robot

Abstract

The present invention relates to a robot that includes a robot body, legs connected to the robot body, wheels rotatably connected to the legs, and an arm pivotally connected to both sides of the robot body. The robot can rotate the arms to perform various ground-contact movements, and can be combined with a functional module to expand or change the functions of the robot.

Description

[Technical Field]

[0001] The present invention relates to a robot, and more particularly to a robot that can provide various services in response to commands input by a user. [Background technology]

[0002] Recently, with the development of robotics technology, the use of robots has increased not only in the industrial field but also in the home.

[0003] Domestic robots can be robots that help with household chores such as cleaning or control home appliances, or robots that use artificial intelligence (AI) to act as users' assistants or provide education to users, or robots that replace pets.

[0004] However, conventional home robots have limitations, such as only performing one of the above functions and not being able to perform various functions according to the user's needs or circumstances.

[0005] Meanwhile, there are robots that function while fixed in a specific location, as well as mobile robots that can move around. In particular, in the case of robots used at home, mobile robots that move around the house on behalf of the user or accompany the user are mainly used.

[0006] Among mobile robots, two-wheeled robots with two wheels have the advantage of taking up less floor space and being easy to store. They also have the advantage of having a small turning radius when turning, making them suitable for use in homes with relatively limited space.

[0007] Meanwhile, US Patent Publication US2020-0362972A1 (November 19, 2020) discloses a mobile robot that moves using a pair of legs equipped with wheels.

[0008] The mobile robot can move by rotating wheels attached to a pair of legs while lifting an object using an arm.

[0009] However, the arm of the mobile robot only has the function of lifting an object, and there is a limit to the functionality of the robot that cannot be expanded via the arm.

[0010] In addition, in order to maintain balance while the mobile robot is moving or stopped, the body to which the legs are connected rotates in a pendulum-like manner, and the counterbalance rotates in response to the rotation of the body to maintain balance.

[0011] Therefore, the mobile robot must operate the motor to continuously rotate the wheel and the counterweight in order to maintain a stable posture. In this case, the mobile robot has a limitation in that it must continue to consume electrical energy even when the robot is stationary or waiting.

[0012] Meanwhile, Japanese registered utility model JP3136601U (October 10, 2007) discloses a standing walking toy.

[0013] The walking toy can stand up by rotating its two arms and two legs while lying on the ground.

[0014] However, the walking toy has two separate arms that touch the ground separately, and therefore has a limitation in that it cannot maintain a posture with its body touching the ground.

[0015] Furthermore, the arms of the walking toy do not have a structure that allows them to be connected to other objects, so there is a limitation in that functions other than those of a toy cannot be added. Summary of the Invention [Problem to be solved by the invention]

[0016] The present invention was created to improve the above-mentioned problems of the prior art, and its purpose is to provide a robot equipped with an arm that can perform various functions according to the situation or user commands.

[0017] Another object of the present invention is to provide a robot that can change a function currently in use to a new function or add a new function to a function currently in use.

[0018] Another object of the present invention is to provide a robot that can minimize power consumption while maintaining its position or while in standby mode.

[0019] Another object is to provide a robot that can stand up after hitting the ground when it has fallen.

[0020] Another object of the present invention is to provide a robot that can express its emotions by expressing facial expressions and movements according to the situation.

[0021] Another object of the present invention is to provide a robot in which the display can be changed depending on the shape of the display cover. [Means for solving the problem]

[0022] To achieve the above object, a robot according to the present invention may include a robot body, legs connected to the robot body, wheels rotatably connected to the legs, and an arm pivotally connected to both sides of the robot body.

[0023] In this case, the arm may include rotation coupling parts rotatably coupled to both sides of the robot body, and a coupling part connecting the pair of rotation coupling parts to each other.

[0024] The arm may be configured so that the rotary joint and the connecting portion rotate together with the rotary joint as a rotation axis.

[0025] The arm may be coupled to the robot body and detachably coupled to a function module that provides a function to the robot body.

[0026] The connecting portion may include a connecting terminal disposed thereon, the connecting terminal being electrically connected to the functional module.

[0027] The connecting portion may include a detachable portion that is detachably coupled to the functional module.

[0028] The arm may contact the ground and support the robot body together with the wheel.

[0029] The leg portion may include a first link linked to the robot body, a second link linked to the robot body, and a third link linked to the first link and the second link and connected to the wheel portion.

[0030] In this case, the radius of rotation of the arm may be longer than the maximum length of the first link and shorter than the maximum length of the leg, so that the end of the arm may be positioned closer to the ground than the first link.

[0031] On the other hand, when the robot falls and at least a portion of the robot body contacts the ground, the arm and the wheel may rotate to lift the robot body.

[0032] Alternatively, when the robot falls and at least a portion of the third link comes into contact with the ground, the arm and the wheel may rotate to raise the robot body.

[0033] The robot according to the present invention may further include a display disposed on the robot body and displaying a status of the robot body, and a robot mask detachably connected to the robot body and covering the display.

[0034] The display may change a graphic displayed when the robot mask is combined with the display depending on the shape of the mask.

[0035] The robot mask may include a mask function portion that provides a function to the robot body when coupled with the robot body. [Effects of the Invention]

[0036] As described above, according to the robot of the present invention, by rotating one arm pivotally attached to both sides of the robot body, various movements can be realized, which has the effect of expanding or changing the functions of the robot.

[0037] In addition, functional modules can be attached to the front or rear of the robot body according to user commands or situations, and various functions can be performed through the functional modules.

[0038] Alternatively, a functional module can be attached to the underside of the robot body according to a user's command or a situation, and various functions can be performed through the functional module.

[0039] In addition, by replacing the robot mask that is detachably connected to the robot body, it is possible to change the design of the robot or add new functions.

[0040] In addition, since a space for connecting the functional module is formed between the pair of wheels and legs, there is an advantage that the overall volume does not increase significantly even when the robot body and the functional module are connected.

[0041] Furthermore, when the functional module is connected to the robot body, the functional module also comes into contact with the ground, which makes it easier to maintain the balance of the robot.

[0042] In addition, when the robot is stationary, the wheels can be stopped and the arms can be rotated to make the arms touch the ground, which has the effect of minimizing the power consumption caused by driving the wheels.

[0043] In addition, if the robot falls over, the arm can touch the ground and stand up, which has the effect of allowing the robot to stand up more stably and maintain balance. [Brief explanation of the drawings]

[0044] [Figure 1a] 1 is a perspective view for explaining a robot according to an embodiment of the present invention. [Figure 1b] 1 is a perspective view for explaining a robot according to an embodiment of the present invention. [Figure 2a] 1 is a front view of a robot according to an embodiment of the present invention. [Figure 2b] 1 is a front view of a robot according to an embodiment of the present invention. [Figure 3] 1 is a side view of a robot according to an embodiment of the present invention. [Figure 4] FIG. 2 is a rear view of the robot according to the embodiment of the present invention. [Figure 5] 1 is a plan view of a robot according to an embodiment of the present invention. [Figure 6] 10 is a diagram showing the bottom surface of a robot according to an embodiment of the present invention. [Figure 7] FIG. 10 is a perspective view of the robot according to the embodiment of the present invention, viewed from another angle. [Figure 8] 10 is a diagram illustrating a partial incision for explaining power transmission for rotating an arm in a robot according to an embodiment of the present invention. [Figure 9] 1 is a plan view of a robot according to an embodiment of the present invention. [Figure 10] 10 is a view illustrating an arm of a robot according to another embodiment of the present invention; [Figure 11] 11 is a diagram for explaining a state in which the detachable part of the arm in FIG. 10 is rotated. [Figure 12] 10 is a bottom view illustrating an embodiment in which a charging terminal is provided in a robot according to an embodiment of the present invention. [Figure 13a] 10 is a diagram illustrating a structure in which the rotation of the arm is restricted; [Figure 13b] 10 is a diagram illustrating a structure in which the rotation of the arm is restricted; [Figure 14a] 13A and 13B are diagrams for explaining another embodiment of the present invention; [Figure 14b] 13A and 13B are diagrams for explaining another embodiment of the present invention; [Figure 15] 10 is a diagram illustrating a state in which a robot according to an embodiment of the present invention is waiting without moving; [Figure 16] FIG. 16 is a side view of FIG. [Figure 17a] 10 is a diagram illustrating an operation of a robot according to an embodiment of the present invention standing up after falling forward; [Figure 17b] 10 is a diagram illustrating an operation of a robot according to an embodiment of the present invention standing up after falling forward; [Figure 18a] 10 is a diagram illustrating an operation of a robot according to an embodiment of the present invention standing up after falling backward; [Figure 18b] 10 is a diagram illustrating an operation of a robot according to an embodiment of the present invention standing up after falling backward; [Figure 19] 1 is a diagram illustrating a state in which a robot according to an embodiment of the present invention is combined with a functional module; [Figure 20] 1 is a diagram illustrating a state in which a robot according to an embodiment of the present invention is combined with a functional module; [Figure 21] 1 is a perspective view illustrating a functional module of a robot according to an embodiment of the present invention. [Figure 22] 1 is a diagram illustrating a state in which a robot body and a functional module are combined in a robot according to an embodiment of the present invention; [Figure 23a]1 is a diagram illustrating a coupling relationship between a robot mask and a robot body in a robot according to an embodiment of the present invention; [Figure 23b] 1 is a diagram illustrating a coupling relationship between a robot mask and a robot body in a robot according to an embodiment of the present invention; [Figure 24] 10 is a diagram illustrating a state in which a robot mask is separated from a robot according to an embodiment of the present invention. [Figure 25] 1 is a diagram illustrating a structure of a robot mask in a robot according to an embodiment of the present invention. [Figure 26] 10 is a diagram illustrating a state in which various functions are added to a robot mask in a robot according to the present invention. [Figure 27] 10 is a diagram illustrating a state in which various functions are added to a robot mask in a robot according to the present invention. [Figure 28] 10 is a diagram illustrating a state in which various functions are added to a robot mask in a robot according to the present invention. [Figure 29] 10 is a diagram illustrating a state in which various functions are added to a robot mask in a robot according to the present invention. [Figure 30] FIG. 2 is a block diagram for explaining a control configuration of a robot according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0045] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0046] The present invention can be modified in various ways and can have various embodiments, and specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. This is not intended to limit the present invention to the specific embodiments, but should be interpreted as including all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention.

[0047] 1a to 12 show a perspective view, a front view, a side view, a rear view, a plan view, and a bottom view of a robot according to one embodiment of the present invention, as well as drawings for explaining the arms of the robot.

[0048] A robot 1 according to one embodiment of the present invention will be described below with reference to FIGS. 1a to 12. FIG.

[0049] The robot 1 according to the embodiment of the present invention is placed on a floor and moves along a bottom surface B. Therefore, in the following description, the up and down directions will be determined based on the state in which the robot 1 is placed on the floor.

[0050] In addition, the side where an obstacle detection camera 610 (described later) is arranged is defined as the front of the robot 1. In addition, the opposite direction to the front is defined as the rear of the robot 1.

[0051] The "lowest part" of each configuration described in the embodiments of the present invention may be the part that is located lowest in each configuration when the robot 1 according to the embodiments of the present invention is placed on the floor and used, or may be the part that is closest to the floor.

[0052] A robot 1 according to an embodiment of the present invention includes a robot body 100, legs 200, wheels 300, arms 400, and a robot mask 500. The legs 200 are connected to the robot body 100, and the wheels 300 are connected to the legs 200. The arms 400 are pivotally connected to both sides of the robot body 100. The robot mask 500 is detachably connected to the robot body 100.

[0053] Robot body The robot body 100 of the robot 1 according to one embodiment of the present invention will be described below with reference to FIGS. 1a to 12. FIG.

[0054] Each component of the robot 1 may be connected to the robot body 100. For example, a robot mask 500 may be detachably connected to the robot body 100. In addition, arms 400 are pivotally connected to the robot body 100. The arms 400 are pivotally connected to both ends of the robot body 100. The robot body 100 may be connected to a functional module 900 via the arms 400, or the robot body 100 may be directly connected to the functional module 900 to perform additional functions. In addition, the robot body 100 may be set to a standby position for power saving or a position for rising up after falling over via the arms 400.

[0055] Some of the components that make up the robot 1 may be housed inside the robot body 100.

[0056] The main body housing 110 may form the outer shape of the robot main body 100. The interior space of the main body housing 110 may accommodate one or more motors including a suspension motor MS, one or more sensors, and a battery 800.

[0057] Although not shown, the main body housing 110 may be provided with at least one bumper inside.

[0058] The bumper may be provided to be movable relative to the main body housing 110. For example, the bumper may be coupled to the main body housing 110 to be movable back and forth along the front-rear direction of the main body housing 110.

[0059] The bumper may be attached along a part or the entire front edge of the main housing 110. The bumper may also be disposed on the rear side of the interior of the main housing 110.

[0060] With this configuration, when the robot 1 collides with another object or person, the bumper can absorb the impact applied to the robot body 100 and protect the robot body 100 and the components housed inside the robot body 100.

[0061] A pair of legs 200 are coupled to the inside of the main body housing 110. The pair of legs 200 may pass through the main body housing 110 and be exposed to the outside.

[0062] Specifically, the first link 210 and the second link 220 may be rotatably coupled inside the main body housing 110. For example, a link frame (not shown) to which the first link 210 and the second link 220 are linked may be provided inside the main body housing 110.

[0063] A suspension motor MS may also be housed inside the main body housing 110. For example, the suspension motor MS may be disposed on a link frame (not shown). The suspension motor MS may be connected to the first link 210.

[0064] A pair of leg guide holes 111 may be formed in the main body housing 110. For example, the pair of leg guide holes 111 may be formed side by side along the front-rear direction of the main body housing 110.

[0065] With this configuration, the leg 200 can rotate along the leg guide hole 111, and the range of rotational movement of the leg 200 can be guided.

[0066] The main body housing 110 may have a shape in which the horizontal width (or diameter) is greater than the vertical height. For example, the main body housing 110 may be formed in a shape similar to an ellipsoid.

[0067] Such a robot body 100 helps the robot 1 to have a stable structure, and can provide a structure that is advantageous for balancing when the robot 1 moves (runs).

[0068] The robot body 100 may be disposed vertically above a wheel 310, which will be described later. The load of the robot body 100 can be transmitted to the wheel 310 via the leg 200, and the wheel 310 can support the leg 200 and the robot body 100. With this configuration, the wheel 310 can stably support the load of the robot body 100.

[0069] The robot body 100 may include a display 120. The display 120 may be coupled to the body housing 110. The display 120 may be formed in a flat plate shape. The display 120 may be disposed at a predetermined angle relative to the ground. For example, the display 120 may be disposed in a position that allows the user to view the upper front side. With this configuration, when the robot 1 approaches the user, the user can see the display 120 when looking at the robot 1.

[0070] On the other hand, the display 120 can visually convey information about the operating state of the robot 1 to the user.

[0071] The display 120 may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0072] The display 120 may display information such as operating time information of the robot 1 and power information of the battery 800 .

[0073] Depending on the embodiment, the display 120 may be the input unit 125. That is, a control command may be input from a user to the display 120. For example, the display 120 may be a touch screen that visually displays an operating state and through which a control command is input from a user.

[0074] The display 120 may display the facial expression of the robot 1. Alternatively, the display 120 may display the eyes of the robot 1. The current state of the robot 1 can be personified with emotions through the facial pattern or eye pattern displayed on the display 120. For example, when the user goes out and then returns home, the display 120 may display a smiling facial expression or the shape of the eyes of a smiling face. This has the effect of giving the user the impression of empathy with the robot 1.

[0075] 12, the main body housing 110 may be provided with a charging terminal 130. For example, the charging terminal 130 may be disposed facing the ground. As one example, the charging terminal 130 may be disposed facing the ground. As another example, the charging terminal 130 may be disposed at a predetermined angle to the ground. In this configuration, when the robot 1 is coupled to a robot charging stand (not shown), the charging terminal 130 may come into contact with a terminal provided on the robot charging stand (not shown).

[0076] The charging terminal 130 may be electrically connected to a robot charging stand (not shown). With this configuration, the robot 1 may be supplied with power via the charging terminal 130. The power supplied to the charging terminal 130 may be supplied to the battery 800. The robot 1 may also receive an electrical signal via the charging terminal 130. The electrical signal transmitted via the charging terminal 130 may be received by the control unit 700.

[0077] According to an embodiment, a microphone 140 may be disposed in the main body housing 110. A plurality of microphones 140 may be disposed in the main body housing 110. For example, four microphones 140 may be disposed on the upper side of the main body housing 110. With this configuration, the microphones 140 can detect sounds coming from various directions and can detect the position of the sound source.

[0078] 6, a module coupling unit 150 may be disposed at a lower portion of the main body housing 110. The module coupling unit 150 is detachably coupled to the functional module 900. Specifically, the module coupling unit 150 may be selectively coupled to or separated from the functional module 900.

[0079] As an example, the module connector 150 may be configured in the form of an electromagnet, and may selectively apply a magnetic force (attractive force) to the functional module 900 when power is supplied. As another example, the module connector 150 may be configured to be hook-coupled to the connector 930 of the functional module 900. In this case, the coupling force between the robot body 100 and the functional module 900 may be strengthened.

[0080] In this case, a connecting terminal may be disposed in the module coupling unit 150. With this configuration, the module coupling unit 150 can be coupled to the attachment / detachment unit of the metal material (or electromagnet) provided in the functional module 900 at a precise position, and has the effect of guiding the connecting terminal to contact the corresponding terminal provided in the functional module 900 at a precise position.

[0081] The connection terminals may be electrically connected to the functional module 900. The connection terminals may be in contact with corresponding terminals provided on the functional module 900 to be electrically connected thereto.

[0082] With this configuration, power from the robot body 100 can be supplied to the functional module 900 via the connection terminal. Also, the robot body 100 can transmit and receive electrical signals to and from the functional module 900 via the connection terminal.

[0083] Meanwhile, the functional module 900 will be described in detail later.

[0084] An operation unit 160 may also be disposed on the main body housing 110. For example, the operation unit 160 may be disposed on the rear side of the main body housing 110.

[0085] The operation unit 160 can be operated by a user, and the power supply of the robot 1 can be turned on / off by operating the operation unit 160.

[0086] The operating portion 160 may be provided on the main body housing 110 so as to be pushable, or may be provided so as to be pivotable in the left-right direction depending on the embodiment.

[0087] For example, the operation unit 160 may be a button. Therefore, when the power of the robot 1 is off, if the user pushes the operation unit 160, the power of the robot 1 can be turned on. Also, when the power of the robot 1 is on, if the user pushes the operation unit 160, the power of the robot 1 can be turned off.

[0088] Obstacle Detection Camera 610Obstacle Detection Camera 610 Meanwhile, an obstacle detection camera 610 may be disposed in front of the main body housing 110. Depending on the embodiment, multiple obstacle detection cameras 610 may be disposed. For example, a first detection camera 611 may be disposed in the front lower part of the main body housing 110, and a second detection camera 612 may be disposed in the front upper part of the main body housing 110. In this case, the obstacle detection camera 610 may be disposed on a center line passing through the center of the main body housing 110 in the left-right direction. With this configuration, the obstacle detection camera 610 can detect an object or person disposed in front of the robot 1.

[0089] An IR sensor 620 may also be disposed in the main body housing 110. Depending on the embodiment, a plurality of IR sensors 620 may be disposed. For example, a first IR sensor 621 may be disposed at the front lower portion of the main body housing 110, and a second IR sensor 622 may be disposed at the rear of the main body housing 110. With this configuration, the IR sensor 620 can detect the position of a light source that generates infrared rays.

[0090] The IR sensor 620 may be disposed close to the obstacle detection camera 610. As an example, the obstacle detection camera 610 may be disposed between the pair of IR sensors 620. As another example, the first IR sensor 621 may be disposed directly below the first obstacle detection camera 611.

[0091] With this arrangement, the IR sensor 620 can detect the light emitted by the lamp of the functional module 900 or the robot charging base (not shown), and when the robot body 100 approaches the lamp, the obstacle detection camera 610 can detect the shape of the functional module 900 or the robot charging base (not shown).

[0092] leg The leg 200 of the robot 1 according to one embodiment of the present invention will be described below with reference to FIGS. 1a to 12. FIG.

[0093] The legs 200 are coupled to the robot body 100 and can support the robot body 100. For example, a pair of legs 200 may be provided, each coupled to the inside of the body housing 110. The pair of legs 200 may be arranged symmetrically (axis-symmetrically) with respect to each other. In this case, at least a portion of the legs 200 is arranged closer to the ground than the robot body 100. Therefore, the robot body 100 can move while standing on the ground with the pair of legs 200. In other words, gravity applied to the robot body 100 can be supported by the legs 200, and the height of the robot body 100 can be maintained.

[0094] The leg unit 200 includes upper legs and lower legs. In this case, the upper legs are rotatably connected to the robot body 100 and the lower legs. The upper legs may be disposed higher than the lower legs. In other words, the upper legs can be said to correspond to a human thigh, and the lower legs can be said to correspond to a human shin.

[0095] Meanwhile, the upper leg includes a first link 210 and a second link 220. 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 and connected to the robot body 100 and the third link 230, respectively.

[0096] According to an embodiment, the first link 210 and the second link 220 are disposed inside the upper link cover and are not exposed to the outside. The upper link cover may be formed in a kind of bellows tube shape to accommodate the first link 210 and the second link 220 therein, and may be provided so that its length can be extended or contracted by rotating the upper legs.

[0097] The first link 210 is connected to the left and right sides of the interior of the robot body 100 .

[0098] The first link 210 is connected to the suspension motor MS. For example, the first link 210 may be connected to the shaft of the suspension motor MS directly or via a gear. In this configuration, the first link 210 receives driving force from the suspension motor MS.

[0099] The first link 210 is formed in a frame shape, and has one side in the longitudinal direction connected to the suspension motor MS and the other side in the longitudinal direction connected to the third link 230. In this case, the side of the first link 210 connected to the suspension motor MS may be located farther from the ground than the other side connected to the third link 230.

[0100] One side of the first link 210 is coupled to a leg support (not shown) provided inside the main body housing 110. The first link 210 may be rotatably coupled to the leg support. For example, the one side of the first link 210 may be formed in a disk or disc shape. Therefore, the one side of the first link 210 may pass through the leg support and be connected to the suspension motor MS.

[0101] One side of the first link 210 is connected to the suspension motor MS. For example, one side of the first link 210 may be fixedly coupled to the shaft of the suspension motor MS. In this configuration, when the suspension motor MS is driven, the one side of the first link 210 may rotate in conjunction with the rotation of the shaft of the suspension motor MS.

[0102] The other side of the first link 210 is rotatably coupled 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 coupled through the through hole. Both longitudinal ends of the shaft may be coupled to the third link 230.

[0103] In this configuration, the shaft may be an axis about which the first link 210 and / or the third link 230 rotates. Thus, the first link 210 and the third link 230 may be coupled to each other so that they can rotate relative to each other.

[0104] Although not shown, the leg 200 may further include a gravity compensator. The gravity compensator compensates for the robot body 100 falling vertically downward due to gravity. In other words, the gravity compensator provides a force to support the robot body 100.

[0105] For example, the gravity compensator may be a torsion spring. The gravity compensator may be wound to cover the outside of the outer circumferential surface of the first link 210. One end of the gravity compensator may be inserted into and fixedly coupled to the first link 210, and the other end of the gravity compensator may be inserted into and fixedly coupled to the third link 230.

[0106] The gravity compensator applies a force (rotational force) in a direction that increases the angle between the first link 210 and the third link 230. For example, both ends of the gravity compensator are narrowed in advance so that the gravity compensator applies a restoring force in a direction that increases the included angle between the first link 210 and the third link 230. Therefore, even if gravity is applied to the robot body 100 when the robot 1 is placed on the ground, the included angle between the first link 210 and the third link 230 can be maintained within a predetermined angle range.

[0107] With this configuration, even if the suspension motors MS are not driven, the robot body 100 can be prevented from descending toward the ground. Therefore, the gravity compensator prevents energy loss due to the driving of the suspension motors MS, and has the effect of maintaining the height of the robot body 100 at a predetermined distance or more from the ground.

[0108] The second link 220 is linked to the left and right sides inside the robot body 100. For example, the second link 220 may be linked to a leg support (not shown) provided inside the body housing 110. That is, the second link 220 may be linked to the leg support (not shown) to which the first link 210 is connected.

[0109] The second link 220 is formed in a frame shape, and one side in the length direction is connected to a leg support (not shown), and the other side in the length direction is connected to the third link 230.

[0110] An electric wire may be housed in the second link 220. For example, a space in which the electric wire can be housed may be formed inside the second link 220. This allows power from the battery 800 to be supplied to the wheel unit 300 through the electric wire. At the same time, it is possible to prevent the electric wire from being exposed to the outside.

[0111] One side of the second link 220 is rotatably connected to the leg support. For example, although not shown, a shaft connected to the leg support may be passed through one side of the second link 220. The shaft may be hollow. An electric wire may pass through the hollow. With this configuration, the electric wire that supplies power to the wheel motor MW from the battery 800 can be prevented from being exposed to the outside.

[0112] The other end of the second link 220 is rotatably coupled to the third link 230. Specifically, the other end of the second link 220 is rotatably coupled to the third link 230 via a shaft. For example, the other end of the second link 220 may be formed in a disk shape, and the shaft may be through-coupled. Furthermore, both longitudinal ends of the shaft may be coupled to the third link 230. In this configuration, the shaft may be an axis about which the second link 220 and / or the third link 230 rotate. Therefore, the second link 220 and the third link 230 may be coupled to each other so that they can rotate relative to each other.

[0113] The third link 230 is connected to the first link 210 and the second link 220 and is connected to the wheel unit 300 .

[0114] The third link 230 is formed in a frame shape, and the first link 210 and the second link 220 are connected to one side in the length direction, and the wheel unit 300 is connected to the other side in the length direction.

[0115] One longitudinal side of the third link 230 is linked and coupled to the first link 210 and the second link 220. For example, one side of the third link 230 may be formed with a space capable of accommodating the first link 210 and the second link 220. That is, one side of the third link 230 may be formed in the shape of a pair of adjacent frames, and the first link 210 and the second link 220 may be accommodated in the space between the pair of frames.

[0116] Here, two shafts may be arranged side by side between the pair of frames. That is, both end portions of each of the two shafts may be coupled to the pair of frames. Furthermore, each of the shafts may pass through the first link 210 and the second link 220. In this case, the first link 210 may be arranged forward and below the second link 220. That is, the shaft passing through the first link 210 may be arranged closer to the wheel 310 than the shaft passing through the second link 220.

[0117] Therefore, the first link 210 and the second link 220 may be coupled to the third link 230 so as to be rotatable relative to each other.

[0118] The other longitudinal side of the third link 230 is coupled to the wheel unit 300. The other longitudinal side of the third link 230 may be formed to cover at least a portion of the wheel 310. For example, the other longitudinal side of the third link 230 may be formed to cover the rotation center of the wheel 310, and a space capable of rotatably accommodating the wheel 310 may be formed therein.

[0119] A wheel motor MW may be housed inside the third link 230 on the other side in the longitudinal direction.

[0120] In this configuration, the wheel 310 and the wheel motor MW may be housed on the other side of the third link 230 in the longitudinal direction, and the wheel 310 may be rotatably coupled thereto.

[0121] Meanwhile, a sensor capable of measuring the distance from the ground may be provided on the other longitudinal end of the third link 230. For example, the sensor may be a Time of Flight (ToF) sensor. With this configuration, the control unit 700 can determine whether the wheel 310 is in contact with the ground. As another example, a first cliff sensor 671 may be disposed on the front lower side of the third link 230, and a second cliff sensor 672 may be disposed on the rear upper side of the third link 230. With this configuration, the distance between the third link 230 and the wheel 310 and the ground B can be measured. In addition, the angle between the third link 230 and the ground can be calculated based on the difference in distance between the first cliff sensor 671 and the second cliff sensor 672.

[0122] Meanwhile, the leg 200 may be provided with a stopper 240. The stopper 240 may be disposed inside the main body housing 110. The stopper 240 may be disposed adjacent to the rotation coupling portion 410 of the arm 400. For example, the stopper 240 may be disposed inside the inner circumferential surface of the rotation coupling portion 410, which is formed in a cylindrical shape.

[0123] As an example, the stopper 240 may be disposed on a leg support (not shown). As another example, the stopper 240 may be disposed on the first link 210.

[0124] The stopper 240 may be formed in a shape that protrudes toward the rotation coupling part 410. For example, the stopper 240 may have a predetermined thickness and be provided in an arch-like protrusion that is arranged on a concentric circle. In this case, the outer circumferential surface of the stopper 240 may be arranged toward the front upper side of the robot 1, and the inner circumferential surface of the stopper 240 may be arranged toward the rear lower side of the stopper.

[0125] The stopper 240 may be supported in contact with a rotation protrusion 480 of the arm 400, which will be described later. For example, the rotation protrusion 480 protruding from the inner circumferential surface of the rotation coupling part 410 may rotate together with the rotation of the arm 400, and may come into contact with the rotation protrusion 480 when the arm 400 is rotated to a predetermined position.

[0126] With this configuration, the stopper 240 can limit the rotation angle of the arm 400 when the arm 400 rotates.

[0127] Considering the overall balance achieved by the leg 200, the first link 210 and the second link 220 are rotatably connected to a link frame (not shown) provided inside the robot body 100, and the first link 210 and the second link 220 are linked and connected to the third link 230. In other words, the robot 1 has a structure that supports the robot body 100 via a four-section link consisting of the link frame (not shown), the first link 210, the second link 220, and the third link 230.

[0128] In addition, the legs 200 generate a restoring force in the direction in which the gravity compensator lifts the robot body 100. Therefore, even when the suspension motor MS is not driven, the pair of legs 200 can maintain the robot body 100 lifted a predetermined height from the ground.

[0129] Meanwhile, the robot 1 according to an embodiment of the present invention can maintain balance by driving the suspension motor MS when lifting one of the pair of wheels 310 to overcome an obstacle or lowering the height of the robot body 100 for charging, etc.

[0130] When the suspension motor MS is driven, the first link 210 rotates around the motor coupling part 212, causing the link coupling part 213 to move upward. In addition, the third link 230 moves due to the rotation of the first link 210. In addition, the second link 220 is pushed by the third link 230 and rotates. As a result, one end of the third link 230 may move backward, and the other end of the third link 230 may move upward.

[0131] With this configuration, even if the wheel 310 is moved in the up and down direction, it is possible to limit the range of movement of the wheel 310 in the forward and backward direction, thereby enabling the robot 1 to stably maintain balance.

[0132] Therefore, the robot 1 according to the present invention has the effect of being able to overcome obstacles of various heights by utilizing the four-bar link structure.

[0133] Wheel section The wheel unit 300 of the robot 1 according to one embodiment of the present invention will be described below with reference to FIGS. 1a to 12. FIG.

[0134] The wheel unit 300 is rotatably coupled to the leg unit 200, and can move the robot body 100 and the leg unit 200 by rolling on the ground.

[0135] The wheel unit 300 includes a wheel 310 that comes into contact with the ground and rolls on the ground.

[0136] The wheel 310 has a predetermined radius and a predetermined width along the axial direction. When the robot 1 is viewed from the front, at least a part of the robot body 100 and the leg 200 may be disposed vertically above the wheel 310.

[0137] Although not shown, the wheel 310 may include a wheel frame formed in a circular shape. The wheel frame may be formed in a cylindrical shape with one side facing the shaft of the wheel motor MW being open. This may reduce the weight of the wheel frame 311.

[0138] However, when the wheel frame is formed into a cylindrical shape, the overall rigidity of the wheel frame may be reduced. In consideration of this, ribs (not shown) for reinforcing the rigidity may be formed on the inner and outer surfaces of the wheel frame.

[0139] A wheel is coupled to the outer circumferential surface of the wheel frame. The wheel may be formed in an annular shape having a diameter that allows it to be sandwiched within the outer circumferential surface of the wheel frame.

[0140] The outer circumferential surface of the wheel may be recessed and formed with grooves in a predetermined pattern to improve the ground contact force of the wheel.

[0141] In one embodiment, the wheel may be made of a resilient rubber material.

[0142] The wheel motor MW can provide driving force to the wheel 310. The wheel motor MW is supplied with power from the battery 800 and can generate rotational force.

[0143] The wheel motor MW may be housed inside the other side of the third link 230. In addition, the shaft of the wheel motor MW may be coupled to the wheel 310. In other words, the wheel motor MW may be an in-wheel motor.

[0144] In this configuration, when the wheel motor MW is driven, the wheel 310 can roll along the ground while rotating, and the robot 1 can move along the ground.

[0145] arm The arm 400 of the robot 1 according to one embodiment of the present invention will be described below with reference to FIGS. 1a to 12. FIG.

[0146] The arm 400 may be pivotally coupled to both sides of the robot body 100. For example, the arm 400 may refer to a rotating body coupled to both axial (lengthwise) ends of the ellipsoid-shaped robot body 100 and rotating around both axial ends of the robot body 100 as a single rotation axis.

[0147] Specifically, the arm 400 includes a rotational coupling portion 410 and a linkage portion 420 .

[0148] The rotary couplers 410 may be rotatably coupled to both sides of the robot body 100. A pair of rotary couplers 410 may be provided and rotatably coupled to both left and right sides of the robot body 100. In this case, the pair of rotary couplers 410 may rotate in conjunction with each other. That is, the pair of rotary couplers 410 may rotate simultaneously and with the same rotation angle. However, the pair of rotary couplers 410 may rotate in opposite directions relative to the robot body 100. That is, when viewed from the robot body 100, if one rotary coupler 410 rotates clockwise, the other rotary coupler 410 may rotate counterclockwise.

[0149] The rotary joint 410 may be formed in a shape that can cover both left and right end portions of the robot body 100. For example, the rotary joint 410 may be formed in a cylindrical shape having a predetermined thickness. In this case, both left and right end portions of the robot body 100 may be disposed so that the rotation center of the rotary joint 410 faces each other.

[0150] That is, to explain the state in which the rotary coupling unit 410 is coupled to the robot body 100, if the robot body 100 is assumed to be a human face, the rotary coupling unit 410 may have a shape similar to a pair of earplugs or headphone earpieces.

[0151] 8, in the robot 1 according to one embodiment, the arm motor MA may be disposed inside the main body housing 110. Alternatively, depending on the embodiment, the arm motor MA may be disposed inside the rotary joint.

[0152] The arm motor MA is connected to the arm 400 to provide a 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 shown in FIG. 4 , the shaft of the arm motor MA may be connected to a reducer 460, and the reducer 460 may be connected to a driven gear 470.

[0153] The reducer 460 includes at least one gear and transmits the rotational force applied by the arm motor MA to the driven gear 470, and can reduce the rotational speed of the driven gear 470 through a gear ratio, thereby enabling precise control of the rotation of the arm 400 and enabling the arm 400 to provide a relatively large force.

[0154] The driven gear 470 may be coupled to the rotation coupling part 410 and rotate integrally therewith. The driven gear 470 may be meshed with the output end of the reducer 460 to transmit the rotational power of the arm motor MA.

[0155] In this configuration, when the arm motor MA is actuated, the rotary coupling 410 may rotate.

[0156] Two arm motors MA may be provided and connected to a pair of rotary couplers 410. Alternatively, one arm motor MA may be provided and connected to one of the rotary couplers 410.

[0157] In this configuration, when the arm motor MA is operated, the pair of rotary coupling parts 410 rotate together in conjunction with each other, and the rotation of the rotary coupling parts 410 rotates the connecting part 420 together. That is, according to the present invention, the arm 400 may be configured such that the rotary coupling parts 410 and the connecting part 420 rotate integrally with the arm shaft of the rotary coupling part 410 as the rotation axis.

[0158] Meanwhile, speakers 450 may be disposed on the outer sides of the rotary joints 410. That is, speakers 450 may be disposed on each of the pair of rotary joints 410 on the opposite sides of the direction in which the robot body 100 is disposed. Thus, speakers 450 may be disposed at positions covering both the left and right sides of the body housing 110.

[0159] The speaker 450 can transmit information about the robot 1 as sound. The source of the sound transmitted by the speaker 450 may be sound data previously stored in the robot 1. For example, the previously stored sound data may be voice data of the robot 1. For example, the previously stored sound data may be a notification sound that notifies the user of the status of the robot 1. Meanwhile, the source of the sound transmitted by the speaker 450 may be sound data received via the communication unit 710.

[0160] Meanwhile, conventional robots have a pair of arms on both sides of their bodies, similar to human arms, that allow them to carry objects or perform specific tasks.

[0161] However, when a pair of arms is provided as described above, each arm can move independently, which can cause the load applied to both sides of the robot to change, which can lead to the robot leaning to one side and tipping over.

[0162] Also, when the robot falls over, it can try to stand up by using the arms to touch the ground, but because both arms rotate separately to touch the ground, there is a limit to how far the robot can go as it tries to stand up, potentially causing it to lose balance and fall over again.

[0163] On the other hand, in the case of a robot that transports an object or performs a specific task using a single arm, the load of the object being transported or the impact that may occur during the task is concentrated on only one arm, which can cause damage to the arm.

[0164] To solve this problem, the robot 1 according to the embodiment of the present invention is configured in such a way that one arm 400 is rotatably connected to both sides of the robot body 100 .

[0165] The connecting unit 420 may connect a pair of rotation coupling units 410 to each other. The connecting unit 420 may connect a pair of rotation coupling units 410 covering both the left and right sides of the robot body 100 so that the rotation coupling units 410 can rotate together.

[0166] The connecting part 420 may be formed to connect the pair of rotation coupling parts 410 to each other and to be rotatable around the robot body 100. Specifically, the connecting part 420 may be formed in a frame shape with both end parts in the length direction bent and extended. In this case, both end parts of the bent and extended connecting part 420 may be arranged side by side and connected to the pair of rotation coupling parts 410. As an example, the connecting part 420 may be formed in a "∩" shape. As another example, the connecting part 420 may be formed in an arch shape.

[0167] To explain the state in which the arm 400 is connected to the robot body 100, if the robot body 100 is assumed to be a human face, the connector 420 may have a shape similar to a headband for headphones. In other words, if the robot body 100 is assumed to be a human face, the arm 400 may be seen as having a shape similar to headphones.

[0168] In this configuration, the pair of rotary joints 410 may be integrally connected to the connecting portion 420, and the entire arm 400 may rotate together with the rotary joints 410 as the center of rotation.

[0169] Meanwhile, the rotation radius of the arm 400 may be longer than the maximum length of the first link 210 and shorter than the maximum length of the leg 200. Specifically, the shortest distance from the rotation center of the rotation coupling 410 to the outer end of the connecting portion 420 may be longer than the maximum length of the first link 210 and shorter than the maximum length of the leg 200.

[0170] In this configuration, when the arm 400 rotates, at least a portion of the arm 400 can be positioned closer to the ground than the first link 210.

[0171] Meanwhile, the arm 400 further includes a rotation protrusion 480 protruding from the inner circumferential surface of the rotation coupling part 410 .

[0172] The rotation protrusion 480 protrudes from the inner peripheral surface of the rotation coupling part 410, and may be formed in a shape in which its circumferential width becomes narrower as it goes from the inner peripheral surface of the rotation coupling part 410 toward the rotation center of the rotation coupling part 410 (see FIG. 13a).

[0173] The rotation protrusion 480 may rotate together with the rotation coupling portion 410 and the connecting portion 420. That is, when the rotation coupling portion 410 and the connecting portion 420 are rotated, the rotation protrusion 480 rotates by the same rotation angle as the rotation coupling portion 410 and the connecting portion 420.

[0174] The rotation protrusion 480 may be supported in contact with the stopper 240 by the rotation of the arm 400. For example, when the connecting portion 420 is rotated past the rear of the robot body 100 and closer to the ground than the first link 210, the rotation protrusion 480 may come into contact with the stopper 240 (see FIG. 13b).

[0175] With this configuration, when the arm 400 is rotated to a predetermined position, the stopper 240 and the rotation protrusion 480 come into contact and are supported, thereby restricting the rotation of the arm 400 .

[0176] Also, there is an effect that the posture of the arm 400 and the leg 200 can be maintained while the stopper 240 and the rotation protrusion 480 maintain the state of supporting each other.

[0177] Unless a special command from the user or a preset situation occurs, the outer end of the arm 400 may be positioned farther from the ground than the robot body 100. With this configuration, the user can easily carry the robot 1 by picking up the arm 400. That is, the arm 400 can function as a handle that the user can hold.

[0178] Additionally, unless a special command from the user or a preset situation occurs, the arm 400 may be positioned behind the robot mask 500. This is to prevent the robot mask 500 from being blocked by the arm 400 when the user looks at the robot 1.

[0179] Meanwhile, when a special command from the user or a preset situation occurs, the arm 400 can rotate to achieve various functions. The various functions achieved by the rotation of the arm 400 will be described below.

[0180] Meanwhile, FIGS. 13a to 16 show diagrams for explaining a state in which the robot according to one embodiment of the present invention is waiting without moving.

[0181] 13a to 16, the robot 1 of the present invention can rotate the arm 400 toward the ground. For example, the arm 400 may rotate from the upper side of the robot body 100, past the rear, and to the lower rear side of the robot body 100. In other words, the arm 400 may rotate backward by operation of the arm motor MA.

[0182] The arm 400 is rotated so as to be closer to the ground than the lower ends of the first link 210 and the second link 220. Also, at least a portion of the arm 400 may be positioned closer to the ground than the upper end of the third link 230.

[0183] At the same time, or before the arm 400 rotates, the leg 200 may move to lower the posture of the robot 1. That is, the included angle between the first link 210 and the third link 230 and the included angle between the second link 220 and the third link 230 may become narrower.

[0184] Therefore, when viewed from the overall perspective, the robot body 100 may descend toward the ground, with the outer end of the arm 400 positioned closer to the ground than the joints where the first link 210, the second link 220, and the third link 230 are connected to one another. This may look similar to the robot 1 crouching down.

[0185] At this time, the rotation protrusion 480 of the arm 400 may contact the stopper 240 to support each other, and further rotation of the arm 400 may be restricted.

[0186] This operation can lower the overall center of gravity of the robot 1. Additionally, the backward rotation of the arm 400 can move the overall center of gravity of the robot 1 backward.

[0187] Therefore, even if the wheel motor MW is stopped and the wheel 310 does not rotate, the robot 1 may tilt backward and the pair of wheels 310 and the lower end of the arm 400 may come into contact with the ground.

[0188] At this time, when the load of the robot body 100 pushes the leg 200, the rotation protrusion 480 and the stopper 240 come into contact with each other and support each other, preventing the leg 200 from spreading out. That is, when the pair of wheels 310 and the lower end of the arm 400 come into contact with the ground, the robot 1 can maintain its posture without a separate motor drive.

[0189] As a result, through the above-described operation of the robot 1, one arm 400 and a pair of wheels 310 can come into contact with the ground, and the robot body 100 can be supported at three points.

[0190] Therefore, according to the present invention, when the robot 1 does not need to move or is waiting in place, the arm 400 and the wheel 310 can touch the ground and maintain their posture without driving the wheel motor MW, thereby minimizing the power consumption of the robot 1.

[0191] This has the effect of significantly reducing power consumption compared to conventional two-wheeled robots that have to keep rotating a pair of wheels to stay in place and wait.

[0192] Alternatively, even if the robot is made to lie down or sit on the ground in order to reduce power consumption, there is a limit to the amount of energy that must be applied instantaneously to the wheels and / or arms in order to make the robot stand up again.

[0193] In contrast, according to the present invention, the robot 1 is maintained in a state of being in contact with the ground via the arm 400, so that the robot 1 can rise further by simply pushing the arm 400 off the ground, thereby minimizing power waste.

[0194] On the other hand, Figures 14a and 14b show other embodiments of the rotation protrusions of the arms and the stoppers of the legs.

[0195] In order to avoid repetitive explanation, except for the content specifically described in this embodiment, the configuration and effects are the same as those of the robot 1 according to one embodiment of the present invention, and therefore can be used as reference.

[0196] In this embodiment, the rotation protrusion 480′ is protruded from the rotation coupling part 410 and rotates together with the rotation coupling part 410. In this case, the rotation protrusion 480′ may be protruded from the rotation coupling part 410 toward the inside of the robot body 100.

[0197] In this embodiment, the stopper 240' may be formed in a groove shape in the first link 210. Therefore, the stopper 240' may rotate together with the first link 210 when the first link 210 rotates.

[0198] At this time, the path along which the stopper 240' rotates and the path along which the rotation protrusion 480' rotates may intersect at at least one point, and at this intersection, the rotation protrusion 480' may be received in the stopper 240' and supported by each other.

[0199] That is, when the robot 1 starts to wait without moving, the leg 200 rotates the first link 210 to lower the posture of the robot 1, and the stopper 240' may rotate to the intersection. At the same time, as the rotation coupling part 410 and the connecting part 420 rotate, the rotation protrusion 480' also rotates, and the rotation protrusion 480' is received in the stopper 240'.

[0200] Therefore, the rotation protrusion 480' and the stopper 240' are supported by being sandwiched between each other, and the robot 1 can maintain its posture without being driven by a separate motor.

[0201] Meanwhile, FIGS. 17a and 17b are diagrams illustrating an operation of a robot according to an embodiment of the present invention standing up after falling forward.

[0202] 17a and 17b, when the robot 1 is in a state of falling forward, the arm 400 of the robot 1 may rotate toward the ground. For example, the arm 400 may rotate from the upper side of the robot body 100, past the front, to the lower front side of the robot body 100. In other words, the arm 400 may rotate forward by operation of the arm motor MA.

[0203] During this process, the arm 400 may come into contact with the ground. If the robot 1 falls forward, at least a portion of the front surface of the robot body 100 and the pair of wheels 310 come into contact with the ground. Here, if the arm 400 rotates toward the front of the robot body 100, the outer end of the arm 400 comes into contact with the ground.

[0204] Along with the rotation of the arm 400 described above, the wheels 310 may rotate in the direction in which the robot 1 advances. That is, the pair of wheels 310 may rotate in a direction in which the distance between the pair of wheels 310 and the arm 400 becomes closer.

[0205] In this operation, the arm 400 touches the ground and lifts the robot body 100 away from the ground, while the wheel 310 moves forward and digs into the underside of the robot body 100. Thus, the robot body 100 can be lifted back to its original position.

[0206] Therefore, according to the robot 1 of the present invention, one arm can stand up by touching the ground, so that the robot 1 can be prevented from shaking or even falling over during the standing up process, and the power consumed during the standing up process can be minimized.

[0207] When a conventional two-wheeled robot falls over, it must instantly rotate a pair of wheels strongly and then continue to move back and forth to regain balance.

[0208] To solve this problem, there is a method of using arms on the left and right sides of the robot to touch the ground, but since the positions where the pair of arms contact the ground are different, the points of force that the robot uses to stand up are different, which can cause the robot to shake while standing up, which limits the possibility of the robot falling over.

[0209] In contrast, according to the present invention, the point of contact with the ground of one arm 400 connected to each side of the robot body 100 is constant. Furthermore, at least a portion of the outer end of the arm 400 is formed in a plane that is aligned with the ground in the left-right direction, so that a relatively wide area can come into contact with the ground.

[0210] Therefore, during the process of lifting the robot body 100, the robot body 100 can rise stably without shaking and maintain balance.

[0211] In addition, the robot 1 can be raised by simply applying a certain amount of rotational force to the arm 400 and the pair of wheels 310, without the need to apply a strong rotational force to the wheels instantaneously, which prevents damage to the motor and reduces overall power consumption.

[0212] Meanwhile, FIGS. 18a and 18b are diagrams illustrating an operation of a robot according to an embodiment of the present invention standing up after falling backward.

[0213] 18a and 18b, when the robot 1 is in a state where it has fallen backward, the arm 400 of the robot 1 may rotate toward the ground. For example, the arm 400 may rotate from the upper side of the robot body 100, past the rear, and to the lower rear side of the robot body 100. In other words, the arm 400 may rotate backward by operation of the arm motor MA.

[0214] During this process, the arm 400 may come into contact with the ground. If the robot 1 falls backward, a part of the third link comes into contact with the ground. Here, if the arm 400 rotates toward the rear of the robot body 100, the outer end of the arm 400 comes into contact with the ground.

[0215] Along with the rotation of the arm 400 described above, the wheels 310 may rotate in a direction in which the robot 1 moves backward. That is, the pair of wheels 310 may rotate in a direction in which the distance between the pair of wheels 310 and the arm 400 becomes closer.

[0216] With this operation, the arm 400 touches the ground and the wheel 310 moves backward, lifting the robot body 100 and the third link 230. Thus, the robot body 100 can be lifted back to its original position.

[0217] Therefore, according to the robot 1 of the present invention, one arm can stand up by touching the ground, so that the robot 1 can be prevented from shaking or even falling over during the standing up process, and the power consumed in the process of achieving the standing up action can be minimized.

[0218] According to the present invention, the arm 400 connected to each of the left and right sides of the robot body 100 has a fixed point of contact with the ground. Furthermore, the outer end of the arm 400 is formed in a plane shape, at least a portion of which is aligned with the ground in the left-right direction, so that a relatively wide area can come into contact with the ground.

[0219] Therefore, during the process of lifting the robot body 100, the robot body 100 can rise stably without shaking and maintain balance.

[0220] In addition, the robot 1 can be raised by simply applying a certain amount of rotational force to the arm 400 and the pair of wheels 310, without the need to apply a strong rotational force to the wheels instantaneously, which prevents damage to the motor and reduces overall power consumption.

[0221] In addition, in the case of the present invention, even if the robot 1 falls forward or backward, the direction of rotation of the arm 400 and the wheel 310 can be changed so that the robot 1 can stand up.

[0222] 19 and 20 are diagrams illustrating a state in which a robot according to an embodiment of the present invention is combined with a functional module.

[0223] 19 and 20, according to an embodiment, the arm 400 of the robot 1 may be detachably coupled to the functional module 900. Specifically, the arm 400 may rotate to bring the detachable structure provided on the arm 400 closer to the detachable structure provided on each functional module 900, or the detachable structures may be coupled to each other.

[0224] To this end, as shown in Figures 3 and 5, the arm 400 of the robot 1 according to one embodiment of the present invention may further include a detachable part 430 and a connection terminal 440 for being coupled to the functional module 900.

[0225] The detachable part 430 is disposed on the connecting part 420. Specifically, the detachable part 430 is disposed on the outer surface of the connecting part 420. Here, the outer surface of the connecting part 420 may refer to the surface disposed in the opposite direction to the direction in which the robot body 100 is viewed from the connecting part 420.

[0226] In this configuration, the detachable part 430 may be exposed to the exterior of the robot body 100 so as to facilitate contact with an object approaching from outside the robot 1 .

[0227] The detachable unit 430 is detachably coupled to the functional module 900. Specifically, the detachable unit 430 can be selectively coupled to or separated from the functional module 900.

[0228] The attachment / detachment unit 430 may be configured in the form of an electromagnet, and may selectively apply a magnetic force (attraction force) to the functional module 900 when power is supplied.

[0229] For example, the detachable unit 430 may be configured in the form of a circular electromagnet, which allows the detachable unit 430 to generate a uniform magnetic field over a wide area and to be stably coupled to the functional module 900.

[0230] Also, a pair of the detachable parts 430 may be arranged at a predetermined distance apart. In this case, a connecting terminal 440 may be arranged between the pair of detachable parts 430. With this configuration, the pair of detachable parts 430 can be coupled to the detachable part of the metal material (or electromagnet) provided on the functional module 900 at a precise position, and has the effect of guiding the connecting terminal 440 to contact a corresponding terminal provided on the functional module 900 at a precise position.

[0231] The connection terminal 440 may be electrically connected to the functional module 900. The connection terminal 440 may be in contact with a corresponding terminal provided on the functional module 900 to be electrically connected thereto.

[0232] In this embodiment, the connection terminal 440 may be configured to include a terminal for supplying power to the functional module 900 and a terminal for transmitting and receiving signals to and from the functional module 900. For example, the connection terminal 440 may be configured as a pogo pin including two power pins and four signal pins.

[0233] With this configuration, power from the robot body 100 can be supplied to the functional module 900 via the connection terminal 440. Also, the robot body 100 can transmit and receive electrical signals to and from the functional module 900 via the connection terminal 440.

[0234] Meanwhile, the functional module 900 will be described in detail later.

[0235] Meanwhile, FIGS. 10 and 11 show diagrams for explaining another embodiment of the robot arm according to the present invention.

[0236] An arm 1400 according to another embodiment of the present invention will be described below with reference to FIGS.

[0237] In order to avoid repetitive explanation, except for the content specifically described in this embodiment, the structure and effect are the same as those of the arm 400 according to one embodiment of the present invention, and therefore this can be used as reference.

[0238] The arm 1400 of this embodiment further includes a terminal rotating part 1460 and a conversion motor MC that provides a rotational force to the terminal rotating part 1460 .

[0239] The terminal rotation part 1460 is rotatably coupled to the connection part 1420. For example, the terminal rotation part 1460 may be formed in a plate shape having a predetermined thickness, and the detachable part 1430 and the connection terminal 1440 may be arranged on one surface.

[0240] The terminal rotating portion 1460 may form the exterior of the arm 1400 together with the connecting portion 1420. A rotating shaft coupled to the connecting portion 1420 may be provided on both ends of the terminal rotating portion 1460 in the length direction.

[0241] The conversion motor MC is connected to the terminal rotating part 1460 to provide a rotational force to the terminal rotating part 1460. More specifically, the final output end of the shaft or gear of the conversion motor MC is connected to the terminal rotating part 1460.

[0242] In this configuration, when the conversion motor MC is operated, the terminal rotating part 1460 is rotated.

[0243] The surface exposed to the outside may be changed when the terminal rotation part 1460 is rotated. Specifically, the surface of the terminal rotation part 1460 on which the detachable part 1430 and the connecting terminal 1440 are disposed may be exposed to the outside. Furthermore, when the terminal rotation part 1460 is rotated, the detachable part 1430 and the connecting terminal 1440 may be hidden in the internal space of the connecting part 1420.

[0244] In this configuration, when the arm 1400 and the functional module 900 do not need to be coupled, the detachable part 1430 and the connection terminal 1440 can be hidden inside the connection part 1420 .

[0245] In particular, if the robot 1 falls, the arm 1400 needs to be rotated so that the connecting part 1420 touches the ground, and at this time, the detachable part 1430 and the connecting terminal 1440 may come into contact with the ground and become contaminated or damaged.

[0246] Therefore, according to the arm 1400 of this embodiment, the detachable part 1430 and the connecting terminal 1440 can be prevented from being exposed to the outside due to the rotation of the terminal rotation part 1460. In addition, the detachable part 1430 and the connecting terminal 1440 can be prevented from being contaminated or damaged.

[0247] robot mask Figures 23a and 23b show drawings to explain the connection relationship between the robot mask and the robot body in a robot according to one embodiment of the present invention, Figure 24 shows a drawing to explain the state in which the robot mask has been separated from a robot according to one embodiment of the present invention, and Figure 25 shows a drawing to explain the structure of the robot mask in a robot according to one embodiment of the present invention.

[0248] As shown in FIGS. 23a to 25, the robot 1 according to one embodiment of the present invention may further include a robot mask 500.

[0249] The robot mask 500 can be detachably coupled to the robot body 100 and can cover the display 120. The robot mask 500 can be coupled to the robot body 100 to configure the appearance of the robot 1.

[0250] The robotic mask 500 includes a mask body 510 , a coupling magnet 520 , a mask communication portion 530 , a mask function portion 540 , and a window 550 .

[0251] The mask body 510 forms the exterior of the robot mask 500. For example, based on the state in which the robot mask 500 and the robot body 100 are combined, the outer surface of the mask body 510 exposed to the outside may be formed in a curved shape having a predetermined curvature.

[0252] In addition, the inner surface of the mask body 510 facing the robot body 100 may be formed in a shape corresponding to the shape of the robot body 100. For example, the inner surface of the mask body 510 may be formed in a flat shape corresponding to the shape of the display 120, and the outer periphery thereof may have protruding side walls to accommodate a part of the body housing 110. Therefore, the inner surface of the mask body 510 may have an oval flat surface and a side wall surrounding the oval flat surface.

[0253] The coupling magnet 520 is disposed on the mask body 510 and is detachably coupled to the robot body 100 .

[0254] Specifically, at least one coupling magnet 520 is disposed on a side wall protruding from the inner surface of the mask body 510. For example, four coupling magnets 520 may be disposed. With this configuration, even if the robot body 100 shakes, at least one coupling magnet 520 is in contact with the robot body 100, so that the robot mask 500 can be prevented from detaching from the robot body 100.

[0255] In addition, the coupling magnet 520 generates a magnetic force (attractive force) and is detachably coupled to the robot body 100. With this configuration, the coupling magnet 520 can couple the body housing 110 and the mask body 510 together through the magnetic force, and can separate the body housing 110 and the mask body 510 when a user applies an external force of a predetermined magnitude or more.

[0256] The mask communication unit 530 is disposed in the mask body 510 and can transmit and receive information to and from the robot body 100. Specifically, the mask communication unit 530 can communicate with the communication unit 710 provided in the robot body 100.

[0257] The mask communication unit 530 may support wireless communication with the robot body 100. A short-range communication module may be provided as a wireless communication module for supporting wireless communication.

[0258] The short-distance communication may be, for example, NFC (Near Field Communication) communication.

[0259] Information on the shape of the robot mask 500 and the functions of the robot mask 500 can be transmitted to the robot body 100 via the mask communication unit 530. In addition, the mask communication unit 530 can receive control commands from the control unit 700 provided in the robot body 100.

[0260] Therefore, through communication between the mask communication unit 530 and the communication unit 710, the control unit 700 can control the mask function unit 540 of the robot mask 500.

[0261] Meanwhile, the robot mask 500 may be supplied with power from the robot body 100. Although not shown, the robot mask 500 may be provided with a terminal that can be electrically connected to the robot body 100.

[0262] The robot mask 500 may include a mask function portion 540 that provides functionality to the robot body 100 when coupled with the robot body 100 .

[0263] The mask functional unit 540 may be disposed on the mask body 510. For example, the mask functional unit 540 may be disposed on the upper part of the mask body 510. In other words, when the robot mask 500 is coupled to the robot body 100, at least a portion of the mask functional unit 540 may be disposed farther from the ground than the robot body 100.

[0264] With this configuration, the mask function unit 540 can be clearly seen by the user when the user looks at the robot 1. Furthermore, when the user reaches out to the robot 1, the user's hand can easily touch the mask function unit 540.

[0265] The mask function unit 540 may be provided in various forms depending on the function.

[0266] If multiple robot masks 500 each including a different mask function unit 540 are provided, the user can add or change the services provided by the robot 1 of the present invention by swapping the robot masks 500 as needed.

[0267] For example, by combining a robot mask 2500 including the mask function unit 2540 according to the first embodiment with the robot body 100, the robot 1 can provide a service of charging the user's mobile phone, transporting it to the required location, and operating the mobile phone according to voice commands (see FIG. 26).

[0268] As another example, if a robot mask 3500 including a mask function unit 3540 according to the second embodiment is coupled to the robot body 100, the robot 1 can reproduce sounds required by the user through a speaker (see FIG. 27).

[0269] As another example, if a robot mask 4500 including a mask function unit 4540 according to the third embodiment is attached to the robot body 100, the robot 1 can provide the necessary atmosphere at a party or the like through a lighting device (see FIG. 28).

[0270] As another example, if a robot mask 5500 including a mask function unit 5540 according to the fourth embodiment is coupled to the robot body 100, the robot 1 can provide a photo or video shooting service through a camera (see FIG. 29).

[0271] Hereinafter, the provision of services by the robot mask 500 of the robot 1 according to each embodiment will be described with reference to the drawings.

[0272] FIG. 26 shows a diagram for explaining a first embodiment of a robot mask.

[0273] As shown in FIG. 26, the mask feature 2540 may be a carrier assembly.

[0274] The carrier assembly may include a storage table for storing objects. Specifically, the storage table may be a box-like structure having an open top and a space formed therein.

[0275] The robot 1 can transport an object stored in the space inside the storage table.

[0276] The robot 1 can move in accordance with a user's voice command and transport the items stored on the storage table to the required location.

[0277] Specifically, after the user places an object on the storage table, the robot 1 can move and transport the object according to an instruction to move to a specific location in the house.

[0278] The robot 1 can move according to a preset algorithm and transport items stored on the storage table to the required location.

[0279] Specifically, when the robot 1 detects a weight of a predetermined size or more on the storage table, it recognizes that an object has been placed on it and moves to a specific location, and when the weight is removed, it returns to its original position, thereby continuously transporting objects to specific locations (continuously transporting drinks, food, etc. from the kitchen to the dining table).

[0280] A pressure sensor (not shown) equipped with a load cell or the like may be disposed on the underside of the storage table to sense the weight of the object.

[0281] An anti-slip pad (not shown) may be provided on the underside of the storage table to prevent stored items from slipping. The anti-slip pad may be made of a highly frictional material such as silicone, which has excellent anti-slip properties, or PU (Polyurethane), which is a material mainly composed of artificial leather, but is not limited to these.

[0282] The anti-slip pad has multiple protrusions made of highly frictional materials such as silicone or PU (Polyurethane), which is made mainly of artificial leather, to further maximize friction.

[0283] A wireless charging device (not shown) capable of charging a terminal such as a user's mobile phone may be disposed on the underside of the storage stand. A terminal such as a user's mobile phone can be placed on the underside of the storage stand and charged wirelessly. A power transmitter (not shown) for transmitting power wirelessly is provided on the underside of the storage stand.

[0284] The wireless power transmission / reception method is not limited, and may be, for example, a magnetic induction method, a magnetic resonance method, a microwave method, etc. If the wireless power method is a magnetic induction method or a magnetic resonance method, the power transmitter may be a transmitting coil, and if the wireless power method is a microwave method, the power transmitter may be a transmitting antenna.

[0285] When the carrier assembly is used in the robot 1 of the present invention, devices that require wireless charging, such as mobile phones, can be charged through the storage stand, eliminating the need for a separate charging device and providing convenience to the user.

[0286] The underside of the storage stand may be formed with an intaglio (not shown) for receiving the mobile phone.

[0287] The recesses formed on the underside of the storage stand, together with the anti-slip pad, serve to prevent the mobile phone from slipping and to store it more stably.

[0288] A light emitting unit (not shown) may be disposed on the exterior of the carrier assembly, allowing the user to visually check the wireless charging level of the mobile phone housed inside the storage stand.

[0289] For example, a light emitting portion (not shown) may be disposed on the entire surface of the carrier assembly and emit red light when charging and blue light when fully charged, allowing the user to visually check the charging status of the mobile phone.

[0290] The underside of the storage stand may be provided with a short-range communication module (not shown) or a long-range communication module (not shown) for communication with stored mobile phones.

[0291] The robot 1 can communicate with the stored mobile phone to send and receive information through the short-range communication module or long-range communication module arranged on the underside of the storage stand.

[0292] The storage stand may be equipped with a display (not shown), a camera (not shown), a microphone (not shown), or a speaker (not shown).

[0293] The description of the display 120, microphone 140, and speaker 450 is incorporated herein by reference for the description of a display (not shown), a microphone (not shown), or a speaker (not shown) that may be provided on the storage stand.

[0294] The robot 1 can play sounds on the speaker based on information received from the mobile phone stored on the storage stand so that the user can hear them.

[0295] For example, when a call comes in on a mobile phone stored on a storage stand, the robot 1 can move close to the user so that the user can make an audio or video call without having to directly operate the mobile phone.

[0296] For example, the robot 1 can play video and / or audio that can be played on a mobile phone in response to a user's instruction, allowing the user to listen to music or watch videos without directly operating the mobile phone.

[0297] FIG. 27 shows a diagram for explaining a second embodiment of the robot mask.

[0298] As shown in FIG. 27, the mask feature 3540 may be a speaker assembly.

[0299] The speaker assembly may include a speaker capable of providing sound.

[0300] The speaker can transmit information about the robot 1 as sound. The source of the sound transmitted by the speaker may be sound data previously stored in the robot 1. For example, the previously stored sound data may be voice data of the robot 1. For example, the previously stored sound data may be a notification sound that notifies the user of the status of the robot 1.

[0301] Meanwhile, the source of the sound output by the speaker may be sound data received via the mask communication unit 530. That is, the speaker assembly may be sound data from the control unit 700 received via the mask communication unit 530.

[0302] With this configuration, the speaker provided in the robot mask 3500 of this embodiment can emit sound together with the pair of speakers 450 arranged on the arm 400. For example, the speaker provided in the robot mask 3500 may be a woofer speaker.

[0303] Therefore, when the robot mask 3500 including the speaker assembly is attached to the robot body 100, the pair of speakers 450 may act as a left speaker and a right speaker, respectively, and the speaker provided in the robot mask 3500 may act as a woofer speaker responsible for reproducing low frequencies.

[0304] As a result, according to this embodiment, when the robot mask 3500 including the speaker assembly is coupled to the robot body 100, the robot 1 can provide a 2.1 channel speaker function.

[0305] FIG. 28 shows a diagram for explaining a third embodiment of the robot mask.

[0306] As shown in FIG. 28, the mask feature 4540 may be a mirror ball assembly.

[0307] The mirror ball assembly may be equipped with a lighting device that emits light.

[0308] The lighting device may include multiple light sources, for example a lighting device including multiple light sources may be formed in a spherical shape and configured to provide illumination in multiple directions and with different colors.

[0309] The mirror ball assembly is provided with a lighting motor (not shown) that provides power to rotate the lighting device up and down or left and right, thereby controlling the operation of the lighting device.

[0310] Meanwhile, the mirror ball assembly can receive control commands from the control unit 700 via the mask communication unit 530 .

[0311] Therefore, when the robot mask 4500 including the mirror ball assembly is connected to the robot body 100, not only can the sound source be reproduced through the speaker 450, but the operation of the lighting device can also be controlled by the sound source, and the operation of the lighting device can be controlled according to user movement information, thereby providing an effect of livening up the atmosphere at a venue, various parties, clubs, etc.

[0312] FIG. 29 shows a diagram for explaining a fourth embodiment of the robot mask.

[0313] As shown in FIG. 29, the mask feature 5540 may be a camera assembly.

[0314] The camera assembly may include a camera for taking pictures or videos.

[0315] The camera can recognize the position of the user by capturing an image in front of the robot 1. To this end, the camera may include an RGB module and a depth module.

[0316] The depth module can acquire depth information of an image. For example, the depth information can be acquired by measuring the delay or position shift of a modulated optical signal for every pixel of a captured image to acquire travel time information.

[0317] The RGB module can obtain color images (image images), from which edge characteristics, color distribution, frequency characteristics (or wavelet transform), etc. can be extracted.

[0318] The robot 1 acquires distance information for the object to be recognized through depth information in the forward image captured by the camera, and calculates boundary characteristics extracted from the color image together to determine whether a user is present in front and / or their location.

[0319] The camera may take a picture of the user through a voice command from the user. For example, if the user commands to take a photo by voice, the camera may take a photo. If the user commands to take a video by voice, the camera may start taking a video. If the user commands to stop taking a video by voice, the camera may stop taking a video.

[0320] At this time, the robot 1 may recognize the user's position and move along with the user. Also, the robot 1 may change the position and angle of the camera so that it faces the user's face.

[0321] Therefore, according to this embodiment, the robot 1 may provide a service in which the robot 1 can accompany the user and take photos according to the user's commands.

[0322] Meanwhile, the robot mask 500 according to an embodiment of the present invention may include a window 550 that exposes an image displayed on the display 120 to the outside when combined with the robot body 100 .

[0323] The window 550 may be disposed in the mask body 510. Specifically, the window 550 may be disposed through the mask body 510 and positioned facing the display 120 when the robot mask 500 is coupled to the robot body 100.

[0324] The window 550 may be made of a material that allows light to pass through, for example, the window 550 may be made of a transparent material.

[0325] Meanwhile, if the robot mask 500 is coupled to the robot body 100, the display 120 may display a face and facial expressions.

[0326] The robot 1 can display facial features such as eyes, nose, and mouth on the display 120, allowing the user to feel that the robot is expressing emotions.

[0327] The robot 1 can display preset images on the display 120 to depict facial expressions, allowing the user to recognize that the robot is expressing emotions.

[0328] For example, when the user leaves, the robot 1 may display a smiling face on the display 120 to show joy.

[0329] As another example, if the robot 1 senses a cliff and veers away from the risk of falling, the robot 1 may display a surprised face and a face with surprised eyes on the display 120.

[0330] As another example, when a user calls the robot 1, the robot 1 may gaze at the user and display a curious facial expression on the display 120. The robot 1 may be configured to sense and respond to calls made by the user using a specific pronunciation.

[0331] As another example, if the robot 1 is unable to understand a user's command, the robot 1 may display a question mark or other symbol on the display 120 along with a confused facial expression.

[0332] As another example, if the user commands the robot 1 to provide a service continuously, a distressed facial expression may be displayed along with a picture showing sweat.

[0333] As another example, if the user does not give any command to the robot 1 for a preset time, the robot 1 may display a sleeping facial expression.

[0334] In addition to the above examples, the robot 1 can express various emotions on the display 721, and the expressions that can be displayed can be improved or added through software updates, etc.

[0335] In this manner, the robot 1 can express emotions to the user and provide a pat robot service that interacts with the user, which has the effect of providing emotional stability to the user.

[0336] The robot 1 may indicate emotions visually by showing facial expressions on the display 120 as described above, and may also indicate emotions through audio output from the speaker 450.

[0337] For example, sounds such as laughter or surprise may be output in response to the facial expression displayed on the display 120.

[0338] Furthermore, the robot 1 may visually show emotions by showing facial expressions on the display 120 as described above, and may also show emotions through the rotation of the arm 400.

[0339] For example, a smiling expression may be displayed on the display 120 and the arm 400 may be waving to indicate emotion.

[0340] Meanwhile, the display 120 may change the image displayed when the robot mask 500 is combined depending on the shape of the robot mask 500.

[0341] Specifically, the control unit 700 of the robot 1 can receive information about the shape of the mask 500 through the mask communication unit 530. For example, each robot mask 500 has information about its shape recorded therein, and the control unit 700 can receive the information about the shape of the robot mask 500 from the mask communication unit 530 of the robot mask 500. At this time, the memory 720 stores graphic user interface (GUI) information according to the shape of each mask 500. The control unit 700 can also control the display 120 to display a GUI corresponding to the shape of the robot mask 500. Therefore, when the robot mask 500 and the robot body 100 are combined, the display 120 may display the GUI, and the GUI displayed on the display 120 can be viewed from outside the robot mask 500 through the window 550.

[0342] On the other hand, the user may directly select a GUI via the input unit 125. Furthermore, the control unit 700 may perform control so that the GUI input by the user is displayed on the display 120.

[0343] In this configuration, the user may purchase a robot mask 500 that suits his / her taste, or may customize the appearance of the robot 1 by selecting a GUI that he / she prefers.

[0344] Functional Module The robot 1 of the present invention includes a functional module 900. The functional module 900 is a component that is connected to the robot body 100 via the arm 400 to provide the robot 1 with various functions.

[0345] As an example, the functional module 900 may be removably coupled to the arm 400 .

[0346] Although not shown, the functional module 900 may be provided with a structure corresponding to the detachable part 430 and the connecting terminal 440 of the arm 400. For example, the functional module 900 may be provided with a detachable part that is detachably coupled to the detachable part 430 of the arm 400. The functional module 900 may also be provided with a corresponding terminal (not shown) that corresponds to the connecting terminal 440 of the arm 400. The corresponding terminal may be in contact with the connecting terminal 440 to receive power from the robot body 100 and can transmit and receive electrical signals to and from the robot body 100.

[0347] As another example, the functional module 900 may be detachably coupled to the robot body 100. The functional module 900 may be detachably coupled to the lower part of the robot body 100. Specifically, the functional module 900 may be coupled to a module coupling unit 150 arranged at the lower part of the robot body 100.

[0348] In particular, the robot 1 of the present invention is a two-wheeled robot, and a space for connecting the functional module 900 is formed between a pair of wheels 310 and a leg 200, so there is an advantage that the overall volume does not increase significantly even when the robot body 100 and the functional module 900 are connected.

[0349] In addition, when the functional module 900 is coupled to the robot body 100 through this arrangement, not only the pair of wheels 310 but also the functional module 900 can come into contact with the ground B, thereby increasing the number of points where the robot 1 comes into contact with the ground B and the supported area. Therefore, the functional module 900 of the present invention is coupled to the robot body 100, and has the effect of easily maintaining the balance of the robot 1.

[0350] Although not shown, the functional module 900 may be provided with a structure corresponding to the module connecting unit 150 of the robot body 100. For example, the functional module 900 may be provided with a connecting unit 930 that is detachably connected to the module connecting unit 150 of the robot body 100. The functional module 900 may also be provided with corresponding terminals that correspond to the terminals of the robot body 100. The corresponding terminals may be in contact with the terminals of the robot body 100 to receive power from the robot body 100 and can transmit and receive electrical signals to and from the robot body 100.

[0351] Although not shown, the functional module 900 may be provided with a lamp. The lamp can indicate the location of the functional module 900 by emitting light. For example, the lamp may be an infrared (IR) light emitting diode (LED). With this configuration, the IR sensor 620 arranged on the robot body 100 can detect the location of the functional module 900, and the robot body 100 can move toward the functional module 900.

[0352] The functional module 900 may include various configurations depending on the function.

[0353] If each of the arms 400 is provided with a different functional module 900, the user can add or change the services provided by the robot 1 according to the present invention by replacing the functional module 900 of the arm 400 as needed.

[0354] 19, the functional module 900 may be a transport module 910. The transport module 910 may include a platform that can support an object and transport wheels that are coupled to the underside of the platform and roll on the ground.

[0355] The base plate is provided so that an object can be placed on it. For example, the base plate may be formed in a block shape having a predetermined thickness, and may have a space on the upper surface where an object can be placed.

[0356] An anti-slip pad may be provided on the upper surface of the base plate to prevent objects from slipping. The anti-slip pad may be made of a highly frictional material such as silicone, which has excellent anti-slip properties, or PU (Polyurethane), which is mainly composed of artificial leather, but is not limited to these.

[0357] The anti-slip pad has multiple protrusions made of highly frictional materials such as silicone or PU (Polyurethane), which is made mainly of artificial leather, to further maximize friction.

[0358] Transport wheels may be coupled to the underside of the base plate to roll on the ground.

[0359] Meanwhile, depending on the embodiment, the transport module 910 may further include a motor (not shown) for providing power to the transport wheel, which has the effect of allowing a heavier object to be moved when the motor (not shown) of the transport module 910 is activated.

[0360] Meanwhile, in this embodiment, the transport module 910 may be coupled to the rear of the robot body 100. When the transport module 910 is coupled to the rear of the robot body 100, the robot body 100 is disposed in front of the transport module 910 and can guide the movement direction of the transport module 910. That is, the transport module 910 can move along the movement direction of the robot body 100. When viewed by a user, this may appear as if the robot body 100 is pulling the transport module 910 via the arm 400.

[0361] Alternatively, in this embodiment, the transport module 910 may be coupled to the front of the robot body 100. When the transport module 910 is coupled to the front of the robot body 100, the robot body 100 is positioned behind the transport module 910 and can push the transport module 910 to move.

[0362] As another example, as shown in FIG. 20, the functional module 900 may be a cleaning module 920.

[0363] The cleaning module 920 may include a module body, a suction nozzle, and a dust box. With this configuration, when the functional module 900 is connected to the arm 400, the robot 1 can perform dry cleaning.

[0364] The module body may be detachably coupled to the arm 400. For example, the module body may be formed in a hexahedron shape having a predetermined volume, and may have a flow path formed therein that can suck in dust.

[0365] A suction nozzle (not shown) capable of sucking in dust may be provided on the bottom surface of the module body. A dust box capable of storing the sucked dust may be disposed inside the module body. A motor (not shown) providing air suction force may be provided inside the module body. In this case, wheels may be provided on the bottom surface of the module body. An agitator may be provided on the bottom surface of the module body. A side brush may also be provided on the bottom surface of the module body. A motor providing driving force to the agitator and / or the wheel may also be provided inside the module body.

[0366] Meanwhile, in this embodiment, the cleaning module 920 may be coupled to the front of the robot body 100. When the cleaning module 920 is coupled to the front of the robot body 100, the robot body 100 is disposed behind the cleaning module 920 and can move together with the cleaning module 920. The cleaning module 920 can change its traveling direction according to the movement of the robot body 100. When viewed by a user, this may appear as if the robot body 100 is pushing the cleaning module 920 via the arm 400 to clean.

[0367] Meanwhile, as shown in Fig. 22, a functional module 900 according to another embodiment may be coupled to the lower side of the robot body 100. In this case, the robot body 100 is disposed above the functional module 900 and can move together with the functional module 900. The functional module 900 can change its traveling direction according to the movement of the robot body 100. This may appear to a user that the robot body 100 is standing on the functional module 900 to clean.

[0368] 21, the functional module 900 may be a cleaning module 920'. The cleaning module 920' includes a module body 921, a suction nozzle 922, and a coupling part 923.

[0369] The module body 921 may be detachably coupled to the robot body 100 via a coupling part 923. Although not shown, the module body 921 may have a flow path formed therein that can suck in dust.

[0370] A suction nozzle 922 capable of sucking in dust may be provided at the front of the module body 921. A dust box capable of storing the sucked dust may be disposed inside the module body 921. A motor (not shown) providing air suction force may be provided inside the module body 921. In this case, wheels may be provided on the bottom surface of the module body 921. The suction nozzle 922 may suck in air and dust while moving along the ground (bottom surface). A suction port may be formed on the bottom surface of the suction nozzle 922. An agitator may be provided around the suction port. A motor providing driving force to the agitator and / or the wheel may also be provided inside the module body 921.

[0371] The coupling part 923 is disposed on the upper part of the module body 921 and coupled to the robot body 100. Specifically, the coupling part 923 may be disposed on the front upper side of the module body 921. The coupling part 923 may be detachably coupled to the module coupling part 150 of the module body 921. For example, the coupling part 923 may include at least a portion made of a metal material or an electromagnet. As another example, the coupling part 923 may include a hook or the like and be coupled to the module body 921 by a hook. In this case, the coupling force between the module body 921 and the robot body 100 can be strengthened.

[0372] Meanwhile, the functional module 900 may be configured so that the rear portion thereof is heavier than the front portion thereof where the suction nozzle 922 is disposed, based on the coupling portion 923. Although not shown, a motor that is relatively heavy compared to other components may be disposed inside the rear portion of the module body 921. Also, although not shown, in this embodiment, a weight that increases the weight of the functional module 900 may be further disposed inside the rear portion of the module body 910.

[0373] Therefore, the functional module 900 may be coupled with the robot body 100 and lifted together when the robot body 100 is moved upward.

[0374] When the functional module 900 is lifted by the robot body 100, the front end of the functional module 900 may be lifted higher than the rear end.

[0375] As another example, the functional module 900 may include a pair of mops that rotate around a rotation axis and a water tank that stores water to be supplied to the mops, although this is not shown in the drawings. By connecting the functional module 900 to the robot body 100 in this configuration, the robot 1 can perform wet cleaning.

[0376] Although not shown, as another example, the functional module 900 may include an arm and a gripper. In this configuration, when the functional module 900 is coupled to the robot body 100, the gripper can pick up a mobile phone or a large object and carry it to another location.

[0377] Control Configuration FIG. 30 shows a block diagram for explaining the control configuration of a robot according to one embodiment of the present invention.

[0378] Referring to FIG. 24, the robot 1 according to the embodiment of the present invention may include a sensor unit 600, a control unit 700, a communication unit 710, a memory 720, a battery 800, a motor unit, and an interface unit.

[0379] The components illustrated in the block diagram of FIG. 24 are not essential to realizing robot 1, and robot 1 described herein may have more or fewer components than those listed above.

[0380] First, the control unit 700 can control the overall operation of the robot 1. The control unit 700 can control the robot 1 to perform various functions according to setting information stored in a memory 720, which will be described later.

[0381] The control unit 700 may be disposed in the robot body 100. More specifically, the control unit 700 may be mounted on a PCB disposed inside the body housing 110.

[0382] The control unit 700 may include any type of device capable of processing data, such as a processor. Here, the term "processor" may refer to a data processing device built into hardware, having a physically structured circuit for performing a function expressed by code or instructions contained in a program. Examples of such data processing devices built into hardware 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 the like, but the scope of the present invention is not limited thereto.

[0383] 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, which will be described later. In this case, the information about the external environment may be, for example, information about the temperature, humidity, amount of dust, etc., in a room where the robot 1 is traveling. Alternatively, the information may be, for example, cliff information. Alternatively, the information about the external environment may be, for example, indoor map information. Of course, the information about the external environment is not limited to the examples given above.

[0384] The control unit 700 can receive information on the current state of the robot 1 from at least one of the components of the sensor unit 600, which will be described later. In this case, the current state may be, for example, tilt information of the robot main body 100. Or, for example, information on the separation state between the wheel 310 and the ground. Or, for example, position information of the wheel motor MW. Or, for example, position information of the suspension motor MS. Of course, the information on the current state of the robot 1 is not limited to the examples given above.

[0385] The control unit 700 can transmit a drive control command to at least one of the components of the motor unit described below. For example, the control unit 700 can control the rotation of the wheel motor MW to move the robot 1. Alternatively, the control unit 700 can control the rotation of the wheel motor MW to maintain the horizontal posture of the robot 1. Alternatively, the control unit 700 can control the rotation of the suspension motor MS to maintain the horizontal posture of the robot 1.

[0386] The control unit 700 may receive a user command through at least one of the components of the interface unit described below. For example, the command may be a command to turn on / off the robot 1. Alternatively, for example, the command may be a command to manually control various functions of the robot 1.

[0387] The control unit 700 may output information related to the robot 1 through at least one of the components of the interface unit described below. For example, the output information may be visual information. Alternatively, for example, the output information may be auditory information.

[0388] The motor unit includes at least one motor and can provide driving force to components coupled with each motor.

[0389] 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 wheels 310 arranged on one side in the left-right direction and a second wheel motor MW2 that transmits driving force to the wheels 310 arranged on the other side in the left-right direction.

[0390] The wheel motors MW may be disposed in the wheel units 300. More specifically, the wheel motors MW may be housed inside the third links 230.

[0391] The wheel motors MW are connected to the wheels 310. More specifically, the final output end of the shaft or gear of the first wheel motor MW1 is connected to the wheel 310 located on one side in the left-right direction. The final output end of the shaft or gear of the second wheel motor MW2 is connected to the wheel 310 located on the other side in the left-right direction. The wheel motors MW on each side are driven and rotated according to a control command from the control unit 700, and the rotation of the wheels 310 caused by the rotation of the wheel motors MW allows the robot 1 to move along the ground.

[0392] The motor unit may include suspension motors MS that provide 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 arranged on one side in the left-right direction and a second suspension motor MS2 that transmits driving force to the leg 200 arranged on the other side in the left-right direction.

[0393] The suspension motors MS may be disposed on the robot body 100. More specifically, the suspension motors MS may be housed inside the body housing 110, respectively.

[0394] The suspension motors MS are connected to the first links 210. More specifically, the final output end of the shaft or gear of the first suspension motor MS1 is connected to the first link 210 disposed on one side in the left-right direction. The final output end of the shaft or gear of the second suspension motor MS2 is connected to the first link 210 disposed on the other side in the left-right direction. The left and right suspension motors MS are driven and rotated according to a control command from the control unit 700. The rotation of the suspension motors MS rotates the first link 210, which in turn rotates the third link 230 connected to the first link 210, thereby changing the angle between the first link 210 and the third link 230.

[0395] This allows the robot 1 to lift or lower the wheels 310, allowing it to maintain a horizontal position when climbing an obstacle or running on curved ground, or allows the robot body 100 to move downward or upward.

[0396] The motor section may include an arm motor MA that provides rotational force to the arm 400 .

[0397] The arm motor MA may be disposed in the robot body 100. More specifically, at least one arm motor MA may be housed inside the body housing 110.

[0398] The arm motor MA is driven to rotate in accordance with the control command of the control unit 700, and the rotation of the arm motor MA causes the rotary coupling part 410 to rotate, which in turn causes the connecting part 420, which is integral with the rotary coupling part 410, to rotate, thereby causing the arm 400 to pivot relative to the robot main body 100.

[0399] This allows the robot 1 to rotate the arm 400, and the arm 400 can be rotated to couple with the functional module 900. Alternatively, the arm 400 can be rotated to touch the ground.

[0400] The sensor unit 600 includes at least one sensor, and each sensor can measure or sense information about the external environment of the robot 1 and / or information about the current state of the robot 1.

[0401] The sensor unit 600 may include an obstacle detection camera 610 .

[0402] The obstacle detection camera 610 is provided to detect obstacles present in the room in which the robot 1 moves and to map the structure of the room.

[0403] For this purpose, the obstacle detection camera 610 may be disposed in front of the robot body 100. More specifically, the obstacle detection camera 610 may be disposed in front of the body housing 110.

[0404] Meanwhile, depending on the embodiment, multiple obstacle detection cameras 610 may be arranged. For example, a first detection camera 611 may be arranged at the front lower part of the main body housing 110, and a second detection camera 612 may be arranged at the front upper part of the main body housing 110. With this configuration, the obstacle detection cameras 610 can detect objects or people arranged in front of the robot 1.

[0405] The obstacle detection camera 610 can detect an obstacle T and detect the distance to the obstacle T. For example, the first detection camera 611 may be a depth camera.

[0406] The obstacle detection camera 610 can capture images of the interior of the vehicle while driving to perform Simultaneous Localization and Mapping (SLAM). For example, the second detection camera 612 may be an RGB camera.

[0407] Depth cameras and RGB cameras can calculate distance by emitting light and then calculating the time it takes for the emitted light to reflect and return.

[0408] The control unit 700 can implement SLAM based on information about the surrounding environment captured by the obstacle detection camera 610 and information about the current position of the robot 1.

[0409] Meanwhile, the method by which the robot 1 according to the embodiment of the present invention achieves SLAM may be achieved only by the obstacle detection camera 610, but is not limited thereto. For example, the robot 1 may achieve SLAM by further utilizing an additional sensor. The additional sensor may be, for example, a laser distance sensor (LDS).

[0410] The sensor unit 600 may include an IR sensor 620 for infrared sensing.

[0411] The IR sensor 620 may be an IR camera that senses infrared light.

[0412] The IR sensor 620 may be disposed on the robot body 100. More specifically, the IR sensor 620 may be disposed in front of the body housing 110. The IR sensor 620 may be disposed on the left and right of the obstacle detection camera 610.

[0413] Meanwhile, depending on the embodiment, multiple IR sensors 620 may be arranged. For example, a first IR sensor 621 may be arranged at the front lower portion of the main body housing 110, and a second IR sensor 622 may be arranged at the rear of the main body housing 110. With this configuration, the positions of light sources arranged in multiple directions can be sensed.

[0414] The IR sensor 620 may be located near the obstacle detection camera 610. For example, the first IR sensor 621 may be located directly below the first obstacle detection camera 610.

[0415] With this arrangement, the IR sensor 620 can detect the light emitted by the lamp of the functional module 900 or the robot charging base (not shown), and when the robot body 100 approaches the lamp, the obstacle detection camera 610 can detect the shape of the functional module 900 or the robot charging base (not shown).

[0416] The IR sensor 620 can detect infrared light emitted by an IR LED provided in a specific module and approach the module. For example, the module may be a charging stand for charging the robot 1. For example, the module may be a functional module 900 detachably provided on the arm 400.

[0417] The control unit 700 may control the IR sensor 620 to start detecting the IR LED when the charge state of the robot 1 is below a preset level. The control unit 700 may control the IR sensor 620 to start detecting the IR LED when a command to search for a specific module is received from a user.

[0418] The sensor section 600 may include a wheel motor sensor 630 .

[0419] The wheel motor sensor 630 can measure the position of the wheel motor MW. For example, the wheel motor sensor 630 may be an encoder. As is well known, an encoder can detect the position of a motor and can also detect the rotation speed of the motor.

[0420] The wheel motor sensor 630 may be disposed in each of the left and right wheel motors MW. More specifically, the wheel motor sensor 630 may be connected to the final output end of the shaft or gear of the wheel motor MW and housed inside the third link 230 together with the wheel motor MW.

[0421] The sensor section 600 may include an arm motor sensor 640 .

[0422] The arm motor sensor 640 can measure the position of the arm motor MA. As an example, the arm motor sensor 640 can be an encoder. As is well known, an encoder can detect the position of the motor and can also detect the rotation speed of the motor. As another example, the arm motor sensor 640 can be a photo sensor. As is well known, a photo sensor can measure the degree of rotation of the arm motor MA or the degree to which the arm 400 has rotated.

[0423] The arm motor sensor 640 may be disposed in the arm motor MA. More specifically, the arm motor sensor 640 may be coupled to the final output end of the shaft or gear of the arm motor MA and housed inside the main body housing 110 or the rotary coupling part 410 together with the arm motor MA.

[0424] The suspension motor sensor 650 can measure the position of the leg 200. For example, the suspension motor sensor 650 can be a photo sensor. As is well known, a photo sensor can measure the degree of rotation of the suspension motor MS or the degree to which the first link 210 has rotated.

[0425] The suspension motor sensor 650 may be located near the suspension motor MS. More specifically, the suspension motor sensor 650 may be housed inside the main body housing 110 together with the suspension motor MS.

[0426] The sensor section 600 may include an IMU sensor 660 .

[0427] The IMU sensor 660 can measure the tilt angle of the robot body 100.

[0428] As is well known, the IMU (Inertial Measurement Unit) sensor 660 is a sensor that incorporates a three-axis acceleration sensor, a three-axis gyro sensor, and a geomagnetic sensor, and is also called an inertial measurement sensor.

[0429] A 3-axis accelerometer is a sensor that detects the gravitational acceleration of an object when it is stationary. Since the gravitational acceleration changes depending on the angle at which the object is tilted, measuring the gravitational acceleration can give the angle of tilt. However, it has the disadvantage that it cannot obtain accurate values ​​when the object is moving and accelerating, rather than stationary.

[0430] A 3-axis gyro sensor is a sensor that measures angular velocity. The tilt angle can be obtained by integrating the angular velocity over time. However, the angular velocity measured by the gyro sensor is subject to persistent errors due to noise, etc., and these errors cause errors in the integral value to accumulate over time.

[0431] As a result, if the robot 1 is in a stopped standby state for a long time, the tilt of the robot 1 can be accurately measured by the acceleration sensor, but an error occurs in the gyro sensor.When the robot 1 is moving, the tilt value of the robot 1 can be accurately measured by the gyro sensor, but an accurate value cannot be obtained by the acceleration sensor.

[0432] Use of the IMU sensor 660 can compensate for the disadvantages of the acceleration sensor and gyro sensor described above.

[0433] The present specification below describes an embodiment in which an IMU sensor 660 is provided.

[0434] The IMU sensor 660 may be disposed in the robot body 100. More specifically, the IMU sensor 660 may be disposed adjacent to the control unit 700. The IMU sensor 660 may be mounted on a PCB inside the robot body 100. To improve the accuracy of measuring the tilt angle and direction, the IMU sensor 660 is preferably disposed near the central region of the robot body 100.

[0435] The IMU sensor 660 can measure at least one of three-axis acceleration, three-axis angular velocity, and three-axis geomagnetic data of the robot body 100 and transmit the data to the control unit 700 .

[0436] The control unit 700 can calculate the tilt direction and tilt angle of the robot body 100 using at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor 660. Based on this, the control unit 700 can perform horizontal posture maintenance control of the robot body 100, which will be described later.

[0437] The sensor section 600 may include a cliff sensor 670 for sensing cliffs.

[0438] The cliff sensor 670 may detect the distance to the ground in front of the robot 1. The cliff sensor 670 may vary within a range that can detect the relative distance between the point where the cliff sensor 670 is formed and the ground.

[0439] For example, the cliff sensor 670 may include a light emitting portion that emits light and a light receiving portion that receives reflected light. The cliff sensor 670 may be an infrared sensor.

[0440] For example, the cliff sensor 670 may be disposed on the robot body 100. More specifically, the cliff sensor 660 may be disposed inside the robot body 100.

[0441] Alternatively, the cliff sensor 670 may be disposed on the third link 230. For example, a first cliff sensor 671 may be disposed on the front lower side of the third link 230, and a second cliff sensor 672 may be disposed on the rear upper side of the third link 230. With this configuration, the distance between the third link 230 and the wheel 310 and the ground B can be measured. It is also possible to calculate the angle between the third link 230 and the ground from the difference in distance between the first cliff sensor 671 and the second cliff sensor 672.

[0442] The cliff sensor 670 can emit light toward the bottom surface in front of the robot 1. The cliff sensor 670 can detect in advance whether a cliff exists ahead in the direction in which the robot 1 is moving.

[0443] The light emitting unit of the cliff sensor 670 can irradiate light obliquely toward the bottom surface in front of the cliff sensor 670. The light receiving unit of the cliff sensor 670 can receive the light reflected by the bottom surface. The distance between the front ground and the cliff sensor 670 can be measured based on the difference between the time when the light is emitted and the time when the light is received.

[0444] If the distance measured by the cliff sensor 670 exceeds a preset value or exceeds a preset range, it may be that the ground in front of the vehicle suddenly drops. In this manner, a cliff can be detected.

[0445] When a cliff is detected ahead, the control unit 700 may control the wheel motor MW so that the robot 1 avoids the detected cliff. In this case, the control of the wheel motor MW may be a stop control or a rotation direction change control.

[0446] The sensor unit 600 may include a contact-sensitive sensor 675 .

[0447] The contact sensor 675 can sense whether the wheel 310 has contacted the ground.

[0448] The contact sensor 675 may include a TOF sensor that measures the separation distance between the wheels 310 of the robot 1 and the ground. The TOF sensor may be a 3D camera that uses TOF (Time of Flight) technology. As is well known, TOF technology is a technology that measures the distance to an object based on the round-trip flight time it takes for light to be irradiated toward the object and reflected back.

[0449] The TOF sensor may be disposed in the wheel unit 300. For example, the contact detection sensor 675 may be disposed in each of the left and right third links 230. Whether the wheel 310 is in contact with the ground can be determined based on the distance from the ground measured by the TOF sensor. 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 equal to or greater than a preset distance (or equal to or greater than the upper limit of a preset distance range), the wheel 310 is separated from the ground.

[0450] The contact sensor 675 may include a load cell that measures the magnitude of force applied to a portion of the robot 1 .

[0451] As is well known, when a force is applied to a load cell, the resistance of a strain gauge attached to the surface of the load cell changes, and the magnitude of the force applied to the load cell can be measured based on the change in resistance.

[0452] The load cell may be disposed on the leg 200. Preferably, the load cell may be disposed on each of the left and right third links 230. When the wheel 310 is in contact with the floor, the third link 230 is deformed by a normal force applied from the ground. The measurement value of the load cell indicates a value different from the initial value depending on the deformation of the third link 230. Through this, it can be determined whether the wheel 310 is in contact with the ground.

[0453] The sensor section 600 may include an environmental sensor 680 .

[0454] The environmental sensor 680 may measure various environmental conditions outside the robot 1, i.e., inside the house in which the robot 1 travels. The environmental sensor 680 may include at least one of a temperature sensor, a humidity sensor, and a dust sensor.

[0455] As an example, the environmental sensor 680 may be disposed on the robot body 100. More specifically, the environmental sensor 680 may be disposed at the rear of the robot body 100.

[0456] As another example, the environmental sensor 680 may be disposed on the arm 400. More specifically, the environmental sensor 680 may be disposed on the linkage 420.

[0457] In one possible embodiment, the information measured by the environmental sensor 680 may be visually displayed on the display 120 .

[0458] The sensor unit 600 may include a side sensor 690 .

[0459] The side sensor 690 can measure the distance to obstacles, including walls.

[0460] The side sensor 690 may detect the distance to the wall on the side along which the robot 1 is moving. The side sensor 690 may vary in size within a range that can detect the relative distance between the point where the side sensor 690 is placed and an obstacle.

[0461] For example, the side sensor 690 may include a light emitting portion that emits light and a light receiving portion that receives reflected light. The side sensor 690 may be an infrared sensor.

[0462] The side sensors 690 may be arranged on both sides of the robot 1. For example, the side sensors 690 may be arranged on the outer surface of the third link 230 of the leg 200.

[0463] The interface unit includes at least one arrangement for interaction between a user and the robot 1, and each arrangement may be arranged to input commands from the user and / or output information to the user.

[0464] The interface unit may include a microphone 140 .

[0465] The microphone 140 is configured to recognize the user's voice, and multiple microphones 140 may be provided. Multiple microphones 140 may be arranged on the main body housing 110. For example, four microphones 140 may be arranged on the upper side of the main body housing 110.

[0466] The audio signal received by the microphone 140 may be used to track the user's position. In this case, a known audio source tracking algorithm may be applied. For example, the audio source tracking algorithm may be a three-point measurement method (triangulation method) that uses the time difference between when the audio signals are received by the multiple microphones 140. The principle is that the position of the audio source is calculated using the positions of the microphones 140 and the speed of sound waves.

[0467] Meanwhile, if the microphone 140 and the obstacle detection camera 610 cooperate with each other, the robot 1 can be realized to find the user's location even when the user calls the robot 1 from a distant location.

[0468] The interface unit may include a speaker 450 .

[0469] The speaker 450 may be disposed on the arm 400. For example, the speaker 450 may be disposed on the rotation joint 410 of the arm 400. The speaker 450 may be disposed at positions covering both the left and right sides of the main body housing 110.

[0470] The speaker 450 can transmit information about the robot 1 as sound. The source of the sound transmitted by the speaker 450 may be sound data previously stored in the robot 1. For example, the previously stored sound data may be voice data of the robot 1. For example, the previously stored sound data may be a notification sound that notifies the user of the status of the robot 1. Meanwhile, the source of the sound transmitted by the speaker 450 may be sound data received via the communication unit 710.

[0471] The interface unit may include a display 120 and an input unit 125 .

[0472] The display 120 may include a display disposed on one or more modules. The display 120 may be disposed on the front upper side of the robot body 100.

[0473] The display 120 may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0474] The display 120 may display information such as operating time information of the robot 1 and power information of the battery 800.

[0475] The display 120 may display the facial expression of the robot 1. Alternatively, the display 120 may display the eyes of the robot 1. The current state of the robot 1 may be personified and expressed with emotion through the facial pattern or eye shape displayed on the display 120. For example, when the user returns home after going out, the display 120 may display a smiling facial expression or a smiling eye pattern. This has the effect of giving the user the impression of empathy with the robot 1.

[0476] The input unit 125 may receive control commands from a user to control 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 settings for the volume of the sound, the brightness of the display, a power-saving mode, etc.

[0477] The input section 125 may be located on the display 120 .

[0478] The input unit 125 generates key input data that the user inputs to control the operation of the robot 1. To this end, the input unit 125 may be configured with a keypad, a dome switch, a touchpad (static / electrostatic), etc. In particular, when the touchpad has a mutually layered structure with the first display, it can be called a touch screen.

[0479] The communication unit 710 may be provided for transmitting signals between the components inside the robot 1. The communication unit 710 may support, for example, CAN (Controller Area Network) communication. The signals may be, for example, control commands transmitted from the control unit 700 to other components.

[0480] The communication unit 710 may support wireless communication with other devices outside the robot 1. A short-range communication module or a long-range communication module may be provided as a wireless communication module for supporting wireless communication.

[0481] The short-range communication may be, for example, Bluetooth (registered trademark) communication, NFC (Near Field Communication) communication, or the like.

[0482] Long-distance communication may be implemented using, for example, wireless LAN (WLAN), Digital Living Network Alliance (DLNA) (registered trademark), 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) (registered trademark), High Speed ​​Downlink Packet Access (HSDPA), High Speed ​​Uplink Packet Access (HSUPA), IEEE 802.16, Long Term Evolution (LTE), Long Term Evolution-Advanced (LTEA), Wireless Mobile Broadband Service (WMBS), Bluetooth Low Energy (BLE), Zigbee (registered trademark), and Radio Frequency (RF) standards. It may be a LTE (Long Range) or LoRa (Long Frequency).

[0483] The memory 720 is configured to store various data for driving and operating the robot 1.

[0484] The memory 720 may store an application and various related data for the autonomous movement of the robot 1. The memory 720 may also store each piece of data sensed by the sensor unit 600, as well as setting information for various settings selected or input by the user.

[0485] The memory 720 may include a magnetic storage medium or a flash storage medium, although the scope of the present invention is not limited thereto. The 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 OTPROM (one time programmable ROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, NAND flash memory, or NOR flash memory, flash drives such as SSD, CF (compact flash) card, SD card, Micro-SD card, Mini-SD card, Xd card, or memory stick, or storage devices such as HDD.

[0486] The memory 720 may be included in the control unit 700 or may be provided as a separate component.

[0487] The battery 800 supplies power to the other components of the robot 1.

[0488] The battery 800 may be disposed in the robot main body 100. More specifically, the battery 800 may be housed inside the main body housing 110. Although not shown, the battery 800 may be disposed behind the suspension motor MS.

[0489] The battery 800 may be charged by an external power source, and for this purpose, a charging terminal 130 for charging the battery 800 may be provided on one side of the robot body 100. As in the embodiment of the present invention, the charging terminal 130 may be disposed at the bottom of the robot body 100. Thus, the robot 1 can be easily coupled to the charging base by approaching the charging base and descending, and seating the charging terminal 130 on a corresponding terminal on the charging base from above.

[0490] Although the present invention has been described in detail above through specific embodiments, this is for the purpose of specifically explaining the present invention, and the present invention is not limited thereto. It is apparent that the present invention can be modified or improved by a person having ordinary knowledge in the art within the technical spirit of the present invention.

[0491] Any mere modification or alteration of the present invention belongs to the scope of the present invention, and the specific scope of protection of the present invention will be defined by the appended claims.

Claims

1. a robot body that houses a motor and a battery; a leg provided on the robot body; a wheel unit including a wheel rotatably coupled to the leg and configured to roll on the ground; an arm including a pair of rotary joints rotatably connected to both sides of the robot body and a joint connecting the pair of rotary joints to each other; Including, The arm The robot is characterized in that the rotary joint and the connecting portion rotate together with the rotary joint serving as a rotation axis.

2. a functional module coupled to the arm and moved together with the robot body; further comprising The connecting portion has The robot according to claim 1 , further comprising a connection terminal electrically connected to the functional module.

3. a functional module coupled to the arm and moved together with the robot body; further comprising The connecting portion has The robot according to claim 1 , further comprising a detachable part that is detachably coupled to the functional module.

4. The arm 2. The robot according to claim 1, wherein the robot body is supported by contacting the ground.

5. The leg portion is a first link connected to the robot body; a second link connected to the robot body; and a third link connected to the first link and the second link and connected to the wheel portion; Including, The radius of rotation of the arm is 2. The robot according to claim 1, wherein the length is longer than the maximum length of the first link and shorter than the maximum length of the leg.

6. The leg portion is a first link connected to the robot body; a second link connected to the robot body; and a third link connected to the first link and the second link and connected to the wheel portion; Including, 2. The robot according to claim 1, wherein the arm is disposed closer to the ground than the first link, and when the rotation of the wheel stops, the wheel and the arm come into contact with the ground to support the robot body.

7. The robot of claim 1 , wherein when at least a portion of the robot body contacts the ground, the arms and the wheels rotate to lift the robot body.

8. The leg portion is a first link connected to the robot body; a second link connected to the robot body; and a third link connected to the first link and the second link and connected to the wheel portion; Including, 2. The robot according to claim 1, wherein when at least a portion of the third link contacts the ground, the arm and the wheel rotate to raise the robot body.

9. A display disposed on the robot body and displaying the status of the robot body; and a robot mask detachably coupled to the robot body and covering the display; The robot of claim 1 further comprising:

10. The display The robot according to claim 9, wherein a figure displayed when the mask is combined changes depending on the shape of the mask.

11. The robot mask comprises: a mask body coupled to the robot body; and a mask function unit provided in the mask body and providing a function to the robot body when coupled with the robot body; The robot of claim 9 , comprising:

12. a functional module detachably coupled to the robot body and moved together with the robot body; further comprising The functional module includes: A module body; a coupling part disposed on an upper part of the module body and coupled to the robot body; Including, The functional module includes:

2. The robot according to claim 1, wherein the rear portion of the robot is heavier than the front portion of the robot where the suction nozzle is located, based on the joint portion.

13. a robot body that houses a motor and a battery; a pair of legs connected to the robot body and supporting the robot body; a wheel coupled to the leg and adapted to contact the ground; and one arm pivotally connected to each side of the robot body; Robots including.

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

15. The arm 14. The robot according to claim 13, wherein the wheels contact the ground and support the robot body.

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