Charging base station and charging method of robot

Abstract

The present invention relates to a charging base station for charging at least one of a robot and a functional module detachably coupled to the robot, and a method for charging the robot, the charging base station comprising: a base station main body installed on the ground so that the robot can approach the base station main body; a robot charging unit which is coupled to the base station main body so as to be relatively rotatable, and which charges the robot by supplying power to the robot when electrically connected to the robot; and a functional module charging unit that is detachably coupled to the base station main body and charges the functional module by supplying power to the functional module when electrically connected to the functional module.

Description

Technical Field

[0001] The present invention relates to a charging base station and a charging method for a robot. More specifically, the present invention relates to a charging base station capable of charging at least one of a robot and a functional module, and a charging method for a robot using the charging base station. Background Art

[0002] In recent years, with the development of robotics technology, the use of robots has gradually increased not only in the industrial field but also in households.

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

[0004] However, existing household robots have the limitation of only performing one of the above functions and are unable to perform various functions according to the needs or conditions of the user.

[0005] On the other hand, robots include not only robots that perform functions while stationary but also mobile robots that can move. In particular, home robots mainly use mobile robots that replace or move around the home with the user.

[0006] Among mobile robots, two-wheeled robots with two wheels have the advantage of being easy to store due to their small footprint, and are easy to use in homes with relatively small spaces due to their small rotation radius when changing direction.

[0007] Similar to existing cleaning-specific mobile robots, household robots use built-in batteries to drive, so batteries need to be charged periodically. For this reason, household robots can also have a charging base station similar to the charging base station of existing cleaning robots.

[0008] On the other hand, U.S. Patent Publication No. 2021-0228044 (hereinafter referred to as “conventional document 1”) discloses a base station and a cleaning robot system.

[0009] The base station can be docked with a cleaning robot that performs wet cleaning, and the cleaning robot docked with the base station can be charged through a charging unit.

[0010] In addition, a docking base station is disclosed in U.S. Patent Publication No. 2022-0061614 (hereinafter referred to as "conventional document 2").

[0011] The docking base station can be docked with the sweeping robot, and the sweeping robot can clear the dust stored in its internal space through the docking base station.

[0012] However, in the existing documents 1 and 2, the docking and charging of the cleaning robot are disclosed, but the posture change of the cleaning robot after docking is not disclosed, and the charging unit for charging the functional modules that provide various functions to the user is not disclosed. Summary of the Invention

[0013] Problems to be solved by the invention

[0014] The present invention is proposed to improve the problems existing in the prior art as described above. The problem to be solved is to provide a charging base station that can charge a robot and functional modules that provide various functions to users, and a charging method for a robot using the charging base station.

[0015] Another object of the present invention is to provide a charging base station capable of protecting power supply terminals from external impacts when the robot is not being charged, and a method for charging the robot using the charging base station.

[0016] Another object of the present invention is to provide a charging base station capable of accurately placing a robot on a robot charging portion without requiring an additional sensor, and a robot charging method using the charging base station.

[0017] In addition, the problem to be solved by the present invention is to provide a charging base station in which the robot can move into and out of the charging base station in a forward motion manner, and a charging method for the robot using the charging base station.

[0018] Another object of the present invention is to provide a charging base station capable of stably placing a robot on the charging base station and a method for charging the robot using the charging base station.

[0019] Technical solutions to the problem

[0020] In order to solve the problems described above, the charging base station of the present invention charges at least one of a robot and a functional module detachably coupled to the robot, and may include: a base station body, which is placed on the ground so that the robot can approach; a robot charging part, which is relatively rotatably coupled to the base station body and supplies power to the robot to charge the robot when electrically connected to the robot; and a functional module charging part, which is detachably coupled to the base station body and supplies power to the functional module to charge the functional module when electrically connected to the functional module.

[0021] The function module charging unit may wirelessly supply power to the function module to charge the function module.

[0022] The robot charging part may include: a charging part main body, which includes a placement surface for the robot to be placed and is rotated by the rotation of a motor; a rotating member, which rotates in a first direction relative to the charging part main body if the load of the robot is applied to one side of the rotating member; a power supply terminal, which is arranged on the other side of the rotating member and is connected to the charging terminal of the robot if the rotating member rotates in the first direction; and an elastic member, which provides elastic force to the rotating member so that the rotating member rotates in a second direction which is opposite to the first direction.

[0023] If the rotating member rotates in the second direction, the power supply terminal may be located in an inner space of the charging unit body.

[0024] An outer peripheral surface of the robot contacting the placement surface may have a curvature corresponding to the curvature of the placement surface.

[0025] The robot charging unit may further include a power transmission unit that is accommodated together with the motor in an internal space of the charging unit body and transmits power generated by rotation of the motor to the charging unit body.

[0026] The power transmission unit may include a first rotating gear receiving the rotational power of the motor to rotate; and a second rotating gear receiving the rotational force of the first rotating gear to rotate the charging unit body.

[0027] In order to solve the above-mentioned problems, the charging base station of the present invention charges a robot and at least one of a functional module detachably coupled to the robot, and may include: a base station body, placed on the ground so that the robot can approach; and a robot charging part, which can be relatively rotatably coupled to the base station body and supplies power to the robot to charge the robot when connected to the robot; the robot charging part includes: a charging part body, the robot is placed on the charging part body, and the charging part body is rotated by the rotation of a motor; a rotating member, if the load of the robot is applied to one side of the rotating member, the rotating member rotates in a first direction with the charging part body as the center; a power supply terminal, arranged on the other side of the rotating member, if the rotating member rotates in the first direction, the power supply terminal is connected to the charging terminal of the robot; and an elastic member, providing elastic force to the rotating member so that the rotating member rotates in a second direction which is the opposite direction of the first direction.

[0028] If the rotating member rotates in the second direction, the power supply terminal may be located inside the charging unit body.

[0029] In order to solve the problems described above, the robot charging method of the present invention is performed by a robot system including the robot and a charging base station for supplying power to the robot to charge the robot. The charging method may include: an entry step in which the wheels of the robot move close to the charging base station and climb onto the base station body of the charging base station; a combining step in which, if the robot is placed on the charging base station, the charging terminals of the robot and the power supply terminals of the charging base station are electrically connected to each other to supply power to the robot; a rising step in which the wheels are raised to a set height so that the wheels are separated from the base station body by a specified distance; and a rotation step in which the robot charging part of the charging base station rotates together with the robot to change the direction in which the front of the robot faces by 180 degrees.

[0030] The robot may include: a robot body provided with the charging terminal; a leg part, respectively arranged on both sides of the robot body and combined with the wheel rolling on the ground; an arm, rotatably combined with both sides of the robot body; a suspension motor, adjusting the connection angle of the joint structure between the upper link and the lower link of the leg part; and an arm motor, so that the arm rotates around the robot body; the ascending step may include: a driving step of driving the suspension motor to reduce the distance between the wheel and the robot body; and a fixing step in which if the wheel rises to the set height, the rotating protrusion rotating with the arm contacts the stopper formed on the upper link, thereby restricting the movement of the joint structure.

[0031] In order to solve the above-mentioned problems, the robot charging method of the present invention may further include: a release step in which the combination of the charging terminal and the power supply terminal is released; and a reset rotation step in which the robot charging part rotates to return to an initial position after the robot detaches from the charging base station.

[0032] Effects of the Invention

[0033] As described above, according to the present invention, there is an effect of being able to charge a robot and a functional module that provides various functions to a user.

[0034] In addition, in the present invention, when the robot and the robot charging unit are released from connection, the power supply terminal is located in the internal space of the charging unit body, thereby having the effect of protecting the power supply terminal from external impact, etc. when the robot is not charged.

[0035] In addition, in the present invention, even if the charging terminal is not located at a position corresponding to the power supply terminal, the placement position is accurately guided during the placement of the main cover, thereby having the effect of accurately placing the robot in the robot charging part without additional sensors.

[0036] In addition, in the present invention, after the robot is coupled to the charging base station, the charging part of the robot rotates 180 degrees, so that the robot's movement of entering the charging base station and leaving the charging base station can be achieved in a forward movement manner, thereby making it easier for the robot to enter and exit the charging base station.

[0037] Furthermore, in the present invention, even when the robot is placed on the robot charging unit, the wheels do not come into contact with the base station body, so the robot can be stably placed on the robot charging unit without being disturbed by the base station body. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a perspective view of a robot for explaining an embodiment of the present invention.

[0039] Figure 2 2 is a front view of a robot according to an embodiment of the present invention.

[0040] Figure 3 This is a three-dimensional diagram of the robot according to the embodiment of the present invention observed from another angle.

[0041] Figure 4 This is a partial cross-sectional view for explaining the power transmission for rotating the arm in the robot according to the embodiment of the present invention.

[0042] Figure 5 4 is a top view of a robot according to an embodiment of the present invention.

[0043] Figure 6 4 is a bottom view of the robot according to the embodiment of the present invention.

[0044] Figure 7a and Figure 7b It is a diagram for explaining a structure for restricting the rotation of an arm.

[0045] Figure 8a and Figure 8b Is used to illustrate Figure 7a and Figure 7b FIG. 1 is a diagram of another embodiment of the present invention.

[0046] Figure 9 This is a diagram for explaining a state in which the robot according to the embodiment of the present invention is not moving and is on standby.

[0047] Figure 10 yes Figure 9 side view.

[0048] Figure 11a and Figure 11b This is a diagram for explaining the action of the robot according to the embodiment of the present invention standing up from a state of falling forward.

[0049] Figure 12a and Figure 12b This is a diagram for explaining the action of the robot according to the embodiment of the present invention standing up from a state of falling backward.

[0050] Figure 13 This figure is used to illustrate the connection relationship between the robot mask and the robot body in the robot according to the embodiment of the present invention.

[0051] Figures 14a to 14c It is a diagram for explaining a process of rotation of a rotating body of a robot according to an embodiment of the present invention.

[0052] Figures 15a to 15c It is a diagram for explaining a process of coupling a coupling portion of a robot and a functional module according to an embodiment of the present invention.

[0053] Figure 16 and Figure 17 It is a three-dimensional diagram of a functional module combined with a robot according to an embodiment of the present invention.

[0054] Figure 18 This is a block diagram for explaining the control structure of the robot according to the embodiment of the present invention.

[0055] Figure 19 3D is a perspective view of a robot system including a robot, a charging base station, and a functional module according to an embodiment of the present invention.

[0056] Figure 20 It is a diagram for explaining the structure of a charging base station according to an embodiment of the present invention.

[0057] Figure 21a It is a side sectional view for explaining a state where a robot is combined with a charging base station according to an embodiment of the present invention.

[0058] Figure 21b It is a side sectional view for explaining a state where the charging base station and the robot are released from the connection according to the embodiment of the present invention.

[0059] Figure 22 It is a side sectional view of a power transmission unit of a charging base station for explaining an embodiment of the present invention.

[0060] Figure 23 It is a perspective view of a functional module charging portion of a charging base station according to an embodiment of the present invention.

[0061] Figure 24It is a three-dimensional diagram for explaining a state in which the functional module charging unit is combined with both sides of the base station body in the charging base station according to an embodiment of the present invention.

[0062] Figure 25 This is a diagram for explaining a state in which the robot according to an embodiment of the present invention is carrying a functional module to a charging base station.

[0063] Figure 26 This is a flowchart showing the flow of a robot charging method according to an embodiment of the present invention.

[0064] Figure 27a and 27b is shown with Figure 26 FIG. 1 is a diagram of an action corresponding to step S100.

[0065] Figure 27c is shown with Figure 26 FIG. 1 shows the actions corresponding to steps S200 and S300.

[0066] Figure 27d is shown with Figure 26 FIG. 1 is a diagram of the action corresponding to step S400.

[0067] Figure 27e is shown with Figure 26 FIG. 1 is a diagram of the action corresponding to step S500.

[0068] Figure 27f is shown with Figure 26 FIG. 1 is a diagram of the action corresponding to step S600. DETAILED DESCRIPTION

[0069] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0070] The present invention is susceptible to various modifications and embodiments, and therefore, specific embodiments are shown in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, but rather to include all modifications, equivalents, and alternatives within the scope of the present invention.

[0071] Figure 1 A perspective view of a robot for explaining an embodiment of the present invention is shown. Figure 2 shows a front view of a robot according to an embodiment of the present invention, Figure 3 FIG. 2 shows a perspective view of a robot according to an embodiment of the present invention viewed from another angle. Figure 4 A partial cross-sectional view for explaining power transmission for rotating an arm in a robot according to an embodiment of the present invention is shown. Figure 5 shows a top view of a robot according to an embodiment of the present invention, Figure 6 A bottom view of a robot according to an embodiment of the present invention is shown.

[0072] Below, refer to Figures 1 to 6 , the robot 1 according to the embodiment of the present invention is described.

[0073] The robot 1 according to the embodiment of the present invention is placed on the ground and moves along the ground. Therefore, the following description will define the up and down directions based on the state in which the robot 1 is placed on the ground.

[0074] Furthermore, the description will be given by defining the side where a mapping camera 610 described later is arranged as the front of the robot 1. Furthermore, the description will be given by defining the direction opposite to the front as the rear of the robot 1.

[0075] The “lowest part” of each component described in the embodiment of the present invention may be the lowest part of each component when the robot 1 of the embodiment of the present invention is placed on the ground for use, or the part closest to the ground.

[0076] The robot 1 according to an embodiment of the present invention includes a robot body 100, legs 200, wheels 300, arms 400, and a robot mask 500. The legs 200 are coupled to the robot body 100, and the wheels 300 are coupled to the legs 200. Furthermore, the arms 400 are pivotally coupled to both sides of the robot body 100. Furthermore, the robot mask 500 is detachably coupled to the robot body 100.

[0077] Robot body

[0078] Below, refer to Figures 1 to 6 , the robot body 100 of the robot 1 according to an embodiment of the present invention is described.

[0079] The robot body 100 may be integrated with various components that constitute the robot 1. For example, a robot mask 500 may be detachably integrated with the robot body 100. Furthermore, an arm 400 may be pivotally integrated with the robot body 100. The arm 400 is pivotally integrated with both ends of the robot body 100. The robot body 100 can utilize the arm 400 in conjunction with the functional module 900 to perform additional functions. Furthermore, the robot body 100 can utilize the arm 400 to achieve a standby position for power conservation or a position for standing up after a fall.

[0080] Some components constituting the robot 1 may be housed inside the robot main body 100 .

[0081] The main body cover 110 may form the outer shape of the robot body 100. One or more motors including the suspension motor MS, one or more sensors, and a battery B may be accommodated in the internal space of the main body cover 110.

[0082] In addition, although not shown in the drawings, at least one buffer may be provided inside the main body housing 110 .

[0083] The buffer may be configured to be relatively movable relative to the main body cover 110. For example, the buffer may be coupled to the main body cover 110 so as to be reciprocatingly movable along the front-rear direction of the main body cover 110.

[0084] The buffer may be coupled along a portion or the entire front edge of the main body cover 110. In addition, the buffer may be disposed on the inner rear side of the main body cover 110.

[0085] With the above-described configuration, when the robot 1 collides with another object or a person, the buffer can protect the robot main body 100 and components accommodated inside the robot main body 100 by absorbing the impact applied to the robot main body 100 .

[0086] A pair of legs 200 are coupled to the interior of the main body cover 110. The pair of legs 200 may penetrate the main body cover 110 and be exposed to the outside.

[0087] Specifically, the first link 210 and the second link 220 may be rotatably coupled to the interior of the main body housing 110. For example, a link frame (not shown) coupled to the first link 210 and the second link 220 may be provided inside the main body housing 110.

[0088] Furthermore, a suspension motor MS may be housed inside the main body housing 110 . For example, the suspension motor MS may be disposed on a link frame (not shown). The suspension motor MS may be connected to the first link 210 .

[0089] A pair of leg guide holes 111 may be formed in the main body cover 110. For example, the pair of leg guide holes 111 may be formed in parallel along the front-rear direction of the main body cover 110.

[0090] With this configuration, the leg portion 200 can rotate and move along the leg guide hole 111 , and the rotational movement range of the leg portion 200 can be guided.

[0091] The main body cover 110 may be configured in a shape in which the horizontal width (or diameter) is greater than the vertical height. For example, the main body cover 110 may be formed in a shape similar to an ellipsoid.

[0092] Such a robot body 100 helps the robot 1 to form a stable structure and can provide a structure that helps the robot 1 to maintain balance during movement (travel).

[0093] The robot body 100 can be positioned vertically above the wheels 310, described later. The load of the robot body 100 can be transferred to the wheels 310 via the legs 200, and the wheels 310 can support the legs 200 and the robot body 100. With this configuration, the wheels 310 can stably support the load of the robot body 100.

[0094] The robot body 100 may include a display 120. The display 120 may be integrated with the body housing 110. The display 120 may be formed in a flat plate shape. The display 120 may be positioned at a predetermined angle relative to the ground. For example, the display 120 may be positioned facing forward and upward. With this configuration, when the robot 1 approaches a user, the user can see the display 120 by looking toward the robot 1.

[0095] On the other hand, the display 120 can convey information about the operating status of the robot 1 to the user in a visual manner.

[0096] The display 120 may be formed by any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel (Plasma Display Panel), and an organic light emitting diode (OLED).

[0097] The display 120 can display information such as the operating time information of the robot 1 and the power information of the battery B.

[0098] According to an embodiment, the display 120 may be the input unit 125. That is, the display 120 may receive a control instruction input by a user. For example, the display 120 may be a touch screen that visually displays the operating status and receives a control instruction input by a user.

[0099] The display 120 can display the robot 1's facial expressions. Alternatively, the robot 1's eyes can be displayed on the display 120. By displaying the facial or eye shapes on the display 120, the robot 1's current state can be personified and displayed emotionally. For example, when a user returns home from an outing, a smiling face or smiling eyes can be displayed on the display 120. This allows the user to feel like they are interacting with the robot 1.

[0100] The main housing 110 may be provided with a charging terminal 130. For example, the charging terminal 130 may be positioned facing the ground. As one example, the charging terminal 130 may be positioned facing the ground. As another example, the charging terminal 130 may be positioned at a predetermined angle to the ground. With this configuration, when the robot 1 is coupled to the charging base station 1000, the charging terminal 130 may contact a terminal located on the charging base station 1000.

[0101] The charging terminal 130 can be electrically connected to the charging base station 1000. With this configuration, the robot 1 can receive power through the charging terminal 130. The power supplied to the charging terminal 130 can be supplied to the battery B. Furthermore, the robot 1 can receive electrical signals through the charging terminal 130. The control unit 700 can receive the electrical signals transmitted through the charging terminal 130.

[0102] On the other hand, a surveying camera 610 may be disposed in the front lower portion of the main body cover 110. For example, the surveying camera 610 may be disposed on a center line passing through the left-right center of the main body cover 110. With such a configuration, the surveying camera 610 can detect objects or people disposed in front of the robot 1.

[0103] In addition, an IR sensor 620 may be disposed at the front lower portion of the main housing 110. For example, a pair of IR sensors 620 may be provided, and the pair of IR sensors may be disposed in the left and right directions at a predetermined interval. With such a configuration, the IR sensor 620 can detect the position of the light source generating infrared rays.

[0104] The IR sensor 620 may be disposed close to the mapping camera 610. For example, the mapping camera 610 may be disposed between a pair of IR sensors 620.

[0105] Through such a configuration, the IR sensor 620 can detect the light emitted by the lamp of the functional module 900 or the light-emitting part 1213 of the charging base station 1000. If the robot body 100 approaches the lamp or the light-emitting part 1213, the surveying camera 610 can detect the shape of the functional module 900 or the charging base station 1000.

[0106] Leg

[0107] Below, refer to Figures 1 to 6 , the leg portion 200 of the robot 1 according to an embodiment of the present invention is described.

[0108] The leg portion 200 can be combined with the robot body 100 and support the robot body 100. For example, a pair of leg portions 200 are provided and are respectively combined with the inside of the main body cover 110. The pair of leg portions 200 can be arranged symmetrically (line symmetrically) with each other. In this case, at least a portion of the leg portion 200 is arranged to be closer to the ground than the robot body 100. Therefore, the robot body 100 can use the pair of leg portions 200 to travel in a standing position on the ground. That is, the gravity applied to the robot body 100 can be supported by the leg portions 200, and the height of the robot body 100 can be maintained.

[0109] The leg unit 200 includes a first link 210, a second link 220, and a third link 230. The first link 210 and the second link 220 are rotatably coupled to the robot body 100 and the third link 230, respectively. That is, the first link 210 and the second link 220 are coupled to the robot body 100 and the third link 230, respectively.

[0110] The first link 210 is connected to the left and right sides of the robot body 100 .

[0111] The first link 210 is connected to the suspension motor MS. For example, the first link 210 may be connected to the shaft of the suspension motor MS directly or through a gear. With this configuration, the first link 210 receives driving force from the suspension motor MS.

[0112] The first link 210 is formed in a frame shape. The suspension motor MS is connected to one side of the first link 210 in the longitudinal direction, and the third link 230 is connected to the other side of the first link 210 in the longitudinal direction. At this time, the side of the first link 210 connected to the suspension motor MS is arranged farther from the ground than the other side of the first link 210 connected to the third link 230.

[0113] One side of the first connecting rod 210 is coupled to a leg support portion (not shown) disposed within the main housing 110. The first connecting rod 210 can be rotatably coupled to the leg support portion. For example, one side of the first connecting rod 210 can be formed into a disk or disc shape. Thus, one side of the first connecting rod 210 can pass through the leg support portion and be connected to the suspension motor MS.

[0114] One side of the first link 210 is connected to the suspension motor MS. For example, one side of the first link 210 can be fixedly coupled to the shaft of the suspension motor MS. With this configuration, when the suspension motor MS is driven, the one side of the first link 210 can rotate in conjunction with the rotation of the shaft of the suspension motor MS.

[0115] The other side of the first connecting rod 210 is rotatably coupled to the third connecting rod 230. For example, a through hole may be formed on the other side of the first connecting rod 210. A shaft may be rotatably coupled through the through hole. The longitudinal ends of the shaft may be coupled to the third connecting rod 230.

[0116] With such a configuration, the axis may be an axis about which the first link 210 and / or the third link 230 rotate. Therefore, the first link 210 and the third link 230 may be connected so as to be relatively rotatable.

[0117] Although not shown, the leg portion 200 may further include a gravity compensator. The gravity compensator compensates for the vertical downward movement of the robot body 100 due to gravity. In other words, the gravity compensator provides a force to support the robot body 100.

[0118] For example, the gravity compensating portion may be a torsion spring. The gravity compensating portion may be wound around the outer circumference of the first connecting rod 210. Furthermore, one end of the gravity compensating portion may be inserted into and fixedly coupled to the first connecting rod 210, while the other end of the gravity compensating portion may be inserted into and fixedly coupled to the third connecting rod 230.

[0119] The gravity compensating unit applies a force (rotational force) in the direction that increases the angle between the first link 210 and the third link 230. For example, the ends of the gravity compensating unit are pre-tightened to apply a restoring force in the direction that increases the angle between the first link 210 and the third link 230. Therefore, even when the robot 1 is placed on the ground and gravity is applied to the robot body 100, the angle between the first link 210 and the third link 230 can be maintained within a predetermined angle range.

[0120] This configuration prevents the robot body 100 from descending toward the ground even when the suspension motor MS is not driven. Therefore, the gravity compensation unit not only prevents energy loss due to driving the suspension motor MS but also maintains the height of the robot body 100 at a predetermined distance above the ground.

[0121] The second link 220 is coupled to the left and right sides of the interior of the robot body 100. For example, the second link 220 can be coupled to a leg support portion (not shown) disposed inside the body housing 110. In other words, the second link 220 can be coupled to the leg support portion (not shown) together with the first link 210.

[0122] The second link 220 is formed in a frame shape. A leg support portion (not shown) is coupled to one side of the second link 220 in the longitudinal direction, and the third link 230 is coupled to the other side in the longitudinal direction.

[0123] The second connecting rod 220 may contain an electric wire. For example, a space capable of accommodating the electric wire may be formed inside the second connecting rod 220. Thus, the power of the battery B may be supplied to the wheel portion 300 via the electric wire. At the same time, the electric wire may be prevented from being exposed to the outside.

[0124] One side of the second link 220 is rotatably coupled to the leg support. For example, although not shown, a shaft coupled to the leg support may extend through one side of the second link 220. The shaft may have a hollow portion, allowing electrical wiring to pass through the hollow portion. This configuration prevents the electrical wiring that supplies power from the battery B to the wheel motor MW from being exposed to the outside.

[0125] The other side of the second connecting rod 220 is rotatably coupled to the third connecting rod 230. Specifically, the other end of the second connecting rod 220 can be rotatably coupled to the third connecting rod 230 via a shaft. For example, the other side of the second connecting rod 220 can be formed into a disk shape, and the shaft can pass through and be coupled to the other side of the second connecting rod 220. Furthermore, both ends of the shaft in the longitudinal direction can be coupled to the third connecting rod 230. With this configuration, the shaft can be the axis around which the second connecting rod 220 and / or the third connecting rod 230 rotate. Therefore, the second connecting rod 220 and the third connecting rod 230 can be connected so as to be relatively rotatable.

[0126] The third link 230 is link-coupled with the first link 210 and the second link 220 , and is coupled to the wheel portion 300 .

[0127] 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 portion 300 is coupled to the other side in the longitudinal direction.

[0128] One side of the third link 230 in the longitudinal direction is connected 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. In other words, one side of the third link 230 can be formed into a pair of parallel frames, and the space between the pair of frames can accommodate the first link 210 and the second link 220.

[0129] Here, two shafts can be arranged parallel to each other between the pair of frames. That is, the ends of each of the two shafts can be connected to the pair of frames. Furthermore, the shafts can pass through the first connecting rod 210 and the second connecting rod 220, respectively. In this case, the first connecting rod 210 can be positioned further forward and downward than the second connecting rod 220. That is, the shaft passing through the first connecting rod 210 can be closer to the wheel 310 than the shaft passing through the second connecting rod 220.

[0130] Therefore, the first link 210 and the second link 220 may be respectively coupled to the third link 230 so as to be relatively rotatable.

[0131] The other side of the third link 230 in the longitudinal direction is coupled to the wheel portion 300. The other side of the third link 230 in the longitudinal direction may be formed to cover at least a portion of the wheel 310. For example, the other side of the third link 230 in the longitudinal direction may be formed to cover the rotation center of the wheel 310, and a space capable of rotatably accommodating the wheel 310 may be formed therein.

[0132] In addition, a wheel motor MW may be housed inside the other side of the third link 230 in the longitudinal direction.

[0133] With such a configuration, the wheel 310 and the wheel motor MW may be accommodated on the other side of the third link 230 in the longitudinal direction, and the wheel 310 may be rotatably coupled to the other side of the third link 230 in the longitudinal direction.

[0134] On the other hand, a sensor capable of measuring the distance to the ground may be provided on the other side of the third link 230 in the longitudinal direction. For example, the sensor may be a ToF sensor (Time of Flight sensor). With this configuration, the control unit 700 can determine whether the wheel 310 is in contact with the ground.

[0135] On the other hand, a stopper 240 may be provided on the leg portion 200. The stopper 240 may be disposed inside the main body housing 110. The stopper 240 may be disposed adjacent to the rotation coupling portion 410 of the arm 400. For example, the stopper 240 may be disposed inside the inner circumference of the cylindrical rotation coupling portion 410.

[0136] As an example, the stopper 240 may be disposed on the leg support portion (not shown). As another example, the stopper 240 may be disposed on the first link 210 .

[0137] The stopper 240 can be formed in a shape that projects toward the rotational coupling portion 410. For example, the stopper 240 can have a predetermined thickness and be formed to project in an arch shape arranged on concentric circles. In this case, the outer circumference of the stopper 240 can be positioned toward the upper front side of the robot 1, while the inner circumference of the stopper 240 can be positioned toward the lower rear side of the stopper.

[0138] The stopper 240 can be supported by a rotation protrusion 480 of the arm 400. For example, the rotation protrusion 480 formed on the inner circumference of the rotation coupling portion 410 can rotate along with the rotation of the arm 400 and can contact the rotation protrusion 480 when the arm 400 rotates to a predetermined position.

[0139] With this configuration, the stopper 240 can limit the rotation angle of the arm 400 when the arm 400 rotates.

[0140] When considering the balance of the leg unit 200 as a whole, the first link 210 and the second link 220 are rotatably coupled to a link frame (not shown) provided inside the robot body 100. The first link 210 and the second link 220 are also coupled to the third link 230. In other words, the robot 1 has a structure in which the robot body 100 is supported by a four-link structure consisting of the link frame (not shown), the first link 210, the second link 220, and the third link 230.

[0141] Furthermore, the outriggers 200 generate a restoring force in the direction in which the gravity compensation unit lifts the robot body 100. Therefore, even when the suspension motor MS is not driven, the pair of outriggers 200 can maintain the state in which the robot body 100 is lifted to a predetermined height from the ground.

[0142] On the other hand, when either one of the pair of wheels 310 is raised to cross an obstacle or the height of the robot body 100 is lowered for charging, etc., the robot 1 according to the embodiment of the present invention can maintain balance by driving the suspension motor MS.

[0143] When the suspension motor MS is driven, the link coupling 213 moves upward as the first link 210 rotates about the motor coupling 212. Furthermore, the third link 230 moves along with the rotation of the first link 210. Furthermore, the second link 220 is rotated by the third link 230. As a result, one end of the third link 230 can move rearward, while the other end can move upward.

[0144] With the above-described configuration, even when the wheels 310 are moved in the up-down direction, the forward-backward movement range of the wheels 310 can be limited. Therefore, the robot 1 can maintain a stable balance.

[0145] Therefore, the robot 1 according to the present invention has the effect of being able to climb over obstacles of various heights using the four-link structure.

[0146] Wheel

[0147] Below, refer to Figures 1 to 6 , the wheel portion 300 of the robot 1 according to an embodiment of the present invention is described.

[0148] The wheel portion 300 may be rotatably coupled to the leg portion 200 and roll on the ground to move the robot body 100 and the leg portion 200 .

[0149] The wheel portion 300 includes wheels 310 that come into contact with the ground and roll on the ground.

[0150] The wheel 310 is provided to have a predetermined radius and a predetermined width in the axial direction. When the robot 1 is viewed from the front, at least a portion of the robot body 100 and the leg portion 200 may be arranged vertically above the wheel 310 .

[0151] Although not shown, the wheel 310 may include a circular wheel frame. The wheel frame may be formed into a cylindrical shape with an opening toward one side of the shaft of the wheel motor MW. This can reduce the weight of the wheel frame 311.

[0152] However, when the wheel frame is formed in a cylindrical shape, the overall rigidity of the wheel frame may decrease. In view of this, ribs (not shown) for reinforcing rigidity may be formed on the inner and outer sides of the wheel frame.

[0153] A tire is coupled to the outer circumferential surface of the wheel frame. The tire may be formed into a ring shape having a diameter capable of being fitted over the outer circumferential surface of the wheel frame.

[0154] Grooves of a predetermined pattern may be formed in the outer peripheral surface of the tire to improve the grip of the tire.

[0155] In one embodiment, the tire may be formed of an elastic rubber material.

[0156] The wheel motor MW may provide driving force to the wheel 310. The wheel motor MW may generate rotational force by receiving power from the battery B.

[0157] The wheel motor MW may be housed inside the other side of the third link 230. Also, the shaft of the wheel motor MW may be coupled to the wheel 310. That is, the wheel motor MW may be an in-wheel motor.

[0158] With such a configuration, when the wheel motors MW are driven, the wheels 310 can roll along the ground while rotating, thereby enabling the robot 1 to move along the ground.

[0159] arm

[0160] Below, refer to Figures 1 to 6 , the arm 400 of the robot 1 according to the embodiment of the present invention is described.

[0161] 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 coupled to both axial (lengthwise) end portions of the ellipsoidal robot body 100 and rotating about the axial end portions of the robot body 100 as a rotation axis.

[0162] Specifically, the arm 400 includes a rotation coupling portion 410 , a connection portion 420 , a rotating body 430 , and a rotation motor 440 .

[0163] The rotating joint 410 can be rotatably coupled to both side surfaces of the robot body 100. A pair of rotating joints 410 are provided, and can be relatively rotatably coupled to both sides of the robot body 100 in the left and right directions. 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 angles of rotation can also be the same. However, when viewed 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 viewed 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.

[0164] The rotating joint 410 can be formed into a shape that covers both left and right end portions of the robot body 100. For example, the rotating joint 410 can be formed into a cylindrical shape with a predetermined thickness. In this case, the left and right end portions of the robot body 100 can be arranged facing the rotation center of the rotating joint 410.

[0165] That is, when observing a state in which the rotational coupling portion 410 is coupled to the robot body 100 , assuming that the robot body 100 is a human face, the rotational coupling portion 410 may be shaped like a pair of earbuds or earpieces of a headphone.

[0166] like Figure 4 As shown, in the robot 1 of the embodiment, the arm motor MA may be arranged inside the main body cover 110. Different from this, according to the embodiment, the arm motor MA may also be arranged inside the rotary joint.

[0167] The arm motor MA can 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 .

[0168] The speed reducer 460 is composed of at least one gear, which transmits the rotational force applied by the arm motor MA to the driven gear 470 and reduces the rotation speed of the driven gear 470 by a gear ratio. In this way, the rotation of the arm 400 can be accurately controlled and the arm 400 can provide a relatively large force.

[0169] The driven gear 470 may be coupled to and integrally rotated with the rotation coupling portion 410. The driven gear 470 may mesh with an output end of the speed reducer 460 and receive the rotational power of the arm motor MA.

[0170] With such a configuration, when the arm motor MA is operated, the rotation coupling portion 410 can rotate.

[0171] Two arm motors MA may be provided, and each of them may be connected to a pair of rotation couplings 410. As another example, one arm motor MA may be provided, and may be connected to either one of the rotation couplings 410.

[0172] With this configuration, when the arm motor MA is operated, the pair of rotating joints 410 rotate in conjunction with each other, and the connecting portion 420 rotates along 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.

[0173] On the other hand, speakers 450 can be placed outside the rotating joints 410. That is, speakers 450 can be placed on the opposite sides of the pair of rotating joints 410 from the direction in which the robot body 100 is placed. Therefore, speakers 450 can be placed at positions covering both left and right sides of the body cover 110.

[0174] The speaker 450 can transmit information about the robot 1 in the form of sound. The source of the sound transmitted 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 transmitted by the speaker 450 may be a sound transmitted by the communication unit 710.

[0175] On the other hand, in the case of an existing robot, a pair of arms are provided on both sides of a main body, similar to human arms, and can move objects or perform specific tasks.

[0176] However, when a pair of arms are provided as described above, each arm can move independently, and thus the loads applied to both sides of the robot may be different, which may cause the robot to tilt to one side and fall.

[0177] In addition, when the robot falls, it can try to stand up using its arms. However, since the arms on both sides rotate independently to support the ground, there is a limitation that the robot may lose balance and fall again while standing up.

[0178] On the other hand, in the case of a robot that uses one arm to carry an object or perform a specific task, the load of the carried object or the impact that may occur during the task is concentrated on only one arm, resulting in a limitation that the arm may be damaged.

[0179] To solve this problem, the robot 1 according to the embodiment of the present invention is configured such that an arm 400 is rotatably coupled to both sides of the robot body 100 .

[0180] The connection portion 420 may connect the pair of rotation coupling portions 410. The connection portion 420 may connect the pair of rotation coupling portions 410 covering both sides of the robot body 100 in the left and right directions so as to rotate them together.

[0181] The connection portion 420 can be formed to connect the pair of rotating joints 410 and to be rotatable about the robot body 100. Specifically, the connection portion 420 can be formed into a frame shape with both ends bent and extended in the longitudinal direction. In this case, the two ends of the bent and extended connection portion 420 can be arranged parallel to each other and connected to the pair of rotating joints 410. As an example, the connection portion 420 can be formed into a "∩" shape. As another example, the connection portion 420 can also be formed into an arch shape.

[0182] To illustrate how the arm 400 is coupled to the robot body 100, assuming the robot body 100 is a human face, the connecting portion 420 may have a shape similar to the headband of a headset. In other words, assuming the robot body 100 is a human face, the arm 400 has a shape similar to that of a headset.

[0183] With this configuration, the pair of rotational coupling parts 410 are integrally connected to the connection part 420 , and the entire arm 400 can rotate together with the rotational coupling part 410 as the rotation center.

[0184] On the other hand, the rotation radius of the arm 400 may be greater than the maximum length of the first link 210 and less than the maximum length of the leg portion 200. Specifically, the shortest distance from the rotation center of the rotational coupling portion 410 to the outer end of the connecting portion 420 may be greater than the maximum length of the first link 210 and less than the maximum length of the leg portion 200.

[0185] With this configuration, when the arm 400 rotates, at least a portion of the arm 400 can be disposed closer to the ground than the first link 210 .

[0186] On the other hand, the arm 400 further includes a rotation protrusion 480 protruding from the inner circumference of the rotation coupling portion 410 .

[0187] The rotation protrusion 480 may be formed to protrude from the inner circumference of the rotation coupling portion 410, and may be formed to have a shape in which the circumferential width becomes narrower as it approaches the rotation center of the rotation coupling portion 410 from the inner circumferential surface of the rotation coupling portion 410 (see FIG. Figure 7a ).

[0188] The rotation protrusion 480 can rotate together with the rotation coupling portion 410 and the connection portion 420. That is, when the rotation coupling portion 410 and the connection portion 420 rotate, the rotation protrusion 480 rotates at the same rotation angle as the rotation coupling portion 410 and the connection portion 420.

[0189] As the arm 400 rotates, the rotation protrusion 480 can be supported by contacting the stopper 240. For example, when the connection portion 420 rotates to pass behind the robot body 100 and is closer to the ground than the first link 210, the rotation protrusion 480 can be supported by contacting the stopper 240 (see FIG. Figure 7b ).

[0190] With this configuration, when the arm 400 rotates to a predetermined position, the stopper 240 and the rotation protrusion 480 come into contact and support each other, thereby restricting the rotation of the arm 400 .

[0191] In addition, there is an effect of maintaining the postures of the arm 400 and the leg portion 200 while maintaining the state in which the stopper 240 and the rotation protrusion 480 support each other.

[0192] Without a special instruction from the user or a pre-set situation, the outer end of the arm 400 can be positioned further from the ground than the robot body 100. With this configuration, the user can easily carry the robot 1 by grasping the arm 400. In other words, the arm 400 can function as a handle that the user can hold.

[0193] Furthermore, in the absence of a special instruction from the user or a pre-set situation, the arm 400 may be positioned further back than the robot mask 500 . This is to prevent the robot mask 500 from being blocked by the arm 400 when the user observes the robot 1 .

[0194] On the other hand, when there is a special instruction from the user or a pre-set situation occurs, the arm 400 can rotate to realize various functions. The various functions realized by the rotation of the arm 400 will be described below.

[0195] On the other hand, Figures 7a to 10 , which is used to illustrate a state in which the robot according to the embodiment of the present invention does not move and is on standby.

[0196] like Figures 7a to 10 As shown, the robot 1 of the present invention can rotate the arm 400 toward the ground. For example, the arm 400 can rotate from the upper side of the robot body 100 to the rear lower side of the robot body 100 via the rear side. In other words, the arm 400 can rotate backward by operating the arm motor MA.

[0197] The arm 400 rotates to be closer to the ground than the lower ends of the first link 210 and the second link 220. In addition, at least a portion of the arm 400 may be disposed closer to the ground than the upper end of the third link 230.

[0198] At the same time or before the arm 400 rotates, the leg portion 200 may move to lower the posture of the robot 1. That is, the angle between the first link 210 and the third link 230 and the angle between the second link 220 and the third link 230 may be narrowed.

[0199] Therefore, as a whole, the robot body 100 descends toward the ground, and the outer end of the arm 400 can be arranged closer to the ground than the joints where the first link 210, the second link 220, and the third link 230 are connected to each other. This can look like the robot 1 is scooching down.

[0200] At this time, the rotation protrusion 480 of the arm 400 may contact the stopper 240 and support each other, and further rotation of the arm 400 may be restricted.

[0201] By such an operation, the entire center of gravity of the robot 1 can be lowered. In addition, as the arm 400 rotates backward, the entire center of gravity of the robot 1 can be moved backward.

[0202] Therefore, even if the wheel motors MW stop operating and the wheels 310 do not rotate, the robot 1 can tilt backward so that the pair of wheels 310 and the lower end portions of the arms 400 come into contact with the ground.

[0203] At this time, the weight of the robot body 100 presses the leg portion 200, and the rotating protrusion 480 and the stopper 240 contact and support each other, thereby preventing the leg portion 200 from straightening. In other words, when the pair of wheels 310 and the lower end of the arm 400 are in contact with the ground, the robot 1 can maintain its posture without the need for additional motor drive.

[0204] As a result, by the operation of the robot 1 as described above, the one arm 400 and the pair of wheels 310 can be in contact with the ground, and the robot body 100 can be supported at three points.

[0205] Therefore, according to the present invention, when the robot 1 does not need to move or is waiting at the original position, the arm 400 and the wheel 310 can be used to support the ground and maintain the posture even if the wheel motor MW is not driven, and the power consumption of the robot 1 can be minimized.

[0206] This has the effect of significantly reducing power consumption compared to a conventional two-wheeled robot that needs to continuously rotate a pair of wheels in order to stop at a position and wait.

[0207] Alternatively, even if the robot is made to lie down or sit down in order to reduce power waste, there is a limitation that a large amount of energy needs to be instantly applied to the wheels and / or arms in order to make the robot stand up again.

[0208] In contrast, according to the present invention, since the robot 1 maintains its ground-supporting state using the arm 400 , the robot 1 can stand up again simply by pushing the ground with the arm 400 , thereby minimizing power waste.

[0209] On the other hand, Figure 8a and Figure 8b Another embodiment of the stopper with respect to the rotation projection of the arm and the leg portion is shown in FIG.

[0210] In order to avoid repeated description, except for the contents particularly described in this embodiment, the structure and effects of the robot 1 in the embodiment of the present invention are the same, and thus can be cited in this embodiment.

[0211] In this embodiment, the rotation protrusion 480 ′ is formed to protrude from the rotation coupling portion 410 and rotate together with the rotation coupling portion 410 . In this case, the rotation protrusion 480 ′ may be formed to protrude from the rotation coupling portion 410 toward the inside of the robot body 100 .

[0212] In addition, in this embodiment, the stopper 240 ′ may be formed in the form of a groove in the first link 210 . Therefore, the stopper 240 ′ may rotate together with the first link 210 .

[0213] At this time, the rotation path of the stopper 240 ′ and the rotation path of the rotation protrusion 480 ′ may intersect at least one point. At such an intersection, the rotation protrusion 480 ′ may be received by the stopper 240 ′ and support each other.

[0214] That is, if the robot 1 begins a standby motion and does not move, the leg unit 200 rotates the first link 210 to lower the robot 1, allowing the stopper 240' to rotate to the intersection. At the same time, as the rotating joint 410 and the connecting portion 420 rotate, the rotating protrusion 480' also rotates, causing the rotating protrusion 480' to be accommodated by the stopper 240'.

[0215] Therefore, the rotation protrusion 480 ′ and the stopper 240 ′ are engaged and supported with each other, so that the robot 1 can maintain a posture without requiring an additional motor drive.

[0216] On the other hand, Figure 11a and Figure 11b 2 is a diagram for explaining an action of a robot according to an embodiment of the present invention standing up from a state of falling forward.

[0217] like Figure 11a and Figure 11b As shown, when the robot falls forward, the robot 1 can rotate the arm 400 toward the ground. For example, the arm 400 can rotate from the upper side of the robot body 100 to the lower front side of the robot body 100 via the front. In other words, the arm 400 can rotate forward by operating the arm motor MA.

[0218] During this process, the arm 400 may come into contact with the ground. If the robot 1 falls forward, at least a portion of the front surface of the robot body 100 and the pair of wheels 310 come into contact with the ground. Here, if the arm 400 rotates toward the front of the robot body 100, the outer end of the arm 400 comes into contact with the ground.

[0219] As the arm 400 rotates, the wheels 310 may rotate in the direction in which the robot 1 moves forward. That is, the pair of wheels 310 may rotate in the direction in which the distance to the arm 400 becomes closer.

[0220] By such an action, the arm 400 can support the ground to lift the robot body 100 so that the robot body 100 is away from the ground, and the wheels 310 can move forward to drill into the lower side of the robot body 100. Therefore, the robot body 100 can be lifted to the original position.

[0221] Therefore, according to the present invention, the robot 1 can stand up by supporting itself with one arm, thereby preventing the robot 1 from shaking or falling again during the standing-up process, and can minimize the power consumed during the standing-up action.

[0222] If a conventional two-wheeled robot falls, it is necessary to rotate a pair of wheels forcefully for an instant and then continuously move the robot forward and backward to achieve balance.

[0223] To address this issue, there is a method of using the robot's left and right arms to support the ground. However, because the arms contact the ground at different points, the robot's points of force used to support the ground to stand up are different. As a result, the robot may wobble when standing up, which can cause the robot to fall again.

[0224] In contrast, according to the present invention, the positions at which the arms 400, each attached to the left and right sides of the robot body 100, contact the ground are constant. In particular, because the outer ends of the arms 400 are formed into surfaces at least partially parallel to the ground in the left-right direction, a larger area of ​​contact with the ground is achieved.

[0225] Therefore, in the process of the robot body 100 being lifted, the robot body 100 can be stably raised and kept balanced without shaking.

[0226] Furthermore, the robot 1 can stand up simply by applying a certain rotational force to the arm 400 and the pair of wheels 310 without instantly applying a strong rotational force to the wheels. This prevents damage to the motor and reduces overall power consumption.

[0227] On the other hand, Figure 12a and Figure 12b 2 is a diagram for explaining the action of the robot according to the embodiment of the present invention standing up from a state of falling backward.

[0228] like Figure 12a and Figure 12b As shown, when the robot falls backward, the robot 1 can rotate the arm 400 toward the ground. For example, the arm 400 can rotate from the upper side of the robot body 100 to the rear lower side of the robot body 100 via the rear. In other words, the arm 400 can rotate backward by operating the arm motor MA.

[0229] During this process, the arm 400 may come into contact with the ground. If the robot 1 falls backward, a portion of the third link may come into contact with the ground. If the arm 400 rotates toward the rear of the robot body 100, the outer end of the arm 400 may come into contact with the ground.

[0230] As the arm 400 rotates, the wheels 310 may rotate in a direction in which the robot 1 moves backward. That is, the pair of wheels 310 may rotate in a direction in which the distance from the arm 400 becomes closer.

[0231] By such an action, as the arm 400 supports the ground and the wheel 310 moves backward, the robot body 100 and the third link 230 can be lifted. Therefore, the robot body 100 can be lifted to the original position.

[0232] Therefore, according to the present invention, the robot 1 can stand up by supporting itself with one arm, thereby preventing the robot 1 from shaking or falling again during the standing-up process, and can minimize the power consumed during the standing-up action.

[0233] Furthermore, according to the present invention, the position at which the arms 400, each attached to the left and right sides of the robot body 100, contact the ground is constant. In particular, since the outer ends of the arms 400 are formed into a surface shape with at least a portion thereof parallel to the ground in the left-right direction, a larger area can be in contact with the ground.

[0234] Therefore, in the process of the robot body 100 being lifted, the robot body 100 can be stably raised and kept balanced without shaking.

[0235] Furthermore, the robot 1 can stand up simply by applying a certain rotational force to the arm 400 and the pair of wheels 310 without instantly applying a strong rotational force to the wheels. This prevents damage to the motor and reduces overall power consumption.

[0236] In addition, in the case of the present invention, not only when the robot 1 falls forward, but also when it falls backward, the rotation direction of the arm 400 and the wheel 310 can be switched to make the robot 1 stand up.

[0237] On the other hand, the arm 400 can be detachably coupled to the functional module 900. Specifically, the arm 400 can rotate to bring the coupling portion 800 provided on the arm 400 close to the coupling structure provided on each functional module 900, so that the coupling portion 800 and the coupling structure of the functional module 900 are coupled to each other.

[0238] To this end, the arm 400 of the robot 1 according to the embodiment of the present invention may further include a rotating body 430 and a rotating motor 440 to be combined with the functional module 900 .

[0239] The rotating body 430 may be disposed on the connecting portion 420. Specifically, the rotating body 430 may be rotatably disposed about the connecting portion 420. As one example, the rotating body 430 may be disposed inside the connecting portion 420. As another example, the rotating body 430 may be disposed outside the connecting portion 420 so as to be connected to the connecting portion 420.

[0240] The rotating body 430 may be formed in a plate shape having a predetermined thickness, and the coupling portion 800 may be disposed on one side of the rotating body 430. The rotating body 430 may be formed in a cylindrical shape having a predetermined length, and the coupling portion 800 may be disposed on one side of the rotating body 430. When the rotating body 430 is formed in a cylindrical shape, the rotating body 430 may be disposed parallel to the length direction of the connecting portion 420.

[0241] At this time, the rotating body 430 may be connected to the coupling portion 800 so that the coupling portion 800 and the rotating body 430 can rotate integrally.

[0242] The rotating body 430 and the connecting portion 420 may form the outer appearance of the arm 400. Rotating shafts coupled to the connecting portion 420 may be provided at both ends of the rotating body 430 in the longitudinal direction. In other words, the rotating shafts may be coupled to both ends of the rotating body 430 in the longitudinal direction within the connecting portion 420.

[0243] The rotary motor 440 may provide a rotary force to the rotary body 430. The rotary motor 440 may be connected to the rotary body 430 to provide a rotary force to the rotary body 430. More specifically, a final output end of a shaft or a gear of the rotary motor 440 is connected to the rotary body 430.

[0244] With such a configuration, when the rotary motor 440 is operated, the rotary body 430 can be rotated.

[0245] If the rotating body 430 rotates, the surface exposed to the outside can change. Specifically, the surface of the rotating body 430 on which the coupling portion 800 is disposed can be exposed to the outside. An opening (not shown) can be formed on one side of the connecting portion 420. If the rotating body 430 is disposed within the connecting portion 420, the coupling portion 800 can be exposed to the outside through the opening when the rotating body 430 rotates. Furthermore, if the rotating body 430 rotates, the coupling portion 800 can be hidden within the interior space of the connecting portion 1420.

[0246] With such a configuration, when the arm 400 and the functional module 900 do not need to be coupled, the coupling portion 800 can be hidden inside the connecting portion 420 .

[0247] In particular, when the robot 1 falls, the arm 400 needs to be rotated to support the connection portion 420 on the ground. At this time, the connection portion 800 may come into contact with the ground and may be contaminated or damaged.

[0248] Therefore, according to the arm 400 of this embodiment, the coupling portion 800 can be prevented from being exposed to the outside by the rotation of the rotating body 430 , and contamination or damage of the coupling portion 800 can also be prevented.

[0249] With such a configuration, the rotating body 430 can be exposed at the outer periphery with the robot body 100 as the center, so as to be easily contactable with an object approaching from the outside of the robot 1 .

[0250] The coupling portion 800 can be coupled to the functional module 900 while facing outward of the rotation radius of the rotating coupling portion 800. The coupling portion 800 can be coupled to the functional module 900. Specifically, the coupling portion 800 can be coupled to the functional module 900 while facing outward from the connecting portion 420. Here, the outward side of the connecting portion 420 may refer to a surface that is located in a direction opposite to the direction from the connecting portion 420 toward the robot body 100.

[0251] Joint

[0252] Figures 14a to 14c A diagram for explaining a process of rotation of a rotating body of a robot according to an embodiment of the present invention is shown. Figures 15a to 15c A diagram is shown for explaining a process of combining a combining portion of a robot and a functional module according to an embodiment of the present invention.

[0253] The following describes in detail the structure and process of combining the robot 1 and the functional module 900 .

[0254] The combination of the robot 1 and the functional module 900 according to the embodiment of the present invention can be achieved by using the combining portion 800. Specifically, the combining portion 800 can detachably combine the functional module 900 and the arm 400 of the robot 1.

[0255] The coupling portion 800 may be disposed on the arm 400. Specifically, the coupling portion 800 may be disposed outside the rotation radius of the arm 400. For example, the rotating body 430 may be disposed on the outer side surface of the connecting portion 420. Here, the outer side surface of the connecting portion 420 may refer to a surface disposed in a direction opposite to the direction from the connecting portion 420 toward the robot body 100.

[0256] The coupling portion 800 may be disposed on the rotating body 430 . The coupling portion 800 may be disposed on one surface of the rotating body 430 and exposed to the outside of the connecting portion 420 .

[0257] Specifically, if the rotating body 430 is rotated by the rotating motor 440, the surface of the coupling portion 800 exposed to the outside can be changed. Therefore, as the rotating body 430 rotates, the coupling portion 800 can be exposed to the outside of the connecting portion 420 or hidden in the internal space of the connecting portion 420.

[0258] As one example, when the coupling portion 800 is coupled to the functional module 900, the rotating body 430 may remain in a rotating state so that the coupling portion 800 faces outside the rotation radius of the rotating coupling portion 800. As another example, when the coupling portion 800 is coupled to the functional module 900, the rotating coupling portion 800 may remain in a rotating state so that the coupling portion 800 faces outside the rotation radius of the rotating coupling portion 800.

[0259] The coupling portion 800 of the robot 1 according to the embodiment of the present invention may include a loading and unloading member 810 , a locking member 820 and a connecting terminal 830 that can be detachably coupled to the functional module 900 , and correspondingly, a coupling structure that can be coupled to the coupling portion 800 may be provided in the functional module 900 .

[0260] At this time, the physical connection between the robot 1 and the functional module 900 can be achieved by using the mounting and dismounting member 810 and / or the locking member 820 , and the electrical connection can be achieved by using the connecting terminal 830 .

[0261] The coupling portion 800 of the robot 1 according to the embodiment of the present invention may include a detachable member 810. The detachable member 810 may be detachably coupled to the functional module 900. Specifically, the detachable member 810 may be detachably coupled to the functional module 900 using magnetism. In other words, the detachable member 810 may be selectively coupled to or detached from the functional module 900.

[0262] The attaching and detaching member 810 may be configured as an electromagnet and may selectively apply magnetic force (attractive force) to the functional module 900 according to the supply of power.

[0263] For example, the detachable member 810 may be configured in the shape of a circular electromagnet. With such a configuration, the detachable member 810 can form a uniform magnetic field over a large area, thereby stably combining with the functional module 900.

[0264] In addition, the pair of attachment and detachment members 810 may be arranged at a predetermined distance from each other.

[0265] In this case, the locking member 820 and / or the connecting terminal 830 may be disposed between the pair of detachable members 810. That is, a pair of detachable members 810 may be disposed with the locking member 820 and / or the connecting member interposed therebetween.

[0266] Through such a structure, a pair of loading and unloading components 810 can be combined with the loading and unloading part 915 of the metal material (or electromagnet) provided in the functional module 900 at an accurate position, and the guiding effect can be achieved that the connecting terminal 830 can be brought into contact with the corresponding terminal 916 provided in the functional module 900 at an accurate position.

[0267] The coupling portion 800 of the robot 1 according to the embodiment of the present invention may include a locking member 820 .

[0268] like Figures 15a to 15c As shown, the locking member 820 can be locked and combined with the functional module 900 at corresponding positions.

[0269] Here, the "corresponding position" may be a position that is spaced a predetermined distance forward or rearward from the robot body 100 so that the coupling portion 800 and the functional module 900 can be coupled. As an example, the "corresponding position" may be a position where the attachment portion 915 of the functional module 900 is located within the area of ​​the magnetic field formed by the magnetism of the attachment and detachment member 810.

[0270] The locking member 820 may be locked and combined with the functional module 900 . To this end, the locking member 820 may include a locking member body 821 and a locking portion 822 .

[0271] The locking member body 821 may be disposed on the connection portion 420 . Therefore, the locking member body 821 may rotate integrally with the rotation of the rotating body 430 and / or the rotation coupling portion 800 .

[0272] The locking member 820 may be formed with a locking groove 824 into which the hook 912 of the functional module 900 is inserted, and the hook 912 can be inserted and locked in the locking groove 824. Therefore, the robot according to the embodiment of the present invention has the effect of locking and coupling the robot 1 and the functional module 900 together simply by inserting the hook 912 into the locking groove 824.

[0273] The locking portion 822 may be formed to protrude from the locking member body 821 . Therefore, if the hook 912 is inserted into the locking groove 824 to a predetermined depth or more, it may be locked and supported on the inner side of the locking portion 822 .

[0274] On the other hand, the locking portion 822 may also be formed to protrude from the connecting portion 420. That is, as long as the locking portion 822 can form a space such as the locking groove 824 for the hook 912 to be locked, its specific configuration and shape are not limited.

[0275] The locking groove 824 may be formed by being recessed inwardly of the locking member 820. The locking groove 824 may be recessed downwardly from the upper side of the locking member body 821. Alternatively, the locking groove 824 may be recessed upwardly from the lower side of the locking portion 822.

[0276] The locking groove 824 can be composed of a first groove 824a and a second groove 824b. The first groove 824a can be the entrance of the protrusion 911a into the interior of the locking member 820. The second groove 824b, which serves as a space for the hook 912 to be locked, can be the space formed between the locking member body 821 and the locking portion 822.

[0277] Below, refer to Figures 15a to 15c , describing the coupling structure of the functional module 900 that is coupled to the locking member 820 of the robot 1 .

[0278] Hereinafter, only the coupling structure of the functional module 900 that is coupled to the locking member 820 of the robot 1 will be described, and the detailed description of the functional module 900 will be given later.

[0279] On the other hand, the functional module 900 combined with the locking member 820 described below is described using the conveying module 910 as an example, but the coupling structure described below is not limited to the conveying module 910, but can be applied to various functional modules 900 including the cleaning module 920.

[0280] The transport module 910 combined with the locking member 820 according to the embodiment of the present invention may include a module body 911 , a hook 912 , a shaft 913 , an elastic portion 914 , a mounting and dismounting portion 915 , and a corresponding terminal 916 .

[0281] The module body 911 may be formed in a hexahedral shape having a predetermined volume so as to house various components required for the transfer module 910 to perform its functions.

[0282] In this case, the module body 911 can be placed at a position corresponding to the robot body 100. Here, the "corresponding position" can refer to a position that is a predetermined distance forward or rearward from the robot body 100 so that the coupling portion 800 and the transport module 910 can be coupled. As an example, the "corresponding position" can mean that the attachment and detachment portion 915 of the transport module 910 is located within the area of ​​the magnetic field formed by the magnetism of the attachment and detachment member 810.

[0283] A protruding portion 911 a protruding outward may be formed on the module body 911. When the locking member 820 and the functional module 900 are coupled together, the protruding portion 911 a may be inserted into the first groove 824a.

[0284] At this time, the width of the protrusion 911a can be smaller than the width of the first groove 824a so that it can be easily inserted into the first groove 824a. In addition, in order to prevent the protrusion 911a from shaking due to the gap between the hook 912 and the locking portion 822 when the protrusion 911a is fully inserted, the maximum length of the protrusion 911a can be smaller than the maximum depth of the first groove 824a.

[0285] The hook 912 can be rotatably coupled to the module body 911. Specifically, the hook 912 can be rotatably coupled to the protrusion 911a of the module body 911. The hook 912 can rotate about the shaft 913 coupled to the protrusion 911a. Therefore, if the hook 912 is pressed and rotated by the locking portion 822, the hook 912 can be inserted into and locked inside the locking groove 824.

[0286] The functional module 900 may include an elastic portion 914 that provides elastic force to the rotation of the hook 912 to maintain the hook 912 locked to the locking portion 822 .

[0287] The elastic portion 914 may be a torsion spring. The elastic portion 914 may be wound around the outer circumference of the shaft 913. Specifically, one end of the elastic portion 914 may be fixedly coupled to the shaft 913, and the other end of the elastic portion 914 may be fixedly coupled to the hook 912.

[0288] At this time, if the hook 912 is inserted into the locking groove 824 and rotated in one direction, an elastic force can be generated on the elastic portion 914. In other words, the elastic portion 914 can exert a restoring force (elastic force) to rotate the hook 912 in the direction opposite to the one direction. Therefore, the locking member 820 and the functional module 900 can remain engaged in the locking groove 824.

[0289] On the other hand, referring to Figures 15a to 15c , the process of combining the locking member 820 and the functional module 900 is described.

[0290] First, if the protrusion 911a of the module body 911 is inserted into the first groove 824a, the first contact surface 912a of the hook 912 is pressed by the locking portion 822, so that the hook 912 can move inward ( Figures 15a to 15c At this time, the elastic portion 914 can move the hook 912 back to the outside ( Figures 15a to 15c The direction of rotation (clockwise in FIG) applies elastic force to the hook 912.

[0291] like Figure 15c As shown, if the protrusion 911a and the hook 912 are completely inserted into the first groove 824a, the hook 912 can be retracted to the outside ( Figure 15c When the hook 912 is rotated (counterclockwise in the direction of rotation), at least a portion of the hook 912 can be disposed in the inner space of the retaining groove 824, namely the second groove 824b. Therefore, if the robot 1 moves with the hook 912 rotated outward, the second contact surface 912b of the hook 912 is supported by the retaining surface 823 inside the retaining portion 822, allowing the functional module 900 to move forward or backward along with the robot 1.

[0292] On the other hand, the detachable member 810 can be engaged with the detachable portion 915 of the metal material (or electromagnet) provided on the functional module 900 at a precise position, and can guide the hook 912 of the locking member 820 to be inserted into the precise position of the locking groove 824 provided on the functional module 900. In other words, as the magnetic detachable member 810 is engaged with the functional module 900 under the action of magnetic attraction, the hook 912 is pressed by the locking portion 822 and rotated, so that it can be inserted into and locked in the locking groove 824.

[0293] This provides an effect of being stably locked to the locking groove 824 even when the hook 912 moves linearly in the direction in which it is pressed by the locking member 820 .

[0294] In addition, since the loading and unloading component 810 is combined with the loading and unloading part 915 under the action of magnetism, an attractive force can be generated between the loading and unloading part 915 and the functional module 900, so that the locking component 820 can be locked and combined with the functional module 900 through the attractive force without the need for an additional driving source.

[0295] On the other hand, when the locking member 820 is to be separated from the functional module 900 , the hook 912 can be disengaged from the locking groove 824 by rotating the rotating body 430 , and the locking of the locking member 820 can be released in this process.

[0296] Specifically, since the hook 912 cannot be separated from the locking groove 824 when the hook 912 is locked in the locking portion 822, the hook 912 can be moved toward the opening direction of the first groove 824a ( Figure 15c ) to disengage the hook 912 from the retaining groove 824.

[0297] Furthermore, when the locking member 820 is to be separated from the functional module 900 , the hook 912 can be disengaged from the locking groove 824 by rotating the rotation coupling portion 800 , and the locking of the locking member 820 can be released during this process.

[0298] Specifically, since the hook 912 cannot be separated from the locking groove 824 when the hook 912 is locked in the locking portion 822, the hook 912 can be moved toward the opening direction of the first groove 824a ( Figure 15c ) to disengage the hook 912 from the retaining groove 824.

[0299] On the other hand, the above-mentioned locking member 820 is described as being disposed on the joint 800 of the robot 1. However, conversely, a structure having the same structure as the locking member 820 can also be applied to the functional module 900, and a corresponding structure having the same structure as the module body 911, the hook 912, the shaft 913, and the elastic portion 914 can also be applied to the locking member 820. If the above-mentioned structure having the same structure as the locking member 820 is applied to the functional module 900, its structure and effects are the same as those of the locking member 820 and the corresponding functional module 900 according to the embodiment of the present invention, and thus can be used.

[0300] The connection terminal 830 of the robot 1 of the embodiment of the present invention can be electrically connected to the functional module 900. Specifically, the connection terminal 830 can be in contact with and electrically connected to the corresponding terminal 916 provided on the functional module 900.

[0301] A spring (not shown) may be incorporated into the connecting terminal 830 and / or the corresponding terminal 916 of the functional module 900. Specifically, the spring may be disposed at the lower end of the connecting terminal 830 and / or the corresponding terminal 916 to be elastically compressed when the connecting terminal 830 and the corresponding terminal 916 are pressed against each other.

[0302] The spring can apply a force (elastic force) in a direction that causes the connecting terminal 830 and the corresponding terminal 916 to cling to each other. Therefore, when the coupling portion 800 is coupled to the functional module 900, the connecting terminal 830 and the corresponding terminal 916 press against each other, causing the spring to be elastically compressed, thereby allowing the connecting terminal 830 and the corresponding terminal 916 to cling to each other more stably.

[0303] In this embodiment, the connection terminal 830 can be configured by a terminal capable of supplying power to the functional module 900 and a terminal capable of transmitting and receiving signals with the functional module 900. For example, the connection terminal 830 can be provided with a spring pin including two power pins and four signal pins, but the number of the power pins and the signal pins is not limited. In other words, the connection terminal 830 can also be provided with a spring pin including two power pins and two signal pins. In this case, to prevent short circuit accidents, a pair of the power pins can be separated and arranged along the length direction of the connecting portion 420 with the signal pins between them.

[0304] With this configuration, the connection terminal 830 can be used to supply power to the functional module 900 of the robot body 100, or the connection terminal 830 can be used to supply power to the functional module 900. In addition, the robot body 100 can transmit and receive electrical signals with the functional module 900 via the connection terminal 830.

[0305] Functional modules

[0306] exist Figure 16 and Figure 17 A three-dimensional diagram of a functional module combined with a robot according to an embodiment of the present invention is shown.

[0307] Below, refer to Figure 16 and Figure 17 , the functional module 900 combined with the robot 1 according to an embodiment of the present invention is described.

[0308] The robot 1 according to the embodiment of the present invention can be detachably coupled to the functional module 900. In this case, the functional module 900 is a component that is coupled to the robot body 100 via the arm 400 and imparts various functions to the robot 1.

[0309] The functional module 900 may be detachably coupled to the arm 400. Specifically, the functional module 900 may be detachably coupled to the arm 400 by being disposed on the coupling portion 800 of the arm 400.

[0310] As described above, the functional module 900 may be provided with a coupling structure corresponding to the attaching and detaching member 810 , the locking member 820 , and the connecting terminal 830 of the coupling portion 800 .

[0311] For example, the functional module 900 may be provided with a detachable portion 915 that is detachably coupled to the detachable member 810 of the coupling portion 800 using magnetism.

[0312] In addition, the functional module 900 may be provided with a hook structure that is engaged and locked with the locking member 820 of the coupling portion 800 .

[0313] In addition, the functional module 900 may be provided with a corresponding terminal 916 corresponding to the connection terminal 830 of the coupling portion 800. The corresponding terminal 916 may contact the connection terminal 830 to receive power from the robot body 100 and may transmit and receive electric signals with the robot body 100.

[0314] Although not shown, the functional module 900 may be provided with a light. The light can illuminate to indicate the location of the functional module 900. For example, the light may be an infrared (IR) LED (light emitting diode). With this configuration, the IR sensor 620 disposed on the robot body 100 can detect the location of the functional module 900, allowing the robot body 100 to move toward the functional module 900.

[0315] The functional module 900 may include various configurations according to functions.

[0316] When the functional modules 900 are different from each other, the user can add or change the service provided by the robot 1 of the present invention by replacing the functional modules 900 in the arm 400 as needed.

[0317] As an example, Figure 16 As shown, the functional module 900 may be a transport module 910. The transport module 910 may include a tray capable of carrying objects and transport wheels coupled to the lower side of the tray and configured to roll on the ground.

[0318] The tray is provided so that objects can be placed on its upper portion. For example, the tray is formed into a block shape with a prescribed thickness and can provide a space on its upper side for placing objects.

[0319] In addition, an anti-skid pad can be provided on the upper side of the tray to prevent objects placed thereon from sliding. The anti-skid pad can be made of a material with high friction such as silicone with excellent anti-skid performance or PU (polyurethane) with artificial leather as the main component, but is not limited thereto.

[0320] The anti-slip mat is equipped with a plurality of protrusions made of a material with strong friction, such as PU (polyurethane) with silicone or artificial leather as the main component, so that the friction can be further maximized.

[0321] Transport wheels can be incorporated into the underside of the pallet and roll on the ground.

[0322] On the other hand, according to an embodiment, the transport module 910 may further include a motor (not shown) for providing power to the transport wheels. If the motor (not shown) of the transport module 910 is running, it has the effect of being able to move heavier objects.

[0323] On the other hand, in this embodiment, the transport module 910 can be incorporated into the rear of the robot body 100. When the transport module 910 is incorporated into the rear of the robot body 100, the robot body 100 is positioned further forward than the transport module 910, thereby guiding the movement direction of the transport module 910. In other words, the transport module 910 can move in the direction of movement of the robot body 100. This makes it appear to the user that the robot body 100 is dragging the transport module 910 using the arm 400.

[0324] In contrast, in this embodiment, the transport module 910 can be coupled to the front of the robot body 100. When the transport module 910 is coupled to the front of the robot body 100, the robot body 100 is positioned further rearward than the transport module 910, thereby being able to push the transport module 910 to move.

[0325] As another example, Figure 17 As shown, the functional module 900 may be a cleaning module 920 .

[0326] The cleaning module 920 may include a module body 921 , a suction nozzle, and a dust collecting bucket. With this configuration, if the functional module 900 is combined with the arm 400 , the robot 1 may perform dry cleaning.

[0327] The cleaning module 920 may be detachably coupled to the arm 400 .

[0328] For example, the module body 921 of the cleaning module 920 may include a detachable portion 925 that is magnetically detachably coupled to the detachable member 810 . Furthermore, the module body 921 of the cleaning module 920 may include a corresponding terminal 926 that is electrically connected to the connection terminal 830 .

[0329] In addition, the module body 921 may be formed in a hexahedral shape having a predetermined volume, and a flow path capable of sucking dust may be formed therein.

[0330] A suction nozzle (not shown) capable of sucking in dust may be provided on the bottom surface of the module body 921. In addition, a dust collecting bucket capable of storing the sucked-in dust may be provided inside the module body 921. A motor (not shown) for providing air suction may be provided inside the module body 921. At this time, a wheel may be provided on the bottom surface of the module body 921. In addition, an agitator may be provided on the bottom surface of the module body 921. In addition, a side brush may also be provided on the bottom surface of the module body 921. In addition, a motor for providing driving force to the agitator and / or wheel may also be provided inside the module body 921.

[0331] On the other hand, in this embodiment, the cleaning module 920 can be integrated into the front of the robot body 100. When the cleaning module 920 is integrated into the front of the robot body 100, the robot body 100 is positioned further back than the cleaning module 920 and can move together with the cleaning module 920. The cleaning module 920 can change its direction of travel according to the movement of the robot body 100. This makes it appear to the user that the robot body 100 is using the arm 400 to push the cleaning module 920 for cleaning.

[0332] In contrast, in this embodiment, the cleaning module 920 can be integrated into the rear of the robot body 100. When the cleaning module 920 is integrated into the rear of the robot body 100, the robot body 100 is positioned further forward than the cleaning module 920, thereby guiding the movement direction of the cleaning module 920. In other words, the cleaning module 920 can move along the movement direction of the robot body 100. This makes it appear to the user that the robot body 100 is using the arm 400 to drag the cleaning module 920.

[0333] Although not shown, as another example, the functional module 900 may include: a pair of mops that rotate about a rotation axis; and a water bucket that stores water supplied to the mops. With this configuration, if the functional module 900 is combined with the robot body 100, the robot 1 can perform wet cleaning.

[0334] Although not shown, as another example, the functional module 900 may include an arm and a gripper. With such a configuration, if the functional module 900 is coupled to the robot body 100, the gripper can grip and lift a mobile phone or a large object and carry it to another location.

[0335] Robot mask

[0336] Figure 13 A diagram illustrating a connection relationship between a robot mask and a robot body in a robot according to an embodiment of the present invention is shown.

[0337] The robot 1 according to the embodiment of the present invention may further include a robot mask 500 .

[0338] The robot mask 500 may be detachably coupled to the robot body 100 and may cover the display 120. The robot mask 500 may be coupled to the robot body 100 and constitute the appearance of the robot 1.

[0339] On the other hand, the robot mask 500 according to the embodiment of the present invention may include a window 550 . When the robot mask 500 is combined with the robot body 100 , the window 550 may expose the image displayed on the display 120 to the outside.

[0340] The window 550 may be disposed on the mask body 510 . Specifically, the window 550 may be disposed through the mask body 510 , and when the robot mask 500 is combined with the robot body 100 , the window 550 may be disposed at a position facing the display 120 .

[0341] The window 550 may be formed of a light-transmissive material. For example, the window 550 may be formed of a transparent material.

[0342] On the other hand, if the robot mask 500 is combined with the robot body 100 , the face and expression can be displayed on the display 120 .

[0343] The robot 1 can make the user feel that the robot is expressing emotions by displaying the appearance of the face, such as eyes, nose, and mouth, on the display 120 .

[0344] In this way, the robot 1 has the effect of providing a pet robot service that can show emotions to the user and communicate with the user, and provides the user with an emotional stabilization effect.

[0345] As previously described, the robot 1 can express emotions visually by displaying facial expressions on the display 120 , and can express emotions through voice output through the speaker 450 .

[0346] For example, laughter, a surprised sound, or the like may be outputted in correspondence with the expression displayed on the display 120 .

[0347] In addition, as previously described, the robot 1 can express emotions visually by displaying facial expressions on the display 120 , and can express emotions through the rotation of the arm 400 .

[0348] For example, the arm 400 may be waved to express emotion while the display 120 displays a smiling expression.

[0349] Control composition

[0350] exist Figure 18 Detailed description of the block diagram of the robot control structure according to the embodiment of the present invention is shown in FIG.

[0351] Reference Figure 18 The robot 1 according to the embodiment of the present invention may include a sensor unit 600, a control unit 700, a communication unit 710, a memory 720, a battery B, a motor unit, and an interface unit.

[0352] For the realization of robot 1, Figure 18 The components shown in the block diagram are not essential, and the robot 1 described in this specification may have more or fewer components than the components listed above.

[0353] First, the control unit 700 can control the overall operation of the robot 1. The control unit 700 can control the robot 1 to perform various functions based on setting information stored in a memory 720 described later.

[0354] The control unit 700 may be configured in the robot body 100 . More specifically, the control unit 700 may be mounted and disposed on a PCB disposed inside the body cover 110 .

[0355] The control unit 700 may include all types of devices capable of processing data, such as a processor. Here, a "processor" may refer to, for example, a data processing device built into hardware, which has a physical structural circuit for executing functions represented by codes or instructions contained in a program. As an example of a data processing device built into hardware, a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), an FPGA (field programmable gate array), and other processing devices may be included, but the scope of the present invention is not limited thereto.

[0356] The control unit 700 can receive information about the external environment of the robot 1 from at least one of the various components of the sensor unit 600, described later. In this case, the external environment information can include, for example, information about the temperature, humidity, and amount of dust in the room where the robot 1 is traveling. Alternatively, it can include information about cliffs or indoor maps. Of course, the external environment information is not limited to the examples described above.

[0357] The control unit 700 can receive information regarding the current state of the robot 1 from at least one of the various components of the sensor unit 600, described later. In this case, the current state may be, for example, information regarding the inclination of the robot body 100. Alternatively, it may be information regarding the distance between the wheels 310 and the ground. Alternatively, it may be information regarding the position of the wheel motors MW. Alternatively, it may be information regarding the position of the suspension motors MS. Of course, the information regarding the current state of the robot 1 is not limited to the examples described above.

[0358] The control unit 700 can transmit drive control commands to at least one of the various components of the motor unit described below. For example, the control unit 700 can control the rotation of the wheel motors MW to enable the robot 1 to travel. Alternatively, the control unit 700 can control the rotation of the wheel motors MW to maintain the robot 1 in a horizontal posture. Alternatively, the control unit 700 can control the rotation of the suspension motors MS to maintain the robot 1 in a horizontal posture.

[0359] The control unit 700 can receive user commands through at least one of the various components of the interface unit described below. For example, the command can be a command to turn the robot 1 on / off. Alternatively, the command can be a command to manually control various functions of the robot 1.

[0360] The control unit 700 may output information related to the robot 1 through at least one of the various components of the interface unit described below. For example, the output information may be visual information or auditory information.

[0361] The motor unit may include at least one motor and provide driving force to components connected to each motor.

[0362] The motor unit may include wheel motors MW that provide driving force to the left wheel 310 and the right wheel 310. More specifically, the motor unit may include a first wheel motor MW1 that transmits driving force to the wheel 310 arranged on one side in the left-right direction, and a second wheel motor MW2 that transmits driving force to the wheel 310 arranged on the other side in the left-right direction.

[0363] The wheel motors MW may be respectively disposed on the wheel portions 300 . More specifically, the wheel motors MW may be accommodated inside the third link 230 .

[0364] 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 located 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 located on the other side in the left-right direction. The left and right wheel motors MW are driven to rotate in response to control commands from the control unit 700. As the wheels 310 rotate in response to the rotation of the wheel motors MW, the robot 1 travels along the ground.

[0365] The motor unit may include a suspension motor MS that provides driving force to the left and right leg units 200. More specifically, the motor unit may include a first suspension motor MS1 that transmits driving force to the leg unit 200 disposed on one side in the left-right direction, and a second suspension motor MS2 that transmits driving force to the leg unit 200 disposed on the other side in the left-right direction.

[0366] The suspension motors MS may be disposed in the robot body 100 . More specifically, the suspension motors MS may be housed inside the body cover 110 .

[0367] 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 located 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 located on the other side in the left-right direction. The left and right suspension motors MS are driven to rotate in response to control commands from the control unit 700. The first link 210 rotates in response to the rotation of the suspension motors MS, 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.

[0368] Thus, the robot 1 can move the wheels 310 upward or downward, and can maintain a horizontal posture when climbing obstacles or traveling on uneven ground. Alternatively, the robot body 100 can move downward or upward.

[0369] The motor portion may include an arm motor MA that provides a rotational force to the arm 400 .

[0370] The arm motor MA may be disposed in the robot body 100 . More specifically, at least one arm motor MA may be housed inside the body cover 110 .

[0371] The arm motor MA is driven to rotate according to the control instruction of the control unit 700. The rotating joint 410 rotates as the arm motor MA rotates, and the connecting part 420 integrally formed with the rotating joint 410 rotates. As a result, the arm 400 can be pivoted relative to the robot body 100.

[0372] Thus, the robot 1 can rotate the arm 400 and can rotate the arm 400 to be coupled with the functional module 900. Alternatively, the arm 400 can be supported on the ground by rotating the arm 400.

[0373] The sensor part 600 includes at least one sensor, each of which may measure or detect information regarding an external environment of the robot 1 and / or information regarding a current state of the robot 1 .

[0374] The sensor section 600 may include a mapping camera 610 .

[0375] The mapping camera 610 is provided for mapping the indoor space where the robot 1 travels.

[0376] To this end, the surveying and mapping camera 610 can be configured in front of the robot body 100. More specifically, the surveying and mapping camera 610 can be configured in front of the body cover 110.

[0377] To perform SLAM (Simultaneous Localization and Mapping), the mapping camera 610 can capture the interior of the room while the robot is driving. The control unit 700 can implement SLAM based on the information about the surrounding environment captured by the mapping camera 610 and the information about the current position of the robot 1.

[0378] On the other hand, the robot 1 of the embodiment of the present invention can also implement SLAM using only the mapping camera 610, but is not limited thereto. For example, the robot 1 can further implement SLAM using an additional sensor. For example, the additional sensor can be an LDS (Laser Distance Sensor).

[0379] The sensor part 600 may include an IR sensor 620 for detecting infrared rays.

[0380] The IR sensor 620 may be an IR camera that detects infrared light.

[0381] The IR sensor 620 may be disposed on the robot body 100. More specifically, the IR sensor 620 may be disposed in front of the robot body cover 110. The IR sensor 620 may be disposed on the left and right of the mapping camera 610.

[0382] The IR sensor 620 can detect infrared light emitted by an IR LED installed in a specific module to approach the module. For example, the module can be a charging station for charging the robot 1. For example, the module can be a functional module 900 detachably installed in the arm 400.

[0383] The control unit 700 may control the IR sensor 620 to start detecting the IR LED when the charging state of the robot 1 is below a preset level. The control unit 700 may control the IR sensor 620 to start detecting the IR LED when receiving an instruction from the user to search for a specific module.

[0384] The sensor portion 600 may include a wheel motor sensor 630 .

[0385] The wheel motor sensor 630 can measure the position of the wheel motor MW. For example, the wheel motor sensor 630 can be an encoder. As is well known, an encoder can detect the position of the motor and the rotation speed of the motor.

[0386] The wheel motor sensors 630 may be respectively configured on the left wheel motor MW and the right wheel motor MW. More specifically, the wheel motor sensors 630 may be connected to the final output end of the shaft or gear of the wheel motor MW and housed inside the third link 230 together with the wheel motor MW.

[0387] The sensor portion 600 may include an arm motor sensor 640 .

[0388] 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 the motor and the rotation speed of the motor.

[0389] The arm motor sensor 640 may be disposed in the arm motor MA. More specifically, the arm motor sensor 640 may be connected to the final output end of the shaft or gear of the arm motor MA and housed inside the main body housing 110 or the rotation coupling portion 410 together with the arm motor MA.

[0390] The sensor portion 600 may include an IMU sensor 650 .

[0391] The IMU sensor 650 may measure the tilt angle of the robot body 100 .

[0392] As is well known, the IMU (Inertial Measurement Unit) sensor 650 is a sensor that incorporates a three-axis acceleration sensor, a three-axis gyroscope sensor, and a geomagnetic sensor, and is also called an inertial measurement sensor.

[0393] A triaxial accelerometer detects the gravitational acceleration of a stationary object. Since gravitational acceleration varies depending on the angle of an object's tilt, measuring gravitational acceleration provides the angle of tilt. However, a disadvantage is that it cannot accurately measure acceleration in non-stationary, moving, or accelerated conditions.

[0394] A three-axis gyroscope sensor measures angular velocity. Integrating the angular velocity over time yields the tilt angle. However, due to noise and other factors, the angular velocity measured by a gyroscope sensor contains persistent errors. These errors accumulate over time, causing errors in the integrated value.

[0395] As a result, when the robot 1 is in a stationary standby state for a long time, the acceleration sensor can accurately measure the tilt, but the gyro sensor produces an error. When the robot 1 is moving, the gyro sensor can accurately measure the tilt value, but the acceleration sensor cannot obtain an accurate value.

[0396] When using IMU sensors, the shortcomings of the above-mentioned acceleration sensors and gyroscope sensors can be compensated.

[0397] In the following description of this specification, an embodiment in which an IMU sensor is provided will be described.

[0398] The IMU sensor can be configured in the robot body 100. More specifically, the IMU sensor can be configured adjacent to the control unit 700. The IMU sensor can be mounted and arranged on a PCB inside the robot body 100. Preferably, the IMU sensor is configured near the center of the robot body 100 to improve the measurement accuracy of the tilt angle and direction.

[0399] The IMU sensor can measure at least one of the three-axis acceleration, three-axis angular velocity, and three-axis geomagnetic data of the robot body 100 and transmit the data to the control unit 700 .

[0400] 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 tilt direction and tilt angle of the robot body 100. Based on this, the control unit 700 can perform horizontal posture maintenance control of the robot body 100 described later.

[0401] The sensor part 600 may include a cliff sensor 660 for detecting a cliff.

[0402] The cliff sensor 660 can detect the distance from the ground in front of the robot 1. 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.

[0403] For example, the cliff sensor 660 may include a light emitting unit that emits light and a light receiving unit into which the reflected light enters. The cliff sensor 660 may be formed of an infrared sensor.

[0404] The cliff sensor 660 can be disposed on the robot body 100. More specifically, the cliff sensor 660 can be disposed inside the robot body 100. The cliff sensor 660 can illuminate the ground in front of the robot 1. The cliff sensor 660 can detect in advance whether there is a cliff in front of the robot 1 in the direction of travel.

[0405] The light-emitting portion of cliff sensor 660 can irradiate light obliquely toward the ground ahead. The light-receiving portion of cliff sensor 660 can receive the light reflected from the ground ahead. The distance between the ground ahead and cliff sensor 660 can be measured based on the difference between the time of light irradiation and the time of light reception.

[0406] When the distance measured by the cliff sensor 660 exceeds a preset value or exceeds a prescribed range, it may be that the ground ahead has suddenly become lower. By this principle, a cliff can be detected.

[0407] If a cliff is detected ahead, the control unit 700 can control the wheel motors MW to cause the robot 1 to circumvent the detected cliff. In this case, the wheel motors MW can be controlled to stop or to switch their rotational direction.

[0408] The sensor portion 600 may include a contact detection sensor 670 .

[0409] The contact detection sensor 670 may detect whether the wheel 310 is in contact with the ground.

[0410] The contact detection sensor 670 may include a TOF sensor that measures the distance between the wheels 310 of the robot 1 and the ground. The TOF sensor may be a three-dimensional camera using TOF (Time of Flight) technology. As is well known, TOF technology measures the distance to an object based on the round-trip flight time of light reflected from the object.

[0411] The TOF sensor can be configured on the wheel portion 300. For example, the contact detection sensor 670 can be configured on the left third link 230 and the right third link 230 respectively. The distance to the ground measured by the TOF sensor can be used to determine whether the wheel 310 is in contact with the ground. If the distance measured by the TOF sensor is less than a preset distance (or less than the lower limit of a preset distance range), the wheel 310 is in contact with the ground. If the distance measured by the TOF sensor is greater than a preset distance (or greater than the upper limit of a preset distance range), the wheel 310 is separated from the ground.

[0412] The contact detection sensor 670 may include a load cell that measures the magnitude of a force applied to a part of the robot 1 .

[0413] As is known to all, when a force is applied to a load cell, the resistance value of a strain gauge disposed on the surface changes. In this case, the magnitude of the force applied to the load cell can be measured by the change in resistance value.

[0414] A force sensor can be installed on the support leg 200. Preferably, the force sensor can be installed on the left and right third links 230, respectively. When the wheel 310 is in contact with the ground, the third link 230 is deformed by the vertical resistance force applied from the ground. The measured value of the force sensor differs from the initial value based on the deformation of the third link 230. This allows determination of whether the wheel 310 is in contact with the ground.

[0415] The sensor portion 600 may include an environment sensor 680 .

[0416] The environmental sensor 680 may be configured to measure various environmental conditions outside the robot 1, that is, inside the home where the robot 1 travels. The environmental sensor 680 may include at least one of a temperature sensor, a humidity sensor, and a dust sensor.

[0417] The environmental sensor 680 may be disposed on the robot body 100. More specifically, the environmental sensor 680 may be disposed at the rear of the robot body 100. As a possible embodiment, information measured by the environmental sensor 680 may be visually displayed on the display 120.

[0418] The sensor portion 600 may include a side sensor 690 .

[0419] The side sensor 690 can measure the distance to obstacles including walls and the like.

[0420] The side sensor 690 can detect the distance between the side and the wall when the robot 1 is traveling. The side sensor 690 can be configured in various ways as long as it can detect the relative distance between the position where the side sensor 690 is configured and the obstacle.

[0421] For example, the side sensor 690 may include a light emitting unit that emits light and a light receiving unit into which the reflected light enters. The side sensor 690 may be formed of an infrared sensor.

[0422] The side sensors 690 may be disposed on both sides of the robot 1 . For example, the side sensors 690 may be disposed on the outer side of the third link 230 of the leg portion 200 .

[0423] The interface portion includes at least one component for interaction between the user and the robot 1 , and each component may be configured to receive instructions from the user and / or output information to the user.

[0424] The interface portion may include a microphone 140 .

[0425] The microphone 140 is a component for recognizing the user's voice and may be provided in plural. The microphone 140 may be disposed in plural on the main body cover 110. For example, four microphones 140 may be disposed on the upper side of the main body cover 110.

[0426] The voice signal received by microphone 140 can be used to track the user's location. In this case, a well-known sound source tracking algorithm can be applied. For example, a sound source tracking algorithm can use a three-point measurement method (triangulation method) that utilizes the time difference between the voice signals received by multiple microphones 140. This method uses the position of each microphone 140 and the speed of sound waves to calculate the location of the voice source.

[0427] On the other hand, if the microphone 140 and the above-mentioned mapping camera 610 cooperate with each other, it can be achieved that the robot 1 can find the user's location even if the user calls the robot 1 from a distance.

[0428] The interface portion may include a speaker 450 .

[0429] The speaker 450 may be disposed on the arm 400. For example, the speaker 450 may be disposed on the rotation joint 410 of the arm 400. The speakers 450 may be disposed at positions covering both sides of the main body cover 110 in the left and right directions.

[0430] Speaker 450 can transmit information about robot 1 in the form of sound. The source of the sound transmitted by speaker 450 may be sound data pre-stored in robot 1. For example, the pre-stored sound data may be voice data of robot 1. For example, the pre-stored sound data may be a notification sound that indicates the status of robot 1. Alternatively, the source of the sound transmitted by speaker 450 may be sound data received via communication unit 710.

[0431] The interface portion may include a display 120 and an input portion 125 .

[0432] The display 120 may include displays configured in one or more modules. The display 120 may be configured on the upper front side of the robot body 100 .

[0433] The display 120 may be formed by any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel (Plasma Display Panel), and an organic light emitting diode (OLED).

[0434] The display 120 can display information such as the operating time of the robot 1 and the power level of the battery B.

[0435] The display 120 can display the robot 1's facial expressions. Alternatively, the robot 1's eyes can be displayed on the display 120. By displaying the facial or eye shapes on the display 120, the robot 1's current state can be personified and displayed emotionally. For example, when a user returns home from an outing, a smiling face or smiling eyes can be displayed on the display 120. This allows the user to feel like they are interacting with the robot 1.

[0436] The input unit 125 may be configured to receive control commands from the user for controlling the robot 1. For example, the control commands may be commands for changing various settings of the robot 1. For example, the settings may be voice volume, display brightness, power saving mode settings, and the like.

[0437] The input unit 125 may be disposed on the display 120 .

[0438] The input unit 125 generates key input data entered by the user to control the movements of the robot 1. To this end, 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.

[0439] The communication unit 710 can be provided for signal transmission between various components within the robot 1. For example, the communication unit 710 can support CAN (Controller Area Network) communication. For example, the signal can be a control command transmitted from the control unit 700 to other components.

[0440] The communication unit 710 may support wireless communication with other devices existing outside the robot 1. As a wireless communication module for supporting wireless communication, a short-distance communication module or a long-distance communication module may be provided.

[0441] The short-range communication may be, for example, Bluetooth communication, NFC (Near Field Communication) communication, or the like.

[0442] Long-distance communication may be, for example, wireless local area network (WLAN), Digital Living Network Alliance (DLNA), wireless broadband (Wibro), World Interoperability for Microwave Access (Wimax), GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband Code Division Multiple Access), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), IEEE (Institute of Electrical and Electronics Engineers) 802.16, Long Term Evolution (LTE), Evolution), LTE-A (Long Term Evolution-Advanced), Wireless Mobile Broadband Service (WMBS), BLE (Bluetooth Low Energy), Zigbee, RF (Radio Frequency), LoRa (Long Range), etc.

[0443] The memory 720 is a component for storing various data used for driving and operating the robot 1 .

[0444] The memory 720 may store applications and various related data for autonomous driving of the robot 1. The memory 720 may also store various data detected by the sensor unit 600 and setting information for various settings selected or input by the user.

[0445] The memory 720 may include a magnetic storage medium or a flash storage medium, but the scope of the present invention is not limited thereto. The memory 720 may include an internal memory and / or an external memory, and may also include a volatile memory such as DRAM, SRAM, or SDRAM; a non-volatile memory such as OTPROM (one-time programmable read-only memory), PROM (programmable read-only memory), EPROM (erasable programmable read-only memory), EEPROM (electrically erasable programmable read-only memory), mask ROM (mask read-only memory), flash ROM (flash read-only memory), NAND flash memory, or NOR flash memory; and a flash drive such as an SSD (solid state drive), a CF (compact flash) card, an SD card, a Micro-SD card, a Mini-SD card, an XD card, or a memory stick, or a storage device such as an HDD.

[0446] The memory 720 may be included in the control unit 700 or provided as an independent component.

[0447] The battery B is configured to supply power to other components constituting the robot 1 .

[0448] The battery B may be disposed in the robot body 100. More specifically, the battery B may be housed inside the body cover 110. Although not shown, the battery B may be disposed at a position further rearward than the suspension motor MS.

[0449] Battery B can be charged from an external power source. To this end, a charging terminal 130 for charging Battery B can be provided on one side of the robot body 100. In an embodiment of the present invention, the charging terminal 130 can be located at the bottom of the robot body 100. This allows the robot 1 to easily connect to the charging base station 1000 by moving to the charging base station 1000 and lowering it, placing the charging terminal 130 from above onto the power supply terminal 1230 of the charging base station 1000.

[0450] Basic driving posture of the robot

[0451] like Figure 1As shown, the robot 1 can travel on the ground in a pre-set basic posture. The basic posture may refer to the posture of the robot 1 when no specific event occurs. The specific event may be triggered by a change in the external environment in which the robot 1 travels, a user control command, or the satisfaction / non-satisfaction of a pre-set condition in the robot 1.

[0452] In the basic posture, the connection portion 420 of the arm 400 can be positioned above the robot body 100. More specifically, in the basic posture, the connection portion 420 can be positioned further from the ground than the robot body 100. This configuration allows the user to easily lift the robot 1 by grasping the connection portion 420. This facilitates easy transport of the robot 1, allowing it to be quickly moved to another location. In other words, the arm 400 can serve as a handle for the user.

[0453] In the basic posture, the connection portion 420 of the arm 400 can be positioned behind the robot body 100. Preferably, in the basic posture, the connection portion 420 can be positioned further back than the robot mask 500. This prevents the robot mask 500 from being blocked by the arm 400 and reducing the visibility of the display when the user observes the robot 1.

[0454] In the basic posture, the robot 1 can perform balance control to prevent falling forward or backward. Here, balance control refers to the control of rotating the drive wheel motor MW according to the degree of inclination of the robot 1 to rotate the wheel 310 forward or backward.

[0455] If the robot 1 is in a state where it is tilted forward more than the preset basic posture, the wheel motors MW may be driven to rotate the wheels 310 backward to return the robot 1 to the basic posture.

[0456] If the robot 1 is in a state where it is tilted backward more than the inclination of the preset basic posture, the wheel motors MW may be driven to rotate the wheels 310 forward, thereby returning the robot 1 to the basic posture.

[0457] On the other hand, as described above, the degree of inclination of the robot 1 can be measured by the IMU sensor 650 .

[0458] The robot 1 can travel on the ground by rotating the wheels 310 while maintaining the basic posture, and can then perform posture conversion to a specific posture different from the basic posture.

[0459] The gesture conversion may be executed when a preset specific event occurs or a preset specific condition is met.

[0460] In the embodiment of the present invention, the posture transition of the robot 1 refers to transition from a basic posture to a specific posture or from a specific posture to a basic posture (hereinafter, also referred to as resetting to the basic posture).

[0461] When the robot 1 of the embodiment of the present invention performs such a posture conversion, the arm 400 may need to be rotated and driven. In this case, the rotation of the arm 400 may be accompanied by a position change of the connection part 420.

[0462] In an embodiment of the present invention, the leg portion 200 of the robot 1 may include an upper link and a lower link.

[0463] The upper link may be defined as a link structure including the first link 210 and the second link 220 disposed on the robot body 100 side. The lower link may be defined as a link structure including the third link 230 disposed on the wheel 310 side.

[0464] The upper link and the lower link may be connected to each other to form a joint structure. By moving the joint structure, the robot body 100 may move upward or downward during driving.

[0465] More specifically, the upper and lower links can maintain a predetermined connection angle in the basic posture of the robot 1. Here, the connection angle between the upper and lower links can refer to the connection angle between the first link 210 and the third link 230. The connection angle can refer to the acute angle formed by the first and third links 210, 230, with the connection position of the first and third links 210, 230 as a reference.

[0466] Adjustment of the joint angle, i.e., movement of the joint structure, can be achieved by controlling the drive of the suspension motor MS. When the suspension motor MS rotates to gradually decrease the joint angle, the robot body 100 can descend toward the ground. When the suspension motor MS rotates to gradually increase the joint angle, the robot body 100 can ascend in a direction away from the ground.

[0467] On the other hand, as described above, in the basic posture of the robot 1, the coupling angle can be maintained at a value formed by the restoring force of the gravity compensation unit. Since the restoring force of the gravity compensation unit works, the suspension motor MS does not need to be driven to rotate in order to maintain the basic posture.

[0468] Charging base station

[0469] Below, refer to Figures 19 to 25 , the charging base station 1000 according to an embodiment of the present invention is described.

[0470] Figure 19A three-dimensional diagram of a robot system including a robot, a charging base station, and a functional module according to an embodiment of the present invention is shown. Figure 20 A diagram illustrating the configuration of a charging base station according to an embodiment of the present invention is shown. Figure 21a A side sectional view illustrating a state where a charging base station is combined with a robot according to an embodiment of the present invention is shown. Figure 21b A side sectional view illustrating a state where the charging base station and the robot are released from the connection according to an embodiment of the present invention is shown. Figure 22 A side sectional view of a power transmission unit of a charging base station for explaining an embodiment of the present invention is shown. Figure 23 A perspective view of a charging unit of a charging base station for explaining a functional module of an embodiment of the present invention is shown. Figure 24 A three-dimensional diagram illustrating a state in which the functional module charging portion is combined with both sides of the base station body in a charging base station according to an embodiment of the present invention is shown. Figure 25 A diagram illustrating a state in which a robot according to an embodiment of the present invention is carrying a functional module to a charging base station is shown.

[0471] Reference Figure 19 and Figure 20 The charging base station 1000 is provided for charging at least one of the robot 1 and the functional module 900 , and may include a base station body 1100 , a robot charging unit 1200 , and a functional module charging unit 1300 .

[0472] Before explaining the various components, let's first define the directions of the charging base station 1000. The direction where the robot 1 enters the charging base station 1000 can be defined as the front, and the direction where the expansion terminal 1110, described later, is located can be defined as the rear. Furthermore, the front and rear directions can be opposite to each other.

[0473] The base station body 1100 can be placed on the ground so that the robot 1 can access it. The base station body 1100 can support the robot charging unit 1200, and the wheels 310 of the robot 1 can roll on the top surface of the base station body 1100. In other words, when the robot 1 is placed on the robot charging unit 1200, the wheels 310 can contact the top surface of the base station body 1100. In addition, the base station body 1100 can be physically and / or electrically connected to the robot charging unit 1200.

[0474] The base station body 1100 may include an extension terminal 1110 for supplying power to the functional module charging unit 1300. The extension terminal 1110 may be connected to a connection terminal 1310, described later. If the base station body 1100 and the functional module charging unit 1300 are connected via the extension terminal 1110, the functional module charging unit 1300 may receive power from the base station body 1100 and / or the robot charging unit 1200. Thus, the base station body 1100 may be physically and / or electrically connected to the functional module charging unit 1300 via the extension terminal 1110.

[0475] The robot charging unit 1200 is provided to supply power and charge the robot 1 , and may include a charging unit body 1210 , a rotating member 1220 , a power supply terminal 1230 , an elastic member 1240 , and a power transmission unit 1250 .

[0476] The charging unit body 1210 has a space therein, and can be rotatably coupled to the base station body 1100. The charging unit body 1210 can be rotatably coupled to the base station body 1100 by a motor 1251 described later.

[0477] Although not shown, a plug connected to a socket in a house can be drawn out from the back of the charging unit main body 1210. Usually, a socket is installed on the wall in a house, so the charging unit main body 1210 can be arranged with its back facing the wall.

[0478] The charging unit body 1210 may include a placement surface 1211 on which the main body cover 110 of the robot body 100 is placed. The placement surface 1211 may be formed corresponding to the lower surface of the main body cover 110. As an example, the placement surface 1211 may be recessed toward the interior space of the charging unit body 1210.

[0479] The outer circumferential surface of the main body cover 110 that contacts the placement surface 1211 can have a predetermined curvature, and the placement surface 1211 can have a corresponding curvature. With this configuration, even if the charging terminals 130 are not positioned relative to the power supply terminals 1230, the position of the main body cover 110 can be accurately guided during placement when the main body cover 110 is lowered toward the placement surface 1211. This allows the robot body 100 to be accurately placed on the robot charging unit 1200 without the need for additional sensors.

[0480] The charging unit body 1210 may include an access hole 1212. The access hole 1212 may be formed in a long hole shape along the placement surface 1211 to allow the rotating member 1220 to enter and exit. As an example, the access hole 1212 may be a rectangular hole formed along the placement surface 1211.

[0481] The charging unit body 1210 may include a light emitting unit 1213. The light emitting unit 1213 is disposed within the interior of the charging unit body 1210, and light emitted from the light emitting unit 1213 may be directed toward the exterior of the charging unit body 1210. The light emitting unit 1213 may be an infrared (IR) LED that emits infrared light. In this case, the IR LED may be exposed toward the front of the charging unit body 1210.

[0482] The IR sensor 620 of the robot 1 can detect infrared light emitted by the light emitting unit 1213. If the IR sensor 620 detects infrared light, the robot 1 can move in the direction of the detected infrared light to approach the charging base station 1000. If the robot 1 approaches the light, the mapping camera 610 can detect the shape of the charging base station 1000.

[0483] The robot 1 can rely on the IR sensor 620 to approach the charging base station 1000 until the mapping camera 610 recognizes the charging base station 1000. After the mapping camera 610 of the robot 1 recognizes the charging base station 1000, the robot 1 can accurately align its posture through the mapping camera 610 and enter the charging base station 1000.

[0484] Therefore, compared with the case where the charging base station 1000 is detected only by the vision of the camera, the time for searching the charging base station 1000 can be saved.

[0485] The rotating member 1220 is rotatably coupled to the charging unit body 1210 and can rotate in different directions depending on whether the robot 1 is placed in the charging unit body 1210 .

[0486] Specifically, if the load of the robot 1 is applied to one side of the rotating member 1220, the rotating member 1220 may move in a first direction ( Figure 21a That is, if the main body cover 110 is lowered and placed on the placement surface 1211, one side of the rotating member 1220 can be pressed to rotate the rotating member 1220.

[0487] The power supply terminal 1230 is configured on the other side of the rotating member 1220 and can be electrically connected to the charging terminal 130 of the robot 1. Specifically, if the rotating member 1220 is oriented in a first direction ( Figure 21a If the robot 1 is rotated clockwise (in the clockwise direction), the power supply terminal 1230 can contact the charging terminal 130 of the robot 1. In other words, when the robot 1 and the charging base station 1000 are electrically connected, power can be supplied from the charging base station 1000 to the robot 1. In other words, the battery B of the robot 1 can be charged.

[0488] The elastic member 1240 may provide an elastic force to the rotating member 1220 so that the rotating member 1220 moves in the second direction ( Figure 21b That is, the elastic member 1240 can provide a rotational force to the rotating member 1220 so that when the main body cover 110 rises and the connection between the robot 1 and the robot charging unit 1200 is released, the power supply terminal 1230 is introduced into the internal space of the charging unit main body 1210.

[0489] As an example, the elastic member 1240 may be a torsion spring. The elastic member 1240 may be wound around the rotation axis of the rotating member 1220. Furthermore, one end of the elastic member 1240 may be fixedly coupled to the charging unit main body 1210, while the other end of the elastic member 1240 may be fixedly coupled to the rotating member 1220.

[0490] The elastic member 1240 can apply a force (rotational force) to the rotating member 1220 in the direction of introducing the power supply terminal 1230 into the inner space of the charging unit main body 1210. For example, both ends of the elastic member 1240 can be compressed in advance so that the elastic member 1240 exerts a force that causes the rotating member 1220 to rotate in the second direction ( Figure 21b Therefore, if the connection between the robot 1 and the robot charging unit 1200 is released and the rotating member 1220 moves in the second direction ( Figure 21b If the power supply terminal 1230 is rotated counterclockwise in the charging unit body 1210, the power supply terminal 1230 can be introduced into the interior of the charging unit body 1210.

[0491] With this configuration, when the robot 1 and the robot charging unit 1200 are disconnected, the power supply terminal 1230 can be located in the internal space of the charging unit body 1210. Therefore, when the robot 1 is not charging, the power supply terminal 1230 can be protected from external impacts.

[0492] The power transmission unit 1250 is housed in the inner space of the charging unit body 1210 together with the motor 1251 , and may be composed of a plurality of power transmission members to transmit power generated by the rotation of the motor 1251 to the charging unit body 1210 .

[0493] Reference Figure 22 The power transmission unit 1250 may include a motor 1251 , a first rotating gear 1252 , and a second rotating gear 1253 .

[0494] The motor 1251 is accommodated in the interior of the charging unit body 1210 and generates power to rotate the charging unit body 1210 relative to the base station body 1100. The motor 1251 rotates around a first rotation axis A1 extending vertically through the charging unit body 1210.

[0495] The first rotating gear 1252 can be housed within the interior of the charging unit body 1210 and can be rotated by receiving the rotational power of the motor 1251. Depending on the configuration of the motor 1251, the first rotating gear 1252 can be coaxially connected to the first rotating axis A1 of the motor 1251, or can be indirectly connected to the motor 1251 via another gear component configured to convert the direction of the first rotating axis A1 of the motor 1251.

[0496] The second rotating gear 1253 can be accommodated in the inner space of the charging unit body 1210 and can be gear-coupled with the first rotating gear 1252 to receive the rotation force of the first rotating gear 1252 to rotate the charging unit body 1210. The second rotating gear 1253 can rotate in the opposite direction to the first rotating gear 1252.

[0497] The second rotating gear 1253 can rotate about the second rotating axis A2. The second rotating axis A2 can be fixedly coupled to the center of the second rotating gear 1253, and the second rotating axis A2 can be rotatably coupled relative to the base station body 1100. Therefore, if the first rotating gear 1252 rotates about the first rotating axis A1, the second rotating gear 1253 can rotate about the second rotating axis A2, thereby rotating the charging unit body 1210 relative to the base station body 1100.

[0498] Reference Figure 23 and Figure 24 The functional module charging unit 1300 can be detachably attached to the base station body 1100 and, when electrically connected to the functional module 900, can supply power to the robot 1 for charging. The functional module charging unit 1300 can be detachably attached to both sides of the base station body 1100. Therefore, when it is necessary to charge functional modules 900 other than the robot 1, the user can selectively attach the functional module charging unit 1300 to the base station body 1100 for use.

[0499] The function module charging unit 1300 can share power with the robot charging unit 1200. External power supplied to the robot charging unit 1200 can be shared with the function module charging unit 1300. For example, the robot charging unit 1200 and the function module charging unit 1300, which are connected and synchronized with each other, can share power. This allows the entire charging base station 1000 to operate even if one charging unit is low on power.

[0500] Although not shown, a plug connected to a socket in a house can be extended from the back of the functional module charging unit 1300. Typically, a socket is installed on a wall in a house, so the functional module charging unit 1300 can be arranged with its back facing the wall.

[0501] The function module charging unit 1300 can wirelessly charge the function module 900. That is, if the function module 900 is placed in the function module charging unit 1300, the function module charging unit 1300 can charge the function module 900 using electromagnetic induction generated by the primary coil and the secondary coil.

[0502] As an example, the functional module charging unit 1300 may include a wireless charging pad (not shown). The wireless charging pad may be disposed on the upper portion or inner space of the functional module charging unit 1300. Therefore, the functional module 900 may be configured to be placed on the wireless charging pad.

[0503] The wireless charging pad can receive power from the charging unit main body 1210 and can include a wireless power transmitter or a wireless power transceiver. The functional module 900 can include a battery (not shown) and a wireless power transmitter or a wireless power transceiver configured to be combined with the wireless power transmitter or wireless power transceiver included in the wireless charging pad. The battery of the functional module 900 can be wirelessly charged by the wireless charging pad and can provide power for the operation of the functional module 900.

[0504] The functional module charging unit 1300 may include a connection terminal 1310. The functional module charging unit 1300 may be connected to the base station body 1100 using the connection terminal 1310. When the connection terminal 1310 is connected to the charging terminal 130 of the base station body 1100, the functional module charging unit 1300 may receive power from the base station body 1100 and / or the robot charging unit 1200. Thus, the connection terminal 1310 may physically and / or electrically connect the base station body 1100 and the functional module charging unit 1300.

[0505] The charging base station 1000 may further include a base station control unit (not shown).

[0506] The base station control unit may be disposed in the internal space of the charging unit body 1210. The base station control unit may be provided on a PCB disposed in the internal space of the charging unit body 1210. The base station control unit may control the overall operation of the charging base station 1000.

[0507] For example, the base station control unit can control the motor 1251 to rotate the charging unit main body 1210. If the power supply terminal 1230 is electrically connected to the charging terminal 130 of the robot 1, the base station control unit can control the charging unit main body 1210 to rotate. If the charging unit main body 1210 rotates 180 degrees, the base station control unit can control the charging unit main body 1210 to stop rotating.

[0508] On the other hand, the base station control unit may include all types of devices capable of processing data, such as a processor. Here, a "processor" may refer to, for example, a data processing device built into hardware, which has a physical structural circuit for executing functions represented by codes or instructions contained in a program. As an example of a data processing device built into hardware, a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), an FPGA (field programmable gate array), and other processing devices may be included, but the scope of the present invention is not limited thereto.

[0509] How to charge the robot

[0510] Below, refer to Figures 26 to 27f , the charging method of the robot according to the embodiment of the present invention is described.

[0511] Figure 26 A flowchart showing the process of the robot charging method according to an embodiment of the present invention is shown. Figure 27a and Figure 27b Shown with Figure 26 FIG. 100 corresponds to the action of step S100, Figure 27c Shown with Figure 26 The diagram of the actions corresponding to steps S200 and S300, Figure 27d Shown with Figure 26 FIG. 10 shows an action corresponding to step S400. Figure 27e Shown with Figure 26 FIG. 5 shows an action corresponding to step S500. Figure 27f Shown with Figure 26 FIG. 1 is a diagram of the action corresponding to step S600.

[0512] The robot charging method according to the embodiment of the present invention may be performed by the robot 1 and a charging base station 1000 that supplies power to the robot 1 for charging.

[0513] Reference Figure 26 The robot charging method of the embodiment of the present invention may include an entering step S100, a combining step S200, an ascending step S300, a rotating step S400, a releasing step S500, and a resetting and rotating step S600.

[0514] Entering step S100 is a step in which the wheels of the robot 1 move close to the charging base station 1000 and climb onto the base station body 1100 .

[0515] The robot 1 can start searching for the charging base station 1000 by the user's instruction or by setting a predetermined charge remaining amount below a constant level. As described above, the search for the charging base station 1000 is achieved by the cooperation of the IR sensor 620 and the mapping camera 610. The position of the charging base station 1000 can be obtained by the direction vector of the robot 1. In this way, the robot 1 can align its posture so that the charging base station 1000 is configured in front of itself (refer to Figure 27a and Figure 27b ).

[0516] A sensor capable of measuring the distance to the robot charging unit 1200 may be provided in front of the robot body 100. For example, the sensor may be a ToF sensor (Time of Flight sensor). With this configuration, the control unit 700 can identify the distance between the robot 1 and the robot charging unit 1200 and calculate the distance the robot 1 needs to move in order to be placed on the placement surface 1211.

[0517] Next, the combining step S200 is a step of electrically connecting the charging terminal 130 of the robot 1 and the power supply terminal 1230 of the charging base station 1000 to each other when the robot 1 is placed on the charging base station 1000 , so as to supply power to the robot 1 .

[0518] In the combining step S200 , the robot body 100 moves downward from a state separated from the placement surface 1211 so that the charging terminal 130 and the power supply terminal 1230 come into contact with each other and combine. The descent of the robot body 100 is achieved by driving the suspension motor MS.

[0519] At this time, the suspension motor MS is driven to rotate so as to reduce the angle between the first link 210 and the third link 230. The reduction in the angle between the first link 210 and the third link 230 means that the distance between the wheel 310 and the robot body 100 is shortened, that is, the robot body 100 descends.

[0520] The rotation of the suspension motor MS continues until the charging terminal 130 and the power supply terminal 1230 are brought into contact with each other. As described above, the power supply terminal 1230 is brought into contact with the charging terminal 130 by the rotation of the rotating member 1220. Thus, the robot 1 and the charging base station 1000 can be electrically connected to each other, and the battery B of the robot 1 can be charged.

[0521] On the other hand, in the combination step S200, the lower surface of the main body cover 110 is against the placement surface 1211 of the charging base station 1000, and the robot 1 is placed on the charging base station 1000 in a state of leaning on the charging base station 1000 to rest (refer to Figure 27c ).

[0522] The raising step S300 is a step of raising the wheel 310 to a set height so that the wheel 310 is separated from the base station main body 1100 by a predetermined distance.

[0523] In the ascending step S300 , even if the robot 1 is placed in the robot charging part 1200 , the wheels 310 are not in contact with the base body 1100 , so the robot 1 can be stably placed in the robot charging part 1200 without being disturbed by the base body 1100 .

[0524] The ascending step S300 may include a driving step S310 and a fixing step S320 .

[0525] The driving step S310 may further include driving the suspension motor MS to reduce the distance between the wheel 310 and the robot body 100 .

[0526] In the driving step S310, the distance between the wheel 310 and the robot body 100 may be reduced until the wheel 310 rises to a set height (refer to Figure 27c ).

[0527] At this time, the set height may be the height at which the wheel 310 is located when the surface of the wheel 310 and the top surface of the base station body 1100 are spaced apart by a predetermined distance.

[0528] More specifically, when suspension motor MS is driven, first link 210 rotates about motor coupling 212, causing link coupling 213 to move upward. Furthermore, third link 230 moves in conjunction with the rotation of first link 210. Furthermore, second link 220 is rotated by third link 230. As a result, one end of third link 230 can move rearward, while the other end can move upward.

[0529] With such a configuration, when the suspension motor MS is driven, the wheel 310 moves upward, and the distance between the wheel 310 and the robot body 100 can be reduced.

[0530] In the driving step S310, the coupling angle between the upper link and the lower link of the leg portion 200 may be smaller than that in the basic posture. Specifically, in the driving step S310, the coupling angle between the first link 210 and the third link 230 and the coupling angle between the second link 220 and the third link 230 may both be reduced.

[0531] In the fixing step S320, if the wheel 310 rises to the set height, the rotating protrusion 480 rotating with the arm 400 contacts the stopper 240 formed on the upper link, so that the movement of the joint structure between the upper link and the lower link can be restricted (fixed).

[0532] If the arm 400 rotates downward so that the rotational protrusion 480 contacts the stopper 240, the movement of the joint structure of the leg portion 200 can be restricted. More specifically, the stopper 240 can be formed into a shape that surrounds at least a portion of the rotational protrusion 480, that is, a shape corresponding to the outer shape of the rotational protrusion 480. Therefore, when the stopper 240 and the rotational protrusion 480 contact, the stopper 240 can surround a portion of the outer shape of the rotational protrusion 480 and engage with each other.

[0533] In such an embodiment, unless the arm 400 is rotated in the opposite direction, the joint movement of the leg portion 200 is restricted (locked) due to the engaging structure of the stopper 240 and the rotation protrusion 480 .

[0534] Therefore, in the fixing step S320, the arm motor MA can be driven to rotate until the stopper 240 and the rotating protrusion 480 abut against each other, limiting the rotation range of the arm 400. Specifically, if the arm 400 rotates to the point where the stopper 240 and the rotating protrusion 480 abut against each other while the wheel 310 is raised to the set height, the arm motor MA can be stopped. In other words, the contact between the rotating protrusion 480 of the arm 400 and the stopper 240 restricts further rotation of the arm 400.

[0535] Next, in the rotation step S400 , the robot charging unit 1200 of the charging base station 1000 rotates together with the robot 1 to change the direction in which the front of the robot 1 faces by 180 degrees.

[0536] More specifically, in the rotation step S400, the base station control unit of the charging base station 1000 drives the motor 1251 to rotate the robot charging unit 1200. The robot charging unit 1200 rotates clockwise or counterclockwise and stops after rotating 180 degrees based on the previous state (refer to Figure 27d ).

[0537] Here, the front of the robot 1 refers to the direction the display 120 faces. Alternatively, it refers to the direction the mapping camera 610 faces. As mentioned above, in a typical residential setting, the charging base station 1000 is positioned with its back facing a wall. That is, before the robot charging unit 1200 rotates, the front of the robot 1 faces the wall, and after the robot charging unit 1200 rotates, the front of the robot 1 faces away from the wall. This allows the robot 1 to exit the charging base station 1000 in forward motion, rather than in reverse motion, after charging is complete.

[0538] The robot charging method according to the embodiment of the present invention may further include a release step S500 .

[0539] In the release step S500, the connection between the charging terminal 130 and the power supply terminal 1230 is released. That is, the electrical connection between the robot 1 and the charging base station 1000 is released. Here, the release can be achieved by the electrical signal generated by the base station control unit (refer to Figure 27e ).

[0540] At this time, the rotational drive direction of the arm motor MA in the release step S500 may be opposite to the rotational drive direction of the arm motor MA in the fixing step S320. For example, if the arm motor MA is driven to rotate the arm 400 downward in the fixing step S320, the arm motor MA may be driven to rotate the arm 400 upward in the release step S500.

[0541] If the connection between the robot 1 and the charging base station 1000 is released, the robot body 100 moves upward due to the restoring force of the gravity compensation unit and / or the drive of the suspension motor MS. Simultaneously or sequentially, the display 120, which was originally tilted backward, rotates forward.

[0542] At this time, as the arm motor MA rotates in the direction opposite to the rotational drive direction in the fixing step S320, the contact between the stopper 240 and the rotation protrusion 480 and / or the engagement structure is released, thereby releasing the lock of the leg portion 200. However, since the suspension motor MS is being driven, the leg portion 200 does not suddenly unfold.

[0543] The robot charging method according to the embodiment of the present invention may further include a reset rotation step S600 .

[0544] In the reset rotation step S600, if the robot 1 is fully charged or leaves the charging base station 1000 based on the user's instruction, the robot charging unit 1200 rotates to return to the initial position. In other words, the robot charging unit 1200 rotates 180 degrees to return to the original position (refer to Figure 27f ).

[0545] The base station control unit can determine whether to rotate the robot 1200 180 degrees based on whether the charging terminal 130 and the power supply terminal 1230 are electrically connected. In other words, if the charging terminal 130 and the power supply terminal 1230 are disconnected, the base station control unit can rotate the robot 1200 180 degrees after a predetermined time.

[0546] As a result, the robot 1 can enter the charging base station 1000 in a forward movement manner when re-entering the charging base station 1000 for charging.

[0547] The above is a detailed description of the specific embodiments of the present invention, but it is only used to specifically illustrate the present invention. The present invention is not limited thereto. Obviously, the present invention can be modified or improved by ordinary technicians in the technical field to which the present invention belongs.

[0548] Simple modifications or variations of the present invention all fall within the scope of the present invention, and the specific protection scope of the present invention will become more clear through the scope of the appended claims.

Claims

1. A charging base station for charging at least one of a robot and a functional module detachably coupled to the robot, characterized in that: include: a base station body, placed on the ground so as to be accessible to the robot; a robot charging unit, which is relatively rotatably coupled to the base station body and supplies power to the robot to charge the robot when electrically connected to the robot; as well as The function module charging unit is detachably coupled to the base station main body and supplies power to the function module to charge the function module when electrically connected to the function module.

2. The charging base station according to claim 1, characterized in that: The function module charging unit wirelessly supplies power to the function module to charge the function module.

3. The charging base station according to claim 1, characterized in that The robot charging unit includes: a charging unit body, comprising a placement surface for the robot to be placed on, and rotating by the rotation of the motor; a rotating member that rotates in a first direction relative to the charging unit body if a load of the robot is applied to one side of the rotating member; a power supply terminal disposed on the other side of the rotating member, wherein if the rotating member rotates in the first direction, the power supply terminal is connected to a charging terminal of the robot; and An elastic member provides an elastic force to the rotating member so as to rotate the rotating member in a second direction opposite to the first direction.

4. The charging base station according to claim 3, characterized in that: If the rotating member rotates in the second direction, the power supply terminal is located in the inner space of the charging unit body.

5. The charging base station according to claim 3, characterized in that: An outer peripheral surface of the robot in contact with the placement surface has a curvature corresponding to the curvature of the placement surface.

6. The charging base station according to claim 3, characterized in that: The robot charging unit further includes a power transmission unit that is housed together with the motor in an internal space of the charging unit body and transmits power generated by rotation of the motor to the charging unit body.

7. The charging base station according to claim 6, characterized in that: The power transmission unit includes: a first rotating gear receiving the rotational power of the motor to rotate; and The second rotating gear receives the rotational force of the first rotating gear to rotate the charging unit body.

8. A charging base station for charging at least one of a robot and a functional module detachably coupled to the robot, characterized in that: include: a base station body, placed on the ground so as to be accessible to the robot; as well as a robot charging unit, which is rotatably coupled to the base station body and supplies power to the robot to charge the robot when connected to the robot; The robot charging unit includes: a charging unit body, the robot being mounted on the charging unit body, the charging unit body being rotated by the rotation of a motor; a rotating member that rotates in a first direction around the charging unit body if a load of the robot is applied to one side of the rotating member; a power supply terminal disposed on the other side of the rotating member, wherein if the rotating member rotates in the first direction, the power supply terminal is connected to a charging terminal of the robot; and An elastic member provides an elastic force to the rotating member so as to rotate the rotating member in a second direction opposite to the first direction.

9. The charging base station according to claim 8, characterized in that: If the rotating member rotates in the second direction, the power supply terminal is located inside the charging unit body.

10. A method for charging a robot, the method being performed by a robot system comprising the robot and a charging base station for supplying power to the robot to charge the robot, the method comprising: The robot moves its wheels close to the charging base station and steps onto a base station body of the charging base station; If the robot is placed on the charging base station, the charging terminal of the robot and the power supply terminal of the charging base station are electrically connected to each other to supply power to the robot; a step of raising the wheel to a set height so that the wheel is spaced a predetermined distance away from the base station body; as well as The robot charging portion of the charging base station rotates together with the robot to change the direction the front of the robot faces by 180 degrees.

11. The robot charging method according to claim 10, characterized in that: The robot comprises: The robot body is provided with the charging terminal; Legs are respectively arranged on two sides of the robot body and are combined with the wheels rolling on the ground; arms, rotatably coupled to two side surfaces of the robot body; a suspension motor for adjusting a joint angle of a joint structure between an upper link and a lower link of the leg portion; and an arm motor for rotating the arm about the robot body; The ascending step comprises: a driving step of driving the suspension motor to reduce the distance between the wheel and the robot body; and If the wheel rises to the set height, the rotation protrusion rotating together with the arm comes into contact with a stopper formed on the upper link, thereby restricting the movement of the joint structure.

12. The robot charging method according to claim 10, characterized in that: Also includes: a releasing step of releasing the connection between the charging terminal and the power supply terminal; as well as After the robot leaves the charging base station, the robot charging part rotates to return to the initial position.

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