robot

Abstract

To provide a robot with a simple configuration that enables user operation both on board and off board the robot.SOLUTION: A robot comprises: a body on which a person can ride; a handle which is grasped by a person riding on the body; a moving device which moves the body; an operation terminal which is detachably attachable to the robot and which receives input of commands relating to operation of the robot; and a control device which controls the robot in accordance with the commands received from the operation terminal. In a state where the operation terminal is attached to the robot, the operation terminal is disposed at a position at which the operation terminal is operated while the person grasps the handle.SELECTED DRAWING: Figure 6

Description

Technical Field

[0004] , , , , , , , , , , , ,

[0005]

[0001] The present disclosure relates to a robot.

Background Art

[0002] For example, Patent Documents 1 and 2 disclose robots having rough terrain moving capabilities. Each of these robots includes a pair of wheels disposed on both sides of the body, four legs disposed at the front and rear ends of the body, and a seat disposed on the body. The robots of Patent Documents 1 and 2 move using only the wheels, only the legs, or both the wheels and the legs.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] The robots of Patent Documents 1 and 2 are configured to be operated by an operator sitting on the seat. The present disclosure provides a robot that enables a user to operate the robot in both a mounted state and a non-mounted state with a simple configuration.

Means for Solving the Problems

[0005] A robot according to an aspect of the present disclosure includes a body for carrying a person, a handle grasped by a person riding on the body, a moving device for moving the body, an operation terminal that is detachable from the robot and receives an input of a command related to the operation of the robot, and a control device that controls the robot according to a command received from the operation terminal. When the operation terminal is attached to the robot, the operation terminal is disposed at a position where the operation terminal is operated while the handle is grasped by a person. [Brief explanation of the drawing]

[0006] [Figure 1] Perspective view showing an example of the configuration of a robot according to an embodiment. [Figure 2] Side view of the robot in Figure 1 [Figure 3] A side view showing an example of the configuration of the robot's walking state in Figure 1. [Figure 4] A side view showing an example of the configuration of the robot in its wheeled state in Figure 1. [Figure 5] Figure 1 shows an example of the configuration of the control terminal attached to the robot. [Figure 6] Figure 1 shows an example of the configuration of the control terminal after it has been removed from the robot. [Figure 7] Block diagram showing an example of the configuration of the robot controller according to the embodiment. [Figure 8] This figure shows an example of the first screen displayed on the operating terminal according to the embodiment. [Figure 9] This figure shows an example of the second screen displayed on the operating terminal according to the embodiment. [Figure 10] Side view showing an example of the robot configuration related to a modified example. [Modes for carrying out the invention]

[0007] Illustrative embodiments of the present disclosure will be described below with reference to the drawings. The embodiments described below are all comprehensive or specific examples. Among the components in the embodiments below, those components that are not described in the independent claim representing the highest-level concept will be described as optional components. The figures in the accompanying drawings are schematic and not necessarily strictly illustrative. In each figure, substantially identical components are denoted by the same reference numerals, and redundant descriptions may be omitted or simplified. In this specification and claims, “apparatus” may mean not only a single apparatus but also a system consisting of multiple apparatuses.

[0008] The configuration of the robot 1 according to this embodiment will be described with reference to Figure 1. Figure 1 is a perspective view showing an example of the configuration of the robot 1 according to this embodiment. In this embodiment, the robot 1 is a quadruped walking robot, although it is not limited to this embodiment. The robot 1 has a structure that allows it to walk on four legs, either alone or with a human riding on it. In this embodiment, the robot 1 has an appearance that mimics a quadruped mammal, for example, a quadruped mammal with a body shape that a human can ride, such as a horse, cow, deer, goat, or sheep. The robot 1 has a structure that allows one human to straddle and ride on it, but it may also have a structure that allows two or more people to straddle and ride on it, for example, one in front of the other. The robot 1 may be the same size as the above-mentioned quadruped mammal or motorcycle, and therefore may have a compact structure. The robot 1 can function as a small or ultra-small mobility device, which is a convenient means of transportation for humans.

[0009] Robot 1 comprises a torso 10, two or more legs, a controller 40, and an operating terminal 50. In this embodiment, however, robot 1 comprises four legs 30A, 30B, 30C, and 30D connected to the torso 10 and capable of bending. Controller 40 is an example of a control device and controls the entire robot 1. The torso 10 includes a seat 11 on which a person straddles and sits at an upward position Du on the torso 10, and includes a footrest 12 on which a person seated on the seat 11 places their feet at a downward position Dd on the torso 10.

[0010] In this specification and claims, the "forward direction Df," "rearward direction Db," "upward direction Du," "downward direction Dd," and "lateral direction Dl" in the torso 10 are directions set on the torso 10 with respect to the torso 10. The forward direction Df is the direction facing the forward direction of the robot 1 when it is walking on all four legs. The rearward direction Db is the opposite direction to the forward direction Df. The lateral direction Dl includes a first lateral direction Dl1 and a second lateral direction Dl2, the first lateral direction Dl1 and the second lateral direction Dl2 are opposite directions to each other and intersect with the forward direction Df and the rearward direction Db, for example, a vertical direction. The upward direction Du and the downward direction Dd are opposite directions to each other and intersect with the forward direction Df, the rearward direction Db, the first lateral direction Dl1 and the second lateral direction Dl2, for example, a vertical direction. The upward direction Du is the direction facing upwards for the robot 1 when it is walking on all four legs.

[0011] Figure 2 is a side view of the robot 1 of Figure 1. As shown in Figure 2, the seat 11 includes a seat 11A extending from the forward direction Df to the rearward direction Db. In this embodiment, however, the seat 11A is large enough for one person to straddle and sit on, but it may be large enough for two or more people to straddle and sit on.

[0012] Two footrests 12 are positioned on the sides Dl1 and Dl2 of the torso 10. In this embodiment, however, the two footrests 12 are positioned hanging down from the torso 10. The footrests 12 are fixed to the torso 10 but may be movable to change their position in the vertical direction, the front-back direction, or a combination of these directions.

[0013] Robot 1 further comprises a neck section 20. The neck section 20 has a columnar shape and extends upward Du from the torso 10 at a position Df forward of the seat section 11. The neck section 20 is fixed immovably to the torso 10 or is integrated with the torso 10.

[0014] The robot 1 further includes a handle 23 on the head 20 that can be grasped by a human sitting on the seat portion 11. Although not limited, in the present embodiment, the handle 23 protrudes in the lateral directions Dl1 and Dl2 more than the head 20. The handle 23 is fixedly and immovably attached to the head 20. The handle 23 includes a bar 23a that can be grasped by a human sitting on the seat portion. The bar 23a has a linear shape extending in the lateral directions Dl1 and Dl2. The handle 23 includes handle grips 23b at both ends of the bar 23a, which are the parts that can be grasped by a human.

[0015] For example, the head 20 is not essential, and the handle 23 may be arranged at any part of the robot 1 other than the head 20. 。 For example, the handle 23 may be arranged on the body 10. The handle 23 may be arranged at a position where it can be grasped by a human in a state of riding on the body 10, for example, sitting on the seat portion 11.

[0016] One bar 23a is arranged in the rear direction Db of the head 20, but it may also be arranged to penetrate the head 20, or two bars 23a may be arranged to extend from the head 20 in the lateral directions Dl1 and Dl2. The bar 23a may be movable with respect to the head 20. For example, the bar 23a may be rotatable like the handlebar of a bicycle or a motorcycle. The structure of the handle 23 is not limited to the above, and any structure that can be grasped by a human hand is acceptable. For example, it may have a structure such as an arc-shaped or U-shaped bar extending in the lateral directions Dl1 and Dl2, an aircraft control lever, an automobile steering wheel, a handrail, a handle such as a U-shape, or a structure like a reins for riding a horse. Also in this case, the handle 23 may be immovable or movable with respect to the head 20.

[0017] The robot 1 further includes a head 21 that mimics the head of a quadrupedal mammal at the upper end Du of the neck 20. The robot 1 includes a first sensor 22A in the head 21 that scans the surroundings of the robot 1. The first sensor 22A outputs a signal indicating the detection result to the controller 40. The first sensor 22A may be arranged in a part of the robot 1 other than the head 21. The torso 10, the neck 20, and the head 21 are an example of the main body of the robot 1.

[0018] Although not limited, in the present embodiment, the first sensor 22A includes a camera. The shooting direction of the camera is directed in the forward direction Df. The first sensor 22A includes a three-dimensional camera capable of detecting the distance to the subject, but may simply include a camera capable of acquiring an image. Examples of the three-dimensional camera are a stereo camera, a TOF camera (Time-of-Flight-Camera), a pattern light projection camera such as stripe projection, or a camera using a light section method. The first sensor 22A is an omnidirectional spherical or hemispherical 360-degree camera having an omnidirectional field of view, but may be a camera having a limited field of view such as a wide-angle camera.

[0019] The first sensor 22A may be a sensor capable of detecting the distance to the object. Such a sensor 22 is configured to perform detection using light waves, lasers, magnetism, radio waves, electromagnetic waves, ultrasonic waves, or a combination of two or more of these, and may include a photoelectric sensor, a laser sensor, a radio wave sensor, an electromagnetic wave sensor, an ultrasonic sensor, various lidars (LiDAR), or a combination of two or more of these.

[0020] Robot 1 includes a second sensor 22B and a third sensor 23C within its torso 10. The second sensor 22B detects the movement of the torso 10. In this embodiment, however not limited, the second sensor 22B includes a gyro sensor to detect the angular velocity of the torso 10. For example, the second sensor 22B detects the angular velocity around three orthogonal axes. The second sensor 22B may further include an accelerometer to detect the acceleration of the torso 10. For example, the second sensor 22B may detect acceleration in three orthogonal axis directions. Such a second sensor 22B may also include an inertial measuring device. The second sensor 22B outputs a signal indicating the detection result to the controller 40.

[0021] The third sensor 23C detects the position of the robot 1. For example, the third sensor 23C may detect the position of the robot 1 on Earth. The third sensor 23C may include a GNSS (Global Navigation Satellite System), a gyro sensor, an accelerometer, a geomagnetic sensor, or a combination of two or more of these. In this embodiment, however, the third sensor 23C includes a GNSS and utilizes the gyro sensor and accelerometer of the second sensor 22B. By using the position detection result from the GNSS and the position and attitude detection results from the gyro sensor and accelerometer, the accuracy of detecting the position of the robot 1 is improved. The third sensor 22C outputs a signal indicating the detection result to the controller 40. The third sensor 23C may be placed on a part of the robot 1 other than the torso 10.

[0022] As shown in Figure 1, the legs 30A and 30B are connected to the forward-facing portion Df of the torso 10 and can function as the front legs of the robot 1. The legs 30C and 30D are connected to the rear-facing portion Db of the torso 10 and can function as the rear legs of the robot 1. The connection positions between the legs 30A to 30D and the torso 10 are not limited to those described above and may be any position.

[0023] Each of the leg sections 30A, 30B, 30C, and 30D includes two or more joints. In this embodiment, however, each of the leg sections 30A, 30B, 30C, and 30D includes a base joint 31A, 31B, 31C, and 31D connected to the torso 10, and an intermediate joint 32A, 32B, 32C, and 32D positioned between the base joints 31A, 31B, 31C, and 31D and the tips of the leg sections 30A, 30B, 30C, and 30D. Furthermore, each of the leg sections 30A, 30B, 30C, and 30D includes an intermediate link 33A, 33B, 33C, and 33D, and a tip link 34A, 34B, 34C, and 34D.

[0024] Intermediate links 33A to 33D each connect the joints and form part of the skeleton of the leg sections 30A to 30D. End links 34A to 34D each connect to the intermediate joints 32A to 32D and extend to the tip of the leg sections 30A to 30D, forming part of the skeleton of the leg sections 30A to 30D. Base joints 31A to 31D each have two or more degrees of freedom, and intermediate joints 32A to 32D each have one or more degrees of freedom.

[0025] In this embodiment, although not limited to this, each of the base joints 31A to 31D is operable with two degrees of freedom, enabling bending in the pitching direction and bending in the rolling direction relative to the torso 10. Each of the base joints 31A to 31D enables the intermediate links 33A to 33D to perform a combination of swinging in the forward and backward directions Df and Db, which are the pitching direction, and swinging in the lateral directions Dl1 and Dl2, which are the rolling direction. Each of the intermediate joints 32A to 32D is operable with one degree of freedom, bending to change the angle between the intermediate links 33A to 33D and the end links 34A to 34D. Each of the intermediate joints 32A to 32D enables the end links 34A to 34D to swing in the forward and backward directions Df and Db, which are the pitching direction.

[0026] Robot 1 is equipped with a plurality of joint actuators JA that drive the base joints 31A to 31D and the intermediate joints 32A to 32D, respectively. Each of the base joints 31A to 31D includes two joint actuators JA for bending in two directions. Each of the intermediate joints 32A to 32D includes one joint actuator JA for bending in one direction. In this embodiment, however not limited, each joint actuator JA includes a servo motor, a reduction gear, and a rotation sensor such as an encoder. The servo motor is controlled by a controller 40, and the rotation sensor detects the amount of rotation of the servo motor and outputs a signal indicating the detection result to the controller 40. The reduction gear reduces the rotational speed of the servo motor and increases the rotational driving force, while transmitting the rotational driving force of the servo motor to the joint.

[0027] Robot 1 is further provided with one or more rotatable driven wheels 38A, 38B, 38C, and 38D at each of the intermediate joints 32A, 32B, 32C, and 32D. The driven wheels 38A to 38D are positioned at the intermediate joints 32A to 32D, respectively, so as to contact the support surface that supports Robot 1 as the base joints 31A to 31D and the intermediate joints 32A to 32D operate, thereby supporting Robot 1 in a movable manner.

[0028] Figure 3 is a side view showing an example of the configuration of the walking state of robot 1 in Figure 1. Figure 4 is a side view showing an example of the configuration of the wheeled running state of robot 1 in Figure 1. In Figures 3 and 4, the footrest 12 is not shown. As shown in Figures 3 and 4, robot 1 is further equipped with a running device 90 on its body 10.

[0029] The traveling device 90 can be stored in the body 10. Furthermore, the traveling device 90 can be operated to protrude downward Dd from the body 10 when stored in the body 10 and contact the support surface that supports the robot 1, and the robot 1 can be moved while in contact with the support surface.

[0030] The traveling device 90 includes traveling wheels 91A and 91B, first actuators 92A and 92B, a support 93, and a second actuator 94. The first actuators 92A and 92B rotate the traveling wheels 91A and 91B, respectively, and are examples of wheel actuators. The second actuator 94 operates the support 93. Actuators 92A, 92B, and 94 each include a servo motor, a reduction gear, and a rotation sensor such as an encoder. The servo motor is controlled by a controller 40, and the rotation sensor outputs a signal to the controller 40 indicating the detected amount of rotation of the servo motor. The reduction gear transmits the rotational driving force of the servo motor to the object to be driven.

[0031] The support 93 is positioned and fixed to the fuselage 10 and supports the running wheels 91A and 91B on the fuselage 10. In this embodiment, however, the support 93 includes a link mechanism comprising a plurality of links operably connected to one another, with the tip portions of the link mechanism coaxially rotatably supporting the running wheels 91A and 91B. The support 93 is operated by the driving force of a second actuator 94 to move the running wheels 91A and 91B between a first position and a second position. In the first position, as shown in Figure 4, the running wheels 91A and 91B protrude downward Dd from the fuselage 10. In the second position, as shown in Figure 3, the running wheels 91A and 91B approach the fuselage 10 and are retracted into the fuselage 10.

[0032] For example, in walking mode, as shown in Figure 3, the controller 40 controls the second actuator 94 to retract the travel wheels 91A and 91B to the second position. The controller 40 controls the joint actuators JA of the leg sections 30A to 30D to bring the tips of the tip links 34A to 34D into contact with the support surface of the robot 1, causing the leg sections 30A to 30D to perform a walking motion.

[0033] In the wheeled running state, as shown in Figure 4, the controller 40 controls the joint actuators JA of the leg portions 30A to 30D so that the driven wheels 38A to 38D come into contact with the support surface of the robot 1. The controller 40 also controls the second actuator 94 so that the running wheels 91A and 91B protrude to a first position.

[0034] The controller 40 controls the first actuators 92A and 92B to drive the travel wheels 91A and 91B. The controller 40 moves the robot 1 forward or backward by rotating the travel wheels 91A and 91B in the same direction and at the same rotational speed. The controller 40 makes the robot 1 turn left or right by rotating the travel wheels 91A and 91B in the same direction and at different rotational speeds, or in different directions. The controller 40 may also make the robot 1 turn left or right by driving the joint actuators JA from the base joints 31A to 31D to rotate the intermediate links 33A to 33D.

[0035] As shown in Figure 2, the robot 1 further includes a controller 40, a secondary battery module 60, a power supply circuit 70, and a second communicator 80 within its torso 10. In this embodiment, however not limited, the controller 40, the secondary battery module 60, the power supply circuit 70, and the second communicator 80 are located within the first torso portion 10a of the torso 10. The secondary battery module 60 functions as a power source for the robot 1. The secondary battery module 60 includes one or more secondary batteries. A secondary battery is a battery capable of charging and discharging power. Examples of secondary batteries include lead-acid batteries, lithium-ion secondary batteries, solid-state batteries, nickel-metal hydride batteries, nickel-cadmium batteries, etc. The secondary battery module 60 is an example of a battery.

[0036] The power supply circuit 70 is a circuit that controls the supply and demand of power to the secondary battery module 60. The power supply circuit 70 is configured to control power according to commands from the controller 40, etc. For example, the power supply circuit 70 may include equipment such as a converter, inverter, transformer, and amplifier.

[0037] The power supply circuit 70 is configured to be connected to an external power source such as a commercial power supply. The power supply circuit 70 receives power from the external power source and supplies that power to the secondary battery module 60 for storage. The power supply circuit 70 controls the power supplied to the secondary battery module 60. The power supply circuit 70 supplies the power stored in the secondary battery module 60 to the power-consuming components within the robot 1. The power supply circuit 70 controls the power supplied to each component. The power supply circuit 70 supplies the power stored in the secondary battery module 60 to the operation terminal 50 connected to the robot 1, while controlling its operation.

[0038] The second communication device 80 is a device for wireless communication with the operating terminal 50. The second communication device 80 may be configured to wirelessly communicate directly or indirectly with the first communication device 51 for wireless communication included in the operating terminal 50. In indirect wireless communication, the communication devices 51 and 80 may be configured to connect to a communication network via wireless communication and to communicate with each other via the communication network. The wireless communication used by the communication devices 51 and 80 is not particularly limited.

[0039] The communication network is not particularly limited and may include, for example, a Local Area Network (LAN), a Wide Area Network (WAN), the Internet, or a combination of two or more of these. The communication network may be configured to use short-range wireless communication such as Bluetooth® and ZigBee®, dedicated network lines, dedicated lines of telecommunications carriers, Public Switched Telephone Networks (PSTN), mobile communication networks, the Internet, satellite communications, or a combination of two or more of these. The mobile communication network may use fourth-generation mobile communication systems and fifth-generation mobile communication systems, etc. The communication network may include one or more networks.

[0040] Figure 5 shows an example of the configuration of the operating terminal 50 when attached to the robot 1 in Figure 1. Figure 6 shows an example of the configuration of the operating terminal 50 when detached from the robot 1 in Figure 1. As shown in Figures 5 and 6, the robot 1 and the operating terminal 50 are configured such that the operating terminal 50 can be attached to and detached from the robot 1. In this embodiment, however not limited, the operating terminal 50 is detachable from the neck portion 20. For example, the neck portion 20 may include a holder such as a stand, frame, or mount for holding the operating terminal 50, and may include a recess or hole into which at least a part of the operating terminal 50 engages or fits. In this embodiment, however not limited, the operating terminal 50 is held by the neck portion 20 by a part of it fitting into a recess 20a located in the neck portion 20. In other words, the operating terminal 50 is attached to the robot 1.

[0041] The operating terminal 50, when attached to the robot 1, is positioned near the handle 23 so that a person can operate the operating terminal 50 while grasping the handle grips 23b with one or both of their hands. In this embodiment, however, the recess 20a is positioned so that a person can operate the operating terminal 50 while grasping each of the handle grips 23b with both hands. The recess 20a is positioned between the handle grips 23b.

[0042] The operation terminal 50 receives commands for operating the robot 1 and outputs them to the controller 40. The operation terminal 50 is configured to communicate with the controller 40 via wireless communication, wired communication, or both. In this embodiment, however, the operation terminal 50 is configured to use both wireless and wired communication. The operation terminal 50 can operate the robot 1 regardless of whether it is connected to the robot 1 via wireless or wired communication. The operation terminal 50 includes a first communicator 51 for wireless communication and a first terminal 52 for wired connection.

[0043] The first communicator 51 communicates wirelessly with the second communicator 80 of the robot 1. The structure of the communicators 51 and 80 is not particularly limited, but any structure that is suitable for the wireless communication used is acceptable.

[0044] The first terminal 52 may have a structure that allows for the transmission and reception of signals, as well as the supply and demand of power. The first terminal 52 has a structure that allows it to be connected to terminal 20b located on the neck portion 20. Terminal 20b is connected to the controller 40. Any wired communication may be used between terminals 52 and 20b.

[0045] When the first terminal 52 is connected to terminal 20b, the operating terminal 50 can communicate with the controller 40, but it may also be configured to receive power from the secondary battery module 60. The structure of terminals 52 and 20b is not particularly limited, but any structure that is suitable for the wired communication and power supply used is acceptable.

[0046] For example, terminals 52 and 20b may have a structure that transmits electronic signals and power by mating or engaging with each other, or they may have a structure that transmits electronic signals and power by contacting each other. Either or both of terminals 52 and 20b may be connected to a cable and may be repositionable. Either or both of terminals 52 and 20b may be fixed to the operating terminal 50 and the neck portion 20. In this embodiment, but not limited to, terminal 20b has a structure such as one or more pins or headers protruding in a recess 20a, and the first terminal 52 has a structure such as a jack or receptacle that accepts terminal 20b. In this specification and claims, “terminal” also includes connectors such as plugs, jacks, receptacles and adapters.

[0047] The operating terminal 50 further includes one or more second terminals 53, a display device 54, and an input device 55. The second terminals 53 are terminals that connect the operating terminal 50 to external devices. For example, the second terminals may have a structure such as a jack or receptacle, such as an earphone jack and a USB interface.

[0048] The display device 54 displays various information about the robot 1. In this embodiment, the display device 54 includes a display 54A, a speaker 54B, and indicator lamps 54C such as indicator lamps and warning lamps. The display 54A is a touch panel having both a contact input function and a screen display function, but it may also have only a screen display function.

[0049] The input device 55 receives various inputs and outputs the received input information to the controller 40. The input device 55 is an example of an operator. The input device 55 may include one or more of the following: a joystick, a key, a slide switch, a button switch, a lever, and a microphone.

[0050] In this embodiment, the input device 55 includes, but is not limited to, two joysticks 55A, a plurality of button switches 55B, a keyboard 55C, and a microphone 55D. The two joysticks 55A are positioned on either side of the display 54A. The joysticks 55A receive input such as selections on the screen of the display 53A and manual operation of the robot 1. For example, the joysticks 55A may receive input for the direction and speed of movement of the robot 1 during manual operation. The input device 55 may include one joystick 55A or two or more joysticks 55A. The keyboard 55C is positioned between the two joysticks 55A. In this embodiment, but is not limited to, the display 53A is slidable. The display 53A slides in the direction of the double arrow SD between a position that covers the keyboard 55C and a position that exposes the keyboard 55C.

[0051] In this embodiment, however not limited thereto, the display 54A, joystick 55A, button switch 55B, and keyboard 55C are positioned so that a person can operate them while holding each of the handle grips 23b with both hands.

[0052] In this embodiment, the operating terminal 50 has a structure and size similar to that of a portable game terminal. The operating terminal 50 may be a terminal specifically developed for the robot 1, or it may be a general-purpose terminal available on the market. In this embodiment, the operating terminal 50 is a general-purpose terminal and has the functions of an operating terminal 50 by having a program for controlling the robot 1 installed on it. Preferably, the operating terminal 50 is small enough to be carried by a person. For example, the operating terminal 50 may be a personal computer such as a small notebook PC, a smart device such as a smartphone or tablet, or other electronic device.

[0053] In this embodiment, some of the functions of the input device 55 are realized by a touch panel display 53A. Some of the functions of the input device 55 may also be realized by the handle 23. If the handle 23 is movable, the input device 55 may include a rotation sensor such as an encoder that detects the amount and speed of rotation of the handle 23. The input device 55 may accept the amount and speed of rotation of the handle 23 as input information for operating the robot 1, etc. If the handle 23 is immobile, the input device 55 may include two handle grips 23b or force sensors placed nearby. The input device 55 may accept the magnitude and direction of the force detected by the force sensors as input information for operating the robot 1, etc.

[0054] Figure 7 is a block diagram showing an example of the configuration of the controller 40 of the robot 1 according to an embodiment. As shown in Figure 7, the controller 40 includes a computer, which may be, for example, an electronic circuit board, an electronic control unit, a microcomputer, etc. The controller 40 includes a processor P and memory M. Similarly, the operation terminal 50 also includes a processor P and memory M. The processor P and memory M transmit and receive commands, information, and data with other devices. The processor P and memory M receive signals from various devices and output control signals to the controlled object.

[0055] For example, memory M may include volatile semiconductor memory such as RAM (Random Access Memory), non-volatile semiconductor memory such as ROM (Read-Only Memory), a hard disk, an SSD (Solid State Drive), or a combination of two or more of these. Memory M stores programs executed by processor P, as well as various data.

[0056] With respect to the controller 40 and the operating terminal 50, at least some of the functions of each may be realized through the cooperation of the processor P and the memory M. The processor P and the memory M, which includes RAM and ROM, form a computer system. For example, the computer system may realize the above functions by having the processor P use RAM as a work area to execute a program recorded in ROM.

[0057] With respect to the controller 40 and the operating terminal 50, some or all of their respective functions may be implemented by the computer system, by dedicated hardware circuits such as electronic circuits or integrated circuits, or by a combination of the computer system and hardware circuits. For example, the controller 40 and the operating terminal 50 may each perform processing through centralized control by a single computer, or through distributed control through the cooperation of multiple computers.

[0058] The following is not an exhaustive list, but for example, the processor P may include a CPU (Central Processing Unit), MPU (Micro Processing Unit), GPU (Graphics Processing Unit), microprocessor, processor core, multiprocessor, ASIC (Application-Specific Integrated Circuit), FPGA (Field Programmable Gate Array), and reconfigurable processor, and processing may be realized by logic circuits or dedicated circuits, which are hardware circuits formed on integrated circuits such as IC (Integrated Circuit) chips and LSI (Large Scale Integration). The multiple functions of the controller 40 and the operating terminal 50 may be realized by individually integrated circuits on a single chip, or by integrated circuits that include some or all of them on a single chip.

[0059] The controller 40 is connected to sensors 22A to 22C, a secondary battery module 60, a power supply circuit 70, a second communication device 80, joint actuators JA of the leg sections 30A to 30D, and actuators 92A, 92B, and 94 of the traveling device 90.

[0060] The controller 40 receives and processes a signal indicating the detection result from the first sensor 22A. If the first sensor 22A includes a 3D camera, the controller 40 may process the image received from the first sensor 22A to detect the subject contained in the image and the distance between the subject and the first sensor 22A. Furthermore, the controller 40 may detect the 3D position of the subject. For example, the controller 40 may generate a distance image in which each pixel indicates the 3D position of the subject by color, intensity, etc., an image that indicates information about the subject in the image by highlighting and marking, an image that includes indicators such as the direction of travel, or an image that combines two or more of these. The first sensor 22A may include a processing circuit that performs the above image processing. The controller 40 may output the processing result to the operation terminal 50, or use it for processing that it performs itself, such as controlling the robot 1.

[0061] The controller 40 receives and processes a signal indicating the detection result from the second sensor 22B. The controller 40 may process the signal received from the second sensor 22B to detect the angular velocity and acceleration of the torso 10. The second sensor 22B may include a processing circuit that performs the detection processing of angular velocity and acceleration. The controller 40 may output the detection result to the operation terminal 50 and use it for processing that it performs itself, such as attitude control of the robot 1.

[0062] The controller 40 receives and processes a signal indicating the detection result from the third sensor 22C. The controller 40 may process the signal received from the third sensor 22C to detect the position of the robot 1. The third sensor 22C may include a processing circuit or the like that performs the robot 1 position detection processing. The controller 40 may output the detection result to the operation terminal 50 or use it for processing that it performs itself, such as posture control of the robot 1.

[0063] The controller 40 controls the connection and communication between the controller 40 and the operating terminal 50. The controller 40 determines the connection method to be executed from among wireless and wired connections, and establishes a connection using the determined connection method. The controller 40 processes the signals received from the operating terminal 50 and executes the commands contained in the signals. The controller 40 stores the information and data contained in the signals in memory M, etc., and uses them for processing it executes. The controller 40 transmits various information and data to the operating terminal 50. For example, the controller 40 may transmit information and data to the operating terminal 50 according to the wireless connection status, and information and data to the operating terminal 50 according to the wired connection status.

[0064] In this embodiment, however not limited thereto, if the controller 40 is wired to the operating terminal 50, the controller 40 sends and receives signals to and from the operating terminal 50 and supplies power from the secondary battery module 60 to the operating terminal 50. Therefore, the operating terminal 50 can operate the robot 1 while receiving power from the robot 1 via the wired connection. If the controller 40 is wirelessly connected to the operating terminal 50, the controller 40 sends and receives signals to and from the operating terminal 50. Therefore, the operating terminal 50 can operate the robot 1 via the wireless connection.

[0065] For example, the controller 40 may determine the connection method to be executed according to the command it receives from the operating terminal 50. The operating terminal 50 may send a command to execute a wireless connection to the controller 40 via wireless communication, or it may send a command to execute a wired connection to the controller 40 via wireless or wired communication.

[0066] For example, the controller 40 may decide on a connection method to execute depending on the signal it receives from the operating terminal 50. The controller 40 may decide to execute a wireless connection when it receives a signal from the operating terminal 50 via wireless communication. The controller 40 may decide to execute a wired connection when the first terminal 52 of the operating terminal 50 is connected to terminal 20b. After the connection of the first terminal 52 and terminal 20b, the controller 40 may decide to execute a wired connection when it receives a signal from the operating terminal 50 via wired communication.

[0067] The controller 40 may prioritize the wired connection between the operating terminal 50 and the controller 40 over the wireless connection between the operating terminal 50 and the controller 40. For example, if the controller 40 establishes a wired connection between the operating terminal 50 and the controller 40 while the operating terminal 50 and the controller 40 are connected wirelessly, the controller 40 may send and receive signals with the operating terminal 50 using only wired communication and may disconnect the wireless connection.

[0068] Alternatively, or in addition to, the above-mentioned control of the controller 40, the operating terminal 50 may be configured to prioritize the wired connection between the operating terminal 50 and the controller 40 over the wireless connection between the operating terminal 50 and the controller 40. For example, when the operating terminal 50 and the controller 40 are wirelessly connected, and a wired connection between the operating terminal 50 and the controller 40 is established, the operating terminal 50 may send and receive signals with the controller 40 using only wired communication and block wireless communication.

[0069] The controller 40 and the operating terminal 50 may be configured to use both wireless and wired connections between the operating terminal 50 and the controller 40. The controller 40 and the operating terminal 50 may supply power from the secondary battery module 60 to the operating terminal 50 via a wired connection between the controller 40 and the operating terminal 50, while simultaneously sending and receiving signals to each other via a wireless connection between the controller 40 and the operating terminal 50.

[0070] The controller 40 is connected to the external power supply EP via the power supply circuit 70. The controller 40 controls the charging of power from the external power supply EP to the secondary battery module 60 by controlling the power supply circuit 70.

[0071] The controller 40 is connected to each joint actuator JA of the leg sections 30A to 30D via the power supply circuit 70. The controller 40 outputs a command value for the current to the joint actuators JA to the power supply circuit 70, and the power supply circuit 70 supplies current according to the command value from the secondary battery module 60 to the joint actuators JA. The controller 40 obtains the detection result of the rotation sensor of the joint actuators JA and the current value of the joint actuators JA via the power supply circuit 70 and uses this as feedback information when determining the command value for the current. In other words, the controller 40 servo-controls the servo motors of the joint actuators JA.

[0072] The controller 40 is connected to the actuators 92A, 92B, and 94 of the travel device 90 via the power supply circuit 70. The controller 40 outputs a command value for the current to the actuators 92A, 92B, and 94 to the power supply circuit 70, and the power supply circuit 70 supplies current according to the command value from the secondary battery module 60 to the actuators 92A, 92B, and 94. The controller 40 obtains the detection results of the rotation sensors of the actuators 92A, 92B, and 94 and the current values ​​of the actuators via the power supply circuit 70 and uses them as feedback information when determining the command value for the current. In other words, the controller 40 servo-controls the servo motors of the actuators 92A, 92B, and 94.

[0073] Here, the operating terminal 50 receives inputs via the input device 55 for various settings of the robot 1, setting tasks to be performed in automatic driving mode, setting destinations, selecting driving modes, selecting operating modes, and manual operation in manual driving mode, and transmits signals indicating the contents of the above inputs to the controller 40.

[0074] The operating modes include an automatic operating mode and a manual operating mode. In automatic operating mode, the controller 40 controls the robot 1 to autonomously perform a specified task according to a predetermined program. In manual operating mode, the controller 40 controls the robot 1 to perform actions according to manual operations input to the joystick 55A or the like on the operating terminal 50.

[0075] The operating modes include walking mode and wheeled running mode. In walking mode, the controller 40 controls the robot 1 to walk using its four legs 30A, 30B, 30C, and 30D. In wheeled running mode, the controller 40 controls the robot 1 to run using the running wheels 91A and 91B of the running device 90.

[0076] The execution task is a job that robot 1 performs in autonomous driving mode, and includes a series of actions. The destination is the destination to which robot 1 will move. The destination may be set for the GNSS of the third sensor 22C. The destination may be set in either autonomous driving mode or manual driving mode.

[0077] In autonomous driving mode, the controller 40 executes an autonomous driving program according to commands received from the operating terminal 50, including the task to be executed and the destination to be moved. For example, the autonomous driving program for walking mode includes control data including information such as the position and speed of the legs 30A to 30D that the robot 1 should perform. The autonomous driving program for wheeled driving mode includes control data including information such as the position, direction of movement and speed of the robot 1 that the robot 1 should perform. The control data may also be teaching data set through a teaching operation.

[0078] The controller 40 uses control data and the processing results of detection signals from sensors 22A to 22C to calculate the target position and target speed of the legs 30A to 30D in walking mode, and calculates the target position and target speed of the robot 1 in wheeled running mode. The controller 40 uses the processing results related to the first sensor 22A to calculate the target position and target speed corresponding to the ground surface conditions and object positions around the robot 1. The controller 40 uses the processing results related to the second sensor 22B to calculate the target position and target speed that balances the robot 1 in accordance with the movement and posture of the torso 10. The controller 40 uses the processing results related to the third sensor 22C to calculate the target position and target speed corresponding to the path to the destination. The controller 40 determines the command value for current to the joint actuator JA so that the legs 30A to 30D reach the target position and target speed. The controller 40 determines the command value for current to the actuators 92A and 92B of the running device 90 so that the robot 1 reaches the target position and target speed.

[0079] In manual operation mode, the controller 40 executes a program for manual operation. The controller 40 receives signals from the operation terminal 50 indicating the content of manual operation input to the joystick 55A, etc., of the operation terminal 50.

[0080] The controller 40 processes signals indicating the content of manual operation according to a manual operation program to calculate the target position and target speed of the legs 30A to 30D in walking mode, and calculates the target position and target speed of the robot 1 in wheeled running mode. The controller 40 determines the command value for current to the joint actuator JA so that the legs 30A to 30D are in the target position and at the target speed. The controller 40 determines the command value for current to the actuators 92A and 92B of the running device 90 so that the robot 1 is in the target position and at the target speed.

[0081] The controller 40 may use the processing results of detection signals from sensors 22A to 22C to calculate the target position and target speed. The controller 40 may use the processing results related to the first sensor 22A to calculate the target position and target speed that avoid collisions and contact with the ground surface and objects around the robot 1. The controller 40 may use the processing results related to the second sensor 22B to calculate the target position and target speed that balance the robot 1 in accordance with the movement and posture of the torso 10. As a result, even if the manual operation command is a simple command indicating the robot 1 to move forward, backward, turn left, turn right, and travel speed, the controller 40 can make the robot 1 act in accordance with the surrounding conditions and the balance of the robot 1.

[0082] The controller 40 may use the legs 30A to 30D and the travel device 90 in combination in the walking mode and wheeled travel mode of both the automatic driving mode and the manual driving mode, in response to the program, the detection results of the first sensor 22A, or commands from the operation terminal 50. The controller 40 may use the processing results related to sensors 22A and 22B to calculate the target position and target speed for each leg 30A to 30D and the travel device 90 in order to balance them.

[0083] The controller 40 may autonomously switch between the walking mode and the wheeled driving mode, or it may do so in accordance with commands from the operating terminal 50. For example, the controller 40 may autonomously determine the operating mode according to the ground surface conditions based on the detection results of the first sensor 22A.

[0084] The controller 40 may select and discard information and data to transmit to the operation terminal 50 depending on the operating mode, operating mode, wireless connection, wired connection, the status of the operation terminal 50, and two or more combinations thereof. The operation terminal 50 may also select and use information and data received from the controller 40 depending on the operating mode, operating mode, wireless connection, wired connection, and two or more combinations thereof, and may change either or both of the objects displayed on the display 53A and the screen itself.

[0085] For example, the operating terminal 50 may change either or both of the objects displayed on the display 53A and the screen itself, depending on the state of the operating terminal 50, whether or not the operating terminal 50 is attached to the robot 1. For example, either or both of the operating terminal 50 and the robot 1 may be equipped with a proximity sensor or a contact sensor, and based on the detection results of the sensor, they may detect whether or not the operating terminal 50 is attached to the robot 1. The proximity sensor may have any known structure, for example, it may utilize a magnetic field or an electric field.

[0086] For example, when the operating terminal 50 is attached to the robot 1, the operating terminal 50 may display a first object or a first screen on the display 53A that is used when a person is riding on the torso 10. For example, when the operating terminal 50 is detached from the robot 1, the operating terminal 50 may display a second object or a second screen on the display 53A that is used when a person is away from the robot 1.

[0087] Figure 8 shows an example of a first screen displayed on the operation terminal 50 according to the embodiment. Figure 9 shows an example of a second screen displayed on the operation terminal 50 according to the embodiment. As shown in Figure 8, the first screen S1 includes display objects suitable for operation on the robot 1. In this embodiment, the display objects include, but are not limited to, a map S1A showing the location of the robot 1, the operating status S1B of the robot 1, the battery status S1C, and the communication status S1D. The operation terminal 50 receives information from the controller 40 regarding the map showing the location of the robot 1, the operating status of the robot 1, and the status of the secondary battery module 60. The first object may include one or more of the display objects included in the first screen S1.

[0088] The map displays the position and intended path of the robot 1, and can be generated by the controller 40 or the operating terminal 50 using the detection results of the third sensor 22C, etc. The operating state of the robot 1 may include the robot's movement speed, posture, center of gravity balance, gait, operating mode, and other parameters. The battery status may include the remaining charge and temperature of the secondary battery and secondary battery module 60 of the operating terminal 50, as well as the power supply status from the secondary battery module 60 to the operating terminal 50. The communication status indicates the communication being used between the operating terminal 50 and the controller 40.

[0089] As shown in Figure 9, the second screen S2 includes display objects suitable for remote control of the robot 1. In this embodiment, however not limited, the display objects include either or both images S2A of the image acquired by the camera of the first sensor 22A and the image after image processing of said image, a map S2B showing the position of the robot 1, the operating status S2C of the robot 1, the battery status S2D, and the communication status S2E. The display objects may also include the ground surface conditions around the robot 1 and the positions of objects, etc., which are detected based on the processing results related to the first sensor 22A. The second object includes at least either or both of the image of the first sensor 22A and the image after image processing of said image from among the display objects included in the second screen S2. The image after image processing may be a distance image, an image showing information about the subject in the image, an image including an indicator, or a combination thereof.

[0090] For example, the operating terminal 50 may change either or both of the object displayed on the display 53A and the screen itself depending on whether the operating terminal 50 and the controller 40 are connected wirelessly or connected via a wired connection. For example, when the operating terminal 50 and the controller 40 are connected via a wired connection, the operating terminal 50 may display the first object or the first screen S1 on the display 53A. When the operating terminal 50 and the controller 40 are connected wirelessly, the operating terminal 50 may display the second object or the second screen S2 on the display 53A. When the operating terminal 50 and the controller 40 are connected via both wired and wireless connections, the operating terminal 50 may display the first object or the first screen S1 on the display 53A.

[0091] In the robot 1 according to the embodiment described above, the base joints 31A to 31D of the leg portions 30A to 30D are configured to bend around two axes, the pitching direction and the rolling direction, relative to the torso 10, but are not limited thereto. For example, when the intermediate links 33A to 33D extend downward Dd, the base joints 31A to 31D may be configured to bend around two axes, the pitching direction and the yawing direction, around two axes, the rolling direction and the yawing direction, or around two other axes relative to the torso 10. The base joints 31A to 31D may be configured to bend around three or more axes relative to the torso 10.

[0092] In the robot 1 according to this embodiment, the intermediate joints 32A to 32D of the leg portions 30A to 30D are configured to bend in a pitching direction relative to the torso 10, but are not limited thereto. For example, the intermediate joints 32A to 32D may be configured to bend in a yawing direction, a rolling direction, or other direction relative to the torso 10 when the leg portions 30A to 30D extend downward Dd. The intermediate joints 32A to 32D may be configured to bend around two or more axes. If one leg portion includes two or more intermediate joints, the bending directions of the intermediate joints may be the same or different from each other.

[0093] The appearance of the robot 1 according to this embodiment is not limited to that of a quadruped mammal. For example, the appearance of the robot 1 excluding the legs 30A to 30D may be any appearance. For example, the appearance of the robot 1 excluding the legs 30A to 30D may be that of various vehicles such as motorcycles, bicycles, automobiles with three or more wheels, ships, and aircraft.

[0094] (modified version) The robot 1 according to this embodiment is a quadruped walking robot including legs 30A to 30D as a mobile device, but the robot is not limited to a quadruped walking robot. The robot may be a bipedal humanoid, or a robot equipped with a transport vehicle. The robot just needs to be configured to be able to carry a human being.

[0095] For example, Figure 10 is a side view showing an example of the configuration of a modified robot 1A. As shown in Figure 10, the robot 1A comprises a trolley 300, a robot arm 100 positioned on the trolley 300, a controller 40, and an operating terminal 50. One robot arm 100 is positioned, but two or more robot arms 100 may be positioned. The robot arm 100 includes one or more joints and actuators that drive one or more joints. The actuators are controlled by the controller 40.

[0096] The trolley 300 includes a running gear 310 and two or more driven wheels 320. The running gear 310 includes coaxially arranged running wheels 311 and 312 and actuators 313 and 314 that rotate the running wheels 311 and 312. The two or more driven wheels 320 and the running wheels 311 and 312 are arranged to simultaneously contact the support surface that supports the trolley 300. The driven wheels 320 can freely change direction of travel and are, for example, swivel casters. The actuators 313 and 314 are controlled by the controller 40, similar to the running gear 90.

[0097] Robot 1A comprises a cart 300, a handle 330, and a seat 340. The seat 340 is large enough to accommodate one or more people. Robot 1A further includes a controller 40, a secondary battery module 60, a power supply circuit 70, and a second communication device 80 within the cart 300.

[0098] The operating terminal 50 is configured to be detachable from the trolley 300 or the handle 330. For example, the operating terminal 50 may be attached to a holder attached to the trolley 300, or to a recess formed in the trolley 300. The operating terminal 50 may also be attached to a holder attached to the handle 330. When the operating terminal 50 is attached to the robot 1A, it is positioned near the handle 330 so that a person can operate the operating terminal 50 while grasping the handle 330 with one or both of their hands.

[0099] Other components of the modified robot 1A are the same as those in the embodiment, so their description is omitted. The modified robot 1A provides the same effects as the robot 1 in the embodiment.

[0100] In the modified robot 1A, the trolley 300 is configured to move using wheels 311, 312, and 320, but is not limited thereto. For example, the trolley 300 may be configured to move using crawlers.

[0101] In the modified robot 1A, a person is configured to sit on the seat 340 and ride on the trolley 300, but it may also be configured for a person to stand while riding on the trolley 300.

[0102] In the modified robot 1A, the robot arm 100 is a vertical articulated type, but is not limited thereto. For example, the robot arm 100 may be a horizontal articulated type, polar coordinate type, cylindrical coordinate type, rectangular coordinate type, or other types.

[0103] (Other embodiments) While embodiments of the present disclosure have been described above, the present disclosure is not limited to the above embodiments and modifications. That is, various modifications and improvements are possible within the scope of the present disclosure. For example, forms in which various modifications have been applied to the embodiments and modifications, and forms constructed by combining components from different embodiments and modifications, are also included within the scope of the present disclosure.

[0104] For example, in robots 1 and 1A according to embodiments and modifications, the actuator includes a servo motor as a drive source, and the servo motor is a rotary electric motor, however, the drive source of the actuator is not limited to a rotary electric motor. For example, the actuator may include a rotary electric motor, a linear electric motor, a rotary hydraulic or gas motor, a linear hydraulic or gas motor, or a combination of two or more of these as a drive source. The above various motors may or may not be servo motors.

[0105] Robots 1 and 1A according to the embodiment and modified examples use a secondary battery module 60 as a power source, but are not limited thereto. For example, robots 1 and 1A may use an external power source such as a commercial power supply as a power source. In this case, robots 1 and 1A may be electrically connected to the external power source via wires or contacts and operate while receiving power from the external power source.

[0106] Robots 1 and 1A according to the embodiments and modified examples may further include operating devices in addition to the operating terminal 50. For example, the robot may have operating devices on its main body. The operating devices may include input devices having functions similar to at least some of the input devices 55 of the operating terminal 50, or they may include input devices different from the input devices 55. The input devices of the operating devices may have a structure suitable for operation by a person riding the robot, and may be located on a handle, or may include a handle. The operating terminal 50 and the operating devices may be configured such that when the operating terminal 50 is attached to the robot 1 or 1A, at least some of the functions of the operating terminal 50 are realized by the operating devices. The operating terminal 50 and the operating devices may be configured to function simultaneously, or they may be configured to function alternately.

[0107] Robots 1 and 1A according to the embodiments and modifications are configured for a person to sit on the seat and ride in the robot, but are not limited thereto. The robots of this disclosure only need to be able to carry a person. For example, robots 1 and 1A may be configured for a person to ride in a standing or lying position.

[0108] Examples of various aspects of the technology of this disclosure are as follows: A robot according to one aspect of this disclosure comprises a main body for carrying a person, a handle for the person riding on the main body to grasp, a mobile device for moving the main body, an operating terminal that is detachable from the robot and receives input of commands relating to the operation of the robot, and a control device that controls the robot according to the commands received from the operating terminal, wherein when the operating terminal is attached to the robot, the operating terminal is positioned so that the person can grasp the handle and operate the operating terminal at the same time.

[0109] According to the above embodiment, the operating terminal attached to the robot can function as a robot-mounted control device that can be operated by an operator holding a handle. This makes it possible to reduce the number of control devices mounted on the robot. Furthermore, the operating terminal detached from the robot can function as a remote control device for the robot. The operating terminal can function as both a robot-mounted control device and a remote control device for the robot. Therefore, user operation is possible both when the user is on board the robot and when they are not, using a simple configuration with a single operating terminal.

[0110] In a robot according to one aspect of this disclosure, the operating terminal includes a display and an operator operated by a person, and when the operating terminal is attached to the robot, the operator may be positioned so that the operator is operated by a person while the handle is grasped. According to the above aspect, the operator of the operating terminal attached to the robot can be operated by an operator who grasps the handle. Therefore, it is possible to reduce the number of operators mounted on the robot.

[0111] In a robot according to one aspect of the present disclosure, the operator includes a plurality of joysticks arranged on both sides of the display, and when the operating terminal is attached to the robot, the plurality of joysticks may be positioned so that the plurality of joysticks are operated by a person while the handle is grasped.

[0112] According to the above embodiment, the joystick can move freely, thus simplifying the operation of the robot. The control terminal, including the joystick, enables the robot to be operated with a feel similar to that of a game controller. Furthermore, the joystick of the control terminal attached to the robot can be operated by an operator holding a handle. Because there is a display between the joysticks, the operator can easily see the display while operating the joysticks. The control terminal enables the robot to be operated with a feel similar to that of a game controller, both when remotely controlling the robot and when operating it on the robot.

[0113] In a robot according to one aspect of this disclosure, the operating terminal includes a display, and the operating terminal may selectively display a first screen used when a person is on the main body and a second screen used when the person is away from the robot. According to this aspect, the operating terminal can display screens appropriate for remote control of the robot and operation on the robot, respectively. Therefore, the operating terminal can facilitate operation by the operator.

[0114] In a robot according to one aspect of this disclosure, the operating terminal may display the first screen when attached to the robot and display the second screen when detached from the robot. According to this aspect, the operating terminal can switch the display screen depending on whether it is attached to or detached from the robot. For example, the operating terminal may detect whether it is attached to or detached from the robot, the distance between the robot and the operating terminal, or both, and autonomously switch the screen based on the detection result. The operating terminal may also switch the screen according to a command input to the operating terminal by an operator. For example, the command may be to switch the screen, switch the operation, switch the communication mode with the control device, or a combination of two or more of these.

[0115] A robot according to one aspect of this disclosure further comprises a camera, and the operating terminal may display on the second screen either an image acquired by the camera or an image processed from said image, or both. According to this aspect, when the robot is remotely controlled, the operating terminal displays the camera image, etc. Therefore, the operating terminal can be operated by the operator.

[0116] In a robot according to one aspect of this disclosure, the operating terminal includes a wireless communication device that communicates wirelessly with the control device and a terminal that is wired to the control device, and the operating terminal may operate the robot by sending commands to the control device via either wireless or wired communication. According to the above aspect, the operating terminal can communicate with the control device via either wireless or wired communication or both, and operate the robot. Reliable communication between the operating terminal and the control device is enabled.

[0117] In a robot according to one aspect of this disclosure, the operating terminal may communicate with the control device by prioritizing the wired connection between the terminal and the control device over the wireless connection between the wireless communication device and the control device. According to this aspect, the operating terminal can more reliably establish a connection between the operating terminal and the control device. For example, if the operating terminal is wirelessly connected to the control device and then wired, it can prioritize communication via the wired connection to ensure reliable communication.

[0118] In a robot according to one aspect of the present disclosure, the operating terminal includes a display, and the operating terminal may display different screens on the display depending on whether the wireless communication device and the control device are wirelessly connected or wired.

[0119] According to the above embodiment, the operating terminal switches screens depending on the connection status with the control device. For example, the operating terminal may display a first screen for operation on the robot when connected via a wired connection, and may selectively display a second screen for remote operation when connected via a wireless connection. Based on the connection status, the operating terminal can display a screen appropriate to the operator's operating situation.

[0120] A robot according to one aspect of this disclosure further comprises a battery as a power source, and the operating terminal further comprises a secondary battery as a power source, and the operating terminal may receive power from the robot's battery via a wired connection between the terminal and the control device. According to the above aspect, the operating terminal can receive power from the robot's battery via a wired connection between the operating terminal and the control device. This enables stable operation of the operating terminal for extended periods.

[0121] In a robot according to one aspect of this disclosure, the operating terminal may communicate with the control device while receiving power from the robot's battery via a wired connection between the terminal and the control device. According to this aspect, the operating terminal can reliably communicate with the control device and obtain power from the robot's battery via a wired connection between the operating terminal and the control device.

[0122] In a robot according to one aspect of this disclosure, the operating terminal may receive power from the robot's battery via a wired connection between the terminal and the control device, while communicating with the control device via a wireless connection between the wireless communication device and the control device. According to this aspect, a device for wired communication between the operating terminal and the control device is unnecessary. The structure of the operating terminal and the robot can be simplified.

[0123] In a robot according to one aspect of the present disclosure, the mobile device includes two or more legs connected to the main body and capable of bending, each leg having two or more joints, and a plurality of joint actuators that drive the plurality of joints, and the control device may control the plurality of joint actuators. According to the above aspect, the operating terminal can remotely control and operate on the robot, which can walk using its legs and carry a person.

[0124] In a robot according to one aspect of the present disclosure, the mobile device includes one or more rotatable wheels and one or more wheel actuators that drive the one or more wheels, and the control device may control the one or more wheel actuators. According to the above aspect, the operating terminal can remotely control and operate on the robot, which is capable of moving using wheels and carrying a person.

[0125] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs, conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0126] The ordinal numbers, quantities, and other figures used above are all illustrative to specifically illustrate the technology of this disclosure, and this disclosure is not limited to these illustrative figures. The connections between components are illustrative to specifically illustrate the technology of this disclosure, and the connections that realize the functions of this disclosure are not limited to these.

[0127] This disclosure is defined more by the appended claims than by the description in the specification, so that it can be implemented in various ways without departing from the spirit of its essential features. Therefore, exemplary embodiments and modifications are illustrative and not limiting. All modifications within the claims and their scope, or equivalents within the claims and their scope, are intended to be encompassed by the claims. [Explanation of symbols]

[0128] 1.1A Robot 10 Torso (main body) 22A First sensor (camera) 23,330 handle 30A, 30B, 30C, 30D Legs (moving device) 40 controllers 50 Operating terminals 51 First communication device 52 1st terminal 54A Display 55 Input device (operator) 55A Joystick 60 Secondary battery modules (batteries) 91A, 91B, 311, 312 running wheels 92A, 92B, 313, 314 Actuators (Wheel Actuators) 300 trolleys (main body) 90,310 Traveling equipment (mobilizing equipment) JA Joint Actuator

Claims

1. It is a robot, The main body that carries people, The handle that the person riding on the aforementioned main unit grasps, A moving device for moving the main body, An operating terminal that is detachable from the robot and receives input of commands related to the operation of the robot, A control device that controls the robot according to commands received from the aforementioned operating terminal, A scanning sensor that scans around the robot to detect the position of surrounding objects and outputs a signal indicating the detection result to the control device, The system includes a position sensor that detects the position of the robot and outputs a signal indicating the detection result to the control device, The aforementioned operating terminal includes a display, The aforementioned operating terminal selectively displays on its display a first screen used when a person is riding on the main unit and a second screen used when the person is away from the robot. The operating terminal displays the first screen when attached to the robot, and displays the second screen when detached from the robot. The first screen includes a map that reflects the position of the robot detected by the position sensor, The second screen includes a map reflecting the position of the robot detected by the position sensor and an image showing the positions of objects around the robot detected by the scanning sensor. robot.

2. A robot, The main body that carries people, The handle that the person riding on the aforementioned main unit grasps, A moving device for moving the main body, An operating terminal that is detachable from the robot and receives input of commands related to the operation of the robot, A control device that controls the robot according to commands received from the aforementioned operating terminal, A scanning sensor that scans around the robot to detect the position of surrounding objects and outputs a signal indicating the detection result to the control device, The system includes a position sensor that detects the position of the robot and outputs a signal indicating the detection result to the control device, The aforementioned operating terminal includes a wireless communication device that communicates wirelessly with the control device, and a terminal that is wired to the control device. The aforementioned operating terminal is configured to operate the robot by sending commands to the control device via either wireless or wired communication. The aforementioned operating terminal includes a display, The operating terminal displays a second screen on the display when the wireless communication device and the control device are wirelessly connected, and displays a first screen on the display when the terminal and the control device are wired connected. The first screen includes a map that reflects the position of the robot detected by the position sensor, The second screen includes a map reflecting the position of the robot detected by the position sensor and an image showing the positions of objects around the robot detected by the scanning sensor. robot.

3. When the operating terminal is attached to the robot, the operating terminal is positioned between the hands of a person when the handle is being grasped by both hands. The aforementioned operating terminal includes an operator that is operated by a person, When the operating terminal is attached to the robot, the operating element is positioned between the hands of a person when the handle is being grasped with both hands. The robot according to claim 1 or 2.

4. The operator includes a plurality of joysticks positioned on both sides of the display, When the operating terminal is attached to the robot, the multiple joysticks are positioned between the hands when the handle is being held by a person with both hands. The robot according to claim 3.

5. The robot is further equipped with a camera, The operating terminal displays on the second screen either the image acquired by the camera or the image after image processing of that image, or both. The robot according to any one of claims 1 to 4.

6. The aforementioned operating terminal includes a wireless communication device that communicates wirelessly with the control device, and a terminal that is wired to the control device. The aforementioned operating terminal operates the robot by sending commands to the control device, whether via wireless or wired communication. A robot according to claim 1 and any one of claims 3 to 5 that references claim 1.

7. The operating terminal prioritizes the wired connection between the terminal and the control device over the wireless connection between the wireless communication device and the control device, and communicates with the control device. The robot according to any one of claims 2, claims 3 to 5 referencing claim 2, and claim 6.

8. The robot is further equipped with a battery as a power source, The aforementioned operating terminal further includes a secondary battery as a power source, The operating terminal receives power from the robot's battery via a wired connection between the terminal and the control device. A robot according to any one of claims 2, claims 3 to 5, 6, and 7, which reference claim 2.

9. The operating terminal communicates with the control device via a wired connection between the terminal and the control device, while receiving power from the robot's battery. The robot according to claim 8.

10. The robot further comprises a battery as a power source, The aforementioned operating terminal further includes a secondary battery as a power source, The operating terminal receives power from the robot's battery via a wired connection between the terminal and the control device. The operating terminal receives power from the robot's battery via a wired connection between the terminal and the control device, and communicates with the control device via a wireless connection between the wireless communication device and the control device. The robot according to any one of claims 2, claims 3 to 5 referencing claim 2, and claim 6.

11. The aforementioned mobile device is Two or more legs connected to the main body and capable of bending, each of the two or more legs having two or more joints, Includes a plurality of joint actuators that drive a plurality of the aforementioned joints, The control device controls the plurality of joint actuators. The robot according to any one of claims 1 to 10.

12. The aforementioned mobile device is One or more rotatable wheels, Includes one or more wheel actuators that drive one or more of the wheels, The control device controls one or more wheel actuators. The robot according to any one of claims 1 to 11.

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