Robot and method for controlling robot

Abstract

The present invention relates to a robot capable of providing various services in accordance with a user's instruction input and a method for controlling the robot, one embodiment of the present invention is a method for controlling the robot, the robot comprising: wheel motors for rotating wheels each disposed on the left and right sides of a robot body; and an arm motor that rotates an arm of an integrated structure coupled to both left and right side surfaces of the robot body, the method including: driving the arm motor so that one end of the arm approaches the ground; stopping the driving of the wheel motor to tilt the robot rearward; and a step of supporting the robot at three points with respect to the ground and converting the robot into a standby posture.

Description

Technical Field

[0001] The present invention relates to a robot and a control method thereof. More specifically, it relates to a robot capable of providing various services according to a user's instruction input and a control method thereof. Background Art

[0002] In recent years, with the development of robot technology, the use of robots is increasing not only in the industrial field but also at home.

[0003] Regarding home robots, there are robots that help with housework such as cleaning or control home appliances to perform household chores on behalf of people, or robots that use artificial intelligence (AI) to play the role of a user's secretary or provide education to the user, or robots that replace pets, etc.

[0004] Regarding robots, in addition to robots that perform functions in a state fixed at a specific position, there are also mobile robots that can move. In particular, home robots mainly use mobile robots that replace or follow users to move around at home.

[0005] Among mobile robots, two-wheeled robots with two wheels have the advantage of being easy to store due to their small footprint, and have the advantage of being easy to use at home where the space is relatively narrow due to the small turning radius when the robot changes direction.

[0006] Despite these advantages, two-wheeled robots may have the following problems.

[0007] First, in the case where the robot loses balance and tilts forward or backward and falls to the ground, if one wants to restore the center of gravity of the robot only by using the rotating wheels, a strong torque must be applied to the wheels instantaneously. As a result, there are not only problems of large power consumption but also possible damage to the wheel motors.

[0008] Second, even when the robot is not processing any instructions, in order for the robot to maintain a basic posture with only two wheels, the rotation direction of the wheels must be continuously changed according to the direction in which the robot tilts. As a result, the wheel motors must be driven endlessly, so there is a problem of continuous power consumption in the state where the robot is waiting for instructions and rapid battery discharge occurs.

[0009] On the other hand, as a prior art document related to a robot that travels using two wheels, U.S. Patent Application Publication No. 2020-0362972 (hereinafter referred to as "Prior Art Document 1") has been proposed.

[0010] Prior Art Document 1 discloses a mobile robot that moves using a pair of legs provided with wheels.

[0011] The above-mentioned mobile robot can move by rotating the wheels provided on a pair of legs while lifting an object with its arm.

[0012] However, the above-mentioned mobile robot has the limitation that its arm only has the function of lifting an object and cannot expand the functions of the robot using the arm.

[0013] In addition, in order to maintain balance during driving or stopping, the main body combined with the leg part rotates in a pendulum shape, and a counter-balance rotates corresponding to the rotation of the main body to maintain balance.

[0014] Therefore, in order to stably maintain the posture, the above-mentioned mobile robot needs to continuously operate the motor to rotate the wheels and the counter-balance. That is, the mobile robot in the prior art document 1 does not propose a solution to the limitation that the two-wheeled robot must continue to consume power even when waiting for an instruction.

[0015] In addition, a method for standing up again when the robot falls is not disclosed at all.

[0016] As a prior art document regarding a robot that performs an action of getting up from a ground station, Japanese Utility Model Publication No. 3136601 (hereinafter referred to as "prior art document 2") is proposed.

[0017] Prior art document 2 discloses a walking toy in the form of a robot that can get up.

[0018] The above-mentioned walking toy is configured to support two legs on the ground in a state of lying on the ground and rotate two arms to get up.

[0019] However, since the two arms of the above-mentioned walking toy are separated from each other and each supports the ground, there is a limitation that it cannot maintain the posture of the body in a supported state.

[0020] In addition, the arms of the above-mentioned walking toy do not have a structure that can be combined with other objects, so there is a limitation that functions other than toys cannot be added.

[0021] Furthermore, since the legs of the walking toy in prior art document 2 are not wheel structures, different from the two-wheeled robot, there is no problem of power consumption in the state of standing up with the legs stepping on the ground, and of course, no solution is proposed to solve the limitation of the two-wheeled robot that must continue to consume power when waiting for an instruction. Summary of the Invention

[0022] Problems to be Solved by the Invention

[0023] The present invention is used to improve the problems of the above-described two-wheeled robot, and its object is to provide a robot and a control method for the robot, which can support itself on the ground and return to the basic posture in a state where the robot main body tilts forward or backward and falls to the ground.

[0024] In addition, the object of the present invention is to provide a robot and a control method for the robot, which can prevent excessive load from being applied to the wheel motor during the process of the fallen robot returning to the basic posture, and can also reduce power consumption.

[0025] In addition, the object of the present invention is to provide a robot and a control method for the robot, which can be converted to a standby posture when no instruction needs to be executed, and can be converted to the basic posture for traveling when the instruction needs to be executed again.

[0026] Means for solving the problem

[0027] An embodiment of the present invention is a control method for a robot, the robot including: wheel motors that rotate wheels respectively arranged on the left and right sides of the robot main body; and arm motors that rotate arms of an integrated structure simultaneously coupled to the left and right side surfaces of the robot main body; wherein the control method of the robot includes: a step of driving the arm motors to bring one end of the arms close to the ground; a step of stopping the driving of the wheel motors to tilt the robot backward; and a step of the robot supporting on the ground with three points and converting to a standby posture.

[0028] In an embodiment of the present invention, the robot may further include a suspension motor that adjusts the joint angle between the upper link and the lower link of the leg portion connecting the wheel and the robot main body.

[0029] In an embodiment of the present invention, before the step of driving the arm motors, it may further include: a step of driving the suspension motor to reduce the distance between the wheel and the robot main body.

[0030] In an embodiment of the present invention, in the step of driving the suspension motor, the joint angle between the upper link and the lower link may become smaller.

[0031] In an embodiment of the present invention, the robot may further include leg portions that are connected between the wheels and the robot main body and are formed into a joint structure in which an upper link and a lower link are connected.

[0032] In an embodiment of the present invention, the arm may further include: a pair of rotational coupling parts rotatably coupled to the robot body and respectively disposed on the left and right sides; and a connection part connecting the pair of rotational coupling parts.

[0033] In an embodiment of the present invention, in the step of driving the arm motor, the connection part may be disposed at a position more forward and lower than the coupling position of the upper link and the lower link.

[0034] In an embodiment of the present invention, in the step of driving the arm motor, if the arm rotates to a position where the rotation range of the arm is limited by a stopper formed on the upper link, the driving of the arm motor may be stopped.

[0035] In an embodiment of the present invention, in the step of driving the arm motor, if a rotation protrusion formed on the arm and rotating together with the arm contacts the stopper, the movement of the joint structure may be restricted.

[0036] In an embodiment of the present invention, after the step of driving the arm motor, the driving of the suspension motor may be stopped in a state where the movement of the joint structure is restricted.

[0037] Another embodiment of the present invention is a control method for a robot, the robot including: a wheel motor for rotating wheels respectively disposed on the left and right sides of the robot body; and an arm motor for rotating an integrated structure arm simultaneously coupled to the left and right side surfaces of the robot body, wherein the control method for the robot may include: a step of driving the arm motor to bring the arm into contact with the ground if a component other than the wheels is in contact with the ground as the robot tilts forward or backward; and a step of driving the wheel motor and the arm motor in the same direction simultaneously to raise the robot body.

[0038] In another embodiment of the present invention, the robot may further include a suspension motor for adjusting the coupling angle of a joint structure between an upper link and a lower link of a leg part connected between the wheel and the robot body.

[0039] In another embodiment of the present invention, before the step of bringing the arm into contact with the ground, it may further include: a step of driving the suspension motor to reduce the distance between the wheel and the robot body.

[0040] In another embodiment of the present invention, after the step of raising the robot body, it may further include a step of driving the suspension motor to increase the distance between the wheel and the robot body.

[0041] In another embodiment of the present invention, after the step of raising the robot main body, the method may further include: driving the arm motor to move the arm to a position corresponding to a preset basic posture. In another embodiment of the present invention, the robot may further include leg portions, which are connected between the wheels and the robot main body and are formed as an upper link and a lower link.

[0042] In another embodiment of the present invention, in the step of reducing the distance between the wheel and the robot main body, the joint angle between the upper link and the lower link may become smaller.

[0043] In another embodiment of the present invention, in the step of bringing the arm into contact with the ground, the center of gravity of the robot main body may be disposed between the contact point where the wheel contacts the ground and the contact point where the arm contacts the ground.

[0044] In another embodiment of the present invention, in the step of raising the robot main body, if the robot tilts forward and is in a state where components other than the wheels are in contact with the ground, then in a state where the arm is in contact with the ground on the front side of the wheel, the arm and the wheel may rotate forward simultaneously.

[0045] In another embodiment of the present invention, in the step of raising the robot main body, if the robot tilts backward and is in a state where components other than the wheels are in contact with the ground, then in a state where the arm is in contact with the ground on the rear side of the wheel, the arm and the wheel may rotate backward simultaneously.

[0046] In yet another embodiment of the present invention, the robot may include: a robot main body that internally houses a battery; two wheels disposed at the lower part of the robot main body; two leg portions connected between the robot main body and the wheels; and an integrated arm structure that includes: a pair of rotary joints rotatably coupled to the robot main body and respectively disposed on the left and right sides; and a connecting portion connecting the pair of rotary joints.

[0047] In yet another embodiment of the present invention, during the process of the wheel traveling on the ground, while maintaining a basic posture in which the connecting portion is disposed at the upper rear side of the robot main body, when performing a posture conversion between the basic posture and other specific postures, an action in which the position of the connecting portion changes due to the rotation of the arm may occur.

[0048] In yet another embodiment of the present invention, each of the leg portions may include an upper link connected to the robot main body by a link and a lower link that is link-connected to the upper link and is connected to the wheel.

[0049] In yet another embodiment of the present invention, an operation of reducing the combined angle between the upper link and the lower link may be performed before the arm rotates.

[0050] In yet another embodiment of the present invention, when the specific posture is a falling posture in which the robot body tilts forward or backward, causing components other than the wheels to contact the ground, the arm rotates in the state of the falling posture so that the connecting portion moves in a direction closer to the ground. In a state where the connecting portion contacts the ground, the robot body rises by the operation of rotating the arm and the wheels in the same direction, thereby enabling the restoration of the basic posture.

[0051] In yet another embodiment of the present invention, if the robot falls forward, the arm and the wheels may both rotate forward in a state where the connecting portion contacts the ground on the front side of the wheels.

[0052] In yet another embodiment of the present invention, if the robot falls backward, the arm and the wheels may both rotate backward in a state where the connecting portion contacts the ground on the rear side of the wheels.

[0053] In yet another embodiment of the present invention, if a preset specific condition is satisfied, the arm rotates backward from the state of the basic posture toward the rear of the robot body and is converted into a standby posture in which the robot is supported by the two wheels and the connecting portion at three points on the ground.

[0054] In yet another embodiment of the present invention, before being converted into the standby posture, the wheel motor that drives the rotation of the wheels may be stopped.

[0055] Effects of the Invention

[0056] According to the present invention, the arm is rotated in a state where the robot has fallen, and the wheels are rotated in a state where the arm is propping up the ground, thereby enabling the robot to be lifted up. At this time, depending on the falling direction of the robot, the rotation direction of the arm is also controlled differently. Thus, no matter in which direction the robot falls, it can be restored to its original basic posture.

[0057] In addition, according to the present invention, when the robot is restored from the falling posture to the basic posture, a phased cooperation of the arm motor, the suspension motor, and the wheel motor is performed. Specifically, the suspension motor is driven to fold the leg portions before the arm motor is driven. Therefore, it has the effect that the rotational torque of the wheel motor is completely used to lift up the robot, and the wheel motor and the arm motor rotate in the same direction together to lift up the robot. That is, it can prevent an excessive load from being applied to the wheel motor and reduce power consumption.

[0058] In addition, according to the present invention, the arm can be rotated without executing an instruction, and the driving of the wheel motor can be stopped in a state where the arm surrounds the leg support portion. Thus, the robot according to an embodiment of the present invention can be converted into a standby posture with three-point support on the ground. In such a standby posture, since it is not necessary to perform balance control by rotating the motors included in the robot, especially the rotation drive of the wheel motor, premature discharge of the battery of the robot can be prevented.

[0059] The effects of the present invention are not limited to the above-mentioned effects, and those skilled in the art can clearly understand other effects not mentioned based on the description of the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a perspective view of a robot for explaining an embodiment of the present invention.

[0061] Figure 2 It is a front view of a robot according to an embodiment of the present invention.

[0062] Figure 3 It is a perspective view of a robot according to an embodiment of the present invention observed from another angle.

[0063] Figure 4 It is a partial cross-sectional view for explaining the power transmission for rotating the arm in a robot according to an embodiment of the present invention.

[0064] Figure 5 It is a top view of a robot according to an embodiment of the present invention.

[0065] Figure 6 It is a view of the arm of a robot for explaining another embodiment of the present invention.

[0066] Figure 7 It is for explaining Figure 6 the state where the loading and unloading portion of the arm rotates in

[0067] Figure 8 It is a bottom view of a robot according to an embodiment of the present invention.

[0068] Figure 9 It is a block diagram for explaining the control configuration of a robot according to an embodiment of the present invention.

[0069] Figure 10a and Figure 10b It is a sequence diagram showing a first embodiment of a control method related to the posture conversion of the robot.

[0070] Figures 11a to 11d It successively shows the motion states of the robot when converting from the basic posture to the standby posture.

[0071] Figure 12It is a sequence diagram showing a second embodiment of a control method related to the posture conversion of a robot.

[0072] Figures 13a to 13f It successively shows the motion patterns of the robot for recovering to the basic posture in the case of falling forward.

[0073] Figures 14a to 14e It successively shows the motion patterns of the robot for recovering to the basic posture in the case of falling backward.

[0074] Figure 15 It is a diagram for explaining the combination relationship between a robot mask and a robot main body in a robot according to an embodiment of the present invention. Detailed implementation mode

[0075] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

[0076] The present invention can be variously modified and can have various embodiments. Therefore, 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 modifications, equivalents, and alternatives within the spirit and technical scope of the present invention.

[0077] Figure 1 It shows a perspective view of a robot for explaining an embodiment of the present invention, Figure 2 It shows a front view of a robot according to an embodiment of the present invention, Figure 3 It shows a perspective view of a robot according to an embodiment of the present invention observed from another angle, Figure 4 It shows a partial cross-sectional view of the power transmission for rotating the arm in a robot according to an embodiment of the present invention, Figure 5 It shows a top view of a robot according to an embodiment of the present invention, Figure 6 It shows a diagram of the arm of a robot for explaining another embodiment of the present invention, Figure 7 It is for explaining Figure 6 a diagram of the state where the loading and unloading part of the arm rotates in Figure 8 It shows a bottom view of a robot according to an embodiment of the present invention.

[0078] Hereinafter, with reference to Figures 1 to 8 a robot 1 according to an embodiment of the present invention will be described.

[0079] The robot 1 according to an embodiment of the present invention is placed on the floor and moves along the floor surface B. Thus, hereinafter, the up and down directions are determined based on the state where the robot 1 is placed on the floor and described.

[0080] Moreover, the side where the mapping camera 610 described later is disposed is set as the front of the robot 1 and will be described. In addition, the direction opposite to the front is set as the rear of the robot 1 and will be described.

[0081] The "lowest part" of each component described in the embodiment of the present invention may be the lowest part in position among the components 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.

[0082] The robot 1 of the embodiment of the present invention is configured to include a robot main body 100, leg portions 200, wheel portions 300, arms 400, and a robot mask 500. At this time, the leg portions 200 are coupled to the robot main body 100, and the wheel portions 300 are coupled to the leg portions 200. In addition, the arms 400 are pivotally coupled to both side surfaces of the robot main body 100. And, the robot mask 500 is detachably coupled to the robot main body 100.

[0083] Robot main body

[0084] Hereinafter, with reference to Figures 1 to 8 , the robot main body 100 in the robot 1 of an embodiment of the present invention will be described.

[0085] The robot main body 100 may be coupled with various components constituting the robot 1. For example, the robot mask 500 may be detachably coupled to the robot main body 100. In addition, the arms 400 are pivotally coupled to the robot main body 100. The arms 400 are pivotally coupled to both end portions of the robot main body 100. The robot main body 100 may perform additional functions by being coupled with a functional module 900 using the arms 400. In addition, the robot main body 100 may use the arms 400 to achieve a standby posture for power saving or a posture for standing up when falling.

[0086] Some components constituting the robot 1 may be accommodated inside the robot main body 100.

[0087] The main body cover 110 may form the outer shape of the robot main body 100. The internal space of the main body cover 110 may accommodate one or more motors including a suspension motor MS, one or more sensors, and a battery 800.

[0088] In addition, although not shown, at least one buffer may be provided inside the main body cover 110.

[0089] The buffer may be provided to be relatively movable with respect to the main body cover 110. For example, the buffer may be reciprocally movably coupled to the main body cover 110 in the front-rear direction of the main body cover 110.

[0090] The buffer can be integrally or partially combined along a part of the front edge of the main body cover 110. Additionally, the buffer can be disposed at the inner rear side of the main body cover 110.

[0091] With such a configuration, in the case where the robot 1 collides with other objects or people, the buffer absorbs the impact applied to the robot main body 100, thereby being able to protect the robot main body 100 and the components accommodated inside the robot main body 100.

[0092] A pair of leg portions 200 are integrally formed inside the main body cover 110. The pair of leg portions 200 can penetrate through the main body cover 110 and be exposed to the outside.

[0093] Specifically, a first link 210 and a second link 220 can be rotatably combined inside the main body cover 110. For example, a link frame (not shown) for link-combining the first link 210 and the second link 220 can be provided inside the main body cover 110.

[0094] Moreover, a suspension motor MS can be accommodated inside the main body cover 110. For example, the link frame (not shown) can be configured with the suspension motor MS. The suspension motor MS can be connected to the first link 210.

[0095] The main body cover 110 can be formed with a pair of leg guiding holes 111. For example, the pair of leg guiding holes 111 can be formed in parallel along the front-rear direction of the main body cover 110.

[0096] With such a configuration, the leg portions 200 can rotate and move along the leg guiding holes 111, thereby being able to guide the rotation movement range of the leg portions 200.

[0097] The main body cover 110 can be configured in a form where the width (or diameter) in the horizontal direction is larger than the height in the vertical direction. For example, the main body cover 110 can be formed in a shape similar to an ellipsoid.

[0098] Such a robot main body 100 helps the robot 1 to form a stable structure and can provide a structure that is beneficial for the robot 1 to maintain balance during movement (travel).

[0099] The robot main body 100 can be disposed vertically above a wheel 310 described later. The load of the robot main body 100 can be transmitted to the wheel 310 through the leg portions 200, and the wheel 310 can support the leg portions 200 and the robot main body 100. With such a configuration, the wheel 310 can stably support the load of the robot main body 100.

[0100] The robot main 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 disposed at a predetermined angle with respect to the ground. For example, the display 120 may be disposed at a position facing the upper front. With such a configuration, when the robot 1 approaches the user and the user looks at the robot 1, the display 120 can be seen.

[0101] On the other hand, the display 120 may visually convey information about the operating state of the robot 1 to the user.

[0102] The display 120 may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0103] The display 120 may display information such as the operating time information of the robot 1 and the battery 800 power information.

[0104] According to an embodiment, the display 120 may be the input unit 125. That is, the display 120 may receive a control command input by the user. For example, the display 120 may be a touch screen that visually displays the operating state and receives a control command input by the user.

[0105] 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 the shape of the face or the shape of the eyes displayed on the display 120, the current state of the robot 1 can be anthropomorphized and displayed as an emotion. For example, when the user returns home after going out, a smiling face expression or a smiling eye shape may be displayed on the display 120. Thereby, it has the effect of making the user feel like communicating with the robot 1.

[0106] The main body cover 110 may be provided with a charging terminal 130. For example, the charging terminal 130 may be disposed facing the ground. As an example, the charging terminal 130 may be disposed opposite to the ground. As another example, the charging terminal 130 may be disposed at a predetermined angle with respect to the ground. With such a configuration, when the robot 1 is coupled to a robot charging stand (not shown), the charging terminal 130 can be in contact with the terminal provided in the robot charging stand (not shown).

[0107] The charging terminal 130 can be electrically connected to a robot charging stand (not shown). With such a configuration, the robot 1 can receive power supply through the charging terminal 130. The power supplied to the charging terminal 130 can be supplied to the battery 800. In addition, the robot 1 can receive an electrical signal through the charging terminal 130. The control unit 700 can receive the electrical signal transmitted through the charging terminal 130.

[0108] On the other hand, the mapping camera 610 can be disposed at the lower front of the main body cover 110. For example, the mapping camera 610 can be disposed on the center line passing through the left - right direction center of the main body cover 110. With such a configuration, the mapping camera 610 can detect objects or people disposed in front of the robot 1.

[0109] In addition, the IR sensor 620 can be disposed at the lower front of the main body cover 110. For example, a pair of IR sensors 620 can be disposed at a predetermined interval in the left - right direction. With such a configuration, the IR sensor 620 can detect the position of a light source that generates infrared rays.

[0110] The IR sensor 620 can be disposed close to the mapping camera 610. For example, the mapping camera 610 can be disposed between a pair of IR sensors 620.

[0111] Leg support part

[0112] Hereinafter, with reference to Figures 1 to 8 , the leg part 200 of the robot 1 according to an embodiment of the present invention will be described.

[0113] The leg part 200 can be coupled to the robot main body 100 and can support the robot main body 100. For example, a pair of leg parts 200 are provided and are respectively coupled to the inside of the main body cover 110. The pair of leg parts 200 can be arranged symmetrically (line - symmetric) with respect to each other. At this time, at least a part of the leg part 200 is arranged closer to the ground than the robot main body 100. The leg part 200 is configured to connect the robot main body 100 and the wheel 310.

[0114] Therefore, the robot main body 100 can travel in a form of standing on the ground by using the pair of leg parts 200. That is, the gravity applied to the robot main body 100 can be supported by the leg parts 200, and the height of the robot main body 100 can be maintained.

[0115] The leg part 200 includes a first link 210, a second link 220, and a third link 230. At this time, the first link 210 and the second link 220 are respectively rotatably coupled to the robot main body 100 and the third link 230. That is, the first link 210 and the second link 220 are respectively link - coupled to the robot main body 100 and the third link 230.

[0116] The first link 210 is coupled to the left and right sides inside the robot main body 100.

[0117] The first link 210 is connected to the suspension motor MS. For example, the first link 210 may be directly or through a gear connected to the shaft of the suspension motor MS. With such a configuration, the first link 210 receives a driving force from the suspension motor MS.

[0118] The first link 210 is formed in a frame shape, with the suspension motor MS connected to one side in the length direction of the first link 210, and the third link 230 coupled to the other side in the length direction. At this time, one side of the first link 210 connected to the suspension motor MS is configured to be farther from the ground than the other side of the first link 210 coupled to the third link 230.

[0119] 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 circular plate shape. Thus, one side of the first link 210 may pass through the leg support portion and be connected to the suspension motor MS.

[0120] 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, if the suspension motor MS is driven, one side of the first link 210 may rotate as the shaft of the suspension motor MS rotates.

[0121] The other side of the first link 210 is rotatably coupled to the third link 230. For example, a through hole may be formed in the other side of the first link 210. A shaft may be rotatably penetrated and coupled in the through hole. Both end portions in the length direction of the shaft may be coupled to the third link 230.

[0122] With such a configuration, the shaft may be the shaft for the rotation of the first link 210 and / or the third link 230. Therefore, the first link 210 and the third link 230 may be rotatably connected relative to each other.

[0123] Although not shown, the leg portion 200 may further include a gravity compensation portion. The gravity compensation portion compensates for the downward movement of the robot main body 100 due to gravity. That is, the gravity compensation portion provides a force to support the robot main body 100.

[0124] For example, the gravity compensation unit may be a torsion spring. The gravity compensation unit may be wound to surround the outer peripheral surface of the first link 210. And, one end portion of the gravity compensation unit may be inserted into the first link 210 and fixedly coupled to the first link 210, and the other end portion of the gravity compensation unit may be inserted and fixedly coupled to the third link 230.

[0125] The gravity compensation unit 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 unit are pre-tightened to apply a restoring force in the direction in which the included angle between the first link 210 and the third link 230 increases. Therefore, even when the robot 1 is placed on the ground and gravity is applied to the robot main body 100, the included angle between the first link 210 and the third link 230 can be maintained within a specified angle range.

[0126] With such a configuration, even when the suspension motor MS is not driven, it is possible to prevent the robot main body 100 from descending toward the ground side. Therefore, due to the gravity compensation unit, there is an effect of not only preventing energy loss caused by driving the suspension motor MS, but also being able to keep the height of the robot main body 100 at a distance above the ground by a specified distance.

[0127] The second link 220 is link-coupled to the left and right sides inside the robot main body 100. For example, the second link 220 may be link-coupled to a leg support portion (not shown) provided inside the main body cover 110. That is, the second link 220 may be coupled to the leg support portion (not shown) together with the first link 210.

[0128] The second link 220 is formed in a frame shape, and a leg support portion (not shown) is coupled to one side in the length direction of the second link 220, and the third link 230 is coupled to the other side in the length direction.

[0129] Wires may be accommodated in the second link 220. For example, a space capable of accommodating wires may be formed inside the second link 220. Therefore, the power supplied by the power source of the battery (800) can be supplied to the wheel unit 300 through the wires. At the same time, it is possible to prevent the wires from being exposed to the outside.

[0130] One side of the second link 220 is rotatably coupled to the leg support portion. For example, although not shown, a shaft coupled to the leg support portion may be inserted through one side of the second link 220. A hollow portion may be formed in the shaft. The wires may pass through the hollow portion. With such a configuration, it is possible to prevent the wires for supplying power from the battery 800 to the wheel motor MW from being exposed to the outside.

[0131] The other side of the second link 220 is rotatably coupled to the third link 230. Specifically, the other end portion of the second link 220 can be rotatably coupled to the third link 230 by a shaft. For example, the other side of the second link 220 can be formed in a disk shape, and the shaft can be coupled through the other side of the second link 220. Also, both end portions in the longitudinal direction of the shaft can be coupled to the third link 230. With such a configuration, the shaft can be the axis for the rotation of the second link 220 and / or the third link 230. Therefore, the second link 220 and the third link 230 can be rotatably connected to each other.

[0132] The third link 230 is link-coupled to the first link 210 and the second link 220, and is coupled to the wheel unit 300.

[0133] 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 longitudinal direction of the third link 230, and the wheel unit 300 is coupled to the other side in the longitudinal direction.

[0134] One side in the longitudinal direction of the third link 230 is link-coupled to the first link 210 and the second link 220. For example, a space can 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 can be formed in a pair of parallel frame shapes, and the first link 210 and the second link 220 can be accommodated in the space between the pair of frames.

[0135] Here, two shafts can be arranged in parallel between the pair of frames. That is, both end portions of each of the two shafts can be coupled to the pair of frames. Also, each shaft can pass through the first link 210 and the second link 220. At this time, the first link 210 can be arranged at a position more forward and lower than the second link 220. That is, the shaft passing through the first link 210 can be closer to the wheel 310 than the shaft passing through the second link 220.

[0136] Therefore, each of the first link 210 and the second link 220 can be rotatably coupled to the third link 230.

[0137] The other side in the longitudinal direction of the third link 230 is coupled to the wheel unit 300. The other side in the longitudinal direction of the third link 230 can be formed to cover at least a part of the wheel 310. For example, the other side in the longitudinal direction of the third link 230 can be formed to cover the rotation center of the wheel 310, and a space capable of rotatably accommodating the wheel 310 can be formed inside thereof.

[0138] In addition, the wheel motor MW can be accommodated inside the other side in the longitudinal direction of the third link 230.

[0139] With such a configuration, on the other side in the longitudinal direction of the third link 230, the wheel 310 and the wheel motor MW can be accommodated, and the wheel 310 can be rotatably coupled to the other side in the longitudinal direction of the third link 230.

[0140] On the other hand, on the other side in the longitudinal direction of the third link 230, a sensor capable of measuring the distance to the ground can be provided. For example, the sensor can 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.

[0141] On the other hand, a stopper 240 can be provided on the leg portion 200. The stopper 240 can be disposed inside the main body cover 110. The stopper 240 can be disposed adjacent to the rotary coupling portion 410 of the arm 400. For example, the stopper 240 can be disposed inside the inner circumferential surface of the rotary coupling portion 410 formed in a cylindrical shape.

[0142] As an example, the stopper 240 can be disposed on a leg support portion (not shown). As another example, the stopper 240 can be disposed on the first link 210.

[0143] The stopper 240 can be formed in a shape protruding toward the rotary coupling portion 410. For example, the stopper 240 has a predetermined thickness and can be formed to protrude in an arch shape disposed on a concentric circle. At this time, the outer circumferential surface of the stopper 240 can be disposed on the upper front side of the robot 1, and the inner circumferential surface of the stopper 240 can be disposed on the lower rear side of the stopper.

[0144] The stopper 240 can contact and support the rotary protrusion 480 of the arm 400 described later. For example, the rotary protrusion 480 protruding from the inner circumferential surface of the rotary coupling portion 410 can rotate together with the rotation of the arm 400, and when the arm 400 rotates to a predetermined position, it can contact the rotary protrusion 480.

[0145] With such a configuration, the stopper 240 can limit the rotation angle of the arm 400 when the arm 400 rotates.

[0146] When overall observing the balance based on the leg portion 200, the first link 210 and the second link 220 are rotatably coupled to a link frame (not shown) provided inside the robot main body 100, and the first link 210 and the second link 220 are link-coupled to the third link 230. That is, the robot 1 has a structure that supports the robot main body 100 using a four-link mechanism composed of a link frame (not shown), the first link 210, the second link 220, and the third link 230.

[0147] Further, the leg part 200 generates a restoring force in the direction of lifting the robot body 100 toward the gravity compensation part. Therefore, even when the suspension motor MS is not driven, the state where the pair of leg parts 200 lift the robot body 100 to a predetermined height from the ground can be maintained.

[0148] On the other hand, when lifting any one of the pair of wheels 310 to cross an obstacle or lowering the height of the robot body 100 for charging or the like, the robot 1 according to an embodiment of the present invention can maintain balance by driving the suspension motor MS.

[0149] If the suspension motor MS is driven, the first link 210 rotates about the end portion on the side adjacent to the suspension motor MS, and the other end portion of the first link 210 moves upward. And, the third link 230 connected to the other end portion of the first link 210 moves as the first link 210 rotates. And, the second link 220 is pushed by the third link 230 and rotates. As a result, one end portion (the joint position with the first link 210) of the third link 230 can move rearward, and the other end portion of the third link 230 can move upward.

[0150] With such a configuration, even if the wheel 310 moves in the vertical direction, the movement range of the wheel 310 in the front-rear direction can be restricted. Therefore, the robot 1 can stably maintain balance.

[0151] Therefore, the robot 1 according to the present invention has the effect of being able to cross obstacles of various heights using the four-bar link structure.

[0152] Wheel part

[0153] Hereinafter, with reference to Figures 1 to 8 , the wheel part 300 of the robot 1 according to an embodiment of the present invention will be described.

[0154] The wheel part 300 can be rotatably coupled to the leg part 200 and roll on the ground to move the robot body 100 and the leg part 200.

[0155] The wheel part 300 includes a wheel 310 that contacts the ground and rolls on the ground.

[0156] The wheel 310 is provided with a predetermined radius and has a predetermined width along the axial direction. When the robot 1 is viewed from the front, at least a part of the robot body 100 and the leg part 200 can be disposed above the wheel 310 in the vertical direction.

[0157] Although not shown, the wheel 310 may include a wheel frame formed in a circular shape. The wheel frame may be formed in a cylindrical shape that opens toward one side of the axis of the wheel motor MW. Thereby, the weight of the wheel frame can be reduced.

[0158] 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 strengthening rigidity may be formed on each of the inner side surface and the outer side surface of the wheel frame.

[0159] A tire is coupled to the outer peripheral surface of the wheel frame. The tire may be formed in an annular shape having a diameter capable of fitting over the outer peripheral surface of the wheel frame.

[0160] A groove having a predetermined pattern may be recessed and formed on the outer peripheral surface of the tire to improve the grip of the tire.

[0161] In one embodiment, the tire may be formed of an elastic rubber material.

[0162] The wheel motor MW may provide a driving force to the wheel 310. The wheel motor MW may generate a rotational force by obtaining power from the battery 800.

[0163] The wheel motor MW may be accommodated inside the other side of the third link 230. And, 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.

[0164] With such a configuration, if the wheel motor MW is driven, the wheel 310 may roll along the ground while rotating, whereby the robot 1 may move along the ground.

[0165] Arm

[0166] Hereinafter, with reference to Figures 1 to 8 , an arm 400 of the robot 1 according to an embodiment of the present invention will be described.

[0167] The arm 400 may be pivotally coupled to both side surfaces of the robot body 100. For example, the arm 400 may be a rotating body that is coupled to both axial (length direction) end portions of the robot body 100 having an elliptical shape and rotates about a single rotation axis at both axial end portions of the robot body 100.

[0168] Specifically, the arm 400 includes a rotary coupling portion 410, a connection portion 420, a loading and unloading portion 430, and a connection terminal 440.

[0169] 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.

[0170] The rotating joint 410 may be formed in 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 in 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.

[0171] That is, when describing 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.

[0172] like Figure 4 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.

[0173] 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 .

[0174] 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 larger force.

[0175] 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.

[0176] With such a configuration, when the arm motor MA is operated, the rotation coupling portion 410 can rotate.

[0177] 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.

[0178] 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 axis of the rotating joint 410 as the rotation axis.

[0179] 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 on the pair of rotating joints 410. Therefore, the speaker 450 may be arranged at the position covering both sides of the body cover 110 in the left and right direction.

[0180] 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.

[0181] 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 it is possible to move an object or perform a specific task.

[0182] 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.

[0183] In addition, when the robot falls, it can try to stand up by supporting the ground with 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.

[0184] On the other hand, in the case of a robot that uses one arm to carry an object or perform a specific operation, the load of the carried object or the impact that may occur when performing the operation is concentrated on only one arm, resulting in a limitation that the arm may be damaged.

[0185] To solve this problem, the robot 1 according to an embodiment of the present invention is configured such that an arm 400 is rotatably coupled to both sides of a robot body 100.

[0186] A connection part 420 can connect a pair of rotary coupling parts 410 to each other. The connection part 420 can connect a pair of rotary coupling parts 410 that cover both left and right sides of the robot body 100 to rotate them together.

[0187] The connection part 420 can be formed in a shape that connects a pair of rotary coupling parts 410 and is rotatable about the robot body 100. Specifically, the connection part 420 can be formed in a frame shape in which both end portions in the length direction are bent and extended. At this time, both end portions of the connection part 420 formed by bending and extending can be arranged in parallel with each other and connected to a pair of rotary coupling parts 410. As an example, the connection part 420 can be formed in an "∩" shape. As another example, the connection part 420 can also be formed in an arch shape.

[0188] When explaining the state in which the arm 400 is coupled to the robot body 100, if it is assumed that the robot body 100 is a human face, the connection part 420 can be a shape similar to the headband of a headset. That is, when it is assumed that the robot body 100 is a human face, the arm 400 has a shape similar to a headset.

[0189] The connection part 420 can be integrally formed with a pair of rotary coupling parts 410. That is, a pair of rotary coupling parts 410 respectively arranged on the left and right sides of the robot body 100 and the connection part 420 can form an integral structure of the arm 400.

[0190] With such a configuration, a pair of rotary coupling parts 410 and the connection part 420 are integrally connected, and the entire arm 400 can rotate together with the rotary coupling part 410 as the rotation center.

[0191] On the other hand, the rotation radius of the arm 400 can be greater than the maximum length of the first link 210 and less than the maximum length of the leg part 200. Specifically, the shortest distance from the rotation center of the rotary coupling part 410 to the outer end portion of the connection part 420 can be greater than the maximum length of the first link 210 and less than the maximum length of the leg part 200.

[0192] With such a configuration, if the arm 400 rotates, at least a part of the arm 400 can be arranged closer to the ground than the first link 210.

[0193] On the other hand, the arm 400 further includes a rotation protrusion 480 protruding from the inner circumferential surface of the rotary coupling part 410.

[0194] The rotation projection 480 may be formed to protrude from the inner circumferential surface of the rotation coupling part 410, and may be formed in a shape in which the circumferential width becomes narrower as it approaches the rotation center direction of the rotation coupling part 410 from the inner circumferential surface of the rotation coupling part 410 (refer to Figure 4 ).

[0195] The rotation projection 480 may rotate together with the rotation coupling part 410 and the connection part 420. That is, when the rotation coupling part 410 and the connection part 420 rotate, the rotation projection 480 rotates by the same rotation angle as the rotation coupling part 410 and the connection part 420.

[0196] As the arm 400 rotates, the rotation projection 480 may be supported by contacting the stopper 240. For example, if the connection part 420 rotates to pass behind the robot body 100 and is closer to the ground than the first link 210, the rotation projection 480 may contact the stopper 240. With such a configuration, when the arm 400 rotates to a specified position, the stopper 240 and the rotation projection 480 contact and are supported, thereby restricting the rotation of the arm 400.

[0197] In addition, there is an effect of maintaining the postures of the arm 400 and the leg part 200 while maintaining the state in which the stopper 240 and the rotation projection 480 support each other.

[0198] On the other hand, Figure 6 and Figure 7 are diagrams showing another embodiment of the arm of the robot for explaining the present invention.

[0199] Hereinafter, with reference to Figure 6 and Figure 7 , the arm 1400 of another embodiment of the present invention will be described.

[0200] To avoid repeated description, except for the content specifically described in this embodiment, the structure and effects of the arm 400 of an embodiment of the present invention are the same, and thus can be cited in this embodiment.

[0201] The arm 1400 of this embodiment further includes a terminal rotation part 1460 and a conversion motor MC that provides a rotational force to the terminal rotation part 1460.

[0202] The terminal rotation part 1460 is rotatably coupled to the connection part 1420. As an example, the terminal rotation part 1460 is formed in a plate shape having a specified thickness, and a loading and unloading part 1430 and connection terminals 1440 may be disposed on one surface.

[0203] The terminal rotation part 1460 may form the appearance of the arm 1400 together with the connection part 1420. Both end portions in the length direction of the terminal rotation part 1460 may have rotation shafts that are coupled to the connection part 1420.

[0204] The conversion motor MC is connected to the terminal rotating part 1460 and can provide a rotating force to the terminal rotating part 1460. More specifically, the final output end of the shaft or gear of the conversion motor MC is connected to the terminal rotating part 1460.

[0205] With such a configuration, if the conversion motor MC operates, the terminal rotating part 1460 rotates.

[0206] If the terminal rotating part 1460 rotates, the surface exposed to the outside can be converted. Specifically, the side where the loading and unloading part 1430 and the connection terminal 1440 are arranged outside the terminal rotating part 1460 can be exposed to the outside. And if the terminal rotating part 1460 rotates, the loading and unloading part 1430 and the connection terminal 1440 can be hidden in the internal space of the connection part 1420.

[0207] With such a configuration, the loading and unloading part 1430 and the connection terminal 1440 can be hidden inside the connection part 1420 without the need for the combination of the arm 1400 and the functional module 900.

[0208] In particular, in the case where the robot 1 falls, etc., it is necessary to rotate the arm 1400 to support the ground with the connection part 1420. At this time, the loading and unloading part 1430 and the connection terminal 1440 may come into contact with the ground and be contaminated or damaged.

[0209] Therefore, through the arm 1400 of this embodiment, it is possible to prevent the loading and unloading part 1430 and the connection terminal 1440 from being exposed to the outside due to the rotation of the terminal rotating part 1460. And it is possible to prevent the contamination or damage of the loading and unloading part 1430 and the connection terminal 1440.

[0210] Robot mask

[0211] Figure 15 A diagram showing the combination relationship between the robot mask and the robot body of a robot for explaining an embodiment of the present invention.

[0212] A robot 1 according to an embodiment of the present invention may further include a robot mask 500.

[0213] The robot mask 500 can be detachably combined with the robot body 100 and can cover the display 120. The robot mask 500 can be combined with the robot body 100 and constitute the appearance of the robot 1.

[0214] On the other hand, the robot mask 500 according to an embodiment of the present invention may include a window 550, and the window 550 exposes the image displayed on the display 120 to the outside when the robot mask 500 is combined with the robot body 100.

[0215] The window 550 can be configured on the mask body 510. Specifically, the window 550 can be configured to penetrate the mask body 510, and the window 550 can be configured at a position facing the display 120 when the robot mask 500 is coupled to the robot body 100.

[0216] The window 550 can be formed of a light-transmissive material. For example, the window 550 can be formed of a transparent material.

[0217] On the other hand, if the robot mask 500 is coupled to the robot body 100, the face and expression can be displayed on the display 120.

[0218] The robot 1 can display the appearance of the face such as eyes, nose, mouth, etc. on the display 120, enabling the user to feel that the robot is expressing emotions.

[0219] In this way, the robot 1 can provide a pet robot service that expresses emotions to the user, interacts with the user, and has the effect of providing a sense of emotional stability to the user.

[0220] As described above, in addition to displaying facial expressions on the display 120 to visually display emotions, the robot 1 can also display emotions through the voice output of the speaker 450.

[0221] For example, laughter, exclamation sounds, etc. can be output corresponding to the expressions displayed on the display 120.

[0222] In addition, as described above, the robot 1 can display facial expressions on the display 120 to visually display emotions, and at the same time display emotions through the rotation of the arm 400.

[0223] For example, while displaying a smiling expression on the display 120, the arm 400 can be shaken to display emotions.

[0224] Control structure

[0225] Figure 9 The block diagram showing the control configuration of the robot for explaining an embodiment of the present invention is shown.

[0226] Refer to Figure 9 , the robot 1 according to an embodiment of the present invention can include a sensor unit 600, a control unit 700, a communication unit 710, a memory 720, a battery 800, a motor unit, and an interface unit.

[0227] Figure 9 The components shown in the block diagram of

[0228] First, the control unit 700 can control the overall movement of the robot 1. The control unit 700 can control the robot 1 to execute various functions according to the setting information stored in the memory 720 described later.

[0229] The control unit 700 can be disposed in the robot main body 100. More specifically, the control unit 700 can be installed and set on a PCB disposed inside the main body cover 110.

[0230] The control unit 700 can include all types of devices that can process data, such as a processor. Here, the "processor" can refer to, for example, a data processing device built into hardware, and the data processing device has a physical structure circuit for executing functions represented by codes or instructions included in a program. As an example of such a data processing device built into hardware, it can include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), and other processing devices, but the scope of the present invention is not limited thereto.

[0231] The control unit 700 can receive information about the external environment of the robot 1 from at least one of the components of the sensor unit 600 described later. At this time, the information about the external environment can be, for example, information such as the temperature, humidity, and dust amount in the room where the robot 1 travels. Or it can be, for example, cliff information. Or it can be, for example, indoor map information. Of course, the information about the external environment is not limited to the above examples.

[0232] The control unit 700 can receive information about the current state of the robot 1 from at least one of the components of the sensor unit 600 described later. At this time, the current state can be, for example, the inclination information of the robot main body 100. Or it can be, for example, information about the separated state between the wheel 310 and the ground. Or it can be, for example, the position information of the wheel motor MW. Or it can be, for example, the position information of the suspension motor MS. Of course, the information about the current state of the robot 1 is not limited to the above examples.

[0233] The control unit 700 can transmit drive control instructions to at least one component among the components of the motor unit described below. In order to implement any one of the actions of traveling, posture maintenance, and posture conversion of the robot 1, the control unit 700 can control the rotation of one or more of the wheel motor MW, the suspension motor MS, and the arm motor MA.

[0234] The control unit 700 can receive user instructions through at least one component among the components of the interface unit described below. For example, the instruction can be an instruction for turning on / off the robot 1. Or for example, the instruction can be an instruction for manually controlling various functions of the robot 1.

[0235] The control unit 700 can output information related to the robot 1 through at least one component among the components of the interface unit described below. For example, the output information can be visual information. Or for example, the output information can be auditory information.

[0236] The motor unit can include at least one motor and provide driving force to the components connected to each motor.

[0237] The motor unit can include a wheel motor MW that provides driving force to the left wheel 310 and the right wheel 310. More specifically, the motor unit can 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.

[0238] The wheel motors MW can be respectively disposed in the wheel unit 300. More specifically, the wheel motors MW can be accommodated inside the third link 230.

[0239] The wheel motors MW are connected to the wheels 310. More specifically, the final output end of the shaft or gear of the first wheel motor MW1 is connected to the wheel 310 disposed 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 disposed on the other side in the left-right direction. The left and right wheel motors MW are driven to rotate according to the control instructions of the control unit 700, and as the wheels 310 rotate along with the rotation of the wheel motors MW, the robot 1 travels along the ground.

[0240] The motor unit can 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 can 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.

[0241] The suspension motors MS can be configured in the robot main body 100. More specifically, the suspension motors MS can be respectively accommodated inside the main body cover 110.

[0242] The suspension motors MS are 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 disposed 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 disposed on the other side in the left-right direction. The suspension motors MS on the left and right sides are respectively driven to rotate according to the control instructions of the control unit 700. The first link 210 rotates as the suspension motors MS rotate, and the third link 230 connected to the first link 210 rotates. As a result, the angle between the first link 210 and the third link 230 can be changed.

[0243] Thereby, the robot 1 can perform an action of raising or lowering the wheels 310, and can maintain a horizontal posture when climbing an obstacle or traveling on an uneven ground. Or, the robot main body 100 can perform an action of moving downward or upward.

[0244] The motor unit may include an arm motor MA that provides a rotational force to the arm 400.

[0245] The arm motor MA can be configured in the robot main body 100. More specifically, at least one arm motor MA can be accommodated inside the main body cover 110.

[0246] The arm motor MA is driven to rotate according to the control instructions of the control unit 700. The rotation coupling part 410 rotates as the arm motor MA rotates, and rotates along with the connection part 420 integrally formed with the rotation coupling part 410. As a result, the arm 400 can pivot relative to the robot main body 100.

[0247] Thereby, the robot 1 can perform an action of rotating the arm 400, and can rotate the arm 400 to be combined with the functional module 900. Or, by rotating the arm 400, the arm 400 can be supported on the ground.

[0248] The sensor unit 600 includes at least one sensor, and each sensor can measure or detect information about the external environment of the robot 1 and / or information about the current state of the robot 1.

[0249] The sensor unit 600 may include a mapping camera 610.

[0250] The mapping camera 610 is provided for mapping the interior where the robot 1 travels.

[0251] To this end, the mapping camera 610 may be disposed in front of the robot main body 100. More specifically, the mapping camera 610 may be disposed in front of the main body cover 110.

[0252] In order to perform Simultaneous Localization and Mapping (SLAM), the mapping camera 610 may capture images of the interior during travel. The control unit 700 may implement SLAM based on the information on the surrounding environment captured by the mapping camera 610 and the information on the current position of the robot 1.

[0253] On the other hand, the method for the robot 1 of the embodiment of the present invention to implement SLAM may also be a method implemented only by the mapping camera 610, but is not limited thereto. For example, the robot 1 may further use an additionally provided sensor to implement SLAM. For example, the additional sensor may be a Laser Distance Sensor (LDS).

[0254] The sensor unit 600 may include an IR sensor 620 for infrared detection.

[0255] The IR sensor 620 may be an IR camera that detects infrared light.

[0256] The IR sensor 620 may be disposed on the robot main body 100. More specifically, the IR sensor 620 may be disposed in front of the main body cover 110. The IR sensor 620 may be disposed left and right of the mapping camera 610.

[0257] The IR sensor 620 may approach the module by detecting the infrared light emitted by the IR LED provided in a specific module. For example, the module may be a charging stand for charging the robot 1. For example, the module may be a functional module 900 detachably provided on the arm 400.

[0258] The control unit 700 may be controlled such that the IR sensor 620 starts detecting the IR LED (infrared light emitting diode) when the charging state of the robot 1 is below a preset level. The control unit 700 may be controlled such that the IR sensor 620 starts detecting the IR LED when an instruction to search for a specific module is received from the user.

[0259] The sensor unit 600 may include a wheel motor sensor 630.

[0260] The wheel motor sensor 630 may measure the position of the wheel motor MW. For example, the wheel motor sensor 630 may be an encoder. As is well known, an encoder can detect the position of a motor and can also detect the rotational speed of the motor.

[0261] The wheel motor sensors 630 can each be disposed on the left wheel motor MW and the right wheel motor MW. More specifically, the wheel motor sensors 630 can be connected to the shaft or the final output end of the gear of the wheel motor MW and housed together with the wheel motor MW inside the third link 230.

[0262] The sensor unit 600 may include an arm motor sensor 640.

[0263] The arm motor sensor 640 can measure the position of the arm motor MA. For example, the arm motor sensor 640 can be an encoder. As is well known, an encoder can detect the position of a motor and also detect the rotational speed of the motor.

[0264] The arm motor sensor 640 can be disposed on the arm motor MA. More specifically, the arm motor sensor 640 can be connected to the shaft or the final output end of the gear of the arm motor MA and housed together with the arm motor MA inside the main body cover 110 or the rotary joint 410.

[0265] The sensor unit 600 may include an IMU sensor 650.

[0266] The IMU sensor 650 can measure the tilt angle of the robot body 100.

[0267] As is well known, an inertial measurement unit (IMU) sensor 650 is a sensor that incorporates a three-axis acceleration sensor, a three-axis gyro sensor, and a geomagnetic sensor, and is also referred to as an inertial measurement sensor.

[0268] The 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, if the gravitational acceleration is measured, the angle of inclination can be obtained. However, there is a drawback that accurate values cannot be obtained in an accelerating state of movement in a non-stationary state.

[0269] 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 and the like, the angular velocity measured by the gyro sensor has continuous errors, and due to such errors, they accumulate over time and cause errors in the integrated value.

[0270] As a result, in the case where the robot 1 is in a stationary standby state for a long time, the tilt can be accurately measured by the acceleration sensor, but there will be errors due to the gyro sensor. In the case of traveling, the robot 1 can measure an accurate tilt value by the gyro sensor, but accurate values cannot be obtained by the acceleration sensor.

[0271] If an IMU sensor is used, the disadvantages of the above acceleration sensor and gyroscope sensor can be compensated for.

[0272] In the following description of this specification, embodiments provided with an IMU sensor will be described.

[0273] The IMU sensor can be arranged in the robot main body 100. More specifically, the IMU sensor can be arranged adjacent to the control unit 700. The IMU sensor can be installed and set on a PCB inside the robot main body 100. Preferably, the IMU sensor is arranged close to the central area of the robot main body 100 to improve the measurement accuracy of the tilt angle and direction.

[0274] The IMU sensor can measure at least one of the triaxial acceleration, triaxial angular velocity, and triaxial geomagnetic data of the robot main body 100 and transmit it to the control unit 700.

[0275] The control unit 700 can use at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor to calculate the direction and angle of tilt of the robot main body 100. The control unit 700 can perform the horizontal posture holding control of the robot main body 100 described later based on this.

[0276] The sensor unit 600 can include a cliff sensor 660 for detecting cliffs.

[0277] The cliff sensor 660 can detect the distance to the ground in front of the robot 1 traveling. The cliff sensor 660 can be configured in various ways as long as it can detect the relative distance between the position where the cliff sensor 660 is formed and the ground.

[0278] For example, the cliff sensor 660 can include a light emitting part that emits light and a light receiving part into which the reflected light enters. The cliff sensor 660 can be composed of an infrared sensor.

[0279] The cliff sensor 660 can be arranged in the robot main body 100. More specifically, the cliff sensor 660 can be arranged inside the robot main body 100. The cliff sensor 660 can irradiate light toward the front floor surface of the robot 1. The cliff sensor 660 can pre-detect whether there is a cliff in front of the robot 1 in the traveling direction.

[0280] The light emitting part of the cliff sensor 660 can irradiate light obliquely toward the front floor surface. The light receiving part of the cliff sensor 660 can receive the light reflected from the floor surface and incident thereon. The distance between the front ground and the cliff sensor 660 can be measured based on the difference between the light irradiation time point and the reception time point.

[0281] The situation where the distance measured by the cliff sensor 660 exceeds a preset specified value or exceeds a specified range may be a situation where the ground suddenly drops in front. By such a principle, a cliff can be detected.

[0282] In the case where a cliff is detected ahead, the control unit 700 may control the wheel motor MW to make the robot 1 drive around the detected cliff. At this time, the control of the wheel motor MW may be a stop control. Alternatively, the control of the wheel motor MW may be a rotation direction conversion control.

[0283] The sensor unit 600 may include a contact detection sensor 670.

[0284] The contact detection sensor 670 may detect whether the wheel 310 is in contact with the ground.

[0285] The contact detection sensor 670 may include a TOF sensor that measures the separation distance between the wheel 310 of the robot 1 and the ground. The TOF sensor may be a three-dimensional camera that applies time-of-flight (TOF: Time OF Flight) technology. As is well known, the TOF technology is a technology for measuring the distance to an object based on the round-trip flight time of light reflected from the object irradiated.

[0286] The TOF sensor may be disposed in the wheel unit 300. For example, the contact detection sensors 670 may be respectively disposed on the left third link 230 and the right third link 230. Based on the distance to the ground measured by the TOF sensor, it can be determined whether the wheel 310 is in a state of being in contact with the ground. If the distance measured by the TOF sensor is less than a preset distance (or less than the lower limit value of a preset distance range), then it is a state where the wheel 310 is in contact with the ground. If the distance measured by the TOF sensor is equal to or greater than the preset distance (or greater than the upper limit value of a preset distance range), then it is a state where the wheel 310 is separated from the ground.

[0287] The contact detection sensor 670 may include a load cell that measures the magnitude of the force applied to a part of the composition of the robot 1.

[0288] As is well known, when a force is applied to the load cell, the resistance value of the strain gauge provided on the surface changes. At this time, the magnitude of the force applied to the load cell can be measured by the change in the resistance value.

[0289] The force sensor can be arranged on the leg part 200. Preferably, the force sensors can be respectively arranged on the left third link 230 and the right third link 230. In the state where the wheel 310 is in contact with the floor, the third link 230 is deformed by the vertical resistance force 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.

[0290] The sensor unit 600 may include an environment sensor 680.

[0291] The environment sensor 680 may be configured to measure various environmental states outside the robot 1, that is, in 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.

[0292] The environment sensor 680 can be arranged on the robot main body 100. More specifically, the environment sensor 680 can be arranged at the rear of the robot main body 100. As a possible embodiment, the information measured by the environment sensor 680 can be visually displayed on the display 120.

[0293] The sensor unit 600 may include a side sensor 690.

[0294] The side sensor 690 can measure the distance to an obstacle including a wall or the like.

[0295] The side sensor 690 can detect the distance between the side of the robot 1 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.

[0296] For example, the side sensor 690 may include a light emitting part that emits light and a light receiving part that receives the reflected light. The side sensor 690 can be constituted by an infrared sensor.

[0297] The side sensor 690 can be arranged on both sides of the robot 1. For example, the side sensor 690 can be arranged on the outer side of the third link 230 of the leg part 200.

[0298] The interface unit includes at least one component for interaction between the user and the robot 1, and each component can be set to receive instructions from the user and / or output information to the user.

[0299] The interface unit may include a microphone 140.

[0300] The microphone 140 is a component for recognizing the user's voice, and a plurality of them can be provided. A plurality of microphones 140 can be arranged on the main body cover 110. For example, four microphones 140 can be arranged on the upper side of the main body cover 110.

[0301] The voice signals received by the microphone 140 can be used for tracking the user's position. At this time, a well-known sound source tracking algorithm can be applied. For example, the sound source tracking algorithm can be a three-point measurement method (triangulation method) that utilizes the time difference of the voice signals received by a plurality of microphones 140. The principle is to calculate the position of the voice source using the positions of the respective microphones 140 and the speed of sound waves.

[0302] On the other hand, if the microphone 140 and the above-described mapping camera 610 cooperate with each other, it is possible to enable the robot 1 to find the user's position even when the user calls the robot 1 from a distance.

[0303] The interface unit may include a speaker 450.

[0304] The speaker 450 can be arranged on the arm 400. For example, the speaker 450 can be arranged at the rotational joint 410 of the arm 400. The speakers 450 can be respectively arranged at positions covering both the left and right sides of the main body cover 110.

[0305] The speaker 450 can send out the information of the robot 1 by sound. The sound source sent out by the speaker 450 can be the sound data pre-stored in the robot 1. For example, the pre-stored sound data can be the voice data of the robot 1. For example, the pre-stored sound data can be a notification sound for guiding the state of the robot 1. On the other hand, the sound source sent by the speaker 450 can be the sound data received through the communication unit 710.

[0306] The interface unit may include a display 120 and an input unit 125.

[0307] The display 120 may include a display configured in one or more modules. The display 120 can be arranged on the upper front side of the robot main body 100.

[0308] The display 120 can be formed of any one of a light emitting diode (LED), a liquid crystal display device (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0309] The display 120 can display information such as the operation time information of the robot 1 and the battery 800 power information.

[0310] On the display 120, the facial expression of the robot 1 can be shown. Alternatively, the eyes of the robot 1 can be shown on the display 120. Through the facial form or eye form shown on the display 120, the current state of the robot 1 can be anthropomorphized into emotions for display. For example, when the user returns home after going out, a smiling face expression or smiling eye form can be shown on the display 120. Thereby, it has the effect of giving the user a feeling of communicating with the robot 1.

[0311] The input unit 125 can be configured to receive a control instruction for controlling the robot 1 from the user. For example, the control instruction can be an instruction to change various settings of the robot 1. For example, the settings can be voice volume, display brightness, power saving mode setting, etc.

[0312] The input unit 125 can be arranged on the display 120.

[0313] The input unit 125 generates key input data input by the user to control the actions of the robot 1. For this purpose, the input unit 125 can be composed of a keypad, a dome switch, a touchpad (static pressure / electrostatic), etc. In particular, when the touchpad and the first display form an interlayer structure, it can be called a touch screen.

[0314] The communication unit 710 can be provided for signal transmission between the various components inside the robot 1. For example, the communication unit 710 can support Controller Area Network (CAN) communication. For example, the signal can be a control instruction transmitted from the control unit 700 to other components.

[0315] The communication unit 710 can support wireless communication with other devices existing outside the robot 1. As a wireless communication module for supporting wireless communication, a short-range communication module or a long-range communication module can be provided.

[0316] The short-range communication can be, for example, Bluetooth communication, Near Field Communication (NFC) communication, etc.

[0317] The long-distance communication can be, for example, Wireless LAN (WLAN), Digital Living Network Alliance (DLNA), Wireless Broadband (Wibro), World Interoperability for Microwave Access (Wimax), Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), Wideband Code Division Multiple Access (WCDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), IEEE 802.16, Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), Wireless Mobile Broadband Service (WMBS), Bluetooth Low Energy (BLE), Zigbee, Radio Frequency (RF), Long Range (LoRa), etc.

[0318] The memory 720 is a component that stores various data for driving and operating the robot 1.

[0319] In the memory 720, there can be stored an application program for the autonomous driving of the robot 1 and various related data. The memory 720 can also store various data detected by the sensor unit 600, and can store setting information for various settings selected or input by the user, etc.

[0320] The memory 720 may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto. Such a memory 720 may include built-in memory and / or external memory, and may also include volatile memories such as DRAM, SRAM, or SDRAM, and may also include non-volatile memories such as one-time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, NAND flash, or NOR flash, and may also include flash drives such as SSD, compact flash (CF) cards, SD cards, Micro-SD cards, Mini-SD cards, Xd cards, or memory sticks, or storage devices such as HDDs.

[0321] The memory 720 may be included in the control unit 700 or may be provided as an independent component.

[0322] The battery 800 is configured to supply power to other components constituting the robot 1.

[0323] The battery 800 may be disposed in the robot body 100. More specifically, the battery 800 may be accommodated inside the main body cover 110. Although not shown, the battery 800 may be disposed at a position further rearward than the suspension motor MS.

[0324] The battery 800 may be charged by an external power source. For this purpose, a charging terminal 130 for charging the battery 800 may be provided on one side of the robot body 100. As shown in the embodiment of the present invention, the charging terminal 130 may be disposed at the lower part of the robot body 100. Thus, the robot 1 can be easily coupled to the charging dock by approaching the charging dock and lowering to place the charging terminal 130 on the corresponding terminal of the charging dock from above.

[0325] Basic driving posture of the robot

[0326] The robot 1 may travel on the ground in a preset basic posture as Figure 1 shown. The basic posture may refer to the posture of the robot 1 in a state where no specific event occurs. The above specific event may occur due to a change in the external environment in which the robot 1 travels, a user's control instruction, or the satisfaction / non-satisfaction of a condition preset for the robot 1.

[0327] In the basic posture, the connecting portion 420 of the arm 400 can be disposed on the upper side of the robot main body 100. More specifically, in the basic posture, the connecting portion 420 can be disposed farther from the ground than the robot main body 100. With such a configuration, the user can hold the connecting portion 420 and easily lift the robot 1. This can help the user easily carry the robot 1 and quickly move the robot 1 to other spaces. In other words, the arm 400 can be provided as a handle for the user.

[0328] In the basic posture, the connecting portion 420 of the arm 400 can be disposed behind the robot main body 100. Preferably, in the basic posture, the connecting portion 420 can be disposed farther behind than the robot face mask 500. Thereby, it is possible to prevent the visibility of the display from being reduced due to the arm 400 blocking the robot face mask 500 when the user observes the robot 1.

[0329] In the basic posture, the robot 1 can perform balance control so as not to fall forward or backward. At this time, the balance control refers to controlling the rotation of the drive wheel motor MW according to the inclination degree of the robot 1 so that the wheel 310 rotates forward or backward.

[0330] If the robot 1 is in a state of being inclined more forward than the inclination degree of the preset basic posture, the drive wheel motor MW can be driven to rotate the wheel 310 backward so that the robot 1 returns to the basic posture.

[0331] If the robot 1 is in a state of being inclined more backward than the inclination degree of the preset basic posture, the drive wheel motor MW can be driven to rotate the wheel 310 forward so that the robot 1 returns to the basic posture.

[0332] On the other hand, as described above, the inclination degree of the robot 1 can be measured by the IMU sensor 650.

[0333] The robot 1 can travel on the ground by rotating and driving the wheel 310 while maintaining the above-mentioned basic posture, and then perform a posture conversion to a specific posture different from the basic posture.

[0334] The posture conversion can be performed when a preset specific event occurs or when a preset specific condition is satisfied.

[0335] In an embodiment of the present invention, the posture conversion of the robot 1 refers to the conversion from the basic posture to a specific posture or the conversion from a specific posture to the basic posture (hereinafter, it may also be referred to as the recovery to the basic posture).

[0336] In the robot 1 according to an embodiment of the present invention, when performing such a posture conversion, the rotational drive of the arm 400 must be achievable. At this time, an operation of changing the position of the connecting portion 420 may be accompanied by the rotational drive of the arm 400.

[0337] In an embodiment of the present invention, the leg portion 200 of the robot 1 may include an upper link and a lower link.

[0338] The upper link may be defined as a concept including a first link 210 and a second link 220 of a link structure disposed on one side of the robot body 100. The lower link may be defined as a concept including a third link 230 of a link structure disposed on one side of the wheel 310.

[0339] The upper link and the lower link may be linked to each other to form a joint structure. By the movement of the joint structure, the robot body 100 may move upward or downward during traveling.

[0340] More specifically, the upper link and the lower link may maintain a constant joint angle in the basic posture of the robot 1. Here, the joint angle between the upper link and the lower link may represent the joint angle between the first link 210 and the third link 230. The joint angle may refer to an acute angle formed by the first link 210 and the third link 230 with respect to the connection position of the first link 210 and the third link 230.

[0341] The adjustment of the joint angle, that is, the movement of the above-described joint structure, may be achieved by controlling the drive of the suspension motor MS. When the suspension motor MS is rotationally driven, as the joint angle becomes smaller, the robot body 100 may descend toward the ground. When the suspension motor MS rotates, as the joint angle becomes larger, the robot body 100 may rise in a direction opposite to the ground.

[0342] On the other hand, although described above, in the basic posture of the robot 1, the joint angle may be maintained at a magnitude formed by the restoring force of the gravity compensation unit. Since the restoring force of the gravity compensation unit acts, rotational drive of the suspension motor MS for maintaining the basic posture is not required.

[0343] Transition from the basic posture to the standby posture

[0344] Figure 10a and Figure 10b is a sequence diagram showing a first embodiment of a control method related to posture conversion of the robot.

[0345] More specifically, Figure 10a and Figure 10b show an embodiment of a control method in a case where the robot changes its posture between a basic posture and a standby posture. Figure 10aIt is a flowchart of a control method for converting from a basic posture to a standby posture. Figure 10b It shows a flowchart of a control method for restoring from a standby posture to a basic posture.

[0346] In this embodiment, the control method may refer to a method in which the control unit 700 controls the rotational drive of various motors included in the robot 1.

[0347] As described above, the robot 1 according to an embodiment of the present invention may include: a wheel motor MW that rotates wheels 310 respectively disposed on the left and right sides of the robot body 100; a suspension motor MS that adjusts the joint angle between the upper link and the lower link of the leg part 200 connected between the wheel 310 and the robot body 100; and an arm motor MA that rotates the arm 400 of an integrated structure simultaneously coupled to the left and right side surfaces of the robot body 100.

[0348] First, with reference to Figure 10a a control method in the case where the robot 1 travels in a basic posture and then converts its posture to a standby posture will be described. Figures 11a to 11d The motion states of the robot 1 when converting from a basic posture to a standby posture are shown in sequence.

[0349] The posture conversion control method from a basic posture to a standby posture may include a standby posture event occurrence step S1100.

[0350] More specifically, a standby posture event may occur when the robot 1 is traveling or stopped in a basic posture.

[0351] Here, the standby posture event refers to an event that triggers the conversion from a basic posture to a standby posture. For example, an instruction to enter the standby posture input by the user may fall into this category. Or, for example, when no specific instruction from the user is input and a preset time has elapsed, this may fall into this category. That is, the standby posture event may occur without performing the posture balance control of the robot 1 based on the drive of the wheel motor MW, and may occur in various situations not limited to the above examples.

[0352] The posture conversion control method from a basic posture to a standby posture may further include a step S1200 of driving the suspension motor MS.

[0353] More specifically, further with reference to Figure 10a 、 Figure 11a and Figure 11b , from Figure 11a the form of the basic posture shown, through the drive of the suspension motor MS, as Figure 11b shown, the distance between the wheel 310 and the robot body 100 can be reduced.

[0354] In this step S1200, the joint angle between the upper link and the lower link of the leg part 200 can be reduced relative to the basic posture. Specifically, in this step S1200, both the joint angle between the first link 210 and the third link 230 and the joint angle between the second link 220 and the third link 230 can be reduced.

[0355] Through such an operation, the overall center of gravity of the robot 1 can be lowered. As a result, after switching to the standby posture, the robot 1 can maintain the posture more stably. This is because the possibility of losing the center of gravity and tipping over is greater when the center of gravity is on the lower side than on the upper side.

[0356] By executing this step S1200 before the driving step S1300 of the arm motor MA in the next step, in the next step, when the arm 400 rotates, the connecting part 420 can completely surround the wheel 310 side end of the leg part 200.

[0357] Although in the embodiment of the present invention, the case where the step S1200 of driving the suspension motor MS and the step S1300 of driving the arm motor MA are executed in sequence is taken as an example for description, in another embodiment, the two steps can also be executed simultaneously. That is, while the robot main body 100 descends, the arm 400 rotates, and when the robot main body 100 descends to the maximum extent, the arm 400 also surrounds the leg part 200.

[0358] The posture conversion control method from the basic posture to the standby posture may further include a step S1300 of driving the arm motor MA.

[0359] In this step S1300, the arm motor MA can be rotationally driven in the direction of the arm 400 approaching the ground.

[0360] In this step S1300, the arm motor MA can rotate rearward. By the rearward rotation of the arm motor MA, the arm 400 located at the upper rear side of the robot main body 100 can rotate across the rear of the robot main body 100 to the lower side (refer to Figure 11c ).

[0361] At this time, the rotation direction of the arm motor MA and the arm 400 can be defined as the first direction. The first direction can be the clockwise direction based on the state of observing the robot 1 from the right side.

[0362] The connecting part 420 of the arm 400 can be rotated to be closer to the ground than the lower end of the first link 210 and the lower end of the second link 220. The connecting part 420 can be arranged to be closer to the ground than the upper end of the third link 230.

[0363] Explaining from another perspective, the connecting portion 420 can be arranged at a position more forward and downward than the link connection positions of the upper link and the lower link.

[0364] Explaining from another perspective, compared with the joint portions where the first link 210, the third link 230, and the second link 220 and the third link 230 are combined with each other, the outer end of the connecting portion 420 can be arranged closer to the ground.

[0365] Executing up to this step may look similar to the squatting (scooch down) posture of the robot 1.

[0366] On the other hand, in an embodiment of the present invention, in the rotational coupling portion 410 of the arm 400, the left rotational coupling portion is arranged to be more to the left than the left leg portion, and the right rotational coupling portion is arranged to be more to the right than the right leg portion. The left leg portion and the right leg portion are configured to be connected by the connecting portion 420 (refer to Figure 2 ).

[0367] That is, if the connecting portion 420 is arranged at a position more forward and downward than the link connection positions of the upper link and the lower link by the backward rotation action of the arm 400, a form in which the arm 400 surrounds the left leg portion 200 and the right leg portion 200 from the outside can be formed.

[0368] In this way, a form in which the left and right integrated arms 400 surround the leg portion 200 from the outside is formed. Even when a force (the restoring force of the gravity compensation portion) acts in a direction in which the combined angle of the upper link and the lower link becomes larger, the movement of the leg portion 200 is restricted.

[0369] Therefore, the robot 1 can stop the drive of the suspension motor MS in the squatting form and can reduce power consumption.

[0370] In this step, the rotational drive of the arm motor MA can be executed until the stopper 240 and the rotational projection 480 come into contact and the rotational range of the arm 400 is restricted. That is, if the arm 400 rotates to a position where the stopper 240 and the rotational projection 480 come into contact, the drive of the arm motor MA may stop. In other words, the additional rotation of the arm 400 can be restricted by the contact between the rotational projection 480 of the arm 400 and the stopper 240.

[0371] If the rotational projection 480 contacts the stopper 240, the movement of the joint structure of the leg portion 200 may be restricted. More specifically, the stopper 240 can be configured to surround at least a part of the rotational projection 480, that is, a form corresponding to the outer shape of the rotational projection 480. Thus, when the stopper 240 and the rotational projection 480 come into contact, the stopper 240 may surround a part of the outer shape of the rotational projection 480 and engage with each other.

[0372] In such an embodiment, as long as the arm 400 does not rotate in the opposite direction, the movement of the joint of the leg part 200 is restricted (locked) by the engagement structure of the stopper 240 and the rotation projection 480.

[0373] The posture conversion control method from the basic posture to the standby posture may further include a step S1400 of stopping the driving of the suspension motor MS.

[0374] Preferably, this step S1400 may be executed after the step S1300 of driving the arm motor MA.

[0375] In this step S1400, with the movement of the joint structure of the leg part 200 restricted, the driving of the suspension motor MS is stopped. Since the movement of the leg part 200 was restricted by the engagement of the stopper 240 and the rotation projection 480 in the previous step, even if the driving of the suspension motor MS is stopped, the joint angle of the leg part 200 does not become larger. That is, since the suspension motor MS does not need to be further driven, the driving control is stopped in this step S1400, and unnecessary power consumption can be reduced.

[0376] The posture conversion control method from the basic posture to the standby posture may further include a step S1500 of stopping the driving of the wheel motor MW.

[0377] In this step, if the driving of the wheel motor MW is stopped, the robot 1 may tilt backward.

[0378] More specifically, through the actions up to the previous step, the overall center of gravity of the robot 1 is located behind the rotation center of the wheel 310.

[0379] Therefore, if the rotation of the wheel 310 stops in this state, that is, the balance control performed by the rotation action of the wheel 310 stops, the robot 1 tilts backward. Explained from another perspective, an action form in which the robot 1 lies backward may be formed.

[0380] The posture conversion control method from the basic posture to the standby posture may further include a step S1600 of converting to the standby posture.

[0381] In this step, the robot 1 can be supported at three points on the ground (refer to Figure 11d ).

[0382] In the previous step, as the driving of the wheel motor MW stops, the robot 1 tilts backward, and then the connecting portion 420 of the arm 400 contacts the ground and stops.

[0383] The robot 1 is supported on the ground by the left wheel 310, the right wheel 310, and the connecting portion 420. The contact position between the left wheel and the ground can be defined as the first contact portion P1, the contact position between the right wheel and the ground can be defined as the second contact portion P2, and the contact position between the connecting portion 420 and the ground can be defined as the third contact portion P3 (refer to Figure 11d ).

[0384] Of course, since the connecting portion 420 of the arm 400 extends in the left - right direction to connect the left rotating joint portion 410 and the right rotating joint portion 410, the third contact portion P3 at the contact position with the ground can also be formed in a left - right extending shape.

[0385] The three contact portions P1, P2, and P3 can refer to parts of the robot 1 with different structures that contact the ground. Here, since the left wheel 310 and the right wheel 310 of the robot 1 contact the ground, the three contact portions P1, P2, and P3 can be formed by additional parts of the robot 1 other than the wheels 310 contacting the ground.

[0386] In addition, the three contact portions P1, P2, and P3 can be formed in a shape where the mechanical structure of the robot 1 contacts the ground but is spatially separated from each other.

[0387] At this time, while the load of the robot main body 100 presses on the leg portion 200, the rotating protrusion 480 and the stopper 240 contact, support, and engage with each other, thereby preventing the leg portion 200 from unfolding. That is, even when the driving of the suspension motor MS is stopped, this posture can be maintained.

[0388] In addition, at this time, the robot 1 is supported at three points on the ground, so that the robot 1 can maintain balance and will not fall in any direction of front, back, left, or right. That is, even when the driving of the wheel motor MW is stopped, this posture can be maintained.

[0389] That is, in the state of switching to the standby posture, all the motors included in the robot 1 do not need to be driven and the robot 1 can maintain this posture.

[0390] In other words, in the basic posture, the robot 1 rotates a pair of wheels continuously (balance control) to stay in place and wait, while in the standby posture, there is a significant effect of reducing unnecessary power consumption.

[0391] On the other hand, in the standby posture, the robot main body 100 does not fall completely backward, but forms a sitting posture supported by the arm 400 on the ground. Therefore, the center of gravity of the robot main body 100 only moves a small distance downward and backward relative to the basic posture.

[0392] As a result, when the robot 1 resumes the basic posture, the posture conversion can be achieved relatively quickly.

[0393] Next, with reference to Figure 10b , the control method for the robot 1 in the standby posture state to resume the basic posture will be described as follows.

[0394] When resuming from the standby posture to the basic posture, the control can be executed in the reverse order of the posture conversion sequence from the basic posture to the standby posture.

[0395] The posture conversion control method for resuming from the standby posture to the basic posture may include an event occurrence step S2100 of resuming to the basic posture.

[0396] Here, the event of resuming to the basic posture refers to an event that triggers the conversion from the standby posture to the basic posture. For example, when a user inputs an instruction to resume to the basic posture, this may be the case. Or, for example, when a user inputs an instruction to perform a specific action (such as carrying an object) rather than a posture restoration instruction, this may also be the case. To execute the user's instruction, it is first necessary to resume to the basic posture.

[0397] That is, the event of resuming to the basic posture may occur when it is necessary to re - execute the posture balance control of the robot 1 driven by the wheel motor MW, and may occur in various situations not limited to the above - mentioned examples.

[0398] The posture conversion control method for resuming from the standby posture to the basic posture may also include a balance control driving step S2200 of the wheel motor MW.

[0399] More specifically, in the standby posture, the wheel motor MW is driven to rotate the wheel 310 forward. As a result, the center of gravity of the robot main body 100 moves forward, and the support form between the robot 1 and the ground changes from the three - point support based on the left wheel 310, the right wheel 310, and the connecting portion 420 to the two - point support based on the left wheel 310 and the right wheel 310. That is, as the robot main body 100 moves forward, the connecting portion 420 leaves the ground and separates (converts from the Figure 11d form to the Figure 11c form).

[0400] The posture conversion control method for resuming from the standby posture to the basic posture may also include a step S2300 of preventing the leg portion 200 from moving.

[0401] More specifically, the suspension motor MS can be driven while the arm 400 still surrounds the leg portion 200, and controlled to maintain the current combined angle of the upper link and the lower link.

[0402] If the drive suspension motor MS is not controlled to maintain the joint angle between the upper link and the lower link, there may be a problem that when the arm motor MA is driven in the next step, the joints of the leg part 300 suddenly unfold, and the robot 1 instantaneously loses its center of gravity and falls to the ground.

[0403] This step S2300 is a step executed to prevent such a problem in advance. The suspension motor MS can be driven before driving the motor MA to keep the joint angle of the leg part 200 in the folded state.

[0404] The posture conversion control method for restoring from the standby posture to the basic posture may further include an arm motor MA driving step S2400.

[0405] More specifically, in a state where the suspension motor MS is driven to hold the leg part 200 in the folded form, the arm motor MA rotates and drives in the second direction (counterclockwise direction based on observing the robot 1 from the right side), and the arm 400 can be lifted (from the Figure 11c form to the Figure 11b form conversion).

[0406] At this time, the contact between the stopper 240 and the rotation projection 480 is released and / or the engagement structure is released, so that the leg part 200 may be unlocked. However, since the suspension motor MS is in the driving process, the leg part 200 will not be suddenly unfolded.

[0407] If the arm 400 rotates to a specified position in the basic posture of the robot 1, the arm motor MA can be controlled to stop running.

[0408] The posture conversion control method for restoring from the standby posture to the basic posture may further include a step S2400 of raising the robot main body 100.

[0409] More specifically, if the arm 400 returns to the position in the basic posture, the suspension motor MS can be driven and controlled to increase the joint angle between the upper link and the lower link.

[0410] At this time, the robot main body 100 rises in the direction opposite to the ground, realizing a posture conversion similar to standing up by stretching the legs (from the Figure 11b form to the Figure 11a form conversion).

[0411] If the robot main body 100 rises to a specified height in the basic posture, the suspension motor MS can be controlled to stop running.

[0412] The posture conversion control method for restoring from the standby posture to the basic posture may further include a step S2600 of completing the conversion to the basic posture.

[0413] As described above, the restoring force of the gravity compensation unit and the gravity based on the robot body 100 can be cancelled out. That is, the joint angle between the upper link and the lower link is maintained in the basic posture.

[0414] Therefore, after the robot body 100 rises to the height of the basic posture, even if the suspension motor MS stops, the height of the robot body 100 can be constantly maintained.

[0415] Recovery from the fallen posture to the basic posture

[0416] Hereinafter, with reference to Figures 12 to 1 4, a method for restoring to the basic posture when the robot 1 loses its center of gravity and falls to the ground will be described.

[0417] Figure 12 It is a sequence diagram showing a second embodiment of the control method related to the posture conversion of the robot 1.

[0418] The second embodiment shows an embodiment of the control method in the case of the posture conversion of the robot 1 according to the embodiment of the present invention from the falling posture to the basic posture.

[0419] Figures 13a to 13f Sequentially shows the action forms of the robot for restoring to the basic posture in the case of falling forward. Figures 14a to 14e Sequentially shows the action forms of the robot for restoring to the basic posture in the case of falling backward.

[0420] The control method for the posture conversion from the falling posture to the basic posture may include a falling event occurrence step S3100.

[0421] Here, the falling event refers to the situation where the robot 1 assumes a posture of falling to the ground. Due to various reasons such as the robot 1 being subjected to an external force, being tripped by an obstacle during driving, slipping on the ground, or the function of the robot 1 malfunctioning, the robot 1 loses its center of gravity, and the robot body 100 tilts forward or backward relative to the ground by an angle deviating from the preset angle, and thus may fall to the ground.

[0422] The falling posture may be defined as a state in which other components except the left wheel 310 and the right wheel 310 of the robot 1 are in contact with the ground. Alternatively, the falling posture may be defined as a state in which other components except the left wheel 310, the right wheel 310, and the arm 400 of the robot 1 are in contact with the ground. The situation where the arm 400 is in contact with the ground is excluded from the falling posture because when the robot 1 is converted to the standby posture, it may be a state where both the arm 400 and the wheel 310 are in contact with the ground.

[0423] More specifically, for example, the state where the robot 1 falls forward means that the robot main body 100 tilts forward, and at least a part of the front surface of the robot main body 100 is in contact with the ground (refer to Figure 13a ).

[0424] For example, the state where the robot 1 falls backward means that the robot main body 100 tilts backward, and at least a part of the leg part 200 of the robot main body 100 and / or the back surface of the robot main body 100 is in contact with the ground (refer to Figure 14a ).

[0425] The posture conversion control method from the falling posture to the basic posture may include the step S3300 of bringing the arm 400 into contact with the ground.

[0426] More specifically, the arm motor MA may be driven to rotate the arm 400 until the connecting portion 420 of the arm 400 contacts the ground.

[0427] On the other hand, in this step S3300, the rotation direction of the arm motor MA may be different according to the direction in which the robot 1 falls.

[0428] If the robot 1 falls forward, the arm motor MA may rotate forward. Thus, the arm 400 may also rotate forward (refer to Figure 13c ). Explained from another perspective, the arm 400 may rotate in the direction toward the face mask 500. Explained from another perspective, the arm 400 may rotate in the second direction. In the embodiment of the present invention, the second direction means the counterclockwise direction when viewed from the right side with the front surface of the robot 1 as a reference.

[0429] In the state where the arm 400 rotates forward (or in the direction toward the face mask 500 or the second direction) and finally contacts the ground, the center of gravity of the robot main body 100 may be disposed between the contact point of the arm 400 with respect to the ground and the contact point of the wheel 310 with respect to the ground.

[0430] If the robot 1 falls backward, the arm motor MA may rotate backward. Thus, the arm 400 may also rotate backward (refer to Figure 14c ). Explained from another perspective, the arm 400 may rotate in the direction away from the face mask 500. Explained from another perspective, the arm 400 may rotate in the first direction. In the embodiment of the present invention, the first direction means the opposite direction of the second direction, the clockwise direction when viewed from the right side with the front surface of the robot 1 as a reference.

[0431] In a state where the arm 400 rotates rearward (or in a direction away from the face mask 500 or the first direction) and finally contacts the ground, the center of gravity of the robot body 100 can be disposed between the contact point of the arm 400 with the ground and the contact point of the wheel 310 with the ground.

[0432] In summary, whether the robot 1 falls forward or backward, regardless of the direction in which the arm motor MA rotates, in a state where the arm 400 contacts the ground, the center of gravity of the robot body 100 is disposed between the contact point of the wheel 310 with the ground and the contact point of the arm 400 with the ground.

[0433] Thus, in this step S3300, a preparatory posture in which the arm 400 and the wheel 310 cooperate to drive and can lift the robot body 100 can be formed.

[0434] The posture conversion control method from the falling posture to the basic posture may further include a step S3400 of raising the robot body 100. In this step S3400, the robot body 100 can be raised by the simultaneous driving of the arm motor MA and the wheel motor MW.

[0435] More specifically, first, consider the case where the robot 1 falls forward.

[0436] The arm motor MA can rotate forward in the same direction as in the previous step S3300. The rotation of the arm motor MA in the previous step S3400 and this step S3400 can be carried out continuously, or the rotation of the arm motor MA can be temporarily stopped in a state where the arm 400 contacts the ground and then rotated again. That is, the rotation directions of the arm motor MA in steps S3300 and S3400 are the same, and can be carried out sequentially with a time difference.

[0437] At this time, the arm motor MA and the wheel motor MW cooperate to push up the robot body 100. Since the joint angle of the leg part 200 is fixed and one end of the arm 400 contacts the ground, the robot body 100 is lifted upward (refer to Figure 13d ).

[0438] At this time, the ground contact point of the arm 400 and the ground contact point of the wheel 310 gradually approach.

[0439] The wheel 310 continues to rotate forward and the arm 400 and the wheel 310 continue to approach. At a certain moment, the arm 400 leaves the ground, and the rotation center of the rotary joint 410 will be vertically above the rotation center of the wheel 310 (refer to Figure 13e ).

[0440] From this point on, the balance control of the robot 1 can be started.

[0441] If the arm 400 leaves the ground, there is no need for the arm 400 to further rotate towards the wheel 310, so the drive of the arm motor MA stops.

[0442] Next, observe the situation where the robot 1 falls backward.

[0443] The arm motor MA can rotate backward in the same direction as in the previous step S3300, i.e., backward. The rotation of the arm motor MA in the previous step S3400 and this step S3400 can be carried out continuously, or the rotation of the arm motor MA can be temporarily stopped while the arm 400 is in contact with the ground and then rotated again. That is, the rotation directions of the arm motor MA in steps S3300 and S3400 are the same, and they can be carried out sequentially with a time difference.

[0444] At this time, the arm motor MA and the wheel motor MW cooperate with each other to push up the robot main body 100. Since the joint angle of the leg part 200 is fixed and one end of the arm 400 is in contact with the ground, the robot main body 100 is lifted upward (refer to Figure 14c ).

[0445] At this time, the ground contact point of the arm 400 and the ground contact point of the wheel 310 gradually approach each other.

[0446] The wheel 310 continues to rotate backward and the arm 400 and the wheel 310 continue to approach each other. At a certain moment, the arm 400 leaves the ground, and the rotation center of the rotary joint 410 will be vertically above the rotation center of the wheel 310 (refer to Figure 14d ).

[0447] From this point on, balance control can be started.

[0448] If the arm 400 leaves the ground, there is no need for the arm 400 to further rotate towards the wheel 310, so the drive of the arm motor MA stops.

[0449] As a feasible embodiment, the posture conversion control method from the falling posture to the basic posture may further include a step S3200 of reducing the distance between the wheel 310 and the robot main body 100.

[0450] This step S3200 can be executed before the step S3300 of bringing the arm 400 into contact with the ground.

[0451] More specifically, when the robot 1 falls to the ground, the suspension motor MS can be rotationally driven in a direction to reduce the distance between the wheel 310 and the robot main body 100. At this time, through the rotational drive of the suspension motor MS, the joint angle between the upper link and the lower link gradually becomes smaller.

[0452] In this step S3200, the suspension motor MS can be rotationally driven until the joint angle becomes the minimum angle. That is, the suspension motor MS is rotationally driven until the robot body 100 and the wheel 310 approach each other to the maximum extent (refer to Figure 13b , Figure 14b ).

[0453] Through such a process, the joint angle between the upper link and the lower link can be fixed at a constant angle (minimum angle). This can prevent the rotational torque of the wheel motor MW from changing the joint angle of the leg part 200 in the subsequent steps, so that it is completely only used to restore the robot body 100 to the basic posture.

[0454] If, in a state where the joint angle between the upper link and the lower link is larger than the minimum angle, the robot 1 performs a standing-up action, a part of the rotational torque of the wheel 310 is used to reduce the joint angle between the upper link and the lower link. That is, the robot 1 needs a greater force to stand up.

[0455] In particular, if a gravity compensation unit is provided, the rotational torque of the wheel 310 is also hindered by the restoring force based on the gravity compensation unit. At this time, the robot 1 also needs a greater force to stand up.

[0456] The posture conversion control method from the fallen posture to the basic posture may further include a step S3500 of increasing the distance between the wheel 310 and the robot body 100.

[0457] This step S3500 is executed in the embodiment where step S3200 is executed.

[0458] If step S3200 is executed, the distance between the wheel 310 and the robot body 100 is maintained at the minimum. Therefore, in order to restore to the basic posture, it is necessary to increase the distance between the wheel 310 and the robot body 100 again.

[0459] That is, the suspension motor MS can be rotationally driven in the direction of increasing the distance between the wheel 310 and the robot body 100. At this time, the joint angle between the upper link and the lower link gradually becomes larger (refer to Figure 13f , Figure 14e ).

[0460] In this step S3500, the suspension motor MS can be rotationally driven until the joint angle becomes the joint angle in the basic posture. Even if the suspension motor MS stops later, the joint angle can be maintained by the gravity compensation unit.

[0461] The posture conversion control method from the fallen posture to the basic posture may further include a step S3600 of moving the arm 400 to a position corresponding to the preset basic posture.

[0462] More specifically, the arm motor MA can rotate in the opposite direction to the rotation direction in steps S3300 and S3400. Due to interference with the leg portion 200, the arm cannot continue to rotate in the same rotation direction as in steps S3300 and S3400, so in order to restore the posture to the basic posture, the arm 400 needs to be rotated in the opposite direction.

[0463] When the robot 1 falls forward, since the arm motor MA rotates forward in steps S3300 and S3400, the arm motor MA rotates backward in this step.

[0464] When the robot 1 falls backward, since the arm motor MA rotates backward in steps S3300 and S3400, the arm motor MA rotates forward in this step.

[0465] The arm motor MA can be controlled to stop running after the arm 400 rotates until it reaches a position corresponding to the basic posture. The position corresponding to the basic posture may refer to the position where the connection part 420 is configured on the upper rear side of the robot body 100 (refer to Figure 13f , Figure 14e ).

[0466] When a conventional two-wheeled robot falls, it is necessary to rotate the pair of wheels strongly in an instant so that the robot can continue to move forward and backward and maintain balance.

[0467] In order to solve this problem, there is a method of using the left and right arms of the robot to support the ground to stand up. However, in the case of a structure in which the pair of arms are separated from each other, there will definitely be a slight difference in the rotation speed when the arms are rotated due to the mechanical structure, the degree of wear, etc. In other words, there is a high probability that the positions where the left arm and the right arm contact the ground are different from each other. In such a case, in order to make the robot stand up, the points of support for the ground are different from each other, and as a result, the robot may shake when standing up. In the worst case, the robot may fall again.

[0468] In contrast, according to the embodiment of the present invention including the arm 400 connected in an integral structure by the connection portion 420, the left and right sides must be in contact with the ground at the same time. The contact position is also constant.

[0469] Furthermore, the left rotating joint 410 and the right rotating joint 410 of the arm 400 form a surface parallel to the ground along the left-right direction through the connection part 420, so that the left arm and the right arm are separated and can contact the ground with a wider area than the existing forms of each. That is, the friction force between the connection part 420 and the ground becomes larger, so in the process of realizing the action of the robot 1 standing up, the ground support based on the arm 400 can be made stronger.

[0470] The greater the force with which the arm 400 supports the ground, the easier it is to lift the robot body 100 with a smaller rotational torque of the wheel 310. Thus, the wheel 310 does not need to instantaneously apply a strong rotational force to lift the robot body 100, which has the effect of not only preventing damage to the motor but also reducing the power consumption as a whole.

[0471] In addition, since the arm 400 firmly supports the ground in a form that surrounds the robot body 100 from the outside on the left and right sides of the robot body 100, the robot body 100 will not tilt or shake to one side during the process of being lifted, and can rise stably and balancedly.

[0472] Although the present invention has been described in detail through specific embodiments above, this is only for specifically illustrating the present invention and is not limited to the present invention. Obviously, those skilled in the art can make deformations or improvements to the present invention within the technical idea of the present invention.

[0473] Simple deformations and changes of the present invention all fall within the scope of the present invention. Therefore, the specific protection scope of the present invention will be clarified by the appended patent claims.

Claims

1. A control method for a robot, the robot comprising: Wheel motors that rotate the wheels respectively disposed on the left and right sides of the robot body; And arm motors that rotate the arms of an integrated structure simultaneously coupled to the left and right side surfaces of the robot body; wherein, the control method of the robot includes: A step of driving the arm motors to bring one end of the arm closer to the ground; A step of stopping the driving of the wheel motors to tilt the robot backward; and A step of supporting the robot at three points relative to the ground and converting it into a standby posture.

2. The control method of the robot according to claim 1, wherein, The robot further includes a suspension motor that adjusts the coupling angle of the joint structure between the upper link and the lower link of the leg portion connected between the wheel and the robot body.

3. The control method of the robot according to claim 2, wherein, Before the step of driving the arm motors, it further includes a step of driving the suspension motor to reduce the distance between the wheel and the robot body.

4. The control method of the robot according to claim 3, wherein, In the step of driving the suspension motor, the coupling angle between the upper link and the lower link becomes smaller.

5. The control method of the robot according to claim 1, wherein, The robot further includes leg portions that are connected between the wheels and the robot body and are formed into a joint structure in which an upper link and a lower link are coupled, The arm includes: A pair of rotary coupling portions that are rotatably coupled to the robot body and are respectively disposed on the left and right sides of the robot body; and A connecting portion that connects the pair of rotary coupling portions; In the step of driving the arm motors, the connecting portion is disposed at a position more forward and lower than the coupling position of the upper link and the lower link.

6. The control method of the robot according to claim 2, wherein, In the step of driving the arm motors, if the arm rotates to a position where the rotation range of the arm is limited by a stopper formed on the upper link, the driving of the arm motors is stopped.

7. The control method of the robot according to claim 6, wherein, In the step of driving the arm motors, if a rotary protrusion formed on the arm and rotating together with the arm contacts the stopper, the movement of the joint structure is restricted.

8. The control method of the robot according to claim 7, wherein, After the step of driving the arm motors, it further includes a step of stopping the driving of the suspension motor in a state where the movement of the joint structure is restricted.

9. A control method for a robot, the robot comprising: Wheel motors that rotate the wheels respectively disposed on the left and right sides of the robot body; And arm motors that rotate the arms of an integrated structure simultaneously coupled to the left and right side surfaces of the robot body, wherein, the control method of the robot includes: If, as the robot tilts forward or backward, a component other than the wheels is in contact with the ground, a step of driving the arm motors to bring the arms into contact with the ground; and A step of driving the wheel motors and the arm motors in the same direction simultaneously to raise the robot body.

10. The control method of the robot according to claim 9, wherein, The robot further includes a suspension motor, and the suspension motor adjusts the joint structure combination angle between the upper link and the lower link of the leg part connected between the wheel and the robot main body. Before the step of bringing the arm into contact with the ground, it further includes: a step of driving the suspension motor to reduce the distance between the wheel and the robot main body.

11. The control method of the robot according to claim 10, wherein, After the step of raising the robot main body, it further includes: A step of driving the suspension motor to increase the distance between the wheel and the robot main body; and A step of driving the arm motor to move the arm to a position corresponding to a preset basic posture.

12. The control method of the robot according to claim 9, wherein, The robot further includes a leg part, and the leg part is connected between the wheel and the robot main body and is formed into a joint structure in which an upper link and a lower link are linked together. In the step of reducing the distance between the wheel and the robot main body, the combination angle between the upper link and the lower link becomes smaller.

13. The control method of the robot according to claim 9, wherein, In the step of bringing the arm into contact with the ground, the center of gravity of the robot main body is arranged between the contact point where the wheel contacts the ground and the contact point where the arm contacts the ground.

14. The control method of the robot according to claim 9, wherein, In the step of raising the robot main body, If the robot tilts forward and is in a state where components other than the wheel are in contact with the ground, then in the state where the arm is in contact with the ground on the front side of the wheel, the arm and the wheel rotate forward simultaneously. If the robot tilts backward and is in a state where components other than the wheel are in contact with the ground, then in the state where the arm is in contact with the ground on the rear side of the wheel, the arm and the wheel rotate backward simultaneously.

15. A robot, wherein, Comprising: A robot main body that internally houses a battery; Two wheels, arranged at the lower part of the robot main body; Two leg parts, connected between the robot main body and the wheel; And An integrated arm structure, including: a pair of rotary joints, rotatably joined to the robot main body and respectively arranged on the left and right; and a connecting part that connects the pair of rotary joints; During the process of the wheel traveling on the ground, the connecting part is maintained in a basic posture arranged at the upper rear side of the robot main body. When performing a posture conversion between the basic posture and other specific postures, it is accompanied by an action in which the position of the connecting part changes due to the rotation of the arm.

16. The robot according to claim 15, wherein, Each of the leg parts includes: An upper link, linked to the robot main body; and A lower link, linked to the upper link and combined with the wheel; Before the arm rotates, an action of reducing the combination angle between the upper link and the lower link is first performed.

17. The robot according to claim 15, wherein, In the case where the specific posture is a falling posture in which the robot body tilts forward or backward, causing components other than the wheels to contact the ground, the arm rotates in the state of the falling posture so that the connecting portion moves in a direction closer to the ground. In a state where the connecting portion is in contact with the ground, the robot body rises through the actions of the arm and the wheels rotating in the same direction, thereby restoring the basic posture.

18. The robot according to claim 17, wherein if the robot falls forward, both the arm and the wheels rotate forward in a state where the connecting portion is in contact with the ground on the front side of the wheels. if the robot falls backward, both the arm and the wheels rotate backward in a state where the connecting portion is in contact with the ground on the rear side of the wheels.

19. The robot according to claim 15, wherein if a preset specific condition is satisfied, the arm rotates backward from the state of the basic posture toward the rear of the robot body, and is converted into a standby posture in which there are three contact portions spaced apart from each other with respect to the ground by the two wheels and the connecting portion.

20. The robot according to claim 19, wherein before being converted into the standby posture, the wheel motor that drives the wheels to rotate is stopped.

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