Robot system and control method thereof

Abstract

The present invention relates to a robot system and a control method thereof, and comprises: a robot; a function module which is detachably coupled to the robot and which, when coupled to the robot, is electrically connected to the robot; and a station to which the function module is docked, wherein the station may comprise: a station main body; and a station terminal disposed in the station main body and electrically connected to a station-corresponding terminal of the function module.

Description

Robot system and its control method

[0001] The present invention relates to a robot system and a control method thereof.

[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] Meanwhile, 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 with two wheels have the advantage of taking up a small area of ​​land, 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] Like conventional mobile cleaning robots, domestic robots are powered by built-in batteries, requiring periodic charging. To this end, domestic robots can be equipped with charging stations similar to those used in conventional cleaning robots.

[0008] Prior art document, Korean Patent Publication No. 10-0575703, discloses a system and method for returning a robot vacuum cleaner to a charging station.

[0009] The charging station return system disclosed in the prior art is configured such that a robot cleaner is guided to a charging station detection area by a supporter sensor, and after the robot cleaner is guided to a specific location, the supporter sensor and the charging station sensor are used to recognize the charging station in three dimensions, thereby docking the robot cleaner to the charging station.

[0010] However, the charging station return system disclosed in the above-mentioned prior document only discloses docking guidance of a robot having a cleaning function and charging of the robot by the charging station, and does not disclose a function of emptying dust inside the dust bin of the robot along with charging the robot.

[0011] In addition, the charging station return system disclosed in the above-mentioned prior art has a problem in that the robot must dock after entering the charging station on its own, which requires many actions to be taken by the robot, resulting in unnecessary battery consumption.

[0012]

[0013] The present invention was created to improve the above-mentioned conventional problems, and the object of the present invention is to provide a robot system and a control method thereof that can charge a robot and / or a functional module as well as empty a dust bin of a functional module having a cleaning function.

[0014] In addition, the present invention aims to solve the problem of providing a robot system and a control method thereof, which enable the robot to move stably to the landing site during the process of docking a function module to the station by rotating the inclined portion of the station to the same height as the landing site.

[0015] In addition, the present invention aims to solve the problem of providing a robot system and a control method thereof in which a rotating part on which a robot and / or a functional module is mounted is arranged rotatably, so that the robot does not need to change direction on its own during the process of docking a functional module to a station.

[0016] In addition, the present invention aims to solve the problem of providing a robot system and a control method thereof, which are capable of docking a function module and a station without the robot having to drive itself, by having a sliding part that slides while the robot and / or the function module are installed therein.

[0017] In addition, the present invention aims to provide a robot system and a control method thereof capable of moving a robot closer to a station without consuming the robot's battery by having a transport unit that slides while the robot's arm is mounted thereon.

[0018]

[0019] In order to solve the above-described problem, a robot system according to the present invention includes: a robot; a function module detachably coupled to the robot and electrically connected to the robot when coupled to the robot; and a station to which the function module is docked; wherein the station may include: a station main body; and a station terminal disposed on the station main body and electrically connected to a station corresponding terminal of the function module.

[0020] The robot is equipped with a battery, and when the function module is electrically connected to the station while being coupled with the robot, the battery can receive power from the station through the function module.

[0021] The robot is equipped with a battery, and when the robot is coupled to the function module while the function module and the station are electrically connected, the battery can be supplied with power from the station through the function module.

[0022] The above station may include a suction unit disposed in the station body and sucking dust from a dust bin of the functional module; a dust collection unit that collects dust sucked through the suction unit; and a dust collection motor that provides suction force to the suction unit.

[0023] The station may include a mounting portion connected to the station body and on which the robot is mounted; and an inclined portion rotatably coupled to the mounting portion so that an angle of inclination with respect to the mounting portion is adjusted.

[0024] The above-mentioned mounting portions are arranged in pairs spaced apart from each other on the station body, and when the function module is docked to the station, at least a portion of the function module can be arranged between the pair of the mounting portions.

[0025] The station may further include a rotating part on which at least one of the robot and the function module is mounted and which is rotatably coupled to the station body.

[0026] The above station body may include an inclined member arranged at an angle with respect to the rotating part.

[0027] The station may further include a sliding part on which at least one of the robot and the function module is mounted and which is slidably connected to the station body.

[0028] The above station body may include a side wall at least partially disposed on both sides of the sliding part; and a guide rail disposed on the side wall and guiding the sliding movement of the sliding part.

[0029] The sliding part may include a mounting member on which at least one of the robot and the functional module is mounted; and an inclined member disposed at an angle with respect to the mounting member.

[0030] The robot may include a robot body that is detachably coupled to the functional module; and an arm whose ends are respectively connected to opposite sides of the robot body; and the station may further include a transport unit that moves the arm in a direction away from or closer to the station body.

[0031] The above-mentioned transfer unit may include a support member that is slidably connected to the station body and supports at least a portion of the arm; and a protruding member that protrudes from the support member and prevents the arm from being detached.

[0032] The robot may include a robot body having a motor and a battery; and a module coupling part disposed at the lower portion of the robot body and hooked to a coupling part of the functional module.

[0033] The above module coupling part may include a driving motor that is arranged inside the robot body and generates rotational power; a coupling hook that moves linearly and is hooked into a coupling hole of the coupling part; a rotating gear that transmits rotational power generated from the driving motor to the coupling hook; and a guide member that guides linear movement of the coupling hook.

[0034] In order to solve the above-described problem, a robot system according to the present invention includes: a robot; a functional module detachably coupled to the robot; and a station to which the functional module is docked; wherein the station may include a mounting module to which the robot is mounted during the process of the robot docking to or leaving the station; and a driving unit that selectively drives the mounting module depending on whether the robot is mounted on the mounting module.

[0035] In order to solve the above-described problem, a control method of a robot system according to the present invention may include an approach step in which a robot moves toward a station when a signal is received from the station; and a docking step in which the robot docks to the station after the driving unit of the station is driven.

[0036] The robot may include a robot body having a motor and a battery; leg parts respectively disposed on the left and right sides of the robot body; wheels rotatably coupled to the leg parts; and suspension motors housed in the robot body and respectively connected to the left and right leg parts to provide driving force to the leg parts; and the docking step may include a backward waiting step in which the robot is disposed at the entrance of the inclined section so that the robot can climb the inclined section of the station while moving backward; a settling step in which the robot moves backward and settles on the inclined section; a first driving step in which the suspension motor is driven so that the inclined section rotates upward by driving the driving part and the distance between the wheels and the robot body is reduced; and a communication step in which the dustbin of the functional module and the suction part of the station are communicated with each other after the robot moves backward.

[0037] The method may further include a dust collection step in which dust inside the dust bin is sucked in by driving the dust collection motor; a movement step in which the robot moves to the inclined section while being coupled with the function module; and a second driving step in which the suspension motor is driven to increase the distance between the wheel and the robot body while rotating the inclined section downward by driving the driving unit.

[0038] The above docking step may include a forward step in which the robot moves to the rotation part of the station; a coupling step in which the robot is coupled with the functional module mounted on the rotation part; a rotation step in which the rotation part rotates by driving the driving part; and a detachment step in which the robot moves forward while coupled with the functional module and detaches from the station.

[0039] The above docking step may include a forward step in which the robot moves to the rotation part of the station while being coupled with the function module; a rotation step in which the rotation part rotates by driving the driving part; a communication step in which the dust bin of the function module and the suction part of the station are connected after the robot moves backward; and a dust collection step in which the dust collection motor is driven to suck dust inside the dust bin.

[0040] The above docking step may include a mounting step in which the robot is mounted on the sliding part while being coupled with the functional module after the sliding part of the station is slid away from the station main body by driving the driving part; a communication step in which the dust bin of the functional module is communicated with the suction part of the station after the sliding part is slid toward the station main body by driving the driving part; and a dust collection step in which dust inside the dust bin is sucked in by driving the dust collection motor.

[0041] The above docking step may include a mounting step in which the robot is mounted on the sliding part while being coupled with the function module after the sliding part of the station is slid away from the station main body by driving the driving part; a separation step in which the robot is separated from the function module; and a function module return step in which the sliding part on which the function module is mounted is slid toward the station main body by driving the driving part.

[0042] The above docking step may include a forward step in which the transport part of the station slides away from the station main body by driving the driving part; a mounting step in which the robot main body of the robot is moved downward to mount the arm of the robot on the transport part; a backward step in which the transport part of the station is slid toward the station main body by driving the driving part after moving the wheel of the robot upward; a dismounting step in which the robot main body is moved upward to dismount the arm of the robot and the transport part after moving the wheel downward; and a coupling step in which the robot is coupled with the function module.

[0043] In order to solve the above-described problem, a robot system according to the present invention includes: a robot; a function module coupled to the robot and moved together; and a station to which the function module is docked; wherein the station may include: a station main body; a base connected to the station main body and on which the robot climbs and settles; and a station terminal disposed on the station main body and electrically connected to a station corresponding terminal of the function module.

[0044] In order to solve the above-described problem, a robot system according to the present invention includes: a robot; a functional module coupled to the robot and moved together; and a station to which the functional module is docked; wherein the station may include: a station main body; a base connected to the station main body and on which the robot climbs and settles; a suction unit disposed in the station main body and for sucking dust from a dust bin of the functional module; a dust collection unit for collecting dust sucked through the suction unit; and a dust collection motor for providing suction force to the suction unit.

[0045] The base may include a pair of inclined portions arranged at an entrance through which the robot climbs and having an upward slope toward the direction in which the robot enters.

[0046] The base may further include a pair of horizontally arranged mounting portions, each of which is connected to an upper end of the inclined portion and on which the robot is mounted.

[0047] The above-mentioned inclined portion can be rotatably coupled to the above-mentioned mounting portion.

[0048] When the above function module is docked to the station, at least a portion of the above function module can be placed between a pair of the above mounting portions.

[0049] The above functional module may include a module body having the dust bin inside; and a suction nozzle connected to the module body and sucking in air containing dust.

[0050] In a state where the above function module is coupled to the robot, the module body can be placed between the left and right wheels of the robot.

[0051] The base comprises a pair of inclined portions arranged at an entrance through which the robot climbs and having an upward slope toward the direction in which the robot enters; and a pair of horizontally arranged mounting portions, each of which is connected to an upper end of the inclined portions and on which the robot is mounted; and when the function module is coupled to the robot, at least a portion of the module body can be disposed between the pair of mounting portions.

[0052] The robot may include a robot body having a motor and a battery; and a module coupling part disposed at the lower portion of the robot body and hooked to a coupling part of the functional module.

[0053] The above module coupling part may include a driving motor that is arranged inside the robot body and generates rotational power; a coupling hook that moves linearly and is hooked into a coupling hole of the coupling part; a rotating gear that transmits rotational power generated from the driving motor to the coupling hook; and a guide member that guides linear movement of the coupling hook.

[0054] The robot may include a robot body having a motor and a battery; and a robot terminal disposed on the robot body and electrically connected to a robot corresponding terminal of the function module.

[0055] In order to solve the above-described problem, a control method of a robot system according to the present invention includes a control method of a robot system including a robot, a function module detachably coupled to the robot, and a station to which the function module is docked, the control method including a separation step in which the robot is separated from the function module; and a separation step in which the robot moves to leave the station.

[0056] The robot may include a robot body having a motor and a battery; leg parts respectively disposed on the left and right sides of the robot body; wheels rotatably coupled to the leg parts; and suspension motors which are accommodated in the robot body and respectively connected to the left and right leg parts to provide driving force to the leg parts; and the separation step may include a coupling release step in which a hook disposed on the lower side of the robot body and a coupling part disposed on the upper side of the function module are released from engagement; and a robot body elevation step in which the leg parts move the robot body upward by driving the suspension motor.

[0057] The station includes a slope disposed at an entrance through which the robot climbs, the slope having an upward slope toward the direction in which the robot enters; and a horizontally disposed mounting portion connected to an upper end of the slope and on which the robot is mounted; and in the detachment step, the robot disposed on the mounting portion can move and descend along the slope.

[0058] In order to solve the above-described problem, a control method of a robot system according to the present invention includes a robot, a function module electrically connectable to the robot, and a station to which the function module is docked, the control method including a climbing step in which the robot climbs onto a mounting portion of the station; and a coupling step in which a robot terminal of the robot and a robot corresponding terminal of the function module are electrically coupled to each other so that power is supplied to the robot.

[0059] The robot may include a robot body having the robot terminal; leg parts respectively disposed on the left and right sides of the robot body; and wheels rotatably coupled to the leg parts; and the climbing step may include an approach step in which the robot moves toward the station when a signal for charging the robot is received from the station; a backward waiting step in which the robot is disposed at the entrance of the inclined section so that the robot can climb the inclined section of the station while moving backward; and a settling step in which the robot moves backward, passes through the inclined section, and is settled on the settling section.

[0060] The robot may include a robot body having the robot terminal; leg parts respectively disposed on the left and right sides of the robot body; wheels rotatably coupled to the leg parts; and suspension motors which are accommodated in the robot body and respectively connected to the left and right leg parts to provide driving force to the leg parts; and the coupling step may include a robot body lowering step in which the robot body is lowered by driving the suspension motor so that the robot terminal and the robot corresponding terminal are contact-coupled with each other; and a robot body fixing step in which a coupling hook disposed on the lower side of the robot body and a coupling part disposed on the upper side of the function module are hooked and coupled with each other.

[0061] In order to solve the above-described problem, a control method of a robot system according to the present invention includes a robot, a function module coupled to the robot and moved together with the robot, and a station to which the function module is docked, the control method comprising: an inclined portion raising step of raising and rotating an inclined portion of the station; a moving step of moving the robot placed on a mounting portion of the station to the inclined portion while being coupled to the function module; and a driving step of driving a suspension motor of the robot so that a distance between a wheel of the robot and a robot body increases while lowering and rotating the inclined portion.

[0062] In the above driving step, the height of the robot body can be maintained constant while the inclined portion rotates downward.

[0063] In order to solve the above-described problem, a control method of a robot system according to the present invention includes a robot, a function module coupled to the robot and moved together, and a station to which the function module can be docked, the control method including a docking step in which the robot climbs the station while coupled to the function module, and the function module is docked to the station; and a dust collection step in which the station sucks up dust inside a dust bin of the function module.

[0064] The robot may include a robot body having a motor and a battery; leg parts respectively disposed on the left and right sides of the robot body; wheels rotatably coupled to the leg parts; and suspension motors each housed in the robot body and connected to the left and right leg parts to provide driving force to the leg parts; and the docking step may include an approach step in which the robot moves toward the station when a signal is received from the station; a backward waiting step in which the robot is disposed at the entrance of the inclined section of the station so that the robot can climb the inclined section while moving backward; a settling step in which the robot moves backward and settles on the inclined section; a first driving step in which the suspension motor is driven so that the distance between the wheels and the robot body decreases while rotating the inclined section upward; and a communication step in which the dustbin of the functional module and the suction section of the station are connected to each other after the robot moves backward.

[0065] In the first driving step, the height of the robot body can be maintained constant while the inclined portion rotates upward.

[0066] The control method of the robot system according to the present invention may further include, after the dust collection step, a moving step in which the robot moves to the inclined section while being coupled with the functional module; and a second driving step in which the suspension motor is driven to increase the distance between the wheel and the robot body while rotating the inclined section downward.

[0067] In order to solve the above-described problem, a control method of a robot system according to the present invention includes a robot, a function module coupled to the robot and moved together, and a station to which the function module can be docked, the control method including a docking step in which the robot climbs the station while coupled to the function module, and the function module is docked to the station; and an inclined portion descending step in which an inclined portion of the station is rotated downward.

[0068] The robot may include a robot body having a motor and a battery; leg parts respectively disposed on the left and right sides of the robot body; wheels rotatably coupled to the leg parts; and suspension motors respectively connected to the left and right leg parts to provide driving force to the leg parts; and the docking step may include an approach step in which, when a signal is received from the station, the robot moves toward the station; a backward waiting step in which the robot is disposed at the entrance of the inclined section so that the robot can climb the inclined section of the station while moving backward; a settling step in which the robot moves backward and settles on the inclined section; a driving step in which the suspension motor is driven so that the distance between the wheel and the robot body decreases while rotating the inclined section upward; and a connecting step in which the robot moves backward and a station corresponding terminal of the function module and a station terminal of the station are electrically connected.

[0069] In the above driving step, the height of the robot body can be maintained constant while the inclined portion rotates upward.

[0070]

[0071] As described above, the robot system and its control method according to the present invention have the effect of not only charging the robot and / or the functional module, but also emptying the dustbin of the functional module having a cleaning function.

[0072] In addition, the present invention has the effect of enabling the robot to travel stably to the mounting portion during the process of docking the function module to the station by rotating the inclined portion of the station to the same height as the mounting portion.

[0073] In addition, the present invention has the effect that the robot does not need to change direction on its own during the process of docking the function module to the station by arranging the rotating part on which the robot and / or the function module is mounted so as to be rotatable.

[0074] In addition, the present invention has an effect that docking of a function module and a station is possible without the robot driving itself, by providing a sliding part that slides while the robot and / or the function module are installed.

[0075] In addition, the present invention has the effect of allowing the robot to be moved closer to the station without consuming the robot's battery by providing a transport unit that slides while the robot's arm is mounted.

[0076]

[0077] Figure 1 is a perspective view illustrating a robot according to an embodiment of the present invention.

[0078] Figure 2 is a front view of a robot according to an embodiment of the present invention.

[0079] Figure 3 is a side view of a robot according to an embodiment of the present invention.

[0080] Figure 4 is a rear view of a robot according to an embodiment of the present invention.

[0081] Figure 5 is a plan view of a robot according to an embodiment of the present invention.

[0082] Figure 6 is a bottom view of a robot according to an embodiment of the present invention.

[0083] FIG. 7 is a drawing for explaining the coupling relationship between a robot mask and a robot body in a robot according to an embodiment of the present invention.

[0084] Figure 8 is a perspective view for explaining a functional module in a robot system according to an embodiment of the present invention.

[0085] Figure 9 is an exploded view for explaining the coupling structure of the module coupling portion and the functional module coupling portion of the robot according to an embodiment of the present invention.

[0086] FIG. 10a and FIG. 10b are drawings for explaining the operating principle of the module coupling part of the robot according to an embodiment of the present invention.

[0087] FIG. 11 is a drawing for explaining a state in which a robot and a function module are combined in a robot system according to an embodiment of the present invention.

[0088] Fig. 12 is a perspective view of a station according to the first embodiment of the present invention.

[0089] FIGS. 13a and 13b are exploded views showing some components of a station according to the first embodiment of the present invention.

[0090] Fig. 14 is a perspective view of a station according to a second embodiment of the present invention.

[0091] Figure 15 is an exploded view of some parts of a station according to a second embodiment of the present invention.

[0092] Fig. 16 is a perspective view of a station according to a third embodiment of the present invention.

[0093] Figure 17 is an exploded view of some parts of a station according to a third embodiment of the present invention.

[0094] Fig. 18 is a perspective view of a station according to a fourth embodiment of the present invention.

[0095] Fig. 19 is an exploded view of some parts of a station according to a fourth embodiment of the present invention.

[0096] Figure 20 is a block diagram for explaining the control configuration of a robot system according to an embodiment of the present invention.

[0097] Figure 21 is a flowchart showing a control method of a robot system according to an embodiment of the present invention.

[0098] Figure 22 is a flowchart showing a control method of a robot system according to the first embodiment of the present invention.

[0099] Figure 23a is a drawing showing an operation corresponding to step S1111 of Figure 22.

[0100] Figure 23b is a drawing showing an operation corresponding to step S1112 of Figure 22.

[0101] Figure 23c is a drawing showing an operation corresponding to step S1120 of Figure 22.

[0102] Figure 24 is a flowchart showing a control method of a robot system according to the first and second embodiments of the present invention.

[0103] Figure 25a is a drawing showing an operation corresponding to step S10 of Figure 24.

[0104] Figure 25b is a drawing showing the motion of the robot moving backward after step S1211 of Figure 24.

[0105] Figure 25c is a drawing showing an operation corresponding to step S1212 of Figure 24.

[0106] Figure 25d is a drawing showing an operation corresponding to step S1220 of Figure 24.

[0107] Figure 26 is a flowchart showing a control method of a robot system according to the first to third embodiment of the present invention.

[0108] Figures 27a and 27b are drawings showing operations corresponding to step S1310 of Figure 26.

[0109] Figure 27c is a drawing showing an operation corresponding to step S1320 of Figure 26.

[0110] Figure 27d is a drawing showing an operation corresponding to step S1330 of Figure 26.

[0111] Figure 28 is a flowchart showing a control method of a robot system according to the first to fourth embodiments of the present invention.

[0112] Figure 29a is a drawing showing an operation corresponding to step S10 of Figure 28.

[0113] Figure 29b is a drawing showing the operations corresponding to steps S1411 and S1412 of Figure 28.

[0114] Figure 29c is a drawing showing an operation corresponding to step S1413 of Figure 28.

[0115] FIG. 29d is a drawing showing the operations corresponding to steps S1414 and S1420 of FIG. 28.

[0116] Figure 29e is a drawing showing an operation corresponding to step S1430 of Figure 28.

[0117] Figure 29f is a drawing showing an operation corresponding to step S1440 of Figure 28.

[0118] Figure 30 is a flowchart showing a control method of a robot system according to the first to fifth embodiment of the present invention.

[0119] Figure 31a is a drawing showing an operation corresponding to step S10 of Figure 30.

[0120] Figure 31b is a drawing showing the operations corresponding to steps S1511 and S1512 of Figure 30.

[0121] Figure 31c is a drawing showing an operation corresponding to step S1513 of Figure 30.

[0122] Figure 31d is a drawing showing an operation corresponding to step S1514 of Figure 30.

[0123] Figure 31e is a drawing showing an operation corresponding to step S1520 of Figure 30.

[0124] Figure 32 is a flowchart showing a control method of a robot system according to the second embodiment of the present invention.

[0125] Figure 33a is a drawing showing an operation corresponding to step S10 of Figure 32.

[0126] Figure 33b is a drawing showing the operations corresponding to steps S2110 and S2120 of Figure 32.

[0127] Figure 33c is a drawing showing an operation corresponding to step S2130 of Figure 32.

[0128] Figure 33d is a drawing showing an operation corresponding to step S2140 of Figure 32.

[0129] Figure 34 is a flowchart showing a control method of a robot system according to the second embodiment of the present invention.

[0130] Figure 35a is a drawing showing an operation corresponding to step S10 of Figure 34.

[0131] Figure 35b is a drawing showing an operation corresponding to step S2210 of Figure 34.

[0132] Figure 35c is a drawing showing an operation corresponding to step S2220 of Figure 34.

[0133] FIG. 35d is a drawing showing the operations corresponding to steps S2230 and S2240 of FIG. 34.

[0134] Figure 35e is a drawing showing an operation corresponding to step S2250 of Figure 34.

[0135] Figure 36 is a flowchart showing a control method of a robot system according to the third embodiment of the present invention.

[0136] Figure 37a is a drawing showing an operation corresponding to step S10 of Figure 36.

[0137] Figure 37b is a drawing showing an operation corresponding to step S3110 of Figure 36.

[0138] Figure 37c is a drawing showing an operation corresponding to step S3130 of Figure 36.

[0139] Figure 38 is a flowchart showing a control method of a robot system according to the third embodiment of the present invention.

[0140] Figure 39a is a drawing showing an operation corresponding to step S10 of Figure 38.

[0141] Figure 39b is a drawing showing an operation corresponding to step S3210 of Figure 38.

[0142] Figure 39c is a drawing showing an operation corresponding to step S3220 of Figure 38.

[0143] Figure 39d is a drawing showing an operation corresponding to step S3230 of Figure 38.

[0144] Figure 39e is a drawing showing an operation corresponding to step S3240 of Figure 38.

[0145] FIG. 39f is a drawing showing the operations corresponding to steps S3250 and S3260 of FIG. 38.

[0146] Figure 40 is a flowchart showing a control method of a robot system according to the fourth embodiment of the present invention.

[0147] Figure 41a is a drawing showing an operation corresponding to step S10 of Figure 40.

[0148] Figure 41b is a drawing showing an operation corresponding to step S4110 of Figure 40.

[0149] Figure 41c is a drawing showing the operations corresponding to steps S4120 and S4131 of Figure 40.

[0150] Figure 41d is a drawing showing the operation corresponding to steps S4132 and S4140 of Figure 40.

[0151] Figure 41e is a drawing showing an operation corresponding to step S4151 of Figure 40.

[0152] FIG. 41f is a drawing showing operations corresponding to steps S4152, S4160, and S4170 of FIG. 40.

[0153] Figure 41g is a drawing showing an operation corresponding to step S4180 of Figure 40.

[0154]

[0155] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0156] 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.

[0157]

[0158] FIGS. 1 to 6 illustrate a perspective view, a front view, a side view, a rear view, a plan view, and a bottom view, respectively, for explaining a robot according to an embodiment of the present invention, and FIG. 7 illustrates a drawing for explaining a coupling relationship between a robot mask and a robot body in a robot according to an embodiment of the present invention.

[0159] Referring to FIGS. 1 to 6, a robot (1) according to an embodiment of the present invention will be described as follows.

[0160] The robot (1) according to an embodiment of the present invention is configured to be placed on the floor and move along the ground. Accordingly, the following description will be given of the up-down direction based on the state in which the robot (1) is placed on the floor.

[0161] And, the direction in which the obstacle detection camera (610) to be described later is placed is set as the front of the robot (1) and explained. In addition, the direction opposite to the front is set as the rear of the robot (1) and explained.

[0162] 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.

[0163] 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).

[0164]

[0165] Robot body

[0166] Referring to FIGS. 1 to 7, the robot body (100) of the robot (1) according to the embodiment of the present invention will be described as follows.

[0167] 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 implement a standby posture for power saving or a posture for getting up after falling through the arms (400). The lower part of the robot body (100) can be detachably coupled to a function module (800). The robot body (100) can perform additional functions by being coupled to the function module (800).

[0168] Some of the components that make up the robot (1) can be accommodated inside the robot body (100).

[0169] 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 (B).

[0170] Additionally, although not shown, at least one bumper may be provided inside the main body housing (110).

[0171] 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).

[0172] 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).

[0173] 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).

[0174] 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.

[0175] Specifically, an upper leg (210) may be rotatably coupled inside the main body housing (110). For example, a link frame (not shown) to which the upper leg (210) is linked may be provided inside the main body housing (110).

[0176] 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 an upper leg (210).

[0177] A pair of leg guide holes may be formed in the main body housing (110). For example, a pair of leg guide holes may be formed in parallel along the front-rear direction of the main body housing (110).

[0178] With this configuration, the leg part (200) can rotate along the leg guide hole and guide the rotational movement range of the leg part (200).

[0179] 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.

[0180] 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).

[0181] 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).

[0182]

[0183] 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.

[0184] Meanwhile, the display (120) can visually convey information about the operating status of the robot (1) to the user.

[0185] 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).

[0186] The display (120) can display information such as operating time information of the robot (1) and battery (B) power information.

[0187] 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.

[0188] 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).

[0189]

[0190] A robot terminal (170) may be arranged in the main body housing (110). For example, the robot terminal (170) may be arranged facing the ground. As an example, the robot terminal (170) may be arranged to face the ground. As another example, the robot terminal (170) may be arranged at a predetermined angle with respect to the ground. With this configuration, when the robot (1) is coupled with the function module (800), the robot terminal (170) may come into contact with the robot corresponding terminal (840) provided in the function module (800).

[0191] The robot terminal (170) can be electrically connected to the function module (800). With this configuration, the robot (1) can be supplied with power through the robot terminal (170). The power supplied to the robot terminal (170) can be supplied to the battery (B). In addition, the robot (1) can receive an electric signal through the robot terminal (170). The electric signal transmitted through the robot terminal (170) can be received by the control unit (700).

[0192]

[0193] A microphone (140) may be placed in the main body housing (110). 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). With this configuration, the microphone (140) can detect sounds coming from various directions and detect the location of a sound source.

[0194]

[0195] A module coupling part (150) may be arranged at the bottom of the main body housing (110). The module coupling part (150) is detachably coupled to the functional module (800). Specifically, the module coupling part (150) may be selectively coupled to or separated from the functional module (800).

[0196] For example, the module coupling part (150) is configured in the form of an electromagnet, and can selectively apply magnetic force (attractive force) to the function module (800) depending on the power supply. As another example, the module coupling part (150) can be configured to be hook-coupled with the coupling part (830) of the function module (800). In this case, the coupling force between the robot body (100) and the function module (800) can be strengthened.

[0197] With this configuration, the module coupling part (150) can be coupled to the coupling part (830) of the metal material (or electromagnet) provided in the function module (800) at an accurate position.

[0198] A robot terminal (170) may be arranged in the module coupling portion (150). The robot terminal (170) may be arranged at a position where it comes into contact with the robot corresponding terminal (840) when the module coupling portion (150) of the robot (1) and the coupling portion (830) of the function module (800) are coupled to each other. Specifically, when the module coupling portion (150) of the robot (1) and the coupling portion (830) of the function module (800) are physically coupled, the robot terminal (170) of the robot (1) and the robot corresponding terminal (840) of the function module (800) may come into contact with each other and be electrically connected. Therefore, the module coupling portion (150) has the effect of guiding the robot terminal (170) and the robot corresponding terminal (840) provided in the function module (800) to come into contact with each other at an accurate position.

[0199] The robot terminal (170) can be electrically connected to the function module (800). The robot terminal can be electrically connected by making contact with the robot corresponding terminal (840) provided in the function module (800).

[0200] With this configuration, power of the robot body (100) can be supplied to the function module (800) through the robot terminal (170). Conversely, power of the function module (800) can be supplied to the robot (1) through the robot terminal (170). In addition, the robot body (100) can transmit and receive electric signals with the function module (800) through the robot terminal (170).

[0201] Meanwhile, a detailed description of the function module (800) will be described later.

[0202]

[0203] An operating unit (160) may be placed in the main body housing (110). For example, the operating unit (160) may be placed at the rear of the main body housing (110).

[0204] The control unit (160) can be operated by the user, and the power of the robot (1) can be turned on / off by operating the control unit (160).

[0205] The operating unit (160) may be provided so as to be pushable to the main body housing (110) or may be provided so as to pivot left and right depending on the embodiment.

[0206] For example, the control unit (160) may be a button. Accordingly, when the power of the robot (1) is off, the user can turn on the power of the robot (1) by pushing the control unit (160) and pressing the control unit (160). In addition, when the power of the robot (1) is on, the user can turn off the power of the robot (1) by pushing the control unit (160).

[0207]

[0208] Meanwhile, an obstacle detection camera (610) may be placed at the front of the main body housing (110). Depending on the embodiment, a plurality of obstacle detection cameras (610) may be placed. For example, a first detection camera (611) may be placed at the front lower portion of the main body housing (110), and a second detection camera (612) may be placed at the front upper portion of the main body housing (110). At this time, the obstacle detection camera (610) may be placed on a center line passing through the left and right centers of the main body housing (110). With this configuration, the obstacle detection camera (610) can detect an object or person placed at the front of the robot (1).

[0209] Additionally, an IR sensor (620) may be placed in the main body housing (110). Depending on the embodiment, a plurality of IR sensors (620) may be placed. For example, a first IR sensor (621) may be placed in the front lower portion of the main body housing (110), and a second IR sensor (622) may be placed in the rear portion of the main body housing (110). With this configuration, the IR sensor (620) can detect the position of a light source that generates infrared rays.

[0210] The IR sensor (620) may be positioned close to the obstacle detection camera (610). For example, the first IR sensor (621) may be positioned directly below the first obstacle detection camera (611).

[0211] With this arrangement, the IR sensor (620) can detect the light irradiated by the lamp of the function module (800) or the IR emitter (970) of the station (900), and when the robot body (100) approaches the lamp of the function module (800) and / or the IR emitter (970) of the station (900), the obstacle detection camera (610) can detect the shape of the function module (800) and / or the station (900).

[0212]

[0213] leg

[0214] Referring to FIGS. 1 to 7, the leg portion (200) of the robot (1) according to the embodiment of the present invention will be described as follows.

[0215] 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 portions (200) is arranged closer to the ground than the robot body (100). Therefore, the robot body (100) can move while standing on the ground by the pair of leg portions (200). That is, the gravity applied to the robot body (100) can be supported by the leg portions (200), and the height of the robot body (100) can be maintained.

[0216] The leg section (200) includes an upper leg (210) and a lower leg (230). At this time, the upper leg (210) is rotatably coupled to the robot body (100) and the lower leg (230).

[0217] Meanwhile, although not shown, the upper leg (210) includes a first link and a second link. At this time, the first link and the second link are rotatably connected to the robot body (100) and the lower leg (230), respectively. That is, the first link and the second link are link-connected to the robot body (100) and the lower leg (230), respectively.

[0218] The first and second links are positioned within the upper link cover and are not exposed to the outside. The upper link cover is formed in a kind of corrugated pipe shape to accommodate the first and second links within it, and can be configured to be able to expand and contract in length according to the rotation of the upper leg (210).

[0219] The first link is linked to the inner left and right sides of the robot body (100).

[0220] The first link is connected to the suspension motor (MS). For example, the first link may be connected directly to the shaft of the suspension motor (MS) or through a gear. With this configuration, the first link receives driving power from the suspension motor (MS).

[0221] The first link is formed in a frame shape, and a suspension motor (MS) is connected to one longitudinal side, and a lower leg (230) is connected to the other longitudinal side. At this time, one side of the first link connected to the suspension motor (MS) may be positioned further from the ground than the other side connected to the lower leg (230).

[0222] One end of the first link is coupled to a leg support (not shown) provided within the main body housing (110). The first link may be rotatably coupled to the leg support. For example, one end of the first link may be formed in a disk shape or a circular plate shape. Accordingly, one end of the first link may penetrate the leg support and be connected to the suspension motor (MS).

[0223] One end of the first link is connected to the suspension motor (MS). For example, one end of the first link may be fixedly coupled to the shaft of the suspension motor (MS). With this configuration, when the suspension motor (MS) is driven, one end of the first link may rotate in conjunction with the rotation of the shaft of the suspension motor (MS).

[0224] The other end of the first link is rotatably connected to the lower leg (230). For example, a through hole may be formed in the other end of the first link. A shaft may be rotatably connected through the through hole. Both longitudinal ends of the shaft may be connected to the lower leg (230).

[0225] With this configuration, the shaft can be an axis around which the first link and / or the lower leg (230) rotate. Accordingly, the first link and the lower leg (230) can be connected to enable relative rotation.

[0226] 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).

[0227] For example, the gravity compensation unit may be a torsion spring. The gravity compensation unit may be wound to surround the outer surface of the first link. In addition, one end of the gravity compensation unit may be inserted into the first link and fixedly connected, and the other end of the gravity compensation unit may be inserted into the lower leg (230) and fixedly connected.

[0228] The gravity compensation unit applies force (rotational force) in a direction in which the angle between the first link and the lower leg (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 and the lower leg (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 and the lower leg (230) can be maintained within a predetermined angle range.

[0229] 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.

[0230]

[0231] The second link is linked to the inner left and right sides of the robot body (100). For example, the second link may be linked to a leg support (not shown) provided inside the body housing (110). That is, the second link may be linked together with the leg support (not shown) to which the first link is linked.

[0232] The second link is formed in a frame shape, one longitudinal side is connected to a leg support (not shown), and the other longitudinal side is connected to a lower leg (230).

[0233] The second link can accommodate wires. For example, a space can be formed on the inside of the second link to accommodate the wires. Accordingly, power from the battery (B) can be supplied to the wheel unit (300) via the wires. Furthermore, the wires can be prevented from being exposed to the outside.

[0234] One end of the second link is rotatably connected to the leg support. For example, although not shown, one end of the second link may be connected to a shaft that is connected to the leg support. The shaft may have a hollow space. A wire may pass through the hollow space. This configuration prevents the wire that supplies power from the battery (B) to the wheel motor (MW) from being exposed to the outside.

[0235] The other end of the second link is rotatably coupled to the lower leg (230). Specifically, the other end of the second link is rotatably coupled to the lower leg (230) via a shaft. For example, the other end of the second link may be formed in a disk shape, and the shaft may be coupled therethrough. In addition, both longitudinal ends of the shaft may be coupled to the lower leg (230). With this configuration, the shaft may become an axis around which the second link and / or the lower leg (230) rotate. Therefore, the second link and the lower leg (230) may be connected to be relatively rotatable.

[0236]

[0237] The lower leg (230) is linked to the first link and the second link and is linked to the wheel section (300).

[0238] The lower leg (230) is formed in a frame shape, and a first link and a second link are combined on one side in the longitudinal direction, and a wheel part (300) is combined on the other side in the longitudinal direction.

[0239] One longitudinal side of the lower leg (230) is linked to the first link and the second link. For example, a space may be formed on one side of the lower leg (230) to accommodate the first link and the second link. That is, one side of the lower leg (230) may be formed in the form of a pair of parallel frames, and the first link and the second link may be accommodated in the space between the pair of frames.

[0240] 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. Each shaft may pass through a first link and a second link. At this time, the first link may be arranged forward and lower than the second link. That is, the shaft passing through the first link may be arranged closer to the wheel (310) than the shaft passing through the second link.

[0241] Accordingly, the first link and the second link can be coupled to the lower leg (230) so as to be rotatable relative to each other.

[0242] The longitudinal other side of the lower leg (230) is connected to the wheel part (300). The longitudinal other side of the lower leg (230) may be formed to cover at least a portion of the wheel (310). For example, the longitudinal other side of the lower leg (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).

[0243] Additionally, a wheel motor (MW) can be accommodated inside the longitudinal side of the lower leg (230).

[0244] With this configuration, a wheel (310) and a wheel motor (MW) can be accommodated on the longitudinal side of the lower leg (230), and the wheel (310) can be rotatably coupled.

[0245] Meanwhile, a sensor capable of measuring the distance from the ground may be provided on the longitudinal side of the lower leg (230). Specifically, a cliff sensor (670) may be arranged on the lower leg (230). For example, a first cliff sensor (671) may be arranged on the front lower side of the lower leg (230), and a second cliff sensor (672) may be arranged on the rear upper side of the lower leg (230). With this configuration, the distance between the lower leg (230) and the wheel (310) and the ground can be measured. In addition, it is also possible to calculate the angle between the lower leg (230) and the ground through the distance difference between the first cliff sensor (671) and the second cliff sensor (672).

[0246] Meanwhile, although not shown, the leg portion (200) may be provided with a stopper. The stopper may be positioned inside the main body housing (110). The stopper may be positioned adjacent to the rotational coupling portion (410) of the arm (400). For example, the stopper may be positioned on the inner surface of the rotational coupling portion (410) formed in a cylindrical shape.

[0247] For example, the stopper may be placed on a leg support (not shown). As another example, the stopper may be placed on the first link.

[0248] The stopper may be formed in a protruding shape toward the rotational joint (410). The stopper may be supported by contact with a rotational projection (not shown) of the arm (400) to be described later. For example, a rotational projection protruding on the inner circumferential surface of the rotational joint (410) rotates together with the rotation of the arm (400), and may come into contact with the stopper when the arm (400) is rotated to a predetermined position.

[0249] With this configuration, the stopper can limit the rotation angle of the arm (400) when the arm (400) rotates.

[0250]

[0251] Looking at the balance by the leg section (200) as a whole, the first link and the second link are rotatably coupled to the link frame (not shown) provided inside the robot body (100), and the first link and the second link are linked to the lower leg (230). That is, the robot (1) has a structure that supports the robot body (100) through a four-section link consisting of the link frame (not shown), the first link, the second link, and the lower leg (230).

[0252] 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.

[0253] Meanwhile, the robot (1) according to the embodiment of the present invention can maintain balance by driving the suspension motor (MS) when lifting at least one of a pair of wheels (310) to overcome an obstacle or lowering the height of the robot body (100) for charging, etc.

[0254] When the suspension motor (MS) is driven, the first link rotates around the motor coupling portion as an axis, and the link coupling portion moves upward. Furthermore, the lower leg (230) moves in accordance with the rotation of the first link. Furthermore, the second link is pushed by the lower leg (230) and rotates. Consequently, one end of the lower leg (230) can move rearward, and the other end of the lower leg (230) can move upward.

[0255] 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.

[0256] 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.

[0257]

[0258] Wheel

[0259] Referring to FIGS. 1 to 7, the wheel part (300) of the robot (1) according to the embodiment of the present invention will be described as follows.

[0260] 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).

[0261] The wheel section (300) includes a wheel (310) that moves in a rolling manner over the ground by contacting the ground.

[0262] 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).

[0263] 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 can reduce the weight of the wheel frame.

[0264] 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.

[0265] 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.

[0266] The outer surface of the tire may have grooves formed in a predetermined pattern to improve the tire's grip.

[0267] In one embodiment, the tire may be formed of a rubber material having elasticity.

[0268] The wheel motor (MW) can provide driving force to the wheel (310). The wheel motor (MW) can receive power from the battery (B) and generate rotational force.

[0269] The wheel motor (MW) may be accommodated inside the other side of the lower leg (230). And, 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.

[0270] 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.

[0271]

[0272] cancer

[0273] Referring to FIGS. 1 to 7, the arm (400) in the robot (1) according to the embodiment of the present invention will be described as follows.

[0274] 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.

[0275] Specifically, the arm (400) includes a rotational joint (410) and a connecting portion (420).

[0276] 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) 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 the rotation coupling part (410) on one side rotates clockwise, the rotation coupling part (410) on the other side can rotate counterclockwise.

[0277] 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).

[0278] 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.

[0279]

[0280] The arm motor (MA) may be positioned inside the main body housing (110). Alternatively, depending on the embodiment, the arm motor (MA) may be positioned inside the rotary joint.

[0281] 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, the shaft of the arm motor (MA) can be connected to a reducer, and the reducer can be connected to a driven gear.

[0282] The reducer is composed of at least one gear, and transmits the rotational force applied from the arm motor (MA) to the driven gear, and can reduce the rotational speed of the driven gear through a 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.

[0283] The driven gear can be rotated integrally by being coupled with the rotary coupling (410). The driven gear can be meshed with the output end of the reducer to receive the rotational power of the arm motor (MA).

[0284] With this configuration, when the arm motor (MA) is operated, the rotary joint (410) can rotate.

[0285] 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).

[0286] 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.

[0287] 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).

[0288] 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).

[0289]

[0290] 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.

[0291] 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.

[0292] 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.

[0293] 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.

[0294] 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).

[0295] 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.

[0296] 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.

[0297] 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.

[0298] 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.

[0299] Meanwhile, the radius of rotation of the arm (400) may be longer than the maximum length of the first link and shorter than the maximum length of the leg portion (200). Specifically, the shortest distance from the 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 and shorter than the maximum length of the leg portion (200).

[0300] 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.

[0301]

[0302] In cases where no special user command or preset situation occurs, the outer end of the arm (400) may be positioned further from the ground than the robot body (100). With this configuration, the user can easily carry the robot (1) by holding the arm (400). In other words, the arm (400) can function as a handle that the user can grip.

[0303] And, if no special command from the user or a preset situation occurs, the arm (400) can be placed behind the robot mask (500). This is to prevent the robot mask (500) from being covered by the arm (400) when the user looks at the robot (1).

[0304] Meanwhile, when a special command from the user or a preset situation occurs, the arm (400) can rotate and implement various functions.

[0305] For example, the robot (1) can implement a squatting (scooch down) posture. To this end, the robot (1) can rotate the arm (400) from the upper side of the robot body (100) to the lower side of the rear side of the robot body (100). In addition, or prior to the rotation of the arm (400), the leg portion (200) can be moved to lower the posture of the robot (1). Accordingly, even if the operation of the wheel motor (MW) is stopped and the wheel (310) does not rotate, the robot (1) can tilt backward, and the lower end of the pair of wheels (310) and the arm (400) can come into contact with the ground. Consequently, through the above-described operation of the robot (1), one arm (400) and one pair of wheels (310) can come into contact with the ground, and the robot body (100) can be supported at three points. Through this, a standby posture can be assumed to reduce power consumption.

[0306] As another example, the robot (1) can stand up from a fallen state by supporting the ground through the arm (400). To this end, the robot (1) can rotate the arm (400) toward the front of the robot body (100), and at the same time, the wheel (310) can be rotated in the direction in which the robot (1) moves forward. That is, a pair of wheels (310) can be rotated in a direction in which the distance from the arm (400) becomes shorter. Consequently, according to the robot (1) of the present invention, since one arm can support the ground and stand up, the robot (1) can be prevented from shaking or falling again during the standing up process, and the power consumed during the standing up operation can be minimized.

[0307]

[0308] Meanwhile, according to an embodiment, the arm (400) of the robot (1) may further include a detachable part (430) to be coupled with the functional module (800).

[0309] The attachment / detachment part (430) may be placed on the connection part (420). Specifically, the attachment / detachment part (430) may be placed on the outer surface of the connection part (420). Here, the outer surface of the connection part (420) may mean a surface placed in the opposite direction from the direction in which the connection part (420) faces the robot body (100).

[0310] With this configuration, the detachable part (430) can be exposed to the outside of the robot body (100) to facilitate contact with objects approaching from the outside of the robot (1).

[0311] The detachable part (430) can be detachably coupled with the functional module (800). Specifically, the detachable part (430) can be selectively coupled to or separated from the functional module (800).

[0312] The detachable part (430) is configured in the form of an electromagnet, and can selectively apply magnetic force (attractive force) to the functional module (800) depending on the power supply.

[0313] For example, the detachable part (430) may be configured in the form of an electromagnet. With this configuration, the detachable part (430) can form a uniform magnetic field over a wide area and can be stably coupled with the functional module (800).

[0314]

[0315] robot mask

[0316] As illustrated in FIG. 7, the robot (1) according to the embodiment of the present invention may further include a robot mask (500).

[0317] 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).

[0318] The robot mask (500) includes a mask body (510) and a window (550).

[0319] The mask body (510) constitutes the exterior of the robot mask (500). For example, based on the state in which the robot mask (500) and the robot body (100) are combined, the outer surface of the mask body (510) exposed to the outside may be formed into a curved shape having a predetermined curvature.

[0320] And the inner surface of the mask body (510) facing the robot body (100) can be formed in a shape corresponding to the shape of the robot body (100). For example, the inner surface of the mask body (510) can be formed in a flat shape corresponding to the shape of the display (120), and the outer surface thereof can have a side wall protrudingly formed to accommodate a portion of the body housing (110). Accordingly, the inner surface of the mask body (510) can be formed in the shape of an oval-shaped flat surface and a side wall surrounding the oval-shaped flat surface.

[0321] Although not shown, a magnet for bonding may be placed on the mask body (510).

[0322] For example, at least one magnet may be placed on a side wall protruding from the inner surface of the mask body (510).

[0323] In addition, the magnet generates magnetic force (attractive force) and is detachably coupled to the robot body (100). With this configuration, the magnet can couple the body housing (110) and the mask body (510) through magnetic force, and when a user applies an external force of a predetermined size or greater, the body housing (110) and the mask body (510) can be separated.

[0324] Although not shown, a mask communication unit is placed in the mask body (510) and can communicate with the communication unit (710) provided in the robot body (100).

[0325] The communication unit of the robot mask (500) can support wireless communication with the robot body (100). A short-range communication module can be provided as a wireless communication module to support wireless communication.

[0326] Short-range communication can be, for example, NFC (Near Field Communication).

[0327] Information about the shape of the robot mask (500) and the functions provided in the robot mask (500) can be transmitted to the robot body (100) through the communication unit of the robot mask (500). In addition, the communication unit of the robot mask (500) can receive a control command from the control unit (700) provided in the robot body (100).

[0328] Meanwhile, the robot mask (500) can be supplied with power from the robot body (100). Although not shown, the robot mask (500) may be equipped with a terminal that can be electrically connected to the robot body (100).

[0329] Meanwhile, the robot mask (500) according to an 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.

[0330] 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).

[0331] 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.

[0332]

[0333] Meanwhile, when the robot mask (500) is combined with the robot body (100), the face and expression can be displayed on the display (120).

[0334] 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.

[0335] The robot (1) can depict facial expressions by displaying preset images on the display (120), thereby allowing the user to perceive that the robot is expressing emotions.

[0336] For example, when a user returns home, the robot (1) may display a smiling face on the display (120) to express its happiness.

[0337] As another example, if the robot (1) detects a cliff and escapes the risk of falling, the robot (1) may display a surprised face and surprised eye expression on the display (120).

[0338] As another example, when a user calls a robot (1), the robot (1) may gaze at the user on the display (120) and display a curious facial expression. The robot (1) may be configured to detect and respond to a call when the user calls it with a specific pronunciation.

[0339] As another example, if the robot (1) cannot understand the user's command, the robot (1) may display a curious facial expression along with a symbol such as '?' on the display (120).

[0340] As another example, if the user continuously commands the robot (1) to perform a service, it may display a distressed facial expression along with a picture showing sweat.

[0341] As another example, if the user does not issue a command to the robot (1) for a preset period of time, a sleeping facial expression may be displayed.

[0342] In addition to the examples above, the robot (1) can express various emotions on the display (120), and the expressions that can be displayed can be improved or added through software updates, etc.

[0343] 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.

[0344] As described above, the robot (1) can visually display emotions by showing facial expressions on the display (120), and can also display emotions through voice output from the speaker (450).

[0345] For example, sounds such as smiling or surprised can be output in response to facial expressions displayed on the display (120).

[0346] 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).

[0347] For example, the emotion can be expressed by shaking the arm (400) while displaying a smiling expression on the display (120).

[0348]

[0349] Meanwhile, the display (120) may change the shape displayed when the robot mask (500) is combined depending on the shape of the robot mask (500).

[0350] Specifically, the control unit (700) of the robot (1) can receive information about the shape of the mask (500) through the mask communication unit (530). For example, each robot mask (500) has information about its shape recorded therein, and the control unit (700) can receive information about the shape of the robot mask (500) from the mask communication unit (530) of the robot mask (500). At this time, graphical user interface (GUI) information according to the shape of each mask (500) is stored in the memory (720). In addition, the control unit (700) can control the display (120) to display a GUI corresponding to the shape of the robot mask (500). Therefore, when the robot mask (500) and the robot body (100) are combined, the display (120) can display a GUI, and the GUI displayed on the display (120) can be viewed from the outside of the robot mask (500) by passing through the window (550).

[0351] Meanwhile, the user can directly select the GUI through the input unit (125). In addition, the control unit (700) can control the display (120) to display the GUI input by the user.

[0352] With this configuration, the user can purchase a robot mask (500) that suits his or her taste or customize the appearance of the robot (1) by selecting a GUI of his or her preference.

[0353]

[0354] Function module

[0355] FIG. 8 is a perspective view illustrating a functional module in a robot system according to an embodiment of the present invention.

[0356] As illustrated in Fig. 8, the robot (1) of the present invention includes a function module (800). The function module (800) is a component that provides various functions to the robot (1) by being coupled to the lower side of the robot body (100).

[0357] The function module (800) is detachably coupled to the robot body (100). For example, the function module (800) may be detachably coupled to the lower portion of the robot body (100). Specifically, the function module (800) may be coupled to a module coupling portion (150) positioned at the lower portion of the robot body (100).

[0358] In particular, in the case of the robot (1) of the present invention, since it is a two-wheeled robot, a space is formed between a pair of wheels (310) and a leg portion (200) in which a function module (800) is to be combined, and therefore, there is an advantage in that the overall volume does not increase significantly even when the robot body (100) and the function module (800) are combined.

[0359] In addition, through this arrangement, when the function module (800) is coupled to the robot body (100), not only a pair of wheels (310) but also the function module (800) can come into contact with the ground, and the number of points where the ground and the robot (1) are in contact and supported and the supported area can be increased. Therefore, according to the function module (800) of the present invention, when coupled to the robot body (100), there is an effect of easily maintaining the balance of the robot (1).

[0360] The function module (800) may be provided with a structure corresponding to the module coupling portion (150) of the robot body (100). For example, the function module (800) may be provided with a coupling portion (830) that is detachably coupled to the module coupling portion (150) of the robot body (100). In addition, the function module (800) may be provided with a robot corresponding terminal (840) corresponding to the robot terminal (170) of the robot body (100). The robot corresponding terminal (840) may be in contact with the robot terminal (170) of the robot body (100) to receive power from the robot body (100) and transmit and receive electric signals with the robot body (100).

[0361] Although not shown, the function module (800) may be equipped with a lamp. The lamp may indicate the position of the function module (800) through light emission. For example, the lamp may be an infrared (IR) light emitting diode (LED). With this configuration, the IR sensor (620) arranged on the robot body (100) can detect the position of the function module (800), and the robot body (100) can move toward the function module (800).

[0362] The function module (800) may include various configurations depending on the function.

[0363] When different function modules (800) are provided, the user can add or change the service provided by the robot (1) according to the present invention by replacing the function modules (800) as needed.

[0364]

[0365] As illustrated in FIG. 8, the function module (800) may be a cleaning module.

[0366] The function module (800) includes a module body (810), a suction nozzle (820), and a coupling part (830). With this configuration, when the function module (800) is coupled to the robot body (100), the robot (1) can perform dry cleaning.

[0367] The function module (800) can be detachably coupled to the robot (1). That is, the module body (810) can be detachably coupled to the robot body (100) via a coupling portion (830). Although not shown, the module body (810) can have a suction path formed therein for sucking dust.

[0368] A suction nozzle (820) capable of sucking up external dust may be provided at the front of the module body (810).

[0369] And, a dust bin (not shown) that can store sucked dust can be placed inside the module body (810).

[0370] The dustbin can provide a space for storing dust sucked in from the suction nozzle (820), and can be formed in a cylindrical shape. One side of the dustbin can be selectively opened, at least partially. Accordingly, when one side of the dustbin is opened, dust inside can be discharged through the open side of the dustbin.

[0371] For example, the dustbin may have at least a portion of its lower surface open. Here, the lower surface of the dustbin may refer to a surface facing the suction portion (940) of the station (900) when the function module (800) is docked to the station (900). The lower surface of the dustbin may refer to the rear surface of the function module (800). Therefore, when the function module (800) is docked to the station (900), the lower surface of the dustbin may be in communication with the suction portion (940) of the station (900).

[0372] As another example, the dustbin may have a discharge cover (not shown) arranged on the lower surface. The discharge cover may be configured to open and close one longitudinal end of the dustbin body. Specifically, the discharge cover may selectively open and close the lower portion of the dustbin that opens downward. In addition, the discharge cover may include a cover body (not shown) and a hinge part (not shown). The cover body may be formed to block a portion of the lower surface of the dustbin body. The cover body may rotate downward based on the hinge part. A torsion spring (not shown) may be provided on the hinge part. Accordingly, when the discharge cover is separated from the dustbin body, the cover body may be supported in a state in which the cover body is rotated by a predetermined angle or more about the hinge part as an axis by the elastic force of the torsion spring. The discharge cover may be coupled to the dustbin through a hook connection. Meanwhile, the discharge cover may be separated from the dustbin through a coupling lever (not shown). The coupling lever may be positioned at the front of the dustbin. Specifically, the coupling lever may be positioned on the outer surface of the front side of the dustbin. When an external force is applied, the coupling lever may elastically deform a hook extended from the cover body to release the hook coupling between the cover body and the dustbin body. When the discharge cover is closed, the lower surface of the dustbin may be blocked (sealed) by the discharge cover.

[0373] As another example, the dustbin may be equipped with a check valve (not shown) on the lower surface. The check valve can open the dustbin when suction is applied from outside the dustbin, and close the dustbin when suction is not applied.

[0374] A motor (not shown) that provides air suction power may be provided inside the module body (810). At this time, a wheel may be provided on the bottom surface of the module body (810).

[0375] In addition, the suction nozzle (820) can suck in air and dust while moving along the ground (floor surface). A suction port may be formed on the bottom of the suction nozzle (820). In addition, an agitator may be provided around the suction port. In addition, a wheel may be provided on the bottom of the suction nozzle (820). In addition, a motor that provides driving force to the agitator and / or the wheel may be further provided inside the module body (810).

[0376] The coupling part (830) is arranged on the upper part of the module body (810) and is coupled with the robot body (100). Specifically, the coupling part (830) may be arranged on the upper front side of the module body (810). The coupling part (830) may be detachably coupled with the module coupling part (150) of the module body (810). For example, the coupling part (830) may include at least a portion made of a metal material or an electromagnet. As another example, the coupling part (830) may be hook-coupled to the module body (810) by including a hook or the like. In this case, the coupling force between the module body (810) and the robot body (100) may be strengthened.

[0377]

[0378] Meanwhile, FIG. 9 is an exploded view illustrating a coupling structure of a module coupling portion and a functional module coupling portion of a robot according to an embodiment of the present invention, FIGS. 10a and 10b are drawings illustrating an operating principle of a module coupling portion of a robot according to an embodiment of the present invention, and FIG. 11 is a drawing illustrating a state in which a robot and a functional module are coupled in a robot system according to an embodiment of the present invention.

[0379] Hereinafter, the coupling structure of the coupling portion (830) and the module coupling portion (150) will be described in detail with reference to FIGS. 9, 10a, 10b, and 11.

[0380] The robot system according to an embodiment of the present invention may be configured with a structure in which a module coupling portion (150) and a coupling portion (830) are hooked to each other, thereby allowing the robot (1) and the function module (800) to be detachably coupled.

[0381] Specifically, the module coupling part (150) of the robot (1) according to the embodiment of the present invention may include a power transmission part (151), a driving motor (152), a rotation gear (153), a coupling hook (154), and a hook support part (155).

[0382] The power transmission unit (151) can be accommodated, at least in part, in the internal space of the robot body (100). More specifically, the power transmission unit (151) can be accommodated in the internal space of the robot body (100) together with a drive motor (152) that generates rotational power of the rotation gear (153).

[0383] The power transmission unit (151) may be composed of a plurality of power transmission members to transmit power generated by the rotation of the driving motor (152) to the rotary gear (153). For example, the power transmission unit (151) may be composed of a combination of gear parts that are directly meshed with each other. As another example, the power transmission unit (151) may be composed of a belt and a pulley.

[0384] The rotary gear (153) can rotate by receiving the rotary power of the drive motor (152). The rotary gear (153) can be indirectly connected to the drive motor (152) through other gear parts connected to the drive motor (152), and can also be coaxially connected to the rotational axis of the drive motor (152) depending on the arrangement of the drive motor (152).

[0385] The rotary gear (153) may include a rotary shaft (153a), a first shaft (153b), and a second shaft (153c). The rotary gear (153) may rotate around the rotary shaft (153a). The first shaft (153b) may be arranged on the upper side of the rotary gear (153), and the second shaft (153c) may be arranged on the lower side of the rotary gear (153).

[0386] The rotary gear (153) can be accommodated in the internal space of the power transmission unit (151). The first shaft (153b) can pass through the first shaft guide hole (151a) formed on the upper side of the power transmission unit (151). The second shaft (153c) can pass through the second shaft guide hole formed on the lower side of the power transmission unit (151).

[0387] The first axis guide hole (151a) and the second axis guide hole may be formed in a curved shape. For example, the first axis guide hole (151a) and the second axis guide hole may be formed in an arc shape or a semicircular shape. Accordingly, when the driving motor (152) is driven, the first axis (153b) can move along the first axis guide hole (151a), and the second axis (153c) can move along the second axis guide hole.

[0388] The coupling hook (154) is configured to move in a straight line and be hooked to the coupling portion (830) of the functional module (800), and serves to fix the functional module (800) to the robot body (100). The coupling hook (154) receives the rotational power of the driving motor (152) through the rotation gear (153) and can be inserted into or removed from the coupling hole (830a) of the functional module (800).

[0389] In order to stably connect the robot (1) and the function module (800), a pair of connecting hooks (154) may be provided, and a pair of connecting holes (830a) may be formed on both sides of the connecting portion (830) to correspond to the connecting hooks (154).

[0390] A second shaft (153c) passing through the second shaft guide hole can be inserted into the second shaft insertion hole (154a) of the coupling hook (154). The size or cross-sectional area of ​​the second shaft insertion hole (154a) can be formed to be larger than the size or cross-sectional area of ​​the second shaft (153c).

[0391] Referring to FIGS. 10a and 10b, when a robot (1) and a function module (800) are to be coupled, the drive motor (152) is driven so that the rotation gear (153) rotates counterclockwise around the rotation axis (153a), and the second shaft (153c) pushes the coupling hook (154) to pass through the through hole (155d). At this time, the size of the through hole (155d) can be formed to correspond to the coupling hole (830a), so that if the hook support part (155) is seated on the coupling part (830), the coupling hook (154) that has passed through the through hole (155d) can be fitted into the coupling hole (830a).

[0392] Conversely, when it is desired to release the connection between the robot (1) and the function module (800), the drive motor (152) is driven to cause the rotation gear (153) to rotate clockwise around the rotation axis (153a), thereby pulling the coupling hook (154) so ​​that it can be separated from the coupling hole (830a).

[0393] Meanwhile, the coupling hook (154) may be placed in the hook receiving space (155a) inside the hook support (155). The hook support (155) is for converting the rotational motion of the rotation gear (153) into the linear motion of the coupling hook (154), and may be placed on the lower side of the power transmission unit (151).

[0394] The hook support member (155) may include a guide member (155b). The guide member (155b) is configured to guide the linear movement of the coupling hook (154), and the guide member (155b) may support the outer side of the coupling hook (154). For example, the coupling hook (154) may be formed in a hexahedral shape, and a pair of guide members (155b) may be provided to support both sides of the coupling hook (154).

[0395] The guide member (155b) may be configured to surround at least a portion of the coupling hook (154) or may be configured to support at least a portion of the coupling hook (154). Therefore, even when the driving motor (152) is driven and the rotary gear (153) rotates, the coupling hook (154) can move in a straight line along the guide member (155b) without rotating together with the rotary gear (153).

[0396] The hook support (155) may include a module receiving space (155c). A coupling portion (830) of a functional module (800) may be arranged in the module receiving space (155c). At this time, when the coupling hook (154) moves linearly and passes through the through hole (155d) of the hook support (155), at least a portion of the coupling hook (154) may be arranged in the module receiving space (155c). That is, the robot (1) and the functional module (800) may be physically coupled by the coupling hook (154) being fitted into or caught in the coupling hole (830a) of the coupling portion (830) arranged in the module receiving space (155c).

[0397]

[0398] Meanwhile, in the present embodiment, the function module (800) may be coupled to the lower portion of the robot body (100). The robot body (100) is positioned above the function module (800) and may move together with the function module (800). The function module (800) may change its driving direction according to the movement of the robot body (100). This may make it appear to the user that the robot body (100) is climbing on top of the function module (800) and cleaning.

[0399] Meanwhile, the functional module (800) may be configured to be heavier at the rear than at the front where the suction nozzle (820) is positioned based on the coupling portion (830). Although not shown, a motor that is relatively heavier than other components may be positioned at the rear of the interior of the module body (810). In addition, although not shown, in the present embodiment, a weight that increases the weight of the functional module (800) may be further positioned at the rear of the interior of the module body (810).

[0400] Accordingly, the function module (800) can be combined with the robot body (100) and lifted together when the robot body (100) moves upward.

[0401] When the function module (800) is lifted by the robot body (100), the front end of the function module (800) can be lifted higher than the rear end.

[0402]

[0403] Although not shown, the functional module (800) may be a transport module including a support plate capable of supporting an object and a transport wheel coupled to the lower side of the support plate and capable of rolling over the ground. Alternatively, the functional module (800) may be a mop module including a pair of mops that rotate around a rotational axis and a water tank that stores water supplied to the mops. Alternatively, the functional module (800) may include an arm and a gripper.

[0404]

[0405] Station

[0406] The stations (900, 1900, 2900, 3900) according to the first to fourth embodiments of the present invention may include a settling module (922, 1920, 2920, 3920) and a driving unit (923, 1980, 2980, 3980).

[0407] The settling module (922, 1920, 2920, 3920) may be an inclined portion (922), a rotating portion (1920), a sliding portion (2920), or a transport portion (3920). The robot (1) may be settling on the settling module (922, 1920, 2920, 3920) when the robot (1) is docked to the station (900, 1900, 2900, 3900) or when the robot (1) is moving away from the station (900, 1900, 2900, 3900).

[0408] The driving unit (923, 1980, 2980, 3980) can selectively drive the settling module (922, 1920, 2920, 3920) depending on whether the robot (1) is settling on the settling module (922, 1920, 2920, 3920).

[0409]

[0410] FIG. 12 is a perspective view of a station according to a first embodiment of the present invention, and FIGS. 13a and 13b are exploded views showing some parts of the station according to the first embodiment of the present invention.

[0411] The station according to the first embodiment of the present invention will be described with reference to FIGS. 12, 13a and 13b as follows.

[0412] A robot system according to a first embodiment of the present invention may include a station (900). The station (900) may charge at least one of the robot (1) and the function module (800). For example, when the function module (800) is docked to the station (900), the station (900) may supply power to the function module (800) to charge it. As another example, when the function module (800) electrically coupled to the robot (1) is docked to the station (900), the station (900) may supply power to the function module (800) and the robot (1) to charge them.

[0413] Meanwhile, in this specification, the state in which the function module (800) is docked to the station (900) may mean a state in which the station corresponding terminal of the function module (800) and the station terminal (930) of the station (900) are electrically connected to each other and / or a state in which the dustbin of the function module (800) and the suction part (940) of the station (900) are connected.

[0414] The station (900) may include a station body (910), a base (920), a station terminal (930), a suction unit (940), a dust collection unit (950), and a dust collection motor (960).

[0415] Each component that constitutes the station (900) can be combined with the station body (910). For example, a base (920) can be combined with the station body (910). Additionally, some components that constitute the station (900) can be accommodated inside the station body (910).

[0416] The base (920) is configured to allow the robot (1) to climb and settle, and the settling module of the station (900) according to the first embodiment of the present invention may be an inclined portion (922). The robot (1) may be settled on the base (920) during the process of docking to the station (900) or leaving the station (900).

[0417] The base (920) can be connected to the station body (910). Additionally, the base (920) and the station body (910) can be placed on the ground.

[0418] The base (920) may include a pair of inclined portions (922) and a pair of mounting portions (921).

[0419] The mounting portion (921) is configured to mount a robot (1) that has climbed a slope (922), and can be placed on the station body (910). Specifically, the mounting portion (921) can extend horizontally from the front portion (910a) of the station body. Here, the front portion (910a) of the station body can refer to a surface facing the rear of the robot (1) when the robot (1) is mounted on the mounting portion (921). The mounting portion (921) can be placed parallel to the ground when the station (900) is placed on the ground.

[0420] When the function module (800) is docked to the station (900), the mounting portions (921) may be provided as a pair protruding from the front portion (910a) of the station. In addition, when the function module (800) is docked to the station (900), at least a portion of the module body (810) may be placed between the pair of mounting portions (921). In addition, each of the pair of mounting portions (921) may be connected to the upper end of the inclined portion (922).

[0421] The mounting portion (921) may include a support member (921a) and a mounting plate (921b).

[0422] The support member (921a) is configured to be in contact with the ground and can support the entire base (920). The support member (921a) can be formed in a hexahedral shape and can be provided as a pair protruding from the front part (910a) of the station main body.

[0423] Between the support members (921a), a first space (924a) can be formed in which the module body (810) is placed when the function module (800) is docked to the station (900).

[0424] The mounting plate (921b) may be formed in a plate shape on which a robot (1) climbing the inclined section (922) may be mounted. One side of the mounting plate (921b) may be connected to the upper end of the inclined section (922), and the other side may be connected to the upper end of the support member (921a).

[0425] A second space (924b) may be formed on the lower side of the mounting plate (921b) in which a suction nozzle (820) is placed when the function module (800) is docked to the station (900).

[0426] The inclined portion (922) can be rotatably coupled to the mounting portion (921). By rotatably coupling the inclined portion (922) to the mounting portion (921), the inclination angle of the inclined portion (922) with respect to the mounting portion (921) can be adjusted.

[0427] The slope (922) can be placed at the entrance through which the robot (1) climbs. The slope (922) can have an upward slope toward the direction in which the robot (1) enters.

[0428] The inclined portion (922) can be rotatably coupled to the mounting portion (921). The inclined portion (922) can rotate up and down about the end of the mounting portion (921).

[0429] When the robot (1) is climbing the slope (922), the slope (922) can be positioned so as to be in contact with the ground. When the slope (922) is in contact with the ground, the slope (922) can extend in a direction intersecting the horizontal direction.

[0430] At the lower side of the inclined portion (922), a third space (924c) can be formed in which the suction nozzle (820) can move when the inclined portion (922) is rotated upward in the horizontal direction.

[0431] The base (920) may include a driving unit (923) that adjusts the inclination angle of the inclined portion (922). The driving unit (923) may selectively rotate the inclined portion (922) depending on whether the robot (1) is positioned on the inclined portion (922).

[0432] For example, the driving unit (923) may be a motor that provides power to rotate the inclined unit (922). The driving unit (923) may adjust the inclination angle of the inclined unit (922) by rotating the inclined unit (922) relative to the mounting unit (921).

[0433] By driving the driving unit (923), the inclined portion (922) can be inclined by coming into contact with the ground (see FIG. 13a) or can be extended horizontally from the fixing portion (921) (see FIG. 13b).

[0434] When the function module (800) is docked to the station (900), at least a portion of the function module (800) can be placed between a pair of mounting portions (921). Specifically, when the function module (800) is docked to the station (900), at least a portion of the module body (810) of the function module (800) can be placed between a pair of mounting portions (921).

[0435] When the function module (800) is a cleaning module, the module body (810) can be placed between the left and right wheels (310) of the robot (1) while the function module (800) is coupled to the robot (1).

[0436] When the function module (800) is a cleaning module, the module body (810) can be placed between a pair of mounting parts (921) while the function module (800) is coupled to the robot (1).

[0437] That is, the inclined portion (922) and the fixing portion (921) can form a movement path of the robot (1).

[0438] When the inclined portion (922) is rotated so that it is in contact with the ground, the longitudinal direction of the inclined portion (922) can intersect with the longitudinal direction (horizontal direction) of the mounting portion (921).

[0439] The station (900) may include a station terminal (930). The station terminal (930) may charge at least one of the robot (1) and the function module (800). The station terminal (930) may be placed on the front part (910a) of the station body.

[0440] The station terminal (930) can be electrically connected to the station corresponding terminal of the function module (800). The function module (800) can receive power from the station (900) through the station corresponding terminal. In addition, the power supplied to the station corresponding terminal can be supplied to a battery inside the function module (800).

[0441] When the function module (800) and the robot (1) are electrically connected, and the function module (800) and the station (900) are electrically connected, the battery (B) of the robot (1) can be charged by receiving power from the station (900) through the function module (800).

[0442] For example, when the robot corresponding terminal (840) of the function module (800) is in contact with the robot terminal (170) of the robot (1) and the station corresponding terminal of the function module (800) is in contact with the station terminal (930) of the station (900), the battery (B) of the robot (1) can be charged by receiving power from the station (900) through the function module (800). That is, when the function module (800) is electrically connected to the station (900) while being coupled to the robot (1), the battery (B) of the robot (1) can be charged by receiving power from the station (900) through the function module (800).

[0443] As another example, when the robot corresponding terminal (840) of the function module (800) is in contact with the robot terminal (170) of the robot (1) while the station corresponding terminal of the function module (800) is in contact with the station terminal (840) of the station (900), the battery (B) of the robot (1) can be charged by receiving power from the station (900) through the function module (800).

[0444] Additionally, the station (900) can transmit and receive electrical signals with the function module (800) through the station terminal (930).

[0445] Here, the station corresponding terminal of the function module (800) may be placed on the rear side of the module body (810). That is, the position of the station corresponding terminal of the function module (800) may be placed at a position facing the station terminal (930) of the station (900).

[0446] The robot terminal (170) of the robot (1) can be electrically connected to the robot corresponding terminal (840) of the function module (800).

[0447] The robot (1) can receive power from the function module (800) through the robot terminal (170).

[0448] When the station corresponding terminal of the function module (800) and the station terminal (930) of the station (900) are electrically connected, and the robot corresponding terminal (840) of the function module (800) and the robot terminal (170) of the robot (1) are electrically connected, the battery (B) of the robot (1) can receive power from the station (900) through the function module (800).

[0449] Power is supplied from the station (900) to the function module (800), and the power supplied to the function module (800) is transmitted to the robot (1) so that the battery (B) of the robot (1) can be charged.

[0450] The robot (1) can transmit and receive electric signals to and from the function module (800) through the robot terminal (170).

[0451] The robot corresponding terminal (840) of the function module (800) may be placed on the upper side of the module body (810). That is, the position of the robot corresponding terminal (840) of the function module (800) may be placed at a position facing the robot terminal (170) of the robot (1).

[0452] The station (900) may include a suction unit (940).

[0453] The suction part (940) may be formed on the front part (910a) of the station body to allow external air to flow into the interior. As shown in FIGS. 13a and 13b, the suction part (940) may be positioned on the lower side of the station terminal (930), but alternatively, the suction part (940) may be positioned on the upper side of the station terminal (930).

[0454] The suction unit (940) can suck dust from the dust bin of the functional module (800). Dust in the dust bin of the functional module (800) can pass through the suction unit (940) and enter the dust collection unit (950). The suction unit (940) can be formed in the shape of a hole corresponding to the shape of the dust bin so that dust in the dust bin of the functional module (800) can enter the dust collection unit (950).

[0455] The station (900) may include a suction duct (not shown).

[0456] The suction path can connect the suction unit (940) and the dust collection unit (950). One end of the suction path can be connected to the suction unit (940), and the other end of the suction path can be connected to the dust collection unit (950). Dust in the dust bin of the functional module (800) can move to the dust collection unit (950) through the suction path. The suction path can be arranged at the rear side of the suction unit (940). The suction path can mean a space between the suction unit (940) and the dust collection unit (950). The suction path can be a space formed at the rear side of the suction unit (940), and can be a path that is formed by bending upward from the suction unit (940) so that dust and air can flow.

[0457] The station (900) may include a dust collection unit (950).

[0458] The dust collection unit (950) can collect dust sucked in through the suction unit (940). The dust collection unit (950) can be placed inside the station body (910).

[0459] For example, the dust collection unit (950) may mean a dust bag that collects dust sucked from inside the dust bin of the functional module (800) by the dust collection motor (960).

[0460] The dust collection unit (950) can be detachably coupled to the station body (910).

[0461] Accordingly, the dust collection unit (950) can be separated from the station body (910) and discarded, and a new dust collection unit (950) can be combined with the station body (910). That is, the dust collection unit (950) can be defined as a consumable part.

[0462] The dust bag may be provided so that its volume increases and dust is accommodated inside when suction power is generated by the dust collection motor (960).

[0463] To achieve this, the dust bag may be made of a material that is permeable to air but impermeable to foreign substances such as dust. For example, the dust bag may be made of a non-woven material and may have a hexahedral shape when expanded.

[0464] Alternatively, the dust bag may be formed of a permeable material. For example, the dust bag may include a roll of vinyl (not shown). With this configuration, when the dust bag is sealed or bonded, dust or odors trapped inside the dust bag can be prevented from leaking out of the dust bag. At this time, the dust bag may be mounted on the station body (910) via a dust bag cartridge (not shown). If necessary, the dust bag may be replaced via the dust bag cartridge.

[0465] Therefore, user convenience can be improved as there is no need for the user to separately bundle dust-collecting bags, etc.

[0466] The station (900) may include a dust collection motor (960).

[0467] The dust collecting motor (960) may be placed inside the station body (910). The dust collecting motor (960) may be placed at the bottom of the dust collecting unit (950).

[0468] The dust collecting motor (960) can provide suction power to the suction unit (940). The dust collecting motor (960) can generate suction power in the suction path. Through this, the dust collecting motor (960) can provide suction power capable of sucking up dust within the dust bin of the functional module (800).

[0469] The dust collecting motor (960) can generate suction force by rotation. For example, the dust collecting motor (960) can be formed in a shape similar to a cylinder.

[0470] Meanwhile, in the present embodiment, a virtual dust collecting motor axis line that extends the rotation axis of the dust collecting motor (960) can be formed. For example, the dust collecting motor (960) axis line can be arranged perpendicular to the ground.

[0471] A first filter (not shown) may be placed between the dust collection unit (950) and the dust collection motor. The first filter (not shown) may be a pre-filter.

[0472] A second filter (not shown) may be placed between the dust collection motor (960) and the station body (910). The second filter (not shown) may be a HEPA filter.

[0473] The station (900) may include an exhaust port (not shown).

[0474] The above exhaust port may be formed in the station body (910). For example, the exhaust port may be formed on the lower rear side of the station body (910) and may be connected to the dust collecting motor (960) in a flow path. Accordingly, air that is sucked in from the suction unit (940), passes through the dust collecting unit (950), and passes through the dust collecting motor (960), may be discharged to the outside of the station body (910) through the exhaust port.

[0475] The station (900) may include an IR transmitter (970).

[0476] The IR transmitter (970) may be placed on the front (910a) of the station body (910). The optical signal emitted from the IR transmitter has been described as an IR signal as an example, but is not limited thereto, and may be replaced with any one of a laser optical signal, an ultrasonic signal, a carrier frequency, and an impulse signal depending on the type of light source. Hereinafter, these will be collectively referred to as optical signals, IR optical signals, or IR signals.

[0477] The IR transmitter (970) may be placed in the station body (910). The IR transmitter (970) may be a device that emits infrared rays having a specific infrared wavelength band, for example, a specific wavelength having 25 micrometers or more or a wavelength of a specific wavelength band.

[0478] The IR transmitter (970) can notify the location of the station (900) through light emission. The light signal emitted from the IR transmitter (970) can be irradiated to the IR sensor (620) of the robot body (100).

[0479] With this configuration, the IR sensor (620) placed on the robot body (100) can detect the location of the station (900), and the robot body (100) can move toward the station (900).

[0480]

[0481] FIG. 14 is a perspective view of a station according to a second embodiment of the present invention, and FIG. 15 is an exploded view of some parts of the station according to the second embodiment of the present invention.

[0482] Referring to FIGS. 14 and 15, the station of the robot system according to the second embodiment of the present invention is described as follows.

[0483] A station (1900) of a robot system according to a second embodiment of the present invention may include a station body (1910), a rotating part (1920), a station terminal (1930), a suction part (1940), a suction path (not shown), a dust collection part (1950), a dust collection motor (1960), and an IR transmitter (1970).

[0484] Meanwhile, in order to avoid redundant explanation, other configurations may be based on the contents of the station (1900) according to the first embodiment of the present invention, except for those specifically mentioned in the second embodiment of the present invention.

[0485] Specifically, the station body (1910), station terminal (1930), suction unit (1940), suction path (not shown), dust collection unit (1950), dust collection motor (1960), and IR transmitter (1970) of the station (1900) according to the second embodiment of the present invention may each use the contents of the station body (910), station terminal (930), suction unit (940), suction path (not shown), dust collection unit (950), dust collection motor (960), and IR transmitter (970) of the station (900) according to the first embodiment of the present invention.

[0486] The station body (1910) of the station (1900) according to the second embodiment of the present invention may include a housing (1911), a base (1912), and an inclined member (1913).

[0487] The housing (1911) has a space inside, and each component that constitutes the station (1900) can be accommodated therein. For example, some components that constitute the station (1900), such as a suction path (not shown), a dust collection unit (1950), a dust collection motor (1960), and an IR transmitter (1970), can be accommodated inside the housing (1911).

[0488] The base (1912) can be coupled to the housing (1911). The base (1912) is connected to the housing (1911) and can be horizontally arranged parallel to the ground. The base (1912) can extend horizontally from the front portion (1911a) of the housing (1911).

[0489] The station body (1910) may include an inclined member (1913) positioned at an entrance through which the robot (1) climbs. The inclined member (1913) may be positioned inclined with respect to the rotating member (1920). The inclined member (1913) may extend from the front end of the base (1912).

[0490] The inclined member (1913) may have an upward slope toward the direction in which the robot (1) enters. More specifically, the inclined member (1913) may be connected such that the front end of the entrance side through which the robot (1) climbs is connected so that there is no height difference with the ground, but may have an upward slope toward the direction in which the robot enters. Accordingly, the robot (1) can easily climb from the ground to the station (1900).

[0491] The mounting module of the station (1900) according to the second embodiment of the present invention may be a rotating member (1920). When the robot (1) is docked to the station (1900) or when the robot (1) is moving away from the station (1900), the robot (1) may be mounted on the rotating member (1920). The rotating member (1920) may be rotatably coupled to the station body (1910). Specifically, the rotating member (1920) may be rotatably coupled to the base (1912). For example, the rotating member (1920) may be formed in the shape of a circular plate.

[0492] The rotating part (1920) may be positioned on top of the base (1912). The rotating part (1920) may be rotatably coupled to the base.

[0493] The rotating part (1920) can rotate clockwise or counterclockwise with respect to a rotation axis arranged vertically at the center of the rotating part (1920). For example, when the robot (1) is mounted on the rotating part (1920), the rotating part (1920) can rotate 180 degrees together with the robot (1). As another example, when the robot (1) is coupled with the function module (800) and mounted on the rotating part (1920), the rotating part (1920) can rotate 180 degrees together with the robot (1) and the function module (800). Accordingly, the robot (1) can easily climb forward when climbing the station (1900) for charging and / or emptying the dustbin of the function module (800), and can easily move forward when leaving the station (1900) after charging and / or emptying the dustbin of the function module (800) is completed. That is, the robot system according to the second embodiment of the present invention has the advantage of making it easy for the robot (1) to both enter and exit the station (1900).

[0494] The rotating part (1920) may include a mounting plate (1921) on which the wheel (310) of the robot (1) is mounted and a wheel guide part (1922) that guides movement of the wheel (310) of the robot (1).

[0495] The mounting plate (1921) may be configured to mount at least one of the robot (1) and the function module (800). When the station (1900) is placed on the ground, the mounting plate (1921) may be placed parallel to the ground.

[0496] The wheel guide portion (1922) can guide the movement of the wheel (310) of the robot (1). The wheel guide portion (1922) can be formed to protrude from both sides of the mounting plate (1921). More specifically, the gap between the wheel guide portions (1922) can be formed to be larger than the gap between the outer surfaces of a pair of wheels (310), thereby preventing the wheel (310) from coming off. As a result, when the wheel (310) of the robot (1) enters the station (1900), the left and right movement is restricted by the wheel guide portion (1922), so that the wheel (310) can be guided to the correct position.

[0497] Meanwhile, the rotating part (1920) can be rotated by power provided by the driving part (1980). The driving part (1980) can selectively rotate the rotating part (1920) depending on whether the robot (1) is positioned on the rotating part (1920).

[0498] The driving unit (1980) may be placed inside the station body (1910). For example, the driving unit (1980) may be a rotary motor.

[0499] The station (1900) may further include a power transmission unit (not shown) that transmits power to rotate the rotating unit (1920).

[0500] The power transmission unit may be placed inside the station body (1910). The power transmission unit may be accommodated in the internal space of the station body (1910) together with the driving unit (1980) that generates the rotational power of the rotating unit (1920). Some components of the power transmission unit may be placed inside the base (1912) and the main body housing (1911), and the remaining components may be placed inside the rotating unit (1920).

[0501] The power transmission unit may be composed of a plurality of power transmission members to transmit power generated by the rotation of the driving unit (1980) to the rotating unit (1920). For example, the power transmission unit may be composed of a belt and a pulley. However, the power transmission unit is not limited thereto and may also be composed of a combination of gear parts that are directly meshed with each other.

[0502]

[0503] Fig. 16 is a perspective view of a station according to a third embodiment of the present invention, and Fig. 17 is an exploded view of some parts of the station according to the third embodiment of the present invention.

[0504] Referring to FIGS. 16 and 17, the station of the robot system according to the third embodiment of the present invention is described as follows.

[0505] A station (2900) of a robot system according to a third embodiment of the present invention may include a station body (2910), a sliding part (2920), a station terminal (2930), a suction part (2940), a suction path (not shown), a dust collection part (2950), a dust collection motor (2960), and an IR transmitter (2970).

[0506] Meanwhile, in order to avoid redundant explanation, other configurations may be based on the contents of the station (1900) according to the first embodiment of the present invention, except for those specifically mentioned in the third embodiment of the present invention.

[0507] Specifically, the station body (2910), station terminal (2930), suction unit (2940), suction path (not shown), dust collection unit (2950), dust collection motor (2960), and IR transmitter (2970) of the station (1900) according to the third embodiment of the present invention can each use the contents of the station body (910), station terminal (930), suction unit (940), suction path (not shown), dust collection unit (950), dust collection motor (960), and IR transmitter (970) of the station (900) according to the first embodiment of the present invention.

[0508] The station body (2910) of the station (2900) according to the third embodiment of the present invention may include a housing (2911) and a side wall (2912).

[0509] The housing (2911) has a space inside, and each component forming the station (21900) can be accommodated therein. For example, some components forming the station (2900), such as a suction path (not shown), a dust collection unit (2950), a dust collection motor (2960), and an IR transmitter (2970), can be accommodated inside the housing (2911).

[0510] The side wall (2912) can be coupled to the housing (2911). The side wall (2912) can be positioned on both sides of the front portion (2911a) of the housing (2911). When the housing (2911) is in contact with the ground, the side wall (2912) can also be positioned to be in contact with the ground. At least a portion of the side wall (2912) can be positioned on both sides of the sliding portion (2920).

[0511] The settling module of the station (2920) according to the third embodiment of the present invention may be a sliding part (2920). When the robot (1) is docked to the station (2900) or when the robot (1) is moving away from the station (2900), the robot (1) may be settling on the sliding part (2920). The sliding part (2920) may be slidably coupled to the station body (2910).

[0512] The sliding member (2920) may include a settling member (2921) and an inclined member (2922).

[0513] A securing member (2921) may be disposed between the side walls (2912). The securing member (2921) may be slidably coupled to the side walls (2912). The securing member (2921) may be disposed horizontally between the side walls (2912) and parallel to the ground.

[0514] Meanwhile, a dust discharge port (2921a) may be formed in the mounting member (2921) of the station (2900) according to the third embodiment of the present invention. The dust discharge port (2921a) may be connected to a suction unit (2940) disposed in the station body (2910).

[0515] The suction unit (2940) may be formed on the bottom plate (2913). The bottom plate (2913) may be formed to protrude forward from the bottom of the housing (2911). The bottom plate (2913) has a space therein, and at least a portion of a suction path (not shown) may be arranged therein. The suction path (not shown) may connect the suction unit (2940) and the dust collection unit (2950) in a flow path manner. A portion of the suction path (not shown) may be arranged inside the bottom plate (2913), and the remaining portion may be arranged inside the housing (2911).

[0516] The dust bin of the functional module (800) can be opened toward the bottom, and when the functional module (800) is mounted on the mounting member (2921), the dust bin of the functional module (800) and the suction unit (2940) can be connected to each other. Accordingly, when the dust collection motor (2960) is driven, dust inside the dust bin of the functional module (800) can flow sequentially through the dust discharge port (2921a), the suction unit (2940), and the suction path (not shown) and be introduced into the dust collection unit (2950).

[0517] The inclined member (2922) may be arranged to be inclined with respect to the securing member (2921). The inclined member (2922) may be formed to be inclined downwards toward the ground from the end of the securing member (2921).

[0518] More specifically, the forward end of the inlet member (2922) may be connected so that there is no height difference with the ground, but may have an upward slope toward the fixing member (2921). Accordingly, the robot (1) can easily climb up from the ground to the station (2900).

[0519] Meanwhile, the station body (1910) may further include guide rails (2912a, 2912b).

[0520] The guide rails (2912a, 2912b) can guide the sliding movement of the sliding part (2920). The guide rails (2912a, 2912b) can be arranged on the inner side of the side wall (2912). The guide rails (2912a, 2912b) can extend in the front-back direction of the side wall (2912).

[0521] The guide rails (2912a, 2912b) may include an upper guide rail (2912a) and a lower guide rail (2912b). The upper guide rail (2912a) and the lower guide rail (2912b) may be arranged to be spaced apart from each other by a predetermined distance.

[0522] Guide protrusions (2923) may be formed on both sides of the sliding portion (2920). Specifically, guide protrusions (2923) may be formed on both sides of the fixing member (3921b).

[0523] A space may be formed between the lower end of the upper guide rail (2912a) and the upper end of the lower guide rail (2912b) in which a guide protrusion (2923) can slide. Accordingly, the guide protrusion (2923) can guide the movement of the sliding portion (2920) while moving forward and backward between the upper guide rail (2912a) and the lower guide rail (2912b).

[0524] Meanwhile, the sliding part (2920) can be moved by power provided by the driving part (2980). The driving part (2980) can selectively move the sliding part (2980) depending on whether the robot (1) is positioned on the sliding part (2920).

[0525] The driving unit (2980) may be placed inside the station body (2910). The driving unit (2980) may be placed inside the bottom plate (2913). For example, the driving unit (2980) may be a rotary motor.

[0526] The station (2900) may further include a power transmission unit (not shown) that transmits power to move the sliding unit (2920) in the forward and backward direction.

[0527] The power transmission unit may be positioned on the lower side of the sliding unit (2920). Specifically, the power transmission unit may be positioned inside the bottom plate (2913). The power transmission unit may be positioned in the internal space of the bottom plate (2913) together with the driving unit (2980) that generates the moving power of the sliding unit (2920).

[0528] The power transmission unit may be composed of a plurality of power transmission members to transmit power generated by the rotation of the driving unit (2980) to the sliding unit (2920). For example, the power transmission unit may be composed of a belt and a pulley.

[0529] However, the present invention is not limited thereto, and the power transmission unit may be configured as a combination of gear parts that are directly meshed with each other. For example, the power provided by the driving unit (2980) may be transmitted to the sliding unit (2920) by a combination of gear parts that are meshed with each other. Accordingly, the sliding unit (2920), which receives the movement power from the driving unit (2980), may slide forward and backward along the guide rails (2912a, 2912b).

[0530]

[0531] FIG. 18 is a perspective view of a station according to a fourth embodiment of the present invention, and FIG. 19 is an exploded view of some parts of a station according to the fourth embodiment of the present invention.

[0532] Referring to FIGS. 18 and 19, the station of the robot system according to the fourth embodiment of the present invention is described as follows.

[0533] A station (3900) of a robot system according to a fourth embodiment of the present invention may include a station body (3910), a transfer unit (3920), a station terminal (3930), a suction unit (3940), a suction path (not shown), a dust collection unit (3950), a dust collection motor (3960), and an IR transmitter (3970).

[0534] Meanwhile, in order to avoid redundant explanation, other configurations may be based on the contents of the station (3900) according to the first embodiment of the present invention, except for those specifically mentioned in the fourth embodiment of the present invention.

[0535] Specifically, the station body (3910), station terminal (3930), suction unit (3940), suction path (not shown), dust collection unit (3950), dust collection motor (3960), and IR transmitter (3970) of the station (3900) according to the fourth embodiment of the present invention can each use the contents of the station body (910), station terminal (930), suction unit (940), suction path (not shown), dust collection unit (950), dust collection motor (960), and IR transmitter (970) of the station (900) according to the first embodiment of the present invention.

[0536] The settling module of the station (3900) according to the fourth embodiment of the present invention may be a transfer unit (3920). The robot (1) may be settling on the transfer unit (3920) when the robot (1) is docked to the station (3900) or when the robot (1) is moving away from the station (3900). The transfer unit (3920) may move the arm (400) of the robot (1) in a direction away from or closer to the station body (3910).

[0537] The transfer member (3920) may include a support member (3921) and a protruding member (3922).

[0538] The support member (3921) is slidably connected to the station body (3910) and can support at least a part of the arm (400) of the robot (1).

[0539] The support member (3921) may be composed of a moving member (3921a) and a settling member (3921b).

[0540] The movable member (3921a) can enter and exit a hole (not shown) formed in the front part (3910a) of the station body (3910), and can be slidably connected to the station body (3910).

[0541] The movable member (3921a) may be arranged at least partially between the wheel supports (3923). The wheel supports (3923) are configured to be arranged on the inside of the station body (3910), and a guide wheel (3924) may be rotatably coupled to the inside of the wheel supports (3923).

[0542] Specifically, the guide wheels (3924) may be arranged in pairs spaced apart from each other in the vertical direction. In this case, the vertical direction refers to a direction moving away from or closer to the ground based on a state in which the station (3900) is placed on the ground. In addition, a plurality of pairs of guide wheels (3924) spaced apart from each other in the vertical direction may be arranged along the front-back direction. That is, the plurality of guide wheels (3924) form a path along which the movable member (3921a) can slide in the front-back direction, and the movable member (3921a) can be arranged to be able to slide between the plurality of guide wheels (3924).

[0543] The securing member (3921b) can support at least a portion of the arm (400) of the robot (1). Specifically, the arm (400) of the robot (1) can be secured to the securing member (3921b).

[0544] The arm (400) of the robot (1) can be supported by being hung on a mounting member (3921b). The surface of the mounting member (3921b) that comes into contact with the arm (400) can be formed to correspond to at least a portion of the arm (400).

[0545] The front-to-back distance of the fixing member (3921b) may be formed to be greater than the front-to-back distance of the arm (400). In this case, the front-to-back direction refers to the direction in which the moving member (3921a) slides.

[0546] The protruding member (3922) may protrude from the supporting member (3921) to prevent the arm (400) from being dislodged. Specifically, the protruding members (3922) may be formed to protrude as a pair from the mounting member (3921b). The pair of protruding members (3922) may be arranged to be spaced apart from each other in the front-rear direction. The height of the protruding member (3922) may be formed to be higher than the height of the arm (400). As a result, the protruding member (3922) may prevent the arm (400) from being dislodged in the front-rear direction.

[0547] Meanwhile, the transport unit (3920) can be moved by power provided by the driving unit (3980). The driving unit (2980) can selectively rotate the transport unit (3920) depending on whether the robot (1) is positioned on the transport unit (3920).

[0548] The driving unit (3980) may be placed inside the station body (1910). For example, the driving unit (3980) may be a rotary motor.

[0549] The station (3900) may further include a power transmission unit (not shown) that transmits power to slide the transfer unit (3920) in the forward and backward direction.

[0550] The power transmission unit may be placed inside the station body (3910). The power transmission unit may be accommodated in the internal space of the station body (3910) together with a driving unit (3980) that generates the moving power of the transport unit (3920).

[0551] The power transmission unit may be composed of a plurality of power transmission members to transmit power generated by the rotation of the driving unit (3980) to the transfer unit (3920). For example, the power transmission unit may be composed of a belt and a pulley.

[0552] However, the present invention is not limited thereto, and the power transmission unit may be configured as a combination of gear parts that are directly meshed with each other. For example, the power provided by the driving unit (3980) may be transmitted to the moving member (3921a) by a combination of gear parts that are meshed with each other. Accordingly, the moving member (3921a) that receives the moving power from the driving unit (3980) may slide along a forward-backward path formed by a plurality of guide wheels (3924).

[0553]

[0554] Control configuration

[0555] Figure 20 shows a block diagram for explaining the control configuration of a robot system according to an embodiment of the present invention.

[0556] Referring to FIGS. 1 to 20, 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 (B), a motor unit, and an interface unit.

[0557] The components shown in the block diagram of FIG. 20 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.

[0558] The control unit (700) can be divided into a robot control unit (701) that controls the robot (1) and a station control unit (702, 1702, 2702, 3702) that controls the station (900). The robot control unit (701) and the station control units (702, 1702, 2702, 3702) can communicate with each other to exchange information or process data. For example, when the station control unit (702, 1702, 2702, 3702) transmits a call signal in response to a user's call, the robot control unit (701) can receive the call signal and drive the wheel motor (MW) to bring the robot (1) closer to the station (900).

[0559] Hereinafter, except for the contents specifically described, the robot control unit (701) and the station control units (702, 1702, 2702, 3702) are collectively referred to as the control unit (700).

[0560] First, the control unit (700) can control the overall operation of the robot (1) or the station (900, 1900, 2900, 3900). The control unit (700) can control the robot (1) and / or the station (900, 1900, 2900, 3900) to perform various functions according to the setting information stored in the memory (720) described later.

[0561] The control unit (700) may be placed in the robot body (100) or the station body (910, 1910, 2910, 3910). More specifically, the control unit (700) may be mounted and provided on a PCB placed inside the body housing (110) and / or the station body (910, 1910, 2910, 3910).

[0562] 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 that has a physically structured circuit to perform a function expressed by a code or command included in a program, for example. Examples of such data processing devices built into hardware may 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.

[0563]

[0564] Meanwhile, the robot control unit (701) 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.

[0565] The robot control unit (701) 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.

[0566] The robot control unit (701) can transmit a drive control command to at least one of the components of the motor unit described below. For example, the rotation of the wheel motor (MW) can be controlled to drive the robot (1). Or, for example, the rotation of the wheel motor (MW) can be controlled to maintain the horizontal posture of the robot (1). Or, for example, the rotation of the suspension motor (MS) can be controlled to maintain the horizontal posture of the robot (1).

[0567] The robot control unit (701) can receive a user's command through at least one of the components of the interface unit described below. For example, the command may be a command for turning the robot (1) on / off. Or, for example, the command may be a command for manually controlling various functions of the robot (1).

[0568] The robot control unit (701) 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.

[0569] The motor section includes at least one motor and can provide driving force to a configuration connected to each motor.

[0570] 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.

[0571] The wheel motors (MW) may be respectively placed in the wheel section (300). More specifically, the wheel motors (MW) may be accommodated inside the lower leg (230). Alternatively, the wheel motors (MW) may be accommodated inside the wheel (310).

[0572] 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 robot control unit (701), and the robot (1) travels along the ground by the rotation of the wheel (310) according to the rotation of the wheel motor (MW).

[0573] The motor unit may include a suspension motor (MS) that provides driving force to the left and right leg units (200). The suspension motor (MS) may rotate the upper leg (210) with respect to the robot body (100). The suspension motor (MS) may adjust the angle between the upper leg (210) and the lower leg (230). More specifically, the motor unit may include a first suspension motor (MS1) that transmits driving force to the leg unit (200) arranged on one side in the left and right direction, and a second suspension motor (MS2) that transmits driving force to the leg unit (200) arranged on the other side in the left and right direction.

[0574] 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).

[0575] The suspension motor (MS) is connected to the first link. More specifically, the final output end of the shaft or gear of the first suspension motor (MS1) is connected to the first link 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 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 robot control unit (701), and the first link rotates according to the rotation of the suspension motor (MS), and the lower leg (230) connected to the first link rotates, so that the angle between the first link and the lower leg (230) can be changed as a result.

[0576] 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.

[0577] The motor unit may include an arm motor (MA) that provides rotational force to the arm (400).

[0578] 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).

[0579] The arm motor (MA) is driven and rotates according to the control command of the robot control unit (701), 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).

[0580] Through this, the robot (1) can perform a motion to rotate the arm (400), and can be coupled with the function module (800) by rotating the arm (400). Alternatively, the arm (400) can be made to touch the ground by rotating the arm (400).

[0581]

[0582] 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).

[0583] The sensor unit (600) may include an obstacle detection camera (610).

[0584] An obstacle detection camera (610) is provided to detect obstacles (T) existing in the room where the robot (1) is driving and to map the structure of the room.

[0585] For this purpose, an obstacle detection camera (610) may be placed in front of the robot body (100). More specifically, the obstacle detection camera (610) may be placed in front of the body housing (110).

[0586] Meanwhile, in the present embodiment, a plurality of obstacle detection cameras (610) may be arranged. For example, a first detection camera (611) may be arranged at the lower front portion of the main body housing (110), and a second detection camera (612) may be arranged at the upper front portion of the main body housing (110). With this configuration, the obstacle detection camera (610) can detect objects or people arranged at the front of the robot (1).

[0587] The obstacle detection camera (610) can detect an obstacle (T) and detect the distance to the obstacle (T). For example, the first detection camera (611) may be a depth camera.

[0588] The obstacle detection camera (610) can capture indoor images while driving to perform SLAM (Simultaneous Localization and Mapping). For example, the second detection camera (612) can be an RGB camera.

[0589] Depth cameras and RGB cameras can calculate distance by irradiating light and calculating the time it takes for the irradiated light to reflect back.

[0590] The robot control unit (701) can detect an obstacle (T) and implement SLAM based on information about the surrounding environment captured by the obstacle detection camera (610) and information about the current location of the robot (1).

[0591] Meanwhile, the robot (1) according to the embodiment of the present invention may implement SLAM using only an obstacle detection camera (610), 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).

[0592]

[0593] The sensor unit (600) may include an IR sensor (620) for infrared detection.

[0594] The IR sensor (620) may be an IR camera that detects infrared light.

[0595] The IR sensor (620) may be placed on the robot body (100). In an embodiment of the present invention, a plurality of IR sensors (620) may be placed. For example, a first IR sensor (621) may be placed on the front lower portion of the body housing (110), and a second IR sensor (622) may be placed on the rear of the body housing (110). With this configuration, the positions of light sources placed in various directions can be detected.

[0596] The IR sensor (620) may be positioned close to the obstacle detection camera (610). For example, the first IR sensor (621) may be positioned directly below the first obstacle detection camera (611).

[0597] With this arrangement, the IR sensor (620) can detect the light irradiated by the lamp of the function module (800) or the IR emitter (970) of the station (900), and when the robot body (100) approaches the lamp of the function module (800) or the IR emitter (970) of the station (900), the obstacle detection camera (610) can detect the shape of the function module (800) or the station (900).

[0598] 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 (800) that is detachably installed on the robot body (100).

[0599] The robot control unit (701) 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 robot control unit (701) 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.

[0600] The sensor unit (600) may include a wheel motor sensor (630).

[0601] 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.

[0602] The wheel motor sensor (630) may be positioned 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 lower leg (230) together with the wheel motor (MW).

[0603] The sensor unit (600) may include an arm motor sensor (640).

[0604] The arm motor sensor (640) can measure the position of the arm (400). For example, the arm motor sensor (640) can be a photo sensor. As is well known, the photo sensor can measure the degree of rotation of the arm motor (MA) or the degree to which the arm (400) has rotated.

[0605] The arm motor sensor (640) may be positioned close to the arm motor (MA). More specifically, the arm motor sensor (640) may be accommodated inside the main body housing (110) or the rotating coupling (410) together with the arm motor (MA).

[0606] The suspension motor sensor (650) can measure the position of the leg portion (200). For example, the suspension motor sensor (650) may be a photo sensor. As is well known, the photo sensor can measure the degree of rotation of the suspension motor (MS) or the degree of rotation of the upper leg (210).

[0607] The suspension motor sensor (650) may be positioned close to the suspension motor (MS). More specifically, the suspension motor sensor (650) may be accommodated inside the main body housing (110) together with the suspension motor (MS).

[0608] The sensor unit (600) may include an IMU sensor (660).

[0609] The IMU sensor (660) can measure the tilt angle of the robot body (100).

[0610] As is well known, the IMU (Inertial Measurement Unit) sensor (660) 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.

[0611] 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.

[0612] 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.

[0613] 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.

[0614] Using an IMU sensor (660) can compensate for the shortcomings of the above-described acceleration sensor and gyro sensor.

[0615] This specification describes an embodiment in which an IMU sensor (660) is provided.

[0616] The IMU sensor (660) may be placed on the robot body (100). More specifically, the IMU sensor (660) may be placed adjacent to the robot control unit (701). The IMU sensor (660) 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 (660) is preferably placed close to the central region of the robot body (100).

[0617] The IMU sensor (660) can measure at least one of the three-axis acceleration, three-axis angular velocity, and three-axis geomagnetic data of the robot body (100) and transmit it to the robot control unit (701).

[0618] The robot control unit (701) can calculate the tilt direction and tilt angle of the robot body (100) using at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor (660). Based on this, the robot control unit (701) can perform horizontal posture maintenance control of the robot body (100), which will be described later.

[0619] The sensor unit (600) may include a cliff sensor (670) for detecting a cliff.

[0620] The cliff sensor (670) can be configured to detect the distance from the front ground along which the robot (1) is moving. The cliff sensor (670) can be configured in various ways within a range that can detect the relative distance between the point where the cliff sensor (670) is formed and the ground.

[0621] For example, the cliff sensor (670) may include a light emitting portion that irradiates light and a light receiving portion into which reflected light is incident. The cliff sensor (670) may be formed of an infrared sensor.

[0622] The cliff sensor (670) may be placed on the lower leg (230). For example, a first cliff sensor (671) may be placed on the front lower side of the lower leg (230), and a second cliff sensor (672) may be placed on the rear upper side of the lower leg (230). With this configuration, the distance between the lower leg (230) and the wheel (310) and the ground can be measured. In addition, it is also possible to calculate the angle between the lower leg (230) and the ground through the distance difference between the first cliff sensor (671) and the second cliff sensor (672).

[0623] The cliff sensor (670) can irradiate light toward the ground (floor) in front of the robot (1). The cliff sensor (670) can detect in advance whether a cliff exists in front of the robot (1) in the direction of travel.

[0624] The light emitting portion of the cliff sensor (670) can irradiate light obliquely toward the front ground (floor surface). The light receiving portion of the cliff sensor (670) can receive light reflected from the ground (floor surface) and incident thereon. The distance between the front ground and the cliff sensor (670) can be measured based on the difference between the time of irradiation and the time of reception of light.

[0625] If the distance measured by the cliff sensor (670) 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.

[0626] The robot control unit (701) 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.

[0627] The sensor unit (600) may include an environmental sensor (680).

[0628] 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.

[0629] For example, the environmental sensor (680) may be placed on the arm (400). More specifically, the environmental sensor (680) may be placed on the connection portion (420). In a possible embodiment, information measured by the environmental sensor (680) may be visually displayed on the display (120).

[0630] The sensor unit (600) may include a side sensor (690).

[0631] The side sensor (690) can measure the distance to obstacles, including walls, etc.

[0632] 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.

[0633] 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.

[0634] 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 lower leg (230) of the leg portion (200).

[0635] 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.

[0636] The interface unit may include a microphone (140).

[0637] 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).

[0638] 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 when multiple microphones (140) receive audio signals. This principle calculates the location of the audio source using the position of each microphone (140) and the speed of sound waves.

[0639] Meanwhile, if the microphone (140) and the above-described obstacle detection camera (610) 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.

[0640] The interface unit may include a speaker (450).

[0641] 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).

[0642] 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).

[0643] The interface unit may include a display (120) and an input unit (125).

[0644] 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).

[0645] 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).

[0646] The display (120) can display information such as operating time information of the robot (1) and battery (B) power information.

[0647] 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).

[0648] 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.

[0649] The input unit (125) can be placed on the display (120).

[0650] 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.

[0651] 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.

[0652] 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.

[0653] Short-range communication can be, for example, Bluetooth communication, NFC (Near Field Communication), etc.

[0654] 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.

[0655] The memory (720) is a configuration in which various data for driving and operating the robot (1) are stored.

[0656] 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.

[0657] 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.

[0658] The memory (720) may be included in the control unit (700) or may be provided as a separate configuration.

[0659] The battery (B) is configured to supply power to other components that make up the robot (1).

[0660] The battery (B) may be placed in the robot body (100). More specifically, the battery (B) may be accommodated inside the body housing (110). Although not shown, the battery (B) may be placed rearward of the suspension motor (MS).

[0661] The battery (B) can be charged by an external power source, and for this purpose, a robot terminal (170) for charging the battery (B) can be provided on one side of the robot body (100). As in the embodiment of the present invention, the robot terminal (170) can be placed at the bottom of the robot body (100). Accordingly, the robot (1) can be easily coupled with the function module by approaching the function module (800) and descending, thereby placing the robot terminal (170) on the robot corresponding terminal (840) of the function module (800) from the top.

[0662]

[0663] Meanwhile, the station control unit (702, 1702, 2702, 3702) can control the driving unit (923, 1980, 2980, 3980), the station terminal (930, 1930, 2930, 3930), the dust collecting motor (960, 1960, 2960, 3960), and the IR transmitter (970, 1970, 2970, 3970).

[0664] The station control unit (702, 1702, 2702, 3702) may be composed of a printed circuit board and components mounted on the printed circuit board.

[0665] When the station corresponding terminal of the function module (800) is in contact with the station terminal (930, 1930, 2930, 3930) of the station (900, 1900, 2900, 3900) and electrically connected to each other, the station control unit (702, 1702, 2702, 3702) can determine that the function module (800) is coupled to the station (900, 1900, 2900, 3900).

[0666] In addition, the station control unit (702, 1702, 2702, 3702) can transmit a signal regarding a call to the robot control unit (701) when there is a user call regarding the robot (1). When the signal regarding the call is received by the robot control unit (701), the robot control unit (701) can drive the wheel motor (MW) to cause the robot (1) to drive to approach the station (900, 1900, 2900, 3900).

[0667] The station control unit (702, 1702, 2702, 3702) can inform the location of the station (900, 1900, 2900, 3900) through the light emission of the IR transmitter (970, 1970, 2970, 3970). The light signal emitted from the IR transmitter (970, 1970, 2970, 3970) can be irradiated to the IR sensor (620) of the robot body (100).

[0668] With this configuration, the IR sensor (620) placed on the robot body (100) can detect the location of the station (900, 1900, 2900, 3900), and when there is a call from the user, the robot body (100) can drive toward the station (900, 1900, 2900, 3900).

[0669]

[0670] Control method of a robot system

[0671] Figure 21 is a flowchart showing a control method of a robot system according to an embodiment of the present invention.

[0672] Referring to FIG. 21, a control method of a robot system according to an embodiment of the present invention is described as follows.

[0673] A control method of a robot system according to an embodiment of the present invention may include an approach step (S10) and a docking step (S20).

[0674] The approach step (S10) may be performed by the robot (1) waiting on the ground and then receiving a call from a station (900, 1900, 2900, 3900). That is, when a signal for charging of the robot (1) and / or emptying of the dustbin of the function module (800) transmitted from the station (900, 1900, 2900, 3900) is received by the robot (1), the robot (1) placed on the ground may move toward the station (900, 1900, 2900, 3900). The robot (1) that has approached the station (900, 1900, 2900, 3900) may move to a specific preset position. Here, the preset position may be the entrance of the station (900, 1900, 2900, 3900) for the robot (1) to enter the station (900, 1900, 2900, 3900). In addition, the robot (1) that has approached the station (900, 1900, 2900, 3900) may be placed at the entrance of the station (900, 1900, 2900, 3900) so that the front faces the station (900, 1900, 2900, 3900), or alternatively, may be placed at the entrance of the station (900, 1900, 2900, 3900) so that the rear faces the station (900, 1900, 2900, 3900).

[0675] In the docking step (S20), after the driving unit (923, 1980, 2980, 3980) of the station (900, 1900, 2900, 3900) is driven, the robot (1) can be docked to the station (900, 1900, 2900, 3900). For example, docking may mean that the robot (1) is coupled to a function module (800) that is electrically and / or electrically connected to the station (900, 1900, 2900, 3900). As another example, docking may mean that the function module (800) is electrically and / or electrically connected to the station (900, 1900, 2900, 3900) while being coupled to the robot (1).

[0676]

[0677] FIG. 22 is a flowchart showing a control method of a robot system according to the first embodiment of the present invention, FIG. 23a is a diagram showing an operation corresponding to step S1111 of FIG. 22, FIG. 23b is a diagram showing an operation corresponding to step S1112 of FIG. 22, and FIG. 23c is a diagram showing an operation corresponding to step S1120 of FIG. 22.

[0678] The control method of the robot system according to the first embodiment of the present invention will be described with reference to FIGS. 22 to 23c as follows.

[0679] The control method of the robot system according to the first embodiment of the present invention can implement a process in which the robot (1) moves away from the station (900) according to the first embodiment of the present invention. Specifically, in the control method of the robot system according to the first embodiment of the present invention, the robot (1) mounted on the function module (800) according to the first embodiment of the present invention can slide down the inclined portion (922) after being separated from the function module (800) by a call from the user.

[0680] The control method of the robot system according to the first embodiment of the present invention may include a separation step (S1110) and a detachment step (S1120). In the control method of the robot system according to the first embodiment of the present invention, the function module (800) can be maintained in a state of being docked to the station (900).

[0681] In the separation step (S1110), the robot (1) can be separated from the function module (800).

[0682] The separation step (S1110) may be performed immediately after the emptying of the dustbin of the functional module (800) by the charging of the robot (1) and / or the driving of the dust collection motor (960) is completed. Alternatively, after the charging of the robot (1) and / or the emptying of the dustbin of the functional module (800) is completed, the robot (1) may wait at the station (900) and leave the station (900) upon a call from the user. Alternatively, after the charging of the robot (1) and / or the emptying of the dustbin of the functional module (800) is completed, the robot (1) may wait at the station (900) and leave the station (900) when a specific event occurs. At this time, a call by the user, detection of the return of a user who has gone out, etc. may correspond to such specific events.

[0683] In addition, when the robot body (100) is mounted on the module body (810), the module coupling part (150) of the robot (1) and the coupling part (830) of the function module (800) can maintain a state of being hooked and coupled to each other. That is, the separation step (S1110) may be a step of releasing the state in which the robot (1) and the function module (800) are separated and coupled, and of raising the robot body (100) from the function module (800).

[0684] Specifically, the separation step (S1110) may include a disengagement step (S1111) and a robot body elevation step (S1112).

[0685] In the uncoupling step (S1111), the hooking connection between the coupling hook (154) positioned on the lower side of the robot body (100) and the coupling part (830) positioned on the upper side of the function module (800) can be released. Specifically, when the driving motor (152) of the module coupling part (150) is driven while the robot body (100) is mounted on the module body (810), the rotation gear (153) rotates around the rotation axis (153a), so that the coupling hook (154) can come out from the coupling hole (830a).

[0686] In the robot body rising step (S1112), the leg part (200) can move the robot body (100) upward by driving the suspension motor (MS). In addition, in the robot body rising step (S120), the electrical connection between the robot terminal (170) of the robot (1) that was in contact and the robot corresponding terminal (840) of the function module (800) can be released, that is, when the robot body (100) moves in a direction away from the ground, the electrical connection can be released.

[0687] The robot body (100) moving away from the ground means that the height of the robot body (100) increases, i.e., the relative height of the upper or lower surface of the robot body (100) relative to the ground increases. From another perspective, this can be referred to as a motion of the robot body (100) occurring from the function module (800). (See FIG. 23b)

[0688] As the height of the robot body (100) increases, the robot terminal (170) positioned on the lower surface of the robot body (100) and the robot corresponding terminal (840) positioned on the upper surface of the function module (800) move away from each other, and the electrical contact between them may be released.

[0689] The motion of the robot body (100) from the functional module (800) can be achieved by a suspension motor (MS). More specifically, the suspension motor (MS) can be driven to rotate so that the angle between the upper leg (210) and the lower leg (230) increases. From another perspective, the suspension motor (MS) can be driven to rotate so that the wheel (310) and the robot body (100) move away from each other.

[0690] Alternatively, the motion of the robot body (100) from the function module (800) can be achieved by the restoring force of the gravity compensation unit.

[0691] In the departure step (S200), the robot (1) can move away from the station (900). Specifically, when the robot body (100) rises from the function module (800), the robot (1) placed on the mounting portion (921) can move forward and descend to the ground along the slope (922).

[0692]

[0693] FIG. 24 is a flowchart showing a control method of a robot system according to the first and second embodiments of the present invention, FIG. 25a is a diagram showing an operation corresponding to step S10 of FIG. 24, FIG. 25b is a diagram showing an operation of the robot moving backward after step S1211 of FIG. 24, FIG. 25c is a diagram showing an operation corresponding to step S1212 of FIG. 24, and FIG. 25d is a diagram showing an operation corresponding to step S1220 of FIG. 24.

[0694] The control method of the robot system according to the first and second embodiments of the present invention will be described with reference to FIGS. 24 to 25d as follows.

[0695] The control method of the robot system according to the first and second embodiments of the present invention can implement a process in which the robot (1) approaches the station (900) according to the first embodiment of the present invention, climbs backwards, and then settles and engages with the function module (800).

[0696] The control method of the robot system according to the first and second embodiments of the present invention may include an approach step (S10), a climbing step (S1210), and a coupling step (S1220). In the control method of the robot system according to the first and second embodiments of the present invention, the function module (800) can be maintained in a state of being docked to the station (900).

[0697] The approach step (S10) may be performed by the robot (1) waiting on the ground and then receiving a call from the station (900). That is, when the robot (1) receives a signal for charging of the robot (1) transmitted from the station (900), the robot (1) placed on the ground may move toward the station (900). The robot (1) approaching the station (900) may move to a specific preset location. Here, the preset location may be the entrance of the inclined portion (922) as illustrated in FIG. 25A.

[0698] Additionally, the robot (1) approaching the station (900) may be placed at the entrance of the inclined portion (922) with its front facing the station (900) (see FIG. 25a), or alternatively, may be placed at the entrance of the inclined portion (922) with its rear facing the station (900).

[0699] In the climbing step (S1210), the robot (1) can climb onto the mounting part (921), and the climbing step (S1210) may include a backward waiting step (S1211) and a mounting step (S1212).

[0700] In the backward waiting step (S1211), the robot (1) may be positioned at the entrance of the slope (922) so that it can climb the slope (922) while moving backward. Specifically, in this step (S1211), the rear of the robot (1) may be positioned so that it faces the front (910a) of the station body. That is, in this step (S1211), the backward climbing path of the robot (1) and the upward slope of the slope (922) may be positioned so that the wheel (310) does not deviate from the slope (922) when the robot (1) climbs the slope (922).

[0701] For example, the robot (1) in this step (S1211) can rotate 180 degrees while being positioned so that its front faces the front of the station (900) (see FIG. 25a) so that it can climb the slope (922) while moving backward. As another example, the robot (1) in this step (S1211) can be positioned so that its rear faces the front of the station (900) so that it can climb the slope (922) while moving backward.

[0702] In the settling step (S1212), the robot (1) can move backwards and be settling on the settling portion (921) via the inclined portion (922). In this step (S1212), the robot (1) can move backwards to a position where the robot terminal (170) is arranged vertically above the robot corresponding terminal (840). That is, in this step (S1212), the robot (1) can drive the suspension motor (MS) so that when the robot body (100) is settling on the function module (800), the robot terminal (170) and the robot corresponding terminal (840) can move backwards to a position where they come into contact. At this time, when the robot (1) is settling on the settling portion (921), the robot mask (500) can be arranged to face the upper front side.

[0703] In the coupling step (S1220), the robot terminal (170) of the robot (1) and the robot corresponding terminal (840) of the function module (800) can be electrically coupled by contacting each other so that power is supplied to the robot (1).

[0704] The joining step (S1220) may include a robot body lowering step (S1221) and a robot body fixing step (S1222).

[0705] In the robot body lowering step (S1221), the robot body (100) is lowered by driving the suspension motor (MS) to place the robot body (100) on the module body (810), and the robot terminal of the robot body (100) and the robot corresponding terminal (840) of the function module (800) can be contact-coupled with each other.

[0706] Specifically, the robot body lowering step (S1221) is a step in which, after the robot (1) climbs onto the mounting portion (921), the robot body (100) moves downwards and the robot terminal (170) of the robot body (100) and the robot corresponding terminal (840) of the function module (800) are contact-coupled with each other, and the lowering of the robot body (100) is achieved by driving the suspension motor (MS).

[0707] At this time, the suspension motor (MS) is driven to rotate so that the angle between the upper leg (210) and the lower leg (230) decreases. The decrease in the angle between the upper leg (210) and the lower leg (230) means that the distance between the wheel (310) and the robot body (100) decreases, i.e., the robot body (100) descends.

[0708] The rotational drive of the suspension motor (MS) continues until the robot terminal (170) of the robot body (100) and the robot corresponding terminal (840) of the function module (800) are in contact with each other. As a result, the robot (1) and the function module (800) can be electrically connected to each other, and the battery (B) of the robot (1) can be charged.

[0709] Meanwhile, in this step (S1221), the module coupling part (150) of the robot (1) comes into contact with the upper surface and coupling part (830) of the module body (810), and the robot (1) is placed on the function module (800) while leaning against the module body (810) and resting.

[0710] In the robot body fixing step (S1222), the coupling hook (154) arranged on the lower side of the robot body (100) and the coupling portion arranged on the upper side of the function module (800) can be hooked and coupled to each other. Specifically, in this step (S1222), when the robot body (100) is seated on the module body (810), the coupling hook (154) arranged on the lower side of the robot body (100) and the coupling portion (830) arranged on the upper side of the function module (800) can be hooked and coupled to each other. That is, when the drive motor (152) of the module coupling portion (150) is driven while the robot body (100) is seated on the module body (810), the rotation gear (153) rotates around the rotation axis (153a) so that the coupling hook (154) can be fitted into the coupling hole (830a).

[0711]

[0712] FIG. 26 is a flowchart showing a control method of a robot system according to the first-third embodiment of the present invention, FIGS. 27a and 27b are diagrams showing operations corresponding to step S1310 of FIG. 26, FIG. 27c is a diagram showing operations corresponding to step S1320 of FIG. 26, and FIG. 27d is a diagram showing operations corresponding to step S1330 of FIG. 26.

[0713] The control method of the robot system according to the first to third embodiments of the present invention will be described with reference to FIGS. 26 to 27d as follows.

[0714] The control method of the robot system according to the first to third embodiments of the present invention can implement a process in which the robot (1) placed on the mounting portion (921) according to the first embodiment of the present invention moves forward to the inclined portion (922) while being coupled with the function module (800) and then moves down the inclined portion (922) while rotating downward and to the ground.

[0715] The control method of the robot system according to the first to third embodiment of the present invention may include a slope rising step (S1310), a movement step (S1320), and a driving step (S1330).

[0716] In the slope rising step (S1310), the slope (922) of the station (900) can be rotated upward.

[0717] Meanwhile, in the present specification, upward rotation of the inclined portion (922) may mean that the inclined portion (922), which has one end rotatably coupled to the mounting portion (921) and the other end in contact with the ground, rotates so that it is parallel to the ground. In addition, downward rotation of the inclined portion (922) may mean that the inclined portion (922), which has one end rotatably coupled to the mounting portion (921) and is arranged in parallel with the ground, rotates so that the other end is in contact with the ground. That is, the rotation direction of the inclined portion (922) when the inclined portion (922) is rotated upward and the rotation direction of the inclined portion (922) when the inclined portion (922) is rotated downward may be opposite to each other.

[0718] Therefore, when the driving unit (923) is driven in the slope rising step (S1310), the slope (922) that was in contact with the ground can rotate so as to be parallel to the ground.

[0719] In the moving step (S1320), the robot (1) placed on the mounting portion (921) of the station (900) can move forward on the inclined portion (922). In this step (S1320), the module coupling portion (150) of the robot (1) and the coupling portion (830) of the function module (800) are in a state of being hooked to each other, so that when the robot (1) moves forward, the function module (800) can move forward together with the robot (1).

[0720] In the driving step (S1330), the suspension motor (MS) of the robot (1) can be driven to increase the distance between the wheel (310) of the robot (1) and the robot body (100) while rotating the inclined portion (922) downward.

[0721] The height of the robot body (100) can be maintained constant while the inclined portion (922) is rotated downward in the driving step (S1330). That is, even if the distance between the wheel (310) and the ground decreases while the inclined portion (922) is rotated downward in this step (S1330), the suspension motor (MS) is driven to increase the angle formed between the upper leg (210) and the lower leg (230), so that the distance between the robot body (100) and the ground can be maintained constant.

[0722] At this time, the height of the robot body (100) may mean the distance between the robot body (100) and the ground when the station (900) is placed on the ground.

[0723] While the driving step (S1330) is in progress, the robot (1) can descend along the slope (922) and move to the ground while being coupled with the function module (800). Alternatively, after the driving step (S1330) is completed, the robot (1) can descend along the slope (922) and move to the ground while being coupled with the function module (800). That is, since the robot (1) moves like a cloud over the slope (922) while the slope (922) rotates downward and comes down to the ground, the descending motion of the robot (1) can be performed more naturally.

[0724]

[0725] FIG. 28 is a flowchart showing a control method of a robot system according to the first to fourth embodiment of the present invention, FIG. 29a is a diagram showing an operation corresponding to step S10 of FIG. 28, FIG. 29b is a diagram showing an operation corresponding to steps S1411 and S1412 of FIG. 28, FIG. 29c is a diagram showing an operation corresponding to step S1413 of FIG. 28, FIG. 29d is a diagram showing an operation corresponding to steps S1414 and S1420 of FIG. 28, FIG. 29e is a diagram showing an operation corresponding to step S1430 of FIG. 28, and FIG. 29f is a diagram showing an operation corresponding to step S1440 of FIG. 28.

[0726] The control method of the robot system according to the first to fourth embodiments of the present invention will be described with reference to FIGS. 28 to 29f as follows.

[0727] The control method of the robot system according to the first to fourth embodiments of the present invention can implement a process in which the robot (1) approaches the station (900) according to the first embodiment of the present invention while being coupled with the function module (800), climbs backwards, docks the function module (800) and the station (900), and then empties the dust bin of the function module (800) by driving the dust collection motor (960).

[0728] A control method of a robot system according to the first to fourth embodiments of the present invention may include an approach step (S10), a docking step (S1410), a dust collection step (S1420), a movement step (S1430), and a second driving step (S1440).

[0729] In the docking step (S1410), the robot (1) can climb the station (900) so that the function module (800) can be docked to the station (900), and the docking step (S1410) can include a backward waiting step (S1411), a settling step (S1412), a first driving step (S1413), and a communication step (S1414).

[0730] Meanwhile, in order to avoid overlapping explanations, except for the contents specifically described, the approach step (S10) and the backward waiting step (S1411) of the control method of the robot system according to the first to fourth embodiments of the present invention may each use the contents of the approach step (S10) and the backward waiting step (S1211) of the control method of the robot system according to the first to second embodiments of the present invention.

[0731] The approach step (S10) and the backward standby step (S1411) of the control method of the robot system according to the first to fourth embodiments of the present invention are identical to the contents of the approach step (S10) and the backward standby step (S1211) of the control method of the robot system according to the first to second embodiments of the present invention, except that the approach step (S10) and the backward standby step (S1411) of the control method of the robot system according to the first to second embodiments of the present invention are performed in a state where the function module (800) is coupled to the robot (1) rather than docked to the station (900).

[0732] That is, in the approach step (S10) and the backward standby step (S1411) of the control method of the robot system according to the 1-4 embodiment of the present invention, the robot (1) can drive with the same movement as the robot (1) in the approach step (S10) and the backward standby step (S1211) of the control method of the robot system according to the 1-2 embodiment of the present invention, except that the robot (1) drives in a state where the module coupling part (150) and the coupling part (830) of the function module (800) are hooked to each other.

[0733] In the settling step (S1412), the robot (1) can move backward and be settling on the inclined section (922). That is, the robot (1) waiting to move backward at the entrance of the inclined section (922) can stop at the inclined section (922) without moving backward to the settling section (921). At this time, when the robot (1) is settling on the inclined section (922), the robot mask (500) can be positioned to face the upper front side.

[0734] In the first driving step (S1413), the robot (1) can be driven to increase and rotate the inclined portion (922) on which it is installed, while at the same time driving the suspension motor (MS) to reduce the distance between the wheel (310) and the robot body (100). That is, when the driving portion (923) is driven, the inclined portion (922) that was in contact with the ground can be rotated to be parallel to the ground, and the angle formed between the upper leg (210) and the lower leg (230) can be reduced by driving the suspension motor (MS).

[0735] In addition, in the first driving step (S1413), the height of the robot body (100) can be maintained constant while the inclined portion (922) rotates upward. That is, even if the distance between the wheel (310) and the ground increases as the inclined portion (922) rotates upward in this step (S1413), the suspension motor (MS) is driven to reduce the angle between the upper leg (210) and the lower leg (230), so that the distance between the robot body (100) and the ground can be maintained constant.

[0736] In the communication step (S1414), after the robot (1) moves backward, the dustbin of the robot (1) and the suction part (940) of the station (900) can be communicated. Since the lower side of the dustbin facing the suction part (940) is at least partially open, when the robot (1) moves backward, the inside of the dustbin and the suction part (940) can be communicated. In a state where the dustbin and the suction part (940) are in communication, the suction part (940), the suction path, and the dust collection part (950) of the station (900) can form a single path. Therefore, in a state where the dustbin and the suction part (940) are in communication, dust inside the dustbin sucked through the suction part (940) can be discharged to the outside through the suction path, the dust collection part (950), the dust collection motor (960), and the exhaust port of the station (900).

[0737] In the dust collection step (S1420), the station (900) can suck up dust inside the dust bin of the function module (800). In this step (S1420), the dust inside the dust bin of the function module (800) can be collected by the dust collection unit (950) of the station (900) by the suction force of the dust collection motor (960). Through this, the dust inside the dust bin of the function module (800) can be removed without a separate operation by the user, thereby providing user convenience. In addition, the inconvenience of the user having to empty the dust bin every time can be eliminated. In addition, when the dust bin is emptied, dust can be prevented from flying.

[0738] Meanwhile, in order to avoid overlapping explanations, the movement step (S1430) and the second driving step (S1440) of the control method of the robot system according to the first to fourth embodiments of the present invention may each use the contents of the movement step (S1320) and the driving step (S1330) of the control method of the robot system according to the first to third embodiments of the present invention.

[0739]

[0740] FIG. 30 is a flowchart showing a control method of a robot system according to the first to fifth embodiment of the present invention, FIG. 31a is a diagram showing an operation corresponding to step S10 of FIG. 30, FIG. 31b is a diagram showing an operation corresponding to steps S1511 and S1512 of FIG. 30, FIG. 31c is a diagram showing an operation corresponding to step S1513 of FIG. 30, FIG. 31d is a diagram showing an operation corresponding to step S1514 of FIG. 30, and FIG. 31e is a diagram showing an operation corresponding to step S1520 of FIG. 30.

[0741] The control method of the robot system according to the first to fifth embodiments of the present invention will be described with reference to FIGS. 30 to 31e as follows.

[0742] The control method of the robot system according to the first to fifth embodiments of the present invention can implement a process in which the robot (1) approaches the station (900) according to the first embodiment of the present invention while coupled with the function module (800), climbs backwards to dock the function module (800) and the station (900), and then rotates downward so that the inclined portion (922) comes into contact with the ground again.

[0743] A control method of a robot system according to the first to fifth embodiments of the present invention may include an approach step (S10), a docking step (S1510), and a slope descent step (S1520).

[0744] In the docking step (S1510), the robot (1) can climb the station (900) according to the first embodiment of the present invention so that the function module (800) can be docked to the station (900), and the docking step (S1510) can include a backward waiting step (S1511), a settling step (S1512), a driving step (S1513), and a connection step (S1514).

[0745] Meanwhile, in order to avoid overlapping explanations, except for the contents specifically described, the approach step (S10) and the backward waiting step (S1511) of the control method of the robot system according to the 1-5 embodiment of the present invention may each use the contents of the approach step (S10) and the backward waiting step (S1211) of the control method of the robot system according to the 1-2 embodiment of the present invention.

[0746] The approach step (S10) and the backward standby step (S1511) of the control method of the robot system according to the first-fifth embodiment of the present invention are identical to the contents of the approach step (S10) and the backward standby step (S1211) of the control method of the robot system according to the first-fifth embodiment of the present invention, except that the approach step (S10) and the backward standby step (S1511) of the control method of the robot system according to the first-fifth embodiment of the present invention are performed in a state where the function module (800) is coupled to the robot (1) rather than in a state where it is docked to the station (900).

[0747] That is, in the approach step (S10) and the backward standby step (S1511) of the control method of the robot system according to the 1-5 embodiment of the present invention, the robot (1) can drive with the same movement as the robot (1) in the approach step (S10) and the backward standby step (S1211) of the control method of the robot system according to the 1-2 embodiment of the present invention, except that the robot (1) drives in a state where the module coupling part (150) and the coupling part (830) of the function module (800) are hooked to each other.

[0748] The settling step (S1512) and the driving step (S1513) of the control method of the robot system according to the first-fifth embodiment of the present invention can each use the contents of the settling step (S1412) and the first driving step (S1413) of the control method of the robot system according to the first-fifth embodiment of the present invention.

[0749] In the connection step (S1514), the robot (1) may move backward so that the station corresponding terminal of the function module (800) and the station terminal (930) of the station (900) may be electrically connected. When the station corresponding terminal of the function module (800) and the station terminal (930) of the station (900) come into contact with each other and are electrically connected, the station control unit (702) may detect the coupling of the function module (800). At this time, in this step (S1514), the robot (1) may move backward so as to reach a position where the dust bin of the function module (800) and the suction unit (940) of the station (900) are connected.

[0750] In the slope descent step (S1520), the slope (922) of the station (900) can be rotated downward. That is, when the electrical connection between the function module (800) and the station (900) is detected, the driving unit (923) is driven so that the slope (922) can be rotated so that it comes into contact with the ground.

[0751] Meanwhile, the station (900) can suck up dust inside the dust bin of the function module (800) simultaneously with the slope descent step (S1520) or after the slope descent step (S1520) is completed. That is, in the slope descent step (S1520), dust inside the dust bin of the function module (800) can be collected by the dust collection unit (950) of the station (900) by the suction force of the dust collection motor (960).

[0752]

[0753] FIG. 32 is a flowchart showing a control method of a robot system according to the second embodiment of the present invention, FIG. 33a is a diagram showing an operation corresponding to step S10 of FIG. 32, FIG. 33b is a diagram showing an operation corresponding to steps S2110 and S2120 of FIG. 32, FIG. 33c is a diagram showing an operation corresponding to step S2130 of FIG. 32, and FIG. 33d is a diagram showing an operation corresponding to step S2140 of FIG. 32.

[0754] The control method of the robot system according to the second embodiment of the present invention will be described below with reference to FIGS. 32 to 33d.

[0755] The control method of the robot system according to the second embodiment of the present invention may include an approach step (S10) and a docking step (S20).

[0756] The control method of the robot system according to the second embodiment of the present invention can implement a process in which the robot (1) is coupled with a function module (800) docked to a station (1900) according to the second embodiment of the present invention, and then moves away from the station (1900) while being coupled with the function module (800).

[0757] The docking step (S20) of the control method of the robot system according to the second embodiment of the present invention may include a forward step (S2110), a coupling step (S2120), and a rotation step (S2130).

[0758] In the forward step (S2110), the robot (1) can move to the rotation part (1920) of the station (1900). In the forward step (S2110), the robot (1) can move to the rotation part (1920) by riding the inclined member (1913) of the station (1900) and be seated on the mounting plate (1921).

[0759] In the coupling step (S2120), the robot (1) can be coupled with a function module (800) mounted on a rotating part (1920).

[0760] The joining step (S2120) may include a robot body lowering step (S2121) and a robot body fixing step (S2122). Meanwhile, in order to avoid duplicate explanation, the robot body lowering step (S2121) and the robot body fixing step (S2122) according to the 2-1 embodiment of the present invention may each refer to the contents of the robot body lowering step (S1221) and the robot body fixing step (S1222) according to the 1-2 embodiment of the present invention.

[0761] In the rotation step (S2130), the rotation part (1920) can rotate by driving the driving part (1980). In the rotation step (S2130), the rotation part (1920) can rotate 180 degrees by driving the driving part (1980). Therefore, the front of the robot (1) mounted on the mounting plate (1921) can face the front of the station (1900).

[0762] The control method of the robot system according to the second embodiment of the present invention may further include a departure step (S2140).

[0763] In the departure step (S2140), the robot (1) can move forward and leave the station (1900) while being coupled with the function module (800). When charging of the robot (1) and / or the function module (800) is completed, or emptying of the dustbin of the function module (800) is completed, the robot (1) can leave the station (1900) while being coupled with the function module (800).

[0764]

[0765] FIG. 34 is a flowchart showing a control method of a robot system according to the second embodiment of the present invention, FIG. 35a is a diagram showing an operation corresponding to step S10 of FIG. 34, FIG. 35b is a diagram showing an operation corresponding to step S2210 of FIG. 34, FIG. 35c is a diagram showing an operation corresponding to step S2220 of FIG. 34, FIG. 35d is a diagram showing an operation corresponding to steps S2230 and S2240 of FIG. 34, and FIG. 35e is a diagram showing an operation corresponding to step S2250 of FIG. 34.

[0766] The control method of the robot system according to the second embodiment of the present invention is described below with reference to FIGS. 34 to 35e.

[0767] A control method of a robot system according to the second embodiment of the present invention may include an approach step (S10) and a docking step (S20).

[0768] The control method of the robot system according to the second embodiment of the present invention can implement a process in which the robot (1) moves to the station (1900) according to the second embodiment of the present invention while being coupled with the function module (800), and then the function module (800) is docked to the station (1900) to empty the dust inside the dust bin of the function module (800).

[0769] The docking step (S20) of the control method of the robot system according to the second embodiment of the present invention may include a forward step (S2210), a rotation step (S2220), a communication step (S2230), and a dust collection step (S2240).

[0770] In the forward step (S2210), the robot (1) can move to the rotation part (1920) of the station (1900) while being coupled with the function module (800). In the forward step (S2210), the robot (1) can move to the rotation part (1920) by riding the inclined member (1913) of the station (1900) while being coupled with the function module (800) and can be seated on the mounting plate (1921).

[0771] In the rotation step (S2220), the rotation unit (1920) can rotate 180 degrees by driving the driving unit (1980). Therefore, the front of the robot (1) mounted on the mounting plate (1921) can face the front of the station (1900).

[0772] In the communication step (S2230), after the robot (1) moves backward, the dustbin of the function module (800) and the suction unit (1940) of the station (1900) can be connected. The open lower side of the dustbin can be formed at the rear of the function module (800), and the suction unit (1940) of the station (1900) can be arranged at the front part (1911a) of the housing (1911). Therefore, when the robot (1) moves backward while being coupled with the function module (800), the dustbin of the function module (800) and the suction unit (1940) can be connected.

[0773] In the dust collection step (S2240), the dust collection motor (1960) of the station (1900) is driven so that dust inside the dust bin can be sucked into the dust collection unit (1950).

[0774] The control method of the robot system according to the second embodiment of the present invention may further include a departure step (S2250).

[0775] In the departure step (S2250), the robot (1) can move forward and leave the station (1900) while being coupled with the function module (800). When charging of the robot (1) and / or the function module (800) is completed, or emptying of the dustbin of the function module (800) is completed, the robot (1) can leave the station (1900) while being coupled with the function module (800).

[0776]

[0777] FIG. 36 is a flowchart showing a control method of a robot system according to the third embodiment of the present invention, FIG. 37a is a diagram showing an operation corresponding to step S10 of FIG. 36, FIG. 37b is a diagram showing an operation corresponding to step S3110 of FIG. 36, and FIG. 37c is a diagram showing an operation corresponding to step S3130 of FIG. 36.

[0778] The control method of the robot system according to the third embodiment of the present invention will be described below with reference to FIGS. 36 to 37c.

[0779] The control method of the robot system according to the third embodiment of the present invention may include an approach step (S10) and a docking step (S20).

[0780] The control method of the robot system according to the third embodiment of the present invention can implement a process in which the robot (1) is mounted on a sliding part (2920) that moves forward while being coupled with a function module (800), and then the sliding part (2920) moves backward so that the function module (800) and the station (2900) according to the third embodiment of the present invention can be connected in a euro manner.

[0781] The docking step (S20) of the control method of the robot system according to the third embodiment of the present invention may include a settling step (S3110), a communication step (S3120), and a dust collection step (S3130).

[0782] In the settling step (S3110), after the sliding part (2920) of the station (2900) slides away from the station body (2910) by driving the driving part (2980), the robot (1) can be settling on the sliding part (2920).

[0783] In this step (S3110), the sliding part (2920) can be slid away from the housing (2911). When the sliding part (2920) slides forward, the robot (1) can be slid onto the mounting member (2921) along the inclined member (2922) while being coupled with the functional module (800). At this time, the inclined member (2922) is arranged to be slanted downward in the direction away from the housing (2911), i.e., forward. Therefore, when the sliding part (2920) slides forward, the wheel (310) of the robot (1) can naturally move upward along the inclined member (2922) to the mounting member (2921).

[0784] In the communication step (S3120), after the sliding part (2920) is slid toward the station body (2910) by driving the driving part (2980), the dust bin of the function module (800) can be connected to the suction part (2940) of the station (2900).

[0785] In the dust collection step (S3130), the dust collection motor (2960) of the station (2900) is driven so that dust inside the dust bin can be sucked into the dust collection unit (2950).

[0786]

[0787] FIG. 38 is a flowchart showing a control method of a robot system according to the third embodiment of the present invention, FIG. 39a is a diagram showing an operation corresponding to step S10 of FIG. 38, FIG. 39b is a diagram showing an operation corresponding to step S3210 of FIG. 38, FIG. 39c is a diagram showing an operation corresponding to step S3220 of FIG. 38, FIG. 39d is a diagram showing an operation corresponding to step S3230 of FIG. 38, FIG. 39e is a diagram showing an operation corresponding to step S3240 of FIG. 38, and FIG. 39f is a diagram showing an operation corresponding to steps S3250 and S3260 of FIG. 38.

[0788] The control method of the robot system according to the third embodiment of the present invention will be described below with reference to FIGS. 38 to 39f.

[0789] The control method of the robot system according to the third embodiment of the present invention may include an approach step (S10) and a docking step (S20).

[0790] The control method of the robot system according to the third embodiment of the present invention can implement a process in which, after the robot (1) is mounted on a sliding part (2920) that moves forward while being coupled with the function module (800), the robot (1) and the function module (800) are separated and the sliding part (2920) moves backward, only the function module (800) is returned to the station (2900) according to the third embodiment of the present invention.

[0791] The docking step (S20) of the control method of the robot system according to the third embodiment of the present invention may include a settling step (S3210), a separation step (S3220), a function module return step (S3230), a robot rotation step (S3240), a sliding part forward step (S3250), and a coupling step (S3260).

[0792] In the settling step (S3210), after the sliding part (2920) of the station (2900) slides away from the station body (2910) by driving the driving part (2980), the robot (1) can be settling on the sliding part (2920) while being coupled with the function module (800). Meanwhile, in order to avoid duplicate description, the settling step (S3210) according to the 3-2 embodiment of the present invention may refer to the contents of the settling step (S3110) according to the 3-1 embodiment of the present invention.

[0793] In the separation step (S3220), the robot (1) can be separated from the function module (800).

[0794] The separation step (S3220) may include a disengagement step (S3221) and a robot body elevation step (S3222). Meanwhile, to avoid duplicate explanation, the disengagement step (S3221) and the robot body elevation step (S3222) according to the 3-2 embodiment of the present invention may each refer to the contents of the disengagement step (S1111) and the robot body elevation step (S1112) according to the 1-1 embodiment of the present invention.

[0795] In the function module return step (S3230), the sliding part (2920) on which the function module (800) is installed can be slid toward the station body (2910) by driving the driving part (2980).

[0796] In this step (S3230), the sliding part (2920) can be slid toward the housing (2911). When the sliding part (2920) slides backward, the function module (800) is moved back toward the housing (2911) while being seated on the sliding part (2920), and the robot (1) can be moved downward to the ground along the inclined member (2922). The inclined member (2922) is arranged to be inclined downward in a direction away from the housing (2911), i.e., forward. Therefore, when the sliding part (2920) slides backward, the wheel (310) of the robot (1) can be naturally moved downward to the ground along the inclined member (2922).

[0797] As illustrated in FIG. 39e, in the robot rotation step (S3240), the robot (1) positioned at the entrance of the station (2900) can rotate 180 degrees so that the rear of the robot (1) faces the station (2900). Meanwhile, to avoid redundant description, the robot (1) in the robot rotation step (S3240) according to the 3-2 embodiment of the present invention can move with the same movement as the robot (1) in the backward waiting step (S1211) according to the 1-2 embodiment of the present invention.

[0798] In the sliding section forward step (S3250), after the sliding section (2920) of the station (2900) slides away from the station body (2910) through the driving of the driving section (2980), the robot (1) can be seated on the sliding section (2920).

[0799] In the coupling step (S3260), the robot (1) can be coupled with the function module (800) mounted on the sliding part (2920).

[0800] The joining step (S3260) may include a robot body lowering step (S3261) and a robot body fixing step (S3262). Meanwhile, in order to avoid duplicate explanation, the robot body lowering step (S3261) and the robot body fixing step (S3262) according to the 3-2 embodiment of the present invention may each refer to the contents of the robot body lowering step (S1221) and the robot body fixing step (S1222) according to the 1-2 embodiment of the present invention.

[0801]

[0802] FIG. 40 is a flowchart showing a control method of a robot system according to a fourth embodiment of the present invention, FIG. 41a is a diagram showing an operation corresponding to step S10 of FIG. 40, FIG. 41b is a diagram showing an operation corresponding to step S4110 of FIG. 40, FIG. 41c is a diagram showing an operation corresponding to steps S4120 and S4131 of FIG. 40, FIG. 41d is a diagram showing an operation corresponding to steps S4132 and S4140 of FIG. 40, FIG. 41e is a diagram showing an operation corresponding to step S4151 of FIG. 40, FIG. 41f is a diagram showing an operation corresponding to steps S4152, S4160, and S4170 of FIG. 40, and FIG. 41g is a diagram showing an operation corresponding to step S4180 of FIG. 40.

[0803] The control method of the robot system according to the fourth embodiment of the present invention will be described with reference to FIGS. 40 to 41g as follows.

[0804] A control method of a robot system according to a fourth embodiment of the present invention may include an approach step (S10) and a docking step (S20).

[0805] A control method of a robot system according to a fourth embodiment of the present invention can implement a process of returning a robot (1) placed externally to a station (3900) according to the fourth embodiment of the present invention without rotating the wheel (310) of the robot (1) through a transfer unit (3920).

[0806] The docking step (S20) of the control method of the robot system according to the fourth embodiment of the present invention may include a robot rotation step (S4110), a forward step (S4120), a mounting step (S4130), a backward step (S4140), a dismounting step (S4150), a transport part return step (S4160), and a coupling step (S4170).

[0807] As illustrated in FIG. 41b, in the robot rotation step (S4110), the robot (1) positioned at the entrance of the station (3900) can rotate 180 degrees so that the rear of the robot (1) faces the station (3900). Meanwhile, to avoid redundant description, the robot (1) in the robot rotation step (S4110) according to the fourth embodiment of the present invention can move with the same movement as the robot (1) in the backward waiting step (S1211) according to the first and second embodiments of the present invention.

[0808] In the forward step (S4120), the transport unit (3920) of the station (1900) can be slid away from the station body (1910) by driving the drive unit (1980).

[0809] The arm (400) of the robot (1) can be formed in a ring shape since both ends are connected to both sides of the robot body (100). Accordingly, the transport unit (3920) can be slidably moved to a position passing through the open center of the arm (400) through the driving of the driving unit (3980).

[0810] In the mounting step (S4130), the suspension motor (MS) can be driven to move the robot body (100) downward so that the arm (400) of the robot (1) is mounted on the transport section (3920). At this time, the arm (400) can be mounted on the mounting member (3921b) of the transport section (3920).

[0811] In the backward step (S4140), the suspension motor (MS) is driven to move the wheel (310) of the robot (1) upward so that the wheel (310) is separated from the ground, and then the driving unit (3980) is driven to cause the transport unit (3920) to slide in a direction closer to the station body (3910). At this time, the moving direction of the transport unit (3920) in this step (S4140) may be opposite to the moving direction of the transport unit (3920) in the forward step (S4120). In addition, in this step (S4140), the transport unit (3920) may be moved to a position where the robot terminal (170) of the robot (1) and the robot corresponding terminal (840) of the station (3900) come into contact when the robot body (100) is lowered.

[0812] In the dismounting step (S4150), the suspension motor (MS) is driven to move the wheel (310) of the robot (1) downward so that the wheel (310) of the robot (1) comes into contact with the ground, and then the robot body (100) is moved upward so that the arm (400) and the transport unit (3920) of the robot (1) can be dismounted.

[0813] In the transfer unit return step (S4160), the transfer unit (3920) can be slid toward the station main body (3910) by driving the driving unit (3980). When the robot main body (100) is lowered due to this step (S4160), the arm (400) can be placed on the function module (800) without being caught on the transfer unit (3920).

[0814] In the coupling step (S4170), the robot (1) can be coupled with the function module (800). At this time, the function module (800) may be electrically and / or eurologically coupled to the station (1900).

[0815] The joining step (S4170) may include a robot body lowering step (S4171) and a robot body fixing step (S4172). Meanwhile, to avoid duplicate explanation, the robot body lowering step (S4171) and the robot body fixing step (S4172) according to the fourth embodiment of the present invention may each refer to the contents of the robot body lowering step (S1221) and the robot body fixing step (S1222) according to the first and second embodiments of the present invention.

[0816] The control method of the robot system according to the fourth embodiment of the present invention may further include a departure step (S4180).

[0817] In the departure step (S4180), the robot (1) can move forward and leave the station (3900) while being coupled with the function module (800). When charging of the robot (1) and / or the function module (800) is completed, or emptying of the dustbin of the function module (800) is completed, the robot (1) can leave the station (3900) while being coupled with the function module (800).

[0818]

[0819] 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.

[0820] 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; A functional module detachably coupled to the robot and electrically connected to the robot when coupled to the robot; and a station to which the above function module is docked; The above station is, Station body; and A robot system characterized by including a station terminal arranged in the station main body and electrically connected to a station corresponding terminal of the function module.

2. In paragraph 1, The above robot is equipped with a battery, A robot system characterized in that when the function module is electrically connected to the station while being coupled with the robot, the battery receives power from the station through the function module.

3. In paragraph 1, The above robot is equipped with a battery, A robot system characterized in that when the robot is coupled to the function module while the function module and the station are electrically connected, the battery receives power from the station through the function module.

4. In paragraph 1, The above station is, A suction unit disposed in the above station body and sucking dust from the dust bin of the above function module; A dust collection unit that captures dust sucked through the above suction unit; and A robot system characterized by including a dust collecting motor that provides suction force to the suction unit.

5. In paragraph 1, The above station is, A mounting part connected to the above station body and on which the robot is mounted; and A robot system characterized by including an inclined portion whose angle of inclination with respect to the mounting portion is adjusted by being rotatably coupled to the mounting portion.

6. In paragraph 5, The above-mentioned fixing members are arranged in pairs spaced apart from each other on the station body, A robot system, characterized in that, when the function module is docked to the station, at least a portion of the function module is placed between a pair of the mounting portions.

7. In paragraph 1, The above station is, A robot system characterized by further comprising a rotating part on which at least one of the robot and the function module is mounted and which is rotatably coupled to the station main body.

8. In paragraph 7, The above station body is, A robot system characterized by including an inclined member arranged at an angle with respect to the rotating part.

9. In paragraph 1, The above station is, A robot system characterized in that it further includes a sliding part on which at least one of the robot and the function module is mounted and is slidably coupled to the station main body.

10. In paragraph 9, The above station body is, side walls, at least some of which are disposed on both sides of the sliding portion; and A robot system characterized by including a guide rail disposed on the side wall and guiding the sliding movement of the sliding part.

11. In paragraph 9, The above sliding part, A mounting member on which at least one of the above robot and the above function module is mounted; and A robot system characterized by including an inclined member arranged at an angle with respect to the above-mentioned fixing member.

12. In paragraph 1, The above robot, A robot body that is detachably connected to the above function module; and An arm, each end of which is connected to each side of the robot body, is included; The above station is, A robot system further comprising a transport unit for moving the arm in a direction away from or closer to the station main body.

13. In paragraph 12, The above transfer part, A support member slidably connected to the station body and supporting at least a portion of the arm; and A robot system characterized by including a protruding member that protrudes from the supporting member and prevents the arm from being detached.

14. In paragraph 1, The above robot, A robot body having a motor and a battery; and A robot system characterized by including a module coupling part arranged at the lower part of the robot body and hooked to the coupling part of the functional module.

15. In paragraph 14, The above module joint is, A drive motor positioned inside the robot body and generating rotational power; A joining hook that moves in a straight line and is hooked into the joining hole of the above-mentioned joining part; A rotary gear that transmits the rotary power generated from the above driving motor to the above coupling hook; and A robot system characterized by including a guide member for guiding the linear movement of the above-mentioned coupling hook.

16. Robot; A functional module detachably coupled to the above robot; and a station to which the above function module is docked; The above station is, A settling module on which the robot is settling during the process of the robot docking to or leaving the station; and A robot system characterized by including a driving unit that selectively drives the mounting module depending on whether the robot is mounted on the mounting module.

17. In a control method of a robot system that controls the robot system of Article 4, An approach step in which the robot moves toward the station when a signal is received from the station; and A control method for a robot system, characterized in that it includes a docking step in which the robot is docked to the station after the driving unit of the station is driven.

18. In paragraph 17, The above robot, Robot body equipped with motor and battery; Leg parts each positioned on the left and right sides of the robot body; a wheel rotatably connected to the above leg portion; and It includes a suspension motor which is accommodated in the robot body and is respectively connected to the left and right leg parts to provide driving force to the leg parts; The above docking step is, A backward standby stage positioned at the entrance of the slope so that the robot can climb the slope of the station while moving backward; A settling step in which the robot moves backwards and settles on the slope; A first driving step for driving the suspension motor to increase and rotate the inclined portion by driving the driving portion so that the distance between the wheel and the robot body is reduced; and A control method for a robot system, characterized in that it includes a communication step in which the dust bin of the functional module and the suction part of the station are communicated after the robot moves backward.

19. In paragraph 18, A dust collection step in which dust inside the dust bin is sucked in by driving the dust collection motor; A moving step in which the robot moves to the inclined section while being coupled with the functional module; and A control method for a robot system, characterized in that it further includes a second driving step of driving the suspension motor to increase the distance between the wheel and the robot body while rotating the inclined portion downward by driving the driving portion.

20. In paragraph 17, The above docking step is, A forward step in which the robot moves to the rotating part of the station; A joining step in which the robot is joined to the functional module mounted on the rotating part; A rotation step in which the rotating part rotates by driving the driving part; and A control method for a robot system, characterized in that it includes a departure step in which the robot moves forward while being coupled with the function module and departs from the station.

21. In paragraph 17, The above docking step is, A forward step in which the robot moves to the rotation section of the station while being coupled with the functional module; A rotation step in which the rotating part rotates by driving the driving part; A communication step in which the dustbin of the function module and the suction part of the station are connected after the robot moves backward; and A control method for a robot system, characterized in that it includes a dust collection step in which the dust collection motor is driven to suck up dust inside the dust bin.

22. In paragraph 17, The above docking step is, A settling step in which the robot is settling on the sliding part while being coupled with the function module after the sliding part of the station slides away from the station main body by driving the driving part; A communication step in which the dust bin of the function module is connected to the suction unit of the station after the sliding unit slides in a direction closer to the station main body through the driving of the driving unit; and A control method for a robot system, characterized by including a dust collection step in which dust inside the dust bin is sucked in by driving the dust collection motor.

23. In paragraph 17, The above docking step is, A settling step in which the robot is settling on the sliding part while being coupled with the function module after the sliding part of the station slides away from the station main body through the driving of the driving part; A separation step in which the robot is separated from the functional module; and A control method for a robot system, characterized by including a function module return step in which the sliding part on which the function module is installed is slid in a direction closer to the station main body by driving the driving part.

24. In paragraph 17, The above docking step is, A forward step in which the transport part of the station slides away from the station main body by driving the driving part; and A mounting step of moving the robot body of the robot downward and mounting the arm of the robot on the transport unit; A backward step in which the transport part of the station slides in a direction closer to the station main body by driving the drive part after moving the wheel of the robot upward; A dismounting step in which the robot arm and the transport unit are dismounted by moving the robot body upward after moving the wheel downward; and A control method for a robot system, characterized in that it includes a coupling step in which the robot is coupled with the functional module.

Images