Robot and method for controlling the robot

Abstract

The present invention relates to a robot, comprising: a robot body containing a motor and a battery; a pair of leg parts provided on the robot body; a pair of wheels rotatably coupled to each of the pair of leg parts; an arm including a rotating coupling part rotatably coupled to both sides of the robot body and a coupling part that connects the pair of rotating coupling parts to each other; and a functional module detachably coupled to the robot body and moving together with the robot body. When an obstacle is detected, the robot body is raised to lift the functional module, thereby preventing the functional module from getting caught on the obstacle and causing the robot to tip over.

Description

Technical Field

[0001] The present invention relates to a robot and a method for controlling the robot. More specifically, various services can be provided based on a user's command input. The present invention relates to a robot and a method for controlling the robot.

Background Art

[0002] Recently, due to the development of robot technology, the use of robots has increased not only in industrial fields but also in households.

[0003] As household robots, there are robots that help with housework such as cleaning, control home appliances, perform the role of assisting users or providing education to users using artificial intelligence (AI), or serve as substitutes for pets.

[0004] However, conventional household robots have a limitation in that they can only perform one of the above functions and cannot execute various functions according to the needs or situations of users.

[0005] On the other hand, robots include not only robots that function while fixed at a specific position but also mobile robots that can move. In particular, in the case of robots used in households, mobile robots that move around the house instead of or following users are mainly used.

[0006] Among mobile robots, two-wheeled robots having two wheels have the advantage of being easy to store because they occupy a small floor area, and have the advantage of being easy to use in relatively narrow households because the turning radius when the robot changes direction is small.

[0007] In the case of such two-wheeled robots, since balance must be maintained only by two wheels, it is necessary to maintain balance during the process of overcoming obstacles.

[0008] In this regard, U.S. Published Patent US 2020-0362972A1 (November 19, 2020) discloses a mobile robot that moves using a pair of legs equipped with wheels.

[0009] The mobile robot described above can move by rotating wheels mounted on a pair of legs while lifting an object using its arm.

[0010] However, the arms of the aforementioned mobile robots have a limitation: they only have the function of lifting objects, and it is not possible to extend the robot's functionality through the arms.

[0011] Furthermore, in order to maintain balance while moving or stationary, the main body to which the legs are attached rotates in a pendulum-like manner, and a counter-balance rotates in response to the rotation of the main body to maintain balance.

[0012] Therefore, the above-mentioned mobile robot must operate its motors to continuously rotate the wheels and counterbalances in order to maintain a stable posture. In such cases, the mobile robot has the limitation that it must continuously consume electrical energy even when the robot is stationary or idle.

[0013] Furthermore, while the aforementioned mobile robots can maintain balance on flat ground, they have a limitation in that they cannot maintain balance when overcoming obstacles of different heights.

[0014] Meanwhile, Korean Published Patent No. 2021-0064016 (June 2, 2021) discloses a travel module that can lift the drive unit while traveling along floor surfaces of various heights.

[0015] The above-mentioned driving module can easily ride over obstacles by lifting part of its wheels.

[0016] However, the above-mentioned vehicle module moves along the ground by rotating its six wheels, and at least four wheels remain in contact with the ground or obstacle when it overcomes one.

[0017] Therefore, the above-mentioned driving module has the limitation that it cannot be applied to two-wheeled robots that travel on the ground using two wheels. [Overview of the project] [Problems that the invention aims to solve]

[0018] This invention was made to improve upon the problems of the prior art described above, and aims to provide a robot that can perform various functions according to the situation or user commands.

[0019] Furthermore, the aim is to provide robots that can change existing functions to new functions or add new functions to existing functions.

[0020] Furthermore, the aim is to provide a robot that can prevent itself from tripping over obstacles during the process of overcoming them.

[0021] Furthermore, the objective is to provide a robot that does not need to change its path to approach long obstacles in a direction perpendicular to the length of the obstacle.

[0022] Furthermore, the aim is to provide a robot that can prevent one of its wheels from getting caught on an obstacle and losing balance when the robot approaches the obstacle at an oblique angle.

[0023] Furthermore, the aim is to provide a robot that can reduce the limitations on the areas in which it can travel. [Means for solving the problem]

[0024] To achieve the above object, the robot according to the present invention includes a robot body in which a motor and a battery are housed, a pair of leg portions provided on the robot body, a pair of wheels rotatably coupled to each of the pair of leg portions, a rotary coupling portion rotatably coupled to both side surfaces of the robot body, and an arm including a coupling portion that connects the pair of rotary coupling portions to each other, and a functional module detachably coupled to the robot body and moving together with the robot body.

[0025] Further, the robot according to the present invention may further include a sensor unit disposed on the robot body or the leg portion for measuring the distance to an obstacle.

[0026] At this time, when the sensor unit senses a height difference of a predetermined height or more on the ground, the control unit can sense the presence of an obstacle.

[0027] At this time, when the robot body is located within a preset reference distance from an obstacle of a predetermined height or more, the robot body moves upward so as to move away from the ground.

[0028] Further, the functional module that was in contact with the ground may be lifted together with the robot body.

[0029] Therefore, when the robot body climbs over an obstacle, it is possible to prevent the functional module from getting caught on the obstacle and the robot body from falling.

[0030] On the other hand, the functional module includes a module body and a coupling portion disposed on the upper part of the module body and coupled to the robot body, and the functional module may be configured to be heavier at the rear than in the front where the suction port is disposed, with reference to the coupling portion.

[0031] Therefore, when the functional module is lifted by the robot body, one end of the module located near the obstacle may be positioned further from the ground than the other end of the module located further from the obstacle.

[0032] In other words, the front end of the functional module may be raised higher than the rear end. This prevents the front end of the functional module from getting caught on the obstacle when the robot body moves forward and overcomes the obstacle.

[0033] Furthermore, by lowering the overall center of gravity of the robot that has lifted the functional module, the robot becomes easier to balance.

[0034] On the other hand, if either of the pair of wheels comes into contact with the obstacle, the wheel that is in contact with the obstacle may move upward.

[0035] At this time, the height from the ground to the robot body may be maintained.

[0036] Therefore, only the wheel that made contact with the obstacle first can be lifted and driven onto the obstacle.

[0037] Furthermore, the robot body can maintain its movement without swaying from side to side.

[0038] Therefore, the robot can ride over the obstacle with one of its wheels while maintaining balance.

[0039] Therefore, the robot body can enter the obstacle at an oblique angle. In addition, it is possible to prevent the wheels from getting caught on the obstacle and causing the robot body to lose balance.

[0040] To achieve the above objective, a control method for a robot including a pair of leg sections and wheels coupled to each of the leg sections may include an obstacle detection step of sensing obstacles placed on the ground when the robot rotates the wheels to travel along the ground, and a module lifting step of lifting a functional module coupled to the robot if the distance between the robot and the obstacle is within a preset reference distance.

[0041] Furthermore, the robot control method according to the embodiment of the present invention may further include a balance-maintaining step of lifting the wheel that has come into contact with the obstacle if, after the module raising step, one of the pair of wheels comes into contact with the obstacle.

[0042] In this obstacle detection step, at least one sensor can detect an obstacle if there is a height difference of a predetermined height or more on the ground.

[0043] During the module raising step, the robot body can be lifted by extending the bent leg portion.

[0044] Therefore, in the module raising step, the length from the ground to the upper end of the robot can be increased.

[0045] On the other hand, in the balance-maintaining step, if the robot tilts beyond a preset reference angle with respect to a vertical line, one of the pair of wheels may be moved along the vertical direction.

[0046] Furthermore, in the balance-maintaining step, the pair of wheels may rotate at different heights relative to each other from the ground.

[0047] This allows the robot to overcome obstacles while preventing it from tilting in either the left or right direction. [Effects of the Invention]

[0048] As described above, the robot according to the present invention can perform various actions by rotating one arm that is pivotably mounted on both sides of the robot body, thereby extending or changing the robot's functions.

[0049] Furthermore, depending on user commands or circumstances, a functional module can be attached to the underside of the robot body, allowing various functions to be performed via the functional module.

[0050] Furthermore, by replacing the robot mask, which is detachably attached to the robot body, it is possible to change the robot's design or add new functions.

[0051] Furthermore, because a space is formed between the pair of wheels and legs to which the functional module is connected, there is the advantage that the overall volume does not increase significantly even when the robot body and the functional module are connected.

[0052] Furthermore, when the functional module is attached to the robot body, the functional module also comes into contact with the ground, which has the effect of making it easier to maintain the robot's balance.

[0053] Furthermore, when the robot body, with the functional module attached, attempts to overcome an obstacle, the robot body can be raised to lift the functional module, preventing the functional module from tripping over the obstacle.

[0054] Furthermore, by raising the functional module so that its front end is higher than its rear end, it is possible to prevent the front end of the functional module from getting caught on even tall obstacles. This allows the robot to easily overcome obstacles as the underside of the functional module comes into contact with the obstacle.

[0055] Furthermore, even if the robot approaches an obstacle at an oblique angle, it can overcome the obstacle without having to change its path.

[0056] Furthermore, when a robot approaches an obstacle at an oblique angle, lifting the wheel that will come into contact with the obstacle first prevents one of the robot's wheels from getting caught on the obstacle and causing it to lose balance.

[0057] Furthermore, by maintaining the robot's height with one wheel resting on an obstacle, it prevents the robot from tilting to one side, thus preventing it from tipping over.

[0058] Furthermore, it reduces the areas where robots cannot operate, offering the advantage of being able to use robots without spatial limitations. [Brief explanation of the drawing]

[0059] [Figure 1] This is a perspective view illustrating a robot relating to one embodiment of the present invention. [Figure 2] This is a front view of a robot according to one embodiment of the present invention. [Figure 3] This is a side view of a robot relating to one embodiment of the present invention. [Figure 4] This is a rear view of a robot according to one embodiment of the present invention. [Figure 5] This is a plan view of a robot according to one embodiment of the present invention. [Figure 6] This is a bottom view of the robot according to one embodiment of the present invention. [Figure 7] This diagram illustrates the coupling relationship between the robot mask and the robot body in a robot according to one embodiment of the present invention. [Figure 8] This is a perspective view illustrating a functional module in a robot according to one embodiment of the present invention. [Figure 9]This diagram illustrates the state in which the robot body and the functional module are coupled together in a robot according to one embodiment of the present invention. [Figure 10] This is a block diagram illustrating the control configuration of a robot according to one embodiment of the present invention. [Figure 11] This is a flowchart illustrating the control method for a robot according to one embodiment of the present invention. [Figure 12] This diagram illustrates how a robot according to one embodiment of the present invention detects an obstacle. [Figure 13] This diagram illustrates how a robot according to one embodiment of the present invention detects an obstacle while it is coupled to a functional module. [Figure 14] This diagram illustrates a situation in which a robot according to one embodiment of the present invention, while coupled to a functional module, lifts the functional module in order to overcome an obstacle. [Figure 15] This diagram illustrates a situation in which a robot according to one embodiment of the present invention approaches an obstacle at an oblique angle. [Figure 16] This diagram illustrates a situation in which a robot according to one embodiment of the present invention has one wheel resting on an obstacle. [Figure 17] This diagram illustrates the operation of a robot according to one embodiment of the present invention, which maintains balance with one wheel resting on an obstacle. [Modes for carrying out the invention]

[0060] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0061] Because the present invention can be modified in various ways and has various embodiments, specific embodiments are shown in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, but should be interpreted as including all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the present invention.

[0062] Figures 1 to 6 show perspective views, front views, side views, rear views, top views, and bottom views, respectively, for illustrating a robot according to one embodiment of the present invention, and Figure 7 shows a diagram illustrating the coupling relationship between the robot mask and the robot body in a robot according to one embodiment of the present invention.

[0063] Referring to Figures 1 to 6, the robot 1 according to one embodiment of the present invention will be described as follows.

[0064] Robot 1 according to an embodiment of the present invention is configured to be placed on the floor and move along the ground B. Therefore, in the following description, the vertical direction will be defined based on the state in which Robot 1 is placed on the floor.

[0065] Furthermore, the direction on which the obstacle detection camera 610 (described later) is located will be described as the front of robot 1. Conversely, the direction opposite to the front will be described as the rear of robot 1.

[0066] The "lowest part" of each component described in the embodiments of the present invention may be the lowest part of each component when the robot 1 according to the embodiment of the present invention is placed on the floor and used, or it may be the part closest to the floor.

[0067] Robot 1 according to an embodiment of the present invention comprises a robot body 100, leg sections 200, wheel sections 300, arms 400, and a robot mask 500. In this configuration, the leg sections 200 are connected to the robot body 100, and the wheel sections 300 are connected to the leg sections 200. The arms 400 are pivotably connected to both sides of the robot body 100. The robot mask 500 is detachably connected to the robot body 100.

[0068] Robot body

[0069] Referring to Figures 1 to 7, the robot body 100 in robot 1 according to one embodiment of the present invention will be described as follows.

[0070] The robot body 100 may be connected to various components that make up the robot 1. For example, a robot mask 500 may be detachably connected to the robot body 100. Also, an arm 400 may be pivotably connected to the robot body 100. The arms 400 are pivotably connected to both ends of the robot body 100. The robot body 100 can assume a standby posture for power saving or a posture that allows it to stand up after falling over, thanks to the arms 400. The lower part of the robot body 100 may be detachably connected to a functional module 900. The robot body 100 can perform additional functions when connected to the functional module 900.

[0071] Some of the components that make up robot 1 may be housed inside the robot body 100.

[0072] The main body housing 110 can form the external shape of the robot body 100. The internal space of the main body housing 110 can accommodate one or more motors, including a suspension motor MS, one or more sensors, and a battery 800.

[0073] Although not shown in the diagram, at least one bumper may be provided inside the main housing 110.

[0074] The bumper may be provided so as to be movable relative to the main housing 110. For example, the bumper may be coupled to the main housing 110 so as to be reciprocally movable along the front-rear direction of the main housing 110.

[0075] The bumper may be bonded along part or all of the front edge of the main housing 110. Alternatively, the bumper may be positioned on the rear side inside the main housing 110.

[0076] With this configuration, if 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 it.

[0077] A pair of leg portions 200 are connected inside the main body housing 110. The pair of leg portions 200 may penetrate the main body housing 110 and be exposed to the outside.

[0078] Specifically, the upper leg 210 may be rotatably connected to the inside of the main housing 110. For example, a link frame (not shown) to which the upper leg 210 is linked may be provided inside the main housing 110.

[0079] Furthermore, a suspension motor MS may be housed inside the main body housing 110. For example, the suspension motor MS may be located on a link frame (not shown). The suspension motor MS may be connected to the upper leg 210.

[0080] A pair of leg guide holes may be formed in the main body housing 110. For example, the pair of leg guide holes may be formed parallel to each other along the front-rear direction of the main body housing 110.

[0081] With this configuration, the leg portion 200 can rotate along the leg guide hole, and the rotational range of the leg portion 200 can be guided.

[0082] The main housing 110 may be formed such that its horizontal width (or diameter) is greater than its vertical height. For example, the main housing 110 may be formed in a shape similar to an ellipsoid.

[0083] Such a robot body 100 can enable the robot 1 to achieve a stable structure and provide a structure that is advantageous for maintaining balance when the robot 1 moves (runs).

[0084] The robot body 100 may be positioned vertically above the wheel 310, which will be described later. The load of the robot body 100 is transmitted to the wheel 310 via the leg portion 200, and the wheel 310 can support the leg portion 200 and the robot body 100. With this configuration, the wheel 310 can stably support the load of the robot body 100.

[0085] The robot body 100 may include a display 120. The display 120 can be coupled to the main body housing 110. The display 120 may be formed in a flat shape. The display 120 may be positioned at a predetermined angle relative to the ground. For example, the display 120 may be positioned to face forward and upward. With this configuration, when the robot 1 approaches the user closely, the user will be able to see the display 120 when looking at the robot 1.

[0086] On the other hand, the display 120 can visually convey information about the operating status of the robot 1 to the user.

[0087] The display 120 may be formed from any one of the following elements: a light-emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, or an organic light-emitting diode (OLED).

[0088] The display 120 may show information such as the operating time of robot 1 and the power information of battery 800.

[0089] Depending on the embodiment, the display 120 may be an input unit 125. That is, control commands from the user may be input to the display 120. For example, the display 120 may be a touchscreen that visually displays the operating status and into which control commands are input from the user.

[0090] The display 120 may show the facial expression of robot 1. Alternatively, the display 120 may show the eyes of robot 1. The current state of robot 1 may be personified and expressed as an emotion through the shape of the face and eyes displayed on the display 120. For example, when a user returns home from going out, the display 120 may show a smiling face or smiling eyes. This has the effect of making the user feel a connection with robot 1.

[0091] The main housing 110 may have charging terminals. For example, the charging terminals may be positioned facing the ground. As an example, the charging terminals may be positioned facing the ground. As another example, the charging terminals may be positioned at a predetermined angle to the ground. With such a configuration, when the robot 1 is coupled to a robot charging stand (not shown), the charging terminals can contact terminals provided on the robot charging stand (not shown).

[0092] The charging terminal may be electrically connected to a robot charging stand (not shown). With this configuration, the robot 1 can receive power via the charging terminal. The power supplied to the charging terminal may be supplied to the battery 800. The robot 1 can also receive electrical signals via the charging terminal. Electrical signals transmitted via the charging terminal can be received by the control unit 700.

[0093] A microphone 140 may be placed in the main housing 110. Multiple microphones 140 may be placed in the main housing 110. For example, four microphones 140 may be placed on the upper side of the main housing 110. With this configuration, the microphones 140 can sense sounds coming from various directions and detect the location of the sound source.

[0094] A module coupling portion 150 may be located at the lower part of the main housing 110. The module coupling portion 150 is detachably coupled to the functional module 900. Specifically, the module coupling portion 150 may be selectively coupled to or disconnected from the functional module 900.

[0095] As an example, the module coupling part 150 is configured in the form of an electromagnet, and can selectively apply magnetic force (attractive force) to the functional module 900 by supplying power. As another example, the module coupling part 150 may be configured to hook-couple to the coupling part 930 of the functional module 900. In this case, the coupling force between the robot body 100 and the functional module 900 can be strengthened.

[0096] In this case, connection terminals may be provided on the module coupling portion 150. With this configuration, the module coupling portion 150 can be coupled to the precise location of the attachment / detachment portion of the metal material (or electromagnet) provided on the functional module 900, and has the effect of guiding the connection terminals to make contact with the corresponding terminals provided on the functional module 900 at the precise location.

[0097] The connection terminals may be electrically connected to the functional module 900. The connection terminals may also be electrically connected by contacting corresponding terminals provided on the functional module 900.

[0098] With this configuration, power from the robot body 100 can be supplied to the functional module 900 via the connection terminals. In addition, the robot body 100 can send and receive electrical signals to and from the functional module 900 via the connection terminals.

[0099] A detailed explanation of the functional module 900 will be provided later.

[0100] An operating unit 160 may be located in the main housing 110. For example, the operating unit 160 may be located at the rear of the main housing 110.

[0101] The control unit 160 is user-operable, and the power to the robot 1 can be turned on / off by operating the control unit 160.

[0102] The operating section 160 may be provided so as to be retractable into the main body housing 110, and in some embodiments, it may be provided so as to be pivotable in the left-right direction.

[0103] For example, the control unit 160 may be a button. Therefore, if the power to the robot 1 is off, the user can press the control unit 160 to turn the power to the robot 1 on. Also, if the power to the robot 1 is on, the user can press the control unit 160 to turn the power to the robot 1 off.

[0104] On the other hand, an obstacle detection camera 610 may be positioned in front of the main body housing 110. Depending on the embodiment, multiple obstacle detection cameras 610 may be positioned. For example, a first detection camera 611 may be positioned at the front lower part of the main body housing 110, and a second detection camera 612 may be positioned at the front upper part of the main body housing 110. In this case, the obstacle detection cameras 610 may be positioned 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 cameras 610 can detect objects or people positioned in front of the robot 1.

[0105] Furthermore, an IR sensor 620 may be placed in the main housing 110. Depending on the embodiment, multiple IR sensors 620 may be placed. For example, a first IR sensor 621 may be placed at the front lower part of the main housing 110, and a second IR sensor 622 may be placed at the rear of the main housing 110. With such a configuration, the IR sensor 620 can sense the position of a light source that emits infrared rays.

[0106] The IR sensor 620 may be placed near the obstacle detection camera 610. For example, the first IR sensor 621 may be placed directly below the first obstacle detection camera 611.

[0107] With this arrangement, the IR sensor 620 can detect the light emitted by the lamp of the functional module 900 or the robot charging stand (not shown), and 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 stand (not shown).

[0108] Leg section

[0109] Referring to Figures 1 to 7, the leg portion 200 of the robot 1 according to one embodiment of the present invention will be described as follows.

[0110] The leg portions 200 are connected to the robot body 100 and can support the robot body 100. For example, a pair of leg portions 200 are provided, each connected inside the main body housing 110. The pair of leg portions 200 may be arranged symmetrically (line symmetrically). In this case, at least a portion of the leg portions 200 is positioned closer to the ground than the robot body 100. Therefore, the robot body 100 can move while standing on the ground supported by the pair of leg portions 200. That is, the gravitational force applied to the robot body 100 is supported by the leg portions 200, and the height of the robot body 100 can be maintained.

[0111] The leg section 200 includes an upper leg 210 and a lower leg 230. In this configuration, the upper leg 210 is rotatably connected to the robot body 100 and the lower leg 230.

[0112] On the other hand, although not shown in the diagram, the upper leg 210 includes a first link and a second link. In this case, the first link and the second link are rotatably connected to the robot body 100 and the lower leg 230, respectively. That is, the first link and the second link are link-connected to the robot body 100 and the lower leg 230, respectively.

[0113] The first and second links are located inside the upper link cover and are not exposed to the outside. The upper link cover may be formed in a kind of corrugated tubular shape, housing the first and second links inside, and may be designed to extend or retract in length in accordance with the rotation of the upper leg 210.

[0114] The first link is linked to the left and right sides inside the robot body 100.

[0115] The first link is connected to the suspension motor MS. For example, the first link may be connected directly to the shaft of the suspension motor MS or via a gear. In this configuration, the first link receives driving force from the suspension motor MS.

[0116] The first link is formed in a frame shape, with a suspension motor MS connected to one side in the longitudinal direction and a lower leg 230 coupled to the other side in the longitudinal direction. In this case, the side of the first link connected to the suspension motor MS may be positioned further from the ground than the other side coupled to the lower leg 230.

[0117] One side of the first link is coupled to a leg support (not shown) provided inside the main body housing 110. The first link may be rotatably coupled to the leg support. For example, one side of the first link may be formed in the shape of a disc or a circular plate. Therefore, one side of the first link may pass through the leg support and be connected to the suspension motor MS.

[0118] One side of the first link is connected to the suspension motor MS. For example, one side of the first link may be fixedly coupled to the shaft of the suspension motor MS. With this configuration, when the suspension motor MS is driven, one side of the first link can rotate in conjunction with the rotation of the shaft of the suspension motor MS.

[0119] The other side of the first link is rotatably coupled to the lower leg 230. For example, a through hole may be formed on the other side of the first link. A shaft may be rotatably coupled through the through hole. Both ends of the shaft in the longitudinal direction may be coupled to the lower leg 230.

[0120] In this configuration, the shaft can become the axis on which the first link and / or the lower leg 230 rotate. Thus, the first link and the lower leg 230 can be connected in a way that allows for relative rotation.

[0121] Although not shown in the diagram, the leg portion 200 may further include a gravity compensation unit. The gravity compensation unit compensates for the vertical downward movement of the robot body 100 due to gravity. In other words, the gravity compensation unit provides a force to support the robot body 100.

[0122] For example, the gravity compensation part may be a torsion spring. The gravity compensation part may be wound around the outside of the outer surface of the first link. Alternatively, one end of the gravity compensation part may be inserted into the first link and fixedly connected, and the other end of the gravity compensation part may be inserted into the lower leg 230 and fixedly connected.

[0123] The gravity compensation unit applies a force (rotational force) in a direction that increases the angle between the first link and the lower leg 230. For example, the ends of the gravity compensation unit are tapered in advance so that a restoring force is applied in a direction that increases the angle between the first link and the lower leg 230. Therefore, even when gravity is applied to the robot body 100 while the robot 1 is placed on the ground, the angle between the first link and the lower leg 230 can be maintained within a predetermined angular range.

[0124] With this configuration, even when the suspension motor MS is not driven, the robot body 100 can be prevented from descending towards the ground. Therefore, the gravity compensation unit has the effect of preventing energy loss due to the driving of the suspension motor MS and maintaining the height of the robot body 100 above a predetermined distance from the ground.

[0125] The second link is linked to the left and right sides inside the robot body 100. For example, the second link may be linked to a leg support (not shown) provided inside the main body housing 110. That is, the second link may be linked together with the leg support (not shown) to which the first link is connected.

[0126] The second link is formed in a frame shape, with one end in the longitudinal direction connected to a leg support (not shown) and the other end in the longitudinal direction connected to the lower leg 230.

[0127] The second link may house electric wires. For example, a space capable of housing electric wires may be formed inside the second link. Thus, power from the battery 800 can be supplied to the wheel section 300 via the electric wires. Furthermore, it is possible to prevent the electric wires from being exposed to the outside.

[0128] One side of the second link is rotatably coupled to the leg support. For example, although not shown, one side of the second link may be coupled through a shaft that is connected to the leg support. The shaft may have a hollow section through which a wire can pass. This configuration prevents the wire supplying power from the battery 800 to the wheel motor MW from being exposed to the outside.

[0129] The other end of the second link is rotatably coupled to the lower leg 230. Specifically, the other end of the second link is rotatably coupled to the lower leg 230 via a shaft. For example, the other end of the second link may be formed in a disc shape, and the shaft may be coupled through it. Also, both ends of the shaft in the longitudinal direction may be coupled to the lower leg 230. With such a configuration, the shaft can become the axis of rotation for the second link and / or the lower leg 230. Therefore, the second link and the lower leg 230 may be connected so as to be rotatable relative to each other.

[0130] The lower leg 230 is linked to the first and second links and connected to the wheel section 300.

[0131] The lower leg 230 is formed in a frame shape, with the first and second links connected to one side in the longitudinal direction, and the wheel section 300 connected to the other side in the longitudinal direction.

[0132] One side of the lower leg 230 in the longitudinal direction is linked to the first and second links. For example, a space capable of accommodating the first and second links may be formed on one side of the lower leg 230. That is, one side of the lower leg 230 may be formed as a pair of parallel frames, and the first and second links may be accommodated in the space between the pair of frames.

[0133] Here, two shafts may be arranged parallel to each other between the pair of frames. That is, both ends of the two shafts may be connected to the pair of frames. Also, each shaft can pass through the first link and the second link. In this case, the first link may be positioned in front of and below the second link. That is, the shaft passing through the first link may be positioned closer to the wheel 310 than the shaft passing through the second link.

[0134] Therefore, the first link and the second link may each be coupled to the lower leg 230 so as to be rotatable relative to it.

[0135] The other side of the lower leg 230 in the longitudinal direction is coupled to the wheel portion 300. The other side of the lower leg 230 in the longitudinal direction may be formed to cover at least a portion of the wheel 310. For example, the other side of the lower leg 230 in the longitudinal direction may be formed to cover the center of rotation of the wheel 310, and a space may be formed inside that can rotatably accommodate the wheel 310.

[0136] Furthermore, a wheel motor MW may be housed inside the other side of the lower leg 230 in the longitudinal direction.

[0137] With this configuration, the wheel 310 and wheel motor MW may be housed on the other side of the lower leg 230 in the longitudinal direction, and the wheel 310 may be rotatably coupled.

[0138] On the other hand, a sensor capable of measuring the distance from the ground may be provided on the other side of the lower leg 230 in the longitudinal direction. Specifically, a cliff sensor 670 may be placed on the lower leg 230. For example, a first cliff sensor 671 may be placed at the front lower end of the lower leg 230, and a second cliff sensor 672 may be placed on the rear upper side of the lower leg 230. With this configuration, the distance between the lower leg 230 and the wheel 310 and the ground B can be measured. It is also possible to calculate the angle between the lower leg 230 and the ground through the distance difference between the first cliff sensor 671 and the second cliff sensor 672.

[0139] On the other hand, although not shown in the figures, a stopper may be provided on the leg portion 200. The stopper may be located inside the main body housing 110. The stopper may be located adjacent to the rotating coupling portion 410 of the arm 400. For example, the stopper may be located inside the inner circumferential surface of the cylindrically formed rotating coupling portion 410.

[0140] As an example, the stopper may be located on the leg support (not shown). As another example, the stopper may be located on the first link.

[0141] The stopper may be formed in a shape that protrudes toward the rotating joint 410. The stopper may be supported by contact with a rotating projection (not shown) of the arm 400, which will be described later. For example, a rotating projection protruding from the inner circumferential surface of the rotating joint 410 may rotate together with the rotation of the arm 400, and when the arm 400 rotates to a predetermined position, it may come into contact with the stopper.

[0142] With this configuration, the stopper can limit the rotation angle of the arm 400 when the arm 400 rotates.

[0143] Considering the balance provided by the leg section 200 as a whole, a link frame (not shown) provided inside the robot body 100 has a first link and a second link rotatably connected to it, and the first link and the second link are linked to the lower leg 230. In other words, the robot 1 has a structure that supports the robot body 100 via a four-bar linkage consisting of the link frame (not shown), the first link, the second link, and the lower leg 230.

[0144] Furthermore, the leg section 200 generates a restoring force in the direction that lifts the robot body 100 when the gravity compensation unit is engaged. Therefore, even when the suspension motor MS is not driven, the pair of leg sections 200 can maintain a state in which the robot body 100 is lifted to a predetermined height from the ground.

[0145] On the other hand, the robot 1 according to an embodiment of the present invention can maintain balance by driving the suspension motor MS when lifting at least one of the pair of wheels 310 to overcome an obstacle, or when lowering the height of the robot body 100 for charging or the like.

[0146] When the suspension motor MS is driven, the first link rotates around the motor coupling as an axis, and the link coupling moves upward. The lower leg 230 also moves in accordance with the rotation of the first link. The second link is pushed by the lower leg 230 and rotates. As a result, one end of the lower leg 230 may move backward, and the other end of the lower leg 230 may move upward.

[0147] This configuration allows the range of movement of the wheel 310 in the front-to-back direction to be limited, even when the wheel 310 is moved in the vertical direction. Therefore, the robot 1 can maintain stable balance.

[0148] Therefore, according to the robot 1 of the present invention, by using a four-bar link structure, it has the effect of being able to overcome obstacles of various heights.

[0149] Wheel section

[0150] Referring to Figures 1 to 8, the wheel portion 300 in the robot 1 according to one embodiment of the present invention will be described as follows.

[0151] The wheel section 300 is rotatably connected to the leg section 200 and can roll on the ground, moving the robot body 100 and the leg section 200.

[0152] The wheel section 300 includes a wheel 310 that contacts the ground and rolls along the ground.

[0153] The wheel 310 is provided to have 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 portion 200 may be positioned vertically above the wheel 310.

[0154] Although not shown in the diagram, the wheel 310 may include a circularly formed wheel frame. The wheel frame may be formed in a cylindrical shape with one side open towards the shaft of the wheel motor MW. This can reduce the weight of the wheel frame.

[0155] However, forming the wheel frame in a cylindrical shape may reduce the overall rigidity of the wheel frame. Taking this into consideration, ribs (not shown) may be formed on the inner and outer surfaces of the wheel frame to reinforce its rigidity.

[0156] A tire is attached to the outer surface of the wheel frame. The tire may be formed in an annular shape with a diameter that allows it to be inserted into the outer surface of the wheel frame.

[0157] The outer surface of the tire may have grooves in a predetermined pattern to improve the tire's contact with the ground.

[0158] In one embodiment, the tire may be made of an elastic rubber material.

[0159] The wheel motor MW can provide driving force to the wheel 310. The wheel motor MW can generate rotational force by receiving power from the battery 800.

[0160] The wheel motor MW may be housed inside the other side of the lower leg 230. The shaft of the wheel motor MW may also be coupled to the wheel 310. In other words, the wheel motor MW may be an in-wheel motor.

[0161] With this configuration, when the wheel motor MW is driven, the wheel 310 rotates and rolls along the ground, allowing the robot 1 to move along the ground.

[0162] arm

[0163] Referring to Figures 1 to 7, the arm 400 in the robot 1 according to one embodiment of the present invention will be described as follows.

[0164] The arms 400 may be pivotably coupled to both sides of the robot body 100. For example, the arms 400 may be coupled to both ends of the axial (lengthwise) side of the ellipsoidal robot body 100, and represent a rotating body that rotates around both ends of the axial side of the robot body 100 as a single axis of rotation.

[0165] Specifically, the arm 400 includes a rotating coupling portion 410 and a connecting portion 420.

[0166] The rotary coupling parts 410 may be rotatably coupled to both sides of the robot body 100. A pair of rotary coupling parts 410 may be provided and coupled to both sides of the robot body 100 in the left-right direction so as to be rotatable relative to each other. In this case, the pair of rotary coupling parts 410 may rotate in conjunction with each other. That is, the pair of rotary coupling parts 410 may rotate simultaneously with each other, and the magnitude of their rotation angles may be the same. However, when viewed with respect to the robot body 100, the rotation directions of the pair of rotary coupling parts 410 may be opposite to each other. That is, when viewed with respect to the robot body 100, if one rotary coupling part 410 rotates clockwise, the other rotary coupling part 410 may rotate counterclockwise.

[0167] The rotating coupling portion 410 may be formed in a shape that can cover both left-right ends of the robot body 100. For example, the rotating coupling portion 410 may be formed in a cylindrical shape having a predetermined thickness. In this case, both left-right ends of the robot body 100 may be positioned opposite each other to the rotation center of the rotating coupling portion 410.

[0168] In other words, to describe the state in which the rotating coupling part 410 is coupled to the robot body 100, if we assume that the robot body 100 is a human face, the rotating coupling part 410 may have a shape similar to a pair of earplugs or the earpieces of headphones.

[0169] The arm motor MA may be located inside the main body housing 110. Alternatively, depending on the embodiment, the arm motor MA may be located inside the rotary coupling.

[0170] The arm motor MA is connected to the arm 400 and can provide driving force to the arm 400. More specifically, the final output end of the shaft or gear of the arm motor MA is connected to the rotary coupling 410. For example, the shaft of the arm motor MA may be connected to a reduction gear, and the reduction gear may be connected to a driven gear.

[0171] The reduction gear consists of at least one gear and transmits the rotational force applied from the arm motor MA to the driven gear, but the rotational speed of the driven gear can be reduced by the gear ratio. This allows for precise control of the rotation of the arm 400, enabling the arm 400 to provide a relatively large force.

[0172] The driven gear may be coupled to the rotating coupling 410 and rotate together with it. The driven gear can mesh with the output terminal of the reduction gear and receive the rotational power of the arm motor MA.

[0173] With this configuration, when the arm motor MA is activated, the rotating coupling part 410 can rotate.

[0174] Two arm motors MA may be provided and each connected to a pair of rotary couplings 410. Alternatively, one arm motor MA may be provided and connected to either of the rotary couplings 410.

[0175] With this configuration, when the arm motor MA is activated, the pair of rotary coupling parts 410 rotate together in conjunction, and the connecting part 420 rotates together with the rotation of the rotary coupling part 410. In other words, according to the present invention, the arm 400 can rotate as a single unit with the arm shaft of the rotary coupling part 410 as the axis of rotation, and the rotary coupling part 410 and the connecting part 420 can rotate together.

[0176] On the other hand, a speaker 450 may be positioned on the outside of the rotating coupling portion 410. That is, a speaker 450 may be positioned on each of the pair of rotating coupling portions 410 in the direction opposite to the direction in which the robot body 100 is positioned. Therefore, the speakers 450 may be positioned to cover both sides of the main body housing 110 in the left-right direction.

[0177] The speaker 450 can transmit information about robot 1 as sound. The source of the sound transmitted by the speaker 450 may be sound data pre-stored in robot 1. For example, the pre-stored sound data may be voice data of robot 1. For example, the pre-stored sound data may be a notification sound indicating the status of robot 1. On the other hand, the source of the sound transmitted by the speaker 450 may be sound data received via the communication unit 710.

[0178] On the other hand, conventional robots have a pair of arms on either side of their body, similar to human arms, which can move objects or perform specific tasks.

[0179] However, as mentioned above, when a robot has a pair of arms, each arm can move independently, which can result in different loads being applied to each side of the robot. Therefore, the robot may tilt to one side and tip over.

[0180] Furthermore, while the robot can attempt to stand up by having its arms touch the ground when it falls over, there is a limitation: because the arms on both sides rotate independently to touch the ground, the robot may lose its balance during the standing-up process and fall over again.

[0181] On the other hand, in the case of a robot that transports objects or performs specific tasks via a single arm, there is a limitation: the load of the transported object or any impact that may occur during the operation is concentrated on only one arm, which could lead to damage to the arm.

[0182] To solve this problem, the robot 1 according to an embodiment of the present invention is configured such that one arm 400 is rotatably connected to both sides of the robot body 100.

[0183] The connecting portion 420 can connect a pair of rotary connecting portions 410 to each other. The connecting portion 420 connects a pair of rotary connecting portions 410 that cover both sides of the robot body 100 in the left-right direction, allowing them to rotate together.

[0184] The connecting portion 420 may be formed in a shape that connects a pair of rotatable connecting portions 410 to each other and is rotatable around the robot body 100. Specifically, the connecting portion 420 may be formed in a frame shape with both ends in the longitudinal direction bent and extended. In this case, both ends of the bent and extended connecting portion 420 may be arranged parallel to each other and connected to the pair of rotatable connecting portions 410. As an example, the connecting portion 420 may be formed in an "∩" shape. As another example, the connecting portion 420 may be formed in an arch shape.

[0185] To describe the state in which the arm 400 is connected to the robot body 100, if we assume that the robot body 100 is a human face, the connecting part 420 may have a shape similar to the headband of headphones. That is, if we assume that the robot body 100 is a human face, the arm 400 will appear to have a shape similar to headphones.

[0186] With this configuration, the pair of rotating coupling parts 410 are integrally connected to the connecting part 420, and the entire arm 400 can rotate together with the rotating coupling part 410 as the center of rotation.

[0187] On the other hand, the rotation radius of the arm 400 may be longer than the maximum length of the first link and shorter than the maximum length of the leg portion 200. Specifically, the shortest distance from the rotation center of the rotating joint portion 410 to the outer end of the connecting portion 420 may be longer than the maximum length of the first link and shorter than the maximum length of the leg portion 200.

[0188] This configuration allows at least a portion of the arm 400 to be positioned closer to the ground than the first link when the arm 400 is rotated.

[0189] Unless a special command is given by the user or a pre-set situation occurs, the outer end of the arm 400 may be positioned further from the ground than the robot body 100. This configuration allows the user to easily carry the robot 1 by grasping the arm 400. In other words, the arm 400 can function as a handle that the user can grasp.

[0190] Furthermore, unless a special command from the user or a pre-set situation occurs, the arm 400 may be positioned behind the robot mask 500. This is to prevent the robot mask 500 from being obscured by the arm 400 when the user views the robot 1.

[0191] On the other hand, in response to a special command from the user or a pre-set situation, the arm 400 can perform various functions while rotating.

[0192] As an example, robot 1 can assume a scooch-down posture. To this end, robot 1 can rotate its arm 400 from the top of the robot body 100, through the rear, to the rear and lower side of the robot body 100. Along with this, or prior to the rotation of arm 400, the leg portion 200 may move to lower the posture of robot 1. Thus, even if the wheel motor MW stops operating and the wheels 310 are not rotating, robot 1 can tilt backward so that the pair of wheels 310 and the lower end of arm 400 can contact the ground. As a result, through the above-described movement of robot 1, one arm 400 and the pair of wheels 310 can contact the ground, and the robot body 100 can be supported at three points. This allows it to assume a standby posture that reduces power consumption.

[0193] As another example, the robot 1 can stand up by touching the ground via its arm 400 while it is lying on its side. To do this, the robot 1 rotates its arm 400 toward the front of the robot body 100, and along with this, the wheels 310 can rotate in the direction in which the robot 1 is moving. That is, the pair of wheels 310 can rotate in a direction that brings them closer to the arm 400. As a result, according to the robot 1 of the present invention, since one arm can touch the ground and stand up, it is possible to prevent the robot 1 from swaying or falling over again during the standing-up process, and the power consumed in the process of realizing the standing-up motion can be minimized.

[0194] On the other hand, depending on the embodiment, the arm 400 of the robot 1 may further include a detachable part 430 for coupling with the functional module 900.

[0195] The detachable part 430 may be located on the connecting part 420. Specifically, the detachable part 430 may be located on the outer surface of the connecting part 420. Here, the outer surface of the connecting part 420 may mean the surface located on the connecting part 420 in the direction opposite to the direction in which the robot body 100 is viewed.

[0196] With this configuration, the detachable part 430 may be exposed on the outer casing of the robot body 100 so as to facilitate contact with objects approaching from outside the robot 1.

[0197] The detachable portion 430 may be detachably coupled to the functional module 900. Specifically, the detachable portion 430 may be selectively coupled to or separated from the functional module 900.

[0198] The detachable part 430 is configured in the form of an electromagnet, and can selectively apply magnetic force (attractive force) to the functional module 900 by supplying power.

[0199] For example, the attachment / detachment part 430 may be configured in the form of an electromagnet. With such a configuration, the attachment / detachment part 430 can form a uniform magnetic field over a wide area and stably couple with the functional module 900.

[0200] Robot Mask

[0201] As shown in Figure 7, the robot 1 according to one embodiment of the present invention may further include a robot mask 500.

[0202] The robot mask 500 is detachably connected to the robot body 100 and can cover the display 120. The robot mask 500 is connected to the robot body 100 and can constitute the appearance of the robot 1.

[0203] The robot mask 500 includes a mask body 510 and a window 550.

[0204] The mask body 510 constitutes the external appearance of the robot mask 500. For example, with reference to the state in which the robot mask 500 and the robot body 100 are joined, the outer surface of the mask body 510 that is exposed to the outside may be formed in a curved shape having a predetermined curvature.

[0205] Furthermore, 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 planar shape corresponding to the shape of the display 120, and its outer casing may have protruding side walls to accommodate a part of the main body housing 110. Therefore, the inner surface of the mask body 510 may be composed of an elliptical plane surrounded by side walls.

[0206] Although not shown in the illustration, magnets for attachment may be provided on the mask body 510.

[0207] For example, at least one magnet may be placed on a side wall protruding from the inner surface of the mask body 510.

[0208] Furthermore, the magnet generates magnetic force (attraction) and is detachably attached to the robot body 100. With this configuration, the magnet connects the main body housing 110 and the mask body 510 by magnetic force, and when the user applies an external force greater than a predetermined size, the main body housing 110 and the mask body 510 can be separated.

[0209] Although not shown in the diagram, the mask body 510 is equipped with a mask communication unit, which can communicate with the communication unit 710 located on the robot body 100.

[0210] The communication unit of the robot mask 500 can support wireless communication with the robot body 100. A short-range communication module may be provided as a wireless communication module to support wireless communication.

[0211] Short-range communication may be, for example, NFC (Near Field Communication) communication.

[0212] The robot mask 500 can transmit information regarding the form of the robot mask 500 and the functions provided on it to the robot body 100 via its communication unit. Furthermore, the communication unit of the robot mask 500 can receive control commands from the control unit 700 located on the robot body 100.

[0213] On the other hand, the robot mask 500 can receive power from the robot body 100. Although not shown in the diagram, the robot mask 500 may be provided with terminals that can be electrically connected to the robot body 100.

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

[0215] The window 550 may be positioned on the mask body 510. Specifically, the window 550 may be positioned to penetrate the mask body 510 and face the display 120 when the robot mask 500 is coupled to the robot body 100.

[0216] The window 550 may be made of a light-transmitting material. For example, the window 550 may be made of a transparent material.

[0217] On the other hand, when the robot mask 500 is attached to the robot body 100, the display 120 may show a face and facial expressions.

[0218] Robot 1 can make the user feel that the robot is expressing emotions by displaying facial features such as eyes, nose, and mouth on the display 120.

[0219] Robot 1 can express emotions by displaying pre-set images on the display 120, thereby allowing the user to recognize that the robot is expressing emotions.

[0220] For example, when the user returns home, robot 1 may display a smile on the display 120 to express its joy.

[0221] As another example, if robot 1 detects a cliff and avoids the danger of falling, robot 1 may display a surprised face and surprised eyes on the display 120.

[0222] As another example, when a user summons robot 1, robot 1 may display a curious expression on the display 120 while looking at the user. Robot 1 may also be configured to detect and respond to calls made by the user using a specific pronunciation.

[0223] As another example, if robot 1 does not understand the user's command, robot 1 may display a curious expression along with a symbol such as "?" on the display 120.

[0224] As another example, if the user continues to command robot 1 to perform a service, it may display a distressed expression along with an image of sweat.

[0225] As another example, if the user does not issue commands to robot 1 for a predetermined period of time, it may display a sleeping expression.

[0226] In addition to the examples above, robot 1 can express various emotions on the display 120, and the expressions it can display can be improved or added through software updates, etc.

[0227] This method allows robot 1 to express emotions to the user, provide a pet robot service that interacts with the user, and have the effect of providing the user with emotional stability.

[0228] As described above, robot 1 can express emotions visually by displaying facial expressions on the display 120, as well as by outputting sound from the speaker 450.

[0229] For example, the display 120 may output sounds such as laughter or surprise in response to the facial expressions shown.

[0230] Furthermore, as described above, robot 1 can express emotions visually by displaying facial expressions on the display 120, as well as by rotating the arm 400.

[0231] For example, a smiling face could be displayed on the display 120, and emotions could be expressed by waving the arm 400.

[0232] On the other hand, the display 120 may change the shape displayed when the robot mask 500 is assembled, depending on the configuration of the robot mask 500.

[0233] Specifically, the control unit 700 of robot 1 can receive information about the shape of the mask 500 via the mask communication unit 530. For example, each robot mask 500 has information about its shape recorded in it, and the control unit 700 can receive information about the shape of the robot mask 500 from the mask communication unit 530 of the robot mask 500. At this time, the memory 720 stores graphic user interface (GUI) information corresponding to the shape of each mask 500. The control unit 700 can also control the display 120 to display the GUI corresponding to the shape of the robot mask 500. Therefore, when the robot mask 500 and the robot body 100 are coupled together, the display 120 can display the GUI, and the GUI displayed on the display 120 can be seen from outside the robot mask 500 by passing through the window 550.

[0234] On the other hand, the user can directly select a GUI via the input unit 125. Furthermore, the control unit 700 can control the display 120 to show the GUI input by the user.

[0235] This configuration allows users to purchase a Robot Mask 500 that suits their preferences and customize the appearance of Robot 1 by selecting their preferred GUI.

[0236] Functional module

[0237] The robot 1 of the present invention includes a functional module 900. The functional module 900 is a component that provides various functions to the robot 1 by being coupled to the lower side of the robot body 100.

[0238] The functional module 900 is detachably coupled to the robot body 100. For example, 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 part 150 located at the lower part of the robot body 100.

[0239] In particular, the robot 1 of the present invention is a two-wheeled robot, and a space is formed between the pair of wheels 310 and the leg portion 200 to which the functional module 900 is connected. Therefore, even when the robot body 100 and the functional module 900 are connected, the overall volume does not increase significantly, which is an advantage.

[0240] Furthermore, with this arrangement, when the functional module 900 is coupled to the robot body 100, not only the pair of wheels 310 but also the functional module 900 comes into contact with the ground B, increasing the number of points of contact and support between the ground B and the robot 1, as well as the support area. Therefore, the functional module 900 of the present invention has the effect of easily maintaining the balance of the robot 1 when coupled to the robot body 100.

[0241] Although not shown in the diagram, the functional module 900 may be provided with a structure corresponding to the module coupling portion 150 of the robot body 100. For example, the functional module 900 may be provided with a coupling portion 930 that is detachably coupled to the module coupling portion 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. These corresponding terminals contact the terminals of the robot body 100 to receive power from the robot body 100 and can send and receive electrical signals with the robot body 100.

[0242] Although not shown in the diagram, the functional module 900 may be equipped with a lamp. The lamp can indicate the position of the functional module 900 by emitting light. For example, the lamp may be an infrared (IR) LED (light emitting diode). With this configuration, the IR sensor 620 located on the robot body 100 can sense the position of the functional module 900, and the robot body 100 can move towards the functional module 900.

[0243] The functional module 900 may include various configurations depending on its function.

[0244] With different functional modules 900 provided, the user can add or change the services provided by the robot 1 according to the present invention by replacing the functional modules 900 as needed.

[0245] As shown in Figures 8 and 9, the functional module 900 may be a cleaning module.

[0246] The functional module 900 includes a module body 910, a suction nozzle 920, and a coupling part 930. With this configuration, the robot 1 can perform dry cleaning by coupling the functional module 900 to the robot body 100.

[0247] The module body 910 may be detachably connected to the robot body 100 via the coupling portion 930. Although not shown, the module body 910 may have a channel formed inside that can suck up dust.

[0248] A suction nozzle 920 capable of sucking up dust may be provided at the front of the module body 910. A dust box capable of containing the sucked-up dust may also be placed inside the module body 910. A motor (not shown) that provides air suction force may also be provided inside the module body 910. In this case, wheels may be provided on the bottom surface of the module body 910.

[0249] Furthermore, the suction nozzle 920 can suck up air and dust while moving along the ground (floor surface). A suction port may be formed on the bottom surface of the suction nozzle 920. An agitator may also be provided around the suction port. In addition, a motor that provides driving force to the agitator and / or wheels may be further provided inside the module body 910.

[0250] The coupling portion 930 is positioned on the upper part of the module body 910 and coupled to the robot body 100. Specifically, the coupling portion 930 may be positioned on the front upper side of the module body 910. The coupling portion 930 may be detachably coupled to the module coupling portion 150 of the module body 910. For example, the coupling portion 930 may include at least a portion made of metal or an electromagnet. As another example, the coupling portion 930 may include a hook and be hook-coupled to the module body 910. In this case, the coupling force between the module body 910 and the robot body 100 can be strengthened.

[0251] On the other hand, in this embodiment, the functional module 900 may be coupled to the lower part of the robot body 100. The robot body 100 is positioned above the functional module 900 and can move together with the functional module 900. The functional module 900 can change its direction of travel in accordance with the movement of the robot body 100. This means that, to the user's view, it may appear as if the robot body 100 is riding on top of the functional module 900 and cleaning.

[0252] On the other hand, the functional module 900 may be configured to be heavier at the rear than at the front where the suction nozzle 920 is positioned relative to the coupling portion 930. Although not shown, a motor that is relatively heavy compared to other components may be placed at the rear inside the module body 910. Also, although not shown, in this embodiment, additional weights to increase the weight of the functional module 900 may be placed at the rear inside the module body 910.

[0253] Therefore, the functional module 900 may be coupled to the robot body 100 and lifted together with the robot body 100 when it moves upward.

[0254] 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.

[0255] Although not shown elsewhere, the functional module 900 may also be a transport module including a support plate capable of supporting an object, and transport wheels coupled to the underside of the support plate that roll along the ground. Alternatively, the functional module 900 may be a water mop module including a pair of mops that rotate around a pivot axis, and a water tank for storing water supplied to the mops. Alternatively, the functional module 900 may include an arm and a gripper.

[0256] Control configuration

[0257] Figure 10 shows a block diagram illustrating the control configuration of a robot according to one embodiment of the present invention.

[0258] Referring to Figures 1 to 10, the robot 1 according to an 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.

[0259] Since the components shown in the block diagram of Figure 10 are not essential for the realization of robot 1, robot 1 as described herein may have more or fewer components than those listed above.

[0260] 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 the setting information stored in the memory 720, which will be described later.

[0261] The control unit 700 may be located on the robot body 100. More specifically, the control unit 700 may be mounted on a PCB located inside the main body housing 110.

[0262] The control unit 700 may include any type of device capable of processing data, such as a processor. Here, "processor" may mean a data processing device embedded in hardware that has a physically structured circuit for executing functions expressed as code or instructions contained in a program, for example. Examples of such data processing devices embedded in hardware include microprocessors, central processing units (CPUs), processor cores, multiprocessors, ASICs (application-specific integrated circuits), and FPGAs (field programmable gate arrays), but the scope of the present invention is not limited to these.

[0263] The control unit 700 can receive information about the external environment of the robot 1 from at least one of the configurations of the sensor unit 600, which will be described later. In this case, the information about the external environment may be, for example, information such as the temperature, humidity, and amount of dust in the room in which the robot 1 is traveling. Alternatively, it may be, for example, cliff information. Alternatively, it may be, for example, indoor map information. Of course, the information about the external environment is not limited to the examples given above.

[0264] The control unit 700 can receive information regarding the current state of the robot 1 from at least one of the configurations of the sensor unit 600, which will be described later. In this case, the current state may be, for example, inclination information of the robot body 100. Alternatively, it may be, for example, information regarding the distance between the wheel 310 and the ground. Alternatively, it may be, for example, position information of the wheel motor MW. Alternatively, it may be, for example, position information of the suspension motor MS. Of course, the information regarding the current state of the robot 1 is not limited to the examples given above.

[0265] The control unit 700 can transmit drive control commands to at least one of the components of the motor section described later. For example, it can control the rotation of the wheel motor MW for the robot 1 to move. Alternatively, for example, it can control the rotation of the wheel motor MW to maintain the horizontal posture of the robot 1. Alternatively, for example, it can control the rotation of the suspension motor MS to maintain the horizontal posture of the robot 1.

[0266] The control unit 700 may receive user commands through at least one of the configurations of the interface unit described later. For example, the command may be a command to turn the robot 1 on / off. Alternatively, for example, the command may be a command to manually control various functions of the robot 1.

[0267] The control unit 700 can output information about the robot 1 through at least one of the configurations of the interface unit described later. For example, the output information may be visual information. Alternatively, for example, the output information may be auditory information.

[0268] The motor section includes at least one motor and can provide driving force to a configuration connected to each motor.

[0269] The motor section may include a wheel motor MW that provides driving force to the left and right wheels 310. More specifically, the motor section may include a first wheel motor MW1 that transmits driving force to a wheel 310 located on one side in the left-right direction, and a second wheel motor MW2 that transmits driving force to a wheel 310 located on the other side in the left-right direction.

[0270] The wheel motors MW may be located in each of the wheel sections 300. More specifically, the wheel motors MW may be housed inside the lower leg 230. Alternatively, the wheel motors MW may be housed inside the wheel 310.

[0271] 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. Each wheel motor MW on the left and right sides is driven and rotated in response to a control command from the control unit 700, and the rotation of the wheels 310 in response to the rotation of the wheel motors MW causes the robot 1 to travel along the ground.

[0272] The motor section may include a suspension motor MS that provides driving force to the left and right leg sections 200. More specifically, the motor section may include a first suspension motor MS1 that transmits driving force to a leg section 200 located on one side in the left-right direction, and a second suspension motor MS2 that transmits driving force to a leg section 200 located on the other side in the left-right direction.

[0273] The suspension motors MS may be located on the robot body 100. More specifically, the suspension motors MS may each be housed inside the main body housing 110.

[0274] The suspension motors MS are connected to the first links. More specifically, the final output end of the shaft or gear of the first suspension motor MS1 is connected to the first link located on one side in the left-right direction. The final output end of the shaft or gear of the second suspension motor MS2 is connected to the first link located on the other side in the left-right direction. Each of the left and right suspension motors MS is driven to rotate in response to a control command from the control unit 700, and the first links rotate in accordance with the rotation of the suspension motors MS, causing the lower legs 230 connected to the first links to rotate, thereby changing the angle between the first links and the lower legs 230.

[0275] This allows robot 1 to move its wheels 310 up and down, enabling it to maintain a horizontal posture when riding over obstacles or traveling on curved ground. Alternatively, it enables the robot body 100 to move downwards or upwards.

[0276] The motor section may include an arm motor MA that provides rotational force to the arm 400.

[0277] The arm motor MA may be located in the robot body 100. More specifically, at least one arm motor MA may be housed inside the body housing 110.

[0278] The arm motor MA is driven and rotates in response to control commands from the control unit 700. The rotation of the arm motor MA causes the rotation of the rotation coupling part 410, and the connecting part 420, which is integrally configured with the rotation coupling part 410, also rotates. As a result, the arm 400 can be pivoted relative to the robot body 100.

[0279] This allows robot 1 to rotate its arm 400, enabling it to rotate the arm 400 and connect with the functional module 900. Alternatively, the rotation of the arm 400 can cause it to make contact with the ground.

[0280] The sensor unit 600 includes at least one sensor, and each sensor can measure or sense information regarding the external environment of the robot 1 and / or information regarding the current state of the robot 1.

[0281] The sensor unit 600 may include an obstacle detection camera 610.

[0282] The obstacle detection camera 610 is provided to sense an obstacle T present in the room where the robot 1 travels and to map the structure of the room.

[0283] 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 main body housing 110.

[0284] On the other hand, in the present embodiment, a plurality of obstacle detection cameras 610 may be arranged. For example, a first detection camera 611 may be arranged at the lower front part of the main body housing 110, and a second detection camera 612 may be arranged at the upper front part of the main body housing 110. With such a configuration, the obstacle detection camera 610 can sense an object or a person arranged in front of the robot 1.

[0285] The obstacle detection camera 610 can sense the obstacle T and sense the distance from the obstacle T. For example, the first detection camera 611 may be a depth camera.

[0286] The obstacle detection camera 610 can photograph the room during traveling in order to perform SLAM (Simultaneous Localization and Mapping). For example, the second detection camera 612 may be an RGB camera.

[0287] The depth camera and the RGB camera can calculate the distance by calculating the time when the irradiated light is reflected and returned after irradiating the light.

[0288] The control unit 700 can detect obstacles T based on information about the surrounding environment captured by the obstacle detection camera 610 and information about the current position of the robot 1, and then implement SLAM.

[0289] On the other hand, the method by which the robot 1 according to the embodiment of the present invention implements SLAM may be a method that uses only the obstacle detection camera 610, but is not limited thereto. For example, the robot 1 may implement SLAM by making better use of additional sensors. The additional sensors may be, for example, LDS (Laser Distance Sensor).

[0290] The sensor unit 600 may include an IR sensor 620 for infrared detection.

[0291] The IR sensor 620 may also be an IR camera that detects infrared light.

[0292] The IR sensor 620 may be located on the robot body 100. In embodiments of the present invention, multiple IR sensors 620 may be located. For example, a first IR sensor 621 may be located at the front lower part of the main body housing 110, and a second IR sensor 622 may be located at the rear of the main body housing 110. With such a configuration, the positions of light sources located in various directions can be sensed.

[0293] The IR sensor 620 may be placed near the obstacle detection camera 610. For example, the first IR sensor 621 may be placed directly below the first obstacle detection camera 611.

[0294] With this arrangement, the IR sensor 620 can detect the light emitted by the lamp of the functional module 900 or the robot charging stand (not shown), and 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 stand (not shown).

[0295] The IR sensor 620 can detect infrared light emitted by an IR LED provided on 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 that is detachably attached to the robot body 100.

[0296] The control unit 700 may control the IR sensor 620 to start sensing the IR LED when the charge level of robot 1 is below a preset level. The control unit 700 may also control the IR sensor 620 to start sensing the IR LED when it receives a command from the user to search for a specific module.

[0297] The sensor unit 600 may include a wheel motor sensor 630.

[0298] 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 also detect the rotational speed of the motor.

[0299] The wheel motor sensors 630 may be located on the left and right wheel motors MW, respectively. More specifically, the wheel motor sensors 630 may be connected to the final output end of the shaft or gear of the wheel motor MW and housed together with the wheel motor MW inside the lower leg 230.

[0300] The sensor unit 600 may include an arm motor sensor 640.

[0301] The arm motor sensor 640 can measure the position of the arm 400. For example, the arm motor sensor 640 may be a photo sensor. As is well known, the photo sensor can measure the degree of rotation of the arm motor MA or the degree to which the arm 400 has rotated.

[0302] The arm motor sensor 640 may be disposed near the arm motor MA. More specifically, the arm motor sensor 640 may be housed inside the main body housing 110 or the rotary coupling portion 410 together with the arm motor MA.

[0303] The suspension motor sensor 650 can measure the position of the leg portion 200. For example, the suspension motor sensor 650 may be a photo sensor. As is well known, the photo sensor can measure the degree of rotation of the suspension motor MS or the degree to which the upper leg 210 has rotated.

[0304] The suspension motor sensor 650 may be disposed 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.

[0305] The sensor unit 600 may include an IMU sensor 660.

[0306] The IMU sensor 660 can measure the tilt angle of the robot body 100.

[0307] As is well known, the IMU (Inertial Measurement Unit) sensor 660 is a sensor that incorporates both a three-axis acceleration sensor, a three-axis gyro sensor, and a geomagnetic sensor, and is also called an inertial measurement sensor.

[0308] A 3-axis accelerometer is a sensor that detects the gravitational acceleration of an object while it is stationary. Since the gravitational acceleration differs depending on the angle at which the object is tilted, the tilt angle can be obtained by measuring the gravitational acceleration. However, a drawback is that accurate values ​​cannot be obtained when the object is moving and accelerating, rather than when it is stationary.

[0309] A 3-axis gyroscope is a sensor that measures angular velocity. The tilt angle is obtained by integrating the angular velocity over the total time. However, the angular velocity measured by a gyroscope is subject to continuous errors due to noise and other reasons, and these errors cause the error in the integrated value to accumulate over time.

[0310] As a result, when robot 1 is stationary and idle for a long period of time, the accelerometer can accurately measure the incline, but the gyroscope sensor will have errors. When moving, robot 1 can accurately measure the incline value with the gyroscope sensor, but the accelerometer sensor will not provide an accurate value.

[0311] By using the IMU sensor 660, the shortcomings of the aforementioned accelerometer and gyroscope can be compensated for.

[0312] This specification describes embodiments comprising an IMU sensor 660.

[0313] The IMU sensor 660 may be located on the robot body 100. More specifically, the IMU sensor 660 may be located 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 tilt angle and direction measurement, it is preferable to position the IMU sensor 660 near the central region of the robot body 100.

[0314] The IMU sensor 660 can measure at least one of the three-axis acceleration, three-axis angular velocity, and three-axis geomagnetic data of the robot body 100 and transmit it to the control unit 700.

[0315] The control unit 700 can calculate the direction and angle of inclination 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 attitude maintenance control of the robot body 100, as described later.

[0316] The sensor unit 600 may include a cliff sensor 670 for detecting cliffs.

[0317] The cliff sensor 670 may be configured to sense the distance from the ground in front of the robot 1 as it travels. The cliff sensor 670 may be configured in various ways within a range that allows it to sense the relative distance between the point where the cliff sensor 670 is formed and the ground.

[0318] For example, the cliff sensor 670 may be configured to include a light-emitting unit that emits light and a light-receiving unit that receives reflected light. The cliff sensor 670 may also be configured as an infrared sensor.

[0319] The cliff sensor 670 may be positioned on the lower leg 230. For example, a first cliff sensor 671 may be positioned at the front lower end of the lower leg 230, and a second cliff sensor 672 may be positioned at the rear upper side of the lower leg 230. With this configuration, the distance between the lower leg 230 and the wheel 310 and the ground B can be measured. It is also possible to calculate the angle between the lower leg 230 and the ground through the distance difference between the first cliff sensor 671 and the second cliff sensor 672.

[0320] The cliff sensor 670 can project light toward the ground (floor) in front of robot 1. The cliff sensor 670 allows robot 1 to sense in advance whether or not there is a cliff in the direction of travel.

[0321] The light-emitting part of the cliff sensor 670 can emit light at an angle toward the ground (floor) in front of it. The light-receiving part of the cliff sensor 670 can receive light that is reflected from the ground (floor) and becomes incident. Based on the difference between the time of light emission and the time of light reception, the distance between the ground in front of it and the cliff sensor 670 can be measured.

[0322] If the distance measured by the cliff sensor 670 exceeds a predetermined value or exceeds a predetermined range, it may indicate that the ground ahead suddenly drops in elevation. This principle allows for the detection of cliffs.

[0323] The control unit 700 can control the wheel motor MW so that the robot 1 avoids the detected cliff when a cliff is detected ahead. In this case, the control of the wheel motor MW may be a stop control, or the control of the wheel motor MW may be a rotation direction switching control.

[0324] The sensor unit 600 may include an environmental sensor 680.

[0325] The environmental sensor 680 may be configured to 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.

[0326] For example, the environmental sensor 680 may be located on the arm 400. More specifically, the environmental sensor 680 may be located on the connecting portion 420. In a possible embodiment, the information measured by the environmental sensor 680 may be visually displayed on the display 120.

[0327] The sensor unit 600 may include a side sensor 690.

[0328] The side sensor 690 can measure the distance to obstacles, including walls.

[0329] The side sensor 690 may be configured to sense the distance to the side wall surface on which the robot 1 is traveling. The side sensor 690 may be configured in various ways within a range that allows it to sense the relative distance between the point where the side sensor 690 is placed and an obstacle.

[0330] For example, the side sensor 690 may include a light-emitting unit that emits light and a light-receiving unit that receives reflected light. The side sensor 690 may also be an infrared sensor.

[0331] The side sensors 690 may be placed on both sides of the robot 1. For example, the side sensors 690 may be placed on the outer surface of the lower leg 230 of the leg section 200.

[0332] The interface unit includes at least one configuration for interaction between the user and the robot 1, each configuration may be configured to receive commands from the user and / or output information to the user.

[0333] The interface section may include a microphone 140.

[0334] The microphone 140 is configured to recognize the user's voice and may be provided in multiple units. Multiple microphones 140 may be arranged on the main unit housing 110. For example, four microphones 140 may be arranged on the upper side of the main unit housing 110.

[0335] The audio signal received by microphone 140 may be used to track the user's location. In this case, a known sound source tracking algorithm can be applied. For example, the sound source tracking algorithm may be a three-point measurement method (triangulation method) that utilizes the time difference in which multiple microphones 140 receive the audio signal. The principle is that the location of the audio source is calculated using the position of each microphone 140 and the speed of the sound wave.

[0336] On the other hand, the microphone 140 and the aforementioned obstacle-sensing camera 610 cooperate with each other so that even when the user calls for the robot 1 from a distance, the robot 1 can be brought to the user's location.

[0337] The interface section may include speaker 450.

[0338] The speaker 450 may be positioned on the arm 400. For example, the speaker 450 may be positioned on the rotating coupling portion 410 of the arm 400. The speaker 450 may also be positioned to cover both sides of the main body housing 110 in the left-right direction.

[0339] The speaker 450 can transmit information about robot 1 as sound. The source of the sound transmitted by the speaker 450 may be sound data pre-stored in robot 1. For example, the pre-stored sound data may be voice data of robot 1. For example, the pre-stored sound data may be a notification sound indicating the status of robot 1. On the other hand, the source of the sound transmitted by the speaker 450 may be sound data received via the communication unit 710.

[0340] The interface section may include a display 120 and an input section 125.

[0341] The display 120 may include displays arranged in one or more modules. The display 120 may be positioned on the front upper side of the robot body 100.

[0342] The display 120 may be formed using one of the following elements: a light-emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, or an organic light-emitting diode (OLED).

[0343] The display 120 may show information such as the operating time of robot 1 and battery 800 power information.

[0344] The display 120 may show the facial expression of robot 1. Alternatively, the display 120 may show the eyes of robot 1. The current state of robot 1 may be personified and expressed as an emotion through the shape of the face and eyes displayed on the display 120. For example, when a user returns home from going out, the display 120 may show a smiling face or smiling eyes. This has the effect of making the user feel a connection with robot 1.

[0345] The input unit 125 may be configured to receive control commands from the user for controlling the robot 1. For example, the control commands may be commands to change various settings of the robot 1. For example, the settings may be the volume of sound, the brightness of the display, the power saving mode, etc.

[0346] The input unit 125 may be located on the display 120.

[0347] The input unit 125 generates key input data that the user inputs to control the movements of robot 1. For this purpose, the input unit 125 may consist of a key pad, a dome switch, a touch pad (static / electrostatic), etc. In particular, when the touch pad forms a layered structure with the first display, this is sometimes called a touch screen.

[0348] The communication unit 710 may be provided to transmit signals between the various components within the robot 1. The communication unit 710 can, for example, support CAN (Controller Area Network) communication. The signals may, for example, be control commands transmitted from the control unit 700 to other components.

[0349] The communication unit 710 can support wireless communication with other devices located outside the robot 1. A short-range communication module or a long-range communication module may be provided as a wireless communication module to support wireless communication.

[0350] Examples of short-range communication include Bluetooth® communication and NFC (Near Field Communication) communication.

[0351] Examples of long-distance communication technologies include Wireless LAN (WLAN), DLNA (Digital Living Network Alliance), Wibro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), IEEE 802.16, Long Term Evolution (LTE), LTEA (Long Term Evolution-Advanced), Wireless Mobile Broadband Service (WMBS), and BLE (Bluetooth Low Energy). Examples include Energy, Zigbee (registered trademark), RF (Radio Frequency), and LoRa (Long Range).

[0352] Memory 720 is configured to store various data for the driving and operation of robot 1.

[0353] Memory 720 may store application programs for the autonomous navigation of robot 1, as well as various related data. Memory 720 may also store data sensed by the sensor unit 600, and may also store setting information related to various settings selected or entered by the user.

[0354] The memory 720 may include a magnetic storage medium or a flash storage medium, but the scope of the present invention is not limited thereto. Such a memory 720 may include an 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; a flash drive such as an SSD, CF (compact flash) card, SD card, Micro-SD card, Mini-SD card, Xd card, or memory stick; or a storage device such as an HDD.

[0355] The memory 720 may be included in the control unit 700, or it may be provided as a separate component.

[0356] Battery 800 is configured to power the other components that make up robot 1.

[0357] The battery 800 may be located in the robot body 100. More specifically, the battery 800 may be housed inside the body housing 110. Although not shown in the figures, the battery 800 may be located behind the suspension motor MS.

[0358] 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 located at the bottom of the robot body 100. This allows the robot 1 to easily connect to the charging stand by approaching the charging stand and descending, thereby placing the charging terminal 130 on the corresponding terminal of the charging stand from above.

[0359] Obstacle passage control

[0360] On the other hand, Figure 11 shows a flowchart for explaining a control method for a robot according to one embodiment of the present invention, Figures 12 and 13 show diagrams for explaining the situation in which a robot according to one embodiment of the present invention senses an obstacle, Figure 14 shows a diagram for explaining the situation in which a robot according to one embodiment of the present invention lifts a functional module in order to overcome an obstacle while it is coupled to a functional module, Figure 15 shows a diagram for explaining the situation in which a robot according to one embodiment of the present invention approaches an obstacle at an oblique angle, Figure 16 shows a diagram for explaining the situation in which a robot according to one embodiment of the present invention places one wheel on an obstacle, and Figure 17 shows a diagram for explaining the operation of a robot according to one embodiment of the present invention maintaining balance while one wheel is on an obstacle.

[0361] Referring to Figures 11 to 17, the control method for a robot according to one embodiment of the present invention is as follows.

[0362] A robot control method according to one embodiment of the present invention includes an obstacle detection step (S10), a module raising step (S20), and a balance holding step (S30).

[0363] The obstacle detection step (S10), the module raising step (S20), and the balance holding step (S30) may be performed while the robot 1 rotates its wheels 310 and travels along the ground B.

[0364] In the obstacle detection step (S10), the control unit 700 can detect obstacles T placed on the ground B. Specifically, in the obstacle detection step (S10), the obstacle detection camera 610 or cliff sensor 670 can detect the terrain in front of the robot 1. That is, the obstacle detection camera 610 or cliff sensor 670 can detect the distance to an object placed in front, and thereby detect that there is a difference in elevation on the ground B. For example, if an obstacle T with a height of 0.5 cm or more is placed on the ground B, the obstacle detection camera 610 or cliff sensor 670 can detect this and transmit the presence of the obstacle T to the control unit 700.

[0365] At this time, the control unit 700 can sense the angle between the obstacle T placed on the ground B and the robot 1. That is, in the obstacle detection step (S10), the control unit 700 can draw a virtual line relative to the robot 1's forward travel direction and calculate the angle between the length of the obstacle T and the robot 1's forward travel direction.

[0366] At this time, the control unit 700 can use the overall shape of the obstacle T and surrounding terrain information to determine whether or not to overcome the obstacle T, and the path to take to overcome the obstacle T. For example, if the height of the obstacle T is higher than a preset limit height, or if the length of the obstacle T is shorter than a preset standard length, the control unit 700 can determine to avoid the obstacle T rather than overcome it. On the other hand, if the height of the obstacle T is less than or equal to a preset limit height, or if the length of the obstacle T is greater than or equal to a preset standard length, or if the obstacle T is connected to a wall or the like and there is no other path (i.e., the obstacle T is a threshold), the control unit 700 can determine to overcome the obstacle T.

[0367] On the other hand, robots need to maintain balance while overcoming obstacles. In particular, two-wheeled robots maintain balance by making contact with the ground at two points (or two surfaces). Therefore, they have support force in the lateral direction from the wheels, but no support force in the front-to-back direction. This means that if an impact is applied in the front-to-back direction, they are prone to losing balance and tipping over.

[0368] In particular, when a functional module is placed on the underside of a robot to extend or add to its functions, there is a possibility that the robot may tip over due to collisions between the functional module and obstacles, or that the functional module may get caught on obstacles, preventing the robot from overcoming them.

[0369] To address this, the present invention further includes a module raising step (S20) to prevent the functional module from getting caught on an obstacle.

[0370] In the module lifting step (S20), the control unit 700 can control the robot 1 to lift the functional module 900 coupled to it if the distance (D) between the robot 1 and the obstacle T is within a preset reference distance (Dr) (D ≤ Dr).

[0371] For example, the distance (D) between robot 1 and obstacle T may represent the shortest distance between obstacle detection camera 610 and obstacle T. Alternatively, the distance (D) between robot 1 and obstacle T may represent the shortest distance between cliff sensor 670 and obstacle T.

[0372] At this time, the control unit 700 can sense the angle between the obstacle detection camera 610 and the obstacle T, or the cliff sensor 670 and the obstacle T, and the ground B, and calculate the distance from the front end of the functional module 900 to the obstacle, or from the front end of the wheel 310 to the obstacle. As a result, the control unit 700 can move the robot body 100 upward before the front end of the functional module 900 comes into contact with the obstacle T.

[0373] Specifically, in the module raising step (S20), the control unit 700 can control the suspension motor MS to increase the angle between the upper leg 210 and the lower leg 230. In other words, the control unit 700 can control the suspension motor MS to increase the distance between the upper end of the upper leg 210 and the lower end of the lower leg 230.

[0374] This control allows the leg portion 200, which was bent at a predetermined angle, to gradually extend, thereby lifting the robot body 100. For example, in the module lifting step (S20), the robot body 100 is higher off the ground than in the obstacle detection step (S10).

[0375] Therefore, in the module raising step (S20), the robot body 100 may move upward so as to move away from the ground. In other words, in the module raising step (S20), the length from the ground B to the upper end of the robot body 100 can be increased.

[0376] In this case, if the functional module 900 is attached to the robot body 100, the functional module 900 that was in contact with the ground B may be lifted together with the robot body 100.

[0377] Thus, when the functional module 900 is lifted by the robot body 100, one end of the functional module 900 positioned near an obstacle may be positioned further from the ground than the other end of the functional module 900 positioned farther from the obstacle. In other words, as the functional module 900 moves upward together with the robot body 100, the front end of the functional module 900 may be positioned higher from the ground than the rear end of the functional module 900.

[0378] This is because the rear part of the module body 910, which is located behind the coupling part 930, is heavier than the suction nozzle 920, which is located in front of the coupling part 930. In other words, the coupling part 930 is lifted by the robot body 100, and since the part located behind the coupling part 930 is the heaviest, gravity causes the rear end of the functional module 900 to sag downwards.

[0379] With this configuration, when the robot body 100 moves forward and overcomes the obstacle T, the front end of the functional module 900 is positioned higher than the obstacle T, preventing the front end of the functional module 900 from getting caught on the obstacle T.

[0380] Furthermore, by making the lower surface of the functional module 900 contact the obstacle T, the functional module 900 can support the underside of the robot body 100 as the robot 1 overcomes the obstacle T, thus contributing to maintaining the balance of the robot 1.

[0381] Furthermore, by lowering the center of gravity of the entire robot 1 by lifting the functional module 900, the robot 1 becomes easier to balance.

[0382] Therefore, according to the present invention, when the robot body 100 overcomes an obstacle, the functional module 900 can get caught on the obstacle, preventing the robot 1 from falling over.

[0383] On the other hand, the module raising step (S20) of the present invention can be applied not only when the functional module 900 is coupled to the robot body 100, but also when the functional module 900 is not coupled to the robot body 100.

[0384] In other words, even when the functional module 900 is not connected to the robot body 100, the robot body 100 can be raised if the distance (D) between the robot 1 and the obstacle T is within a preset reference distance (Dr) (D ≤ Dr).

[0385] This configuration makes it possible to lift one of the wheels 310 in the balance-maintaining step (S30) described later.

[0386] On the other hand, as shown in Figures 15 and 16, if the robot approaches the obstacle T at an oblique angle rather than perpendicular to its length, only one of the robot's wheels will ride up onto the obstacle T. In this case, the robot may tilt to one side and tip over.

[0387] In particular, if relatively heavy parts of a robot are placed on the upper side of the robot, the robot's center of gravity will be higher, which can lead to the robot tipping over even with a slight tilt.

[0388] To solve this, if the robot's forward direction is positioned at a predetermined angle to the length of the obstacle T, a conventional robot will change its travel path and approach the obstacle T perpendicular to it (see C2 in Figure 15). In this case, the robot's pair of wheels will overcome the obstacle simultaneously, preventing the robot from tilting to one side.

[0389] However, as mentioned above, changing the robot's travel path has the limitation that it takes more time for the robot to reach its target location.

[0390] Furthermore, when the robot changes its travel path, there is a possibility that areas will be created within a predetermined distance from obstacles where the robot will not travel. In particular, as in the present invention, the existence of such areas when a functional module with a cleaning function is coupled to the robot may mean that there are areas that remain uncleaned. In other words, when the robot is forced to change its path in order to pass through obstacles, there is a limitation that some of the robot's functions become unusable.

[0391] To solve this problem, the present invention further includes a balance-maintaining step (S30) that allows the leg section 200 to be controlled to maintain the balance of the robot body 100 if only one wheel 310 is mounted on an obstacle or if the robot body 100 tilts to one side.

[0392] On the other hand, the balance maintenance step (S30) may be performed not only after the module raising step (S20) is executed, but also after the module raising step (S20) is omitted, and may be performed even if it is not coupled to the functional module 900. In other words, the balance maintenance step (S30) is performed after the obstacle detection step (S10), but may also be performed after the module raising step (S20) is omitted.

[0393] In the balance-maintaining step (S30), the control unit 700 can control the leg unit 200 to lift the wheel 310 that is in contact with the obstacle T if either of the pair of wheels 310 is in contact with the obstacle T.

[0394] Specifically, one of the pair of wheels 310 may come into contact with an obstacle T, and the wheel 311 that is in contact with the obstacle T may continue to rotate and rise along the obstacle T. In this case, as the wheel 311 moves upward, the robot body 100 may tilt to one side as one side of the leg section 200 and the robot body 100 is lifted.

[0395] At this time, the IMU sensor 660 can detect the angle at which the robot body 100 is tilted and transmit this to the control unit 700 (S31).

[0396] Furthermore, if the robot body 100 is tilted by more than a preset reference angle relative to a vertical line perpendicular to the ground, the control unit 700 can move one of the pair of wheels 310 along the vertical direction. For example, if the robot body 100 is tilted by 5 degrees or more relative to the vertical line, the control unit 700 can lift the wheel 311 that is in contact with the obstacle T by controlling the leg section 200 (S32).

[0397] The control unit 700 can control one of the suspension motors MS to control the leg portion 200 connected to the wheel 311 that has come into contact with the obstacle T, so as to reduce the angle between the upper leg 210 and the lower leg 230. In other words, the control unit 700 can control the suspension motor MS so that the distance between the upper end of the upper leg 210 and the lower end of the lower leg 230 becomes smaller.

[0398] This type of control allows the leg portion 200, which was maintaining a predetermined angle, to gradually retract, thereby maintaining the height of the robot body 100 in the left-right direction and preventing the robot body 100 from tilting beyond a preset reference angle.

[0399] Therefore, in the balance-maintaining step (S30), the height from the ground to the robot body 100 can be maintained. Also, in the balance-maintaining step (S30), only the wheel 311 that first made contact with the obstacle T can be lifted and placed onto the obstacle T (see Figure 17).

[0400] In other words, during the balance-maintaining step (S30), the left-right heights of the robot body 100 are kept the same, and the pair of wheels 310 can rotate at different heights from the ground.

[0401] This control allows robot 1 to ride over obstacle T with one of its wheels 311 while maintaining balance. This enables the robot to overcome obstacle T while preventing it from tilting in either the left or right direction.

[0402] On the other hand, in the balance-maintaining step (S30), if both wheels 310 come into contact with the obstacle T, the upward-moving wheel 311 is lowered to prevent the robot body 100 from tilting to one side.

[0403] Specifically, if one of the pair of wheels 310 is in contact with an obstacle T, and the other wheel 312, which is not in contact with the obstacle T, comes into contact with the obstacle T, that wheel 312 may continue to rotate and rise along the obstacle T. At this time, one of the leg section 200 and the robot body 100 may tilt again in the left-right direction.

[0404] At this time, the IMU sensor 660 can again sense the angle at which the robot body 100 is tilted and transmit this to the control unit 700 (S31).

[0405] Furthermore, if the robot body 100 is tilted by more than a preset reference angle relative to a vertical line perpendicular to the ground, the control unit 700 can move one of the pair of wheels 310 along the vertical direction. For example, if the robot body 100 is tilted by 5 degrees or more relative to the vertical line, the control unit 700 can lower the wheel 311 that is in contact with the obstacle T by controlling the leg section 200 (S32).

[0406] The control unit 700 can control one of the suspension motors MS to control the leg portion 200 connected to the wheel 311 that first made contact with the obstacle T, thereby increasing the angle between the upper leg 210 and the lower leg 230. In other words, the control unit 700 can control the suspension motor MS so that the distance between the upper end of the upper leg 210 and the lower end of the lower leg 230 increases.

[0407] As a result, the robot body 100 can maintain balance without tilting in either direction.

[0408] On the other hand, in the balance-maintaining step (S30), once one of the pair of wheels 310 has finished making contact with the obstacle T, it is possible to prevent the robot body 100 from tilting to one side.

[0409] When either of the pair of wheels 310 dismounts from the obstacle T, the difference in height between the obstacle T and the ground B causes the robot body 100 to tilt to either the left or right.

[0410] At this time, the IMU sensor 660 can again sense the angle at which the robot body 100 is tilted and transmit this to the control unit 700 (S31).

[0411] Furthermore, if the robot body 100 is tilted by a preset reference angle or more relative to a vertical line perpendicular to the ground, the control unit 700 can move one of the pair of wheels 310 along the vertical direction.

[0412] For example, if the robot body 100 is tilted by 5 degrees or more with respect to a vertical line, the control unit 700 can control the leg portion 200 to increase the distance between the wheel 310, which has finished contacting the obstacle T, and the robot body 100. In other words, when the robot 1 descends from the obstacle T, it can be controlled to extend the leg portion 200 that is detaching from the obstacle T.

[0413] As another example, if the robot body 100 is tilted by 5 degrees or more with respect to a vertical line, the control unit 700 can control the leg portion 200 to reduce the distance between the wheel 310 in contact with the obstacle T and the robot body 100. In other words, when the robot 1 descends from the obstacle T, it can be controlled to retract the leg portion 200 that is in contact with the obstacle T.

[0414] As a result, the robot body 100 can maintain balance without tilting in either direction.

[0415] Therefore, according to the present invention, even if the robot 1 approaches the obstacle T at an oblique angle, it can continue to travel in a straight line without changing its path (see C1 in Figure 15). This has the advantage of allowing it to travel to the target location in the shortest distance.

[0416] Furthermore, even if the robot body 100 enters the obstacle T at an oblique angle, it has the effect of being able to maintain balance and overcome the obstacle T without tilting to one side and falling over.

[0417] Furthermore, it has the advantage of reducing the areas where conventional robots 1 could not operate, such as near thresholds, and allowing the robot to be used without spatial limitations.

[0418] Although the present invention has been described in detail above with reference to specific embodiments, these are for illustrative purposes only and the present invention is not limited thereto. It is clear that the present invention can be modified and improved by those with ordinary skill in the art within the technical framework of the present invention.

[0419] Any simple modifications or alterations of the present invention fall within the scope of the invention, and the specific scope of protection of the present invention will be made clear by the appended claims.

Claims

1. The robot body contains a motor and battery inside, A pair of leg parts provided on the robot body, A pair of wheels rotatably coupled to each of the pair of leg portions, The robot body includes a rotating coupling portion that is rotatably coupled to both sides of the robot body, and an arm that includes a coupling portion that connects a pair of the rotating coupling portions to each other, Includes, A robot characterized in that, when the robot body is located within a predetermined reference distance from an obstacle of a predetermined height or higher, the robot body moves upward so as to move away from the ground.

2. A functional module that is detachably attached to the robot body and moves together with the robot body. It further includes, The aforementioned functional module is The robot according to claim 1, characterized in that when the robot body moves upward, one end positioned near the obstacle is positioned further from the ground than the other end positioned farther from the obstacle.

3. The robot according to claim 1, characterized in that when either of the pair of wheels comes into contact with the obstacle, the wheel that has come into contact with the obstacle moves upward.

4. The robot according to claim 3, characterized in that the height from the ground to the robot body is maintained when the wheel, which has come into contact with the obstacle, moves upward.

5. The aforementioned functional module is The module body and A coupling portion is positioned on the upper part of the module body and is coupled to the robot body, Includes, The aforementioned functional module is The robot according to claim 2, characterized in that the rear of the suction nozzle is heavier than the front, relative to the aforementioned joint.

6. A sensor unit is located on the robot body or the leg portion and measures the distance to the obstacle. The robot according to claim 1, further comprising:

7. The robot body contains a motor and battery inside, A pair of leg parts provided on the robot body, A pair of wheels rotatably coupled to each of the pair of leg portions, The robot body includes a rotating coupling portion that is rotatably coupled to both sides of the robot body, and an arm that includes a coupling portion that connects a pair of the rotating coupling portions to each other, Includes, A robot characterized in that, if either of the pair of wheels comes into contact with an obstacle, the wheel that has come into contact with the obstacle moves upward.

8. A method for controlling a robot including a pair of leg sections and wheels connected to each of the leg sections, An obstacle detection step that detects obstacles placed on the ground when the wheel is rotated and the vehicle travels along the ground, If the distance between the robot and the obstacle is within a predetermined reference distance, the module lifting step involves lifting the functional module attached to the robot. A method for controlling a robot, including...

9. If, after the module raising step, one of the pair of wheels comes into contact with the obstacle, a balance-holding step is performed to lift the wheel that is in contact with the obstacle. The robot control method according to claim 8, further comprising:

10. In the module raising step, The robot control method according to claim 8, characterized in that the length from the ground to the upper end of the robot increases.

11. In the balance maintenance step, The robot control method according to claim 9, characterized in that when the robot is tilted by an angle greater than or equal to a preset reference angle with respect to a vertical line, one of the pair of wheels is moved along the vertical direction.

12. In the balance maintenance step, The robot control method according to claim 9, characterized in that the pair of wheels rotate at different heights from the ground.

13. In the aforementioned obstacle detection step, The robot control method according to claim 8, characterized in that the obstacle is detected by sensing, using at least one sensor, that a height difference of a predetermined height or more occurs on the ground.

14. A method for controlling a robot including a pair of leg sections and wheels connected to each of the leg sections, An obstacle detection step that detects obstacles placed on the ground when the wheel is rotated and the vehicle travels along the ground, If either of the pair of wheels comes into contact with the obstacle, the balance-maintaining step involves lifting the wheel that is in contact with the obstacle. A method for controlling a robot, including...

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