Robot

Abstract

The present invention relates to a robot comprising: a robot body that accommodates a battery therein; two wheels which are arranged below the robot body and which, when the center of gravity of the robot body is tilted, are balance-controlled to rotate in the opposite direction as the tilted direction; two leg parts connected between the robot body and the wheels; an arm having an integrated structure that includes a pair of rotatable coupling portions rotatably coupled to the robot body and disposed on the left and right sides, respectively, and a connection portion for connecting the pair of rotatable coupling portions to each other; and a sensor unit that senses floor obstacles located in the travel path of the wheels. When the sensor unit senses the floor object present in front of the robot in the travel direction, the connection portion deactivates the balance control while disposed in front of the robot body. Accordingly, the robot can form a three-point support configuration with respect to one or more objects.

Description

robot

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

[0002]

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

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

[0005] Robots exist not only as fixed robots that perform their functions in a specific location, but also as mobile robots that can move. In particular, robots used in the home are primarily mobile robots that move around the house, either on behalf of the user or following the user.

[0006] Among mobile robots, two-wheeled robots have the advantage of taking up a small area on the ground, making them easy to store, and their small turning radius when changing direction makes them easy to use in homes with relatively narrow spaces.

[0007] These two-wheeled robots typically have long, vertically extending legs that connect the wheels to the robot body. This means the relatively heavy robot body is positioned at the top, resulting in a high center of gravity.

[0008] Therefore, it is most important for a two-wheeled robot to properly control the rotation direction of the wheels so that the center of gravity does not shake and fall over while driving.

[0009] However, if the control is focused solely on maintaining the center of gravity, it may have difficulty overcoming obstacles on the ground (hereinafter referred to as "floor obstacles") while driving. In order to overcome a floor obstacle located in front, the center of gravity of the robot body inevitably shifts forward. However, if the rotation direction of the wheels is changed to the rear to maintain the balance of the center of gravity, the robot will not be able to overcome the floor obstacle located in front.

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

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

[0012] According to prior art 1, the upper body is virtualized as a single rigid body and forces are distributed based on the robot's posture measured in real time by an inertial measurement device to derive a generalized force. Prior art 1 maps the generalized force at the wheel's ground contact point to joint torque, calculates the torque that must be compensated for by the wheel to prevent it from tipping over on the current ground slope, and controls the robot's driving based on this calculation. This achieves the effect of enabling the robot to drive without tipping over even when the ground slope changes.

[0013] However, while prior art document 1 discloses a method for stably driving a two-wheeled robot on the ground without losing balance, it does not disclose a control method for situations where an obstacle with a significantly higher height than the ground exists ahead of the driving path. Furthermore, prior art document 1 does not disclose a control method for enabling a robot to drive without losing balance when a user picks up a fallen robot.

[0014] As a prior art document (hereinafter, prior art document 2) related to a climbing technique for a front obstacle, Korean Patent Publication No. 2011-0108858 is presented.

[0015] Prior art document 2 discloses a two-wheeled robot for exploring dangerous sites, which has a friction part at the rear in addition to two main wheels placed at the front, and drives in a manner that supports the ground at three points by the wheels and the friction part.

[0016] According to prior art 2, when a two-wheeled robot encounters an obstacle while driving, the front main wheel is lifted while the friction part supports the ground, which has the effect of enabling easy climbing of the obstacle.

[0017] However, prior art document 2 has a problem in that the agility of the two-wheeled robot is reduced even during normal driving when there is no need to climb obstacles, as it always drives while supporting the ground at three points.

[0018]

[0019] The technical problem of the present invention is to provide a robot that can easily climb floor obstacles without losing balance.

[0020] In addition, the present invention has as a technical task the provision of a robot that can secure agility in normal driving while also satisfying stable response when dealing with obstacles.

[0021] The technical problem of the present invention is to provide a robot that can stably drive on a floor surface without losing balance when a user raises the robot that has fallen while driving.

[0022] In addition, the present invention has as a technical task the prevention of left-right imbalance of a robot caused by backlash or twist of a leg portion.

[0023]

[0024] According to an embodiment of the present invention for solving the above-described problem, a robot comprises: a robot body having a battery housed therein; two wheels arranged at a lower portion of the robot body and performing balance control to rotate in a direction opposite to the tilted direction when the center of gravity of the robot body is tilted; two leg parts connected between the robot body and the wheels; an arm having an integrated structure including a pair of rotational coupling parts arranged on the left and right sides respectively so as to be rotatably coupled to the robot body, and a connection part connecting the pair of rotational coupling parts to each other; and a sensor part for detecting a floor obstacle located in a driving path of the wheel; when the sensor part detects the floor obstacle present in front of the driving direction of the robot, the balance control is released in a state where the connection part is arranged in front of the robot body, thereby forming a three-point support form for one or more objects.

[0025] A robot according to an embodiment of the present invention can rotate the arm forward when the wheel moves forward and backward a certain number of times while placing the floor obstacle in front.

[0026] Here, the three-point support form can be formed by the two wheels each contacting the ground and the connecting portion contacting the floor obstacle or the ground.

[0027] The above three-point support form may include a first contact portion which is a point of contact between the left wheel and the ground, a second contact portion which is a point of contact between the right wheel and the ground, and a third contact portion which is a point of contact between the connecting portion and the ground.

[0028] A robot according to an embodiment of the present invention can move forward with respect to the floor obstacle and climb and pass over the floor obstacle while the three-point support form is formed.

[0029] A robot according to an embodiment of the present invention can move backward with respect to the floor obstacle by rotating the wheel before the three-point support form is formed.

[0030] A robot according to an embodiment of the present invention can drive at least one motor arranged in the robot body or the wheel when the forward tilt angle of the robot body is smaller than a preset threshold value in a state where the three-point support form is formed.

[0031] Here, the motor may be a suspension motor arranged on the robot body and coupled to the leg portion, and when the forward tilt angle of the robot body is smaller than a preset threshold value, the suspension motor may be driven to rotate to increase the coupling angle between the upper link and the lower link included in the leg portion.

[0032] Here, the motor may be a wheel motor coupled to the wheel, and when the forward tilt angle of the robot body is smaller than a preset threshold value, the wheel motor may be driven to rotate to further move backward with respect to the floor obstacle.

[0033] In an embodiment of the present invention, the robot may restart the balance control after climbing and passing over the floor obstacle.

[0034] In a robot according to an embodiment of the present invention, after the balance control is restarted, the connecting part can be placed at the rear of the robot body.

[0035] The robot according to an embodiment of the present invention can rotate the connecting part at a certain angle toward the wheel before the balance control is restarted after climbing and passing the floor obstacle.

[0036] In an embodiment of the present invention, a robot may have a motor disposed on the robot body or the wheel stopped when the robot body overturns to the left or right while climbing the floor obstacle.

[0037] A robot according to an embodiment of the present invention comprises: a robot body having a battery housed therein; two wheels arranged at a lower portion of the robot body and performing balance control to rotate in a direction opposite to the tilted direction when the center of gravity of the robot body is tilted; two leg parts connected between the robot body and the wheels; an arm rotatably coupled to the robot body; and a sensor part detecting a floor obstacle located in a driving path of the wheels; wherein, when the sensor part detects the floor obstacle present in front of the driving direction of the robot, a preset response motion is performed, and the response motion may include a motion for releasing the balance control and tilting the center of gravity of the robot body forward.

[0038] The above arm is an integral structure including a pair of rotational coupling parts arranged on each of the left and right sides, and a connecting part connecting the pair of rotational coupling parts to each other, and the corresponding motion may include a motion in which the robot forms a three-point support form for one or more objects by each of the two wheels and the connecting part.

[0039] The above three-point support form may include a first contact portion which is a point of contact between the left wheel and the ground, a second contact portion which is a point of contact between the right wheel and the ground, and a third contact portion which is a point of contact between the connecting portion and the ground.

[0040] According to an embodiment of the present invention for solving the above-described problem, a robot comprises: a robot body having a battery housed therein; a wheel disposed at a lower portion of the robot body, the wheel performing balance control so as to rotate in a direction opposite 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; an arm rotatably coupled to both sides of the robot body; a distance detection sensor for detecting a distance between the robot body and a floor surface; a forward / backward tilt detection sensor for detecting an angle at which the robot body is tilted in a forward / backward direction toward the floor surface; and an angle detection sensor for detecting an angle between the upper link and the lower link; wherein the balance control can be performed when the distance detected by the distance detection sensor is less than or equal to a set distance, the angle detected by the tilt detection sensor is less than or equal to a first set angle, and the angle detected by the angle detection sensor is less than or equal to a second set angle.

[0041] A robot according to an embodiment of the present invention further includes a wheel motor for rotating the wheel; a suspension motor for adjusting an angle between the upper link and the lower link; and an arm motor for rotating the arm relative to the robot body; wherein when the wheel contacts the floor surface, the operation of the wheel motor, the suspension motor, and the arm motor can be stopped.

[0042] The above setting distance can be 20 mm.

[0043] The above first setting angle may be 20 degrees.

[0044] The above second setting angle may be 5 degrees.

[0045] According to an embodiment of the present invention for solving the above-described problem, a robot comprises: a robot body having a battery housed therein; a first wheel disposed on a lower side of one left-right direction of the robot body and configured to roll on a floor surface; a second wheel disposed on a lower side of the other left-right direction of the robot body and configured to roll on the floor surface; a first upper link having one end rotatably coupled to one left-right direction of the robot body; a first lower link having one end rotatably coupled to the other side of the first upper link and the other end rotatably coupled to the first wheel; a second upper link having one end rotatably coupled to the other left-right direction of the robot body; a second lower link having one end rotatably coupled to the other side of the second upper link and the other end 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; 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 the left and 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 placed horizontally with the floor surface.

[0046]

[0047] According to the present invention, when a ground obstacle is present ahead of the robot's driving direction, the arm rotates forward. This temporarily creates a configuration where the arm and two wheels support the ground or obstacle at three points, allowing the robot to easily climb the obstacle while maintaining balance.

[0048] Furthermore, according to the present invention, during normal driving, balance control is performed to control the rotation direction of the wheels according to the tilt of the robot, and the wheel balance control is released only when a ground obstacle is encountered. In other words, both driving agility and stability when responding to obstacles can be satisfied.

[0049] In addition, the present invention has the effect of enabling the robot to drive stably on the floor without losing balance when a user raises the robot that has fallen while driving.

[0050] In addition, the present invention has the effect of preventing left-right imbalance of the robot caused by backlash or twist of the leg portion.

[0051]

[0052] FIG. 1 is a perspective view illustrating a robot according to one embodiment of the present invention.

[0053] Figure 2 is a front view of a robot according to one embodiment of the present invention.

[0054] FIG. 3 is a perspective view of a robot according to one embodiment of the present invention viewed from different angles.

[0055] 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.

[0056] Figure 5 is a plan view of a robot according to one embodiment of the present invention.

[0057] FIG. 6 is a drawing for explaining an arm of a robot according to another embodiment of the present invention.

[0058] Figure 7 is a drawing for explaining the state in which the attachment / detachment part of the arm in Figure 6 is rotated.

[0059] Figure 8 is a bottom view of a robot according to one embodiment of the present invention.

[0060] Figure 9 is a block diagram for explaining the control configuration of a robot according to one embodiment of the present invention.

[0061] FIG. 10 is a drawing for explaining the coupling relationship between a robot mask and a robot body in a robot according to one embodiment of the present invention.

[0062] Figure 11 is a flowchart showing a control method of a robot performed to respond to a floor obstacle existing ahead of the driving direction.

[0063] Figures 12 to 20 sequentially show the corresponding motions of the robot performed in the embodiment of Figure 11.

[0064] Figure 21 is a flowchart showing a robot control method performed when a user raises a robot that has fallen on the floor according to an embodiment of the present invention.

[0065] Figures 22 to 25 sequentially show the process of a user lifting up a robot that has fallen on the floor.

[0066] Figure 26 is a schematic diagram for explaining when a robot according to an embodiment of the present invention is tilted left and right toward the floor.

[0067]

[0068] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0069] The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention.

[0070] FIG. 1 is a perspective view illustrating a robot according to an embodiment of the present invention, FIG. 2 is a front view illustrating a robot according to an embodiment of the present invention, FIG. 3 is a perspective view illustrating a robot according to an 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 an embodiment of the present invention, FIG. 5 is a plan view illustrating a robot according to an embodiment of the present invention, FIG. 6 is a drawing illustrating an arm of a robot according to another embodiment of the present invention, FIG. 7 is a drawing illustrating a state in which a detachable part of the arm in FIG. 6 is rotated, and FIG. 8 is a bottom view illustrating a robot according to an embodiment of the present invention.

[0071] Referring to FIGS. 1 to 8, a robot (1) according to one embodiment of the present invention will be described as follows.

[0072] The robot (1) according to an embodiment of the present invention is configured to be placed on the floor and move along the floor surface (B). Accordingly, the following description will be given with the up-down direction defined based on the state in which the robot (1) is placed on the floor.

[0073] And the side where the first camera (610a) to be described later is placed is set as the front of the robot (1) and explained. In addition, the opposite direction of the front is set as the rear of the robot (1) and explained.

[0074] The 'lowest part' of each configuration described in the embodiment of the present invention may be the part that is positioned lowest in each configuration when the robot (1) according to the embodiment of the present invention is used while placed on the floor, or may be the part closest to the floor.

[0075] A robot (1) according to an embodiment of the present invention comprises a robot body (100), a leg part (200), a wheel part (300), an arm (400), and a robot mask (500). At this time, the leg part (200) is coupled to the robot body (100), and the wheel part (300) is coupled to the leg part (200). In addition, an arm (400) is pivotally coupled to both sides of the robot body (100). In addition, a robot mask (500) is detachably coupled to the robot body (100).

[0076]

[0077] Robot body

[0078] Referring to FIGS. 1 to 8, the robot body (100) of the robot (1) according to one embodiment of the present invention will be described as follows.

[0079] Each component of the robot (1) can be coupled to the robot body (100). For example, a robot mask (500) can be detachably coupled to the robot body (100). In addition, an arm (400) is pivotally coupled to the robot body (100). The arms (400) are pivotally coupled to both ends of the robot body (100). The robot body (100) can perform additional functions by coupling with a function module via the arm (400). In addition, the robot body (100) can implement a standby posture for power saving or a posture for getting up after falling over via the arm (400).

[0080] Some of the components that make up the robot (1) can be accommodated inside the robot body (100).

[0081] 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).

[0082] Additionally, although not shown, at least one bumper may be provided inside the main body housing (110).

[0083] 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-back direction of the main body housing (110).

[0084] The bumper may be coupled 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).

[0085] 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 contained inside the robot body (100).

[0086] A pair of leg parts (200) are coupled inside the main body housing (110). The pair of leg parts (200) can penetrate the main body housing (110) and be exposed to the outside.

[0087] 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).

[0088] Additionally, a suspension motor (MS) may be accommodated inside the main body housing (110). For example, a suspension motor (MS) may be placed in a link frame (not shown). The suspension motor (MS) may be connected to the first link (210).

[0089] 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 in parallel along the front-rear direction of the main body housing (110).

[0090] With this configuration, the leg part (200) can rotate along the leg guide hole (111), and can guide the rotational movement range of the leg part (200).

[0091] The main body housing (110) may be formed in a shape in which the horizontal width (or diameter) is greater than the vertical height. For example, the main body housing (110) may be formed in a shape similar to an ellipsoid.

[0092] This robot body (100) can help the robot (1) to have a stable structure and provide a structure that is advantageous for maintaining balance when the robot (1) moves (drives).

[0093] The robot body (100) can be placed vertically above the wheel (310) described later. The load of the robot body (100) can be transmitted 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).

[0094] The robot body (100) may include a display (120). The display (120) may be coupled to the body housing (110). The display (120) may be formed in a flat shape. The display (120) may be positioned at a predetermined angle relative to the ground. For example, the display (120) may be positioned so as to face the upper front. With this configuration, when the robot (1) approaches a user and the user looks at the robot (1), the display (120) may be visible.

[0095] Meanwhile, the display (120) can visually convey information about the operating status of the robot (1) to the user.

[0096] The display (120) may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0097] The display (120) can display information such as operating time information of the robot (1) and battery (800) power information.

[0098] In some embodiments, 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 an operating status and receives control commands from a user.

[0099] The display (120) may display the facial expression of the robot (1). Alternatively, the display (120) may display the pupils of the robot (1). The current state of the robot (1) may be personified and expressed as an emotion through the shape of the face or pupils displayed on the display (120). For example, when a user returns home after going out, the display (120) may display a smiling facial expression or smiling eye shapes. This provides the user with the effect of feeling a sense of connection with the robot (1).

[0100] A charging terminal (130) may be arranged in the main body housing (110). For example, the charging terminal (130) may be arranged facing the ground. As an example, the charging terminal (130) may be arranged to face the ground. As another example, the charging terminal (130) may be arranged at a predetermined angle with respect to the ground. With this configuration, when the robot (1) is coupled to a robot charging stand (not shown), the charging terminal (130) may come into contact with a terminal provided on the robot charging stand (not shown).

[0101] The charging terminal (130) can be electrically connected to a robot charging stand (not shown). With this configuration, the robot (1) can be supplied with power through the charging terminal (130). The power supplied to the charging terminal (130) can be supplied to the battery (800). In addition, the robot (1) can receive an electric signal through the charging terminal (130). The electric signal transmitted through the charging terminal (130) can be received by the control unit (700).

[0102] Meanwhile, a first camera (610a) may be placed at the front lower portion of the main body housing (110). For example, the first camera (610a) may be placed on a center line passing through the left and right centers of the main body housing (110). With this configuration, the first camera (610a) can detect objects or people placed in front of the robot (1).

[0103] Additionally, an IR sensor (620) may be placed at the front lower portion of the main body housing (110). For example, a pair of IR sensors (620) may be placed left and right at a predetermined interval. With this configuration, the IR sensor (620) can detect the position of a light source that generates infrared rays.

[0104] The IR sensor (620) may be positioned close to the first camera (610a). For example, the first camera (610a) may be positioned between a pair of IR sensors (620).

[0105]

[0106] leg

[0107] Referring to FIGS. 1 to 8, the leg portion (200) of the robot (1) according to one embodiment of the present invention will be described as follows.

[0108] 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). The pair of leg portions (200) can be arranged symmetrically (linearly symmetrically) to each other. At this time, at least a portion of the leg portion (200) is arranged closer to the ground than the robot body (100). The leg portion (200) is arranged to connect the robot body (100) and the wheel (310).

[0109] Accordingly, the robot body (100) can move while standing on the ground by means of a pair of leg parts (200). That is, the 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.

[0110] The leg section (200) includes a first link (210), a second link (220), and a third link (230). At this time, the first link (210) and the second link (220) are rotatably coupled to the robot body (100) and the third link (230), respectively. That is, the first link (210) and the second link (220) are link-coupled to the robot body (100) and the third link (230), respectively.

[0111] The first link (210) is linked to the inner left and right sides of the robot body (100).

[0112] The first link (210) is connected to the suspension motor (MS). For example, the first link (210) may be connected directly or through a gear to the shaft of the suspension motor (MS). With this configuration, the first link (210) receives driving force from the suspension motor (MS).

[0113] The first link (210) is formed in a frame shape, and a suspension motor (MS) is connected to one longitudinal side thereof, and a third link (230) is coupled to the other longitudinal side thereof. 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).

[0114] One side of the first link (210) is coupled to a leg support (not shown) provided within 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 a disk shape or a circular plate shape. Accordingly, one side of the first link (210) can pass through the leg support and be connected to the suspension motor (MS).

[0115] One end of the first link (210) is connected to the suspension motor (MS). For example, one end of the first link (210) may be fixedly coupled to the shaft of the suspension motor (MS). With this configuration, when the suspension motor (MS) is driven, one end of the first link (210) may rotate in conjunction with the rotation of the shaft of the suspension motor (MS).

[0116] The other end of the first link (210) is rotatably coupled to the third link (230). For example, a through hole may be formed in 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).

[0117] With this configuration, the shaft can be an axis around which the first link (210) and / or the third link (230) rotate. Accordingly, the first link (210) and the third link (230) can be connected to enable relative rotation.

[0118] Although not shown, the leg section (200) may further include a gravity compensation section. The gravity compensation section compensates for the robot body (100) from descending vertically due to gravity. In other words, the gravity compensation section provides force to support the robot body (100).

[0119] For example, the gravity compensation unit may be a torsion spring. The gravity compensation unit may be wound to wrap around the outer surface of the first link (210). In addition, one end of the gravity compensation unit may be inserted into and fixedly connected to the first link (210), and the other end of the gravity compensation unit may be inserted into and fixedly connected to the third link (230).

[0120] The gravity compensation unit applies force (rotational force) in a direction in which the angle between the first link (210) and the third link (230) increases. For example, the gravity compensation unit has both ends pre-folded so that it applies a restoring force in a direction in which the angle between the first link (210) and the third link (230) increases. Therefore, even if 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.

[0121] With this configuration, the robot body (100) can be prevented from descending toward the ground even when the suspension motor (MS) is not driven. Accordingly, there is an effect of maintaining the height of the robot body (100) above a predetermined distance from the ground while preventing energy loss due to the driving of the suspension motor (MS) by the gravity compensation unit.

[0122] The second link (220) is linked to the inner left and right sides of the robot body (100). For example, the second link (220) may be linked to a leg support (not shown) provided inside the body housing (110). That is, the second link (220) may be linked together with the leg support (not shown) to which the first link (210) is linked.

[0123] The second link (220) is formed in a frame shape, one longitudinal side is coupled to a leg support (not shown), and the other longitudinal side is coupled to a third link (230).

[0124] The second link (220) can accommodate wires. For example, a space capable of accommodating wires may be formed on the inside of the second link (220). Accordingly, power from the battery (800) can be supplied to the wheel unit (300) via the wires. Furthermore, the wires can be prevented from being exposed to the outside.

[0125] One end of the second link (220) is rotatably coupled to the leg support. For example, although not shown, one end of the second link (220) may be connected to a shaft that is coupled to the leg support through a penetration connection. The shaft may have a hollow space. A wire may pass through the hollow space. With this configuration, the wire that supplies power from the battery (800) to the wheel motor (MW) can be prevented from being exposed to the outside.

[0126] The other end of the second link (220) is rotatably coupled to the third link (230). Specifically, the other end of the second link (220) is rotatably coupled to the third link (230) via a shaft. For example, the other end of the second link (220) may be formed in a disk shape, and the shaft may be penetrably coupled thereto. In addition, both longitudinal ends of the shaft may be coupled to the third link (230). With this configuration, the shaft may become an axis around which the second link (220) and / or the third link (230) rotate. Therefore, the second link (220) and the third link (230) may be connected to be relatively rotatable.

[0127] The third link (230) is linked to the first link (210) and the second link (220) and is linked to the wheel unit (300).

[0128] The third link (230) is formed in a frame shape, and the first link (210) and the second link (220) are coupled to one side in the longitudinal direction, and the wheel part (300) is coupled to the other side in the longitudinal direction.

[0129] 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) so that the first link (210) and the second link (220) can be accommodated therein. That is, one side of the third link (230) may be formed in the form 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.

[0130] Here, two shafts may be arranged parallel between a pair of frames. That is, both ends of each of the two shafts may be coupled to a pair of frames. And each of the shafts may pass through a first link (210) and a second link (220). At this time, the first link (210) may be arranged forward and lower than the second link (220). That is, the shaft passing through the first link (210) may be arranged closer to the wheel (310) than the shaft passing through the second link (220).

[0131] Accordingly, the first link (210) and the second link (220) can be coupled to the third link (230) so as to be able to rotate relative to each other.

[0132] The longitudinal other side of the third link (230) is coupled to the wheel section (300). The longitudinal other side of the third link (230) may be formed to cover at least a portion of the wheel (310). For example, the longitudinal other side of the third link (230) may be formed to cover the center of rotation of the wheel (310), and a space may be formed inside to rotatably accommodate the wheel (310).

[0133] Additionally, a wheel motor (MW) can be accommodated inside the longitudinal side of the third link (230).

[0134] With this configuration, a wheel (310) and a wheel motor (MW) can be accommodated on the longitudinal side of the third link (230), and the wheel (310) can be rotatably coupled.

[0135] Meanwhile, a sensor capable of measuring the distance from the ground may be provided on the longitudinal side of the third link (230). For example, the sensor may be a ToF (Time of Flight) sensor. With this configuration, the control unit (700) can determine whether the wheel (310) is in contact with the ground.

[0136] Meanwhile, the leg portion (200) may be provided with a stopper (240). 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 surface of the rotational coupling portion (410) formed in a cylindrical shape.

[0137] For example, the stopper (240) may be placed on a leg support (not shown). As another example, the stopper (240) may be placed on a first link (210).

[0138] The stopper (240) may be formed in a protruding shape toward the rotational joint (410). For example, the stopper (240) may have a predetermined thickness and may be formed in a protruding shape in an arch shape arranged in a concentric circle. In this case, the outer circumference of the stopper (240) may be arranged toward the upper front side of the robot (1), and the inner circumference of the stopper (240) may be arranged toward the lower rear side of the stopper.

[0139] The stopper (240) can be supported by contact with the rotation protrusion (480) of the arm (400) to be described later. For example, the rotation protrusion (480) protrudingly formed on the inner surface of the rotation coupling part (410) rotates together with the rotation of the arm (400), and can come into contact with the rotation protrusion (480) when the arm (400) is rotated to a predetermined position.

[0140] With this configuration, the stopper (240) can limit the rotation angle of the arm (400) when the arm (400) rotates.

[0141] Looking at the balance by the leg section (200) as a whole, a first link (210) and a second link (220) are rotatably coupled to a link frame (not shown) provided inside the robot body (100), and the first link (210) and the second link (220) are link-coupled to a third link (230). That is, the robot (1) has a structure that supports the robot body (100) through a four-section link consisting of a link frame (not shown), a first link (210), a second link (220), and a third link (230).

[0142] In addition, 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, the pair of leg portions (200) can maintain the robot body (100) lifted to a predetermined height from the ground.

[0143] Meanwhile, the robot (1) according to the embodiment of the present invention can maintain balance by driving the 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.

[0144] When the suspension motor (MS) is driven, the first link (210) rotates around 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 according to the rotation of the first link (210). Then, the second link (220) is pushed by the third link (230) and rotates. As a result, one end of the third link (230) (the point of connection with the first link (210)) can move rearward, and the other end of the third link (230) can move upward.

[0145] With this configuration, even if the wheel (310) is moved up and down, the range of movement in the forward and backward directions of the wheel (310) can be limited. Therefore, the robot (1) can stably maintain balance.

[0146] Therefore, according to the robot (1) according to the present invention, there is an effect of being able to overcome obstacles of various heights by using a four-section link structure.

[0147]

[0148] Wheel

[0149] Referring to FIGS. 1 to 8, the wheel part (300) of the robot (1) according to one embodiment of the present invention will be described as follows.

[0150] The wheel part (300) is rotatably connected to the leg part (200) and can roll on the ground to move the robot body (100) and the leg part (200).

[0151] The wheel section (300) includes a wheel (310) that moves in a rolling manner over the ground by contacting the ground.

[0152] The wheel (310) is provided to have a predetermined radius and a predetermined width along the axial direction. When the robot (1) is viewed from the front, at least a portion of the robot body (100) and the leg portion (200) can be placed vertically above the wheel (310).

[0153] Although not shown, the wheel (310) may include a circularly formed wheel frame. The wheel frame may be formed in a cylindrical shape with one side open toward the shaft of the wheel motor (MW). This may reduce the weight of the wheel frame.

[0154] However, when the wheel frame is formed into a cylindrical shape, the overall rigidity of the wheel frame may be reduced. Considering this, ribs (not shown) for reinforcing rigidity may be formed on the inner and outer surfaces of the wheel frame, respectively.

[0155] A tire is attached to the outer surface of the wheel frame. The tire may be formed into an annular shape having a diameter that can fit onto the outer surface of the wheel frame.

[0156] The outer surface of the tire may have grooves formed in a predetermined pattern to improve the tire's grip.

[0157] In one embodiment, the tire may be formed of a rubber material having elasticity.

[0158] The wheel motor (MW) can provide driving force to the wheel (310). The wheel motor (MW) can receive power from the battery (800) and generate rotational force.

[0159] The wheel motor (MW) may be accommodated inside the other side of the third link (230). In addition, the shaft of the wheel motor (MW) may be coupled to the wheel (310). That is, the wheel motor (MW) may be an in-wheel motor.

[0160] 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.

[0161]

[0162] cancer

[0163] Referring to FIGS. 1 to 8, the arm (400) in the robot (1) according to one embodiment of the present invention will be described as follows.

[0164] The arm (400) can be pivotally coupled to both sides of the robot body (100). For example, the arm (400) can be coupled to both ends of the axial direction (length direction) of the ellipsoidal robot body (100), and can mean a rotating body that rotates around both ends of the axial direction of the robot body (100) as one rotation axis.

[0165] Specifically, the arm (400) includes a rotating joint (410), a connecting portion (420), a detachable portion (430), and a connecting terminal (440).

[0166] The rotation coupling part (410) can be rotatably coupled to both sides of the robot body (100). A pair of rotation coupling parts (410) can be provided and can be coupled to both left and right sides of the robot body (100) so as to be relatively rotatable. At this time, the pair of rotation coupling parts (410) can rotate in conjunction with each other. That is, the pair of rotation coupling parts (410) can rotate simultaneously with each other, and the angular size of the rotation can also be the same. However, when viewed based on the robot body (100), the rotation directions of the pair of rotation coupling parts (410) can be opposite to each other. That is, when viewed based on the robot body (100), when one side of the rotation coupling part (410) rotates clockwise, the other side of the rotation coupling part (410) can rotate counterclockwise.

[0167] The rotational coupling part (410) may be formed in a shape that can cover both left and right ends of the robot body (100). For example, the rotational coupling part (410) may be formed in a cylindrical shape with a predetermined thickness. In this case, the left and right ends of the robot body (100) may be arranged to face each other and the rotational center of the rotational coupling part (410).

[0168] That is, when explaining the state in which the rotating joint (410) is coupled to the robot body (100), assuming that the robot body (100) is a human face, the rotating joint (410) may have a shape similar to a pair of earplugs or an earpiece of headphones.

[0169] As illustrated in FIG. 4, the robot (1) according to one embodiment may have the arm motor (MA) positioned inside the main body housing (110). Alternatively, it is also possible for the arm motor (MA) to be positioned inside the rotation coupling according to one embodiment.

[0170] 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 the rotary coupling (410). For example, as illustrated in FIG. 4, the shaft of the arm motor (MA) can be connected to a reducer (460), and the reducer (460) can be connected to a driven gear (470).

[0171] The reducer (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, the precise rotation of the arm (400) can be controlled, and the arm (400) can be enabled to provide a relatively large force.

[0172] The driven gear (470) can be coupled with the rotary joint (410) and rotated integrally. The driven gear (470) can be meshed with the output end of the reducer (460) and receive the rotational power of the arm motor (MA).

[0173] With this configuration, when the arm motor (MA) is operated, the rotary joint (410) can rotate.

[0174] Two arm motors (MA) may be provided and connected to a pair of rotating couplings (410), respectively. As another example, one arm motor (MA) may be provided and connected to one of the rotating couplings (410).

[0175] With this configuration, when the arm motor (MA) is operated, a pair of rotating coupling parts (410) are rotated together in conjunction, and the connecting part (420) is rotated together according to the rotation of the rotating coupling part (410). That is, according to the present invention, the arm (400) can be rotated as a single unit with the rotating coupling part (410) and the connecting part (420) using the arm shaft of the rotating coupling part (410) as the rotation axis.

[0176] Meanwhile, a speaker (450) may be placed on the outside of the rotation coupling part (410). That is, a speaker (450) may be placed in each of the opposite directions of the direction in which the robot body (100) is placed in a pair of rotation coupling parts (410). Accordingly, the speakers (450) may be placed at positions that cover both left and right sides of the body housing (110).

[0177] The speaker (450) can transmit information about the robot (1) as sound. The source of the sound transmitted by the speaker (450) may be sound data previously stored in the robot (1). For example, the previously stored sound data may be voice data of the robot (1). For example, the previously stored sound data may be a notification sound that 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).

[0178]

[0179] Meanwhile, conventional robots are equipped with a pair of arms on each side of the main body, similar to human arms, to move objects or perform specific tasks.

[0180] However, when equipped with a pair of arms as described above, each arm can move independently, and thus the load applied to each side of the robot may vary. Consequently, the robot may tilt to one side and fall over.

[0181] Additionally, when the robot falls, it can attempt to stand up by having the arms touch the ground, but since the arms on both sides rotate separately to touch the ground, there is a limitation that the robot may lose its balance during the standing process and fall down again.

[0182] Meanwhile, in the case of a robot that transports objects or performs a specific task through a single arm, there is a limitation that the load of the object being transported or the shock that may occur during the task is concentrated on only one arm, which may cause damage to the arm.

[0183] To solve this, the robot (1) according to the embodiment of the present invention is configured in a form in which one arm (400) is rotatably connected to both sides of the robot body (100).

[0184] The connecting portion (420) can connect a pair of rotational coupling portions (410) to each other. The connecting portion (420) can connect a pair of rotational coupling portions (410) covering both left and right sides of the robot body (100) so that they rotate together.

[0185] The connecting portion (420) connects a pair of rotational coupling portions (410) to each other and can be formed in a shape that can rotate around the robot body (100). Specifically, the connecting portion (420) can be formed in a frame shape in which both longitudinal ends are formed as bent extensions. At this time, both ends of the connecting portion (420) formed as bent extensions can be arranged parallel to each other and connected to a pair of rotational coupling portions (410). As an example, the connecting portion (420) can be formed in a '∩' shape. As another example, the connecting portion (420) can also be formed in an arch shape.

[0186] When describing the state in which the arm (400) is connected to the robot body (100), assuming that the robot body (100) is a human face, the connecting portion (420) may have a shape similar to a headphone hair band. That is, assuming that the robot body (100) is a human face, the arm (400) may appear to have a shape similar to a headphone.

[0187] The connecting portion (420) can be formed integrally with a pair of rotating coupling portions (410). That is, a pair of rotating coupling portions (410) and connecting portion (420) positioned on each of the left and right sides of the robot body (100) can form an arm (400) of an integral structure.

[0188] With this configuration, a pair of rotating joints (410) are integrally connected to the connecting part (420), so that the entire arm (400) can rotate together with the rotating joint (410) as the center of rotation.

[0189] Meanwhile, the radius of rotation 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 center of rotation of the rotational coupling portion (410) to the outer end of the connection 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).

[0190] With this configuration, when the arm (400) is rotated, it is possible for at least a portion of the arm (400) to be positioned closer to the ground than the first link (210).

[0191] Meanwhile, the rock (400) further includes a rotating protrusion (480) formed protruding on the inner surface of the rotating joint (410).

[0192] The rotary protrusion (480) may be formed to protrude from the inner surface of the rotary joint (410), and may be formed in a form in which the circumferential width becomes narrower from the inner surface of the rotary joint (410) toward the rotation center of the rotary joint (410) (see FIG. 4).

[0193] The rotary protrusion (480) can be rotated together with the rotary coupling portion (410) and the connecting portion (420). That is, when the rotary coupling portion (410) and the connecting portion (420) are rotated, the rotary protrusion (480) is rotated by the same rotation angle as the rotary coupling portion (410) and the connecting portion (420).

[0194] The rotary protrusion (480) can be supported by contacting the stopper (240) according to the rotation of the arm (400). For example, when the connecting portion (420) is rotated past the rear of the robot body (100) and closer to the ground than the first link (210), the rotary protrusion (480) can be in contact with the stopper (240).

[0195] With this configuration, when the arm (400) is rotated to a predetermined position, the stopper (240) and the rotation protrusion (480) are supported by contact, thereby limiting the rotation of the arm (400).

[0196] In addition, there is an effect that can maintain the posture of the arm (400) and the leg (200) while the stopper (240) and the rotating protrusion (480) maintain a mutually supporting state.

[0197] Meanwhile, FIGS. 6 and 7 illustrate drawings for explaining another embodiment of an arm in a robot according to the present invention.

[0198] Referring to FIGS. 6 and 7, a cancer (1400) according to another embodiment of the present invention will be described as follows.

[0199] In order to avoid repeated explanation, the structure and effect are the same as that of the cancer (400) according to one embodiment of the present invention except for the contents specifically described in this embodiment, and thus, they can be cited.

[0200] The arm (1400) of the present embodiment further includes a terminal rotation part (1460) and a switching motor (MC) that provides rotational force to the terminal rotation part (1460).

[0201] The terminal rotation part (1460) is rotatably connected to the connection part (1420). For example, the terminal rotation part (1460) may be formed in a plate shape having a predetermined thickness, and a detachable part (1430) and a connection terminal (1440) may be arranged on one surface.

[0202] The terminal rotating portion (1460) can form the outer appearance of the arm (1400) together with the connecting portion (1420). A rotating shaft coupled to the connecting portion (1420) can be provided at both longitudinal ends of the terminal rotating portion (1460).

[0203] A switching motor (MC) is connected to a terminal rotation unit (1460) and can provide rotational force to the terminal rotation unit (1460). More specifically, the final output end of the shaft or gear of the switching motor (MC) is connected to the terminal rotation unit (1460).

[0204] With this configuration, when the switching motor (MC) is operated, the terminal rotation part (1460) rotates.

[0205] When the terminal rotation part (1460) is rotated, the surface exposed to the outside can be changed. Specifically, the terminal rotation part (1460) can have one surface where the attachment / detachment part (1430) and the connection terminal (1440) are arranged on the outside exposed to the outside. In addition, when the terminal rotation part (1460) is rotated, the attachment / detachment part (1430) and the connection terminal (1440) can be hidden into the internal space of the connection part (1420).

[0206] With this configuration, if the combination of 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).

[0207] In particular, when the robot (1) falls over, it is necessary to rotate the arm (1400) so that the connecting portion (1420) touches the ground. At this time, the attachable / detachable portion (1430) and the connecting terminal (1440) may come into contact with the ground, causing contamination or damage.

[0208] Therefore, according to the arm (1400) of the present embodiment, the detachable portion (1430) and the connecting terminal (1440) can be prevented from being exposed to the outside by the rotation of the terminal rotating portion (1460). In addition, contamination or damage to the detachable portion (1430) and the connecting terminal (1440) can be prevented.

[0209]

[0210] robot mask

[0211] FIG. 9 is a drawing illustrating a coupling relationship between a robot mask and a robot body in a robot according to one embodiment of the present invention.

[0212] A robot (1) according to one embodiment of the present invention may further include a robot mask (500).

[0213] The robot mask (500) is detachably connected to the robot body (100) and can cover the display (120). The robot mask (500) can be connected to the robot body (100) to form the exterior of the robot (1).

[0214] Meanwhile, the robot mask (500) according to one embodiment of the present invention, when combined with the robot body (100), may include a window (550) that exposes an image displayed on the display (120) to the outside.

[0215] The window (550) may be placed in the mask body (510). Specifically, the window (550) may be placed through the mask body (510) and may be placed at a position facing the display (120) when the robot mask (500) is coupled to the robot body (100).

[0216] The window (550) may be formed of a material that allows light to pass through. For example, the window (550) may be formed of a transparent material.

[0217] Meanwhile, when the robot mask (500) is combined with the robot body (100), the face and expression can be displayed on the display (120).

[0218] The robot (1) can display facial features such as eyes, nose, and mouth on the display (120) to make the user feel that the robot is expressing emotions.

[0219] In this way, the robot (1) can provide a pet robot service that displays emotions to the user and communicates with the user, and has the effect of providing emotional stability to the user.

[0220] As described above, the robot (1) can visually express emotions by displaying facial expressions on the display (120), and can also express emotions through voice output from the speaker (450).

[0221] For example, sounds such as smiling or surprised can be output in response to facial expressions displayed on the display (120).

[0222] 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).

[0223] For example, the emotion can be expressed by shaking the arm (400) while displaying a smiling expression on the display (120).

[0224]

[0225] Control configuration

[0226] FIG. 10 is a block diagram illustrating a control configuration of a robot according to one embodiment of the present invention.

[0227] 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.

[0228] The components shown in the block diagram of FIG. 10 are not essential for implementing the robot (1), and thus the robot (1) described in this specification may have more or fewer components than the components listed above.

[0229] First, the control unit (700) can control the overall operation of the robot (1). The control unit (700) can control the robot (1) to perform various functions according to setting information stored in the memory (720) described later.

[0230] The control unit (700) can be placed on the robot body (100). More specifically, the control unit (700) can be mounted and provided on a PCB placed inside the body housing (110).

[0231] The control unit (700) may include all types of devices capable of processing data, such as a processor. Here, the term "processor" may refer to a data processing device built into hardware, for example, having a physically structured circuit to perform a function expressed by a code or command included in a program. Examples of such data processing devices built into hardware include processing devices such as a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), and a field programmable gate array (FPGA), but the scope of the present invention is not limited thereto.

[0232] The control unit (700) can receive information about the external environment of the robot (1) from at least one of the components of the sensor unit (600) described below. At this time, the information about the external environment may be, for example, information about the temperature, humidity, and amount of dust in the room in which the robot (1) is driving. Or, for example, it may be cliff information. Or, for example, it may be indoor map information. Of course, the information about the external environment is not limited to the examples described above.

[0233] The control unit (700) can receive information about the current state of the robot (1) from at least one of the components of the sensor unit (600) described below. At this time, the current state may be, for example, inclination information of the robot body (100). Or, for example, information about 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, information about the current state of the robot (1) is not limited to the examples described above.

[0234] The control unit (700) can transmit a drive control command to at least one of the components of the motor unit described below. 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 following operations: driving, maintaining posture, and changing posture of the robot (1).

[0235] The control unit (700) can receive a user's command through at least one of the interface unit components described below. For example, the command may be a command for turning the robot (1) on / off. Alternatively, for example, the command may be a command for manually controlling various functions of the robot (1).

[0236] The control unit (700) can output information related to the robot (1) through at least one of the components of the interface unit described below. For example, the output information may be visual information. Or, for example, the output information may be auditory information.

[0237] The motor section includes at least one motor and can provide driving force to a configuration connected to each motor.

[0238] 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 provides driving force to a wheel (310) arranged on one side in the left and right directions, and a second wheel motor (MW2) that provides driving force to a wheel (310) arranged on the other side in the left and right directions.

[0239] The wheel motors (MW) can be respectively placed in the wheel section (300). More specifically, the wheel motors (MW) can be accommodated inside the third link (230).

[0240] 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) arranged on one side in the left and right directions. The final output end of the shaft or gear of the second wheel motor (MW2) is connected to the wheel (310) arranged on the other side in the left and right directions. Each of the left and right wheel motors (MW) is driven and rotates according to the control command of the control unit (700), and the robot (1) travels along the ground by the rotation of the wheel (310) according to the rotation of the wheel motor (MW).

[0241] 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 units (200) arranged on one side in the left and right direction, and a second suspension motor (MS2) that transmits driving force to the leg units (200) arranged on the other side in the left and right direction.

[0242] The suspension motor (MS) can be placed in the robot body (100). More specifically, the suspension motor (MS) can be each accommodated inside the body housing (110).

[0243] 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) arranged on one side in the left and right directions. The final output end of the shaft or gear of the second suspension motor (MS2) is connected to the first link (210) arranged on the other side in the left and right directions. Each of the left and right suspension motors (MS) is driven and rotates according to the control command of the control unit (700), and the first link (210) rotates according to the rotation of the suspension motor (MS), and the third link (230) connected to the first link (210) rotates, so that the angle between the first link (210) and the third link (230) can be changed as a result.

[0244] Through this, the robot (1) can lift or lower the wheel (310) and maintain a horizontal posture when climbing an obstacle or driving on a curved surface. Alternatively, the robot body (100) can move downward or upward.

[0245] The motor unit may include an arm motor (MA) that provides rotational force to the arm (400).

[0246] The 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).

[0247] The arm motor (MA) is driven and rotates according to the control command of the control unit (700), and the rotation coupling part (410) rotates according to the rotation of the arm motor (MA), and the connection part (420) formed integrally with the rotation coupling part (410) rotates, resulting in pivotal movement of the arm (400) with respect to the robot body (100).

[0248] Through this, the robot (1) can perform a motion to rotate the arm (400), and can be coupled with a functional module by rotating the arm (400). Alternatively, the arm (400) can be made to touch the ground by rotating the arm (400).

[0249] 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 status of the robot (1).

[0250] The sensor unit (600) may include a first camera (610a).

[0251] The first camera (610a) is provided to map the indoor space in which the robot (1) moves. The first camera (610a) may be referred to as a mapping camera (610a).

[0252] For this purpose, the first camera (610a) may be placed at the front of the robot body (100). More specifically, the first camera (610a) may be placed at the rear of the body housing (110).

[0253] The first camera (610a) can capture indoor images while driving to perform SLAM (Simultaneous Localization and Mapping). The control unit (700) can implement SLAM based on information about the surrounding environment captured by the first camera (610a) and information about the current location of the robot (1).

[0254] Meanwhile, the robot (1) according to the embodiment of the present invention may implement SLAM using only the first camera (610a), but is not limited thereto. For example, the robot (1) may also implement SLAM using additional sensors. The additional sensors may be, for example, LDS (Laser Distance Sensor).

[0255] The sensor unit (600) may include a second camera (610b).

[0256] The second camera (610b) is a configuration provided to recognize the location, 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.

[0257] The second camera (610b) may be placed at the front of the robot body (100) to detect an object in front when the robot (1) moves forward. The second camera (610b) may be additionally placed at the rear of the robot body (100) to detect an object in the rear when the robot (1) moves backward.

[0258] The second camera (610b) can recognize the location of an object by capturing the front of the robot (1) in the direction in which it is moving (forward when moving forward, backward when moving backward). To this end, the second camera (610b) can be equipped with a depth module and an RGB module, respectively.

[0259] The Depth module can obtain depth information from an image. For example, depth information can be obtained by measuring the delay or phase shift of a modulated optical signal for each pixel in the captured image, thereby obtaining travel time information.

[0260] The RGB module can acquire color images (images). Edge characteristics, color distribution, and frequency characteristics (wavelet transform) can be extracted from the color images.

[0261] In this way, by obtaining distance and / or height information about the object to be recognized through depth information from the front image captured by the second camera (610b) and calculating boundary characteristics extracted from the color image together, it is possible to recognize whether an object exists in front and / or its location.

[0262] The sensor unit (600) may include an IR sensor (620) for infrared detection.

[0263] The IR sensor (620) may be an IR camera that detects infrared light.

[0264] The IR sensor (620) may be placed on the robot body (100). More specifically, the IR sensor (620) may be placed on the front of the body housing (110). The IR sensor (620) may be placed to the left and right of the first camera (610a).

[0265] The IR sensor (620) detects infrared light emitted by an IR LED installed in a specific module and can access the module. For example, the module may be a charging station for charging the robot (1). For example, the module may be a functional module detachably installed on the arm (400).

[0266] The control unit (700) can control the IR sensor (620) to start detecting the IR LED when the charging status 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.

[0267] The sensor unit (600) may include a wheel motor sensor (630).

[0268] The wheel motor sensor (630) can measure the position of the wheel motor (MW). For example, the wheel motor sensor (630) can be an encoder. As is well known, an encoder can detect the position of the motor and also the rotational speed of the motor.

[0269] The wheel motor sensor (630) may be placed on each of the left and right wheel motors (MW). More specifically, the wheel motor sensor (630) may be connected to the final output end of the shaft or gear of the wheel motor (MW) and accommodated inside the third link (230) together with the wheel motor (MW).

[0270] The sensor unit (600) may include an arm motor sensor (640).

[0271] The arm motor sensor (640) can measure the position of the arm motor (MA). For example, the arm motor sensor (640) can be an encoder. As is well known, an encoder can detect the position of the motor and also the rotational speed of the motor.

[0272] 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 final output end of the shaft or gear of the arm motor (MA) and may be accommodated inside the main body housing (110) or the rotating coupling (410) together with the arm motor (MA).

[0273] The sensor unit (600) may include an IMU sensor (650).

[0274] The IMU sensor (650) can measure the tilt angle of the robot body (100).

[0275] As is well known, the IMU (Inertial Measurement Unit) sensor (650) is a sensor that incorporates a 3-axis acceleration sensor, a 3-axis gyro sensor, and a geomagnetic sensor, and is also referred to as an inertial measurement sensor.

[0276] A 3-axis acceleration sensor detects the gravitational acceleration of an object while stationary. Since gravitational acceleration varies depending on the angle at which the object is tilted, measuring gravitational acceleration yields the tilt angle. However, it has the disadvantage of not being able to obtain accurate values ​​when the object is moving and accelerating, rather than stationary.

[0277] A 3-axis gyro sensor measures angular velocity. Integrating this velocity over time yields the tilt angle. However, the angular velocity measured by the gyro sensor is subject to persistent errors due to noise and other factors. These errors cause errors in the integrated value to accumulate over time.

[0278] As a result, when the robot (1) remains stationary for a long time, the inclination can be accurately measured by the acceleration sensor, but an error occurs in the gyro sensor. When the robot (1) is moving, the inclination value can be accurately measured by the gyro sensor, but the correct value cannot be obtained by the acceleration sensor.

[0279] Using an IMU sensor can compensate for the shortcomings of the above-mentioned acceleration and gyro sensors.

[0280] This specification describes an embodiment in which an IMU sensor is provided.

[0281] 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). In order to improve the measurement accuracy of the tilt angle and direction, the IMU sensor is preferably placed close to the central region of the robot body (100).

[0282] 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).

[0283] The control unit (700) can calculate the tilt direction and tilt angle of the robot body (100) using at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor. Based on this, the control unit (700) can perform horizontal posture maintenance control of the robot body (100), which will be described later.

[0284] The sensor unit (600) may include a cliff sensor (660) for detecting a cliff.

[0285] The cliff sensor (660) can be configured to detect the distance from the front ground along which the robot (1) is moving. The cliff sensor (660) can be configured in various ways within a range that can detect the relative distance between the point where the cliff sensor (660) is formed and the ground.

[0286] For example, the cliff sensor (660) may include a light emitting portion that irradiates light and a light receiving portion into which reflected light is incident. The cliff sensor (660) may be formed of an infrared sensor.

[0287] The cliff sensor (660) may be placed on the robot body (100). More specifically, the cliff sensor (660) may be placed on the inside of the robot body (100). The cliff sensor (660) may irradiate light toward the front floor surface of the robot (1). The cliff sensor (660) may detect in advance whether a cliff exists ahead of the robot (1) in the direction of travel.

[0288] The light-emitting portion of the cliff sensor (660) can irradiate light obliquely toward the front floor surface. The light-receiving portion of the cliff sensor (660) can receive light reflected from the floor surface. The distance between the front floor surface and the cliff sensor (660) can be measured based on the difference between the time of irradiation and the time of reception of light.

[0289] If the distance measured by the cliff sensor (660) exceeds a preset value or a preset range, it may be a case where the front ground suddenly lowers. A cliff can be detected using this principle.

[0290] The control unit (700) can control the wheel motor (MW) so that the robot (1) can drive while avoiding the detected cliff when a cliff is detected ahead. At this time, the control of the wheel motor (MW) may be a stop control. Alternatively, the control of the wheel motor (MW) may be a rotation direction change control.

[0291] The sensor unit (600) may include a contact detection sensor (670).

[0292] The contact detection sensor (670) can detect whether the wheel (310) is in contact with the ground.

[0293] 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 using TOF (Time of Flight) technology. As is well known, TOF technology is a technology that measures the distance to an object based on the round-trip flight time of light irradiated toward the object and reflected back.

[0294] The TOF sensor may be placed on the wheel unit (300). For example, the contact detection sensors (670) may be placed on the left and right third links (230), respectively. Whether the wheel (310) is in contact with the ground can be determined based on the distance from the ground measured by the TOF sensor. If the distance measured by the TOF sensor is less than a preset distance (or less than a lower limit of a preset distance range), the wheel (310) is in contact with the ground. If the distance measured by the TOF sensor is greater than or equal to the preset distance (or greater than or equal to the upper limit of a preset distance range), the wheel (310) is separated from the ground.

[0295] The contact detection sensor (670) may include a load cell that measures the magnitude of a force applied to some component of the robot (1).

[0296] As is well known, when 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.

[0297] The load cell may be placed on the leg section (200). Preferably, the load cell may 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 vertical 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.

[0298] The sensor unit (600) may include an environmental sensor (680).

[0299] The environmental sensor (680) may be configured to measure various environmental conditions outside the robot (1), i.e., inside the house where the robot (1) is moving. The environmental sensor (680) may include at least one of a temperature sensor, a humidity sensor, and a dust sensor.

[0300] The environmental sensor (680) may be placed on the robot body (100). More specifically, the environmental sensor (680) may be placed at the rear of the robot body (100). As a possible embodiment, information measured by the environmental sensor (680) may be visually displayed on the display (120).

[0301] The sensor unit (600) may include a side sensor (690).

[0302] The side sensor (690) can measure the distance to obstacles, including walls, etc.

[0303] The side sensor (690) can be configured to detect the distance from the wall on the side where the robot (1) is moving. The side sensor (690) can be configured in various ways within a range that can detect the relative distance between the point where the side sensor (690) is placed and an obstacle.

[0304] For example, the side sensor (690) may include a light emitting portion that irradiates light and a light receiving portion where reflected light is incident. The side sensor (690) may be formed of an infrared sensor.

[0305] The side sensor (690) may be placed on both sides of the robot (1). For example, the side sensor (690) may be placed on the outer surface of the third link (230) of the leg portion (200).

[0306] The interface section includes at least one configuration for interaction between a user and a robot (1), and each configuration may be provided to input a command from a user and / or output information to the user.

[0307] The interface unit may include a microphone (140).

[0308] A microphone (140) is a component that recognizes the user's voice, and may be provided in multiple numbers. A plurality 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).

[0309] The audio signal received by the microphone (140) can be used to track the user's location. At this time, a known audio source tracking algorithm can be applied. For example, the audio source tracking algorithm may be a three-point measurement method (triangulation method) that utilizes the time difference between the audio signals received by multiple microphones (140). This principle calculates the location of the audio source using the position of each microphone (140) and the speed of the sound waves.

[0310] Meanwhile, if the microphone (140) and the first camera (610a) described above cooperate with each other, the robot (1) can be implemented to find the user's location even when the user calls the robot (1) from a distance.

[0311] The interface unit may include a speaker (450).

[0312] The speaker (450) may be placed on the arm (400). For example, the speaker (450) may be placed on the rotational joint (410) of the arm (400). The speaker (450) may be placed at positions covering both left and right sides of the main body housing (110).

[0313] The speaker (450) can transmit information about the robot (1) as sound. The source of the sound transmitted by the speaker (450) may be sound data previously stored in the robot (1). For example, the previously stored sound data may be voice data of the robot (1). For example, the previously stored sound data may be a notification sound that 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).

[0314] The interface unit may include a display (120) and an input unit (125).

[0315] The display (120) may include a display arranged in one or more modules. The display (120) may be arranged on the front upper side of the robot body (100).

[0316] The display (120) may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0317] The display (120) can display information such as operating time information of the robot (1) and power information of the battery (800).

[0318] The display (120) may display the facial expression of the robot (1). Alternatively, the display (120) may display the pupils of the robot (1). The current state of the robot (1) may be personified and expressed as an emotion through the shape of the face or pupils displayed on the display (120). For example, when a user returns home after going out, the display (120) may display a smiling facial expression or smiling eye shapes. This provides the user with the effect of feeling a sense of connection with the robot (1).

[0319] The input unit (125) may be configured to receive control commands from a user for controlling the robot (1). For example, the control commands may be commands for changing various settings of the robot (1). For example, the settings may be voice volume, display brightness, power saving mode settings, etc.

[0320] The input unit (125) can be placed on the display (120).

[0321] The input unit (125) generates key input data that the user inputs to control the operation of the robot (1). To this end, the input unit (125) may be configured with a key pad, a dome switch, a touch pad (static / capacitive), etc. In particular, when the touch pad forms a mutual layer structure with the first display, it may be called a touch screen.

[0322] A communication unit (710) may be provided for signal transmission between each internal component of 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 the control unit (700) to another component.

[0323] The communication unit (710) can support wireless communication with other devices existing outside the robot (1). A short-range communication module or a long-range communication module can be provided as a wireless communication module for supporting wireless communication.

[0324] Short-range communication can be, for example, Bluetooth communication, NFC (Near Field Communication), etc.

[0325] Long-distance communication includes, for example, Wireless LAN (WLAN), Digital Living Network Alliance (DLNA), Wireless Broadband (Wibro), World Interoperability for Microwave Access (Wimax), Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), Wideband CDMA (WCDMA), High Speed ​​Downlink Packet Access (HSUPA), High Speed ​​Uplink Packet Access (HSUPA), IEEE 802.16, Long Term Evolution (LTE), Long Term Evolution-Advanced (LTEA), Wireless Mobile Broadband Service (WMBS), Bluetooth Low Energy (BLE), Zigbee, Radio Frequency (RF), and Long Range (LoRa). It can be done.

[0326] The memory (720) is a configuration in which various data for driving and operating the robot (1) are stored.

[0327] The memory (720) may store an application program for autonomous driving of the robot (1) and various related data. The memory (720) may also store each piece of data sensed by the sensor unit (600), and may store setting information for various settings selected or entered by the user.

[0328] The memory (720) may include a magnetic storage media or a flash storage media, but the scope of the present invention is not limited thereto. The memory (720) may include built-in memory and / or external memory, and may include a volatile memory such as a DRAM, an SRAM, or an SDRAM, a non-volatile memory such as an OTPROM (one time programmable ROM), a PROM, an EPROM, an EEPROM, a mask ROM, a flash ROM, a NAND flash memory, or a NOR flash memory, a flash drive such as an SSD, a CF (compact flash) card, an SD card, a Micro-SD card, a Mini-SD card, an Xd card, or a memory stick, or a storage device such as an HDD.

[0329] The memory (720) may be included in the control unit (700) or may be provided as a separate configuration.

[0330] The battery (800) is configured to supply power to other components that make up the robot (1).

[0331] 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 shown, the battery (800) may be placed rearward of the suspension motor (MS).

[0332] 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). Accordingly, the robot (1) can be easily connected to the charging station by approaching the charging station and descending, thereby placing the charging terminal (130) on the corresponding terminal of the charging station from the top.

[0333]

[0334] Basic driving posture of the robot

[0335] The robot (1) can drive on the ground in a preset basic posture as illustrated in Fig. 1. The basic posture may refer to the posture of the robot (1) in a state where no specific event occurs. The specific event may be caused by a change in the external environment in which the robot (1) drives, a user's control command, or satisfaction / dissatisfaction of a preset condition of the robot (1).

[0336] In the basic posture, the connecting portion (420) of the arm (400) may be positioned on the upper side of the robot body (100). More specifically, in the basic posture, the connecting portion (420) may be positioned further from the ground than the robot body (100). With this configuration, a user can easily lift the robot (1) by grasping the connecting portion (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) may be provided as a handle to the user.

[0337] In the basic posture, the connecting portion (420) of the arm (400) may be positioned at the rear of the robot body (100). Preferably, in the basic posture, the connecting portion (420) may be positioned at the rear of the robot mask (500). This prevents the robot mask (500) from being covered by the arm (400) when the user looks at the robot (1), thereby reducing the visibility of the display.

[0338] In the basic posture, the robot (1) can perform balance control to prevent it from falling forward or backward. At this time, balance control means control to rotate the wheel motor (MW) to rotate the wheel (310) forward or backward depending on the degree of inclination of the robot (1).

[0339] If the robot (1) is tilted forward more than the preset basic posture inclination, the wheel motor (MW) can be driven to rotate the wheel (310) backward so that the robot (1) returns to the basic posture.

[0340] If the robot (1) is tilted further backward than the preset basic posture inclination, the wheel motor (MW) can be driven to rotate the wheel (310) forward so that the robot (1) returns to the basic posture.

[0341] Meanwhile, as described above, the degree of tilt of the robot (1) can be measured by the IMU sensor (650).

[0342] The robot (1) drives on the ground using the rotation 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 response motion according to the type of the driving obstacle.

[0343] At this time, a 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 an accident such as a collision or fall when the robot (1) continues to drive in the basic posture.

[0344] These driving obstacles can be detected by the sensor unit.

[0345] More specifically, the depth camera (610b) can detect the above-mentioned obstacle. Alternatively, the cliff sensor (660) can detect the above-mentioned obstacle.

[0346] In a robot (1) according to an embodiment of the present invention, when a response motion to a driving obstacle is performed, rotational drive of the arm (400) (or, it may also be referred to as rotational motion of the arm (400)) may be essentially performed. At this time, an operation in which the position of the connecting portion (420) is changed by the rotational drive of the arm (400) may be accompanied.

[0347] In an embodiment of the present invention, the leg portion (200) of the robot (1) may include an upper link and a lower link.

[0348] The upper link may be defined as a concept including a first link (210) and a second link (220), which are link structures arranged on the side of the robot body (100). The lower link may be defined as a concept including a third link (230), which is a link structure arranged on the side of the wheel (310).

[0349] 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 move up or down during driving.

[0350] More specifically, the upper link and the lower link can maintain a constant coupling angle in the basic posture of the robot (1). Here, the coupling angle of the upper link and the lower link may refer to the coupling angle between the first link (210) and the third link (230). The coupling angle may refer to an acute angle formed by the first link (210) and the third link (230) based on the connection point of the first link (210) and the third link (230).

[0351] The adjustment of the above-described engagement angle, i.e., the movement of the above-described joint structure, can be implemented by controlling the operation of the suspension motor (MS). As the suspension motor (MS) rotates and the engagement angle decreases, the robot body (100) can descend toward the ground. As the suspension motor (MS) rotates and the engagement angle increases, the robot body (100) can rise in the opposite direction to the ground.

[0352] Meanwhile, as previously explained, 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 drive of the suspension motor (MS) to maintain the basic posture is unnecessary.

[0353]

[0354] Response motion when detecting floor obstacles

[0355] Figure 11 is a flowchart illustrating a robot control method performed to respond to a ground obstacle present ahead of the driving direction. Figures 12 to 20 sequentially illustrate the robot's response motions performed in the embodiment of Figure 11.

[0356] Each step of the control method illustrated in FIGS. 11 to 20 and described below can be performed by the control unit (700).

[0357] A method for controlling 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 (see FIG. 12).

[0358] Here, a floor obstacle may refer to an obstacle placed on the ground but raised to a certain height above the ground, forming a step with the ground. It refers to an obstacle placed in a position where the lower part of the robot (1) collides with the robot (1) when the robot (1) continues to move in the driving direction. Examples of such obstacles include a chair leg in the shape of the letter "ㄷ", a threshold, a carpet, and a window frame of a chassis.

[0359] Floor obstacles can be detected by the sensor unit (600). (S1100)

[0360] More specifically, floor obstacles can be detected by the depth camera (610b). As described above, the depth camera (610b) can measure whether an object exists in front of the camera, as well as the distance and height to the object. Floor obstacles can also be detected by the cliff sensor (660).

[0361] After a floor obstacle is detected by the depth camera (610b) or the cliff sensor (660), the robot (1) can continue driving. While continuing to drive, the wheel (310) of the robot (1) touches the floor obstacle. The robot (1) whose wheel (310) is caught on the floor obstacle has its center of gravity momentarily shifted forward.

[0362] As described above, the robot (1) of the present invention is subject to balance control to ensure stable driving with two wheels (310). When the center of gravity is tilted forward, the wheels (310) are controlled to rotate backward to move the center of gravity backward. In other words, the robot (1) moves backward.

[0363] The robot (1), which has regained balance in its center of gravity, rotates its wheels (310) forward to move forward again, but encounters an obstacle on the ground again. The center of gravity of the robot (1) shifts forward again, and balance control is re-executed, controlling the robot (1) to move backward.

[0364] In this way, when there is a floor obstacle ahead of the driving path, the robot (1) enters a state of repeating forward and backward movement with the floor obstacle ahead.

[0365] The reason why this problem occurs is because balance control is performed during normal driving of the robot (1). (See Fig. 13)

[0366] Balance control is an advantageous control method because it allows a two-wheeled robot (1) to navigate nimbly while also ensuring stability. However, when passing an obstacle on the ground, the robot's (1) center of gravity inevitably temporarily shifts. Maintaining balance in this way prevents the robot from climbing the obstacle. In other words, balance control actually hinders the robot's (1) navigation.

[0367] If the robot (1) repeats forward and backward movement a certain number of times or more after the sensor unit (600) detects a floor obstacle in front, the control unit (700) can determine that an impassable floor obstacle exists in the robot's (1) driving path. In this case, the robot (1) performs a preset response motion to avoid the floor obstacle. This will be described later.

[0368] 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 without the center of gravity shaking, the robot (1) will drive while maintaining balance control. (S1200)

[0369] The control method of a robot to respond to a floor obstacle may further include an arm rotation step (S1300) of rotating the arm (400) forward.

[0370] As described above, this step (S1300) can be performed when the robot (1) is in a state of repeating forward and backward movement a certain number of times or more while placing a floor obstacle in front.

[0371] The arm (400) can be rotated by the rotational drive of the arm motor (MA).

[0372] 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). (See the right figure of Fig. 14)

[0373] 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 portion (420) is positioned forward and lower than the upper end of the robot body (100).

[0374] Meanwhile, the forward direction repeatedly described here refers to the direction in which the robot mask (500) is placed.

[0375] In this way, when the arm (400) rotates and is positioned forward of the robot body (100), the overall center of gravity of the robot (1) can be positioned forward. More specifically, the overall center of gravity of the robot (1) can be positioned forward of the center of rotation of the wheel (310).

[0376] In this step (S1300), the robot (1) can move backward.

[0377] The backward movement of the robot (1) is achieved by the backward rotation of the wheel (310). For example, the arm (400) may be rotated forward after the wheel (310) is rotated backward and the robot (1) moves backward. (See the left figure of Fig. 14)

[0378] As another possible example, the robot (1) may move backward after the arm (400) has rotated forward.

[0379] The method for controlling a robot to respond to a floor obstacle may further include a balance control release step (S1400).

[0380] 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)

[0381] At this time, the wheel (310) is rotated backwards so that the robot (1) can move backwards with respect to a floor obstacle. That is, moving the robot (1) backwards can be performed even after balance control is released.

[0382] When the robot (1) moves backward after the balance control is released, the center of gravity of the robot (1) is shifted forward, so that the robot (1) can be supported at three points on one or more objects, i.e., lie face down facing forward.

[0383] Here, the object means an object that exists outside the robot (1) and comes into contact with any component of the robot (1), and in the present invention, it may be a ground or floor obstacle.

[0384] 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.

[0385] At this time, each of the left and right wheels (310) is in a form that supports the ground, and the arm (400), more specifically, the connecting portion (420) of the arm (400), is in a form that supports the ground or floor obstacle.

[0386] For example, the connecting portion (420) may be supported on the upper side of a floor obstacle. In another example, the connecting portion (420) may be supported on the ground in front of the floor obstacle. When the connecting portion (420) supports the ground in front of the floor obstacle, the connecting portion (420) and the wheel (310) may be respectively positioned in front and rear with the floor obstacle in between.

[0387] A three-point support configuration may refer to a configuration in which one or more objects are supported through three contact points. In this case, the contact point between the left wheel and the ground may be defined as the first contact point (P1), the contact point between the right wheel and the ground may be defined as the second contact point (P2), and the contact point between the connecting portion (420) and the ground (or a floor obstacle) may be defined as the third contact point (P3). (See FIG. 15)

[0388] Of course, since the connecting portion (420) of the arm (400) is formed in a form that extends long to the left and right to connect the left and right rotational joints (410), the third contact portion (P3) can also be formed in a form that extends long to the left and right.

[0389] After the three-point support form is formed in this step (S1400), if the forward tilt angle of the robot body (100) is smaller than a preset threshold value, at least one motor arranged in the robot body (100) or wheel (310) can be driven.

[0390] If the forward tilt angle of the robot body (100) is smaller than a preset threshold, this may be the case, for example, when the height of a floor obstacle is high and the center of gravity of the robot (1) is not sufficiently tilted forward. In this case, as described above, the tilt angle of the robot body (100) can be measured by an IMU sensor (650).

[0391] The robot (1) must be sufficiently tilted forward so that the forward tilt angle of the robot body (100) is sufficiently large to stably climb and pass over a floor obstacle. If the robot (1) is not sufficiently tilted forward, the center of gravity of the robot (1) may shift rearward before the robot (1) completes climbing the floor obstacle when moving forward.

[0392] 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.

[0393] As an example of making the tilt angle larger when the forward tilt angle is smaller than a threshold value, the control unit (700) can drive the suspension motor (MS).

[0394] More specifically, the suspension motor (MS) can be controlled to rotate in a direction that increases the coupling angle between the upper and lower links. As the coupling angle between the upper and lower links increases, the lower link is pushed rearward, and the robot body (100), which is tilted forward, has the effect of tilting forward more significantly.

[0395] As an example of increasing the tilt angle when the forward tilt angle is smaller than a threshold value, the control unit (700) can drive the wheel motor (MW).

[0396] More specifically, the wheel motor (MW) is controlled to rotate backwards so that the robot (1) can move further backwards. When the robot (1) moves further backwards, the robot body (100), which is tilted forward, has the effect of tilting forward more significantly.

[0397] In this way, by making the forward tilt angle of the robot body (100) greater than the threshold value, the robot (1) can be prevented from flipping backward before passing over a floor obstacle.

[0398] A method for controlling a robot to respond to a floor obstacle may further include an obstacle passage step (S1500).

[0399] In this step (S1500), the robot (1) can climb the floor obstacle by moving forward with respect to the floor obstacle while the three-point support structure is formed (the robot (1) is in a prone position). (S1510)

[0400] The connecting portion (420) is in contact with the floor obstacle or the ground in front of the floor obstacle, and the robot (1) can pass through the floor obstacle with the force of the wheel (310) moving forward. (See FIGS. 16 to 18)

[0401] In this way, in the present invention, since the robot (1) moves forward in a prone position (three-point support type), there is an advantage in that the center of gravity does not shake greatly forward, backward, left, and right, and can pass through floor obstacles with stability.

[0402] Meanwhile, in this step (S1500), when moving the robot (1) forward to climb a floor obstacle, it can be controlled to move forward at a speed greater than the normal driving speed.

[0403] That is, the forward rotation speed of the wheel (310) when climbing a floor obstacle may be greater than the rotation speed of the wheel (310) when running on a flat surface. This allows the robot (1) to climb a floor obstacle with a large instantaneous force.

[0404] At this time, if the robot (1) cannot climb the floor obstacle, the rotation speed of the wheel (310) can be controlled to increase. The rotation speed of the wheel (310) can be increased stepwise if the robot (1) cannot climb the floor obstacle.

[0405] In this step (S1500), the robot (1) may overturn left and right while climbing a floor obstacle. For example, this problem may occur if the connecting member (420) is not evenly supported by the floor obstacle or if the floor obstacle is caught on only one of the left and right wheels (310). The left and right overturning of the robot (1) can be determined by measuring the inclination angle using the IMU sensor (650).

[0406] In this step (S1500), if the robot (1) overturns to the left or right while climbing a floor obstacle, all motors can be stopped (S1530).

[0407] More specifically, if the robot (1) overturns, the wheel motor (MW) continues to operate to maintain the rotation of the wheel (310), which may cause battery discharge problems and safety issues, so the wheel motor (MW) may be stopped.

[0408] For the same reason, the suspension motor (MW) and arm motor (MA) can also be controlled to stop or remain stopped.

[0409] While controlling the motor to stop, the control unit (700) can generate an error message. The error message can be generated as a visual and / or audible notification. For example, the error message can be visually displayed on the display (120). Alternatively, the error message can be transmitted as an alarm sound or voice through the speaker (450).

[0410] The method for controlling a robot to respond to a floor obstacle may further include a robot body elevation step (S1600).

[0411] If the robot (1) has completely passed the floor obstacle without overturning in the left or right direction, the robot (1) must recover its posture from the prone posture to the basic posture.

[0412] 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)

[0413] Here, forward may refer to a direction approaching the wheel (310). More specifically, the connecting portion (420) of the arm (400) may be rotated in a direction approaching the wheel (310). In other words, the connecting portion (420) may be rotated in a direction away from the robot mask (500). In yet another sense, the connecting portion (420) may be rotated until it is positioned vertically below the robot body (100).

[0414] Through this control, the height of the robot body (100) can be increased. (See Fig. 19)

[0415] The method for controlling a robot to respond to a floor obstacle may further include a balance control restart step (S1700).

[0416] After climbing and passing the 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).

[0417] Even after climbing over and passing a floor obstacle and rotating the connecting member (420) to raise the robot body (100), the overall center of gravity of the robot (1) is still tilted forward. In this state, when balance control is restarted, the wheel (310) is controlled to rotate backward so that the center of gravity moves backward.

[0418] Through this, the arm (400) is lifted, and the robot (1) is converted from a form in which it supports the ground at three points through the left and right wheels (310) and the connecting part (420) to a form in which it supports the ground at two points only through the left and right wheels (310). In other words, the robot (1) is converted from a prone position to a standing position. (See the left picture of Fig. 20)

[0419] The method for controlling a robot to respond to a floor obstacle may further include a basic posture recovery step (S1800) of the robot.

[0420] As described above, in the basic posture in which the robot (1) is driving on the ground, the arm (400) (more specifically, the connecting portion (420) of the arm (400)) is positioned at the rear of the robot body (100).

[0421] In the previous step (S1700), the robot (1) changed from a prone position to a standing position, but since the arm (400) is still positioned in front of the robot body (100), it must be returned to the basic position.

[0422] Therefore, in this step (S1800), the control unit (700) can rotate the arm motor (MA) to rotate the connecting unit (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)

[0423] The connecting part (420) can be rotated until it is positioned at the upper rear side of the robot body (100) in the basic posture when the robot (1) is running.

[0424] As described above, according to the present invention, when a ground obstacle is present ahead of the robot's driving direction, the arm rotates forward. This temporarily creates a configuration where the arm and two wheels support the ground or obstacle at three points, allowing the robot to easily climb the obstacle while maintaining balance.

[0425] Furthermore, according to the present invention, during normal driving, balance control is performed to control the rotation direction of the wheels according to the tilt of the robot, and the wheel balance control is released only when a ground obstacle is encountered. In other words, both driving agility and stability when responding to obstacles can be satisfied.

[0426]

[0427] Balance control when a user raises a fallen robot

[0428] Figure 21 is a flowchart illustrating a robot control method performed when a user raises a robot that has fallen on the floor according to an embodiment of the present invention. Figures 22 to 25 sequentially illustrate the process by which a user raises a robot that has fallen on the floor.

[0429] The wheel (310) is placed at the bottom of the robot body (100), and when the center of gravity of the robot body (100) is tilted, balance control can be performed to drive rotation in the opposite direction to the tilted direction.

[0430] The leg portion (200) may include an upper link and a lower link.

[0431] The upper link may be defined as a concept including a first link (210) and a second link (220), which are link structures arranged on the side of the robot body (100). The lower link may be defined as a concept including a third link (230), which is a link structure arranged on the side of the wheel (310).

[0432] The upper link can be rotatably connected to the robot body (100) on one side.

[0433] The lower link may have one side rotatably coupled to the other side of the upper link, and the other side rotatably coupled to the wheel (310).

[0434] A robot (1) according to an embodiment of the present invention may include a distance detection sensor, a forward / backward tilt detection sensor, a left / right tilt detection sensor, and an angle detection sensor. In this case, the sensors may be placed on the robot body (100).

[0435] The distance detection sensor can detect the distance between the robot body (100) and the floor surface (B). The distance detection sensor may be a cliff sensor. The cliff sensor may be configured in various ways within a range that can detect the relative distance between the point where the cliff sensor is formed and the ground. For example, the cliff sensor may include a light emitting unit that emits light and a light receiving unit that receives reflected light. The cliff sensor may be configured as an infrared sensor.

[0436] The forward / backward tilt detection sensor can detect the angle at which the robot body (100) is tilted forward / backward toward the floor surface (B). The left / right tilt detection sensor can detect the angle at which the robot body (100) is tilted left / right toward the floor surface (B).

[0437] The forward / backward tilt detection sensor and the left / right tilt detection sensor may be IMU sensors. The IMU sensor may be mounted and provided on a PCB inside the robot body (100). In order 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). 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 the measured data to the control unit (700). The control unit (700) may calculate the tilt direction and tilt angle of the robot body (100) using at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor.

[0438] 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, an encoder can detect the position of a motor and also the rotational speed of the motor. Accordingly, 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.

[0439] Meanwhile, if the distance detected by the distance detection sensor is less than or equal to a set distance, the angle detected by the tilt detection sensor is less than or equal to a first set angle, and the angle detected by the angle detection sensor is less than or equal to a second set angle, balance control can be performed.

[0440] At this time, the above-mentioned setting distance may be 20 mm. In addition, the first setting angle may be 20 degrees. In addition, the second setting angle may be 5 degrees.

[0441] When the wheel (310) comes into contact with the floor surface (B), the operation of the wheel motor (MW), suspension motor (MS), and arm motor (MA) may be stopped.

[0442] The robot (1) may fall over if it encounters an obstacle on the floor while driving or if its center of gravity is shifted. (S2100)

[0443] 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 is shifted. (S2200)

[0444] At this time, if the robot (1) falls, the wheel motor (MW) stops operating. (S2300)

[0445] When the wheel motor (MW) stops operating, the suspension motor (MS) stops operating. (S2400)

[0446] When the suspension motor (MS) stops operating, the arm motor (MA) stops operating. (S2500)

[0447] When the arm motor (MA) stops operating, the robot (1) is raised by the user, and the distance detection sensor detects whether the distance between the robot body (100) and the floor surface (B) is less than the set distance. (S2600)

[0448] 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 in a position close to the floor surface (B).

[0449] If the distance detected by the distance detection sensor is less than or equal to the set distance, the forward / backward tilt detection sensor can detect whether the angle at which the robot body (100) is tilted in the forward / backward direction toward the floor is less than or equal to the first set angle. (S2700)

[0450] If balance control is started while the robot body (100) is tilted significantly, the movement distance of the robot (1) may increase, causing the robot (1) to fall over again. Therefore, through this step (S2700), the movement distance of the robot (1) can be minimized when the robot (1) is raised by the user.

[0451] If the angle detected by the forward / reverse 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)

[0452] Even if the user raises the robot (1), if there is no contact force between the wheel (310) and the floor surface (B), balance control may be difficult. At this time, if 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).

[0453] 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)

[0454]

[0455] Control method for a robot tilted left and right

[0456] Figure 26 is a schematic diagram for explaining when a robot according to an embodiment of the present invention is tilted left and right toward the floor.

[0457] A pair of wheels (310) of a robot (1) according to an embodiment of the present invention can be defined as a concept including a first wheel and a second wheel.

[0458] The first wheel is positioned on the lower left and right sides of the robot body (100) and can roll along the floor surface (B). The second wheel is positioned on the lower left and right sides of the robot body (100) and can roll along the floor surface (B).

[0459] Additionally, the upper link of the robot (1) according to the embodiment of the present invention can be defined as a concept including a first upper link and a second upper link.

[0460] The first upper link can be rotatably coupled to one side of the robot body (100) in the left and right directions. The second upper link can be rotatably coupled to the other side of the robot body (100) in the left and right directions.

[0461] In addition, the lower link of the robot (1) according to the embodiment of the present invention can be defined as a concept including a first lower link and a second lower link.

[0462] The first lower link may be rotatably coupled at one end to the other end of the first upper link. The first lower link may be rotatably coupled at the other end to the first wheel.

[0463] The second lower link may be rotatably coupled at one end to the other end of the second upper link. The second lower link may be rotatably coupled at the other end to the second wheel.

[0464] 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 also the rotational speed of the motor. Accordingly, the suspension motor sensor can detect the position of the suspension motor and also the rotational speed of the suspension motor.

[0465] The suspension motor (MS) of the robot (1) according to the embodiment of the present invention can be defined as a concept including a first suspension motor (MS1) and a second suspension motor (MS2).

[0466] The first suspension motor (MS1) can adjust the first angle, which is the angle between the first upper link and the first lower link. The second suspension motor (MS2) can adjust the second angle, which is the angle between the second upper link and the second lower link.

[0467] A robot (1) according to an embodiment of the present invention may include a left-right tilt detection sensor that detects an angle (θ) at which the robot body (100) is tilted in the left-right direction toward the floor surface (B).

[0468] At this time, when the robot body (100) is tilted left and right 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 placed horizontally with the floor surface (B).

[0469] Specifically, referring to FIG. 26, the distance (L) from the floor surface (B) to the top of the first upper link and the distance (R) from the floor surface (B) to the top of the second upper link can be detected based on the rotation speeds of the first suspension motor (MS1) and the second suspension motor (MS2) detected by the encoder.

[0470] At this time, based on the left-right width (WB) of the robot body (100) and the tilt angle (θ) of the robot body (100) detected by the left-right tilt detection sensor, the difference (Diff) between the distance (L) from the floor surface (B) to the top of the first upper link and the distance (R) from the floor surface (B) to the top of the second upper link can be detected by the following mathematical formula.

[0471] [Mathematical Formula 1]

[0472]

[0473]

[0474] If the difference (Diff) between the distance (L) from the floor surface (B), which is the actual length of the left leg, to the top of the first upper link, and the distance (R) from the floor surface (B), which is the actual length of the right leg, to the top of the second upper link, is 0, the robot body (100) can be placed horizontally.

[0475] 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 placed horizontally with the floor surface (B).

[0476] Although the present invention has been described in detail through specific examples, this is for the purpose of specifically explaining the present invention, and the present invention is not limited thereto, and it is clear that the present invention can be modified or improved by a person having ordinary knowledge in the relevant field within the technical spirit of the present invention.

[0477] All simple modifications or changes of the present invention fall within the scope of the present invention, and the specific scope of protection of the present invention will be made clear by the appended claims.

Claims

1. Robot body with battery inside; Two wheels are placed at the bottom of the robot body and, when the center of gravity of the robot body is tilted, perform balance control to rotate in the opposite direction to the tilted direction; Two leg parts connected between the robot body and the wheel; An arm having an integrated structure including a pair of rotational coupling parts arranged on each of the left and right sides so as to be rotatably coupled to the robot body, and a connecting part connecting the pair of rotational coupling parts to each other; and It includes a sensor unit that detects a floor obstacle located in the driving path of the wheel; When the sensor unit detects the floor obstacle present in front of the robot in the driving direction, A robot that forms a three-point support form for one or more objects by releasing the balance control while the connecting part is positioned at the front of the robot body.

2. In paragraph 1, If the above wheel moves forward and backward a certain number of times with the above floor obstacle in front, A robot that rotates the above arm forward.

3. In paragraph 1, The above three-point support structure is, A robot in which the two wheels are each in contact with the ground, and the connecting part is formed by contacting the floor obstacle or the ground.

4. In paragraph 1, The above three-point support structure is, A robot having a form including a first contact portion which is a point of contact between the left wheel and the ground, a second contact portion which is a point of contact between the right wheel and the ground, and a third contact portion which is a point of contact between the connecting portion and the ground.

5. In paragraph 1, A robot that moves forward with respect to the floor obstacle while the above three-point support structure is formed and climbs and passes over the floor obstacle.

6. In paragraph 1, Before the above 3-point support structure is formed, A robot that moves backwards with respect to the above-mentioned floor obstacle by rotating the above-mentioned wheel.

7. In paragraph 1, With the above three-point support structure formed, A robot that drives at least one motor arranged on the robot body or the wheel when the forward tilt angle of the robot body is less than a preset threshold value.

8. In paragraph 7, The above motor, A suspension motor disposed on the robot body and coupled to the leg portion, If the forward tilt angle of the robot body is less than a preset threshold value, A robot that rotates the suspension motor to increase the coupling angle between the upper link and the lower link included in the leg section.

9. In paragraph 7, The above motor, A wheel motor coupled to the above wheel, If the forward tilt angle of the robot body is less than a preset threshold value, A robot that additionally moves backwards with respect to the above-mentioned floor obstacle by rotating the above-mentioned wheel motor.

10. In paragraph 1, A robot in which the balance control is restarted after climbing and passing the above-mentioned floor obstacle.

11. In paragraph 10, A robot in which the connecting part is placed at the rear of the robot body after the above balance control is restarted.

12. In paragraph 10, A robot that, after climbing and passing the above-mentioned floor obstacle, rotates the connecting part toward the wheel by a certain angle before the balance control is restarted.

13. In paragraph 1, A robot in which the motors arranged on the robot body or the wheels stop when the robot body overturns to the left or right while climbing the above-mentioned floor obstacle.

14. Robot body with battery inside; Two wheels are placed at the bottom of the robot body and, when the center of gravity of the robot body is tilted, perform balance control to rotate in the opposite direction to the tilted direction; Two leg parts connected between the robot body and the wheel; An arm rotatably coupled to the robot body; and It includes a sensor unit that detects a floor obstacle located in the driving path of the wheel; When the sensor unit detects the floor obstacle present in front of the robot in the driving direction, a preset response motion is performed. A robot in which the above-mentioned corresponding motion includes a motion that tilts the center of gravity of the robot body toward the front by releasing the balance control.

15. In paragraph 14, The above cancer, An integrated structure including a pair of rotating couplings arranged on each of the left and right sides, and a connecting portion connecting the pair of rotating couplings to each other, The above corresponding motion is a robot including a motion in which the robot forms a three-point support form for one or more objects by each of the two wheels and the connecting member.

16. In paragraph 15, The above three-point support structure is, A robot having a form including a first contact portion which is a point of contact between the left wheel and the ground, a second contact portion which is a point of contact between the right wheel and the ground, and a third contact portion which is a point of contact between the connecting portion and the ground.

17. Robot body with battery inside; A wheel placed at the lower part of the robot body and having balance control to rotate in the opposite direction to the tilted direction when the center of gravity of the robot body is tilted; A leg part including an upper link, one side of which is rotatably coupled to the robot body, and a lower link, one side of which is rotatably coupled to the other side of the upper link and the other side of which is rotatably coupled to the wheel; An arm rotatably connected to both sides of the robot body; A distance detection sensor that detects the distance between the robot body and the floor; A forward-backward tilt detection sensor that detects the angle at which the robot body is tilted in the forward-backward direction toward the floor surface; and It includes an angle detection sensor that detects the angle between the upper link and the lower link; A robot characterized in that the balance control is performed when the distance detected by the distance detection sensor is less than or equal to a set distance, the angle detected by the inclination detection sensor is less than or equal to a first set angle, and the angle detected by the angle detection sensor is less than or equal to a second set angle.

18. In paragraph 17, A wheel motor that rotates the above wheel; a suspension motor for adjusting the angle between the upper link and the lower link; and further comprising an arm motor that rotates the arm relative to the robot body; A robot characterized in that when the wheel comes into contact with the floor surface, the operation of the wheel motor, the suspension motor, and the arm motor is stopped.

19. In paragraph 17, A robot characterized in that the above setting distance is 20 mm.

20. In paragraph 17, A robot characterized in that the first set angle is 20 degrees.

21. In paragraph 17, A robot characterized in that the second setting angle is 5 degrees.

22. Robot body with battery inside; A first wheel positioned on the lower left and right sides of the robot body and moving on the floor surface; A second wheel positioned on the lower left and right sides of the robot body and moving on the floor surface; A first upper link, one side of which is rotatably connected to one side of the left and right directions of the robot body; A first lower link, one side of which is rotatably coupled to the other side of the first upper link and the other side of which is rotatably coupled to the first wheel; A second upper link, one side of which is rotatably connected to the left and right sides of the robot body; A second lower link having one side rotatably coupled to the other side of the second upper link and the other side 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; A second suspension motor for adjusting a second angle, which is an angle between the second upper link and the second lower link; and A robot characterized in that when the robot body is tilted in the left and right directions toward the floor surface, at least one of the first angle and the second angle is adjusted so that the robot body is positioned horizontally with the floor surface.

Images