 can be personified and displayed from the emotional aspect. For example, when the user returns home after going out, a smiling face expression or smiling eye shape can be displayed on the display 120. This has the effect of making the user feel that he is communicating with the robot 1.

[0104] According to the embodiment, Fig.12 As shown, a charging terminal 130 can be configured on the main cover 110. For example, the charging terminal 130 can be configured to face the ground. As an example, the charging terminal 130 can be configured to face the ground. As another example, the charging terminal 130 can be configured to form a specified angle with the ground. With such a configuration, when the robot 1 is combined with a robot charging seat (not shown), the charging terminal 130 can contact with a terminal provided on the robot charging seat (not shown).

[0105] The charging terminal 130 may be electrically connected to a robot charging stand (not shown). With such a configuration, the robot 1 may receive power through the charging terminal 130. The power supplied to the charging terminal 130 may be supplied to the battery 800. In addition, the robot 1 may receive an electrical signal through the charging terminal 130. The control unit 700 may receive the electrical signal transmitted through the charging terminal 130.

[0106] According to an embodiment, a microphone 140 may be disposed on the main housing 110. A plurality of microphones 140 may be disposed on the main housing 110. For example, four microphones 140 may be disposed on the upper side of the main housing 110. With such a configuration, the microphone 140 may detect sounds from various directions and the position of the sound source.

[0107] According to the embodiment, Figure 6 As shown, a module combining part 150 may be disposed at the lower part of the main housing 110. The module combining part 150 is detachably combined with the functional module 900. Specifically, the module combining part 150 may be selectively combined with or separated from the functional module 900.

[0108] As an example, the module coupling part 150 may be configured as an electromagnet, and may selectively apply magnetic force (attraction) to the functional module 900 according to the supply of power. As another example, the module coupling part 150 may be configured to be hooked with the coupling part 930 of the functional module 900. In this case, the coupling force between the robot body 100 and the functional module 900 may be strengthened.

[0109] At this time, a connection terminal may be arranged on the module joint part 150. With such a configuration, the module joint part 150 can be combined with the mounting and dismounting part of the metal material (or electromagnet) provided on the functional module 900 at an accurate position, and has the effect of guiding the connection terminal to contact with the corresponding terminal provided on the functional module 900 at an accurate position.

[0110] The connection terminal may be electrically connected to the functional module 900. The connection terminal may be in contact with a corresponding terminal provided at the functional module 900 and electrically connected.

[0111] With such a configuration, the power of the robot body 100 can be supplied to the functional module 900 through the connection terminal. In addition, the robot body 100 can transmit and receive electric signals with the functional module 900 through the connection terminal.

[0112] On the other hand, the functional module 900 will be described in detail later.

[0113] In addition, the main body housing 110 may be provided with an operation unit 160 . For example, the operation unit 160 may be provided at the rear of the main body housing 110 .

[0114] The user can operate the operation unit 160 , and by operating the operation unit 160 , the power of the robot 1 can be turned on or off.

[0115] The operation portion 160 may be pressably disposed on the main housing 110 , or may be disposed to pivot in left and right directions according to an embodiment.

[0116] For example, the operation part 160 may be a button. Therefore, when the power of the robot 1 is off (off), if the user presses the operation part 160 so that the operation part 160 is pressed, the power of the robot 1 can be turned on (on). Also, when the power of the robot 1 is on (on), if the user presses the operation part 160 so that the operation part 160 is pressed, the power of the robot 1 can be turned off (off).

[0117] Obstacle detection camera 610 Obstacle detection camera 610

[0118] On the other hand, an obstacle detection camera 610 may be arranged in front of the main body cover 110. According to an embodiment, a plurality of obstacle detection cameras 610 may be arranged. For example, a first detection camera 611 may be arranged in the front lower portion of the main body cover 110, and a second detection camera 612 may be arranged in the front upper portion of the main body cover 110. In this case, the obstacle detection camera 610 may be arranged on a center line passing through the left-right center of the main body cover 110. With such a configuration, the obstacle detection camera 610 can detect objects or people arranged in front of the robot 1.

[0119] In addition, an IR sensor 620 may be disposed in the main housing 110. According to an embodiment, a plurality of IR sensors 620 may be disposed. For example, a first IR sensor 621 may be disposed in the front lower portion of the main housing 110, and a second IR sensor 622 may be disposed in the rear of the main housing 110. With such a configuration, the IR sensor 620 can detect the position of a light source that generates infrared rays.

[0120] The IR sensor 620 may be disposed close to the obstacle detection camera 610. As an example, the obstacle detection camera 610 may be disposed between a pair of IR sensors 620. As another example, the first IR sensor 621 may be disposed directly below the first obstacle detection camera 611.

[0121] Through such a configuration, the IR sensor 620 can detect the light emitted by the lamp of the functional module 900 or the robot charging stand (not shown), and if the robot body 100 approaches the lamp, the obstacle detection camera 610 can detect the shape of the functional module 900 or the robot charging stand (not shown).

[0122] Leg

[0123] Below, refer to Figures 1a to 12 , the leg portion 200 of the robot 1 according to an embodiment of the present invention is described.

[0124] The leg portion 200 can be combined with the robot body 100 and support the robot body 100. For example, a pair of leg portions 200 are provided and are respectively combined inside the main body cover 110. A pair of leg portions 200 can be configured symmetrically (line symmetrically) to each other. At this time, at least a portion of the leg portion 200 is configured to be closer to the ground than the robot body 100. Therefore, the robot body 100 can use a pair of leg portions 200 to travel in a state of standing on the ground. That is, the gravity applied to the robot body 100 can be supported by the leg portion 200, and the height of the robot body 100 can be maintained.

[0125] The leg part 200 includes an upper leg part and a lower leg part. At this time, the upper leg part is rotatably connected to the robot body 100 and the lower leg part. The upper leg part can be arranged at a position higher than the lower leg part. That is, the upper leg part can be equivalent to a human thigh, and the lower leg part can be equivalent to a human calf.

[0126] On the other hand, the upper leg portion includes a first link 210 and a second link 220. At this time, the first link 210 and the second link 220 are rotatably coupled to the robot body 100 and the third link 230, respectively. That is, the first link 210 and the second link 220 are coupled to the robot body 100 and the third link 230, respectively.

[0127] According to the embodiment, the first link 210 and the second link 220 are arranged inside the upper link cover and are not exposed to the outside. The upper link cover can be formed in a bellows form, in which the first link 210 and the second link 220 are accommodated, and its length can be extended and contracted according to the rotation of the upper leg part.

[0128] The first link 210 is connected to the left and right sides of the robot body 100 .

[0129] The first link 210 is connected to the suspension motor MS. For example, the first link 210 may be connected to a shaft of the suspension motor MS directly or through a gear. With such a configuration, the first link 210 receives a driving force from the suspension motor MS.

[0130] The first link 210 is formed in a frame shape, and the suspension motor MS is connected to one side of the first link 210 in the length direction, and the third link 230 is connected to the other side in the length direction. At this time, the side of the first link 210 connected to the suspension motor MS is arranged to be farther from the ground than the other side of the first link 210 connected to the third link 230.

[0131] One side of the first link 210 is coupled to a leg support portion (not shown) provided inside the main body cover 110. The first link 210 may be rotatably coupled to the leg support portion. For example, one side of the first link 210 may be formed in a disk shape or a disc shape. Therefore, one side of the first link 210 may pass through the leg support portion and be connected to the suspension motor MS.

[0132] One side of the first link 210 is connected to the suspension motor MS. For example, one side of the first link 210 may be fixedly coupled to the shaft of the suspension motor MS. With such a configuration, when the suspension motor MS is driven, one side of the first link 210 may rotate in conjunction with the rotation of the shaft of the suspension motor MS.

[0133] The other side of the first connecting rod 210 is rotatably coupled to the third connecting rod 230. For example, a through hole may be formed on the other side of the first connecting rod 210. A shaft may be rotatably passed through the through hole. Both ends of the shaft in the longitudinal direction may be coupled to the third connecting rod 230.

[0134] By such a configuration, the shaft may be an axis about which the first link 210 and / or the third link 230 rotate. Therefore, the first link 210 and the third link 230 may be connected to be relatively rotatable.

[0135] Although not shown, the leg unit 200 may further include a gravity compensation unit that compensates for the vertical downward descent of the robot body 100 due to gravity. That is, the gravity compensation unit provides a force to support the robot body 100 .

[0136] For example, the gravity compensation part may be a torsion spring. The gravity compensation part may be wound to surround the outer peripheral surface of the first connecting rod 210. In addition, one end of the gravity compensation part may be inserted and fixedly coupled to the first connecting rod 210, and the other end of the gravity compensation part may be inserted and fixedly coupled to the third connecting rod 230.

[0137] The gravity compensation part applies a force (rotational force) in the direction in which the angle between the first link 210 and the third link 230 increases. For example, both end portions of the gravity compensation part are tightened in advance to apply a restoring force in the direction in which the angle between the first link 210 and the third link 230 increases. Therefore, even if gravity is applied to the robot body 100 when the robot 1 is placed on the ground, the angle between the first link 210 and the third link 230 can be kept within a specified angle range.

[0138] This configuration can prevent the robot body 100 from falling toward the ground even if the suspension motor MS is not driven. Therefore, the gravity compensation unit can prevent energy loss caused by driving the suspension motor MS and keep the height of the robot body 100 above a predetermined distance from the ground.

[0139] The second link 220 is connected to the left and right sides of the robot body 100. For example, the second link 220 can be connected to the leg support part (not shown) provided inside the main body cover 110. That is, the second link 220 can be connected to the leg support part (not shown) together with the first link 210.

[0140] The second link 220 is formed in a frame shape, and a leg support portion (not shown) is coupled to one side of the second link 220 in the longitudinal direction, and the third link 230 is coupled to the other side in the longitudinal direction.

[0141] The second connecting rod 220 may contain an electric wire. For example, a space capable of containing the electric wire may be formed inside the second connecting rod 220. Therefore, the power of the battery 800 may be supplied to the wheel portion 300 through the electric wire. At the same time, the electric wire may be prevented from being exposed to the outside.

[0142] One side of the second link 220 is rotatably coupled to the leg support portion. For example, although not shown in the figure, a shaft coupled to the leg support portion may be passed through one side of the second link 220. A hollow portion may be formed in the shaft. An electric wire may pass through the hollow portion. With such a configuration, it is possible to prevent the electric wires for supplying power from the battery 800 to the wheel motor MW from being exposed to the outside.

[0143] The other side of the second connecting rod 220 is rotatably coupled to the third connecting rod 230. Specifically, the other side end of the second connecting rod 220 can be rotatably coupled to the third connecting rod 230 using a shaft. For example, the other side of the second connecting rod 220 can be formed into a disc shape, and the shaft can penetrate and be coupled to the other side of the second connecting rod 220. In addition, both side ends of the shaft in the length direction can be coupled to the third connecting rod 230. With such a configuration, the shaft can be the axis of rotation of the second connecting rod 220 and / or the third connecting rod 230. Therefore, the second connecting rod 220 and the third connecting rod 230 can be connected to each other in a relatively rotatable manner.

[0144] The third link 230 is link-coupled with the first link 210 and the second link 220 , and is coupled with the wheel portion 300 .

[0145] The third link 230 is formed in a frame shape. The first link 210 and the second link 220 are coupled to one side in the length direction of the third link 230 , and the wheel portion 300 is coupled to the other side in the length direction.

[0146] One side of the third link 230 in the length direction is connected to the first link 210 and the second link 220. For example, a space may be formed on one side of the third link 230 to accommodate the first link 210 and the second link 220. That is, one side of the third link 230 may be formed in a pair of parallel frames, and the first link 210 and the second link 220 may be accommodated in the space between the pair of frames.

[0147] Here, two shafts may be arranged in parallel between a pair of frames. That is, both side ends of the two shafts may be connected to the pair of frames. And the shafts may pass through the first connecting rod 210 and the second connecting rod 220 respectively. At this time, the first connecting rod 210 may be arranged at a position closer to the front and lower side than the second connecting rod 220. That is, the shaft passing through the first connecting rod 210 may be closer to the wheel 310 than the shaft passing through the second connecting rod 220.

[0148] Therefore, the first link 210 and the second link 220 may be respectively coupled to the third link 230 so as to be relatively rotatable.

[0149] The other side of the third link 230 in the length direction is combined with the wheel portion 300. The other side of the third link 230 in the length direction may be formed to cover at least a portion of the wheel 310. For example, the other side of the third link 230 in the length direction may be formed to cover the rotation center of the wheel 310, and a space capable of rotatably accommodating the wheel 310 may be formed therein.

[0150] In addition, a wheel motor MW may be accommodated inside the other side of the third link 230 in the longitudinal direction.

[0151] With such a configuration, the wheel 310 and the wheel motor MW may be accommodated on the other side of the third link 230 in the longitudinal direction, and the wheel 310 may be rotatably coupled to the other side of the third link 230 in the longitudinal direction.

[0152] On the other hand, a sensor capable of measuring the distance to the ground may be provided on the other side in the length direction of the third link 230. As an example, the sensor may be a ToF sensor (Time of Flight sensor). With such a configuration, the control unit 700 can determine whether the wheel 310 is in contact with the ground. As another example, a first cliff sensor 671 may be disposed at the front lower end of the third link 230, and a second cliff sensor 672 may be disposed at the rear upper side of the third link 230. With such a configuration, the distance between the third link 230 and the wheel 310 and the ground B can be measured. In addition, the angle between the third link 230 and the ground can also be calculated by the distance difference between the first cliff sensor 671 and the second cliff sensor 672.

[0153] On the other hand, a stopper 240 may be provided at the leg portion 200. The stopper 240 may be disposed inside the main body cover 110. The stopper 240 may be disposed adjacent to the rotation coupling portion 410 of the arm 400. For example, the stopper 240 may be disposed inside the inner circumference of the rotation coupling portion 410 formed in a cylindrical shape.

[0154] As an example, the stopper 240 may be disposed on the leg support portion (not shown). As another example, the stopper 240 may be disposed on the first link 210 .

[0155] The stopper 240 may be formed in a shape protruding toward the rotation coupling portion 410. For example, the stopper 240 has a predetermined thickness and may be formed protruding in an arch shape arranged on concentric circles. In this case, the outer peripheral surface of the stopper 240 may be arranged toward the upper front side of the robot 1, and the inner peripheral surface of the stopper 240 may be arranged toward the lower rear side of the stopper.

[0156] The stopper 240 may be supported by a rotation protrusion 480 of the arm 400. For example, the rotation protrusion 480 formed on the inner circumference of the rotation joint 410 may rotate with the rotation of the arm 400, and may contact the rotation protrusion 480 when the arm 400 rotates to a predetermined position.

[0157] With such a configuration, the stopper 240 can limit the rotation angle of the arm 400 when the arm 400 rotates.

[0158] When the balance based on the leg part 200 is viewed as a whole, the first link 210 and the second link 220 are rotatably connected to a link frame (not shown) provided inside the robot body 100, and the first link 210 and the second link 220 are connected to the third link 230. That is, the robot 1 has a structure that supports the robot body 100 by using a four-section link composed of a link frame (not shown), the first link 210, the second link 220, and the third link 230.

[0159] The leg parts 200 generate a restoring force in the direction in which the gravity compensation part lifts the robot body 100. Therefore, even when the suspension motor MS is not driven, the pair of leg parts 200 can maintain the state of lifting the robot body 100 to a predetermined height from the ground.

[0160] On the other hand, when any one of the pair of wheels 310 is raised to go over an obstacle or when the height of the robot body 100 is lowered for charging or the like, the robot 1 according to the embodiment of the present invention can maintain balance by driving the suspension motor MS.

[0161] When the suspension motor MS is driven, the link coupling portion 213 moves upward as the first link 210 rotates about the motor coupling portion 212. Also, the third link 230 moves as the first link 210 rotates. In addition, the second link 220 is pushed by the third link 230 to rotate. As a result, one end of the third link 230 can move backward, and the other end of the third link 230 can move upward.

[0162] With the above-described configuration, even when the wheels 310 are moved in the up-down direction, the forward-backward movement range of the wheels 310 can be limited. Therefore, the robot 1 can maintain a stable balance.

[0163] Therefore, the robot 1 according to the present invention has the effect of being able to climb over obstacles of various heights using the four-link structure.

[0164] Wheel

[0165] Below, refer to Figures 1a to 12 , the wheel portion 300 of the robot 1 according to an embodiment of the present invention is described.

[0166] The wheel part 300 may be rotatably coupled to the leg part 200 and roll on the ground to move the robot body 100 and the leg part 200 .

[0167] The wheel portion 300 includes a wheel 310 that comes into contact with the ground and rolls on the ground.

[0168] The wheel 310 is provided to have a predetermined radius and a predetermined width in the axial direction. When the robot 1 is viewed from the front, at least a portion of the robot body 100 and the leg part 200 may be arranged vertically above the wheel 310 .

[0169] Although not shown, the wheel 310 may include a circular wheel frame. The wheel frame may be formed in a cylindrical shape that is open toward one side of the shaft of the wheel motor MW. Thus, the weight of the wheel frame 311 can be reduced.

[0170] However, when the wheel frame is formed in a cylindrical shape, the overall rigidity of the wheel frame may decrease. Considering this, ribs (not shown) for reinforcing rigidity may be formed on the inner side and outer side of the wheel frame, respectively.

[0171] A tire is coupled to the outer circumferential surface of the wheel frame. The tire may be formed into a ring shape having a diameter capable of being fitted on the outer circumferential surface of the wheel frame.

[0172] Grooves of a predetermined pattern may be formed in the outer peripheral surface of the tire so as to improve the grip of the tire.

[0173] In one embodiment, the tire may be formed of an elastic rubber material.

[0174] The wheel motor MW may provide driving force to the wheel 310. The wheel motor MW may generate rotational force by receiving power from the battery 800.

[0175] The wheel motor MW may be accommodated inside the other side of the third link 230. Also, the shaft of the wheel motor MW may be coupled to the wheel 310. That is, the wheel motor MW may be an in-wheel motor.

[0176] With such a configuration, when the wheel motor MW is driven, the wheel 310 can roll along the ground while rotating, and thus the robot 1 can move along the ground.

[0177] arm

[0178] Below, refer to Figures 1a to 12 , an arm 400 of the robot 1 according to an embodiment of the present invention is described.

[0179] The arm 400 may be pivotally coupled to both sides of the robot body 100. For example, the arm 400 may be a rotating body coupled to both ends of the axial direction (length direction) of the ellipsoidal robot body 100 and rotating with the both ends of the axial direction of the robot body 100 as a rotation axis.

[0180] Specifically, the arm 400 includes a rotation coupling portion 410 and a connecting portion 420 .

[0181] The rotating joint 410 can be rotatably coupled to the two side surfaces of the robot body 100. A pair of rotating joints 410 are provided, and can be relatively rotatably coupled to the left and right sides of the robot body 100. At this time, the pair of rotating joints 410 can rotate in conjunction with each other. That is, the pair of rotating joints 410 rotate simultaneously with each other, and the rotation angles can also be the same. However, when observed with the robot body 100 as a reference, the rotation directions of the pair of rotating joints 410 can be opposite to each other. That is, when observed with the robot body 100 as a reference, if the rotating joint 410 on one side rotates in the clockwise direction, the rotating joint 410 on the other side can rotate in the counterclockwise direction.

[0182] The rotating joint 410 may be formed into a shape that can cover both ends of the robot body 100 in the left and right directions. For example, the rotating joint 410 may be formed into a cylindrical shape having a predetermined thickness. In this case, both ends of the robot body 100 in the left and right directions may be arranged facing each other with the rotation center of the rotating joint 410.

[0183] That is, when observing the state in which the rotational coupling part 410 is coupled to the robot body 100 , if it is assumed that the robot body 100 is a human face, the rotational coupling part 410 may be shaped like a pair of earplugs or earpieces of a headphone.

[0184] like Figure 8 As shown, in the robot 1 of one embodiment, the arm motor MA may be disposed inside the main body cover 110. Different from this, according to an embodiment, the arm motor MA may also be disposed inside the rotary joint.

[0185] The arm motor MA may be connected to the arm 400 and provide driving force to the arm 400. More specifically, the final output end of the shaft or gear of the arm motor MA is connected to the rotation coupling portion 410. For example, Figure 4 As shown, the shaft of the arm motor MA may be connected to the reducer 460 , and the reducer 460 may be connected to the driven gear 470 .

[0186] The reducer 460 is composed of at least one gear, transmits the rotation force applied by the arm motor MA to the driven gear 470, and reduces the rotation speed of the driven gear 470 through the gear ratio. Thus, the rotation of the arm 400 can be accurately controlled, and the arm 400 can provide a relatively large force.

[0187] The driven gear 470 may be coupled to the rotation coupling part 410 and rotate integrally. The driven gear 470 may mesh with the output end of the speed reducer 460 and receive the rotational power of the arm motor MA.

[0188] With such a configuration, when the arm motor MA is operated, the rotation coupling portion 410 can rotate.

[0189] Two arm motors MA may be provided, and each of them may be connected to a pair of rotation coupling parts 410. As another example, one arm motor MA may be provided, and may be connected to any one of the rotation coupling parts 410.

[0190] With such a configuration, when the arm motor MA is operated, the pair of rotating joints 410 rotate together, and the connecting portion 420 rotates together with the rotation of the rotating joint 410. That is, according to the present invention, the rotating joint 410 and the connecting portion 420 of the arm 400 can rotate integrally with the arm shaft of the rotating joint 410 as the rotation axis.

[0191] On the other hand, the speaker 450 may be arranged outside the rotating joint 410. That is, the speaker 450 may be arranged in the opposite direction of the direction in which the robot body 100 is arranged in the pair of rotating joints 410. Therefore, the speaker 450 may be arranged at the positions covering both sides in the left and right direction of the body cover 110.

[0192] The speaker 450 can send information of the robot 1 in the form of sound. The source of the sound sent by the speaker 450 may be sound data pre-stored in the robot 1. For example, the pre-stored sound data may be voice data of the robot 1. For example, the pre-stored sound data may be a notification sound for guiding the status of the robot 1. On the other hand, the source of the sound sent by the speaker 450 may be sound data received through the communication unit 710.

[0193] On the other hand, in the case of an existing robot, a pair of arms are provided on both sides of a main body similar to human arms, and can move an object or perform a specific task.

[0194] However, when a pair of arms is provided as described above, each arm can move independently, so that the loads applied to both sides of the robot may be different, and thus, there may be a problem that the robot tilts to one side and falls.

[0195] In addition, when the robot falls, it can try to stand up using its arms, but because the arms on both sides rotate independently to support the ground, there is a problem that the robot may lose balance and fall again while standing up.

[0196] On the other hand, in the case of a robot that uses one arm to carry an object or perform a specific task, the load of the object being carried or the impact that may occur when performing the task is concentrated on only one arm, resulting in a limitation that the arm may be damaged.

[0197] In order to solve this problem, the robot 1 according to the embodiment of the present invention is configured such that an arm 400 is rotatably coupled to both sides of the robot body 100 .

[0198] The connection part 420 may connect the pair of rotation joints 410 to each other. The connection part 420 may connect the pair of rotation joints 410 covering both sides of the robot body 100 in the left and right direction to rotate them together.

[0199] The connection part 420 can be formed so that a pair of rotating joints 410 are connected to each other and can rotate around the robot body 100. Specifically, the connection part 420 can be formed into a frame shape formed by bending and extending the two side ends in the length direction. At this time, the two side ends of the bending and extending connection part 420 can be arranged parallel to each other and connected to the pair of rotating joints 410. As an example, the connection part 420 can be formed in a "∩" shape. As another example, the connection part 420 can also be formed in an arch shape.

[0200] When observing the state where the arm 400 is coupled to the robot body 100, if the robot body 100 is assumed to be a human face, the connection portion 420 may be shaped similar to the headband of a headset. That is, when the robot body 100 is assumed to be a human face, the arm 400 is shaped similar to the headset.

[0201] With such a configuration, the pair of rotational coupling parts 410 and the connection part 420 are integrally connected, and the entire arm 400 can rotate together with the rotational coupling part 410 as the rotation center.

[0202] On the other hand, the rotation radius of the arm 400 may be greater than the maximum length of the first link 210 and less than the maximum length of the leg portion 200. Specifically, the shortest distance from the rotation center of the rotation joint 410 to the outer end of the connection portion 420 may be greater than the maximum length of the first link 210 and less than the maximum length of the leg portion 200.

[0203] With such a configuration, when the arm 400 rotates, at least a portion of the arm 400 can be disposed closer to the ground than the first link 210 .

[0204] On the other hand, the arm 400 further includes a rotation protrusion 480 protruding from the inner circumferential surface of the rotation coupling portion 410 .

[0205] The rotation protrusion 480 may be formed protruding from the inner circumferential surface of the rotational coupling portion 410, and may be formed in a shape in which the circumferential width becomes narrower as it approaches the rotation center direction of the rotational coupling portion 410 from the inner circumferential surface of the rotational coupling portion 410 (see Fig.13a ).

[0206] The rotation protrusion 480 may rotate together with the rotation coupling portion 410 and the connection portion 420. That is, when the rotation coupling portion 410 and the connection portion 420 rotate, the rotation protrusion 480 rotates at the same rotation angle as the rotation coupling portion 410 and the connection portion 420.

[0207] As the arm 400 rotates, the rotation protrusion 480 may be supported by contacting the stopper 240. For example, when the connection portion 420 rotates to pass behind the robot body 100 and is closer to the ground than the first link 210, the rotation protrusion 480 may be supported by contacting the stopper 240 (see FIG. Fig.13b ).

[0208] With such a configuration, when the arm 400 rotates to a predetermined position, the stopper 240 and the rotation protrusion 480 come into contact and support each other, thereby restricting the rotation of the arm 400 .

[0209] In addition, there is an effect of maintaining the postures of the arm 400 and the leg portion 200 while maintaining the state in which the stopper 240 and the rotation boss 480 support each other.

[0210] Without a special instruction from the user or a pre-set situation, the outer end of the arm 400 can be arranged at a position farther from the ground than the robot body 100. With such a configuration, the user can easily carry the robot 1 by holding the arm 400. That is, the arm 400 can function as a handle that the user can hold.

[0211] Furthermore, in the absence of a special instruction from the user or a pre-set situation, the arm 400 may be disposed at a position further back than the robot mask 500 . This is to prevent the robot mask 500 from being blocked by the arm 400 when the user observes the robot 1 .

[0212] On the other hand, when there is a special instruction from the user or when no pre-set situation occurs, the arm 400 can rotate to realize various functions. Hereinafter, various functions realized by the rotation of the arm 400 will be described.

[0213] On the other hand, Figures 13a to 16 2 is a diagram for explaining a state in which a robot does not move and is on standby according to an embodiment of the present invention.

[0214] like Figures 13a to 16 As shown, the robot 1 of the present invention can rotate the arm 400 toward the ground. For example, the arm 400 can rotate from the upper side of the robot body 100 to the rear lower side of the robot body 100 via the rear. That is, the arm 400 can rotate backward through the operation of the arm motor MA.

[0215] The arm 400 rotates to be closer to the ground than the lower ends of the first link 210 and the second link 220. Also, at least a portion of the arm 400 may be disposed closer to the ground than the upper end of the third link 230.

[0216] At the same time or before the arm 400 rotates, the leg part 200 may move to lower the posture of the robot 1. That is, the included angle between the first link 210 and the third link 230 and the included angle between the second link 220 and the third link 230 may be narrowed.

[0217] Therefore, as a whole, the robot body 100 descends toward the ground, and the outer end of the arm 400 can be arranged closer to the ground than the joint where the first link 210, the second link 220, and the third link 230 are connected to each other. This may look like the robot 1 scooching down.

[0218] At this time, the rotation protrusion 480 of the arm 400 may contact the stopper 240 and support each other, and further rotation of the arm 400 may be restricted.

[0219] By such an action, the entire center of gravity of the robot 1 can be lowered. In addition, as the arm 400 rotates backward, the entire center of gravity of the robot 1 can be moved backward.

[0220] Therefore, even if the wheel motors MW stop operating and the wheels 310 do not rotate, the robot 1 can be tilted backward so that the lower end portions of the pair of wheels 310 and the arms 400 are in contact with the ground.

[0221] At this time, the weight of the robot body 100 presses the leg part 200, and the rotating protrusion 480 and the stopper 240 contact and support each other, thereby preventing the leg part 200 from straightening. That is, when the lower end of the pair of wheels 310 and the arm 400 are in contact with the ground, the robot 1 can maintain the posture without additional driving of the motor.

[0222] As a result, through the operation of the robot 1 as described above, the one arm 400 and the pair of wheels 310 can be in contact with the ground, and the robot body 100 can be supported at three points.

[0223] Therefore, according to the present invention, when the robot 1 does not need to move or is waiting at the original position, the arm 400 and the wheel 310 can be used to support the ground and maintain the posture even if the wheel motor MW is not driven, and the power consumption of the robot 1 can be minimized.

[0224] This has the effect of significantly reducing power consumption compared to the conventional two-wheeled robot which needs to continuously rotate a pair of wheels in order to stop at an original position and wait.

[0225] Alternatively, even if the robot is made to lie down or sit down in order to reduce power waste, there is a limitation that a large amount of energy needs to be instantly applied to the wheels and / or arms in order to make the robot stand up again.

[0226] In contrast, according to the present invention, since the robot 1 maintains the ground-supporting state using the arm 400, the robot 1 can stand up again with only a simple action of pushing the ground with the arm 400, thereby having the effect of minimizing power waste.

[0227] On the other hand, Fig.14a and Fig.14b Another embodiment of the rotation projection of the arm and the stopper of the leg portion is shown in FIG.

[0228] In order to avoid repeated description, except for the contents specially described in this embodiment, the structure and effects of the robot 1 are the same as those of the first embodiment of the present invention, and thus can be cited in this embodiment.

[0229] In this embodiment, the rotating protrusion 480 ′ is formed to protrude from the rotating joint 410 and rotate together with the rotating joint 410 . At this time, the rotating protrusion 480 ′ may be formed to protrude from the rotating joint 410 toward the inside of the robot body 100 .

[0230] In addition, in the present embodiment, the stopper 240 ′ may be formed in a groove shape in the first link 210 . Therefore, the stopper 240 ′ may rotate together with the first link 210 .

[0231] At this time, the rotation path of the stopper 240 ′ and the rotation path of the rotation protrusion 480 ′ may intersect at least one point, and at such an intersection, the rotation protrusion 480 ′ may be received in the stopper 240 ′ and support each other.

[0232] That is, if the robot 1 starts the standby action without moving, the leg part 200 rotates the first link 210 to lower the posture of the robot 1, and the stopper 240' can rotate to the intersection. At the same time, as the rotating joint 410 and the connecting part 420 rotate, the rotating protrusion 480' also rotates together, so that the rotating protrusion 480' is accommodated in the stopper 240'.

[0233] Therefore, the rotation protrusion 480 ′ and the stopper 240 ′ are engaged and supported with each other, so that the robot 1 can maintain the posture without an additional motor drive.

[0234] On the other hand, Fig.17a and Fig.17b 2 is a diagram for explaining an action of a robot standing up from a state of falling forward according to an embodiment of the present invention.

[0235] like Fig.17a and Fig.17b As shown, when the robot falls forward, the robot 1 can rotate the arm 400 toward the ground. For example, the arm 400 can rotate from the upper side of the robot body 100 to the lower side of the front of the robot body 100 via the front. That is, the arm 400 can rotate forward by operating the arm motor MA.

[0236] During this process, the arm 400 may come into contact with the ground. If the robot 1 falls forward, at least a portion of the front surface of the robot body 100 and the pair of wheels 310 come into contact with the ground. Here, if the arm 400 rotates toward the front of the robot body 100, the outer end of the arm 400 comes into contact with the ground.

[0237] As the arm 400 rotates, the wheels 310 may rotate in the direction in which the robot 1 moves forward. That is, the pair of wheels 310 may rotate in the direction in which the distance to the arm 400 becomes closer.

[0238] Through such actions, the arm 400 can support the ground to lift the robot body 100 so that the robot body 100 is away from the ground, and the wheel 310 can move forward to drill into the lower side of the robot body 100. Therefore, the robot body 100 can be lifted to the original position.

[0239] Therefore, according to the robot 1 of the present invention, since it can stand up by supporting itself with one arm, it is possible to prevent the robot 1 from shaking or falling again during the process of standing up, and the power consumed during the process of achieving the standing up action can be minimized.

[0240] When a conventional two-wheeled robot falls, it is necessary to rotate a pair of wheels forcefully for an instant and then continue to move the robot in the forward and backward directions to achieve balance.

[0241] To solve this problem, there is a method of using the left and right arms of the robot to support the ground. However, since the positions where the pair of arms contact the ground are different from each other, the points of force used by the robot to support the ground to stand up are different from each other, and as a result, the robot may shake when standing up. In this case, there is a problem that the robot falls again.

[0242] In contrast, according to the present invention, the position where one arm 400 connected to the left and right sides of the robot body 100 contacts the ground is fixed. In particular, since the outer end of the arm 400 is formed into a surface shape at least partly parallel to the ground in the left-right direction, it can contact the ground with a larger area.

[0243] Therefore, in the process that the robot body 100 is lifted, the robot body 100 can stably rise and maintain balance without shaking.

[0244] In addition, since the robot 1 can stand up simply by applying a certain rotational force to the arm 400 and the pair of wheels 310 without instantly applying a strong rotational force to the wheels, it is possible to prevent damage to the motor and reduce overall power consumption.

[0245] On the other hand, Fig.18a and Fig.18b 2 is a diagram for explaining the action of a robot standing up from a state of falling backwards according to one embodiment of the present invention.

[0246] like Fig.18a and Fig.18b As shown, when the robot falls backward, the robot 1 can rotate the arm 400 toward the ground. For example, the arm 400 can rotate from the upper side of the robot body 100 to the rear lower side of the robot body 100 via the rear. That is, the arm 400 can rotate backward by operating the arm motor MA.

[0247] In this process, the arm 400 may come into contact with the ground. If the robot 1 falls backward, a portion of the third link comes into contact with the ground. Here, if the arm 400 rotates toward the rear of the robot body 100, the outer end of the arm 400 comes into contact with the ground.

[0248] As the arm 400 rotates, the wheels 310 may rotate in a direction in which the robot 1 moves backward. That is, the pair of wheels 310 may rotate in a direction in which the distance to the arm 400 becomes closer.

[0249] By such an action, as the arm 400 is supported on the ground and the wheel 310 moves backward, the robot body 100 and the third link 230 can be lifted. Therefore, the robot body 100 can be lifted to the original position.

[0250] Therefore, according to the robot 1 of the present invention, since it can stand up by supporting itself with one arm, it is possible to prevent the robot 1 from shaking or falling again during the process of standing up, and the power consumed during the process of achieving the standing up action can be minimized.

[0251] In addition, according to the present invention, the position where one arm 400 connected to the left and right sides of the robot body 100 contacts the ground is constant. In particular, since the outer end of the arm 400 is formed into a surface shape at least partially parallel to the ground in the left-right direction, it can contact the ground with a larger area.

[0252] Therefore, in the process that the robot body 100 is lifted, the robot body 100 can stably rise and maintain balance without shaking.

[0253] Furthermore, since the robot 1 can stand up simply by applying a predetermined rotational force to the arm 400 and the pair of wheels 310 without instantly applying a strong rotational force to the wheels, damage to the motor can be prevented and overall power consumption can be reduced.

[0254] In addition, in the case of the present invention, the robot 1 can stand up by switching the rotation direction of the arm 400 and the wheel 310 not only when the robot 1 falls forward but also when it falls backward.

[0255] exist Fig.19 and Fig. 20 2 is a diagram for explaining a state where a robot and a functional module are combined according to an embodiment of the present invention.

[0256] like Fig.19 and Fig. 20 As shown, according to an embodiment, the arm 400 of the robot 1 can be detachably combined with the functional module 900. Specifically, the arm 400 can rotate to make the loading and unloading structure provided on the arm 400 close to the loading and unloading structure provided on each functional module 900, so that the loading and unloading structures are combined with each other.

[0257] For this reason, Figure 3 and Figure 5 As shown, the arm 400 of the robot 1 according to an embodiment of the present invention may further include a loading and unloading portion 430 and a connection terminal 440 to be combined with the functional module 900 .

[0258] The detachable portion 430 is disposed on the connection portion 420. Specifically, the detachable portion 430 is disposed on the outer side surface of the connection portion 420. Here, the outer side surface of the connection portion 420 may refer to a surface disposed in a direction opposite to the direction in which the robot body 100 is viewed from the connection portion 420.

[0259] With such a configuration, the attachment and detachment portion 430 is exposed at the outer periphery with the robot body 100 as the center, so as to be easily contactable with an object approaching from the outside of the robot 1 .

[0260] The detachable part 430 is detachably coupled to the functional module 900. Specifically, the detachable part 430 can be selectively coupled to or separated from the functional module 900.

[0261] The attachment and detachment portion 430 may be configured as an electromagnet and may selectively apply magnetic force (attractive force) to the functional module 900 according to the supply of power.

[0262] For example, the detachable part 430 may be configured in the shape of a circular electromagnet. With such a configuration, the detachable part 430 may form a uniform magnetic field in a large area, thereby being stably combined with the functional module 900.

[0263] In addition, the pair of mounting and disassembly parts 430 may be arranged at a predetermined distance. In this case, a connection terminal 440 may be arranged between the pair of mounting and disassembly parts 430. With such a configuration, it is possible to combine the pair of mounting and disassembly parts 430 with the mounting and disassembly parts of the metal material (or electromagnet) provided in the functional module 900 at an accurate position, and to make the connection terminal 440 contact with the corresponding terminal provided in the functional module 900 at an accurate position.

[0264] The connection terminal 440 may be electrically connected to the functional module 900. The connection terminal 440 may be in contact with a corresponding terminal provided at the functional module 900 and electrically connected.

[0265] In this embodiment, the connection terminal 440 may be configured by a terminal capable of supplying power to the functional module 900 and a terminal capable of transmitting and receiving signals with the functional module 900. For example, the connection terminal 440 may have a pogo pin including two power pins and four signal pins.

[0266] With such a configuration, the power of the robot body 100 can be supplied to the functional module 900 via the connection terminal 440. In addition, the robot body 100 can transmit and receive electric signals with the functional module 900 via the connection terminal 440.

[0267] On the other hand, the functional module 900 will be described in detail later.

[0268] On the other hand, Fig.10 and Fig.11 2 is a diagram for explaining another embodiment of the robot arm of the present invention.

[0269] Below, refer to Fig.10 and Fig.11 , illustrating an arm 1400 according to another embodiment of the present invention.

[0270] In order to avoid repeated description, except for the contents particularly described in this embodiment, the structure and effect of the arm 400 are the same as those of the first embodiment of the present invention, and thus can be cited to this embodiment.

[0271] The arm 1400 of the present embodiment further includes a terminal rotating portion 1460 and a switching motor MC that provides a rotational force to the terminal rotating portion 1460 .

[0272] The terminal rotating part 1460 is rotatably coupled to the connecting part 1420. As an example, the terminal rotating part 1460 is formed in a plate shape having a predetermined thickness, and the attaching and detaching part 1430 and the connecting terminal 1440 may be arranged on one surface of the terminal rotating part 1460.

[0273] The terminal rotating part 1460 may form the appearance of the arm 1400 together with the connecting part 1420. A rotating shaft coupled to the connecting part 1420 may be provided at both ends of the terminal rotating part 1460 in the length direction.

[0274] The switching motor MC may be connected to the terminal rotating part 1460 to provide a rotating force to the terminal rotating part 1460. More specifically, a final output end of a shaft or a gear of the switching motor MC is connected to the terminal rotating part 1460.

[0275] With such a configuration, when the switching motor MC is operated, the terminal rotating portion 1460 rotates.

[0276] If the terminal rotating part 1460 rotates, the surface exposed to the outside can be changed. Specifically, the side of the terminal rotating part 1460 on which the loading and unloading part 1430 and the connecting terminal 1440 are arranged on the outside can be exposed to the outside. In addition, if the terminal rotating part 1460 rotates, the loading and unloading part 1430 and the connecting terminal 1440 can be hidden in the internal space of the connecting part 1420.

[0277] With such a configuration, when the arm 1400 and the functional module 900 do not need to be coupled, the detachable portion 1430 and the connection terminal 1440 can be hidden inside the connection portion 1420 .

[0278] In particular, when the robot 1 falls, the rotating arm 1400 needs to be rotated to support the connection portion 1420 on the ground. At this time, the detachable portion 1430 and the connection terminal 1440 may come into contact with the ground and may be contaminated or damaged.

[0279] Therefore, according to the arm 1400 of this embodiment, the detachable portion 1430 and the connection terminal 1440 can be prevented from being exposed to the outside by the rotation of the terminal rotating portion 1460. In addition, the detachable portion 1430 and the connection terminal 1440 can be prevented from being contaminated or damaged.

[0280] Robot mask

[0281] exist Fig.23a 23B and 23C show a diagram for explaining the combination relationship between the robot mask and the robot body in the robot according to an embodiment of the present invention. Fig.24 FIG. 2 shows a diagram for explaining a state where a robot mask is separated in a robot according to an embodiment of the present invention. Fig.25 2 is a diagram for explaining the structure of a robot mask in a robot according to an embodiment of the present invention.

[0282] like Figure 23a to Figure 25 As shown, the robot 1 according to an embodiment of the present invention may further include a robot mask 500 .

[0283] The robot mask 500 may be detachably coupled to the robot body 100 and may cover the display 120. The robot mask 500 may be coupled to the robot body 100 and constitute the appearance of the robot 1.

[0284] The robot mask 500 includes a mask body 510 , a coupling magnet 520 , a mask communication unit 530 , a mask function unit 540 , and a window 550 .

[0285] The mask body 510 constitutes the appearance of the robot mask 500. For example, based on the state in which the robot mask 500 and the robot body 100 are combined, the outer side surface of the mask body 510 exposed to the outside may be formed into a curved surface shape having a predetermined curvature.

[0286] Furthermore, the inner side surface of the mask body 510 facing the robot body 100 may be formed in a shape corresponding to the shape of the robot body 100. For example, the inner side surface of the mask body 510 may be formed in a planar shape corresponding to the shape of the display 120, and a side wall may be formed protrudingly on the outer contour of the mask body 510 to accommodate a part of the main body cover 110. Therefore, the inner side surface of the mask body 510 may be configured in the shape of an elliptical plane and a side wall surrounding the elliptical plane.

[0287] The coupling magnet 520 may be disposed on the mask body 510 , and may be detachably coupled to the robot body 100 .

[0288] Specifically, at least one coupling magnet 520 is provided on a side wall protruding from the inner side of the mask body 510. For example, four coupling magnets 520 may be provided. With such a configuration, even if the robot body 100 shakes, at least one coupling magnet 520 is in contact with the robot body 100, thereby preventing the robot mask 500 from being separated from the robot body 100.

[0289] In addition, the coupling magnet 520 generates magnetic force (attraction) to be detachably coupled to the robot body 100. With such a configuration, the coupling magnet 520 can couple the main body cover 110 and the mask body 510 by magnetic force, and can separate the main body cover 110 and the mask body 510 if the user applies an external force of a predetermined magnitude or more.

[0290] The mask communication unit 530 is disposed on the mask body 510, and can transmit and receive information with the robot body 100. Specifically, the mask communication unit 530 can communicate with the communication unit 710 provided on the robot body 100.

[0291] The mask communication unit 530 may support wireless communication with the robot body 100. A short-distance communication module may be provided as a wireless communication module for supporting wireless communication.

[0292] The short-distance communication may be, for example, NFC (Near Field Communication) communication or the like.

[0293] The mask communication unit 530 can transmit information on the shape of the robot mask 500 and the functions of the robot mask 500 to the robot body 100. In addition, the mask communication unit 530 can receive a control command from the control unit 700 provided in the robot body 100.

[0294] Therefore, the control part 700 can control the mask function part 540 of the robot mask 500 through the communication between the mask communication part 530 and the communication part 710 .

[0295] On the other hand, the robot mask 500 may receive power from the robot body 100. Although not shown, the robot mask 500 may be provided with a terminal that can be electrically connected to the robot body 100.

[0296] The robot mask 500 may include a mask function part 540 that provides a function to the robot body 100 when the robot mask 500 is combined with the robot body 100 .

[0297] The mask function part 540 may be disposed on the mask body 510. For example, the mask function part 540 may be disposed on the upper portion of the mask body 510. That is, when the robot mask 500 is coupled to the robot body 100, at least a portion of the mask function part 540 may be disposed at a position farther from the ground than the robot body 100.

[0298] With such a configuration, when the user looks at the robot 1 , the user can clearly see the mask function part 540 . In addition, when the user reaches out his hand toward the robot 1 , the user's hand can easily touch the mask function part 540 .

[0299] The mask function unit 540 may be provided in various forms according to its function.

[0300] In the case of having a plurality of robot masks 500 each including a mask function unit 540 different from each other, the user can add or change the service provided by the robot 1 of the present invention by replacing the robot masks 500 as needed.

[0301] For example, if the robot mask 2500 including the mask function part 2540 of the first embodiment is combined with the robot body 100, the robot 1 can provide services for charging the user's mobile phone, carrying it to a desired place, and operating the mobile phone according to voice commands (see Fig.26 ).

[0302] As another example, if the robot mask 3500 including the mask function part 3540 of the second embodiment is combined with the robot body 100, the robot 1 can play the sound required by the user using the speaker (see Fig. 27 ).

[0303] As another example, if the robot mask 4500 including the mask function part 4540 of the third embodiment is combined with the robot body 100, the robot 1 can use the lighting device to provide the atmosphere required in a party or the like (see Fig.28 ).

[0304] As another example, if the robot mask 5500 including the mask function part 5540 of the fourth embodiment is combined with the robot body 100, the robot 1 can use the camera to provide photo shooting or video shooting services (see Fig.29 ).

[0305] Hereinafter, the services provided by the robot mask 500 of the robot 1 according to each embodiment will be described with reference to the respective drawings.

[0306] exist Fig.26 2 is a diagram for explaining a first embodiment of a robot mask.

[0307] like Fig.26 As shown, the mask functional portion 2540 can be a carrier component.

[0308] The carrier assembly may be provided with a storage table capable of storing objects. Specifically, the storage table may be in the shape of a box with an open upper side and a space formed inside.

[0309] The robot 1 can carry objects stored in the space inside the storage table.

[0310] The robot 1 can move according to the user's voice command and carry the objects stored in the storage table to the required place.

[0311] Specifically, after the user places the object on the storage table, the robot 1 can move and carry the object according to the instruction to move to a specific place in the home.

[0312] The robot 1 can move according to a preset algorithm to transport the objects stored in the storage table to a required location.

[0313] Specifically, the robot 1 can continuously deliver objects to a specific place (continuously deliver drinks, food, etc. from the kitchen to the dining table) in the following manner: when a weight above a specified size is detected on the storage table, it is recognized as an object placed there and moved to a specific place; when the weight is removed, it returns to its original position.

[0314] In order to detect the weight of the object, a pressure sensor (not shown) such as a load cell may be disposed on the bottom surface of the storage table.

[0315] The bottom surface of the storage table may be provided with an anti-skid pad (not shown) to prevent the stored objects from sliding. The anti-skid pad may be made of a material with strong friction such as silicone resin with excellent anti-skid performance or PU (polyurethane) with artificial leather as the main component, but is not limited thereto.

[0316] The anti-slip pad is provided with a plurality of protrusions formed of a material having a strong friction force, such as PU (polyurethane) whose main component is silicone resin or artificial leather, so that the friction force can be further maximized.

[0317] A wireless charging device (not shown) capable of charging a user's mobile phone or other terminal can be arranged on the bottom surface of the storage table. The user's mobile phone or other terminal can be placed on the bottom surface of the storage table to be charged wirelessly. A power transmission unit (not shown) for transmitting power wirelessly can be arranged on the bottom surface of the storage table.

[0318] The wireless power transmission and reception method is not limited, for example, magnetic induction method, magnetic resonance method, microwave method, etc. When the wireless power method is magnetic induction method or magnetic resonance method, the power transmission unit can be a transmission coil, and when the wireless power method is microwave method, the power transmission unit can be a transmission antenna.

[0319] In the case where the robot 1 of the present invention uses a carrier assembly, devices such as portable phones that require wireless charging can be charged through the storage table, so there is no need to use an additional charging device, thereby providing convenience to the user.

[0320] A recessed portion (not shown) for accommodating a mobile phone may be formed on the bottom surface of the storage table.

[0321] The concave portion formed on the bottom surface of the storage table plays a role in preventing the mobile phone from sliding together with the aforementioned anti-slip pad, thereby accommodating the mobile phone more stably.

[0322] A light emitting unit (not shown) is disposed outside the carrier assembly so that the user can visually check the wireless charging level of the mobile phone stored in the storage table.

[0323] For example, a light emitting unit (not shown) is disposed on the front surface of the carrier assembly, and emits red light during charging and blue light when fully charged, so that the user can visually confirm the charging status of the mobile phone.

[0324] In order to communicate with the stored mobile phone, a short-distance communication module (not shown) or a long-distance communication module (not shown) may be provided on the bottom surface of the storage table.

[0325] The robot 1 can communicate with the stored mobile phone and send and receive information through the short-distance communication module or long-distance communication module arranged on the bottom surface of the storage table.

[0326] The storage table may be provided with a display (not shown), a camera (not shown), a microphone (not shown) or a speaker (not shown).

[0327] The description of the display (not shown), microphone (not shown) or speaker (not shown) that may be provided at the storage table refers to the description of the display 120 , microphone 140 , and speaker 450 .

[0328] The robot 1 can play a sound through a speaker based on information received from a mobile phone stored in the storage counter so that the user can listen.

[0329] For example, when a call comes in to a mobile phone stored in a storage counter, the robot 1 can move closer to the user, allowing the user to make a voice or video call without directly operating the mobile phone.

[0330] For example, the robot 1 can play videos and / or voices that can be played by the portable phone according to the user's instructions, so that the user can enjoy music or watch videos even if he does not directly operate the portable phone.

[0331] exist Fig. 27 A diagram for explaining a second embodiment of a robot mask is shown in FIG.

[0332] like Fig. 27 As shown, the mask functional portion 3540 can be a speaker assembly.

[0333] The speaker assembly may be provided with a speaker capable of providing sound.

[0334] The speaker can send information of the robot 1 in the form of sound. The source of the sound sent by the speaker may be sound data pre-stored in the robot 1. For example, the pre-stored sound data may be voice data of the robot 1. For example, the pre-stored sound data may be a notification sound for guiding the status of the robot 1.

[0335] On the other hand, the source of the sound emitted by the speaker may be the sound data received through the mask communication unit 530. That is, the source of the sound emitted by the speaker assembly may be the sound data of the control unit 700 received through the mask communication unit 530.

[0336] With such a configuration, the speaker provided in the robot mask 3500 of the present embodiment can emit sound together with the pair of speakers 450 provided in the arm 400. For example, the speaker provided in the robot mask 3500 may be a woofer.

[0337] Therefore, when the robot mask 3500 including the speaker assembly is combined with the robot body 100, the pair of speakers 450 can respectively function as the left speaker and the right speaker, and the speaker provided in the robot mask 3500 can function as a bass speaker responsible for playing with bass.

[0338] As a result, according to the present embodiment, in the case where the robot mask 3500 including the speaker assembly is combined with the robot body 100, the robot 1 can provide a 2.1 channel speaker function.

[0339] exist Fig.28 2 is a diagram for explaining a third embodiment of a robot mask.

[0340] like Fig.28 As shown, the mask function portion 4540 can be a mirror ball assembly.

[0341] The mirror ball assembly may be provided with a luminous lighting device.

[0342] The lighting device may include a plurality of light sources. For example, the lighting device including a plurality of light sources may be formed into a spherical shape and provide lighting of various colors in various directions.

[0343] The mirror ball assembly may be provided with a lighting motor (not shown) that provides power to rotate the lighting device up and down or left and right, thereby controlling the movement of the lighting device.

[0344] On the other hand, the mirror ball assembly can receive control instructions from the control unit 700 through the mask communication unit 530.

[0345] Therefore, when the robot mask 4500 including the mirror ball assembly is combined with the robot body 100, not only can the sound source be played through the speaker 450, but the action of the lighting device can also be controlled according to the sound source, and the action of the lighting device can be controlled according to the user's movement information, thereby having the effect of inspiring atmosphere in event venues or various parties and clubs.

[0346] exist Fig.29A diagram for explaining a fourth embodiment of a robot mask is shown in FIG.

[0347] like Fig.29 As shown, the mask function portion 5540 can be a camera assembly.

[0348] The camera assembly may include a camera for taking pictures or videos.

[0349] The camera can shoot the front of the robot 1 to identify the user's position. To this end, the camera can include an RGB module and a depth module.

[0350] The depth module can obtain the depth information of the image. For example, the depth information can be obtained by measuring the delay or phase shift of the modulated light signal for all pixels of the captured image to obtain the movement time information.

[0351] The RGB module can obtain color images (images), and can extract edge characteristics, color distribution, frequency characteristics (or wavelet transform), etc. from color images.

[0352] The robot 1 can obtain distance information for the recognition target object from the front image captured by the camera through depth information, and recognize whether there is a user in front and / or recognize the user's position by calculating together with edge characteristics extracted from the color image.

[0353] The camera can take a picture of the user based on the user's voice command. For example, if the user issues a voice command to take a picture, the camera can take a picture. In addition, if the user issues a voice command to take a video, the camera can start taking a video. In addition, if the user issues a voice command to end taking a video, the camera can end taking a video.

[0354] At this time, the robot 1 can identify the position of the user and move with the user. In addition, the robot 1 can change the position and angle of the camera towards the user's face.

[0355] Therefore, according to the present embodiment, the robot 1 can provide a service capable of following the user and photographing according to the user's instruction.

[0356] On the other hand, the robot mask 500 according to an embodiment of the present invention may include a window 550 . When the robot mask 500 is combined with the robot body 100 , the window 550 may expose the image displayed on the display 120 to the outside.

[0357] The window 550 may be disposed on the mask body 510. Specifically, the window 550 may be disposed through the mask body 510, and when the robot mask 500 is combined with the robot body 100, the window 550 may be disposed at a position facing the display 120.

[0358] The window 550 may be formed of a light-permeable material. For example, the window 550 may be formed of a transparent material.

[0359] On the other hand, if the robot mask 500 is combined with the robot body 100 , the face and expression may be displayed on the display 120 .

[0360] The robot 1 can make the user feel that the robot is expressing emotions by displaying the facial features such as eyes, nose, and mouth on the display 120 .

[0361] The robot 1 may depict facial expressions by displaying a preset image on the display 120 , thereby making the user believe that the robot is expressing emotions.

[0362] For example, when the user returns home, the robot 1 may display a smiling face on the display 120 to express welcome.

[0363] As another example, in a case where the robot 1 detects a cliff and escapes from the danger of falling, the robot 1 may display a surprised facial expression and a surprised eye expression on the display 120 .

[0364] As another example, in the case where the user calls the robot 1, the robot 1 may display a facial expression that is staring at the user and is curious on the display 120. The robot 1 may be set to detect and respond to the call in the case where the user calls with a specific voice.

[0365] As another example, in the case where the robot 1 cannot understand the user's instructions, the robot 1 may display symbols such as “?” and a curious facial expression on the display 120 .

[0366] As another example, in the case where the user instructs the robot 1 to continue service, a sweating pattern and a difficult facial expression may be displayed.

[0367] As another example, when the user has not given any instruction to the robot 1 for a preset time or longer, the robot 1 may display a sleeping facial expression.

[0368] In addition to the above examples, the robot 1 can also display various emotions on the display 721, and the expressions that can be displayed can be improved or added through software updates, etc.

[0369] In this way, the robot 1 has the ability to provide a pet robot service that can show emotions to and communicate with the user, and provide an emotional stabilizing effect for the user.

[0370] As previously described, the robot 1 may express emotions visually by displaying facial expressions on the display 120 , and may express emotions through voice output through the speaker 450 .

[0371] For example, a laugh, a surprised sound, or the like may be outputted in correspondence with the expression displayed on the display 120 .

[0372] In addition, as described above, the robot 1 can express emotions visually by displaying facial expressions on the display 120 , and can express emotions through the rotation of the arm 400 .

[0373] For example, the arm 400 may be waved to express emotion while the display 120 displays a smiling expression.

[0374] On the other hand, the display 120 may change the displayed graphics according to the shape of the robot mask 500 while being coupled to the robot mask 500 .

[0375] Specifically, the control unit 700 of the robot 1 can receive information about the shape of the mask 500 through the mask communication unit 530. For example, information about the shape is recorded in each robot mask 500, and the control unit 700 can receive information about the shape of the robot mask 500 from the mask communication unit 530 of the robot mask 500. At this time, the memory 720 can store graphical user interface (GUI: Graphic User Interface, hereinafter referred to as "GUI") information corresponding to the shape of each mask 500. In addition, the control unit 700 can control to display the GUI corresponding to the shape of the robot mask 500 on the display 120. Therefore, in the state where the robot mask 500 and the robot body 100 are combined, the display 120 can display the GUI, and the GUI displayed in the display 120 can be seen from the outside of the robot mask 500 through the window 550.

[0376] On the other hand, the user may directly select the GUI through the input unit 125. Furthermore, the control unit 700 may control the display 120 to display the GUI input by the user.

[0377] With such a configuration, the user can purchase the robot mask 500 that suits his or her preferences, or select his or her favorite GUI to customize the appearance of the robot 1 .

[0378] Functional modules

[0379] The robot 1 of the present invention includes a function module 900. The function module 900 is a component that is coupled to the robot body 100 via the arm 400 and provides the robot 1 with various functions.

[0380] As an example, the functional module 900 may be detachably coupled to the arm 400 .

[0381] Although not shown in the figure, the functional module 900 may be provided with a structure corresponding to the attachment and detachment portion 430 and the connection terminal 440 of the arm 400. For example, the functional module 900 may be provided with an attachment and detachment portion that is detachably coupled to the attachment and detachment portion 430 of the arm 400. In addition, the functional module 900 may be provided with a corresponding terminal (not shown) corresponding to the connection terminal 440 of the arm 400. The corresponding terminal may contact the connection terminal 440 to receive power from the robot body 100, and may transmit and receive electric signals with the robot body 100.

[0382] As another example, the function module 900 may be detachably coupled to the robot body 100. The function module 900 may be detachably coupled to the lower portion of the robot body 100. Specifically, the function module 900 may be coupled to the module coupling portion 150 disposed at the lower portion of the robot body 100.

[0383] In particular, the robot 1 of the present invention is a two-wheeled robot, and a space for combining the functional module 900 is formed between a pair of wheels 310 and the leg portion 200. Therefore, it has the advantage that the overall volume will not increase significantly when the robot body 100 and the functional module 900 are combined.

[0384] In addition, through such a configuration, when the functional module 900 is combined with the robot body 100, not only the pair of wheels 310 but also the functional module 900 can contact the ground B, thereby increasing the number of positions where the ground B contacts and supports the robot 1 and the supported area. Therefore, according to the functional module 900 of the present invention, there is an effect that it is possible to easily maintain the balance of the robot 1 by combining with the robot body 100.

[0385] Although not shown in the figure, the function module 900 may be provided with a structure corresponding to the module coupling part 150 of the robot body 100. For example, the function module 900 may be provided with a coupling part 930 that can be detachably coupled to the module coupling part 150 of the robot body 100. In addition, the function module 900 may be provided with a corresponding terminal corresponding to the terminal of the robot body 100. The corresponding terminal can contact with the terminal of the robot body 100 to receive power from the robot body 100, and can transmit and receive electric signals with the robot body 100.

[0386] Although not shown in the figure, a light may be provided in the functional module 900. The light may inform the position of the functional module 900 by emitting light. For example, the light may be an infrared (IR) LED (light emitting diode). With such a configuration, the IR sensor 620 disposed in the robot body 100 may detect the position of the functional module 900, and the robot body 100 may move toward the functional module 900.

[0387] The functional module 900 may include various configurations according to functions.

[0388] In the case of having different functional modules 900 , the user can add or change the service provided by the robot 1 of the present invention by replacing the functional module 900 with the arm 400 as needed.

[0389] As an example, Fig.19 As shown, the functional module 900 may be a transport module 910. The transport module 910 may include: a tray capable of carrying objects; and transport wheels combined at the lower side of the tray and rolling on the ground.

[0390] The tray is provided so that objects can be placed on its upper portion. For example, the tray is formed in a block shape with a prescribed thickness, and a space capable of placing objects can be provided on its upper side.

[0391] In addition, an anti-skid pad can be arranged on the upper side of the tray to prevent the objects placed thereon from sliding. The anti-skid pad can be formed of a material with strong friction such as silicone resin with excellent anti-skid performance or PU (polyurethane) with artificial leather as the main component, but is not limited thereto.

[0392] There are multiple protrusions formed of a material with strong friction, such as PU (Polyurethane) with silicone or artificial leather as the main component, so that the friction can be further maximized.

[0393] The transport wheels can be incorporated into the underside of the pallet and roll on the ground.

[0394] On the other hand, according to an embodiment, the transport module 910 may further include a motor (not shown) for providing power to the transport wheels. If the motor (not shown) of the transport module 910 is running, it has the effect of being able to move heavier objects.

[0395] On the other hand, in this embodiment, the transport module 910 may be combined with the rear of the robot body 100. In the case where the transport module 910 is combined with the rear of the robot body 100, the robot body 100 is arranged at a position further forward than the transport module 910, so that the moving direction of the transport module 910 can be guided. That is, the transport module 910 can move along the moving direction of the robot body 100. This may appear to the user as if the robot body 100 uses the arm 400 to drag the transport module 910 to move.

[0396] In contrast, in this embodiment, the transport module 910 may be combined in front of the robot body 100. When the transport module 910 is combined in front of the robot body 100, the robot body 100 is arranged at a position further back than the transport module 910, so that the transport module 910 can be pushed to move.

[0397] As another example, Fig. 20 As shown, the functional module 900 may be a cleaning module 920 .

[0398] The cleaning module 920 may include a module body, a suction nozzle, and a dust collecting bucket. With such a configuration, if the functional module 900 is combined with the arm 400, the robot 1 may perform dry cleaning.

[0399] The module body may be detachably coupled to the arm 400. For example, the module body may be formed in a hexahedral shape having a predetermined volume, and a flow path capable of sucking dust may be formed therein.

[0400] A suction nozzle (not shown) capable of sucking in dust may be provided on the bottom surface of the module body. Furthermore, a dust collecting bucket capable of storing the sucked-in dust may be arranged inside the module body. A motor (not shown) for providing air suction may be provided inside the module body. At this time, a wheel may be provided on the bottom surface of the module body. Furthermore, an agitator may be provided on the bottom surface of the module body. Additionally, a side brush may be provided on the bottom surface of the module body. Furthermore, a motor for providing driving force to the agitator and / or the wheel may be provided inside the module body.

[0401] On the other hand, in this embodiment, the cleaning module 920 can be combined with the front of the robot body 100. In the case where the cleaning module 920 is combined with the front of the robot body 100, the robot body 100 is arranged at a position further back than the cleaning module 920 and can move together with the cleaning module 920. The cleaning module 920 can change the driving direction according to the movement of the robot body 100. This can appear to the user as if the robot body 100 uses the arm 400 to push the cleaning module 920 to clean.

[0402] On the other hand, Fig. 22 As shown, the function module 900 of another embodiment can also be combined below the robot body 100. In this case, the robot body 100 can be arranged at a position higher than the function module 900 and can move together with the function module 900. The function module 900 can change the driving direction according to the movement of the robot body 100. This can make it look like the robot body 100 is riding on the function module 900 to clean the robot body.

[0403] At this time, if Fig.21 As shown, the functional module 900 may be a cleaning module 920 ′. The cleaning module 920 ′ includes a module body 921 , a suction nozzle 922 , and a coupling portion 923 .

[0404] The module body 921 can be detachably coupled to the robot body 100 by means of the coupling portion 923. Although not shown, a flow path capable of sucking in dust may be formed inside the module body 921.

[0405] A suction nozzle 922 capable of sucking in dust may be provided in front of the module body 921. In addition, a dust collecting bucket capable of storing the sucked-in dust may be provided inside the module body 921. A motor (not shown) for providing air suction may be provided inside the module body 921. At this time, a wheel may be provided on the bottom surface of the module body 921. In addition,

[0406] The suction nozzle 922 can suck air and dust while moving along the ground (floor surface). A suction port can be formed on the bottom surface of the suction nozzle 922. In addition, an agitator can be provided around the suction port. In addition, a motor that provides driving force to the agitator and / or wheel can also be provided inside the module body 921.

[0407] The coupling portion 923 is arranged on the upper part of the module body 921 and is coupled to the robot body 100. Specifically, the coupling portion 923 can be arranged on the upper front side of the module body 921. The coupling portion 923 can be detachably coupled to the module coupling portion 150 of the module body 921. For example, at least a portion of the coupling portion 923 may include a portion made of a metal material or an electromagnet. As another example, the coupling portion 923 may include a hook or the like to hook and couple with the module body 921. In this case, the coupling force between the module body 921 and the robot body 100 can be strengthened.

[0408] On the other hand, the functional module 900 can be configured such that the rear part is heavier than the front part where the suction nozzle 922 is arranged, based on the joint 923. Although not shown in the figure, a motor that is relatively heavier than other components can be arranged at the rear of the module body 921. In addition, although not shown in the figure, in this embodiment, a weight block that increases the weight of the functional module 900 can also be arranged at the rear of the module body 910.

[0409] Therefore, the function module 900 may be combined with the robot body 100 and may be lifted together when the robot body 100 moves upward.

[0410] When the function module 900 is lifted by the robot body 100 , the front end of the function module 900 may be lifted higher than the rear end.

[0411] Although not shown in the figure, as another example, the functional module 900 may include: a pair of rags rotating around the rotation axis; and a water bucket storing water supplied to the rags. With such a configuration, if the functional module 900 is combined with the robot body 100, the robot 1 can perform wet cleaning.

[0412] Although not shown, as another example, the functional module 900 may include an arm and a gripper. With such a configuration, if the functional module 900 is coupled to the robot body 100, the gripper can pick up a mobile phone or a large object and carry it to another location.

[0413] Control composition

[0414] exist Fig.30 Detailed Description of the Invention A block diagram for explaining the control structure of a robot according to an embodiment of the present invention is shown in FIG.

[0415] Reference Fig.24 The robot 1 according to the embodiment of the present invention may include a sensor part 600, a control part 700, a communication part 710, a memory 720, a battery 800, a motor part, and an interface part.

[0416] For the realization of robot 1, Fig.24 The components shown in the block diagram are not essential, and the robot 1 described in this specification may have more or fewer components than the components listed above.

[0417] First, the control unit 700 can control the overall operation of the robot 1. The control unit 700 can control the robot 1 to perform various functions according to setting information stored in a memory 720 described later.

[0418] The control part 700 may be disposed in the robot body 100 . More specifically, the control part 700 may be installed and disposed on a PCB disposed inside the body cover 110 .

[0419] The control unit 700 may include all types of devices that can process data, such as a processor. Here, "processor" may refer to, for example, a data processing device built into hardware, which has a physical structure circuit for executing functions expressed as codes or instructions contained in a program. As an example of a data processing device built into hardware, it may include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), an FPGA (field programmable gate array) and other processing devices, but the scope of the present invention is not limited to this.

[0420] The control unit 700 may receive information about the external environment of the robot 1 from at least one of the components of the sensor unit 600 described later. In this case, the information about the external environment may be, for example, information about the temperature, humidity, dust volume, etc. of the room where the robot 1 is traveling. Or it may be, for example, cliff information. Or it may be, for example, indoor map information. Of course, the information about the external environment is not limited to the above examples.

[0421] The control unit 700 may receive information on the current state of the robot 1 from at least one of the various components of the sensor unit 600 described later. At this time, the current state may be, for example, information on the inclination of the robot body 100. Or it may be, for example, information on the separation state between the wheel 310 and the ground. Or it may be, for example, position information of the wheel motor MW. Or it may be, for example, position information of the suspension motor MS. Of course, the information on the current state of the robot 1 is not limited to the above examples.

[0422] The control unit 700 may transmit a drive control instruction to at least one of the components of the motor unit described later. For example, the rotation of the wheel motor MW may be controlled for the robot 1 to travel. Or, for example, the rotation of the wheel motor MW may be controlled for the robot 1 to maintain a horizontal posture. Or, for example, the rotation of the suspension motor MS may be controlled for the robot 1 to maintain a horizontal posture.

[0423] The control unit 700 may receive a user's instruction through at least one of the various components of the interface unit described later. For example, the instruction may be an instruction for turning on / off the robot 1. Or, for example, the instruction may be an instruction for manually controlling various functions of the robot 1.

[0424] The control unit 700 may output information related to the robot 1 through at least one of the various components of the interface unit described later. For example, the output information may be visual information. Or, for example, the output information may be auditory information.

[0425] The motor unit may include at least one motor and provide driving force to components connected to each motor.

[0426] The motor unit may include wheel motors MW that provide driving force to the left wheel 310 and the right wheel 310. More specifically, the motor unit may include a first wheel motor MW1 that transmits driving force to the wheel 310 disposed on one side in the left-right direction and a second wheel motor MW2 that transmits driving force to the wheel 310 disposed on the other side in the left-right direction.

[0427] The wheel motors MW may be respectively disposed at the wheel parts 300 . More specifically, the wheel motors MW may be accommodated inside the third link 230 .

[0428] The wheel motor MW is connected to the wheel 310. More specifically, the final output end of the shaft or gear of the first wheel motor MW1 is connected to the wheel 310 arranged on one side in the left-right direction. The final output end of the shaft or gear of the second wheel motor MW2 is connected to the wheel 310 arranged on the other side in the left-right direction. The wheel motors MW on the left and right sides are driven to rotate according to the control command of the control unit 700, and the wheel 310 rotates with the rotation of the wheel motors MW, so that the robot 1 travels along the ground.

[0429] The motor unit may include a suspension motor MS that provides driving force to the left leg unit 200 and the right leg unit 200. More specifically, the motor unit may include a first suspension motor MS1 that transmits driving force to the leg unit 200 disposed on one side in the left-right direction and a second suspension motor MS2 that transmits driving force to the leg unit 200 disposed on the other side in the left-right direction.

[0430] The suspension motors MS may be disposed in the robot body 100 . More specifically, the suspension motors MS may be housed in the body cover 110 , respectively.

[0431] The suspension motor MS is connected to the first link 210. More specifically, the final output end of the shaft or gear of the first suspension motor MS1 is connected to the first link 210 arranged on one side in the left-right direction. The final output end of the shaft or gear of the second suspension motor MS2 is connected to the first link 210 arranged on the other side in the left-right direction. The suspension motors MS on the left and right sides are driven to rotate according to the control command of the control unit 700, and the first link 210 rotates with the rotation of the suspension motor MS, and the third link 230 connected to the first link 210 rotates, and as a result, the angle between the first link 210 and the third link 230 can be changed.

[0432] Thus, the robot 1 can move the wheels 310 upward or downward, and can maintain a horizontal posture when climbing an obstacle or traveling on an uneven ground. Alternatively, the robot body 100 can move downward or upward.

[0433] The motor portion may include an arm motor MA that provides a rotational force to the arm 400 .

[0434] The arm motor MA may be disposed in the robot body 100 . More specifically, at least one arm motor MA may be housed inside the body cover 110 .

[0435] The arm motor MA is driven to rotate according to the control command of the control unit 700, and the rotating joint 410 rotates as the arm motor MA rotates, and as the connecting part 420 integrally formed with the rotating joint 410 rotates, as a result, the arm 400 can be pivotally moved relative to the robot body 100.

[0436] Thus, the robot 1 can perform an operation of rotating the arm 400, and can rotate the arm 400 to be coupled with the functional module 900. Alternatively, the arm 400 can be supported on the ground by rotating the arm 400.

[0437] The sensor part 600 includes at least one sensor, each of which may measure or detect information on an external environment of the robot 1 and / or information on a current state of the robot 1 .

[0438] The sensor part 600 may include an obstacle detection camera 610 .

[0439] The obstacle detection camera 610 is used to detect obstacles in the room where the robot 1 travels and to map the indoor structure.

[0440] To this end, the obstacle detection camera 610 may be disposed in front of the robot body 100. More specifically, the obstacle detection camera 610 may be disposed in front of the body cover 110.

[0441] On the other hand, according to the embodiment, a plurality of obstacle detection cameras 610 may be configured. For example, a first detection camera 611 may be configured at the front lower portion of the main body cover 110, and a second detection camera 612 may be configured at the front upper portion of the main body cover 110. With such a configuration, the obstacle detection camera 610 can detect objects or people configured in front of the robot 1.

[0442] The obstacle detection camera 610 may detect an obstacle T, and may detect a distance to the obstacle T. For example, the first detection camera 611 may be a depth camera.

[0443] In order to perform SLAM (Simultaneous Localization and Mapping), the obstacle detection camera 610 can shoot the interior while driving. For example, the second detection camera 612 can be an RGB camera (RGB camera, three primary colors camera).

[0444] Depth cameras and RGB cameras can calculate distance by calculating the time it takes for light to reflect back after shining light on it.

[0445] The control unit 700 may implement SLAM based on the information on the surrounding environment captured by the obstacle detection camera 610 and the information on the current position of the robot 1 .

[0446] On the other hand, the robot 1 of the embodiment of the present invention may also implement SLAM only through the obstacle detection camera 610, but is not limited thereto. For example, the robot 1 may further use an additional sensor to implement SLAM. For example, the additional sensor may be an LDS (Laser Distance Sensor).

[0447] The sensor part 600 may include an IR sensor 620 for detecting infrared rays.

[0448] The IR sensor 620 may be an IR camera that detects infrared light.

[0449] The IR sensor 620 may be disposed on the robot body 100. More specifically, the IR sensor 620 may be disposed in front of the robot body cover 110. The IR sensor 620 may be disposed on the left and right of the obstacle detection camera 610.

[0450] On the other hand, according to the embodiment, a plurality of IR sensors 620 may be provided. For example, a first IR sensor 621 may be provided at the front lower portion of the main housing 110, and a second IR sensor 622 may be provided at the rear of the main housing 110. With such a configuration, the positions of light sources provided in various directions may be detected.

[0451] The IR sensor 620 may be disposed close to the obstacle detection camera 610. For example, the first IR sensor 621 may be disposed directly below the first obstacle detection camera 611.

[0452] Through such a configuration, the IR sensor 620 can detect the light emitted by the lamp of the functional module 900 or the robot charging stand (not shown), and if the robot body 100 approaches the lamp, the obstacle detection camera 610 can detect the shape of the functional module 900 or the robot charging stand (not shown).

[0453] The IR sensor 620 can approach a specific module by detecting infrared light emitted by an IR LED provided in the module. For example, the module may be a charging station for charging the robot 1. For example, the module may be a functional module 900 detachably provided in the arm 400.

[0454] The control unit 700 may control the IR sensor 620 to start detecting the IR LED when the charging state of the robot 1 is below a preset level. The control unit 700 may control the IR sensor 620 to start detecting the IR LED when receiving an instruction from the user to search for a specific module.

[0455] The sensor portion 600 may include a wheel motor sensor 630 .

[0456] The wheel motor sensor 630 can measure the position of the wheel motor MW. For example, the wheel motor sensor 630 can be an encoder. As is well known, the encoder can detect the position of the motor and the rotation speed of the motor.

[0457] The wheel motor sensor 630 may be respectively configured at the left wheel motor MW and the right wheel motor MW. More specifically, the wheel motor sensor 630 may be connected to the final output end of the shaft or gear of the wheel motor MW and housed inside the third link 230 together with the wheel motor MW.

[0458] The sensor portion 600 may include an arm motor sensor 640 .

[0459] The arm motor sensor 640 can measure the position of the arm motor MA. As an example, the arm motor sensor 640 can be an encoder. As is known, an encoder can detect the position of a motor and can also detect the rotation speed of a motor. As another example, the arm motor sensor 640 can be a photo sensor. As is known, a photo sensor can measure the degree of rotation of the arm motor MA or the degree of rotation of the arm 400.

[0460] The arm motor sensor 640 may be disposed in the arm motor MA. More specifically, the arm motor sensor 640 may be connected to the final output end of the shaft or gear of the arm motor MA and housed inside the main body housing 110 or the rotation coupling portion 410 together with the arm motor MA.

[0461] The suspension motor sensor 650 may measure the position of the leg portion 200. For example, the suspension motor sensor 650 may be a photo sensor. As is well known, the photo sensor may measure the degree of rotation of the suspension motor MS or the degree of rotation of the first link 210.

[0462] The suspension motor sensor 650 may be disposed close to the suspension motor MS. More specifically, the suspension motor sensor 650 may be housed inside the main body housing 110 together with the suspension motor MS.

[0463] The sensor portion 600 may include an IMU sensor 660 .

[0464] The IMU sensor 660 may measure a tilt angle of the robot body 100 .

[0465] As is well known, the IMU (Inertial Measurement Unit) sensor 660 is a sensor that has a three-axis acceleration sensor, a three-axis gyroscope sensor, and a geomagnetic sensor built in, and is also called an inertial measurement sensor.

[0466] A three-axis acceleration sensor is a sensor that detects the gravitational acceleration of an object in a stationary state. Since the gravitational acceleration changes according to the angle of inclination of the object, the angle of inclination can be obtained by measuring the gravitational acceleration. However, there is a disadvantage that an accurate value cannot be obtained in an accelerated state of non-stationary movement.

[0467] The three-axis gyro sensor is a sensor that measures angular velocity. When the angular velocity is integrated over time, the tilt angle is obtained. However, due to noise, etc., the angular velocity measured by the gyro sensor has a continuous error, and this error accumulates over time and causes an error in the integrated value.

[0468] As a result, when the robot 1 is in a stationary standby state for a long time, the robot 1 can accurately measure the inclination through the acceleration sensor, but the gyro sensor generates an error. When the robot 1 is traveling, the robot 1 can measure an accurate inclination value through the gyro sensor, but cannot obtain an accurate value through the acceleration sensor.

[0469] If the IMU sensor 660 is used, the shortcomings of the above-mentioned acceleration sensor and gyroscope sensor can be compensated.

[0470] In the following description of this specification, an embodiment in which the IMU sensor 660 is provided will be described.

[0471] The IMU sensor 660 may be disposed on the robot body 100. More specifically, the IMU sensor 660 may be disposed adjacent to the control unit 700. The IMU sensor 660 may be mounted and disposed on a PCB inside the robot body 100. Preferably, the IMU sensor 660 is disposed close to the central area of ​​the robot body 100 to improve the measurement accuracy of the tilt angle and direction.

[0472] The IMU sensor 660 can measure at least one of the three-axis acceleration, three-axis angular velocity, and three-axis geomagnetic data of the robot body 100 and transmit the data to the control unit 700 .

[0473] The control unit 700 can calculate the tilt direction and tilt angle of the robot body 100 using at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor 660. The control unit 700 can perform horizontal posture maintenance control of the robot body 100 described below based on this.

[0474] The sensor part 600 may include a cliff sensor 670 for detecting a cliff.

[0475] The cliff sensor 670 can detect the distance from the ground in front of the robot 1. The cliff sensor 670 can be configured in various ways as long as it can detect the relative distance between the position where the cliff sensor 670 is formed and the ground.

[0476] For example, the cliff sensor 670 may include a light emitting unit that emits light and a light receiving unit into which the reflected light enters. The cliff sensor 670 may be formed of an infrared sensor.

[0477] For example, the cliff sensor 670 may be disposed on the robot body 100 . More specifically, the cliff sensor 660 may be disposed on the inner side of the robot body 100 .

[0478] In contrast, the cliff sensor 670 may be disposed on the third link 230. For example, a first cliff sensor 671 may be disposed at the front lower end of the third link 230, and a second cliff sensor 672 may be disposed at the rear upper side of the third link 230. With such a configuration, the distance between the third link 230 and the wheel 310 and the ground B can be measured. In addition, the angle between the third link 230 and the ground can be calculated by the distance difference between the first cliff sensor 671 and the second cliff sensor 672.

[0479] The cliff sensor 670 can irradiate light toward the floor surface in front of the robot 1. The cliff sensor 670 can detect in advance whether there is a cliff in front of the robot 1 in the driving direction.

[0480] The light emitting part of the cliff sensor 670 may irradiate light obliquely toward the front floor surface. The light receiving part of the cliff sensor 670 may receive light reflected and incident from the floor surface. The distance between the front ground and the cliff sensor 670 may be measured based on the difference between the irradiation time point and the reception time point of the light.

[0481] When the distance measured by the cliff sensor 670 exceeds a preset value or exceeds a prescribed range, it may be that the ground ahead suddenly becomes lower. By this principle, a cliff can be detected.

[0482] When a cliff is detected ahead, the control unit 700 can control the wheel motor MW to make the robot 1 travel around the detected cliff. At this time, the control of the wheel motor MW can be a stop control. Alternatively, the control of the wheel motor MW can be a rotation direction conversion control.

[0483] The sensor portion 600 may include a contact detection sensor 675 .

[0484] The contact detection sensor 675 may detect whether the wheel 310 is in contact with the ground.

[0485] The contact detection sensor 675 may include a TOF sensor that measures the distance between the wheel 310 of the robot 1 and the ground. The TOF sensor may be a three-dimensional camera using TOF (Time OF Flight) technology. As is well known, TOF technology is a technology that measures the distance to an object based on the round-trip flight time of light reflected from the object.

[0486] The TOF sensor can be configured on the wheel portion 300. For example, the contact detection sensor 675 can be respectively configured on the left third link 230 and the right third link 230. By measuring the distance to the ground by the TOF sensor, it can be determined whether the wheel 310 is in contact with the ground. If the distance measured by the TOF sensor is less than a preset distance (or less than a lower limit of a preset distance range), the wheel 310 is in contact with the ground. If the distance measured by the TOF sensor is greater than a preset distance (or greater than an upper limit of a preset distance range), the wheel 310 is separated from the ground.

[0487] The contact detection sensor 675 may include a load cell that measures the magnitude of a force applied to a part of the robot 1 .

[0488] As is known to all, when a force is applied to a force sensor, the resistance value of a strain gauge disposed on the surface changes. At this time, the magnitude of the force applied to the force sensor can be measured by the change in the resistance value.

[0489] The force sensor may be disposed on the leg portion 200. Preferably, the force sensor may be disposed on the left third link 230 and the right third link 230, respectively. When the wheel 310 is in contact with the floor, the third link 230 is deformed by a vertical resistance force applied from the ground. The measured value of the force sensor shows a value different from the initial value according to the deformation of the third link 230. Thus, it can be determined whether the wheel 310 is in contact with the ground.

[0490] The sensor portion 600 may include an environment sensor 680 .

[0491] The environment sensor 680 may be configured to measure various environmental conditions outside the robot 1, that is, inside the home where the robot 1 travels. The environment sensor 680 may include at least one of a temperature sensor, a humidity sensor, and a dust sensor.

[0492] As an example, the environment sensor 680 may be disposed on the robot body 100 . More specifically, the environment sensor 680 may be disposed behind the robot body 100 .

[0493] As another example, the environment sensor 680 may be disposed on the arm 400 . More specifically, the environment sensor 680 may be disposed on the connection portion 420 .

[0494] As a possible embodiment, the information measured by the environmental sensor 680 may be visually displayed on the display 120 .

[0495] The sensor portion 600 may include a side sensor 690 .

[0496] The side sensor 690 can measure the distance to obstacles including walls and the like.

[0497] The side sensor 690 can detect the distance between the side and the wall when the robot 1 is traveling. The side sensor 690 can be configured in various ways as long as it can detect the relative distance between the position where the side sensor 690 is arranged and the obstacle.

[0498] For example, the side sensor 690 may include a light emitting unit that emits light and a light receiving unit into which the reflected light enters. The side sensor 690 may be composed of an infrared sensor.

[0499] The side sensors 690 may be disposed on both sides of the robot 1. For example, the side sensors 690 may be disposed on the outer side of the third link 230 of the leg portion 200.

[0500] The interface part includes at least one component for interaction between the user and the robot 1 , and each component may be configured to receive instructions from the user and / or output information to the user.

[0501] The interface portion may include a microphone 140 .

[0502] The microphone 140 is a component for recognizing the user's voice, and a plurality of microphones 140 may be provided. A plurality of microphones 140 may be arranged on the main body cover 110. For example, four microphones 140 may be arranged on the upper side of the main body cover 110.

[0503] The voice signal received by the microphone 140 can be used to track the user's position. In this case, a known sound source tracking algorithm can be applied. For example, the sound source tracking algorithm can be a three-point measurement method (triangulation method) using the time difference of receiving the voice signal by multiple microphones 140. It is a principle that uses the position of each microphone 140 and the speed of the sound wave to calculate the position of the voice source.

[0504] On the other hand, if the microphone 140 and the obstacle detection camera 610 cooperate with each other, it can be achieved that the robot 1 can find the user's location even if the user calls the robot 1 from a distance.

[0505] The interface portion may include a speaker 450 .

[0506] The speaker 450 may be disposed on the arm 400. For example, the speaker 450 may be disposed on the rotation joint 410 of the arm 400. The speakers 450 may be disposed at positions covering both sides of the main body cover 110 in the left and right directions.

[0507] The speaker 450 can send information of the robot 1 in the form of sound. The source of the sound sent by the speaker 450 may be sound data pre-stored in the robot 1. For example, the pre-stored sound data may be voice data of the robot 1. For example, the pre-stored sound data may be a notification sound for guiding the status of the robot 1. On the other hand, the source of the sound sent by the speaker 450 may be sound data received through the communication unit 710.

[0508] The interface portion may include a display 120 and an input portion 125 .

[0509] The display 120 may include displays configured in more than one module. The display 120 may be configured on the front upper side of the robot body 100 .

[0510] The display 120 may be formed by any device of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel (Plasma Display Panel), or an organic light emitting diode (OLED).

[0511] The display 120 can display information such as the operation time information of the robot 1 and the power information of the battery 800.

[0512] The display 120 may display the facial expression of the robot 1. Alternatively, the display 120 may display the eyes of the robot 1. By displaying the facial shape or eye shape on the display 120, the current state of the robot 1 can be personified and displayed from the emotional aspect. For example, when the user returns home after going out, a smiling face expression or smiling eye shape can be displayed on the display 120. This has the effect of giving the user a feeling of communicating with the robot 1.

[0513] The input unit 125 may be configured to receive a control instruction from the user for controlling the robot 1. For example, the control instruction may be an instruction to change various settings of the robot 1. For example, the settings may be voice volume, display brightness, power saving mode settings, and the like.

[0514] The input unit 125 may be disposed on the display 120 .

[0515] The input unit 125 generates key input data input by the user to control the actions of the robot 1. To this end, the input unit 125 can be composed of a key pad, a dome switch, a touch panel (static pressure / static electricity), etc. In particular, when the touch panel and the first display form an interlayer structure, it can be called a touch screen.

[0516] The communication unit 710 may be provided for signal transmission between various components within the robot 1. For example, the communication unit 710 may support CAN (Controller Area Network) communication. For example, the signal may be a control instruction transmitted from the control unit 700 to other components.

[0517] The communication unit 710 may support wireless communication with other devices existing outside the robot 1. As a wireless communication module for supporting wireless communication, a short-distance communication module or a long-distance communication module may be provided.

[0518] The short-range communication may be, for example, Bluetooth communication, NFC (Near Field Communication) communication, or the like.

[0519] Long-distance communication may be, for example, wireless local area network (WLAN), DLNA (Digital Living Network Alliance), Wireless Broadband (Wibro), World Interoperability for Microwave Access (Wimax), GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband Code Division Multiple Access), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), IEEE802.16, Long Term Evolution (LTE), LTEA (Long Term Evolution), and LTE-A (Long Term LTE). Evolution-Advanced, Advanced Long Term Evolution), Wireless Mobile Broadband Service (WMBS), BLE (Bluetooth Low Energy), Zigbee, RF (Radio Frequency), LoRa (Long Range), etc.

[0520] The memory 720 is a component for storing various data used for driving and operating the robot 1 .

[0521] The memory 720 may store an application program for autonomous driving of the robot 1 and various related data. The memory 720 may also store various data detected by the sensor unit 600, and may store setting information for various settings selected or input by the user.

[0522] The memory 720 may include a magnetic storage medium or a flash storage medium, but the scope of the present invention is not limited thereto. The memory 720 may include a built-in memory and / or an external memory, and may also include a volatile memory such as a DRAM, an SRAM, or an SDRAM, and may also include a non-volatile memory such as an OTPROM (one time programmable ROM), a PROM, an EPROM, an EEPROM, a mask ROM, a flash ROM, a NAND flash memory, or a NOR flash memory, and may also include a flash drive such as an SSD, a CF (compact flash) card, an SD card, a Micro-SD card, a Mini-SD card, an Xd card, or a memory stick, or a storage device such as a HDD.

[0523] The memory 720 may be included in the control unit 700 or provided as an independent component.

[0524] The battery 800 is configured to supply power to other components constituting the robot 1 .

[0525] The battery 800 may be disposed in the robot body 100. More specifically, the battery 800 may be housed inside the body cover 110. Although not shown, the battery 800 may be disposed at a position further rearward than the suspension motor MS.

[0526] The battery 800 can be charged by an external power source, and for this purpose, a charging terminal 130 for charging the battery 800 can be provided on one side of the robot body 100. As in the embodiment of the present invention, the charging terminal 130 can be configured at the lower part of the robot body 100. Thus, the robot 1 can be easily combined with the charging base by approaching the charging base and descending to place the charging terminal 130 on the corresponding terminal of the charging base from the upper part.

[0527] The above is a detailed description through specific embodiments of the present invention, but it is only used to specifically illustrate the present invention, and the present invention is not limited thereto. Obviously, the present invention can be modified or improved by ordinary technicians in the technical field to which the present invention belongs.

[0528] Simple modifications or changes of the present invention all belong to the scope of the present invention, and the specific protection scope of the present invention will become more clear through the scope of the attached claims.

Claims

1. A robot, characterized in that: include: A robot body, wherein a motor and a battery are accommodated in the robot body; A leg part, arranged on the robot body; a wheel portion rotatably coupled to the leg portion and comprising a wheel that rolls on the ground; as well as An arm, comprising a rotating joint part and a connecting part, wherein the rotating joint part is rotatably connected to two side surfaces of the robot body, and the connecting part connects a pair of the rotating joint parts to each other; The rotationally coupled portion and the connecting portion of the arm rotate integrally with the rotationally coupled portion as a rotation axis.

2. The robot according to claim 1, characterized in that: Also included is a functional module, which is combined with the arm and moves together with the robot body; The connection portion is provided with a connection terminal electrically connected to the functional module.

3. The robot according to claim 1, characterized in that: Also included is a functional module, which is combined with the arm and moves together with the robot body; The connection portion is provided with a detachable portion to be detachably coupled to the functional module.

4. The robot according to claim 1, characterized in that: The arm contacts the ground to support the robot body.

5. The robot according to claim 1, characterized in that: The leg portion comprises: A first connecting rod, connected to the robot main body connecting rod; A second connecting rod, coupled to the robot main body connecting rod; and a third connecting rod, connected to the first connecting rod and the second connecting rod, and connected to the wheel portion; A rotation radius of the arm is longer than a maximum length of the first link, and a rotation radius of the arm is shorter than a maximum length of the leg portion.

6. The robot according to claim 1, characterized in that: The leg portion comprises: A first connecting rod, connected to the robot main body connecting rod; A second connecting rod, coupled to the robot main body connecting rod; and a third connecting rod, connected to the first connecting rod and the second connecting rod, and connected to the wheel portion; The arm is disposed closer to the ground than the first link, and if the wheel stops rotating, the wheel and the arm are in contact with the ground to support the robot body.

7. The robot according to claim 1, characterized in that: When at least a portion of the robot body is in contact with the ground, the arm and the wheel rotate to raise the robot body.

8. The robot according to claim 1, characterized in that: The leg portion comprises: A first connecting rod, connected to the robot main body connecting rod; A second connecting rod, coupled to the robot main body connecting rod; and a third connecting rod, connected to the first connecting rod and the second connecting rod, and connected to the wheel portion; When at least a portion of the third link is in contact with the ground, the arm and the wheel rotate to raise the robot body.

9. The robot according to claim 1, wherein: Also includes: A display, configured on the robot body, for displaying the status of the robot body; as well as The robot mask is detachably coupled to the robot body and covers the display.

10. The robot according to claim 9, characterized in that: The display changes a graphic displayed in a state where the mask is coupled according to the shape of the mask.

11. The robot according to claim 9, wherein: The robot mask comprises: a mask body, combined with the robot body; and The mask function part is provided on the mask body, and when the robot mask is combined with the robot body, the mask function part provides functions to the robot body.

12. The robot according to claim 1, characterized in that: Also included is a functional module, which is detachably coupled to the robot body and moves together with the robot body; The functional modules include: a module body; and A combining portion, arranged on the upper portion of the module body and combined with the robot body; The functional module is based on the connecting portion, and the rear of the functional module is heavier than the front where the suction nozzle is arranged.

13. A robot, wherein: include: A robot body, wherein a motor and a battery are accommodated in the robot body; A leg portion, combined with the robot body and provided as a pair to support the robot body; a wheel coupled to the leg portion and in contact with the ground; and An arm is pivotally coupled to two sides of the robot body.

14. The robot according to claim 13, characterized in that: The arm is detachably coupled to a functional module that moves together with the robot body.

15. The robot according to claim 13, characterized in that: The arms are in contact with the ground and support the robot body together with the wheels.

Images