Robot

Abstract

The present invention comprises a robot body having a battery housed therein, a wheel disposed at the bottom of the robot body and having balance control performed to rotate in the opposite direction to the tilted direction when the center of gravity of the robot body is tilted, a leg portion including an upper link having one side rotatably coupled to the robot body and a lower link having one side rotatably coupled to the other side of the upper link and the other side rotatably coupled to the wheel, arms rotatably coupled to both sides of the robot body, a distance sensing sensor for detecting the distance between the robot body and a floor surface, a front-rear tilt sensing sensor for detecting the angle at which the robot body is tilted in the front-rear direction toward the floor surface, and an angle sensing sensor for detecting the angle between the upper link and the lower link, wherein the distance detected by the distance sensing sensor is less than or equal to a set distance, the angle detected by the tilt sensing sensor is less than or equal to a first set angle, and the angle detected by the angle sensing sensor is less than or equal to a second set angle, wherein the balance control is performed.

Description

Technology Field

[0001] The present invention relates to a robot and a control method thereof. More specifically, it relates to a robot capable of satisfying both agility and stability during driving, and a control method for the robot. Background Technology

[0003] Recently, with the advancement of robot technology, the use of robots is increasing not only in industrial sectors but also in homes.

[0004] Household robots include robots that perform household chores such as cleaning or control home appliances, robots that use artificial intelligence (AI) to act as assistants to users or provide education to users, or robots that replace pets.

[0005] Robots include not only those that perform functions while fixed in a specific location, but also mobile robots capable of movement. In particular, for home use, mobile robots that move around the house on behalf of the user or follow them are primarily used.

[0006] Among mobile robots, two-wheeled robots have the advantage of being easy to store because they occupy a small amount of ground space, and they have the advantage of being easy to use in homes with relatively limited space because the turning radius is small when the robot changes direction.

[0007] Typically, these two-wheeled robots feature a design where the wheels and the robot body are connected via vertically extended legs. In other words, since the relatively heavy robot body is positioned at the top, the structure has a high center of gravity.

[0008] Therefore, for two-wheeled robots, it is of the utmost importance to properly control the rotation direction of the wheels to prevent the center of gravity from shifting and tipping over while driving.

[0009] However, if the focus is placed solely on control to maintain the center of gravity, it may be difficult to overcome obstacles on the ground while driving (hereinafter also referred to as 'floor obstacles'). This is because, in order to overcome floor obstacles located ahead, the center of gravity of the robot body inevitably shifts forward, and if the wheel's rotation direction is switched backward to maintain the balance of the center of gravity, it becomes impossible to overcome the floor obstacles located ahead.

[0010] Chinese Registered Patent Publication No. 113021299 is presented as a prior art document (hereinafter, Prior Art 1) related to driving technology of a two-wheeled robot.

[0011] Prior art 1 discloses a two-wheeled robot comprising two wheels, two legs with joint structures connected to each of the wheels, and an upper body connected to the upper part of the legs.

[0012] According to Prior Art 1, the upper body is virtualized as a single rigid body, and a generalized force is derived by distributing force according to the robot's posture measured in real time by an inertial measurement device. At this time, Prior Art 1 maps the generalized force at the wheel's ground contact point to a joint torque to calculate the torque that must be compensated to the wheel to prevent tipping over on the current ground slope, and controls the robot's driving based on this calculation. As a result, the effect of enabling the robot to drive without tipping over even when the ground slope changes is achieved.

[0013] However, prior art 1 discloses a method for driving stably on the ground without losing balance using two wheels, but does not disclose a control method that allows the robot to drive without losing balance when a user picks up a fallen robot. Prior art literature

[0015] Chinese Registered Patent Publication No. 113021299 The problem to be solved

[0016] The present invention aims to solve the problem of providing a robot that can stably drive on a floor surface without losing balance when a user sets the robot upright after it has fallen while driving.

[0017] In addition, the present invention aims to solve the problem of preventing left-right directional imbalance of a robot caused by backlash or twisting of the leg portion. means of solving the problem

[0019] A robot according to an embodiment of the present invention for solving the above-described problem comprises: a robot body having a battery housed therein; a wheel disposed at the lower part of the robot body, wherein balance control is performed to rotate in the opposite direction to the tilted direction when the center of gravity of the robot body is tilted; a leg portion comprising an upper link, one end of which is rotatably coupled to the robot body, and a lower link, one end of which is rotatably coupled to the other end of the upper link and the other end of which is rotatably coupled to the wheel; arms rotatably coupled to both sides of the robot body; a distance sensing sensor for detecting the distance between the robot body and a floor surface; a front-rear tilt sensing sensor for detecting the angle at which the robot body is tilted in the front-rear direction toward the floor surface; and an angle sensing sensor for detecting the angle between the upper link and the lower link; wherein the distance detected by the distance sensing sensor is less than or equal to a set distance, the angle detected by the tilt sensing sensor is less than or equal to a first set angle, and the angle detected by the angle sensing sensor is less than or equal to a second set angle, thereby enabling balance control.

[0020] A robot according to an embodiment of the present invention further comprises: a wheel motor for rotating the wheel; a suspension motor for adjusting the angle between the upper link and the lower link; and an arm motor for rotating the arm relative to the robot body; and when the wheel contacts the bottom surface, the operation of the wheel motor, the suspension motor, and the arm motor may be stopped.

[0021] The above setting distance may be 20mm.

[0022] The first setting angle above may be 20 degrees.

[0023] The above second setting angle may be 5 degrees.

[0024] A robot according to an embodiment of the present invention for solving the above-described problem comprises: a robot body having a battery housed therein; a first wheel disposed on the lower side of one side in the left-right direction of the robot body and rolling along a floor surface; a second wheel disposed on the lower side of the other side in the left-right direction of the robot body and rolling along the floor surface; a first upper link, one end of which is rotatably coupled to one side in the left-right direction of the robot body; a first lower link, one end of which is rotatably coupled to the other side of the first upper link and the other end of which is rotatably coupled to the first wheel; a second upper link, one end of which is rotatably coupled to the other side in the left-right direction of the robot body; a second lower link, one end of which is rotatably coupled to the other side of the second upper link and the other end of which is rotatably coupled to the second wheel; a first suspension motor for adjusting a first angle, which is an angle between the first upper link and the first lower link; and a second suspension motor for adjusting a second angle, which is an angle between the second upper link and the second lower link. And when the robot body is tilted in a left-right direction toward the floor surface, at least one of the first angle and the second angle can be adjusted so that the robot body is positioned horizontally with respect to the floor surface. Effects of the invention

[0026] According to the present invention, when a user sets up a robot that has fallen over while driving, the robot can drive stably on the floor surface without losing balance.

[0027] In addition, the present invention has the effect of preventing left-right directional imbalance of the robot caused by backlash or twisting of the leg portion. Brief explanation of the drawing

[0029] FIG. 1 is a perspective view for explaining a robot according to one embodiment of the present invention. FIG. 2 is a front view of a robot according to one embodiment of the present invention. FIG. 3 is a perspective view of a robot according to one embodiment of the present invention, viewed from different angles. FIG. 4 is a partial cutaway view illustrating power transmission for rotating an arm in a robot according to one embodiment of the present invention. FIG. 5 is a plan view of a robot according to one embodiment of the present invention. FIG. 6 is a drawing for explaining the arm of a robot according to another embodiment of the present invention. Figure 7 is a drawing to explain the state in which the detachable part of the arm in Figure 6 is rotated. FIG. 8 is a bottom view of a robot according to one embodiment of the present invention. FIG. 9 is a block diagram illustrating the control configuration of a robot according to one embodiment of the present invention. FIG. 10 is a diagram illustrating the coupling relationship between a robot mask and a robot body in a robot according to one embodiment of the present invention. FIG. 11 is a flowchart illustrating a robot control method performed to respond to a floor obstacle located in front of the driving direction. FIGS. 12 to 20 sequentially show the corresponding motions of a robot performed in the embodiment of FIG. 11. FIG. 21 is a flowchart illustrating a robot control method performed when a user picks up a robot that has fallen over on a floor surface according to an embodiment of the present invention. FIGS. 22 to 25 sequentially show the process of a user lifting a robot that has fallen over on the floor. FIG. 26 is a schematic diagram illustrating when a robot according to an embodiment of the present invention is tilted in a left-right direction toward the floor surface. Specific details for implementing the invention

[0030] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings.

[0031] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, and should be interpreted to include all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0032] FIG. 1 shows a perspective view for explaining a robot according to one embodiment of the present invention, FIG. 2 shows a front view of a robot according to one embodiment of the present invention, FIG. 3 shows a perspective view of a robot according to one embodiment of the present invention viewed from a different angle, FIG. 4 shows a partial cutaway view for explaining power transmission for rotating an arm in a robot according to one embodiment of the present invention, FIG. 5 shows a top view of a robot according to one embodiment of the present invention, FIG. 6 shows a drawing for explaining an arm of a robot according to another embodiment of the present invention, FIG. 7 shows a drawing for explaining the state in which the detachable part of the arm in FIG. 6 is rotated, and FIG. 8 shows a bottom view of a robot according to one embodiment of the present invention.

[0033] Referring to FIGS. 1 to 8, a robot (1) according to one embodiment of the present invention is described as follows.

[0034] A robot (1) according to an embodiment of the present invention is configured to be placed on a floor and move along a floor surface (B). Accordingly, the following description will define the up and down directions based on the state in which the robot (1) is placed on the floor.

[0035] And the side where the first camera (610a), which will be described later, is positioned is defined as the front of the robot (1) for explanation. In addition, the opposite direction of the front is defined as the rear of the robot (1) for explanation.

[0036] The 'lowest part' of each component described in the embodiment of the present invention may be the part located lowest in each component when the robot (1) according to the embodiment of the present invention is placed on the floor and used, or the part closest to the floor.

[0037] A robot (1) according to an embodiment of the present invention comprises a robot body (100), a leg section (200), a wheel section (300), an arm (400), and a robot mask (500). At this time, the leg section (200) is coupled to the robot body (100), and the wheel section (300) is coupled to the leg section (200). In addition, the arm (400) is pivotally coupled to both sides of the robot body (100). Furthermore, the robot mask (500) is detachably coupled to the robot body (100).

[0039] robot body

[0040] Referring to FIGS. 1 to 8, the robot body (100) in a robot (1) according to one embodiment of the present invention is described as follows.

[0041] Each component forming the robot (1) can be combined with the robot body (100). For example, a robot mask (500) can be detachably combined with the robot body (100). Additionally, an arm (400) is pivotably combined with the robot body (100). An arm (400) is pivotably combined with both ends of the robot body (100). The robot body (100) can perform additional functions by combining with a function module through the arm (400). Furthermore, the robot body (100) can implement a standby posture for saving power or a posture of standing up when it falls over through the arm (400).

[0042] Some parts that make up the robot (1) can be accommodated inside the robot body (100).

[0043] The main body housing (110) can form the outer 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).

[0044] Additionally, although not shown, at least one bumper may be provided inside the main body housing (110).

[0045] The bumper may be provided to be movable relative to the main body housing (110). For example, the bumper may be coupled to the main body housing (110) so as to be movable back and forth along the front and rear directions of the main body housing (110).

[0046] The bumper may be attached along part or all of the front edge of the main body housing (110). Additionally, the bumper may be positioned on the inner rear side of the main body housing (110).

[0047] With this configuration, when the robot (1) collides with another object or person, the bumper can absorb the impact applied to the robot body (100) and protect the robot body (100) and the parts housed inside the robot body (100).

[0048] A pair of leg portions (200) are coupled inside the main body housing (110). The pair of leg portions (200) can penetrate the main body housing (110) and be exposed to the outside.

[0049] Specifically, a first link (210) and a second link (220) may be rotatably coupled inside the main body housing (110). For example, a link frame (not shown) to which the first link (210) and the second link (220) are linked may be provided inside the main body housing (110).

[0050] And, a suspension motor (MS) can be accommodated inside the main body housing (110). For example, a suspension motor (MS) can be placed in a link frame (not shown). The suspension motor (MS) can be connected to the first link (210).

[0051] A pair of leg guide holes (111) may be formed in the main body housing (110). For example, a pair of leg guide holes (111) may be formed parallel to each other along the front-rear direction of the main body housing (110).

[0052] With this configuration, the leg portion (200) can rotate along the leg guide hole (111) and guide the rotational movement range of the leg portion (200).

[0053] The main body housing (110) may be formed in a shape where the width (or diameter) in the horizontal direction is greater than the height in the vertical direction. For example, the main body housing (110) may be formed in a shape similar to an ellipsoid.

[0054] This robot body (100) helps the robot (1) form a stable structure and can provide a structure that is advantageous for maintaining balance while the robot (1) moves (drives).

[0055] The robot body (100) can be positioned vertically above the wheel (310) to be described later. The load of the robot body (100) can be transferred to the wheel (310) through 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).

[0056] The robot body (100) may include a display (120). The display (120) may be combined with the 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 facing forward and upward. With this configuration, when the robot (1) approaches the user, the display (120) can be seen when the user looks at the robot (1).

[0057] Meanwhile, the display (120) can visually convey information about the operating status of the robot (1) to the user.

[0058] The display (120) can be formed from any one of a light-emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, or an organic light-emitting diode (OLED).

[0059] The display (120) can display information such as the operating time of the robot (1) and battery (800) power information.

[0060] According to an embodiment, the display (120) may be an input unit (125). That is, the display (120) may receive control commands from a user. For example, the display (120) may be a touchscreen that visually displays the operating status and receives control commands from a user.

[0061] The display (120) may display the facial expression of the robot (1). Alternatively, the display (120) may display the pupils of the robot (1). Through the shape of the face or pupils displayed on the display (120), the current state of the robot (1) can be anthropomorphized and expressed as an emotion. For example, when a user goes out and returns home, the display (120) may display a smiling face expression or a smiling eye shape. This creates the effect of the user feeling a sense of interaction with the robot (1).

[0062] A charging terminal (130) may be disposed in the main body housing (110). For example, the charging terminal (130) may be disposed facing the ground. As an example, the charging terminal (130) may be disposed facing the ground. As another example, the charging terminal (130) may be disposed at a predetermined angle with the ground. With such a configuration, when the robot (1) is combined with a robot charging stand (not shown), the charging terminal (130) may come into contact with a terminal provided on the robot charging stand (not shown).

[0063] The charging terminal (130) can be electrically connected to a robot charging stand (not shown). With this configuration, the robot (1) can receive power through the charging terminal (130). The power supplied through the charging terminal (130) can be supplied to the battery (800). Additionally, the robot (1) can receive an electrical signal through the charging terminal (130). The electrical signal transmitted through the charging terminal (130) can be received by the control unit (700).

[0064] Meanwhile, a first camera (610a) may be positioned at the front lower portion of the main body housing (110). For example, the first camera (610a) may be positioned on a centerline passing through the left-right center of the main body housing (110). With this configuration, the first camera (610a) can detect an object or person positioned in front of the robot (1).

[0065] Additionally, an IR sensor (620) may be positioned at the front lower portion of the main body housing (110). For example, a pair of IR sensors (620) may be positioned in the left and right directions at a predetermined interval. With this configuration, the IR sensor (620) can detect the position of a light source that generates infrared rays.

[0066] The IR sensor (620) can be positioned close to the first camera (610a). For example, the first camera (610a) can be positioned between a pair of IR sensors (620).

[0068] Legbu

[0069] Referring to FIGS. 1 to 8, the leg portion (200) of a robot (1) according to one embodiment of the present invention is described as follows.

[0070] The leg portion (200) is coupled to the robot body (100) and can support the robot body (100). For example, a pair of leg portions (200) are provided, each coupled to the inside of the body housing (110). A pair of leg portions (200) can be arranged symmetrically (linearly) with respect to each other. At this time, at least a portion of the leg portion (200) is positioned closer to the ground than the robot body (100). The leg portion (200) is positioned to connect the robot body (100) and the wheel (310).

[0071] Accordingly, the robot body (100) can drive while standing on the ground by means of a pair of leg parts (200). That is, gravity applied to the robot body (100) can be supported by the leg parts (200), and the height of the robot body (100) can be maintained.

[0072] The leg portion (200) includes a first link (210), a second link (220), and a third link (230). At this time, the first link (210) and the second link (220) are each rotatably coupled to the robot body (100) and the third link (230), respectively. That is, the first link (210) and the second link (220) are each link-coupled to the robot body (100) and the third link (230), respectively.

[0073] The first link (210) is linked to the left and right sides inside the robot body (100).

[0074] The first link (210) is connected to the suspension motor (MS). For example, the first link (210) may be connected to the shaft of the suspension motor (MS) directly or through a gear. With this configuration, the first link (210) receives driving force from the suspension motor (MS).

[0075] The first link (210) is formed in the shape of a frame, and a suspension motor (MS) is connected to one side in the longitudinal direction, and a third link (230) is connected to the other side in the longitudinal direction. At this time, one side of the first link (210) connected to the suspension motor (MS) may be positioned further from the ground than the other side connected to the third link (230).

[0076] One side of the first link (210) is coupled to a leg support (not shown) provided inside the main body housing (110). The first link (210) can be rotatably coupled to the leg support. For example, one side of the first link (210) can be formed in the shape of a disc or a circular plate. Accordingly, one side of the first link (210) can pass through the leg support and be connected to a suspension motor (MS).

[0077] One side of the first link (210) is connected to a suspension motor (MS). For example, one side of the first link (210) can be fixedly coupled to the shaft of the suspension motor (MS). With this configuration, when the suspension motor (MS) is driven, one side of the first link (210) can rotate in conjunction with the rotation of the shaft of the suspension motor (MS).

[0078] The other end of the first link (210) is rotatably coupled to the third link (230). For example, a through hole may be formed on the other end of the first link (210). A shaft may be rotatably coupled through the through hole. Both longitudinal ends of the shaft may be coupled to the third link (230).

[0079] With this configuration, the shaft can serve as an axis on which the first link (210) and / or the third link (230) rotate. Thus, the first link (210) and the third link (230) can be connected so as to be rotatable relative to each other.

[0080] Although not illustrated, the leg portion (200) may further include a gravity compensation portion. The gravity compensation portion compensates for the robot body (100) coming down vertically due to gravity. That is, the gravity compensation portion provides force to support the robot body (100).

[0081] For example, the gravity compensation member may be a torsion spring. The gravity compensation member may be wound to wrap around the outer surface of the first link (210). Then, one end of the gravity compensation member may be inserted into the first link (210) and fixedly coupled, and the other end of the gravity compensation member may be inserted into the third link (230) and fixedly coupled.

[0082] The gravity compensation unit applies a force (rotational force) in a direction that increases the angle between the first link (210) and the third link (230). For example, the ends of the gravity compensation unit are indented in advance to apply a restoring force in a direction that increases the angle between the first link (210) and the third link (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 (210) and the third link (230) can be maintained within a predetermined angle range.

[0083] With this configuration, the robot body (100) can be prevented from descending toward the ground even if the suspension motor (MS) is not driven. Therefore, the gravity compensation unit prevents energy loss due to the driving of the suspension motor (MS) and has the effect of maintaining the height of the robot body (100) at a predetermined distance from the ground.

[0084] The second link (220) is linked to the left and right sides inside the robot body (100). For example, the second link (220) can be linked to a leg support (not shown) provided inside the body housing (110). That is, the second link (220) can be linked together with the leg support (not shown) to which the first link (210) is connected.

[0085] The second link (220) is formed in the shape of a frame, one side in the longitudinal direction is connected to a leg support (not shown), and the other side in the longitudinal direction is connected to a third link (230).

[0086] A wire can be accommodated in the second link (220). For example, a space for accommodating a wire can be formed on the inner side of the second link (220). Thus, power from the battery (800) can be supplied to the wheel part (300) through the wire. At the same time, the wire can be prevented from being exposed to the outside.

[0087] One side of the second link (220) is rotatably coupled to a leg support. For example, although not illustrated, one side of the second link (220) may be coupled through a shaft that is coupled to the leg support. A hollow may be formed in the shaft. A wire may pass through the hollow. With this configuration, the wire supplying power from the battery (800) to the wheel motor (MW) can be prevented from being exposed to the outside.

[0088] The other end of the second link (220) is rotatably coupled to the third link (230). Specifically, the other end of the second link (220) is rotatably coupled to the third link (230) through a shaft. For example, the other end of the second link (220) may be formed in the shape of a disc, and the shaft may be coupled through it. Then, both longitudinal ends of the shaft may be coupled to the third link (230). With this configuration, the shaft may serve as an axis on which the second link (220) and / or the third link (230) rotate. Thus, the second link (220) and the third link (230) may be connected so as to be rotatable relative to each other.

[0089] The third link (230) is linked with the first link (210) and the second link (220) and is linked with the wheel part (300).

[0090] The third link (230) is formed in the shape of a frame, and the first link (210) and the second link (220) are connected to one side in the longitudinal direction, and the wheel part (300) is connected to the other side in the longitudinal direction.

[0091] One longitudinal side of the third link (230) is linked with the first link (210) and the second link (220). For example, a space may be formed on one side of the third link (230) to accommodate the first link (210) and the second link (220). That is, one side of the third link (230) may be formed in the shape of a pair of parallel frames, and the first link (210) and the second link (220) may be accommodated in the space between the pair of frames.

[0092] Here, two shafts may be positioned side by side between a pair of frames. That is, each end of the two shafts may be connected to a pair of frames. Each shaft may pass through a first link (210) and a second link (220). At this time, the first link (210) may be positioned further forward and lower than the second link (220). That is, the shaft passing through the first link (210) may be positioned closer to the wheel (310) than the shaft passing through the second link (220).

[0093] Accordingly, the first link (210) and the second link (220) can each be connected to the third link (230) so as to be rotatable relative to it.

[0094] The longitudinal side of the third link (230) is coupled to the wheel portion (300). The longitudinal side of the third link (230) may be formed to cover at least a portion of the wheel (310). For example, the longitudinal side of the third link (230) may be formed to cover the rotational center of the wheel (310), and a space may be formed inside to rotatably accommodate the wheel (310).

[0095] Additionally, a wheel motor (MW) can be accommodated inside the longitudinal side of the third link (230).

[0096] With this configuration, a wheel (310) and a wheel motor (MW) can be accommodated on the other longitudinal side of the third link (230), and the wheel (310) can be rotatably coupled.

[0097] Meanwhile, a sensor capable of measuring the distance from the ground may be provided on the other side in the longitudinal direction of the third link (230). For example, the sensor may be a Time of Flight (ToF) sensor. With such a configuration, the control unit (700) can determine whether the wheel (310) is in contact with the ground.

[0098] Meanwhile, a stopper (240) may be provided in the leg portion (200). The stopper (240) may be placed inside the main body housing (110). The stopper (240) may be placed adjacent to the rotational coupling portion (410) of the arm (400). For example, the stopper (240) may be placed on the inner side of the inner circumference of the rotational coupling portion (410) formed in a cylindrical shape.

[0099] For example, the stopper (240) may be placed on a leg support (not shown). For another example, the stopper (240) may be placed on a first link (210).

[0100] The stopper (240) may be formed in a shape that protrudes toward the rotational coupling part (410). For example, the stopper (240) may have a predetermined thickness and may be formed in a shape that protrudes in an arch positioned on a concentric circle. At this time, the outer surface of the stopper (240) may be positioned toward the upper front side of the robot (1), and the inner surface of the stopper (240) may be positioned toward the lower rear side of the stopper.

[0101] The stopper (240) can be supported in contact with the rotational projection (480) of the arm (400) to be described later. For example, the rotational projection (480) formed protruding on the inner surface of the rotational coupling part (410) rotates together with the rotation of the arm (400), and can come into contact with the rotational projection (480) when the arm (400) is rotated to a predetermined position.

[0102] With this configuration, the stopper (240) can limit the rotation angle of the arm (400) when the arm (400) rotates.

[0103] Looking at the overall balance by the leg portion (200), a first link (210) and a second link (220) are rotatably connected to a link frame (not shown) provided inside the robot body (100), and the first link (210) and the second link (220) are linked to a third link (230). That is, the robot (1) has a structure that supports the robot body (100) through a four-bar link consisting of a link frame (not shown), a first link (210), a second link (220), and a third link (230).

[0104] And, the leg portion (200) generates a restoring force in the direction in which the gravity compensation portion lifts the robot body (100). Therefore, even when the suspension motor (MS) is not driven, a pair of leg portions (200) can maintain the state of lifting the robot body (100) to a predetermined height from the ground.

[0105] Meanwhile, the robot (1) according to an embodiment of the present invention can maintain balance by driving a suspension motor (MS) when lifting one of a pair of wheels (310) to overcome an obstacle or lowering the height of the robot body (100) for charging, etc.

[0106] When the suspension motor (MS) is driven, the first link (210) rotates with one end adjacent to the suspension motor (MS) as an axis, and the other end moves upward. Then, the third link (230) connected to the other end of the first link (210) moves in accordance with the rotation of the first link (210). Then, the second link (220) is pushed and rotated by the third link (230). As a result, one end of the third link (230) (the point of connection with the first link (210)) moves backward, and the other end of the third link (230) can move upward.

[0107] With this configuration, even if the wheel (310) is moved up and down, the range of movement of the wheel (310) in the forward and backward directions can be limited. Therefore, the robot (1) can maintain stable balance.

[0108] Accordingly, the robot (1) according to the present invention has the effect of being able to overcome obstacles of various heights by using a four-bar linkage structure.

[0110] Wheel section

[0111] Referring to FIGS. 1 to 8, the wheel part (300) of a robot (1) according to one embodiment of the present invention is described as follows.

[0112] The wheel part (300) is rotatably coupled to the leg part (200) and can roll on the ground to move the robot body (100) and the leg part (200).

[0113] The wheel part (300) includes a wheel (310) that moves by rolling on the ground in contact with the ground.

[0114] The wheel (310) is provided to have a predetermined radius and a predetermined width along the axial direction. When viewing the robot (1) 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).

[0115] Although not illustrated, the wheel (310) may include a wheel frame formed in a circular shape. The wheel frame may be formed in a cylindrical shape with one side open toward the shaft of the wheel motor (MW). By doing so, the weight of the wheel frame may be reduced.

[0116] However, when the wheel frame is formed in a cylindrical shape, the overall rigidity of the wheel frame may be reduced. Taking this into consideration, ribs (not shown) that reinforce rigidity may be formed on the inner and outer surfaces of the wheel frame, respectively.

[0117] A tire is attached to the outer surface of the wheel frame. The tire can be formed into an annular shape having a diameter that can be fitted onto the outer surface of the wheel frame.

[0118] Grooves of a predetermined pattern may be formed in the outer surface of the tire to improve the tire's grip.

[0119] In one embodiment, the tire may be formed of an elastic rubber material.

[0120] 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).

[0121] The wheel motor (MW) can be accommodated inside the other side of the third link (230). And, the shaft of the wheel motor (MW) can be coupled to the wheel (310). That is, the wheel motor (MW) can be an in-wheel motor.

[0122] With this configuration, when the wheel motor (MW) is driven, the wheel (310) can rotate and roll along the ground, and the robot (1) can move along the ground.

[0124] cancer

[0125] Referring to FIGS. 1 to 8, the arm (400) in the robot (1) according to one embodiment of the present invention is described as follows.

[0126] The arm (400) can be pivotably coupled to both sides of the robot body (100). For example, the arm (400) may be coupled to both ends in the axial direction (length direction) of the elliptical robot body (100) and may represent a rotating body that rotates using both ends in the axial direction of the robot body (100) as a single axis of rotation.

[0127] Specifically, the arm (400) includes a rotating coupling part (410), a connecting part (420), a detachable part (430), and a connecting terminal (440).

[0128] The rotational coupling part (410) can be rotatably coupled to both sides of the robot body (100). A pair of rotational coupling parts (410) may be provided and coupled to both sides of the robot body (100) in a relative rotational manner. At this time, the pair of rotational coupling parts (410) may rotate in conjunction with each other. That is, the pair of rotational coupling parts (410) may rotate simultaneously with each other, and the angle of rotation may be the same. However, when viewed from the perspective of the robot body (100), the rotational directions of the pair of rotational coupling parts (410) may be opposite to each other. That is, when viewed from the perspective of the robot body (100), if one rotational coupling part (410) rotates clockwise, the other rotational coupling part (410) may rotate counterclockwise.

[0129] The rotational coupling part (410) can be formed in a shape that covers both ends in the left and right directions of the robot body (100). For example, the rotational coupling part (410) can be formed in a cylindrical shape having a predetermined thickness. At this time, both ends in the left and right directions of the robot body (100) can be positioned to face each other with respect to the rotation center of the rotational coupling part (410).

[0130] That is, to describe the state in which the rotating coupling part (410) is coupled to the robot body (100), assuming the robot body (100) is a human face, the rotating coupling part (410) may be in a shape similar to a pair of earplugs or headphone earpieces.

[0131] As illustrated in FIG. 4, in one embodiment, the arm motor (MA) of the robot (1) may be placed inside the main body housing (110). Alternatively, according to the embodiment, the arm motor (MA) may be placed inside the rotational coupling part.

[0132] The arm motor (MA) can be connected to the arm (400) to 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 a rotary coupling (410). For example, as shown in FIG. 4, the shaft of the arm motor (MA) is connected to a reduction gear (460), and the reduction gear (460) can be connected to a driven gear (470).

[0133] The reduction gear (460) is composed of at least one gear and transmits the rotational force applied from the arm motor (MA) to the driven gear (470), and can reduce the rotational speed of the driven gear (470) through the gear ratio. Through this, precise rotation of the arm (400) can be controlled, and the arm (400) can provide a relatively large force.

[0134] The driven gear (470) can be coupled with the rotational coupling part (410) and rotated as a single unit. The driven gear (470) can be meshed with the output end of the reduction gear (460) to receive rotational power from the arm motor (MA).

[0135] With this configuration, when the arm motor (MA) is operated, the rotating coupling part (410) can be rotated.

[0136] Two arm motors (MA) may be provided and each may be connected to a pair of rotary coupling parts (410). As another example, one arm motor (MA) may be provided and connected to either of the rotary coupling parts (410).

[0137] With this configuration, when the arm motor (MA) is operated, a pair of rotating coupling parts (410) rotate together in conjunction, and the connecting part (420) rotates together according to the rotation of the rotating coupling part (410). That is, according to the present invention, the arm (400) can rotate the rotating coupling part (410) and the connecting part (420) as a single unit with the arm shaft of the rotating coupling part (410) as the axis of rotation.

[0138] Meanwhile, a speaker (450) may be placed on the outer side of the rotating joint (410). That is, a speaker (450) may be placed on each of the pair of rotating joints (410) in the direction opposite to the direction in which the robot body (100) is placed. Accordingly, the speaker (450) may be placed at a position covering both the left and right sides of the body housing (110).

[0139] The speaker (450) can transmit information about the robot (1) as sound. The source of the sound transmitted by the speaker (450) may be sound data stored in the robot (1). For example, the stored sound data may be voice data of the robot (1). For example, the stored sound data may be an alert sound that guides the status of the robot (1). Meanwhile, the source of the sound transmitted by the speaker (450) may be sound data received through the communication unit (710).

[0141] Meanwhile, in the case of conventional robots, a pair of arms similar to human arms are provided on both sides of the main body to move objects or perform specific tasks.

[0142] However, when a pair of arms are provided as described above, each arm can move independently, and accordingly, the load applied to both sides of the robot may differ. Therefore, a problem may occur where the robot tilts to one side and falls over.

[0143] In addition, when the robot is in a fallen state, it can attempt to stand up by placing its arms on the ground, but since both arms rotate separately to place their arms on the ground, there is a limitation in that the robot may lose its balance and fall over again during the process of standing up.

[0144] On the other hand, in the case of a robot that transports objects or performs specific tasks through a single arm, there is a limitation in that the load of the transported objects or the impact that may occur during task execution is concentrated on only one arm, which may lead to the arm's failure.

[0145] To solve this, the robot (1) according to an embodiment of the present invention is configured such that one arm (400) is rotatably coupled to both sides of the robot body (100).

[0146] The connecting part (420) can connect a pair of rotational connecting parts (410) to each other. The connecting part (420) can connect a pair of rotational connecting parts (410) covering both sides of the robot body (100) in the left and right directions so that they rotate together.

[0147] The connecting part (420) can be formed in a shape that connects a pair of rotational connecting parts (410) to each other and is rotatable around the robot body (100). Specifically, the connecting part (420) can be formed in a frame shape in which both ends in the longitudinal direction are bent and extended. At this time, both ends of the bent and extended connecting part (420) can be arranged side by side to be connected to a pair of rotational connecting parts (410). As an example, the connecting part (420) can be formed in a '∩' shape. As another example, the connecting part (420) can also be formed in an arch shape.

[0148] To describe the state in which the arm (400) is connected to the robot body (100), assuming the robot body (100) is a human face, the connecting part (420) may be in a shape similar to a headband of headphones. That is, assuming the robot body (100) is a human face, the arm (400) may appear in a shape similar to headphones.

[0149] The connecting part (420) can be formed integrally with a pair of rotating connecting parts (410). That is, the pair of rotating connecting parts (410) and the connecting part (420) positioned on the left and right sides of the robot body (100) can form an arm (400) with an integrated structure.

[0150] With this configuration, a pair of rotating coupling parts (410) are integrally connected with the connecting part (420), so that the entire arm (400) can be rotated together with the rotating coupling part (410) as the center of rotation.

[0151] Meanwhile, the rotation radius of the arm (400) may be longer than the maximum length of the first link (210) and shorter than the maximum length of the leg portion (200). Specifically, the shortest distance from the rotation center of the rotational coupling portion (410) to the outer end of the connecting portion (420) may be longer than the maximum length of the first link (210) and shorter than the maximum length of the leg portion (200).

[0152] With this configuration, when the arm (400) is rotated, at least a portion of the arm (400) can be positioned closer to the ground than the first link (210).

[0153] Meanwhile, the arm (400) further includes a rotating projection (480) formed protruding from the inner surface of the rotating coupling part (410).

[0154] The rotational projection (480) is formed to protrude from the inner circumferential surface of the rotational coupling part (410), and may be formed in a shape such that the circumferential width narrows as it goes from the inner circumferential surface of the rotational coupling part (410) toward the rotational center of the rotational coupling part (410) (see FIG. 4).

[0155] The rotating projection (480) can be rotated together with the rotating coupling part (410) and the connecting part (420). That is, when the rotating coupling part (410) and the connecting part (420) are rotated, the rotating projection (480) is rotated by the same rotation angle as the rotating coupling part (410) and the connecting part (420).

[0156] The rotating projection (480) can be supported by contacting the stopper (240) as the arm (400) rotates. For example, when the connecting part (420) rotates past the rear of the robot body (100) and is closer to the ground than the first link (210), the rotating projection (480) can be in contact with the stopper (240).

[0157] With this configuration, when the arm (400) is rotated to a predetermined position, the stopper (240) and the rotation projection (480) are in contact and supported, thereby limiting the rotation of the arm (400).

[0158] In addition, while the stopper (240) and the rotating projection (480) maintain a state of mutual support, there is an effect of maintaining the posture of the arm (400) and the leg part (200).

[0159] Meanwhile, FIGS. 6 and 7 illustrate drawings for explaining other embodiments of an arm in a robot according to the present invention.

[0160] Referring to FIGS. 6 and FIGS. 7, an arm (1400) according to another embodiment of the present invention is described as follows.

[0161] To avoid repetitive explanations, except for the details specifically described in this embodiment, the structure and effect of the arm (400) according to one embodiment of the present invention are identical, so it may be used.

[0162] The arm (1400) of the present embodiment further includes a terminal rotating part (1460) and a switching motor (MC) that provides rotational force to the terminal rotating part (1460).

[0163] The terminal rotating part (1460) is rotatably coupled to the connecting part (1420). For example, the terminal rotating part (1460) is formed in the shape of a plate having a predetermined thickness, and a detachable part (1430) and a connecting terminal (1440) may be disposed on one side.

[0164] The terminal rotating part (1460) can form the exterior of the arm (1400) together with the connecting part (1420). Rotating shafts coupled to the connecting part (1420) may be provided at both longitudinal ends of the terminal rotating part (1460).

[0165] The switching motor (MC) is connected to the terminal rotating part (1460) and can provide rotational force to the terminal rotating part (1460). More specifically, the final output end of the shaft or gear of the switching motor (MC) is connected to the terminal rotating part (1460).

[0166] With this configuration, when the switching motor (MC) is operated, the terminal rotating part (1460) rotates.

[0167] When the terminal rotating part (1460) is rotated, the surface exposed to the outside can be changed. Specifically, the terminal rotating part (1460) may have one surface exposed to the outside where the detachable part (1430) and the connection terminal (1440) are positioned. And, when the terminal rotating part (1460) is rotated, the detachable part (1430) and the connection terminal (1440) can be hidden into the internal space of the connection part (1420).

[0168] With this configuration, when the connection between the arm (1400) and the function module is unnecessary, the detachable part (1430) and the connection terminal (1440) can be hidden inside the connection part (1420).

[0169] In particular, when the robot (1) falls over, it is necessary to rotate the arm (1400) so that the connecting part (1420) touches the ground, and at this time, the detachable part (1430) and the connecting terminal (1440) may come into contact with the ground and become contaminated or damaged.

[0170] Accordingly, according to the arm (1400) of the present embodiment, the detachable part (1430) and the connecting terminal (1440) can be prevented from being exposed to the outside through the rotation of the terminal rotating part (1460). In addition, contamination or damage to the detachable part (1430) and the connecting terminal (1440) can be prevented.

[0172] Robot Mask

[0173] FIG. 9 illustrates a diagram for explaining the coupling relationship between a robot mask and a robot body in a robot according to one embodiment of the present invention.

[0174] A robot (1) according to one embodiment of the present invention may further include a robot mask (500).

[0175] The robot mask (500) is detachably coupled to the robot body (100) and can cover the display (120). The robot mask (500) can be combined with the robot body (100) to form the exterior of the robot (1).

[0176] Meanwhile, a robot mask (500) according to one embodiment of the present invention may include a window (550) that exposes an image displayed on a display (120) to the outside when combined with a robot body (100).

[0177] A window (550) may be placed on the mask body (510). Specifically, the window (550) may be placed through the mask body (510) and may be placed in a position facing the display (120) when the robot mask (500) is coupled to the robot body (100).

[0178] The window (550) can be formed of a material through which light can pass. For example, the window (550) can be formed of a transparent material.

[0179] Meanwhile, when the robot mask (500) is attached to the robot body (100), a face and facial expression can be displayed on the display (120).

[0180] The robot (1) can display the shape of a face, such as eyes, nose, and mouth, on the display (120) to make the user feel that the robot is expressing emotions.

[0181] In this way, the robot (1) can provide a pet robot service that displays emotions to the user and interacts with the user, and has the effect of providing emotional stability to the user.

[0182] As described above, the robot (1) can visually display emotions by displaying facial expressions on the display (120) and can also display emotions through voice output from the speaker (450).

[0183] For example, a laughing sound, a surprised sound, etc. can be output in response to the facial expression displayed on the display (120).

[0184] In addition, the robot (1) can visually display emotions by displaying facial expressions on the display (120) as described above, and can also display emotions through the rotation of the arm (400).

[0185] For example, along with displaying a smiling face on the display (120), you can display emotions by shaking the arm (400).

[0187] Control configuration

[0188] FIG. 10 shows a block diagram for explaining the control configuration of a robot according to one embodiment of the present invention.

[0189] Referring to FIG. 10, a 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.

[0190] The components illustrated in the block diagram of FIG. 10 are not essential for implementing the robot (1), so the robot (1) described herein may have more or fewer components than those listed above.

[0191] 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) to be described later.

[0192] The control unit (700) may be placed in the robot body (100). More specifically, the control unit (700) may be mounted and provided on a PCB placed inside the body housing (110).

[0193] The control unit (700) may include all types of devices capable of processing data, such as a processor. Here, 'processor' may refer to a data processing device embedded in hardware having a physically structured circuit to perform functions expressed by code or instructions included in a program, for example. Examples of such data processing devices embedded in hardware may include microprocessors, central processing units (CPUs), processor cores, multiprocessors, application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), etc., but the scope of the present invention is not limited thereto.

[0194] The control unit (700) can receive information about the external environment of the robot (1) from at least one of the components of the sensor unit (600) to be described later. At this time, the information about the external environment may be, for example, information such as the temperature, humidity, and amount of dust in the room where the robot (1) is driving. Or, for example, information about a cliff. Or, for example, information about an indoor map. Of course, the information about the external environment is not limited to the examples described above.

[0195] The control unit (700) may receive information regarding the current state of the robot (1) from at least one of the components of the sensor unit (600) to be described later. At this time, the current state may be, for example, tilt information of the robot body (100). Or, for example, information regarding the separation state between the wheel (310) and the ground. Or, for example, position information of the wheel motor (MW). Or, for example, position information of the suspension motor (MS). Of course, the information regarding the current state of the robot (1) is not limited to the examples described above.

[0196] The control unit (700) can transmit a drive control command to at least one of the components of the motor unit to be described later. The control unit (700) can control the rotation of one or more of the wheel motor (MW), suspension motor (MS), and arm motor (MA) to implement any one of the movements of driving, maintaining posture, or changing posture of the robot (1).

[0197] The control unit (700) can receive a user's command 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. Or, for example, the command may be a command to manually control various functions of the robot (1).

[0198] The control unit (700) can output information related to the robot (1) through at least one of the configurations of the interface unit to be described later. For example, the output information may be visual information. Or, for example, the output information may be auditory information.

[0199] The motor unit includes at least one motor and can provide driving force to the configuration connected to each motor.

[0200] The motor unit may include a wheel motor (MW) that provides driving force to the left and right wheels (310). More specifically, the motor unit may include a first wheel motor (MW1) that transmits driving force to a wheel (310) positioned on one side in the left and right directions, and a second wheel motor (MW2) that transmits driving force to a wheel (310) positioned on the other side in the left and right directions.

[0201] The wheel motor (MW) can be placed in each wheel part (300). More specifically, the wheel motor (MW) can be accommodated inside the third link (230).

[0202] The wheel motor (MW) is connected to the wheel (310). More specifically, the final output end of the shaft or gear of the first wheel motor (MW1) is connected to the wheel (310) positioned 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) positioned on the other side in the left-right direction. Each wheel motor (MW) on the left and right sides is driven and rotated according to the control command of the control unit (700), and the robot (1) travels along the ground through the rotation of the wheel (310) caused by the rotation of the wheel motor (MW).

[0203] The motor unit may include a suspension motor (MS) that provides driving force to the left and right leg units (200). More specifically, the motor unit may include a first suspension motor (MS1) that transmits driving force to the leg unit (200) positioned on one side in the left and right direction, and a second suspension motor (MS2) that transmits driving force to the leg unit (200) positioned on the other side in the left and right direction.

[0204] The suspension motor (MS) can be placed in the robot body (100). More specifically, the suspension motor (MS) can be accommodated inside the body housing (110).

[0205] The suspension motor (MS) is connected to the first link (210). More specifically, the final output end of the shaft or gear of the first suspension motor (MS1) is connected to the first link (210) positioned on one side in the left-right direction. The final output end of the shaft or gear of the second suspension motor (MS2) is connected to the first link (210) positioned on the other side in the left-right direction. Each suspension motor (MS) on the left and right sides is driven and rotated according to a control command from the control unit (700). As the suspension motor (MS) rotates, the first link (210) rotates and the third link (230) connected to the first link (210) rotates, and consequently, the angle between the first link (210) and the third link (230) can be changed.

[0206] Through this, the robot (1) can perform the action of lifting or lowering the wheel (310), and can maintain a horizontal posture when climbing obstacles or driving on uneven terrain. Alternatively, the robot body (100) can perform the action of moving downward or upward.

[0207] The motor unit may include an arm motor (MA) that provides rotational force to the arm (400).

[0208] An arm motor (MA) can be placed in the robot body (100). More specifically, at least one arm motor (MA) can be accommodated inside the body housing (110).

[0209] The arm motor (MA) is driven and rotates according to the control command of the control unit (700), and as the arm motor (MA) rotates, the rotational coupling part (410) rotates and the connecting part (420) formed integrally with the rotational coupling part (410) rotates, so that the arm (400) can be pivotally moved relative to the robot body (100).

[0210] Through this, the robot (1) can perform a movement of rotating the arm (400), and can rotate the arm (400) to combine with a function module. Alternatively, the arm (400) can be made to touch the ground through the rotation of the arm (400).

[0211] The sensor unit (600) includes at least one sensor, and each sensor can measure or detect information about the external environment of the robot (1) and / or information about the current state of the robot (1).

[0212] The sensor unit (600) may include a first camera (610a).

[0213] The first camera (610a) is provided to map the indoor area where the robot (1) travels. The first camera (610a) may be referred to as a mapping camera (610a).

[0214] To this end, the first camera (610a) may be positioned in front of the robot body (100). More specifically, the first camera (610a) may be positioned in the rear of the body housing (110).

[0215] The first camera (610a) can capture the interior while driving to perform Simultaneous Localization and Mapping (SLAM). The control unit (700) can implement SLAM based on information about the surrounding environment captured by the first camera (610a) and information about the current position of the robot (1).

[0216] Meanwhile, the method by which the robot (1) according to the embodiment of the present invention implements SLAM may be implemented using only the first camera (610a), but is not limited thereto. For example, the robot (1) may implement SLAM by utilizing additionally provided sensors. The additional sensors may be, for example, a Laser Distance Sensor (LDS).

[0217] The sensor unit (600) may include a second camera (610b).

[0218] The second camera (610b) is a configuration provided to recognize the position, distance, height, etc. of an object (object, human body, etc.) existing in front of the driving direction. The second camera (610b) may be referred to as a depth camera.

[0219] A second camera (610b) may be positioned at the front of the robot body (100) to detect objects in front when the robot (1) is moving forward. A second camera (610b) may be additionally positioned at the rear of the robot body (100) to detect objects in rear when the robot (1) is moving backward.

[0220] The second camera (610b) can recognize the position of an object by photographing the front of the direction in which the robot (1) is traveling (forward when moving forward, rear when moving backward). To this end, the second camera (610b) may be equipped with a Depth module and an RGB module, respectively.

[0221] The Depth module can acquire depth information of an image. For example, depth information can be obtained by acquiring travel time information through measuring the delay or phase shift of a modulated optical signal for every pixel of the captured image.

[0222] The RGB module can acquire a color image (image). Edge characteristics, color distribution, frequency characteristics (or wavelet transform), etc., can be extracted from the color image.

[0223] In this way, distance and / or height information regarding the object to be recognized is obtained through depth information in the forward image captured by the second camera (610b), and boundary characteristics extracted from the color image are calculated together to determine whether an object exists in the front and / or its location.

[0224] The sensor unit (600) may include an IR sensor (620) for infrared detection.

[0225] The IR sensor (620) may be an IR camera that detects infrared light.

[0226] The IR sensor (620) can be placed on the robot body (100). More specifically, the IR sensor (620) can be placed at the front of the body housing (110). The IR sensor (620) can be placed to the left and right of the first camera (610a).

[0227] The IR sensor (620) can detect infrared light emitted by an IR LED equipped in a specific module and access 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 that is detachably mounted on the arm (400).

[0228] The control unit (700) can control the IR sensor (620) to start detecting the IR LED when the charging state of the robot (1) is below a preset level. The control unit (700) can control the IR sensor (620) to start detecting the IR LED when a command to find a specific module is received from a user.

[0229] The sensor unit (600) may include a wheel motor sensor (630).

[0230] 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 the motor and can also detect the rotational speed of the motor.

[0231] The wheel motor sensor (630) can be placed on each of the left and right wheel motors (MW). More specifically, the wheel motor sensor (630) can be connected to the shaft or the final output end of the gear of the wheel motor (MW) and accommodated inside the third link (230) together with the wheel motor (MW).

[0232] The sensor unit (600) may include an arm motor sensor (640).

[0233] The arm motor sensor (640) can measure the position of the arm motor (MA). For example, the arm motor sensor (640) may be an encoder. As is well known, an encoder can detect the position of the motor and can also detect the rotational speed of the motor.

[0234] The arm motor sensor (640) may be placed on the arm motor (MA). More specifically, the arm motor sensor (640) may be connected to the shaft or the final output end of the gear of the arm motor (MA) and accommodated inside the main body housing (110) or the rotational coupling part (410) together with the arm motor (MA).

[0235] The sensor unit (600) may include an IMU sensor (650).

[0236] The IMU sensor (650) can measure the tilt angle of the robot body (100).

[0237] As is well known, the IMU (Inertial Measurement Unit) sensor (650) is a sensor that incorporates a 3-axis accelerometer, a 3-axis gyroscope, and a geomagnetic sensor, and is also referred to as an inertial measurement sensor.

[0238] A 3-axis accelerometer is a sensor that detects the gravitational acceleration of an object while it is stationary. Since gravitational acceleration varies depending on the angle at which the object is tilted, the angle of inclination is obtained by measuring the gravitational acceleration. However, it has the disadvantage that it cannot obtain the correct value in a moving, accelerated state rather than a stationary state.

[0239] A 3-axis gyroscope is a sensor that measures angular velocity. Integrating the angular velocity over the entire time period yields the tilt angle. However, the angular velocity measured by the gyroscope sensor is subject to continuous errors due to reasons such as noise, and as a result of these errors, an error in the integrated value accumulates over time.

[0240] Consequently, when a long time passes in a stationary standby state, the robot (1) can accurately measure the tilt using the accelerometer sensor, but an error occurs using the gyro sensor. When driving, the robot (1) can accurately measure the tilt value using the gyro sensor, but cannot obtain the correct value using the accelerometer sensor.

[0241] Using an IMU sensor can compensate for the shortcomings of the aforementioned accelerometer and gyroscope sensors.

[0242] The present specification describes an embodiment equipped with an IMU sensor below.

[0243] The IMU sensor may be placed on the robot body (100). More specifically, the IMU sensor may be placed adjacent to the control unit (700). The IMU sensor may be mounted and provided on a PCB inside the robot body (100). To improve the measurement accuracy of the tilt angle and direction, it is preferable that the IMU sensor be placed close to the central area of ​​the robot body (100).

[0244] The IMU sensor can measure at least one of the three-axis acceleration, three-axis angular velocity, and three-axis geomagnetic data of the robot body (100) and transmit it to the control unit (700).

[0245] The control unit (700) can calculate the direction and angle of inclination of the robot body (100) using at least one of acceleration, angular velocity, and geomagnetic data received from the IMU sensor. Based on this, the control unit (700) can perform horizontal posture maintenance control of the robot body (100), which will be described later.

[0246] The sensor unit (600) may include a cliff sensor (660) for detecting a cliff.

[0247] The cliff sensor (660) may be configured to detect the distance to the ground ahead where the robot (1) is traveling. The cliff sensor (660) may be configured in various ways within a range capable of detecting the relative distance between the point where the cliff sensor (660) is formed and the ground.

[0248] For example, the cliff sensor (660) may comprise a light-emitting part that emits light and a light-receiving part into which reflected light is incident. The cliff sensor (660) may be an infrared sensor.

[0249] A cliff sensor (660) can be placed on the robot body (100). More specifically, the cliff sensor (660) can be placed on the inside of the robot body (100). The cliff sensor (660) can irradiate light toward the front bottom surface of the robot (1). The cliff sensor (660) enables the robot (1) to detect in advance whether a cliff exists in the direction of travel ahead of it.

[0250] The light-emitting part of the cliff sensor (660) can irradiate light obliquely toward the front floor surface. The light-receiving part of the cliff sensor (660) can receive light incident by being reflected from the floor surface. The distance between the front ground and the cliff sensor (660) can be measured based on the difference between the time of irradiation and the time of reception of the light.

[0251] If the distance measured by the cliff sensor (660) exceeds a preset value or a preset range, it may be a case where the ground ahead suddenly drops. A cliff can be detected by this principle.

[0252] The control unit (700) can control the wheel motor (MW) so that when a cliff is detected in front, the robot (1) drives while avoiding the detected cliff. At this time, the control of the wheel motor (MW) may be a stop control. Or, the control of the wheel motor (MW) may be a control for changing the direction of rotation.

[0253] The sensor unit (600) may include a contact detection sensor (670).

[0254] The contact detection sensor (670) can detect whether the wheel (310) has come into contact with the ground.

[0255] The contact detection sensor (670) may include a TOF sensor that measures the distance between the wheel (310) of the robot (1) and the ground. The TOF sensor may be a 3D camera with Time of Flight (TOF) technology applied. As is well known, TOF technology is a technology that measures the distance to an object based on the round-trip flight time of light reflected back from an object that is directed toward the object.

[0256] A TOF sensor may be placed on the wheel portion (300). For example, a contact detection sensor (670) may be placed on the left and right third links (230), respectively. It can be determined whether the wheel (310) is in contact with the ground through the distance from the ground measured by the TOF sensor. If the distance measured by the TOF sensor is less than a preset distance (or less than the lower limit of the preset distance range), the wheel (310) is in contact with the ground. If the distance measured by the TOF sensor is greater than or equal to a preset distance (or greater than the upper limit of the preset distance range), the wheel (310) is separated from the ground.

[0257] The contact detection sensor (670) may include a load cell that measures the magnitude of the force applied to a part of the robot (1).

[0258] As is well known, when a force is applied to a load cell, the resistance value of the strain gauge provided on the surface changes. At this time, the magnitude of the force applied to the load cell can be measured through the change in the resistance value.

[0259] A load cell can be placed in the leg portion (200). Preferably, a load cell can be placed on each of the left and right third links (230). When the wheel (310) is in contact with the ground, the third link (230) is deformed by a normal force applied from the ground. The measured value of the load cell appears as a value different from the initial value depending on the deformation of the third link (230). Through this, it can be determined whether the wheel (310) is in contact with the ground.

[0260] The sensor unit (600) may include an environment sensor (680).

[0261] The environment sensor (680) may be configured to measure various environmental conditions outside the robot (1), that is, inside the house where the robot (1) is driving. The environment sensor (680) may include at least one of a temperature sensor, a humidity sensor, and a dust sensor.

[0262] An environment sensor (680) may be placed on the robot body (100). More specifically, the environment sensor (680) may be placed at the rear of the robot body (100). As a possible embodiment, information measured by the environment sensor (680) may be visually displayed on a display (120).

[0263] The sensor unit (600) may include a side sensor (690).

[0264] The side sensor (690) can measure the distance to obstacles, including walls, etc.

[0265] The side sensor (690) may be configured to detect the distance to the side wall where the robot (1) is traveling. The side sensor (690) may be configured in various ways within a range capable of detecting the relative distance between the point where the side sensor (690) is placed and the obstacle.

[0266] For example, the side sensor (690) may comprise a light-emitting part that emits light and a light-receiving part into which reflected light is incident. The side sensor (690) may be an infrared sensor.

[0267] Side sensors (690) can be placed on both sides of the robot (1). For example, side sensors (690) can be placed on the outer side of the third link (230) of the leg portion (200).

[0268] The interface section includes at least one configuration for interaction between the user and the robot (1), and each configuration may be configured to input commands from the user and / or output information to the user.

[0269] The interface section may include a microphone (140).

[0270] A microphone (140) is configured to recognize the user's voice and may be provided in multiple numbers. A number of microphones (140) may be placed in the main body housing (110). For example, four microphones (140) may be placed on the upper side of the main body housing (110).

[0271] The voice signal received by the microphone (140) can be used to track the user's location. At this time, a known sound source tracking algorithm may 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 voice signals. The principle is that the location of the voice source is calculated by using the location of each microphone (140) and the speed of the sound wave.

[0272] Meanwhile, if the microphone (140) and the first camera (610a) described above cooperate with each other, the robot (1) can be implemented to locate the user's position even when the user calls the robot (1) from a distant location.

[0273] The interface section may include a speaker (450).

[0274] The speaker (450) can be placed on the arm (400). For example, the speaker (450) can be placed on the rotational coupling portion (410) of the arm (400). The speaker (450) can be placed at a position covering both the left and right sides of the main body housing (110).

[0275] The speaker (450) can transmit information about the robot (1) as sound. The source of the sound transmitted by the speaker (450) may be sound data stored in the robot (1). For example, the stored sound data may be voice data of the robot (1). For example, the stored sound data may be an alert sound that guides the status of the robot (1). Meanwhile, the source of the sound transmitted by the speaker (450) may be sound data received through the communication unit (710).

[0276] The interface section may include a display (120) and an input section (125).

[0277] The display (120) may include a display disposed in one or more modules. The display (120) may be disposed on the upper front side of the robot body (100).

[0278] The display (120) can be formed from any one of a light-emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, or an organic light-emitting diode (OLED).

[0279] Information such as the operating time of the robot (1) and battery (800) power information can be displayed on the display (120).

[0280] The display (120) may display the facial expression of the robot (1). Alternatively, the display (120) may display the pupils of the robot (1). Through the shape of the face or pupils displayed on the display (120), the current state of the robot (1) can be anthropomorphized and expressed as an emotion. For example, when a user goes out and returns home, the display (120) may display a smiling face expression or a smiling eye shape. This creates the effect of the user feeling a sense of interaction with the robot (1).

[0281] The input unit (125) may be configured to receive control commands from a user to control the robot (1). For example, the control command may be a command to change various settings of the robot (1). For example, the settings may be voice volume, display brightness, power saving mode settings, etc.

[0282] The input section (125) can be placed on the display (120).

[0283] The input unit (125) generates key input data that a user inputs to control the operation of the robot (1). To this end, the input unit (125) may be composed of a key pad, a dome switch, a touch pad (pressure / capacitive), etc. In particular, if the touch pad forms a layered structure with the first display, it may be called a touch screen.

[0284] A communication unit (710) may be provided for transmitting signals between each component inside the robot (1). The communication unit (710) may support, for example, CAN (Controller Area Network) communication. The signal may be, for example, a control command transmitted from a control unit (700) to another component.

[0285] 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.

[0286] Short-range communication can be, for example, Bluetooth communication, NFC (Near Field Communication), etc.

[0287] Long-distance communication can be, for example, 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), BLE (Bluetooth Low Energy), Zigbee, RF (Radio Frequency), LoRa (Long Range), etc. there is.

[0288] The memory (720) is configured to store various data for driving and operating the robot (1).

[0289] Various data related to applications for autonomous driving of the robot (1) can be stored in the memory (720). The memory (720) can also store each data sensed by the sensor unit (600), and setting information regarding various settings selected or entered by the user can be stored.

[0290] The memory (720) may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto. The memory (720) may include internal memory and / or external memory, and may include volatile memory such as DRAM, SRAM, or SDRAM, non-volatile memory such as OTPROM (one time programmable ROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, NAND flash memory, or NOR flash memory, SSD, CF (compact flash) card, SD card, Micro-SD card, Mini-SD card, Xd card, or memory stick, flash drive such as memory stick, or storage device such as HDD.

[0291] The memory (720) may be included in the control unit (700) or provided as a separate component.

[0292] The battery (800) is configured to supply power to other components that make up the robot (1).

[0293] The battery (800) may be placed in the robot body (100). More specifically, the battery (800) may be accommodated inside the body housing (110). Although not illustrated, the battery (800) may be placed behind the suspension motor (MS).

[0294] The battery (800) can 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 positioned at the bottom of the robot body (100). Thus, the robot (1) can be easily connected to the charging stand by approaching and descending the charging stand, thereby allowing the charging terminal (130) to be placed on the corresponding terminal of the charging stand from the top.

[0296] Robot's basic driving posture

[0297] The robot (1) can drive on the ground in a preset basic posture as shown in FIG. 1. The basic posture may refer to the posture of the robot (1) when no specific event occurs. The specific event may be caused by a change in the external environment in which the robot (1) is driving, a control command from a user, or whether a preset condition of the robot (1) is satisfied or dissatisfied.

[0298] In the basic position, the connecting part (420) of the arm (400) can be positioned above the robot body (100). More specifically, in the basic position, the connecting part (420) can be positioned further from the ground than the robot body (100). With this configuration, the user can easily lift the robot (1) by grasping the connecting part (420). This can help the user easily transport the robot (1) and quickly move the robot (1) to another space. In other words, the arm (400) can be provided to the user as a handle.

[0299] In the basic position, the connecting part (420) of the arm (400) can be positioned at the rear of the robot body (100). Preferably, in the basic position, the connecting part (420) can be positioned at the rear of the robot mask (500). This prevents the robot mask (500) from being obscured by the arm (400) and thus reducing the visibility of the display when the user looks at the robot (1).

[0300] In the basic posture, balance control can be performed so that the robot (1) does not fall forward or backward. At this time, balance control means control that rotates the wheel motor (MW) according to the degree of tilt of the robot (1) to rotate the wheel (310) forward or backward.

[0301] If the robot (1) is tilted further forward than the pre-set basic posture tilt, the wheel motor (MW) can be driven to rotate the wheel (310) backward so that the robot (1) returns to the basic posture.

[0302] If the robot (1) is tilted further backward than the pre-set basic posture tilt, the wheel motor (MW) can be driven to rotate the wheel (310) forward so that the robot (1) returns to the basic posture.

[0303] Meanwhile, as described above, the degree of tilt of the robot (1) can be measured by the IMU sensor (650).

[0304] The robot (1) can drive on the ground using the rotational drive of the wheel (310) while maintaining the basic posture described above, and when it detects a driving obstacle located in the driving path of the wheel (310), it can perform a corresponding motion according to the type of driving obstacle.

[0305] At this time, the driving obstacle refers to an object such as an obstacle or cliff that exists in the driving path of the robot (1) and can cause accidents such as collisions or falls when the robot (1) continues to drive in its basic posture.

[0306] These driving obstacles can be detected by the sensor unit.

[0307] More specifically, a depth camera (610b) can detect the driving obstacle. Or, a cliff sensor (660) can detect the driving obstacle.

[0308] In the robot (1) according to an embodiment of the present invention, when a motion to respond to a driving obstacle is performed, rotational driving of the arm (400) (or may also be referred to as a rotational motion of the arm (400)) may be essentially performed. At this time, an operation in which the position of the connecting part (420) is changed by rotational driving of the arm (400) may be involved.

[0309] In an embodiment of the present invention, the leg portion (200) of the robot (1) may include an upper link and a lower link.

[0310] The upper link can be defined as a concept including a first link (210) and a second link (220), which are link structures positioned on the side of the robot body (100). The lower link can be defined as a concept including a third link (230), which is a link structure positioned on the side of the wheel (310).

[0311] The upper link and the lower link can be linked together to form a joint structure. Through the movement of the joint structure, the robot body (100) can be moved upward or downward while driving.

[0312] More specifically, the upper link and the lower link may maintain a constant connection angle in the basic posture of the robot (1). Here, the connection angle of the upper link and the lower link may refer to the connection angle between the first link (210) and the third link (230). The connection angle may refer to the acute angle formed by the first link (210) and the third link (230) based on the connection point between the first link (210) and the third link (230).

[0313] The adjustment of the joint angle, that is, the movement of the joint structure described above, can be implemented by controlling the drive of the suspension motor (MS). As the suspension motor (MS) rotates and the joint angle becomes smaller, the robot body (100) can descend toward the ground. As the suspension motor (MS) rotates and the joint angle becomes larger, the robot body (100) can rise in the opposite direction to the ground.

[0314] Meanwhile, as explained above, in the basic posture of the robot (1), the above-mentioned coupling angle can be maintained at a size formed by the restoring force of the gravity compensation unit. Since the restoring force of the gravity compensation unit is applied, rotational driving of the suspension motor (MS) to maintain the basic posture is unnecessary.

[0316] Response motion upon detecting floor obstacles

[0317] FIG. 11 is a flowchart illustrating a control method of a robot performed to respond to a floor obstacle located in front of the driving direction. FIG. 12 to FIG. 20 sequentially illustrate the corresponding motion of the robot performed in the embodiment of FIG. 11.

[0318] Each step of the control method illustrated in FIGS. 11 to 20 and described below can be performed by the control unit (700).

[0319] A control method for a robot to respond to a floor obstacle may include a sensing step (S1100) in which a sensor unit (600) of the robot (1) detects a floor obstacle (obstacle). (See FIG. 12)

[0320] Here, a floor obstacle may refer to an obstacle that is placed on the ground but rises a certain height above the ground to form a step difference with the ground. It is an obstacle placed at a position where it collides with the lower components of the robot (1) when the robot (1) continues to move in the driving direction. For example, a chair leg with a 'U' shape, a door threshold, a carpet, a window frame of a sash, etc. may be included.

[0321] Floor obstacles can be detected by the sensor unit (600). (S1100)

[0322] More specifically, floor obstacles can be detected by a depth camera (610b). As described above, the depth camera (610b) can measure whether an object exists in front of the camera, the distance to the object, and the height. Floor obstacles may also be detected by a cliff sensor (660).

[0323] After a floor obstacle is detected by the depth camera (610b) or the cliff sensor (660), the robot (1) can continue to drive. When continuing to drive, the wheels (310) of the robot (1) come into contact with the floor obstacle. With the wheels (310) caught on the floor obstacle, the center of gravity of the robot (1) is momentarily shifted forward.

[0324] As described above, the robot (1) of the present invention is balanced to drive stably with two wheels (310), and when the center of gravity is shifted forward, the wheels (310) are controlled to rotate backward to shift the center of gravity backward. That is, the robot (1) moves backward.

[0325] The robot (1), having regained its center of gravity balance, rotates the wheel (310) forward to move forward again, but encounters a floor obstacle again. The center of gravity of the robot (1) shifts forward again, and balance control is re-executed, causing the robot (1) to be controlled to move backward.

[0326] In this way, when there is a floor obstacle in front of the driving path, the robot (1) falls into a state of repeatedly moving forward and backward with the floor obstacle in front.

[0327] The reason for this problem is that balance control is performed during the normal driving of the robot (1). (See FIG. 13)

[0328] Balance control is an advantageous control method in that it allows the two-wheeled robot (1) to drive agilely while also ensuring stability. However, when passing over floor obstacles, the center of gravity of the robot (1) is inevitably shaken temporarily, and if one attempts to maintain balance in response, the robot cannot climb over the floor obstacles. In other words, the problem arises that the robot (1)'s driving is hindered by balance control.

[0329] If, after a floor obstacle in front is detected by the sensor unit (600), the robot (1) repeats forward and backward movements more than a certain number of times, the control unit (700) can determine that a floor obstacle that cannot be passed is located in the robot (1)'s driving path. In this case, the robot (1) performs a pre-set corresponding motion to avoid the floor obstacle. This will be described later.

[0330] Of course, if there is no floor obstacle in front or the height of the floor obstacle is extremely low so that the robot (1) can pass through without its center of gravity shaking, the robot (1) will drive while maintaining balance control. (S1200)

[0331] A control method for a robot to respond to a floor obstacle may further include an arm rotation step (S1300) of rotating the arm (400) forward.

[0332] As previously explained, this step (S1300) can be performed when the robot (1) is in a state where it repeatedly moves forward and backward a certain number of times with a floor obstacle in front of it.

[0333] The arm (400) can be rotated by the rotational drive of the arm motor (MA).

[0334] At this time, the integrated arm (400) coupled to the left and right sides of the robot body (100) rotates toward the driving direction of the robot (1). (Refer to the right figure of FIG. 14)

[0335] In this step (S1300), the arm (400) is rotated so as to be positioned forward and lower than the upper end of the robot body (100). More specifically, the arm (400) is controlled to rotate until the upper end of the connecting part (420) is positioned forward and lower than the upper end of the robot body (100).

[0336] Meanwhile, the forward direction, which is repeatedly described here, refers to the direction in which the robot mask (500) is positioned.

[0337] In this way, when the arm (400) is rotated and positioned in front of the robot body (100), the overall center of gravity of the robot (1) can be positioned in front. More specifically, the overall center of gravity of the robot (1) can be positioned in front of the center of rotation of the wheel (310).

[0338] In this step (S1300), the robot (1) can be moved backward.

[0339] The backward movement of the robot (1) is achieved by the backward rotation of the wheel (310). For example, the arm (400) can be rotated forward after the wheel (310) is rotated backward and the robot (1) is moved backward. (See the left figure of FIG. 14)

[0340] As another possible example, the robot (1) can be moved backward after the arm (400) is rotated forward.

[0341] A control method for a robot to respond to a floor obstacle may further include a balance control release step (S1400).

[0342] When balance control is released, the wheel (310) is no longer controlled to rotate according to the direction in which the center of gravity of the robot (1) is facing, so the robot (1) tilts in the direction in which the center of gravity of the entire robot (1) is facing. (See FIG. 15)

[0343] At this time, the wheel (310) is rotated backward so that the robot (1) can move backward relative to the floor obstacle. That is, moving the robot (1) backward can be done even after the balance control is released.

[0344] When the robot (1) moves backward after the balance control is released, the center of gravity of the robot (1) shifts forward, so that the robot (1) can be supported at three points on one or more objects, that is, in a prone position facing forward.

[0345] Here, the object refers to an object that exists outside the robot (1) and comes into contact with one of the components of the robot (1), and in the present invention, it may be a ground or floor obstacle.

[0346] Since the arm (400) is rotated forward in the previous step (S1300), three-point support can be achieved by the left and right wheels (310) and the arm (400) respectively.

[0347] At this time, each wheel (310) on the left and right sides is in a form that supports the ground, and the arm (400), more specifically the connecting part (420) of the arm (400), is in a form that supports the ground or floor obstacle.

[0348] For example, the connecting part (420) may be supported on the upper side of the floor obstacle. For another example, the connecting part (420) may be supported on the ground in front of the floor obstacle. When the connecting part (420) supports the ground in front of the floor obstacle, the connecting part (420) and the wheel (310) may be positioned in front and behind, respectively, with the floor obstacle in between.

[0349] A three-point support type may refer to a form in which one or more objects are supported through three contact points. In this case, the point of contact between the left wheel and the ground may be defined as the first contact point (P1), the point of contact between the right wheel and the ground as the second contact point (P2), and the point of contact between the connecting part (420) and the ground (or floor obstacle) as the third contact point (P3). (See FIG. 15)

[0350] Of course, since the connecting part (420) of the arm (400) is extended horizontally to connect the left and right rotational connecting parts (410), the third contact part (P3) can also be formed in a horizontally extended shape.

[0351] After the three-point support shape is formed in this step (S1400), if the forward tilt angle of the robot body (100) is smaller than a preset threshold, at least one motor placed on the robot body (100) or wheel (310) can be driven.

[0352] The case where the forward tilt angle of the robot body (100) is smaller than a preset threshold value may correspond to, for example, a case where the height of the floor obstacle is high and the center of gravity of the robot (1) is not sufficiently shifted forward. In this case, as previously explained, the tilt angle of the robot body (100) can be measured by an IMU sensor (650).

[0353] The robot (1) must be tilted sufficiently forward so that the forward tilt angle of the robot body (100) becomes sufficiently large in order to stably climb and pass through floor obstacles. If the robot (1) is not tilted sufficiently forward, the center of gravity of the robot (1) may shift backward before completing the climb of floor obstacles when the robot (1) is advanced.

[0354] Meanwhile, in an embodiment of the present invention, the set threshold value of the forward tilt angle may be 5 degrees or more and 20 degrees or less.

[0355] As an example of making the tilt angle larger when the forward tilt angle is smaller than the threshold value, the control unit (700) can drive the suspension motor (MS).

[0356] More specifically, the suspension motor (MS) can be rotated to increase the coupling angle between the upper link and the lower link. As the coupling angle between the upper and lower links increases, the lower link is pushed backward, and the robot body (100), which is tilted forward, has the effect of tilting further forward.

[0357] As an example of making the tilt angle larger when the forward tilt angle is smaller than the threshold value, the control unit (700) can drive the wheel motor (MW).

[0358] More specifically, the wheel motor (MW) is controlled to rotate backward so that the robot (1) can be moved further backward. When the robot (1) moves further backward, the robot body (100), which is tilted forward, has the effect of tilting further forward.

[0359] In this way, by making the forward tilt angle of the robot body (100) greater than the threshold value, it is possible to prevent the robot (1) from flipping backward before passing through the floor obstacle.

[0360] A control method for a robot to respond to a floor obstacle may further include an obstacle passing step (S1500).

[0361] In this step (S1500), with the three-point support formed (the robot (1) in a prone position), the robot (1) can move forward relative to the floor obstacle and climb the floor obstacle (S1510).

[0362] The connecting part (420) is in contact with a floor obstacle or the ground in front of the floor obstacle, and the robot (1) can pass through the floor obstacle by the force of the wheel (310) moving forward. (See FIGS. 16 to 18)

[0363] As such, in the present invention, since the robot (1) moves forward in a prone position (three-point support type), it has the advantage of being able to pass through floor obstacles stably without the center of gravity shaking significantly back and forth and side to side.

[0364] Meanwhile, in this step (S1500), when advancing the robot (1) to climb a floor obstacle, it can be controlled to advance at a greater speed than the normal driving speed.

[0365] That is, the forward rotational speed of the wheel (310) when climbing a floor obstacle can be greater than the rotational speed of the wheel (310) when driving on a flat surface. Thus, the robot (1) can climb a floor obstacle with a large instantaneous force.

[0366] At this time, if the robot (1) is unable to climb the floor obstacle, the rotational speed of the wheel (310) can be controlled to increase. The rotational speed of the wheel (310) can be increased in stages if the robot is unable to climb the floor obstacle.

[0367] In this step (S1500), the robot (1) may overturn in the left or right direction while climbing a floor obstacle. For example, this problem may occur if the connecting part (420) is not evenly supported on the floor obstacle or if the floor obstacle is caught on only one of the left or right wheels (310). The overturning of the robot (1) in the left or right direction can be determined by measuring the tilt angle by the IMU sensor (650).

[0368] In this step (S1500), if the robot (1) overturns in the left or right direction while climbing a floor obstacle, all motors can be stopped (S1530).

[0369] More specifically, when the robot (1) is overturned, the wheel motor (MW) continues to operate and the wheel (310) maintains rotation, which can cause battery discharge and safety issues, so the wheel motor (MW) can be stopped.

[0370] For the same reason, the suspension motor (MW) and arm motor (MA) can also be controlled to stop or maintain a stopped state.

[0371] At the same time as stopping the motor, the control unit (700) can generate an error message. The error message can be generated as a visual and / or auditory notification. For example, the error message can be visually displayed on the display (120). As another example, the error message can be transmitted as an alarm sound or voice through the speaker (450).

[0372] A control method for a robot to respond to a floor obstacle may further include a robot body lifting step (S1600).

[0373] If the robot (1) has completely passed through the floor obstacle without being overturned in the left or right direction, the robot (1) must recover its position from the prone position to the basic position.

[0374] In this step (S1600), the control unit (700) can control the arm motor (MA) to rotate the arm (400) forward by a certain angle (see FIG. 19).

[0375] At this time, "forward" may mean a direction toward the wheel (310). More specifically, the connecting part (420) of the arm (400) may be rotated toward the wheel (310). Expressed from another perspective, the connecting part (420) may be rotated toward the robot mask (500). Expressed from yet another perspective, the connecting part (420) may be rotated until it is positioned vertically below the robot body (100).

[0376] Through this control, the height of the robot body (100) can be raised (see FIG. 19).

[0377] A control method for a robot to respond to a floor obstacle may further include a balance control restart step (S1700).

[0378] After climbing and passing through a floor obstacle, when the arm (400) rotates and the robot body (100) rises to a certain height, the control unit (700) can restart the balance control of the wheel (310).

[0379] After climbing and passing through floor obstacles, the connecting part (420) is rotated so that the robot body (100) is raised, yet the overall center of gravity of the robot (1) is still tilted forward. When balance control is restarted in this state, the wheel (310) is controlled to rotate backward so that the center of gravity moves backward.

[0380] Through this, the arm (400) is lifted, and the robot (1) transitions from a three-point support configuration on the ground using the left and right wheels (310) and the connecting part (420) to a two-point support configuration on the ground using only the left and right wheels (310). That is, the robot (1) transitions from a prone position to a standing position. (Refer to the left picture of FIG. 20)

[0381] A control method for a robot to respond to a floor obstacle may further include a basic posture recovery step (S1800) of the robot.

[0382] As previously explained, in the basic posture where the robot (1) travels on the ground, the arm (400) (more specifically, the connecting part (420) of the arm (400)) is positioned at the rear of the robot body (100).

[0383] Although the robot (1) was switched from a prone position to a standing position in the previous step (S1700), the arm (400) is still positioned in front of the robot body (100), so it must be returned to the basic position.

[0384] Accordingly, in this step (S1800), the control unit (700) can rotate the arm motor (MA) to rotate the connecting part (420) backward after the balance control is restarted and the robot (1) stands up in a form that supports the ground at two points (see the right figure of FIG. 20).

[0385] The connecting part (420) can be rotated until it is positioned at the rear upper side of the robot body (100) in the basic posture during driving of the robot (1).

[0386] As described above, according to the present invention, when a floor obstacle exists in front of the robot's driving direction, the arm is rotated forward. This creates a three-point support configuration where the arm and two wheels temporarily support the ground or obstacle, allowing the robot to easily climb the obstacle while maintaining balance.

[0387] In addition, according to the present invention, during normal driving, balance control is performed to control the rotational direction of the wheel according to the tilt of the robot, and the balance control of the wheel is released only when it encounters a floor obstacle. That is, it is possible to satisfy both driving agility and stability when responding to obstacles.

[0389] Balance control when a user picks up a fallen robot

[0390] FIG. 21 is a flowchart illustrating a robot control method performed when a user picks up a robot that has fallen over on a floor surface according to an embodiment of the present invention. FIGS. 22 to 25 sequentially illustrate the process of a user picking up a robot that has fallen over on a floor surface.

[0391] The wheel (310) is positioned at the bottom of the robot body (100), and balance control can be performed to rotate the wheel in the opposite direction to the tilted direction when the center of gravity of the robot body (100) is tilted.

[0392] The leg portion (200) may include an upper link and a lower link.

[0393] The upper link can be defined as a concept including a first link (210) and a second link (220), which are link structures positioned on the side of the robot body (100). The lower link can be defined as a concept including a third link (230), which is a link structure positioned on the side of the wheel (310).

[0394] One side of the upper link can be rotatably connected to the robot body (100).

[0395] One side of the lower link may be rotatably connected to the other side of the upper link, and the other side may be rotatably connected to the wheel (310).

[0396] A robot (1) according to an embodiment of the present invention may include a distance sensing sensor, a front-back tilt sensing sensor, a left-right tilt sensing sensor, and an angle sensing sensor. At this time, the sensors may be placed on the robot body (100).

[0397] The distance sensing sensor can detect the distance between the robot body (100) and the floor surface (B). The distance sensing sensor may be a cliff sensor. The cliff sensor may be configured in various ways within a range capable of detecting the relative distance between the point where the cliff sensor is formed and the ground. For example, the cliff sensor may be configured to include a light-emitting part that emits light and a light-receiving part into which reflected light is incident. The cliff sensor may be configured as an infrared sensor.

[0398] The front-to-back tilt detection sensor can detect the angle at which the robot body (100) is tilted in the front-to-back direction toward the floor surface (B). The left-to-right tilt detection sensor can detect the angle at which the robot body (100) is tilted in the left-to-right direction toward the floor surface (B).

[0399] The front-to-back tilt detection sensor and the left-to-right tilt detection sensor may be IMU sensors. The IMU sensor may be mounted and provided on a PCB inside the robot body (100). To improve the measurement accuracy of the tilt angle and direction, it is preferable for the IMU sensor to be positioned close to the central area of ​​the robot body (100). The IMU sensor may 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). The control unit (700) may calculate the direction and angle of tilt of the robot body (100) using at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor.

[0400] The angle detection sensor can detect the angle between the upper link and the lower link. The angle detection sensor may be an encoder. As is well known, encoders can detect the position of a motor and also the rotational speed of the motor. Therefore, the suspension motor sensor can detect the position of the suspension motor and also the rotational speed of the suspension motor. Through this, the angle between the upper link and the lower link can be detected based on the rotational speed of the suspension motor detected by the angle detection sensor.

[0401] Meanwhile, if the distance detected by the distance detection sensor is less than or equal to the set distance, the angle detected by the tilt detection sensor is less than or equal to the first set angle, and the angle detected by the angle detection sensor is less than or equal to the second set angle, balance control can be performed.

[0402] At this time, the above setting distance may be 20 mm. Also, the first setting angle may be 20 degrees. Also, the second setting angle may be 5 degrees.

[0403] When the wheel (310) comes into contact with the bottom surface (B), the operation of the wheel motor (MW), suspension motor (MS), and arm motor (MA) can be stopped.

[0404] The robot (1) may fall over if it gets caught on a floor obstacle or if its center of gravity shifts while driving. (S2100)

[0405] Balance control can be performed if the robot (1) does not fall over even when it gets caught on a floor obstacle or its center of gravity shifts. (S2200)

[0406] At this time, if the robot (1) falls over, the operation of the wheel motor (MW) stops. (S2300)

[0407] When the wheel motor (MW) stops operating, the suspension motor (MS) stops operating. (S2400)

[0408] When the suspension motor (MS) stops operating, the arm motor (MA) stops operating. (S2500)

[0409] When the arm motor (MA) stops operating, the robot (1) is raised by the user, and the distance sensing sensor detects whether the distance between the robot body (100) and the floor surface (B) is less than or equal to the set distance. (S2600)

[0410] In this step (S2600), when the fallen robot (1) is raised by the user, it is possible to determine whether the robot body (100) is located close to the floor surface (B).

[0411] If the distance detected by the distance detection sensor is less than or equal to the set distance, the front-rear tilt detection sensor can detect whether the angle at which the robot body (100) is tilted in the front-rear direction toward the floor surface is less than or equal to the first set angle. (S2700)

[0412] If balance control is started while the robot body (100) is tilted significantly, the movement distance of the robot (1) increases, and the robot (1) may fall over again. Therefore, through this step (S2700), the movement distance of the robot (1) can be minimized while the robot (1) is uprighted by the user.

[0413] If the angle detected by the front-rear tilt detection sensor is less than or equal to the first set angle, the angle detection sensor can detect whether the angle between the upper link and the lower link is less than or equal to the second set angle. (S2800)

[0414] Even if the user has raised the robot (1), balance control may be difficult if there is no contact force between the wheel (310) and the floor surface (B). At this time, when the user places the robot (1) on the floor surface (B), the angle between the upper link and the lower link decreases due to the weight of the robot (1). Therefore, in this step (S2800), it can be determined whether sufficient contact force has been generated between the wheel (310) of the robot (1) and the floor surface (B).

[0415] If the angle detected by the angle detection sensor is less than or equal to the second set angle, balance control can be performed. (S2900)

[0417] Control method for a robot tilted left and right

[0418] FIG. 26 is a schematic diagram illustrating when a robot according to an embodiment of the present invention is tilted in a left-right direction toward the floor surface.

[0419] A pair of wheels (310) of a robot (1) according to an embodiment of the present invention may be defined as a concept including a first wheel and a second wheel.

[0420] The first wheel is positioned on the lower side of one side in the left-right direction of the robot body (100) and can roll along the floor surface (B). The second wheel is positioned on the lower side of the other side in the left-right direction of the robot body (100) and can roll along the floor surface (B).

[0421] In addition, the upper link of the robot (1) according to an embodiment of the present invention may be defined as a concept including a first upper link and a second upper link.

[0422] The first upper link can be rotatably coupled to one side in the left-right direction of the robot body (100). The second upper link can be rotatably coupled to the other side in the left-right direction of the robot body (100).

[0423] In addition, the lower link of the robot (1) according to an embodiment of the present invention may be defined as a concept including a first lower link and a second lower link.

[0424] One side of the first lower link may be rotatably connected to the other side of the first upper link. The other side of the first lower link may be rotatably connected to the first wheel.

[0425] One side of the second lower link may be rotatably connected to the other side of the second upper link. The other side of the second lower link may be rotatably connected to the second wheel.

[0426] Additionally, the robot (1) according to an embodiment of the present invention may include a suspension motor sensor. The suspension motor sensor may be an encoder. As is well known, an encoder can detect the position of a motor and can also detect the rotational speed of a motor. Therefore, the suspension motor sensor can detect the position of the suspension motor and can also detect the rotational speed of the suspension motor.

[0427] The suspension motor (MS) of the robot (1) according to an embodiment of the present invention can be defined as a concept including a first suspension motor (MS1) and a second suspension motor (MS2).

[0428] The first suspension motor (MS1) can adjust a first angle, which is the angle between the first upper link and the first lower link. The second suspension motor (MS2) can adjust a second angle, which is the angle between the second upper link and the second lower link.

[0429] A robot (1) according to an embodiment of the present invention may include a left-right tilt detection sensor that detects the angle (θ) at which the robot body (100) is tilted toward the floor surface (B).

[0430] At this time, when the robot body (100) is tilted in a left-right direction toward the floor surface (B), at least one of the first angle and the second angle can be adjusted so that the robot body (100) is positioned horizontally with respect to the floor surface (B).

[0431] Specifically, referring to FIG. 26, based on the rotational speeds of the first suspension motor (MS1) and the second suspension motor (MS2) detected by the encoder, the distance (L) from the bottom surface (B) to the top of the first upper link and the distance (R) from the bottom surface (B) to the top of the second upper link can be detected.

[0432] At this time, based on the left-right direction width (WB) of the robot body (100) and the tilted angle (θ) of the robot body (100) detected by the left-right tilt detection sensor, the difference (Diff) between the distance (L) from the bottom surface (B) to the top of the first upper link and the distance (R) from the bottom surface (B) to the top of the second upper link can be detected by the following mathematical formula 1.

[0433] [Mathematical Formula 1]

[0434]

[0435] If the difference (Diff) between the distance (L) from the bottom surface (B), which is the actual length of the left leg section, to the top of the first upper link and the distance (R) from the bottom surface (B), which is the actual length of the right leg section, to the top of the second upper link is zero, then the robot body (100) can be positioned horizontally.

[0436] Accordingly, the control unit (700) can control at least one of the first suspension motor and the second suspension motor so that the difference (Diff) becomes 0, thereby allowing the robot body (100) to be positioned horizontally with respect to the floor surface (B).

[0437] Although the present invention has been described in detail through specific embodiments, this is for the purpose of specifically explaining the invention and is not limited thereto. It is evident that modifications or improvements to the present invention are possible by those skilled in the art within the technical scope of the invention.

[0438] All simple variations or modifications of the present invention fall within the scope of the present invention, and the specific scope of protection of the present invention will be clarified by the appended claims. Explanation of the symbols

[0440] 100: Robot body 200: Legbu 210: First link 220: Second link 230: Third link 300: Wheel section 310: Wheel 400: Am 410: Rotating joint 420: Connection 430: Detachable part 440: Connection terminal 500: Robot Mask 540: Mask functional part 600: Sensor section 610b: Second camera 660: Cliff Sensor MS: Suspension Motor MW: Wheel motor MA: Arm motor

Claims

Claim 1 A robot comprising: a robot body containing a battery inside; a wheel disposed at the bottom of the robot body, wherein balance control is performed to rotate in the opposite direction to the tilted direction when the center of gravity of the robot body is tilted; a leg portion including an upper link, one end of which is rotatably coupled to the robot body, and a lower link, one end of which is rotatably coupled to the other end of the upper link and the other end of which is rotatably coupled to the wheel; arms rotatably coupled to both sides of the robot body; a distance sensing sensor for detecting the distance between the robot body and a floor surface; a front-rear tilt sensing sensor for detecting the angle at which the robot body is tilted in the front-rear direction toward the floor surface; an angle sensing sensor for detecting the angle between the upper link and the lower link; and a control unit for determining the conditions for performing the balance control; wherein the control unit performs the balance control if the distance detected by the distance sensing sensor is less than or equal to a set distance, the angle detected by the tilt sensing sensor is less than or equal to a first set angle, and the angle detected by the angle sensing sensor is less than or equal to a second set angle. Claim 2 A robot according to claim 1, further comprising: a wheel motor for rotating the wheel; a suspension motor for adjusting the angle between the upper link and the lower link; and an arm motor for rotating the arm relative to the robot body; wherein the driving of the wheel motor, the suspension motor, and the arm motor is stopped when either the robot body or the arm comes into contact with the bottom surface. Claim 3 A robot characterized in that, in claim 1, the setting distance is 20 mm. Claim 4 A robot characterized in that, in claim 1, the first setting angle is 20 degrees. Claim 5 A robot characterized in that, in claim 1, the second setting angle is 5 degrees. Claim 6 A robot body housing a battery inside; a first wheel positioned at the lower side of the left-right direction of the robot body and rolling along the floor surface; a second wheel positioned at the lower side of the other side of the left-right direction of the robot body and rolling along the floor surface; a first upper link, one end of which is rotatably coupled to the left-right direction of the robot body; a first lower link, one end of which is rotatably coupled to the other side of the first upper link and the other end of which is rotatably coupled to the first wheel; a second upper link, one end of which is rotatably coupled to the other side of the left-right direction of the robot body; a second lower link, one end of which is rotatably coupled to the other side of the second upper link and the other end of which is rotatably coupled to the second wheel; a first suspension motor for adjusting a first angle, which is an angle between the first upper link and the first lower link; and a second suspension motor for adjusting a second angle, which is an angle between the second upper link and the second lower link. A robot comprising: a control unit that controls the operation of the first suspension motor and the second suspension motor; wherein the control unit adjusts at least one of the first angle and the second angle so that the robot body is positioned horizontally with respect to the floor surface when the robot body is tilted in a left-right direction toward the floor surface.

Images