Robot

Abstract

The present invention relates to a robot comprising: a robot body in which a battery is accommodated; two wheels which are disposed at the lower part of the robot body, and which, if the center of gravity of the robot body is tilted, perform balance control so as to be rotationally driven in the direction opposite to the tilting direction; the two legs are connected between the robot body and the wheels; an arm of an integrated structure including a pair of rotary coupling parts rotatably coupled to the robot body on the left and right sides, and a connecting part connecting the pair of rotary coupling parts to each other; and a sensor unit that detects a ground obstacle located on a travel path of the wheels. In the robot, if the sensor unit detects the ground obstacle present in front of the traveling direction of the robot, the balance control is released in a state in which the connection unit is disposed in front of the robot body, thereby forming a three-point support form for one or more objects.

Description

Technical Field

[0001] This invention relates to a robot and its control method. More specifically, it relates to a robot and its control method that can simultaneously satisfy both agility and stability in movement. Background Technology

[0002] In recent years, with the development of robotics technology, the use of robots has been increasing not only in the industrial sector but also in homes.

[0003] Home robots can be robots that help with housework such as cleaning or control home appliances, or robots that use artificial intelligence (AI) to perform secretarial duties or provide education to users, or robots that can replace pets.

[0004] Robots include not only those that perform functions while fixed in a specific location, but also mobile robots that can move around. In particular, in the case of robots used in the home, mobile robots are mainly used that replace or follow the user around the home.

[0005] Among mobile robots, two-wheeled robots with two wheels have the advantage of being easy to store due to their small footprint, and their small turning radius when changing direction makes them easy to use in relatively small homes.

[0006] These two-wheeled robots typically feature long, vertically extending legs that connect the wheels to the robot body. In other words, the relatively heavy robot body is located at the top, resulting in a high center of gravity.

[0007] Therefore, for two-wheeled robots, the most important thing is to properly control the rotation direction of the wheels to prevent the center of gravity from shifting and causing them to fall over while moving.

[0008] However, if the focus is only on maintaining the center of gravity, it is difficult to overcome obstacles on the ground while moving. In order to overcome ground obstacles in front, the robot's center of gravity must tilt forward. This is because if the rotation direction of the wheels is changed to face backward in order to maintain the balance of the center of gravity, it will be impossible to overcome the ground obstacles in front.

[0009] As part of existing literature related to the driving technology of two-wheeled robots (hereinafter, Existing Literature 1), Chinese Patent Publication No. 113021299 was proposed.

[0010] Existing document 1 discloses a two-wheeled robot comprising two wheels, two legs with joint structures respectively coupled to the wheels, and an upper body coupled to the upper part of the legs.

[0011] According to existing literature 1, the upper body is virtualized as a single rigid body, and forces are distributed based on the robot's posture measured in real time by an inertial measurement unit, thereby deriving a generalized force. In this case, existing literature 1 maps the generalized force at the wheel's ground contact point to joint torques, calculates the torque required to compensate the wheels to prevent tipping under the current ground inclination, and controls the robot's movement based on this calculation. This achieves the effect of enabling the robot to move without tipping over even when the ground inclination changes.

[0012] However, while existing literature 1 discloses a method for stable movement along the ground using two wheels without loss of balance, it does not disclose a control method when there are obstacles with a rapidly increasing height relative to the ground ahead of the movement path. Furthermore, existing literature 1 also does not disclose a control method that enables the robot to move without loss of balance when a user helps the robot up after it has fallen.

[0013] As a prior art document (hereinafter, prior art document 2) related to climbing technology for obstacles in front, Korean Patent Publication No. 2011-0108858 was proposed.

[0014] Existing document 2 discloses a two-wheeled robot for searching dangerous scenes, which has two main wheels at the front and a friction part at the rear, and moves by supporting the ground with three points: the wheels and the friction part.

[0015] According to existing literature 2, if the two-wheeled robot encounters an obstacle during its journey, it lifts the front main wheel while the friction part supports the ground, thus enabling it to easily climb obstacles.

[0016] However, in existing literature 2, the robot always travels with three points of support on the ground, which reduces the agility of the two-wheeled robot during normal driving when there is no need to climb obstacles. Summary of the Invention

[0017] The problem that the invention aims to solve

[0018] The technical challenge of this invention is to provide a robot that can easily climb ground obstacles without losing its balance.

[0019] Furthermore, the technical challenge of this invention is to provide a robot that can satisfy both the agility required for normal driving and the stability required for obstacle handling.

[0020] The technical challenge of this invention is to provide a robot that can move stably along the ground without losing its balance when a user picks it up after it has fallen while driving.

[0021] In addition, the technical challenge of the present invention is to prevent the robot from becoming unbalanced in the left and right directions due to back gaps or twisting of the legs.

[0022] Technical solutions to the problem

[0023] To address the aforementioned issues, a robot according to an embodiment of the present invention may include: a robot body housing a battery; two wheels disposed on the lower part of the robot body, which, if the center of gravity of the robot body is tilted, perform balance control to drive rotation in the opposite direction of the tilt; two legs connected between the robot body and the wheels; an integral arm including a pair of rotating joints rotatably coupled to the left and right sides of the robot body and a connecting portion connecting the pair of rotating joints to each other; and a sensor unit for detecting ground obstacles located in the travel path of the wheels; if the sensor unit detects the ground obstacle present in front of the robot's travel direction, the balance control is released with the connecting portion disposed in front of the robot body to form a three-point support configuration for one or more objects.

[0024] In a robot according to an embodiment of the present invention, if the wheel repeats forward and backward movement a constant number of times while the ground obstacle is placed in front of it, the arm can rotate forward.

[0025] Here, the three-point support configuration can be formed by the two wheels respectively contacting the ground and the connecting part contacting the ground obstacle or the ground.

[0026] The three-point support configuration can include a first contact portion that serves as the contact point between the left wheel and the ground, a second contact portion that serves as the contact point between the right wheel and the ground, and a third contact portion that serves as the contact point between the connecting portion and the ground.

[0027] According to an embodiment of the present invention, the robot can move forward relative to the ground obstacle, climb and pass through the ground obstacle while forming the three-point support configuration.

[0028] According to an embodiment of the present invention, the robot can rotate the wheels to move backward relative to the ground obstacle before forming the three-point support configuration.

[0029] According to an embodiment of the present invention, when the robot has formed the three-point support configuration, if the forward tilt angle of the robot body is less than a preset threshold, at least one motor configured on the robot body or the wheel can be driven.

[0030] Here, the motor may be a suspension motor configured on the robot body and connected to the leg. If the forward tilt angle of the robot body is less than a preset threshold, the connection angle between the upper and lower links included in the leg can be increased by rotating and driving the suspension motor.

[0031] Here, the motor can be a wheel motor coupled with the wheel. If the forward tilt angle of the robot body is less than a preset threshold, the wheel motor can be rotated to drive the robot to move further backward relative to the ground obstacle.

[0032] According to an embodiment of the invention, the robot can restart the balance control after climbing and passing through the ground obstacle.

[0033] According to an embodiment of the present invention, after the balance control is restarted, the connecting part can be configured at the rear of the robot body.

[0034] According to an embodiment of the invention, the robot can rotate the connecting part toward the wheel by a constant angle after climbing and passing the ground obstacle and before restarting the balance control.

[0035] According to an embodiment of the present invention, if the robot body overturns to the left or right while climbing the ground obstacle, the motors configured on the robot body or the wheels can be stopped.

[0036] A robot according to an embodiment of the present invention may include: a robot body housing a battery; two wheels disposed on the lower part of the robot body, which, if the center of gravity of the robot body is tilted, perform balance control to drive rotation in the opposite direction of the tilt; two legs connected between the robot body and the wheels; an arm rotatably coupled to the robot body; and a sensor unit for detecting ground obstacles located in the travel path of the wheels; if the sensor unit detects the ground obstacle present in front of the robot's travel direction, it can perform a preset response movement, which may include releasing the balance control to tilt the center of gravity of the robot body forward.

[0037] The arm is an integral structure comprising a pair of rotating joints respectively disposed on the left and right sides and a connecting part that connects the pair of rotating joints to each other. The responsive movement may include movement in which the robot forms a three-point support configuration relative to one or more objects by utilizing each of the two wheels and the connecting part.

[0038] The three-point support configuration can include a first contact portion that serves as the contact point between the left wheel and the ground, a second contact portion that serves as the contact point between the right wheel and the ground, and a third contact portion that serves as the contact point between the connecting portion and the ground.

[0039] To address the aforementioned issues, a robot according to an embodiment of the present invention may include: a robot body housing a battery; two wheels disposed at the lower part of the robot body, which, if the center of gravity of the robot body is tilted, perform balance control to drive rotation in the opposite direction of the tilt; legs including an upper link and a lower link, one side of the upper link being rotatably connected to the robot body, one side of the lower link being rotatably connected to the other side of the upper link and the other side being rotatably connected to the wheels; arms rotatably connected to both sides of the robot body; a distance detection sensor for detecting the distance between the robot body and the ground; a forward / backward tilt detection sensor for detecting the angle at which the robot body tilts forward or backward toward the ground; and an angle detection sensor for detecting the angle between the upper link and the lower link; if the distance detected by the distance detection sensor is below a set distance, the angle detected by the tilt detection sensor is below a first set angle, and the angle detected by the angle detection sensor is below a second set angle, then the balance control can be performed.

[0040] The robot according to an embodiment of the present invention may further include: a wheel motor for rotating the wheel; a suspension motor for adjusting the angle between the upper link and the lower link; and an arm motor for rotating the arm relative to the robot body; if the wheel contacts the ground, the driving of the wheel motor, the suspension motor and the arm motor can be stopped.

[0041] The set distance can be 20mm.

[0042] The first set angle can be 20 degrees.

[0043] The second set angle can be 5 degrees.

[0044] To address the aforementioned issues, a robot according to an embodiment of the present invention may include: a robot body housing a battery; a first wheel disposed on the lower part of one side of the robot body in a left-right direction, for rolling along the ground; a second wheel disposed on the lower part of the other side of the robot body in a left-right direction, for rolling along the ground; a first upper link rotatably connected on one side to one side of the robot body in a left-right direction; a first lower link rotatably connected on one side to the other side of the first upper link and rotatably connected on the other side to the first wheel; a second upper link rotatably connected on one side to the other side of the robot body in a left-right direction; a second lower link rotatably connected on one side to the other side of the second upper link and rotatably connected on the other side to the second wheel; a first suspension motor adjusting a first angle that is the angle between the first upper link and the first lower link; and a second suspension motor adjusting a second angle that is the angle between the second upper link and the second lower link; if the robot body tilts to the left or right towards the ground, at least one of the first angle and the second angle can be adjusted to configure the robot body parallel to the ground.

[0045] Invention Effects

[0046] According to the present invention, when there is a ground obstacle in front of the robot's direction of travel, the arm is rotated forward. This temporarily creates a three-point support configuration between the arm and the two wheels and the ground or obstacle, allowing the robot to easily climb obstacles while maintaining balance.

[0047] Furthermore, according to the present invention, balance control is performed during normal driving to control the rotation direction of the wheels based on the robot's tilt, and then the wheel balance control is released only when encountering ground obstacles. That is, it is possible to simultaneously satisfy driving agility and stability when dealing with obstacles.

[0048] In addition, when a user picks up the robot after it has fallen while driving, the robot can move stably along the ground without losing its balance.

[0049] In addition, the present invention can prevent left-right imbalance of the robot caused by back gaps or twisting of the legs. Attached Figure Description

[0050] Figure 1 This is a perspective view illustrating a robot according to an embodiment of the present invention.

[0051] Figure 2 This is a front view of a robot according to an embodiment of the present invention.

[0052] Figure 3This is a perspective view of a robot according to an embodiment of the present invention, viewed from another angle.

[0053] Figure 4 This is a partial cross-sectional view illustrating the power transmission for rotating the arm in a robot according to an embodiment of the present invention.

[0054] Figure 5 This is a top view of a robot according to an embodiment of the present invention.

[0055] Figure 6 This is a diagram illustrating the arm of a robot according to another embodiment of the present invention.

[0056] Figure 7 It is used for explanation Figure 6 The diagram shows the rotating state of the loading and unloading section of the arm.

[0057] Figure 8 This is a bottom view of a robot according to an embodiment of the present invention.

[0058] Figure 9 This is a block diagram illustrating the control configuration of a robot according to an embodiment of the present invention.

[0059] Figure 10 This diagram illustrates the connection between the robot mask and the robot body in a robot according to an embodiment of the present invention.

[0060] Figure 11 This is a flowchart illustrating a robot control method implemented to deal with ground obstacles present in front of the direction of travel.

[0061] Figures 12 to 20 The following are shown in sequence Figure 11 The robot's response movements are executed in the embodiments described.

[0062] Figure 21 This is a flowchart illustrating a robot control method performed by a user when lifting a robot that has fallen to the ground, according to an embodiment of the present invention.

[0063] Figures 22 to 25 The process of a user helping a robot that has fallen to the ground to be lifted up is shown in sequence.

[0064] Figure 26 This is a schematic diagram illustrating a robot tilting to the left or right in the direction of the ground according to an embodiment of the present invention. Detailed Implementation

[0065] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0066] This invention can be modified in various ways and has various embodiments, specific embodiments of which will be illustrated in the accompanying drawings and described in detail in the description. This is not intended to limit the invention to specific embodiments, but should be interpreted to include all modifications, equivalents or substitutions that fall within the spirit and technical scope of the invention.

[0067] Figure 1 A perspective view illustrating a robot according to an embodiment of the present invention is shown. Figure 2 A front view of a robot according to an embodiment of the present invention is shown. Figure 3 A perspective view of a robot according to an embodiment of the present invention is shown from another angle. Figure 4 A partial cross-sectional view is shown to illustrate the power transmission for rotating the arm in a robot according to an embodiment of the present invention. Figure 5 A top view of a robot according to an embodiment of the present invention is shown. Figure 6 A diagram is shown illustrating the arm of a robot according to another embodiment of the present invention. Figure 7 The illustration is shown Figure 6 A diagram showing the rotating state of the loading and unloading section of the arm. Figure 8 A bottom view of a robot according to an embodiment of the present invention is shown.

[0068] Reference Figures 1 to 8 The robot 1 according to an embodiment of the present invention will be described below.

[0069] According to an embodiment of the present invention, robot 1 is placed on the ground and moves along ground B. Therefore, the following description will be based on the state of robot 1 being placed on the ground, defining the vertical direction.

[0070] Furthermore, the side where the first camera 610a, described later, is located will be defined as the front of robot 1. The opposite direction will be defined as the rear of robot 1.

[0071] The “lowest part” of each configuration described in the embodiments of the present invention may be the part located at the lowest position in each configuration when the robot 1 according to the embodiments of the present invention is placed on the ground for use, or it may be the part closest to the ground.

[0072] 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 face mask 500. The legs 200 are attached to the robot body 100, and the wheels 300 are attached to the legs 200. The arms 400 are pivotally attached to both sides of the robot body 100. The robot face mask 500 is detachably attached to the robot body 100.

[0073] Robot body

[0074] Reference Figures 1 to 8 The robot body 100 in robot 1 according to an embodiment of the present invention will be described below.

[0075] The robot body 100 can incorporate various components constituting the robot 1. For example, a robot mask 500 can be detachably incorporated into the robot body 100. Additionally, arms 400 are pivotally incorporated into the robot body 100. Arms 400 are pivotally incorporated into both ends of the robot body 100. The robot body 100 can connect with functional modules via the arms 400 and perform additional functions. Furthermore, the robot body 100 can achieve a standby posture for power saving or a posture for getting up after falling via the arms 400.

[0076] Some of the components that make up robot 1 can be housed inside robot body 100.

[0077] The body cover 110 can form the shape of the robot body 100. The internal space of the body cover 110 can accommodate one or more motors, including a suspension motor MS, one or more sensors, and a battery 800.

[0078] Additionally, although not shown, at least one buffer element may be provided inside the main body cover 110.

[0079] The buffer can be configured to move relative to the main body cover 110. For example, the buffer can be configured to reciprocate along the front-rear direction of the main body cover 110.

[0080] The buffer can be integrated along a portion or entirely of the front edge of the main body cover 110. Alternatively, the buffer can be disposed on the rear interior side of the main body cover 110.

[0081] With the configuration described above, in the event of a collision between the robot 1 and other objects or people, the buffer can absorb the impact applied to the robot body 100, thereby protecting the robot body 100 and the components housed inside the robot body 100.

[0082] A pair of legs 200 are attached inside the main body cover 110. The pair of legs 200 can penetrate the main body cover 110 and protrude to the outside.

[0083] Specifically, a first link 210 and a second link 220 can be rotatably connected inside the main body cover 110. For example, a link frame (not shown) can be provided inside the main body cover 110 for connecting the first link 210 and the second link 220.

[0084] Furthermore, a suspension motor MS can be housed inside the main body cover 110. For example, the suspension motor MS can be configured in the link frame (not shown). The suspension motor MS can be connected to the first link 210.

[0085] A pair of leg guide holes 111 may be formed on the main body cover 110. For example, the pair of leg guide holes 111 may be formed side by side along the front and rear direction of the main body cover 110.

[0086] With the configuration described above, the leg 200 can rotate along the leg guide hole 111, and the range of rotational movement of the leg 200 can be guided.

[0087] The body cover 110 can be formed in a shape where the width (or diameter) in the horizontal direction is greater than the height in the vertical direction. For example, the body cover 110 can be formed in a shape similar to an ellipsoid.

[0088] This robot body 100 can help the robot 1 form a stable structure and provide a structure that helps the robot 1 maintain balance when moving (driving).

[0089] The robot body 100 can be configured on the vertical upper side of the wheel 310 (described later). The load of the robot body 100 can be transferred to the wheel 310 via the legs 200, and the wheel 310 can support the legs 200 and the robot body 100. With the configuration described above, the wheel 310 can stably support the load of the robot body 100.

[0090] 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 panel shape. The display 120 may be configured at a predetermined angle relative to the ground. For example, the display 120 may be configured in a forward-facing, upward position. With the configuration described above, when the robot 1 approaches the user, the user can see the display 120 if they are looking at the robot 1.

[0091] On the other hand, the display 120 can visually convey information about the operating status of the robot 1 to the user.

[0092] The display 120 is formed from one of the following elements: light-emitting diode (LED), liquid crystal display (LCD), plasma display panel, and organic light-emitting diode (OLED).

[0093] The display 120 can show information such as the robot 1's operating time and battery 800 power information.

[0094] According to an embodiment, the display 120 may be an input unit 125. That is, the display 120 may allow the user to input control commands. For example, the display 120 may be a touchscreen that visually displays the operating status and allows the user to input control commands.

[0095] The display 120 can show the facial expressions of robot 1. Alternatively, the display 120 can show the eyes of robot 1. By displaying the facial or eye shapes on the display 120, the current state of robot 1 can be expressed in an anthropomorphic way. For example, when a user returns home after being away, a smiling face or smiling eye shape can be displayed on the display 120. This gives the user the feeling of interacting with robot 1.

[0096] A charging terminal 130 may be provided on the main body cover 110. For example, the charging terminal 130 may be positioned facing the ground. As one example, the charging terminal 130 may be configured to face the ground. As another example, the charging terminal 130 may be positioned at a predetermined angle to the ground. With the configuration described above, when the robot 1 is combined with the robot charging base (not shown), the charging terminal 130 may come into contact with the terminal provided on the robot charging base (not shown).

[0097] The charging terminal 130 can be electrically connected to a robot charging base (not shown). Using the configuration described above, the robot 1 can receive power through the charging terminal 130. The power supplied to the charging terminal 130 can supply power to the battery 800. Additionally, the robot 1 can receive electrical signals through the charging terminal 130. The electrical signals transmitted through the charging terminal 130 can be received by the control unit 700.

[0098] On the other hand, a first camera 610a can be disposed at the lower front part of the main body cover 110. For example, the first camera 610a can be disposed on the center line passing through the center of the main body cover 110 in the left-right direction. With the configuration described above, the first camera 610a can detect objects or people disposed in front of the robot 1.

[0099] Additionally, an IR sensor 620 can be disposed at the lower front part of the main body cover 110. For example, a pair of IR sensors 620 can be disposed at predetermined intervals in the left-right direction. Using the configuration described above, the IR sensor 620 can detect the position of the light source that generates infrared light.

[0100] The IR sensor 620 can be configured close to the first camera 610a. For example, the first camera 610a can be configured between a pair of IR sensors 620.

[0101] Legs

[0102] Reference Figures 1 to 8 The following describes the leg 200 in a robot 1 according to an embodiment of the present invention.

[0103] The legs 200 can be attached to the robot body 100 to support it. For example, a pair of legs 200 can be provided, each attached inside the body housing 110. The pair of legs 200 can be arranged symmetrically (linearly symmetrically). In this case, at least a portion of the legs 200 is configured to be closer to the ground than the robot body 100. The legs 200 are configured to connect the robot body 100 to the wheels 310.

[0104] Therefore, the robot body 100 can move in a standing position with its legs 200 on the ground. That is, the gravity applied to the robot body 100 can be supported by the legs 200, which can maintain the height of the robot body 100.

[0105] The leg 200 includes a first link 210, a second link 220, and a third link 230. At this time, the first link 210 and the second link 220 are rotatably connected to the robot body 100 and the third link 230, respectively. That is, the first link 210 and the second link 220 are linked together with the robot body 100 and the third link 230, respectively.

[0106] The first link 210 is connected to the left and right side links inside the robot body 100.

[0107] The first link 210 is connected to the suspension motor MS. For example, the first link 210 can be directly or via a gear connected to the shaft of the suspension motor MS. With the configuration described above, the first link 210 receives driving force from the suspension motor MS.

[0108] The first link 210 is formed in a frame shape, with a suspension motor MS connected to one side in the longitudinal direction and a third link 230 connected to the other side in the longitudinal direction. At this time, the side of the first link 210 connected to the suspension motor MS can be configured to be further away from the ground than the side connected to the third link 230.

[0109] One side of the first link 210 is connected to a leg support (not shown) disposed inside the main body cover 110. The first link 210 can be rotatably connected to the leg support. For example, one side of the first link 210 can be formed in the shape of a disc or a plate. Therefore, one side of the first link 210 can pass through the leg support and be connected to the suspension motor MS.

[0110] 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 connected to the shaft of the suspension motor MS. With the configuration described above, if the suspension motor MS is driven, one side of the first link 210 can rotate in conjunction with the rotation of the shaft of the suspension motor MS.

[0111] The other side of the first link 210 is rotatably connected to the third link 230. For example, a through hole may be formed on the other side of the first link 210. A shaft may be rotatably connected through the through hole. The two ends of the shaft in the longitudinal direction may be connected to the third link 230.

[0112] With the configuration described above, the shaft can serve as a shaft that rotates the first link 210 and / or the third link 230. Therefore, the first link 210 and the third link 230 can be connected to be rotatable relative to each other.

[0113] Although not shown, the leg 200 may also include a gravity compensation unit. The gravity compensation unit compensates for the robot body 100's descent vertically due to gravity. That is, the gravity compensation unit provides a force to support the robot body 100.

[0114] For example, the gravity compensation part can be a torsion spring. The gravity compensation part can be wound to surround the outer periphery of the first link 210. Furthermore, one end of the gravity compensation part can be inserted into the first link 210 and fixedly connected, and the other end of the gravity compensation part can be inserted into the third link 230 and fixedly connected.

[0115] The gravity compensation 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 two ends of the gravity compensation unit are pre-rolled up so that the gravity compensation unit applies a restoring force in the direction that increases the angle between the first link 210 and the third link 230. Therefore, when the robot 1 is placed on the ground, even if 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 specified angle range.

[0116] With the configuration described above, the robot body 100 can be prevented from descending to the ground even when the suspension motor MS is not driven. Therefore, it has the effect of preventing energy loss due to the suspension motor MS and maintaining the height of the robot body 100 above a predetermined distance from the ground by utilizing the gravity compensation unit.

[0117] The second link 220 is connected to the left and right side links inside the robot body 100. For example, the second link 220 can be connected to the leg support (not shown) link provided inside the body cover 110. That is, the second link 220 can be connected together with the leg support (not shown) connected to the first link 210.

[0118] The second link 220 is formed into a frame shape, with one side in the length direction connected to the leg support (not shown), and the other side in the length direction connected to the third link 230.

[0119] The second link 220 can accommodate wires. For example, a space for accommodating wires can be formed on the inner side of the second link 220. Therefore, power from the battery 800 can be supplied to the wheel 300 via the wires. At the same time, it is possible to prevent the wires from being exposed to the outside.

[0120] One side of the second link 220 is rotatably connected to the leg support. For example, although not shown, one side of the second link 220 may have a shaft connected to the leg support extending through it. This shaft may be hollow. Wires can pass through the hollow. With the configuration described above, it is possible to prevent the wires supplying power from the battery 800 to the wheel motor MW from being exposed to the outside.

[0121] The other side of the second link 220 is rotatably connected to the third link 230. Specifically, the other end of the second link 220 is rotatably connected to the third link 230 via a shaft. For example, the other side of the second link 220 can be formed in the shape of a disk, through which the shaft is connected. Furthermore, both ends of the shaft in the longitudinal direction can be connected to the third link 230. With the configuration described above, the shaft can serve as a shaft for rotating the second link 220 and / or the third link 230. Therefore, the second link 220 and the third link 230 can be connected to be rotatable relative to each other.

[0122] The third link 230 is connected to the first link 210 and the second link 220, and is also connected to the wheel 300.

[0123] The third link 230 is formed in the shape of a frame, with the first link 210 and the second link 220 connected on one side in the length direction, and the wheel 300 connected on the other side in the length direction.

[0124] The third link 230 is connected to the first link 210 and the second link 220 on one side along its length. For example, a space can be formed on one side of the third link 230 to accommodate the first link 210 and the second link 220. That is, one side of the third link 230 can be formed as a pair of side-by-side frames, and the space between the pair of frames can accommodate the first link 210 and the second link 220.

[0125] Here, two axles can be arranged side-by-side between a pair of frames. That is, the two ends of each axle can be coupled to a pair of frames. And each axle can pass through the first link 210 and the second link 220. In this case, the first link 210 can be positioned in front and below the second link 220. That is, the axle passing through the first link 210 can be positioned closer to the wheel 310 than the axle passing through the second link 220.

[0126] Therefore, the first link 210 and the second link 220 can be combined to be able to rotate relative to the third link 230, respectively.

[0127] The other side of the length direction of the third link 230 is connected to the wheel portion 300. The other side of the length direction of the third link 230 may be formed to cover at least a portion of the wheel 310. For example, the other side of the length direction of the third link 230 may be formed to cover the rotation center of the wheel 310, and a space may be formed inside to rotatably accommodate the wheel 310.

[0128] Additionally, a wheel motor MW can be accommodated inside the other side of the third link 230 along its length.

[0129] With the configuration described above, a wheel 310 and a wheel motor MW can be accommodated on the other side of the length direction of the third link 230, and the wheel 310 can be rotatably coupled.

[0130] On the other hand, a sensor capable of measuring the distance to the ground can be provided on the other side of the length direction of the third link 230. For example, the sensor can be a ToF sensor (Time of Flight sensor). Using the configuration described above, the control unit 700 can determine whether the wheel 310 is in contact with the ground.

[0131] On the other hand, a stop 240 may be provided on the leg 200. The stop 240 may be disposed inside the body cover 110. The stop 240 may be disposed adjacent to the rotational joint 410 of the arm 400. For example, the stop 240 may be disposed inside the inner circumferential surface of the rotational joint 410, which is formed in a cylindrical shape.

[0132] As one example, the stop 240 can be disposed on the leg support (not shown). As another example, the stop 240 can be disposed on the first link 210.

[0133] The stop 240 can be formed to protrude toward the rotating joint 410. For example, the stop 240 can have a specified thickness and protrude in an arch shape arranged on concentric circles. In this case, the outer peripheral surface of the stop 240 can be arranged toward the upper front side of the robot 1, and the inner peripheral surface of the stop 240 can be arranged toward the lower rear side of the stop.

[0134] The stop 240 can contact and be supported by the rotating protrusion 480 of the arm 400, which will be described later. For example, the rotating protrusion 480 formed on the inner circumferential surface of the rotating joint 410 can rotate together with the rotation of the arm 400, and can contact the rotating protrusion 480 when the arm 400 is rotated to a predetermined position.

[0135] With the configuration described above, the stop 240 can limit the rotation angle of the arm 400 when the arm 400 is rotating.

[0136] Overall, the balance achieved by the legs 200 is observed. A first link 210 and a second link 220 are rotatably connected to a linkage frame (not shown) located inside the robot body 100. The first link 210 and the second link 220 are linked to a third link 230. That is, the robot 1 has a structure in which the robot body 100 is supported by a four-section linkage consisting of the linkage frame (not shown), the first link 210, the second link 220, and the third link 230.

[0137] Furthermore, the legs 200 generate a restoring force in the direction that lifts the robot body 100 towards the gravity compensation unit. Therefore, even when the suspension motor MS is not driven, the pair of legs 200 can maintain the state of lifting the robot body 100 from the ground to a predetermined height.

[0138] On the other hand, according to an embodiment of the present invention, the robot 1 can drive the suspension motor MS to maintain balance when lifting one of the wheels 310 to cross an obstacle or lowering the height of the robot body 100 for charging or the like.

[0139] If the suspension motor MS is driven, the first link 210 rotates about the end adjacent to the suspension motor MS, while the other end moves upward. Furthermore, the third link 230, connected to the other end of the first link 210, moves with the rotation of the first link 210. The second link 220 is pushed by the third link 230 to rotate. As a result, one end of the third link 230 (the point of engagement with the first link 210) can move rearward, and the other end of the third link 230 can move upward.

[0140] With the configuration described above, even when moving the wheel 310 in the vertical direction, the range of movement of the wheel 310 in the forward and backward direction can be limited. Therefore, the robot 1 can stably maintain its balance.

[0141] Therefore, the robot 1 according to the present invention has the effect of being able to cross obstacles of various heights using a four-link structure.

[0142] Wheel

[0143] Reference Figures 1 to 8 The following describes the wheel section 300 in a robot 1 according to an embodiment of the present invention.

[0144] The wheel 300 can be rotatably coupled to the leg 200 and roll on the ground to move the robot body 100 and the leg 200.

[0145] The wheel portion 300 includes a wheel 310 that contacts the ground and rolls on the ground.

[0146] The wheel 310 is configured to have a specified radius and a specified width along the axial direction. When viewed from the front, at least a portion of the robot body 100 and the leg 200 may be disposed on the vertical upper side of the wheel 310.

[0147] Although not shown, wheel 310 may include a wheel frame formed in a circular shape. The wheel frame may be formed as a cylinder with an opening on one side facing the shaft of the wheel motor MW. This can reduce the weight of the wheel frame.

[0148] However, when the wheel frame is formed into a cylindrical shape, the overall rigidity of the wheel frame may be reduced. With this in mind, ribs (not shown) can be formed on the inner and outer surfaces of the wheel frame to enhance rigidity.

[0149] A tire is attached to the outer circumferential surface of the wheel frame. The tire can be formed as a ring with a diameter that can fit onto the outer circumferential surface of the wheel frame.

[0150] Grooves with a specific pattern can be recessed on the outer circumference of the tire to improve its grip.

[0151] In one embodiment, the tire may be formed of an elastic rubber material.

[0152] The wheel motor MW can provide driving force to the wheel 310. The wheel motor MW can receive power from the battery 800 to generate rotational force.

[0153] The wheel motor MW can be housed inside the other side of the third link 230. Furthermore, the shaft of the wheel motor MW can be coupled to the wheel 310. That is, the wheel motor MW can be an in-wheel motor.

[0154] With the configuration described above, if the wheel motor MW is driven, the wheel 310 can rotate and roll along the ground, and the robot 1 can move along the ground.

[0155] arm

[0156] Reference Figures 1 to 8 The arm 400 in robot 1 according to an embodiment of the present invention will be described below.

[0157] Arm 400 can be pivotally coupled to both sides of robot body 100. For example, arm 400 can refer to a rotating body coupled to both ends of the axial (length direction) of the elliptical robot body 100, rotating about the two ends of the axial direction of the robot body 100 as a rotation axis.

[0158] Specifically, the arm 400 includes a rotatable joint 410, a connecting part 420, a loading and unloading part 430, and a connecting terminal 440.

[0159] The rotating joint 410 can be rotatably engaged with both sides of the robot body 100. A pair of rotating joints 410 can be provided, rotatably engaged with each other on the left and right sides of the robot body 100. In this case, the pair of rotating joints 410 can rotate in conjunction with each other. That is, the pair of rotating joints 410 can rotate simultaneously, and the angles of rotation can be the same. However, when the robot body 100 is used as a reference, the rotation directions of the pair of rotating joints 410 can be opposite to each other. That is, when the robot body 100 is used as a reference, if one rotating joint 410 rotates clockwise, the other rotating joint 410 can rotate counterclockwise.

[0160] The rotary joint 410 can be formed to cover the left and right ends of the robot body 100. For example, the rotary joint 410 can be formed into a cylindrical shape with a specified thickness. In this case, the left and right ends of the robot body 100 can be configured to face each other with the rotation center of the rotary joint 410.

[0161] That is, to describe the state in which the rotating joint 410 is attached to the robot body 100, if the robot body 100 is a human face, the rotating joint 410 can be in a shape similar to the earmuffs of a pair of earplugs or headphones.

[0162] like Figure 4 As shown, in robot 1 according to one embodiment, the arm motor MA can be disposed inside the body cover 110. In contrast, according to another embodiment, the arm motor MA can also be disposed inside the rotary joint.

[0163] 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 rotary coupling 410. For example, as Figure 4 As shown, the shaft of the arm motor MA can be connected to the reducer 460, and the reducer 460 can be connected to the driven gear 470.

[0164] The reducer 460 can be formed by at least one gear, which transmits the rotational force applied by the arm motor MA to the driven gear 470 and reduces the rotational speed of the driven gear 470 by the gear ratio. As a result, the fine rotation of the arm 400 can be controlled, enabling the arm 400 to provide relatively large forces.

[0165] The driven gear 470 can be engaged with the rotating joint 410 and rotate integrally. The driven gear 470 can mesh with the output end of the reducer 460 and receive the rotational power of the arm motor MA.

[0166] With this configuration, the rotary joint 410 can rotate if the arm motor MA is running.

[0167] Two arm motors MA can be provided, each connected to a pair of rotary joints 410. Alternatively, one arm motor MA can be provided, connected to one of the rotary joints 410.

[0168] With the configuration described above, when the arm motor MA is running, the pair of rotating joints 410 rotate together, and as the rotating joints 410 rotate, the connecting part 420 rotates together. That is, according to the present invention, the arm 400 can rotate integrally with the rotating joint 410 and the connecting part 420 about the arm axis of the rotating joint 410.

[0169] On the other hand, a speaker 450 can be disposed on the outer side of the rotary joint 410. That is, speakers 450 can be disposed in opposite directions to the directions in which the robot body 100 is disposed in the pair of rotary joints 410. Therefore, the speakers 450 can be disposed on the left and right sides of the cover 110.

[0170] The speaker 450 can emit sound to convey information about the robot 1. The sound source emitted by the speaker 450 can be sound data pre-stored in the robot 1. For example, the pre-stored sound data can be the robot 1's voice data. For example, the pre-stored sound data can be a prompt tone indicating the status of the robot 1. On the other hand, the sound source emitted by the speaker 450 can be sound data received through the communication unit 710.

[0171] On the other hand, in the case of existing robots, a pair of arms are set on both sides of the body, similar to human arms, so that they can move objects or perform specific tasks.

[0172] However, as mentioned above, with a pair of arms, each arm can move independently, which may result in different loads applied to the sides of the robot. Therefore, the robot may tilt to one side and fall over.

[0173] In addition, when the robot falls, the arms can attempt to get up by bracing themselves on the ground, but since the two arms rotate independently and brace themselves on the ground, there is a limitation that the robot may lose its balance and fall again during the process of getting up.

[0174] On the other hand, in the case of robots that move objects or perform specific tasks with one arm, the load of the moved object or the impact that may be generated when performing the task is concentrated on only one arm, which has the limitation of the arm being damaged.

[0175] To address these issues, the robot 1 according to an embodiment of the present invention is configured such that an arm 400 is rotatably attached to both sides of the robot body 100.

[0176] The connecting part 420 can connect a pair of rotating joints 410 to each other. The connecting part 420 can connect and rotate together a pair of rotating joints 410 covering the left and right sides of the robot body 100.

[0177] The connecting portion 420 allows a pair of rotating joints 410 to connect to each other, forming a shape capable of rotating around the robot body 100. Specifically, the connecting 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 connecting portion 420 can be arranged side by side and connected to the pair of rotating joints 410. As an example, the connecting portion 420 can be formed into a "∩" shape. As another example, the connecting portion 420 can also be formed into an arch shape.

[0178] To illustrate the state of arm 400 integrated with robot body 100, if robot body 100 is shaped like a human face, then connecting part 420 can be similar in shape to the headband of headphones. That is, if robot body 100 is shaped like a human face, arm 400 can be considered as having a shape similar to headphones.

[0179] The connecting part 420 can be integrated with a pair of rotary coupling parts 410. That is, the pair of rotary coupling parts 410 and connecting parts 420 respectively disposed on the left and right sides of the robot body 100 can form an integrated arm 400.

[0180] With the configuration described above, a pair of rotating joints 410 can be connected to the connecting part 420 as a whole, and the arm 400 as a whole can rotate together with the rotating joints 410 as the rotation center.

[0181] On the other hand, the radius of rotation of arm 400 can be greater than the maximum length of first link 210 and less than the maximum length of leg 200. Specifically, the shortest distance from the rotation center of rotation of rotary joint 410 to the outer end of connecting part 420 can be longer than the maximum length of first link 210 and less than the maximum length of leg 200.

[0182] With this configuration, if the arm 400 rotates, at least a portion of the arm 400 can be positioned closer to the ground than the first link 210.

[0183] On the other hand, the arm 400 also includes a rotating protrusion 480 formed protruding from the inner circumferential surface of the rotating joint 410.

[0184] The rotating protrusion 480 can be formed by protruding from the inner peripheral surface of the rotating joint 410, and is shaped such that its circumferential width narrows as it moves from the inner peripheral surface of the rotating joint 410 toward the rotation center of the rotating joint 410 (see reference). Figure 4 ).

[0185] The rotating protrusion 480 can rotate together with the rotating joint 410 and the connecting part 420. That is, when the rotating joint 410 and the connecting part 420 rotate, the rotating protrusion 480 rotates by the same rotation angle as the rotating joint 410 and the connecting part 420.

[0186] The rotating protrusion 480 can contact and be supported by the stop 240 as the arm 400 rotates. For example, when the connecting part 420 rotates behind the robot body 100 to be closer to the ground than the first link 210, the rotating protrusion 480 can contact the stop 240.

[0187] With the configuration described above, when the arm 400 is rotated to a predetermined position, the stop 240 and the rotating protrusion 480 contact the support, thereby restricting the rotation of the arm 400.

[0188] In addition, by maintaining the stop 240 and the rotating protrusion 480 in a state of mutual support, the posture of the arm 400 and the leg 200 can be maintained.

[0189] on the other hand, Figure 6 and Figure 7 A diagram illustrating another embodiment of the arm in a robot according to the present invention is shown.

[0190] Reference Figure 6 and Figure 7 The arm 1400 according to another embodiment of the present invention will be described below.

[0191] To avoid repetitive description, in this embodiment, the structure and effects are the same as those of arm 400 according to an embodiment of the present invention, except for the contents specifically described, and therefore can be referenced thereto.

[0192] The arm 1400 in this embodiment also includes a terminal rotating part 1460 and a conversion motor MC that provides rotational force to the terminal rotating part 1460.

[0193] The terminal rotating part 1460 and the connecting part 1420 are rotatably connected. As an example, the terminal rotating part 1460 can be formed into a plate shape with a specified thickness, and the loading and unloading part 1430 and the connecting terminal 1440 can be arranged on one side.

[0194] The terminal rotating part 1460 can form the appearance of the arm 1400 together with the connecting part 1420. Rotating shafts that are connected to the connecting part 1420 can be provided at both ends of the terminal rotating part 1460 in the longitudinal direction.

[0195] The converter motor MC can be connected to the terminal rotating part 1460 and provide rotational force to the terminal rotating part 1460. More specifically, the final output end of the shaft or gear of the converter motor MC is connected to the terminal rotating part 1460.

[0196] With the configuration described above, if the conversion motor MC is running, the terminal rotating part 1460 rotates.

[0197] If the terminal rotating part 1460 rotates, the surface exposed to the outside can change. Specifically, the side of the terminal rotating part 1460 that has the loading / unloading part 1430 and the connecting terminal 1440 disposed on the outside can be exposed to the outside. Furthermore, if the terminal rotating part 1460 rotates, the loading / unloading part 1430 and the connecting terminal 1440 can be hidden inside the internal space of the connecting part 1420.

[0198] With the configuration described above, the loading / unloading section 1430 and the connecting terminal 1440 can be hidden inside the connecting section 1420 without the need for the arm 1400 to be combined with the functional module.

[0199] In particular, in cases such as when robot 1 falls, the rotating arm 1400 is needed to support the connecting part 1420 on the ground. At this time, the loading and unloading part 1430 and the connecting terminal 1440 come into contact with the ground, which may result in contamination or damage.

[0200] Therefore, according to the arm 1400 of this embodiment, the rotation of the terminal rotating part 1460 can prevent the loading / unloading part 1430 and the connecting terminal 1440 from being exposed to the outside. Furthermore, it can prevent contamination or damage to the loading / unloading part 1430 and the connecting terminal 1440.

[0201] robot mask

[0202] Figure 9 A diagram is shown illustrating the connection between the robot mask and the robot body in a robot according to an embodiment of the present invention.

[0203] The robot 1 according to an embodiment of the present invention may further include a robot mask 500.

[0204] The robot mask 500 can be detachably attached to the robot body 100 and covers the display 120. The robot mask 500 can be attached to the robot body 100 and form the appearance of the robot 1.

[0205] On the other hand, according to an embodiment of the present invention, the robot mask 500 may include a window 550, which exposes the image displayed on the display 120 to the outside when the robot mask 500 is combined with the robot body 100.

[0206] The window 550 can be configured on the mask body 510. Specifically, the window 550 can be configured through the mask body 510, and when the robot mask 500 is combined with the robot body 100, it can be configured in a position opposite to the display 120.

[0207] Window 550 can be formed of a material that allows light to pass through. For example, window 550 can be formed of a transparent material.

[0208] On the other hand, if the robot mask 500 is combined with the robot body 100, then the face and expression can be displayed on the display 120.

[0209] Robot 1 can make users feel that the robot is expressing emotions by displaying the shapes of its face, such as eyes, nose, and mouth, on the display 120.

[0210] Using this method, Robot 1 can provide pet robot services that express emotions to users and communicate with them emotionally, and has the effect of stabilizing users' emotions.

[0211] Robot 1 can display facial expressions on display 120 and visually express emotions as described above, and can also express emotions through voice input via speaker 450.

[0212] For example, it can output laughter, surprise, and other sounds in accordance with the expressions displayed on the monitor 120.

[0213] In addition, robot 1 can express emotions visually by displaying facial expressions on display 120, as described above, and can also express emotions by rotating arm 400.

[0214] For example, while displaying a smiling expression on monitor 120, one can shake their arm 400 to express emotion.

[0215] Control Structure

[0216] Figure 10 A block diagram illustrating the control configuration of a robot according to an embodiment of the present invention is shown.

[0217] Reference Figure 10 According to an embodiment of the present invention, the robot 1 may include a sensor unit 600, a control unit 700, a communication unit 710, a memory 720, a battery 800, a motor unit, and an interface unit.

[0218] Figure 10 The components shown in the block diagram are not necessary for implementing robot 1. Robot 1 as described in this specification may have more or fewer components than those listed above.

[0219] First, the control unit 700 can control the overall movement of the robot 1. The control unit 700 can control the robot 1 to perform various functions according to the setting information stored in the memory 720 described later.

[0220] The control unit 700 can be configured in the robot body 100. More specifically, the control unit 700 can be mounted or set on a PCB configured inside the body cover 110.

[0221] The control unit 700 may include all kinds of devices capable of processing data, such as a processor. Here, for example, a "processor" may refer to a data processing device built into hardware that has physically structured circuitry to perform functions expressed by code or commands contained in a program. As an example of a data processing device built into hardware as described above, it may include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), and other processing devices, but the scope of the present invention is not limited thereto.

[0222] The control unit 700 can receive information about the external environment of the robot 1 from at least one of the components of the sensor unit 600 described later. For example, the information about the external environment could be the temperature, humidity, dust level, etc., of the room in which the robot 1 operates. Alternatively, it could be cliff information. Or, for example, it could be indoor map information. Of course, the information about the external environment is not limited to the examples described above.

[0223] The control unit 700 can receive information about the current state of the robot 1 from at least one of the components of the sensor unit 600 described later. For example, the current state could be tilt information of the robot body 100. Or, for example, it could be information about the separation state of the wheels 310 from the ground. Or, for example, it could be the position information of the wheel motor MW. Or, for example, it could be the position information of the suspension motor MS. Of course, the information about the current state of the robot 1 is not limited to the examples described above.

[0224] The control unit 700 can transmit drive control commands to at least one of the components of the motor unit described later. The control unit 700 can control the rotation of one or more of the wheel motor MW, suspension motor MS, and arm motor MA to achieve one of the following actions of the robot 1: driving, posture maintenance, or posture transformation.

[0225] The control unit 700 can receive user commands through at least one of the configurations of the interface unit described later. For example, the command may be a command to start / stop robot 1. Alternatively, the command may be a command to manually control various functions of robot 1.

[0226] The control unit 700 can output information related to the robot 1 through at least one of the configurations of the interface unit described later. For example, the output information may be visual information. Alternatively, for example, the output information may be auditory information.

[0227] The motor section may include at least one motor, which can provide driving force to the components connected to each motor.

[0228] The motor unit may include wheel motors MW that provide driving force to the left and right wheels 310. More specifically, the motor unit may include: a first wheel motor MW1 that transmits driving force to the wheel 310 disposed on one side in the left-right direction; and a second wheel motor MW2 that transmits driving force to the wheel 310 disposed on the other side in the left-right direction.

[0229] The wheel motor MW can be configured in the wheel section 300. More specifically, the wheel motor MW can be housed inside the third link 230.

[0230] Wheel motors MW are connected to 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 wheel motors MW on the left and right sides are driven and rotated according to the control commands of the control unit 700, and the robot 1 will travel along the ground by utilizing the rotation of the wheels 310 as the wheel motors MW rotate.

[0231] The motor unit may include a suspension motor MS that provides driving force to the left and right legs 200. More specifically, the motor unit may include: a first suspension motor MS1 that transmits driving force to the leg 200 disposed on one side in the left-right direction; and a second suspension motor MS2 that transmits driving force to the leg 200 disposed on the other side in the left-right direction.

[0232] The suspension motor MS can be configured in the robot body 100. More specifically, the suspension motor MS can be housed inside the body cover 110.

[0233] The suspension motor MS is connected to the first link 210. More specifically, the final output end of the shaft or gear of the first suspension motor MS1 is connected to the first link 210 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 can be driven and rotated according to the control command of the control unit 700. The first link 210 can rotate with the rotation of the suspension motor MS, and the third link 230 connected to the first link 210 can rotate. As a result, the angle between the first link 210 and the third link 230 changes.

[0234] Thus, robot 1 is able to lift or lower wheel 310 and maintain a horizontal posture when climbing obstacles or traveling on uneven ground. Alternatively, robot body 100 is able to move by lowering or raising.

[0235] The motor unit may include an arm motor MA that provides rotational force to the arm 400.

[0236] The arm motor MA can be configured in the robot body 100. More specifically, at least one arm motor MA can be housed inside the body cover 110.

[0237] The arm motor MA can be driven and rotated according to the control command of the control unit 700. The rotation joint 410 can rotate with the rotation of the arm motor MA. The connecting part 420, which is integral with the rotation joint 410, can rotate. As a result, the arm 400 can pivot relative to the robot body 100.

[0238] Thus, robot 1 can rotate arm 400 and combine it with functional modules by rotating arm 400. Alternatively, by rotating arm 400, arm 400 can support itself on the ground.

[0239] The sensor unit 600 may include at least one sensor, each of which can measure or detect information about the external environment of the robot 1 and / or information about the current state of the robot 1.

[0240] The sensor unit 600 may include a first camera 610a.

[0241] The first camera 610a is configured to perform mapping of the indoor environment in which the robot 1 operates. The first camera 610a may be referred to as the mapping camera 610a.

[0242] Therefore, the first camera 610a can be positioned in front of the robot body 100. More specifically, the first camera 610a can be positioned in front of the body cover 110.

[0243] The first camera 610a can capture images of the interior during movement to perform SLAM (Simultaneous Localization and Mapping). The control unit 700 can implement SLAM based on information about the surrounding environment captured by the first camera 610a and information about the current position of the robot 1.

[0244] On the other hand, the robot 1 according to the embodiments of the present invention can implement SLAM using only the first camera 610a, but is not limited thereto. For example, the robot 1 can also implement SLAM using additional sensors. For example, the additional sensor can be an LDS (Laser Distance Sensor).

[0245] The sensor unit 600 may include a second camera 610b.

[0246] The second camera 610b is configured to identify the position, distance, height, etc. of objects (objects, people, etc.) existing in front of the travel direction. The second camera 610b can be called a depth camera.

[0247] The second camera 610b can be configured in front of the robot body 100 to detect objects present in front of it when the robot 1 is moving forward. The second camera 610b can also be additionally configured at the rear of the robot body 100 to detect objects present behind it when the robot 1 is moving backward.

[0248] The second camera 610b can capture images of the area in front of the robot 1 in the direction it is moving (front when moving forward, rear when moving backward) to identify the position of objects. For this purpose, the second camera 610b can be equipped with both a depth module and an RGB module.

[0249] The Depth module can acquire depth information of an image. For example, depth information can be formed by measuring the delay or phase shift of the modulated light signals of all pixels in the image to be captured to obtain motion time information.

[0250] The RGB module can acquire color images (images). It can extract edge characteristics, color distribution, frequency characteristics (or wavelet transform) from color images.

[0251] In this way, by obtaining the distance and / or height information of the object to be identified from the depth information in the image in front captured by the second camera 610b, and calculating the boundary characteristics extracted from the color image, it is possible to identify whether there is an object in front and / or its position.

[0252] The sensor unit 600 may include an IR sensor 620 for infrared detection.

[0253] The IR sensor 620 can be an IR camera that detects infrared light.

[0254] The IR sensor 620 can be configured on the robot body 100. More specifically, the IR sensor 620 can be configured in front of the body cover 110. The IR sensor 620 can be configured around the first camera 610a.

[0255] The IR sensor 620 can detect infrared light emitted by an IR LED located in a specific module and move it closer to the module. For example, the module could be a charging dock for charging robot 1. Alternatively, the module could be a functional module detachably mounted on arm 400.

[0256] The control unit 700 can control the IR sensor 620 to start detecting the IR LED when the robot 1's charging state is below a preset level. The control unit 700 can also control the IR sensor 620 to start detecting the IR LED when it receives a command from the user to locate a specific module.

[0257] The sensor unit 600 may include a wheel motor sensor 630.

[0258] 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, encoders can detect the position of a motor and also its rotational speed.

[0259] Wheel motor sensors 630 can be configured on the left and right wheel motors MW respectively. More specifically, wheel motor sensors 630 can be connected to the final output end of the shaft or gear of the wheel motor MW and housed together with the wheel motor MW inside the third link 230.

[0260] The sensor unit 600 may include an arm motor sensor 640.

[0261] 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, encoders can detect the position of a motor and also its rotational speed.

[0262] The arm motor sensor 640 can be configured on the arm motor MA. More specifically, the arm motor sensor 640 can be connected to the final output end of the shaft or gear of the arm motor MA and housed together with the arm motor MA inside the body cover 110 or the rotatable joint 410.

[0263] The sensor unit 600 may include an IMU sensor 650.

[0264] The IMU sensor 650 can measure the tilt angle of the robot body 100.

[0265] As is well known, the IMU (Inertial Measurement Unit) sensor 650, which integrates a three-axis accelerometer, a three-axis gyroscope, and a geomagnetic sensor, is also known as an inertial measurement sensor.

[0266] A triaxial accelerometer is a sensor that detects the gravitational acceleration of an object when it is stationary. The gravitational acceleration varies depending on the angle at which the object is tilted; therefore, measuring the acceleration due to weight corresponds to the tilt angle. However, it has the drawback of not being able to obtain accurate values ​​when the object is moving and accelerating.

[0267] A three-axis gyroscope sensor is a sensor that measures angular velocity. The tilt angle is obtained by integrating the angular velocity over the entire time interval. However, the angular velocity measured by a gyroscope sensor is constantly erroneous due to noise and other factors; as a result, the error in the integrated value accumulates over time.

[0268] As a result, when in a static standby state for an extended period, Robot 1 can accurately measure tilt using the accelerometer, but errors occur due to the gyroscope sensor. While moving, Robot 1 can accurately measure tilt using the gyroscope sensor, but cannot obtain the correct value using the accelerometer.

[0269] Using an IMU sensor can overcome the shortcomings of the aforementioned accelerometer and gyroscope sensors.

[0270] In this specification, the following describes an embodiment in which an IMU sensor is provided.

[0271] The IMU sensor can be configured on the robot body 100. More specifically, the IMU sensor can be configured adjacent to the control unit 700. The IMU sensor can be mounted or disposed on a PCB inside the robot body 100. The IMU sensor is preferably configured near the central area of ​​the robot body 100 to improve the accuracy of tilt angle and orientation measurement.

[0272] 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 them to the control unit 700.

[0273] The control unit 700 can calculate the tilt direction and tilt angle of the robot body 100 using at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor. Based on this, the control unit 700 can perform the horizontal posture maintenance control of the robot body 100, which will be described later.

[0274] The sensor unit 600 may include a cliff sensor 660 for detecting cliffs.

[0275] The cliff sensor 660 can detect the distance to the ground ahead of the robot 1. The cliff sensor 660 can be implemented in various ways within the range of detecting the relative distance between the location where the cliff sensor 660 is located and the ground.

[0276] For example, the cliff sensor 660 may include a light-emitting part for illuminating light and a light-receiving part for incident reflected light. The cliff sensor 660 may be formed from an infrared sensor.

[0277] The cliff sensor 660 can be configured on the robot body 100. More specifically, the cliff sensor 660 can be configured on the inside of 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 its direction of travel.

[0278] The light-emitting part of the cliff sensor 660 can illuminate light at an angle towards the ground in front. The light-receiving part of the cliff sensor 660 can receive the incident light reflected from the ground. The distance between the ground in front and the cliff sensor 660 can be measured based on the difference between the time of light illumination and the time of light reception.

[0279] The situation where the distance measured by the cliff sensor 660 exceeds a preset value or a specified range could be due to a sudden drop in ground level ahead. This principle can be used to detect cliffs.

[0280] If a cliff is detected ahead, the control unit 700 can control the wheel motor MW to make the robot 1 avoid the detected cliff. In this case, the control of the wheel motor MW can be a stop control, or it can be a rotation direction change control.

[0281] The sensor unit 600 may include a contact detection sensor 670.

[0282] The contact detection sensor 670 can detect whether the wheel 310 is in contact with the ground.

[0283] The contact detection sensor 670 may include a TOF sensor that measures the separation distance between the robot 1's wheel 310 and the ground. The TOF sensor may be a 3D camera that applies TOF (Time of Flight) technology. As is well known, TOF technology refers to the technology of measuring the distance to an object based on the round-trip time of flight of light reflected back from the object.

[0284] A TOF sensor can be configured on the wheel 300. For example, contact detection sensors 670 can be configured on the left and right third links 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 or equal to a preset distance (or greater than the upper limit of a preset distance range), the wheel 310 is in a state of separation from the ground.

[0285] The contact detection sensor 670 may include a load cell that measures the magnitude of the force applied to a part of the robot 1.

[0286] As is well known, when a force is applied to a load cell, the resistance of the strain gauge on its surface changes. The magnitude of the force applied to the load cell can then be measured by this change in resistance.

[0287] A load cell can be configured on the leg 200. Preferably, the load cells can be configured 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 exerted by the ground. The measured value of the load cell is different from the initial value according to the deformation of the third link 230. Thus, it can be determined whether the wheel 310 is in contact with the ground.

[0288] The sensor unit 600 may include an environmental sensor 680.

[0289] The environmental sensor 680 can measure various environmental conditions outside the robot 1 (i.e., inside the room where the robot 1 operates). The environmental sensor 680 may include at least one of a temperature sensor, a humidity sensor, and a dust sensor.

[0290] An environmental sensor 680 may be configured on the robot body 100. More specifically, the environmental sensor 680 may be configured at the rear of the robot body 100. As a possible embodiment, the information measured by the environmental sensor 680 may be visually displayed on a display 120.

[0291] The sensor unit 600 may include a side sensor 690.

[0292] The side sensor 690 can measure the distance to obstacles, including walls.

[0293] The side sensor 690 can measure the distance to the wall on the side where the robot 1 is traveling. The side sensor 690 can be configured in various ways to detect the relative distance between the location where the side sensor 690 is installed and obstacles.

[0294] For example, the side sensor 690 may include a light-emitting part for illuminating light and a light-receiving part for incident reflected light. The side sensor 690 may be constructed from an infrared sensor.

[0295] The side sensor 690 can be configured on both sides of the robot 1. For example, the side sensor 690 can be configured on the outer side of the third link 230 of the leg 200.

[0296] The interface may include at least one configuration for interaction between the user and the robot 1, and each configuration may be configured to input commands from the user and / or output information to the user.

[0297] The interface may include a microphone 140.

[0298] Multiple microphones 140 can be provided as components for recognizing the user's voice. Multiple microphones 140 can be configured on the main body cover 110. For example, four microphones 140 can be configured on the upper side of the main body cover 110.

[0299] The voice signal received by microphone 140 can be used for user location tracking. In this case, a known sound source tracking algorithm can be applied. For example, the sound source tracking algorithm could be a three-point measurement method (triangulation method) that utilizes the time difference between the voice signals received by multiple microphones 140. Its principle is to calculate the location of the voice source using the position of each microphone 140 and the speed of sound waves.

[0300] On the other hand, if the microphone 140 and the aforementioned first camera 610a cooperate with each other, it can be achieved that even if the user calls the robot 1 from a distance, the robot 1 can find the user's location.

[0301] The interface may include a speaker 450.

[0302] The speaker 450 can be configured on the arm 400. For example, the speaker 450 can be configured on the rotatable joint 410 of the arm 400. The speaker 450 can be configured on both sides of the cover body 110 in the left and right directions respectively.

[0303] The speaker 450 can emit information about the robot 1 as sound. The source of the sound emitted by the speaker 450 can be sound data pre-stored in the robot 1. For example, the pre-stored sound data can be the robot 1's voice data. For example, the pre-stored sound data can be a prompt tone indicating the status of the robot 1. On the other hand, the source of the sound emitted by the speaker 450 can be sound data received through the communication unit 710.

[0304] The interface may include a display 120 and an input section 125.

[0305] 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.

[0306] The display 120 may be formed from one of the following elements: light-emitting diode (LED), liquid crystal display (LCD), plasma display panel, and organic light-emitting diode (OLED).

[0307] The display 120 can show information such as the robot 1's operating time and battery 800 power information.

[0308] The display 120 can show the facial expressions of robot 1. Alternatively, the display 120 can show the eyes of robot 1. The current state of robot 1 can be expressed emotionally and anthropomorphically through the shape of its face or eyes displayed on the display 120. For example, when a user returns home after being away, a smiling face or smiling eye shape can be displayed on the display 120. This gives the user the feeling of interacting with robot 1.

[0309] The input unit 125 can receive control commands from the user for controlling the robot 1. For example, the control commands may be commands to change various settings of the robot 1. For example, the settings may be voice volume, display brightness, power saving mode settings, etc.

[0310] The input unit 125 can be configured on the display 120.

[0311] The input unit 125 generates key input data input by the user for the motion control of the robot 1. Therefore, the input unit 125 can be composed of a key pad, a dome switch, a touchpad (pressure-sensitive / capacitive), etc. In particular, when the touchpad and the first display form a stacked structure, it can be referred to as a touchscreen.

[0312] The communication unit 710 can be configured for signal transmission between the various components within the robot 1. For example, the communication unit 710 can support Controller Area Network (CAN) communication. For example, the signal can be a control command transmitted from the control unit 700 to other components.

[0313] The communication unit 710 can support wireless communication with other devices located outside the robot 1. As a wireless communication module for supporting wireless communication, either a short-range communication module or a long-range communication module can be provided.

[0314] For example, short-range communication can be Bluetooth communication, Near Field Communication (NFC) communication, etc.

[0315] For example, long-distance communication can be Wireless LAN (WLAN), Digital Living Network Alliance (DLNA), Wireless Broadband (Wibro), World Interoperability for Microwave Access (WiMAX), Global System for Mobile Communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), Wideband CDMA (WCDMA), High Speed ​​Downlink Packet Access (HSDPA), High Speed ​​Uplink Packet Access (HSUPA), IEEE 802.16, Long Term Evolution (LTE), and Long Term Advanced Evolution (LTEA). Evolution-Advanced, Wireless Mobile Broadband Service (WMBS), Bluetooth Low Energy (BLE), Zigbee, Radio Frequency (RF), and LoRa (Long Range), etc.

[0316] The memory 720 is a structure that stores various data for the driving and motion of the robot 1.

[0317] The memory 720 can store the application program for the autonomous driving of the robot 1 and various related data. The memory 720 can also store various data sensed by the sensor unit 600, and setting information such as various settings selected or input by the user.

[0318] The memory 720 may include magnetic storage media or flash storage media, but the scope of the invention is not limited thereto. Such memory 720 may include internal memory and / or external memory, and may include volatile memory such as DRAM, SRAM or SDRAM, non-volatile memory such as one-time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, NAND flash memory or NOR flash memory, flash drives such as SSD, compact flash (CF) card, SD card, Micro-SD card, Mini-SD card, Xd card or memory stick, or storage devices such as HDD.

[0319] The memory 720 may be included in the control unit 700, or it may be configured as a separate unit.

[0320] Battery 800 supplies power to the other components that make up robot 1.

[0321] The battery 800 can be configured within the robot body 100. More specifically, the battery 800 can be housed inside the body housing 110. Although not shown, the battery 800 can be configured further rearward than the suspension motor MS.

[0322] The battery 800 can be charged by an external power source. Therefore, a charging terminal 130 for charging the battery 800 can be provided on one side of the robot body 100. As in an embodiment of the present invention, the charging terminal 130 can be located at the lower part of the robot body 100. Thus, the robot 1 can easily connect to the charging base by approaching and lowering itself, thereby placing the charging terminal 130 from above onto the corresponding terminal of the charging base.

[0323] Basic driving posture of robots

[0324] Robot 1 can be like Figure 1 The robot is shown in a preset basic posture while moving on the ground. The basic posture can refer to the posture of robot 1 in a state where no specific event occurs. The specific event may occur due to changes in the external environment in which robot 1 is moving, user control commands, or whether robot 1 meets / does not meet preset conditions.

[0325] In the basic posture, the connecting portion 420 of the arm 400 can be configured on the upper side of the robot body 100. More specifically, in the basic posture, the connecting portion 420 can be configured to be further away from the ground than the robot body 100. With this configuration, the user can easily lift the robot 1 by gripping the connecting portion 420. This helps the user to easily move the robot 1 and quickly move the robot 1 to other spaces. In other words, the arm 400 can serve as a handle provided to the user.

[0326] In the basic posture, the connecting part 420 of the arm 400 can be positioned behind the robot body 100. Preferably, in the basic posture, the connecting part 420 can be positioned further back than the robot mask 500. This prevents the robot mask 500 from being obscured by the arm 400 and reducing the visibility of the display when the user looks at the robot 1.

[0327] In its basic posture, robot 1 can perform balance control to avoid falling forward or backward. In this case, balance control refers to controlling the rotation of the drive wheel motor MW according to the degree of tilt of robot 1, causing wheel 310 to rotate forward or backward.

[0328] If robot 1 is tilted further forward than the preset basic posture, the wheel motor MW can be driven to rotate wheel 310 backward to restore robot 1 to the basic posture.

[0329] If robot 1 is tilted further backward than the preset basic posture, the wheel motor MW can be driven to rotate wheel 310 forward to restore robot 1 to the basic posture.

[0330] On the other hand, as mentioned above, the degree of tilt of robot 1 can be measured by IMU sensor 650.

[0331] While maintaining the basic posture described above, robot 1 travels on the ground driven by the rotation of wheel 310. If an obstacle is detected in the travel path of wheel 310, the robot can perform a corresponding movement according to the type of obstacle.

[0332] At this point, obstacles to travel refer to objects such as cliffs that exist in the travel path of robot 1 and may cause accidents such as collisions or falls when robot 1 continues to travel in its basic posture.

[0333] Such obstructions to traffic can be detected by the sensor unit.

[0334] More specifically, the depth camera 610b can detect the obstruction to travel. Alternatively, the cliff sensor 660 can detect the obstruction to travel.

[0335] When the robot 1 according to an embodiment of the present invention performs a corresponding movement to an obstacle, it must perform a rotational drive of the arm 400 (or, it can also be referred to as a rotational movement of the arm 400). At this time, the rotational drive of the arm 400 can be accompanied by a change in the position of the connecting part 420.

[0336] In an embodiment of the present invention, the legs 200 of robot 1 may include an upper link and a lower link.

[0337] The upper link can be defined as a concept including a first link 210 and a second link 220 as link structures configured on the side of the robot body 100. The lower link can be defined as a concept including a third link 230 as link structures configured on the side of the wheel 310.

[0338] The upper and lower links can be linked together to form a joint structure. Through the movement of the joint structure, the robot body 100 can move up or down during travel.

[0339] More specifically, the upper link and the lower link can maintain a constant engagement angle in the basic posture of robot 1. Here, the engagement angle between the upper link and the lower link can refer to the engagement angle between the first link 210 and the third link 230. The engagement angle can be the acute angle formed by the first link 210 and the third link 230 with the connection point of the first link 210 and the third link 230 as a reference.

[0340] The adjustment of the engagement angle (i.e., the movement of the aforementioned joint structure) can be achieved by controlling the drive of the suspension motor MS. As the suspension motor MS rotates and the engagement angle decreases, the robot body 100 can descend towards the ground. As the suspension motor MS rotates and the engagement angle increases, the robot body 100 can rise in the opposite direction towards the ground.

[0341] On the other hand, as mentioned earlier, in the basic posture of robot 1, the engagement angle can be maintained at the magnitude formed by the restoring force of the gravity compensation unit. Since the restoring force of the gravity compensation unit is effective, there is no need for rotational drive of the suspension motor MS used to maintain the basic posture.

[0342] Response movement during ground obstacle detection

[0343] Figure 11 This is a flowchart illustrating a robot control method implemented to deal with ground obstacles present in front of the direction of travel. Figures 12 to 20 The following are shown in sequence Figure 11 The robot's response movements are executed in the embodiments described.

[0344] exist Figures 11 to 20Each step of the control method shown and described below may be executed by the control unit 700.

[0345] A control method for a robot for coping with ground obstacles may include: a sensing step S1100, in which the sensor unit 600 of the robot 1 detects a ground obstacle (obstacle) (refer to Figure 12 ).

[0346] Here, the ground obstacle may refer to an obstacle that is disposed on the ground and rises from the ground by a constant height to form a step with the ground. When the robot 1 continues to move in the traveling direction, an obstacle disposed at a position where it collides with the lower side of the robot 1. For example, a chair leg having a "匚" shape, a threshold, a carpet, a window frame, etc. may correspond thereto.

[0347] The ground obstacle may be detected by the sensor unit 600 (S1100).

[0348] More specifically, the ground obstacle may be detected by the depth camera 610b. As described above, the depth camera 610b may measure whether there is an object in front of the camera, the distance to the object, and the height. The ground obstacle may also be detected by the cliff sensor 660.

[0349] After the ground obstacle is detected by the depth camera 610b or the cliff sensor 660, the robot 1 may continue to move. When continuing to move, the wheel 310 of the robot 1 contacts the ground obstacle. The center of gravity of the robot 1 in a state where the wheel 310 is stuck to the ground obstacle will instantaneously shift forward.

[0350] As described above, the robot 1 of the present invention performs balance control to travel stably using the two wheels 310. When the center of gravity shifts forward, the control wheel 310 rotates backward to move the center of gravity backward. That is, the robot 1 moves backward.

[0351] The robot 1 that has restored the balance of the center of gravity rotates the wheel 310 forward to move forward again, but will encounter the ground obstacle again. The center of gravity of the robot 1 shifts forward again, and the balance control is re-executed to control the robot 1 to move backward.

[0352] Thus, in the case where there is a ground obstacle in front of the traveling path, the robot 1 will fall into a state of repeating forward and backward movements with the ground obstacle placed in front.

[0353] The reason for this problem is that the robot 1 performs balance control during normal travel (refer to Figure 13 ).

[0354] Balance control is a control method that helps ensure stability while enabling the two-wheeled robot 1 to move nimbly. However, when passing over obstacles on the ground, the robot 1's center of gravity inevitably sways temporarily, making it impossible to climb the obstacles if balance is not maintained. In other words, balance control can actually hinder the robot 1's movement.

[0355] After the sensor unit 600 detects a ground obstacle ahead, if the robot 1 repeats forward and backward movements a constant number of times, the control unit 700 can determine that there is an impassable ground obstacle on the robot 1's travel path. In this case, the robot 1 executes a preset response movement to avoid the ground obstacle. This will be described later.

[0356] Of course, if there are no obstacles on the ground ahead or the obstacles are very low and can be passed without the robot 1's center of gravity swaying, then the robot 1 will move while maintaining balance control (S1200).

[0357] The control method for a robot to deal with ground obstacles may also include an arm rotation step S1300, which rotates the arm 400 forward.

[0358] As described above, this step (S1300) can be performed when the robot 1 is in a state where ground obstacles are placed in front of it and the forward and backward states are repeated a constant number of times.

[0359] The arm 400 can rotate under the rotational drive of the arm motor MA.

[0360] At this time, the integrated arm 400, which is attached to the left and right sides of the robot body 100, rotates in the direction of travel of the robot 1 (see reference). Figure 14 (The right side of the image).

[0361] In this step (S1300), the arm 400 is rotated to be positioned closer to the lower front part than the upper end of the robot body 100. More specifically, the arm 400 is controlled to rotate so that the upper end of the connecting part 420 is positioned closer to the lower front part than the upper end of the robot body 100.

[0362] On the other hand, the "front" mentioned here refers to the direction in which the robot mask 500 is located.

[0363] Thus, if the arm 400 rotates and is positioned further forward than the robot body 100, the overall center of gravity of the robot 1 can be positioned forward. More specifically, the overall center of gravity of the robot 1 can be positioned further forward than the rotation center of the wheel 310.

[0364] In this step (S1300), robot 1 can move backward.

[0365] The backward movement of robot 1 is achieved by the rearward rotation of wheel 310. As an example, after robot 1 moves backward by rotating wheel 310, arm 400 can rotate forward (see reference). Figure 14 (Left side image).

[0366] As another feasible example, after the arm 400 rotates forward, the robot 1 can move backward.

[0367] The control method for a robot to deal with ground obstacles may also include a balance control release step S1400.

[0368] If the balance control is released, wheel 310 will no longer be controlled to rotate according to the direction of robot 1's center of gravity. Therefore, robot 1 will tilt in the direction of robot 1's overall center of gravity (see reference). Figure 15 ).

[0369] At this point, wheel 310 can rotate backward, and robot 1 can move backward relative to the ground obstacle. That is, robot 1 can also move backward after the balance control is released.

[0370] If robot 1 moves backward after the balance control is released, the center of gravity of robot 1 will shift forward, thus forming a three-point support configuration for robot 1 on more than one object (i.e., a prone position facing forward).

[0371] Here, the object refers to an object that exists outside the robot 1 and comes into contact with a component of the robot 1. In this invention, it can be the ground or a ground obstacle.

[0372] In the previous step (S1300), the arm 400 is in a forward-rotating state, so the three-point support can be formed by the wheel 310 and the arm 400 on each of the left and right sides.

[0373] At this time, the wheel 310 on each of the left and right sides is in the form of supporting the ground, and the arm 400 (more specifically, the connecting part 420 of the arm 400) is in the form of supporting the ground or ground obstacles.

[0374] As one example, the connecting part 420 can be supported on the upper side of a ground obstacle. As another example, the connecting part 420 can be supported on the ground further forward than the ground obstacle. When the connecting part 420 is supported on the ground in front of the ground obstacle, the connecting part 420 and the wheel 310 can be positioned in front and behind respectively, separated by the ground obstacle.

[0375] A three-point support configuration refers to a configuration where more than one object is supported by three contact points. In this case, the contact point between the left wheel and the ground can be defined as the first contact point P1, the contact point between the right wheel and the ground as the second contact point P2, and the contact point between the connecting part 420 and the ground (or a ground obstacle) as the third contact point P3 (see reference). Figure 15 ).

[0376] Of course, the connecting portion 420 of the arm 400 extends to the left and right to connect the left and right rotating joint portions 410, so the third contact portion P3 can also be formed in a shape that extends to the left and right.

[0377] In this step (S1400), after forming the three-point support configuration, if the forward tilt angle of the robot body 100 is less than a preset threshold, at least one motor configured on the robot body 100 or the wheel 310 can be driven.

[0378] For example, if the ground obstacle is too high and the robot 1's center of gravity cannot shift sufficiently forward, this corresponds to the situation where the forward tilt angle of the robot body 100 is less than a preset threshold. In this case, as described above, the tilt angle of the robot body 100 can be measured by the IMU sensor 650.

[0379] Robot 1 needs to tilt forward sufficiently to achieve a large enough forward tilt angle to stably climb and pass over ground obstacles. If Robot 1 is not tilted forward sufficiently, its center of gravity will shift backward before it can complete the climb over the ground obstacle when it moves forward.

[0380] On the other hand, in embodiments of the present invention, the threshold for setting the forward tilt angle can be 5 degrees or more and 20 degrees or less.

[0381] As an embodiment for forming a larger tilt angle when the forward tilt angle is less than a threshold, the control unit 700 can drive the suspension motor MS.

[0382] More specifically, the suspension motor MS can be controlled to rotate in a direction that increases the engagement angle between the upper and lower links. If the engagement angle between the upper and lower links increases, the lower link is pushed backward, resulting in the robot body 100, which is in a forward-tilting state, tilting forward even more.

[0383] As an embodiment for forming a larger tilt angle when the forward tilt angle is less than a threshold, the control unit 700 can drive the wheel motor MW.

[0384] More specifically, the wheel motor MW can be controlled to rotate backward and cause the robot 1 to move further backward. If the robot 1 moves further backward, it has the effect of causing the robot body 100, which is in a forward-leaning state, to tilt forward even more.

[0385] Thus, if the forward tilt angle of the robot body 100 is greater than the threshold, it can prevent the robot 1 from tipping over backward before passing through ground obstacles.

[0386] The control method for a robot to deal with ground obstacles may also include obstacle passage step S1500.

[0387] In this step (S1500), in the state of forming a three-point support shape (the posture of robot 1 lying down), robot 1 can move forward relative to the ground obstacle and climb the ground obstacle (S1510).

[0388] The connecting part 420 can be in contact with a ground obstacle or the ground in front of the obstacle, and the robot 1 can use the force of forward movement of the wheel 310 to pass through the ground obstacle (see reference). Figures 16 to 18 ).

[0389] Thus, in this invention, robot 1 moves forward in a prone position (three-point support configuration), which has the advantage of being able to stably pass through ground obstacles without the center of gravity swaying too much forward, backward, left, or right.

[0390] On the other hand, in this step (S1500), when the robot 1 moves forward in order to climb ground obstacles, it can be controlled to move at a speed greater than the normal driving speed.

[0391] That is, the forward rotation speed of wheel 310 when climbing ground obstacles can be greater than the rotation speed of wheel 310 when traveling on flat ground. Thus, robot 1 can use instantaneous force to climb ground obstacles.

[0392] At this point, if robot 1 is unable to climb the ground obstacle, the rotational speed of wheel 310 can be further increased. The rotational speed of wheel 310 can be gradually increased even when it is unable to climb the ground obstacle.

[0393] In this step (S1500), robot 1 may tip over to the left or right while climbing a ground obstacle. This may occur, for example, if the connecting part 420 is not evenly supported by the ground obstacle or if only one of the left or right side wheels 310 is stuck in the ground obstacle. The left or right tipping of robot 1 can be determined by the tilt angle measured by the IMU sensor 650.

[0394] In this step (S1500), if the robot 1 flips over to the left or right while climbing a ground obstacle as described above, all motors can be stopped (S1530).

[0395] More specifically, if the wheel motor MW continues to drive and keep the wheel 310 rotating in the event that robot 1 has overturned, battery discharge problems and safety issues may occur, so the wheel motor MW can be stopped.

[0396] For the same reason, the suspension motor MW and the arm motor MA can also be controlled to stop or remain in a stopped state.

[0397] While controlling the motor to stop, the control unit 700 can generate an error message. The error message can be generated as a visual and / or auditory alert. For example, the error message can be visually displayed on the monitor 120. Alternatively, the error message can be emitted via speaker 450 as an alarm tone or voice.

[0398] The control method for a robot to cope with ground obstacles may also include a robot body raising step S1600.

[0399] If robot 1 passes through the ground obstacle without tipping over to the left or right, then robot 1 needs to return to its basic posture from the prone position.

[0400] In this step (S1600), the control unit 700 can control the arm motor MA to rotate the arm 400 forward by a constant angle (see reference). Figure 19 ).

[0401] At this point, "forward" can refer to the direction closer to wheel 310. More specifically, the connecting part 420 of arm 400 can rotate towards the direction closer to wheel 310. In other words, the connecting part 420 can rotate away from robot mask 500. Furthermore, the connecting part 420 can rotate to a position directly below the robot body 100.

[0402] Through this control, the height of the robot body 100 can be increased (see reference). Figure 19 ).

[0403] The control method for robots used to deal with ground obstacles may also include a balance control restart step S1700.

[0404] If, after climbing and passing over a ground obstacle, the arm 400 rotates to raise the robot body 100 to a constant height, the control unit 700 can restart the balance control of the wheel 310.

[0405] After climbing and passing over ground obstacles, even when the robot body 100 is raised by rotating the connecting part 420, the overall center of gravity of the robot 1 is still tilted forward. In this state, if balance control is restarted, the control wheel 310 rotates backward to move the center of gravity backward.

[0406] As a result, arm 400 is raised, and robot 1 changes from a state of three-point support on the ground via the left and right side wheels 310 and the connecting part 420 to a state of two-point support on the ground using only the left and right side wheels 310. That is, robot 1 changes from a prone position to a standing position (see reference). Figure 20 (Left side image).

[0407] The control method for robots that need to deal with ground obstacles may also include a basic posture recovery step (S1800) for the robot.

[0408] As described above, in the basic posture of the robot 1 traveling along the ground, the arm 400 (more specifically, the connecting part 420 of the arm 400) is positioned behind the robot body 100.

[0409] In the previous step (S1700), although the robot 1 changed from a prone position to a standing position, the arm 400 was still positioned in front of the robot body 100, so it is necessary to restore it to the basic position.

[0410] Therefore, in this step (S1800), after the control unit 700 restarts balance control and the robot 1 stands in a two-point support configuration on the ground, it can rotate the connecting part 420 backward by rotating the drive arm motor MA (see reference). Figure 20 (The right side of the image).

[0411] The connecting part 420 can be rotated to the position of the basic posture when the robot 1 is moving (i.e., it is located on the upper rear side of the robot body 100).

[0412] As described above, according to the present invention, when there is a ground obstacle in front of the robot's direction of travel, the arm is rotated forward. This creates a configuration where the arm and two wheels provide temporary three-point support against the ground or obstacle, allowing the robot to easily climb obstacles while maintaining balance.

[0413] Furthermore, according to the present invention, balance control is performed during normal driving to control the rotation direction of the wheels based on the robot's tilt, and then the wheel balance control is released only when encountering ground obstacles. That is, it is possible to simultaneously satisfy driving agility and stability when dealing with obstacles.

[0414] Balance control when the user helps the robot up after it has fallen.

[0415] Figure 21 This is a flowchart illustrating a robot control method performed by a user when lifting a robot that has fallen to the ground, according to an embodiment of the present invention. Figures 22 to 25 The process of picking up a robot that has fallen to the ground is shown in sequence.

[0416] The wheel 310 can be configured on the lower part of the robot body 100, and when the center of gravity of the robot body 100 is tilted, it can perform balance control to drive rotation in the opposite direction of the tilt.

[0417] The leg 200 may include an upper link and a lower link.

[0418] The upper link can be defined as including a first link 210 and a second link 220 as link structures configured on the side of the robot body 100. The lower link can be defined as including a third link 230 as link structures configured on the side of the wheel 310.

[0419] One side of the upper link can be rotatably coupled to the robot body 100.

[0420] One side of the lower connecting rod can be rotatably connected to the other side of the upper connecting rod, and the other side can be rotatably connected to the wheel 310.

[0421] The robot 1 according to an embodiment of the present invention may include a distance detection sensor, a forward / backward tilt detection sensor, a left / right tilt detection sensor, and an angle detection sensor. In this case, the sensors may be configured on the robot body 100.

[0422] The distance detection sensor can detect the distance between the robot body 100 and the ground B. The distance detection sensor can be a cliff sensor. Cliff sensors can be formed in various ways within a range capable of detecting the relative distance between the location where the cliff sensor is formed and the ground. For example, a cliff sensor can include a light-emitting part for illuminating light and a light-receiving part for incident reflected light. The cliff sensor can also be formed using an infrared sensor.

[0423] The forward and backward tilt detection sensor can detect the angle at which the robot body 100 tilts towards the ground B in the forward and backward directions. The left and right tilt detection sensor can detect the angle at which the robot body 100 tilts towards the ground B in the left and right directions.

[0424] The forward / backward tilt detection sensor and the left / right tilt detection sensor can be IMU sensors. The IMU sensors can be mounted or disposed on a PCB inside the robot body 100. Preferably, to improve the accuracy of tilt angle and direction measurement, the IMU sensors can be configured close to the central region of the robot body 100. The IMU sensors 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 them to the control unit 700. The control unit 700 can use at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensors to calculate the tilt direction and tilt angle of the robot body 100.

[0425] An angle detection sensor can detect the angle between the upper and lower links. The angle detection sensor can be an encoder. As is well known, encoders can detect both the position and rotational speed of a motor. Therefore, a suspension motor sensor can detect both the position and rotational speed of the suspension motor. Thus, the angle between the upper and lower links can be detected based on the rotational speed of the suspension motor detected by the angle detection sensor.

[0426] On the other hand, if the distance detected by the distance detection sensor is below a set distance, the angle detected by the tilt detection sensor is below a first set angle, and the angle detected by the included angle detection sensor is below a second set angle, then balance control can be performed.

[0427] At this point, the set distance can be 20mm. Additionally, the first set angle can be 20 degrees. Furthermore, the second set angle can be 5 degrees.

[0428] If wheel 310 comes into contact with ground B, the drive of wheel motor MW, suspension motor MS, and boom motor MA can be stopped.

[0429] Robot 1 may fall over when it gets stuck on a ground obstacle or when its center of gravity shifts while it is moving (S2100).

[0430] If robot 1 does not fall even when stuck on a ground obstacle or when its center of gravity is off, balance control can be performed (S2200).

[0431] If robot 1 falls at this time, the drive of wheel motor MW will stop (S2300).

[0432] If the wheel motor MW stops driving, the suspension motor MS stops driving (S2400).

[0433] If the suspension motor MS stops driving, the arm motor MA stops driving (S2500).

[0434] If the arm motor MA stops driving, the robot 1 is lifted up by the user and stands up. The distance detection sensor will detect whether the distance between the robot body 100 and the ground B is below the set distance (S2600).

[0435] In this step (S2600), when the user helps the fallen robot 1 to stand up, it will be determined whether the robot body 100 is located near the ground B.

[0436] If the distance detected by the distance detection sensor is below the set distance, the forward and backward tilt detection sensor can detect whether the angle of the robot body 100 tilting towards the ground in the forward and backward direction is below the first set angle (S2700).

[0437] If the robot body 100 begins balance control while tilted significantly, it may fall again due to the long distance it travels. Therefore, this step (S2700) minimizes the travel distance of the robot 1 while it is being helped up and standing by the user.

[0438] If the angle detected by the tilt detection sensor is below the first preset angle, the included angle detection sensor can detect whether the angle between the upper link and the lower link is below the second preset angle (S2800).

[0439] Even if the user lifts the robot 1 up and makes it stand, it may be difficult to maintain balance if there is no grip between the wheels 310 and the ground B. In this case, if the user places the robot 1 on the ground B, the angle between the upper and lower links decreases due to the robot 1's weight. Therefore, in this step (S2800), it can be determined whether sufficient grip is generated between the wheels 310 of the robot 1 and the ground B.

[0440] If the angle detected by the included angle detection sensor is below the second set angle, balance control can be executed (S2900).

[0441] Control methods for robots that tilt left and right

[0442] Figure 26 This is a schematic diagram illustrating a robot tilting to the left or right in the direction of the ground according to an embodiment of the present invention.

[0443] According to an embodiment of the present invention, a pair of wheels 310 of robot 1 can be defined as including the concept of a first wheel and a second wheel.

[0444] The first wheel can be positioned on the lower left side of the robot body 100 and roll along the ground B. The second wheel can be positioned on the lower right side of the robot body 100 and roll along the ground B.

[0445] Furthermore, the upper link of robot 1 according to an embodiment of the present invention can be defined as including the concept of a first upper link and a second upper link.

[0446] The first upper link can be rotatably connected to one side of the robot body 100 in the left-right direction. The second upper link can be rotatably connected to the other side of the robot body 100 in the left-right direction.

[0447] Furthermore, the lower link of robot 1 according to an embodiment of the present invention can be defined as a concept including a first lower link and a second lower link.

[0448] One side of the first lower link can be rotatably engaged with the other side of the first upper link. The other side of the first lower link can be rotatably engaged with the first wheel.

[0449] One side of the second lower link can be rotatably engaged with the other side of the second upper link. The other side of the second lower link can be rotatably engaged with the second wheel.

[0450] Furthermore, the robot 1 according to an embodiment of the present invention may include a suspension motor sensor. The suspension motor sensor may be an encoder. As is well known, an encoder can detect both the position and rotational speed of a motor. Therefore, the suspension motor sensor can detect both the position and rotational speed of the suspension motor.

[0451] According to an embodiment of the present invention, the suspension motor MS of robot 1 can be defined as a concept including a first suspension motor MS1 and a second suspension motor MS2.

[0452] The first suspension motor MS1 can adjust a first angle, which is the angle between the first upper link and the first lower link. The second suspension motor MS2 can adjust a second angle, which is the angle between the second upper link and the second lower link.

[0453] The robot 1 according to an embodiment of the present invention may include a left-right tilt detection sensor that detects the tilt angle θ of the robot body 100 toward the ground B in the left-right direction.

[0454] At this time, when the robot body 100 is tilted to the left or right towards the ground B, at least one of the first angle and the second angle can be adjusted to configure the robot body 100 to be parallel to the ground B.

[0455] Specifically, refer to Figure 26 The distance L from the ground B to the top of the first upper link and the distance R from the ground B to the top of the second upper link can be detected based on the rotational speeds of the first suspension motor MS1 and the second suspension motor MS2 detected by the encoder.

[0456] At this point, based on the left-right width WB of the robot body 100 and the tilt angle θ of the robot body 100 detected by the left-right tilt detection sensor, the difference Diff between the distance L from the ground B to the top of the first upper link and the distance R from the ground B to the top of the second upper link can be detected using the following mathematical formula.

[0457] [Mathematical Expression 1]

[0458] If the difference Diff between the distance L from the ground B to the top of the first upper link (which is the actual length of the left leg) and the distance R from the ground B to the top of the second upper link (which is the actual length of the right leg) is 0, then the robot body 100 can be configured horizontally.

[0459] Therefore, the control unit 700 can control at least one of the first suspension motor and the second suspension motor to make the difference Diff 0, thereby configuring the robot body 100 parallel to the ground B.

[0460] The present invention has been described in detail above through specific embodiments, but this is only for specific illustration of the present invention. The present invention is not limited thereto. Obviously, the present invention can be modified or improved by those skilled in the art within the technical concept of the present invention.

[0461] Simple variations or modifications of this invention are all within the scope of this invention, and the specific scope of protection of this invention will be clearly defined by the appended claims.

Claims

1. A robot, wherein, include: The robot itself contains a battery. Two wheels are configured on the lower part of the robot body. If the center of gravity of the robot body is tilted, balance control is performed to drive rotation in the opposite direction of the tilt. Two legs, connected between the robot body and the wheels; The arm has an integrated structure, including a pair of rotatable joints that are rotatably coupled to the robot body on the left and right sides, and a connecting part that connects the pair of rotatable joints to each other. as well as The sensor unit detects ground obstacles located in the travel path of the wheels; If the sensor detects a ground obstacle in front of the robot's direction of travel, the balance control is released when the connecting part is positioned in front of the robot body to form a three-point support configuration for one or more objects.

2. The robot according to claim 1, wherein, If the wheel repeats forward and backward a constant number of times while the ground obstacle is placed in front of it, the arm rotates forward.

3. The robot according to claim 1, wherein, The three-point support configuration is formed by having two wheels in contact with the ground and the connecting part in contact with the ground obstacle or the ground.

4. The robot according to claim 1, wherein, The three-point support configuration includes a first contact portion that serves as the contact point between the left wheel and the ground, a second contact portion that serves as the contact point between the right wheel and the ground, and a third contact portion that serves as the contact point between the connecting portion and the ground.

5. The robot according to claim 1, wherein, Once the three-point support configuration is established, the vehicle moves forward relative to the ground obstacle, climbing and passing through it.

6. The robot according to claim 1, wherein, Before forming the three-point support configuration, the wheel is rotated to move backward relative to the ground obstacle.

7. The robot according to claim 1, wherein, When the three-point support configuration is formed, if the forward tilt angle of the robot body is less than a preset threshold, at least one motor configured on the robot body or the wheel is driven.

8. The robot according to claim 7, wherein, The motor is a suspension motor configured on the robot body and connected to the legs. If the forward tilt angle of the robot body is less than a preset threshold, the connection angle between the upper and lower links in the leg is increased by rotating the suspension motor.

9. The robot according to claim 7, wherein, The motor is a wheel motor that is coupled to the wheel. If the forward tilt angle of the robot body is less than a preset threshold, the robot will move further backward relative to the ground obstacle by rotating the wheel motor.

10. The robot according to claim 1, wherein, After climbing and passing through the ground obstacles, the balance control is restarted.

11. The robot according to claim 10, wherein, After the balance control is restarted, the connecting part is positioned at the rear of the robot body.

12. The robot according to claim 10, wherein, After climbing and passing the ground obstacle and before restarting the balance control, the connecting part is rotated at a constant angle toward the wheel.

13. The robot according to claim 1, wherein, If the robot body tip over to the left or right while climbing the ground obstacle, the motors mounted on the robot body or the wheels will stop.

14. A robot, wherein, include: The robot itself contains a battery. Two wheels are configured on the lower part of the robot body. If the center of gravity of the robot body is tilted, balance control is performed to drive rotation in the opposite direction of the tilt. Two legs, connected between the robot body and the wheels; An arm that is rotatably coupled to the robot body; as well as The sensor unit detects ground obstacles located in the travel path of the wheels; If the sensor detects a ground obstacle in front of the robot's direction of travel, it executes a preset response movement. The response movement includes releasing the balance control, causing the robot's center of gravity to tilt forward.

15. The robot according to claim 14, wherein, The arm is an integral structure comprising a pair of rotary joints respectively disposed on the left and right sides and a connecting part for connecting the pair of rotary joints to each other. The responsive movement includes the movement in which the robot forms a three-point support configuration for more than one object by utilizing each of the two wheels and the connecting part.

16. The robot according to claim 15, wherein, The three-point support configuration includes a first contact portion that serves as the contact point between the left wheel and the ground, a second contact portion that serves as the contact point between the right wheel and the ground, and a third contact portion that serves as the contact point between the connecting portion and the ground.

17. A robot, characterized in that, include: The robot itself contains a battery. Two wheels are configured on the lower part of the robot body. If the center of gravity of the robot body is tilted, balance control is performed to drive rotation in the opposite direction of the tilt. The legs include an upper link and a lower link, one side of the upper link is rotatably connected to the robot body, and one side of the lower link is rotatably connected to the other side of the upper link and the other side is rotatably connected to the wheel. Arms are rotatably attached to both sides of the robot body; A distance detection sensor detects the distance between the robot body and the ground; A tilt detection sensor detects the angle at which the robot body tilts forward or backward toward the ground. as well as An angle detection sensor detects the angle between the upper connecting rod and the lower connecting rod; If the distance detected by the distance detection sensor is below a set distance, the angle detected by the tilt detection sensor is below a first set angle, and the angle detected by the included angle detection sensor is below a second set angle, then the balance control is executed.

18. The robot according to claim 17, characterized in that, Also includes: A wheel motor that rotates the wheel; Suspension motor, used to adjust the angle between the upper link and the lower link; as well as An arm motor causes the arm to rotate relative to the robot body; If the wheel comes into contact with the ground, the drive of the wheel motor, the suspension motor, and the arm motor is stopped.

19. The robot according to claim 17, characterized in that, The set distance is 20mm.

20. The robot according to claim 17, characterized in that, The first set angle is 20 degrees.

21. The robot according to claim 17, characterized in that, The second set angle is 5 degrees.

22. A robot, characterized in that, include: The robot itself contains a battery. In the first round, the robot is positioned on the lower part of one side of its body in the left-right direction and rolls along the ground. In the second round, the robot is positioned on the lower side of the opposite side in the left-right direction and rolls along the ground. The first upper link is rotatably connected to one side of the robot body in the left-right direction; The first lower connecting rod is rotatably connected on one side to the other side of the first upper connecting rod, and rotatably connected on the other side to the first wheel; The second upper link is rotatably connected on one side to the other side of the robot body in the left-right direction; The second lower link is rotatably connected on one side to the other side of the second upper link, and rotatably connected on the other side to the second wheel; The first suspension motor adjusts a first angle, which is the angle between the first upper link and the first lower link; as well as The second suspension motor adjusts a second angle, which is the angle between the second upper link and the second lower link; If the robot body tilts to the left or right towards the ground, at least one of the first angle and the second angle is adjusted to configure the robot body parallel to the ground.

Images