Sensor module and electronic device comprising same

Abstract

This electronic device comprises: a main body; a travel portion provided to move the main body; and a sensor module. The sensor module comprises: at least one sensor; a support portion supporting the at least one sensor; a sensor module body fixing the sensor module to the main body; a hinge portion connecting the support portion and the sensor module body to be rotatable, wherein the hinge portion comprises a first hinge which supports the support portion to be rotatable from the side surface of the support portion with respect to the front direction of the main body, and a second hinge which supports the support portion to be rotatable from the rear side of the support portion with respect to the front direction of the main body; and a balance member which is arranged under the support portion and maintains the balance of the support portion while the main body is moved by the travel portion.

Description

Sensor module and electronic device including same

[0001] The present disclosure relates to a sensor module and an electronic device including the same. More specifically, the present disclosure relates to a sensor module for maintaining balance while driving and an electronic device including the same.

[0002] Recently, the use of electronic devices with navigation capabilities, such as robot vacuum cleaners and mobile projectors, has been increasing. These electronic devices can also be called "driving robots." A driving robot is a device that autonomously navigates a desired area and performs various tasks without user intervention. Recently, with the advancement of sensors and controllers, driving robots have been utilized in a variety of fields. Examples of driving robots include cleaning robots, telepresence robots, and security robots.

[0003] Mobile robots can be manufactured in various forms. When a mobile robot's main body is supported by multiple wheels and moves by the rotation of the wheels, the mobile robot's main body can tilt due to inertia when accelerating or decelerating. For example, the mobile robot's main body can rotate in the pitch or roll directions.

[0004] If a sensor is embedded in the robot's body, the sensor will rotate along with the body's rotation. In this case, the sensing direction may change.

[0005] For example, if the sensor is a lidar sensor, if the lidar sensor rotates while sensing, a problem may occur in which accurate results cannot be obtained through the sensing values ​​obtained through the lidar sensor.

[0006] An electronic device according to one or more embodiments of the present disclosure includes a main body; a driving unit configured to drive the main body; and a sensor module, wherein the sensor module includes at least one sensor; a support unit that supports the at least one sensor; a sensor module body that fixes the sensor module to the main body; and a hinge unit that rotatably connects the support unit and the sensor module body; and, the hinge unit includes a first hinge that rotatably supports the support unit at a side surface of the support unit with respect to a front direction of the main body; and a second hinge that rotatably supports the support unit at a rear surface of the support unit with respect to the front direction of the main body; and a balance member that is disposed below the support unit and is configured to maintain a balance of the support unit while the main body is driven by the driving unit.

[0007] A method for controlling an electronic device including a sensor module according to one or more embodiments of the present disclosure includes the steps of: detecting an inclination of the sensor module based on a sensing value of a tilt detection sensor disposed within the sensor module while the electronic device is driving; and maintaining a balance of the sensor module by applying an electric signal to at least one of a plurality of electromagnets included in the sensor module. The sensor module includes: a support member for supporting at least one sensor; a sensor module body for fixing the sensor module to a main body of the electronic device; a hinge member for rotatably connecting the support member and the sensor module body; and a balance member disposed below the support member and configured to maintain the balance of the support member while the main body is driven by the driving member.

[0008] A sensor module for mounting on an electronic device according to one or more embodiments of the present disclosure includes: a support for supporting at least one sensor; a sensor module body for fixing the sensor module to a main body of the electronic device; a hinge for rotatably connecting the support and the sensor module body; and a balance member disposed on a lower side of the support and configured to maintain the balance of the support while the electronic device is running. The hinge includes: a first hinge for rotatably supporting the support at both sides of the support with respect to a front direction of the electronic device; and a second hinge for rotatably supporting the support at a rear side of the support with respect to the front direction of the electronic device.

[0009] The embodiments will be more clearly understood from the detailed description written together with the drawings, which follow.

[0010] FIG. 1 is a perspective view illustrating an appearance of an electronic device according to one or more embodiments of the present disclosure.

[0011] FIG. 2 is a block diagram illustrating a configuration of an electronic device according to one or more embodiments of the present disclosure.

[0012] FIG. 3 is a drawing for explaining the rotation of the main body when an electronic device according to one or more embodiments of the present disclosure accelerates in the front direction of the main body.

[0013] FIG. 4 is a drawing for explaining the rotation of the main body when an electronic device according to one or more embodiments of the present disclosure accelerates in the rearward direction of the main body.

[0014] FIG. 5A is a drawing for explaining a situation in which the roll angle of the main body of an electronic device according to one or more embodiments of the present disclosure changes.

[0015] FIG. 5b is a drawing for explaining a situation in which the roll angle of the main body of an electronic device according to one or more embodiments of the present disclosure changes.

[0016] FIG. 6A is a drawing for explaining a situation in which the roll angle of the main body of an electronic device according to one or more embodiments of the present disclosure changes.

[0017] FIG. 6b is a drawing for explaining a situation in which the roll angle of the main body of an electronic device according to one or more embodiments of the present disclosure changes.

[0018] FIG. 7A is a perspective view of a sensor module according to one or more embodiments of the present disclosure.

[0019] FIG. 7b is a perspective view illustrating a sensor module mounted on a main body according to one or more embodiments of the present disclosure.

[0020] FIG. 7c is a cross-sectional view illustrating a sensor module mounted on a main body according to one or more embodiments of the present disclosure.

[0021] FIG. 8 is a drawing for explaining a method for maintaining balance of a sensor when the pitch angle of a main body (10) changes in an electronic device according to one or more embodiments of the present disclosure.

[0022] FIG. 9 is a drawing for explaining a method for maintaining balance of a sensor when the pitch angle of a main body (10) changes in an electronic device according to one or more embodiments of the present disclosure.

[0023] FIG. 10A is a diagram illustrating a method for an electronic device according to one or more embodiments of the present disclosure to maintain balance of a sensor when the body is tilted in each roll direction.

[0024] FIG. 10B is a diagram illustrating a method for an electronic device according to one or more embodiments of the present disclosure to maintain balance of a sensor when the body is tilted in each roll direction.

[0025] FIG. 11A is a diagram illustrating a method for an electronic device according to one or more embodiments of the present disclosure to maintain balance of a sensor when the body is tilted in each roll direction.

[0026] FIG. 11B is a diagram illustrating a method for an electronic device according to one or more embodiments of the present disclosure to maintain balance of a sensor when the body is tilted in each roll direction.

[0027] FIG. 12 is a flowchart illustrating a method of maintaining balance of a support by rotating a support using an electromagnet or a rotary motor in an electronic device according to one or more embodiments of the present disclosure.

[0028] FIG. 13 is a drawing for explaining a method for an electronic device according to one or more embodiments of the present disclosure to rotate a sensor in the reverse direction when the sensor is rotated toward the rear of the main body.

[0029] FIG. 14 is a drawing for explaining a method of rotating a sensor toward the rear of a main body using an electromagnet in an electronic device according to one or more embodiments of the present disclosure when the sensor is rotated toward the front of the main body.

[0030] FIG. 15 is a drawing for explaining a method of rotating a sensor in the reverse direction when the sensor is rotated in the right direction of the main body (10) by an electronic device according to one or more embodiments of the present disclosure.

[0031] FIG. 16 is a drawing for explaining a method for an electronic device according to one or more embodiments of the present disclosure to rotate a sensor in the reverse direction when the sensor is rotated to the left of the main body.

[0032] FIG. 17 is a drawing for explaining a rotary motor according to one or more embodiments of the present disclosure.

[0033] FIG. 18A is a drawing for explaining a projector unit according to one or more embodiments of the present disclosure.

[0034] FIG. 18b is a drawing for explaining a projector unit according to one or more embodiments of the present disclosure.

[0035] The present embodiments may be modified and have various embodiments. Therefore, specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the scope to specific embodiments, but should be understood to encompass various modifications, equivalents, and / or alternatives of the embodiments of the present disclosure. In connection with the description of the drawings, similar reference numerals may be used for similar components.

[0036] In describing the present disclosure, if it is determined that a specific description of a related known function or configuration may unnecessarily obscure the gist of the present disclosure, a detailed description thereof will be omitted.

[0037] Additionally, the following embodiments may be modified in various other forms, and the scope of the technical concepts of the present disclosure is not limited to the following embodiments. Rather, these embodiments are provided to further faithfully and completely convey the technical concepts of the present disclosure to those skilled in the art.

[0038] The terminology used in this disclosure is for the purpose of describing specific embodiments only and is not intended to limit the scope of the rights. Singular expressions include plural expressions unless the context clearly dictates otherwise.

[0039] In this disclosure, expressions such as “has,” “can have,” “includes,” or “may include” indicate the presence of a corresponding feature (e.g., a component such as a number, function, operation, or part), and do not exclude the presence of additional features.

[0040] In this disclosure, expressions such as “A or B,” “at least one of A and / or B,” or “one or more of A or / and B” can include all possible combinations of the listed items. For example, “A or B,” “at least one of A and B,” or “at least one of A or B” can all refer to (1) including at least one A, (2) including at least one B, or (3) including both at least one A and at least one B.

[0041] The expressions “first,” “second,” “first,” or “second,” etc., used in this disclosure can describe various components, regardless of order and / or importance, and are only used to distinguish one component from another, but do not limit the components.

[0042] When it is said that a component (e.g., a first component) is “(operatively or communicatively) coupled with / to” or “connected to” another component (e.g., a second component), it should be understood that said component may be directly coupled to said other component, or may be coupled via another component (e.g., a third component).

[0043] On the other hand, when it is said that a component (e.g., a first component) is "directly connected" or "directly connected" to another component (e.g., a second component), it can be understood that no other component (e.g., a third component) exists between said component and said other component.

[0044] The expression "configured to" used in the present disclosure may be used interchangeably with, for example, "suitable for," "having the capacity to," "designed to," "adapted to," "made to," or "capable of." The term "configured to" may not necessarily mean only "specifically designed to" in terms of hardware.

[0045] Instead, in some contexts, the phrase "a device configured to" may mean that the device is "capable of" doing something in conjunction with other devices or components. For example, the phrase "a processor configured (or set) to perform A, B, and C" may mean a dedicated processor (120) for performing the actions, or a general-purpose processor (120) (e.g., a CPU or application processor) that can perform the actions by executing one or more software programs stored in a memory device.

[0046] In the embodiments, a 'module' or 'part' performs at least one function or operation, and may be implemented as hardware or software, or as a combination of hardware and software. Furthermore, a plurality of 'modules' or 'parts' may be integrated into at least one module and implemented as at least one processor, except for a 'module' or 'part' that needs to be implemented as a specific hardware.

[0047] Meanwhile, the various elements and areas in the drawings are schematically drawn. Therefore, the technical concept of the present invention is not limited by the relative sizes or spacing depicted in the attached drawings.

[0048] Hereinafter, with reference to the attached drawings, embodiments according to the present disclosure will be described in detail so that a person having ordinary knowledge in the technical field to which the present disclosure pertains can easily implement the present disclosure.

[0049] FIG. 1 is a perspective view illustrating an appearance of an electronic device according to one or more embodiments of the present disclosure.

[0050] The electronic device (100) may be a device capable of driving (e.g., autonomous driving). Alternatively, it may be referred to by various names, such as an autonomous driving device, a driving robot, or a mobile device. The electronic device (100) of FIG. 1 may be classified in various ways depending on its function. For example, if it includes a beam projector, the electronic device (100) may be a mobile projector. Alternatively, if it includes a dry cleaning module or a wet cleaning module, the electronic device (100) may be a cleaning robot. If it includes a shelf for supporting objects, the electronic device may be a serving robot.

[0051] Referring to FIG. 1, the electronic device (100) includes a main body (10) and a driving unit (20).

[0052] The main body (10) is a component that forms the exterior of the electronic device (100). In Fig. 1, a cylindrical main body (10) is illustrated, but it is not necessarily limited thereto, and the main body (10) may be modified in various ways, such as into a spherical or disc shape.

[0053] One side of the main body (10) may include an opening (13). At this time, the opening (13) may be an opening that can be opened and closed, or may be in a constantly open state. A sensor module (30) may be mounted within the opening (13). The sensor module may include at least one sensor for sensing various information, such as the position of the electronic device (100) and the distance from surrounding obstacles. The sensor module may include various types of sensors, such as a lidar sensor, an IR sensor, an image sensor, an ultrasonic sensor, and a tilt detection sensor. This will be described in detail again below.

[0054] Meanwhile, the sensor module (30) according to the present disclosure may be referred to as a balancing module or a horizontal maintenance module, and does not necessarily include a sensor. Specifically, the sensor module (30) supports various components requiring horizontal maintenance, such as sensors, and may also maintain the horizontality of the supported components.

[0055] In order for the sensor module (30) to accurately sense the surrounding environment, the opening (13) may be positioned at a position where it can observe a full 360 degrees around the main body (10). FIG. 1 illustrates a case where the opening (13) is positioned at the upper portion of the main body (10). When the sensor module is mounted within the opening (13), the opening (13) may be covered by a transparent cover. Accordingly, dust or other foreign substances may be prevented from entering the sensor module and its surroundings. The cover covering the opening (13) may be flat with the surface surrounding the opening (13), or may be manufactured by raising the material convexly compared to the surrounding surface.

[0056] The driving unit (20) is a component for moving the electronic device (100). The driving unit (20) may include a moving member for moving the electronic device (100). For example, the moving member may include a plurality of wheels, balls, rails, etc. The driving unit (20) may include at least one motor, at least one shaft for transmitting the power of the motor to other components, and a gear, etc. The driving unit (20) may be controlled by a processor and transmit physical power to each hardware component constituting the driving unit (20).

[0057] Referring to Fig. 1, the driving unit (20) may include two wheels (20a, 20b). Fig. 1 illustrates a case where two wheels (20a, 20b) are attached to both sides of the main body (10), but the number, shape, attachment location, etc. of the wheels may be changed in various ways.

[0058] The driving unit (20) can, under the control of the processor, simultaneously rotate the two wheels in a first direction to move the electronic device (100) forward, or rotate the two wheels in a second direction opposite to the first direction to move the electronic device (100) backward. Alternatively, the driving unit (20) can rotate only one of the two wheels, or rotate the electronic device (100) clockwise or counterclockwise by varying the rotation speeds of the two wheels. In other words, the electronic device (100) can be rotated so that the yaw angle changes with respect to the floor surface on which it is placed.

[0059] When the driving unit (20) moves the electronic device (100), the main body (10) can tilt due to inertia so that the pitch angle and / or roll angle changes.

[0060] In the present disclosure, pitch angle, roll angle, and yaw angle may mean angles rotated around the pitch axis, roll axis, and yaw axis.

[0061] Referring to FIG. 1, the pitch axis (x) may be an axis perpendicular to the direction of travel of the electronic device (100) based on the floor surface on which the electronic device (100) is placed. In other words, the pitch axis (x) may be an axis for indicating the forward and backward tilt or forward and backward rotation of the electronic device (100).

[0062] The roll axis (y) may be an axis parallel to the direction of travel of the electronic device (100). That is, the roll axis (y) may be an axis for indicating the left-right tilt or left-right rotation of the electronic device (100). The plane formed by the pitch axis (x) and the roll axis (y) may be a plane parallel to the floor surface.

[0063] The pitch axis (z) may be an axis perpendicular to the plane or floor formed by the pitch axis (x) and the roll axis (y). In the case where the main body (10) is supported by two wheels (20a, 20b) as shown in Fig. 1, when the electronic device (100) is driven, the main body (10) may be tilted so that the pitch angle changes in the driving direction or the opposite direction, and the main body (10) may be tilted so that the roll angle changes during the rotation process.

[0064] In this case, the sensor module mounted within the opening (13) also tilts along with the main body (10), so the sensing direction or angle of each sensor mounted within the sensor module may change. Accordingly, accurate sensing of the surrounding environment may not be achieved, and there is a possibility that the electronic device (100) may collide with an obstacle or move to an incorrect location while driving.

[0065] To prevent this phenomenon, a balance member may be provided in the sensor module. The balance member serves to maintain the balance of the sensor module while the main body (10) of the electronic device is moving.

[0066] The detailed configuration and operation of the electronic device (100) will be described with reference to FIG. 2.

[0067] FIG. 2 is a block diagram illustrating the configuration of an electronic device according to one or more embodiments of the present disclosure. According to FIG. 2, the electronic device (100) may include a driving unit (20), a sensor module (30), a memory (110), and a processor (120).

[0068] The driving unit (20) includes a motor for rotating the wheels (20a, 20b) as described above. The motor can be driven under the control of the processor (120). In FIG. 2, the driving unit (20) is illustrated as being directly connected to the processor (120) and receiving a control signal, but the motor of the driving unit (20) can receive a control signal from a separate driving circuit that is driven according to the command of the processor (120) and be driven based on the control signal. The rotation direction or rotation speed of the motor can be changed according to this control signal.

[0069] The sensor module (30) may include at least one sensor. The sensor module (30) may include various sensors such as a lidar sensor, an image sensor, an IR sensor, and an ultrasonic sensor.

[0070] Alternatively, the sensor module (30) may include a sensor for detecting rotation of the sensor module (30) itself or the main body (10). For example, the sensor module (30) may further include a tilt detection sensor. The tilt detection sensor may be implemented using various sensors such as an acceleration sensor, a gyro sensor, a geomagnetic sensor, and an inertial detection sensor.

[0071] The memory (110) may be configured to store various software, commands, data, etc. required for the operation of the electronic device (100).

[0072] In FIG. 2, the memory (110) is implemented as a separate memory from the processor (120), but it is not necessarily limited thereto, and the memory (110) may be implemented as an internal memory such as a ROM (e.g., an electrically erasable programmable read-only memory (EEPROM)) or RAM included in the processor (120).

[0073] Alternatively, the memory (110) may be implemented as a memory embedded in the electronic device (100) or as a memory that can be attached or detached to the electronic device (100) depending on the purpose of data storage. For example, data for driving the electronic device (100) may be stored in a memory embedded in the electronic device (100), and data for expanding the functions of the electronic device (100) may be stored in a memory that can be attached or detached to the electronic device (100).

[0074] In the case of memory embedded in an electronic device (100), the memory (110) may be implemented as at least one of volatile memory (110), static RAM (SRAM), synchronous dynamic RAM (SDRAM), etc.), non-volatile memory (110) (e.g., one time programmable ROM (OTPROM), programmable ROM (PROM), erasable and programmable ROM (EPROM), electrically erasable and programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (110), hard drive, or solid state drive (SSD)).

[0075] In the case of a memory that can be attached or detached to an electronic device (100), it can be implemented in the form of a memory card (e.g., CF (compact flash), SD (secure digital), Micro-SD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card), etc.), an external memory (110) that can be connected to a USB port, etc.

[0076] As described above, the memory (110) may store not only at least one command related to the electronic device (100), but also various software, data, etc. The memory (110) may store an O / S (Operating System) for driving the electronic device (100). In addition, the memory (110) may store various software programs or applications for operating the electronic device (100) according to various embodiments of the present disclosure. The processor (120) may execute various software modules stored in the memory (110) to control the operation of the electronic device (100). That is, the memory (110) is accessed by the processor (120), and data reading / writing / modifying / deleting / updating, etc., may be performed by the processor (120).

[0077] In the present disclosure, the term memory (110) may be used to mean a storage unit, a ROM (not shown), a RAM (not shown) within a processor (120), or a memory card (not shown) (e.g., a micro SD card, a memory stick) mounted on an electronic device (100).

[0078] The processor (120) is a component for controlling the overall operation of the electronic device (100). The processor (120) may include one or more of a digital signal processor, a microprocessor, a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor (120)), a graphics-processing unit (GPU), a communication processor (120)), and an advanced reduced instruction set computer (RISC) machines (ARM) processor, or may be defined by the corresponding terminology. In addition, the processor (120) may be implemented as a system on chip (SoC) having a built-in processing algorithm, a large scale integration (LSI), or may be implemented as a field programmable gate array (FPGA). In addition, the processor (120) may perform various functions by executing computer executable instructions stored in the memory (110).

[0079] As described above, the electronic device (100) can be implemented in various types, and the processor (120) can perform various operations depending on the implementation example.

[0080] For example, when the electronic device (100) is implemented as a mobile projector including a projector unit, the processor (120) can identify the location of the electronic device (100) within the space where the electronic device (100) is placed based on the sensing value of the sensor module (30). Specifically, when the sensor module (30) includes a lidar sensor, the processor (120) can control the lidar sensor so that the lidar sensor rotates 360 degrees with respect to the space where the electronic device (100) is located and irradiates a laser. When the laser is reflected from an object around the electronic device (100) and received again by the lidar sensor, the lidar sensor can sense the laser irradiation time, the reception time, the reception intensity of the laser signal, etc., and provide the same to the processor (120).

[0081] The processor (120) can measure the distance to an object based on the sensing value of the lidar sensor, perform such distance measurements from various angles and directions, and generate data points in the surrounding space. The processor (120) can collect these data points into a point cloud. Each point includes coordinate value information for expressing a location within the space. At this time, the point cloud can include information about 2D coordinate values ​​or information about 3D coordinate values.

[0082] The processor (120) can generate a 2D map or 3D map of the space where the electronic device (100) is placed based on point cloud data. However, the present invention is not limited to this example, and the processor (120) can also generate the map using various other known technologies. In addition, if the sensor module (30) further includes an image sensor or an IR sensor, the processor (120) can increase the accuracy of the map based on the sensing values ​​of these sensors. The processor (120) can store data for the generated map in the memory (110).

[0083] In this state, the processor (120) can perform various operations while driving within a space based on map data. When implemented as a mobile projector as in the example described above, the processor (120) selects a projection surface based on map data and controls the driving unit (20) to move the main body (10) to a position spaced apart from the projection surface by a preset distance. When the main body moves to the corresponding position, the processor (120) reproduces content data and controls the projector unit (240) to project the content in the direction of the projection surface.

[0084] Meanwhile, when the electronic device (100) is implemented as a robot vacuum cleaner, the processor (120) identifies the entire cleanable area within a space based on map data, sets a driving path for driving the entire area, and controls the driving unit (20) to move the main body (10) along the driving path. The processor (120) may drive a dry cleaning module (not shown) to suck up foreign substances such as dust while driving, or drive a wet cleaning module (not shown) to rotate a mopping pad to which a wet mop is attached.

[0085] When the electronic device (100) is implemented as a serving robot, the processor (120) identifies the location of the electronic device (100) and the serving destination within the space based on map data, sets a driving route to the serving destination, and then controls the driving unit (20) to move the main body (10) along the driving route.

[0086] The processor (120) can identify the surrounding situation by receiving sensing values ​​of the sensor module (30) periodically or continuously to prevent collisions with surrounding obstacles even while driving. Therefore, if the sensing module (30) tilts together with the main body (10), map data may be generated inaccurately, or distance measurements with surrounding obstacles, collision potential, etc. may not be accurately determined. To prevent this, various embodiments of the present disclosure further include a structure for maintaining the balance of the sensor module (30). This structure and its function and operation will be described in detail again in the following section.

[0087] In FIG. 1, a case where each memory (110) and processor (120) are included in the electronic device (100) is illustrated, but this is not necessarily limited to the case, and the number of memories (110) and processors (120) may be plural. In addition, at least one of the plurality of memories (110) and processors (120) may be mounted on the sensor module (30). The phenomenon in which the main body (10) rotates as the electronic device (100) moves will be described with reference to FIGS. 3, 4, 5, and 6.

[0088] FIG. 3 is a drawing for explaining the rotation of the main body (10) when the electronic device (100) according to one or more embodiments of the present disclosure accelerates in the front direction of the main body (10). The front direction may be one of the directions perpendicular to the arrangement direction of the wheels (20a, 20b) in a structure in which wheels are arranged parallel to each other on both sides of the main body (10), and the rear direction may be the opposite direction. When implemented as a mobile projector, the direction in which the projector unit is arranged among the directions perpendicular to the arrangement direction of the wheels may be the front direction, and the opposite direction may be the rear direction. However, this distinction is for the convenience of explanation, and the front direction may alternatively refer to the driving direction, forward direction, or normal driving direction of the electronic device (100), and the rear direction may refer to the backward direction or reverse driving direction of the electronic device (100).

[0089] Referring to FIG. 3, when the electronic device (100) accelerates in the forward direction of the main body (10) (i.e., in the direction of the arrow), the main body (10) may tilt toward the rearward direction according to its driving speed and the pitch angle may change. That is, the main body (10) may rotate in the -y-axis direction with respect to the x-axis. Depending on the acceleration speed, the change in the pitch angle may become greater.

[0090] FIG. 4 is a drawing for explaining the rotation of the main body (10) when the electronic device (100) according to one or more embodiments of the present disclosure accelerates in the rear direction of the main body (10).

[0091] Referring to FIG. 4, when the electronic device (100) suddenly stops or decelerates while moving toward the front of the main body (10) or moves toward the rear of the main body (10), the main body (10) may tilt toward the front and change its pitch angle. That is, the main body (10) may rotate in the +y-axis direction with respect to the x-axis. Meanwhile, the polarity of the pitch angle when rotating in the -y-axis direction and the pitch angle when rotating in the +y-axis direction may be opposite to each other.

[0092] For example, in the present disclosure, when the main body (10) rotates in the +y-axis direction with respect to the x-axis, the change in the pitch angle of the main body (10) may have a positive value. That is, when the main body (10) rotates in the front direction of the main body (10), the pitch angle of the main body (10) may change in the positive direction.

[0093] And, when the main body (10) rotates in the -y-axis direction with respect to the x-axis, the change in the pitch angle of the main body (10) may have a negative value. That is, when the main body (10) rotates in the rear direction of the main body (10), the pitch angle of the main body (10) may change in the negative direction.

[0094] Additionally, the polarity of the roll angle when the main body (10) rotates in the -x-axis direction and the polarity of the roll angle when it rotates in the +x-axis direction may be opposite to each other.

[0095] For example, in the present disclosure, when the main body (10) rotates in the -x-axis direction with respect to the y-axis, the roll angle change of the main body (10) may have a positive value. That is, when the main body (10) rotates to the right of the main body (10), the roll angle of the main body (10) may change in a positive direction.

[0096] And, when the main body (10) rotates in the +x-axis direction with respect to the y-axis, the roll angle change of the main body (10) may have a negative value. That is, when the main body (10) rotates to the left of the main body (10), the roll angle of the main body (10) may change in the negative direction.

[0097] Meanwhile, since the polarity of the pitch angle is not necessarily limited to this, in the present disclosure, the pitch angle polarity when rotating in the +y-axis direction is referred to as the first polarity, and the pitch angle polarity when rotating in the -y-axis direction is referred to as the second polarity. This definition of polarity can be equally applied to the roll angle or yaw angle.

[0098] FIGS. 5A, 5B, 6A, and 6B are drawings for explaining a situation in which the roll angle of the main body (10) of the electronic device (100) according to one or more embodiments of the present disclosure changes.

[0099] Referring to FIG. 5a, when the electronic device (100) rotates to the right side of the main body (10) and tilts toward the right wheel (20a), the roll angle of the main body (10) may change as the main body (10) tilts. FIG. 5a illustrates a state in which the roll angle changes as the main body (10) tilts in the -x-axis direction with respect to the y-axis.

[0100] This situation may occur while one of the two wheels (20a, 20b) passes over an obstacle (e.g., carpet).

[0101] Specifically, referring to FIG. 5b, when the electronic device (100) runs on a floor surface that is not flat and on which an obstacle (510) is located, the roll angle of the main body (10) may change as the main body (10) tilts. In FIG. 5b, as the left wheel (20b) of the main body (10) passes over the obstacle (510), the roll angle of the main body (10) may change as the main body (10) tilts in the -x-axis direction with respect to the y-axis.

[0102] Figures 6a and 6b show a state of tilting in the opposite direction to Figures 5a and 5b.

[0103] Referring to FIG. 6a, when the main body (10) of the electronic device (100) is tilted in the x-axis direction with respect to the y-axis, the roll angle of the main body (10) changes. Alternatively, referring to FIG. 6b, when the right wheel (20a) passes over an obstacle (510) (e.g., a carpet) with respect to the front of the electronic device (100), the main body (10) may be tilted in the +x-axis direction with respect to the y-axis, thereby changing the roll angle of the main body (10).

[0104] The rotation of the main body (10) in the pitch angle direction and the rotation of the roll angle direction may occur simultaneously. For example, when the electronic device (100) is driven to the right front of the main body (10), the pitch angle of the main body (10) may change as the main body (10) tilts in the -y-axis direction with respect to the x-axis, and the roll angle of the main body (10) may change as the main body (10) tilts in the -x-axis direction with respect to the y-axis.

[0105] As described above, while the electronic device (100) is running, the main body (10) may rotate in the pitch angular direction and / or the roll angular direction. At this time, the sensor module (30) included in the main body (10) may rotate in the pitch angular direction and / or the roll angular direction along with the movement of the main body (10). In this case, a problem may arise in which the sensing value of the sensor included in the sensor module (30) is distorted.

[0106] An electronic device (100) according to one embodiment of the present disclosure may include a sensor module (30) implemented as a separate module so that the sensors do not tilt together with the main body (10). However, the present invention is not limited thereto, and the sensor module (30) may also be implemented by being built into the main body (10) of the electronic device (100).

[0107] The sensor module (30) can maintain balance even when the main body (10) is tilted. The configuration of the sensor module (30) capable of maintaining balance will be described with reference to FIG. 7.

[0108] FIG. 7a is a perspective view of a sensor module (30) according to one or more embodiments of the present disclosure.

[0109] Referring to FIG. 7a, the sensor module (30) may include a support member (33) for supporting the sensor (40), a body member (31) for fixing the sensor module (30) to the main body (10), a hinge member (34a, 34b, 35) for rotatably connecting the support member (33) and the body member (31), and a balance member (36).

[0110] The body part (31) forms part of the exterior of the sensor module (30) and can be configured to fix the sensor module (30) to the main body (10).

[0111] The body part (31) may include a fixing plate (32) that can be fixed to the main body. In FIG. 7, the fixing plate (32) is illustrated as a flat plate, but the shape and size of the fixing plate (32) may be variously changed. The fixing plate (32) may be fixed to the main body (10) by a fastening means such as a bolt, but is not necessarily limited thereto, and may be fixed by being fitted into a groove provided in the main body (10) or by being attached by a bonding material.

[0112] The body part (31) may include a first body part (31) and a second body part (31). The first body part (31) is a part where the first hinge (34a, 34b) among the hinge parts (34a, 34b, 35) is arranged, and the second body part (31) is a part where the second hinge (35) is arranged.

[0113] The first hinges (34a, 34b) support the support portion (33) in a rotatable manner on both sides of the support portion (33). That is, the first hinges (34a, 34b) support the support portion (33) in a manner in which the support portion (33) can rotate in each pitch direction.

[0114] The balance member (36) is placed on the lower side of the support member (33) and serves to maintain the balance of the support member (33) even while the main body (10) is moving. The balance member (36) is manufactured to be heavier than the weight of the sensor (40) mounted on the upper side of the support member (33), so as to maintain the center of gravity of the support member (33).

[0115] As the balance member (36) is placed on the lower side of the support member (33), the support member (33) on which the sensor (40) is mounted can maintain the pitch angle or minimize the change in the pitch angle while rotating by the first hinge (34a, 34b) even when the fixed plate (32) rotates in conjunction with the main body (10).

[0116] The first body part (31) is connected to the second body part (31) by the second hinge (35) in a state where the first hinges (34a, 34b) are formed. The second body part (31) can support the first body part (31) in a state where it can rotate in each roll direction by using the second hinge (35). The second body part (31) can be supported by the fixed plate (32). In this structure, even if the roll angle of the main body (10) is tilted to the left or right so as to change, the balance member (36) can maintain the center of gravity of the support part (33). As a result, the first body part (31) can rotate between the second body part (31) by the second hinge (35), thereby maintaining the roll angle of the sensor (40) mounted on the support part (33) or minimizing the change in the roll angle.

[0117] As described above, the sensor module (30) can maintain balance without being greatly affected by the inclination of the main body (10) even when fixed to the main body (10).

[0118] FIG. 7b is a perspective view illustrating a sensor module (30) mounted on a main body (10) according to one or more embodiments of the present disclosure.

[0119] FIG. 7c is a cross-sectional view illustrating a sensor module (30) mounted on a main body (10) according to one or more embodiments of the present disclosure.

[0120] Referring to FIGS. 7b and 7c, at least a portion of the sensor module (30) mounted inside the main body (10) may protrude outside the main body (10) through an opening (13) disposed on one side of the main body (10) (e.g., the upper portion of the main body (10)). Accordingly, the sensor included in the sensor module (30) may sense a full 360 degrees surrounding the main body (10).

[0121] At this time, the fixed plate (32) can be connected to a member (11) inside the main body (10). Accordingly, when the main body (10) rotates, the body part (31) can rotate along the main body (10).

[0122] According to one or more embodiments of the present disclosure, as the main body (10) rotates, the opening (13) may also rotate. At this time, since the size of the opening (13) is larger than the sensor (40) of the sensor module (30), even if the main body (10) and the opening (13) rotate, a part of the sensor (40) of the sensor module (30) that maintains balance may protrude outside the main body (10) to sense the external environment of the main body (10).

[0123] Alternatively, even if the main body (10) rotates, the opening (13) may not rotate along with the main body (10), but may change along with the position of the sensor module (30). That is, even if the main body (10) rotates, if the sensor module (30) maintains balance, the opening (13) may maintain balance along the sensor module (30).

[0124] And, as the electronic device (100) drives and the main body (10) rotates, the sensor module (30) can prevent the pitch angle or roll angle from changing or minimize the change through the balance member (36). This will be described in detail with reference to the drawings below.

[0125] FIG. 8 and FIG. 9 are drawings for explaining a method for maintaining the balance of a sensor (40) when the pitch angle of a main body (10) changes in an electronic device (100) according to one or more embodiments of the present disclosure.

[0126] As described with reference to FIGS. 3 and 4, the main body (10) can be tilted forward or backward depending on the driving direction of the electronic device (100). Accordingly, the pitch angle of the main body (10) can change in a positive or negative direction. The polarity of the pitch angle can vary depending on the arrangement direction of the sensor for measuring the pitch angle or the polarity of the electric signal. In this case, the pitch angle and roll angle of the main body (10) can be detected based on the sensing value of the sensor. This will be described in detail in the following section.

[0127] As described through FIG. 3, the main body (10) can rotate toward the rear of the main body (10). At this time, referring to FIG. 8, the body part (31) of the sensor module (30) can rotate along the main body (10) toward the rear of the main body (10).

[0128] At this time, the support member (33) rotatably connected to the body member (31) can maintain balance by the balance member (36). In other words, the support member (33) can rotate in the opposite direction in which the main body (10) is tilted, i.e., toward the front of the main body (10), with respect to the body member (31). At this time, the size of the angle at which the support member (33) rotates toward the front of the main body (10) with respect to the body member (31) may be the same as the size of the angle at which the main body (10) rotates toward the rear of the main body (10).

[0129] For example, when the main body (10) is rotated 10 degrees toward the rear of the main body (10) with respect to the ground, the body part (31) can be rotated 10 degrees toward the rear of the main body (10) with respect to the ground. At this time, the support part (33) can be rotated 10 degrees toward the front of the main body (10) with respect to the body part (31).

[0130] As described through Fig. 4, the main body (10) can rotate in the front direction of the main body (10). At this time, referring to Fig. 9, the body part (31) of the sensor module (30) can rotate along the main body (10) in the front direction of the main body (10).

[0131] At this time, the support (33) rotatably connected to the body (31) can maintain balance without rotating with respect to the ground. In other words, the support (33) can rotate toward the rear of the main body (10) with respect to the body (31). At this time, the size of the angle at which the support (33) rotates toward the rear of the main body with respect to the body (31) may be the same as the size of the angle at which the main body (10) rotates toward the front of the main body (10).

[0132] For example, the main body (10) can be rotated 10 degrees in the front direction of the main body (10) with respect to the ground. At this time, the support part (33) can be rotated 10 degrees in the rear direction of the main body (10) with respect to the body part (31).

[0133] FIGS. 10A, 10B, 11A, and 11B are drawings illustrating a method for maintaining the balance of a sensor (40) when the body (10) is tilted in each roll direction of an electronic device (100) according to one or more embodiments of the present disclosure.

[0134] As described through FIG. 5, the main body (10) can rotate in the right direction of the main body (10). At this time, referring to FIGS. 10a and 10b, the body part (31) of the sensor module (30) can rotate in the right direction of the main body (10) along the main body (10).

[0135] At this time, the support (33) rotatably connected to the body (31) can maintain balance without rotating with respect to the ground. In other words, the support (33) can rotate toward the left side of the main body (10) by the second hinge (35) with respect to the body (31). At this time, the size of the angle at which the support (33) rotates toward the left side of the main body (10) with respect to the body (31) may be the same as the size of the angle at which the main body (10) rotates toward the right side of the main body (10).

[0136] For example, when the main body (10) is rotated 10 degrees to the right of the main body (10) with respect to the ground, the body part (31) can be rotated 10 degrees to the right of the main body (10) with respect to the ground. At this time, the support part (33) can be rotated 10 degrees to the left of the main body (10) with respect to the body part (31).

[0137] As described through FIG. 6, the main body (10) can rotate in the left direction of the main body (10). At this time, referring to FIGS. 11a and 11b, the body part (31) of the sensor module (30) can rotate along the main body (10) in the left direction of the main body (10).

[0138] At this time, the support (33) rotatably connected to the body (31) can maintain balance without rotating with respect to the ground. In other words, the support (33) can rotate toward the right side of the main body (10) by the second hinge (35) with respect to the body (31). At this time, the size of the angle at which the support (33) rotates toward the right side of the main body (10) with respect to the body (31) may be the same as the size of the angle at which the main body (10) rotates toward the left side of the main body (10).

[0139] For example, when the main body (10) is rotated 10 degrees in the left direction of the main body (10) with respect to the ground, the body part (31) can be rotated 10 degrees in the left direction of the main body (10) with respect to the ground. At this time, the support part (33) can be rotated 10 degrees in the right direction of the main body (10) with respect to the body part (31).

[0140] In the structure of the sensor module (30) as described above, the first hinge (34a, 34b) and the second hinge (35) may further include a lubricant or bearing so that frictional force can be minimized.

[0141] Meanwhile, the main body (10) can rotate at a rotation angle greater than the rotation angle that the support member (33) can compensate for. Here, the rotation angle may mean the angle rotated per unit time.

[0142] That is, when the main body (10) rotates rapidly, a problem may arise in which the support member (33) also rotates along the main body (10) with respect to the ground. In other words, a problem may arise in which the support member (33) rotatably connected to the body member (31) of the sensor module (30) does not rotate in the opposite direction to which the main body (10) rotates as much as the main body (10) rotates. In this case, in addition to the balance member (36), an additional configuration may be required to maintain the balance of the support member (33).

[0143] According to another embodiment of the present disclosure, the inclination of a support on which a sensor (40) is mounted can be detected using a tilt detection sensor, and the tilting can be prevented or suppressed using magnetic force.

[0144] Specifically, the sensor module (30) may include a tilt detection sensor. The tilt detection sensor may be implemented in various forms, such as an acceleration sensor, a gyro sensor, a geomagnetic sensor, an inertial measurement sensor (40), etc. At this time, the electronic device (100) may detect the rotation of the support part on which the sensor (40) is mounted based on the sensing values ​​of at least one sensor. Here, the rotation of the support part may include rotation in the front / rear direction and right / left direction of the main body (10).

[0145] For example, when an acceleration sensor is provided, the acceleration sensor may include a two-axis or three-axis fluxgate. When a two-axis fluxgate is used, two fluxgates, i.e., an X-axis fluxgate and a Y-axis fluxgate, are arranged in a direction orthogonal to each other. Each fluxgate includes a magnetic core, a drive coil winding the magnetic core, and a detection coil. The drive coil serves to excite the magnetic core, and the detection coil serves to detect an electromotive force induced from the magnetism generated in the magnetic core by the driving of the drive coil. In this structure, the electromotive force detected in the X-axis fluxgate and the Y-axis fluxgate may have different polarities and magnitudes depending on the inclination direction and inclination degree of each axis fluxgate. The processor (120) may calculate the pitch angle and roll angle of the main body (10) based on the magnitude of the electric signal flowing from the detection coil of each axis fluxgate. Since the formulas for calculating pitch angle and roll angle are well known, a detailed description is omitted.

[0146] The processor (120) can identify that the sensor (40) has rotated when at least one of the pitch angle and roll angle of the sensor (40) changes. When rotation of the sensor (40) is detected, the processor (120) can apply a magnetic force to the support (33) using an electromagnet or apply a rotational force to the support (33) using a rotational motor, thereby maintaining the balance of the support (33).

[0147] That is, when the support part (33) cannot rotate in the opposite direction to the rotation of the main body (10) with respect to the body part (31) as much as the main body (10) rotates, the electronic device (100) according to the present disclosure can maintain the balance of the support part (33) by rotating the support part (33) using an electromagnet or a rotation motor, etc.

[0148] Specifically, the electronic device (100) can rotate the support (33) in the opposite direction to the direction in which the support (33) rotates relative to the ground. Accordingly, the balance of the support can be maintained.

[0149] For example, if the support (33) is rotated 5 degrees toward the front of the main body (10) with respect to the ground, the electronic device (100) can rotate the support (33) 5 degrees toward the rear of the main body (10) with respect to the ground.

[0150] The following drawing is a drawing for explaining a method in which an electronic device (100) maintains the balance of a support (33) by rotating the support (33) using an electromagnet or a rotary motor.

[0151] FIG. 12 is a flowchart illustrating a method for maintaining the balance of a support (33) by rotating the support (33) using an electromagnet or a rotary motor according to one or more embodiments of the present disclosure.

[0152] Referring to FIG. 12, the processor (120) can control the driving unit (20) to cause the electronic device (100) to drive along a driving path (S1210). Specifically, when an event occurs that requires the electronic device (100) to move to a specific location within the space where the electronic device (100) is located, the electronic device (100) can set a movement path to a target point based on the current location of the electronic device (100).

[0153] Here, an event that requires moving to a specific location within space may be an event in which a user input is obtained to move the electronic device (100) to a target point.

[0154] Alternatively, an event requiring movement to a specific location within a space may be the arrival of a preset time or the arrival of a preset cycle. Additionally, an event may also be the input of a user command to execute a function of the electronic device (100) (e.g., a cleaning function, an image projection function, a serving function, etc.).

[0155] The processor (120) may determine that an event has occurred that requires the electronic device (100) to move to a specific location when a user command is input through a user interface or remote control provided in the electronic device (100), or when the time counted by the timer reaches a preset time. In this case, the processor (120) may set a movement path to a target point based on the current location of the electronic device (100) based on map information about the space stored in the memory (110). In addition, the processor (120) may control the driving unit (20) so that the electronic device (100) moves to the target point.

[0156] However, it is not necessarily limited to this, and depending on the purpose of the electronic device (100) or the characteristics of the space in which it is used, the electronic device (100) may drive in any direction without a driving path.

[0157] While the electronic device (100) is driving, the processor (120) can detect the rotation of the sensor (40) (S1220). As described above, the processor (120) can detect the rotation of the sensor (40) using a tilt detection sensor. Alternatively, the processor (120) can also receive information corresponding to the rotation of the sensor (40) from an external device.

[0158] Meanwhile, the processor (120) according to the present disclosure can detect the rotation of the sensor (40) through a tilt detection sensor, but this is only one embodiment, and the rotation of the sensor (40) can also be detected using information about obstacles included in map information stored in the memory (110) or information about the degree to which an image acquired through an image sensor is tilted.

[0159] If rotation of the sensor (40) is not detected (S1220-N), the processor (120) can control the driving unit (20) to continue driving along the driving path (S1210).

[0160] When rotation of the sensor (40) is detected (S1220-Y), the processor (120) can rotate the sensor (40) in the reverse direction to maintain the balance of the sensor (40) (S1230).

[0161] Specifically, the processor (120) can identify a target rotation angle for compensating for the rotation angle of the detected sensor (40).

[0162] The processor (120) can detect rotation of the sensor (40) in the pitch angle direction and / or the roll angle direction. When the sensor (40) rotates in the pitch angle direction and / or the roll angle direction, the processor (120) can identify a target rotation angle to restore the sensor (40) to its state before rotating.

[0163] At this time, the direction of the target rotation angle is the opposite direction to the direction in which the sensor (40) rotates, and the size of the target rotation angle may be the same as the size of the angle in which the sensor (40) rotates.

[0164] For example, if the sensor (40) rotates 10 degrees toward the front of the main body (10) with respect to the ground and 5 degrees toward the right side of the main body (10), the target rotation angle may be 10 degrees toward the rear of the main body (10) with respect to the ground and 5 degrees toward the left side of the main body (10).

[0165] The processor (120) according to the present disclosure can rotate the sensor (40) using a magnetic member disposed on the support (33) and an electromagnet disposed on the fixed plate (32).

[0166] According to one or more embodiments of the present disclosure, at least one magnetic element may be disposed on a lower surface of the support member (33). Alternatively, at least one magnetic element may be disposed on a lower surface of the balance member (36). Alternatively, at least one magnetic element may be disposed inside the balance member (36).

[0167] And, at least one electromagnet can be placed at a position corresponding to at least one magnetic member on the fixed plate (32).

[0168] When the rotation of the sensor (40) is detected, the processor (120) can apply current to at least one electromagnet to provide magnetism to the electromagnet. Accordingly, a repulsive or attractive force can be formed between at least one magnetic member and at least one electromagnet. In addition, the repulsive or attractive force formed between at least one magnetic member and at least one electromagnet can rotate the support member. At this time, the formed repulsive or attractive force can rotate the support member in a direction opposite to the direction in which the support member rotates relative to the ground. In addition, the size of the rotation angle of the support member (33) due to the formed repulsive or attractive force can be the same as the size of the rotation angle in which the support member rotates relative to the ground.

[0169] FIG. 13 is a drawing for explaining a method of rotating a sensor (40) in a reverse direction when the sensor (40) is rotated toward the rear of the main body (10) by an electronic device (100) according to one or more embodiments of the present disclosure.

[0170] Referring to Fig. 13, among the edge regions of the support portion (33), at least a first magnetic member (51) may be placed in a front edge region of the support portion (33) based on the direction of travel of the main body (10). In addition, among the edge regions of the support portion (33), a second magnetic member (52) may be placed in a rear edge region of the support portion (33) based on the direction of travel of the main body (10).

[0171] And, among the edge regions of the fixed plate (32), a first electromagnet (61) may be placed in a front edge region based on the driving direction of the main body (10). And, among the edge regions of the fixed plate (32), a second electromagnet (62) may be placed in a rear edge region based on the driving direction of the main body (10).

[0172] According to one or more embodiments of the present disclosure, when the sensor (40) is detected to be tilted rearward with respect to the driving direction of the main body (10) (i.e., when the pitch angle of the sensor (40) changes in a negative direction), the processor (120) may apply a current to the second electromagnet (62) so that the second electromagnet (62) has the same polarity of magnetism as the second magnetic member (52). Accordingly, a repulsive force may be generated between the second electromagnet (62) and the second magnetic member (52) to repel each other. In this case, the support member (33) may rotate in a direction in which the second electromagnet (62) and the second magnetic member (52) move away from each other. At this time, the support member (33) may rotate in the opposite direction and at the same degree of rotation as the direction in which the support member (33) rotates with respect to the ground.

[0173] Alternatively, when the sensor (40) is detected to be tilted rearward based on the driving direction of the main body (10) (i.e., when the pitch angle of the sensor (40) changes in a negative direction), the processor (120) may apply a current to the second electromagnet (62) so that the first electromagnet (61) has a magnetism of the opposite polarity to that of the first magnetic member (51). Accordingly, an attractive force may be generated between the first electromagnet (61) and the first magnetic member (51) to attract each other. In this case, the support member may rotate in a direction in which the second electromagnet (62) and the second magnetic member (52) come closer to each other. At this time, the support member (33) may rotate in the opposite direction and with the same magnitude as the direction and magnitude in which the support member (33) rotates with respect to the ground.

[0174] FIG. 14 is a drawing for explaining a method in which an electronic device (100) rotates a sensor (40) toward the rear of a main body (10) using an electromagnet when the sensor (40) rotates toward the front of a main body (10) in an electronic device (100) according to one or more embodiments of the present disclosure.

[0175] Referring to FIG. 14, when the sensor (40) is detected to be tilted forward based on the driving direction of the main body (10) (i.e., when the sensor (40) rotates in the positive direction of the pitch angle), the processor (120) can apply a current to the first electromagnet (61) so that the first electromagnet (61) has the same polarity of magnetism as the first magnetic member (51). Accordingly, a repulsive force may be generated between the first electromagnet (61) and the first magnetic member (51) to repel each other. In this case, the support member (33) may rotate in a direction in which the first electromagnet (61) and the first magnetic member (51) move away from each other. At this time, the support member (33) may rotate at an angle opposite to the angle at which the support member (33) rotates with respect to the ground.

[0176] Alternatively, when the sensor (40) is detected to be tilted forward based on the driving direction of the main body (10) (i.e., when the sensor (40) rotates in the positive direction of the pitch angle), the processor (120) may apply a current to the second electromagnet (62) so that the second electromagnet (62) has a magnetism of opposite polarity to that of the second magnetic member (52). Accordingly, an attractive force may be generated between the second electromagnet (62) and the second magnetic member (52) to attract each other. In this case, the support member (33) may rotate in a direction in which the second electromagnet (62) and the second magnetic member (52) come closer to each other. At this time, the support member (33) may rotate in the opposite direction and with the same magnitude as the direction and magnitude in which the support member (33) rotates with respect to the ground.

[0177] In a similar manner to the above-described method, when the support member (33) rotates in each roll direction, the electronic device (100) can perform an operation to compensate for the rotation of the support member (33).

[0178] FIG. 15 is a drawing for explaining a method of rotating a sensor (40) in the reverse direction when the sensor (40) is rotated in the right direction of the main body (10) according to one or more embodiments of the present disclosure.

[0179] Referring to Fig. 15, a third magnetic member (53) may be placed on the right edge region of the support member (33) based on the direction of travel of the main body among the edge regions of the support member (33). In addition, a fourth magnetic member (54) may be placed on the left edge region of the support member (33) based on the direction of travel of the main body (10) among the edge regions of the support member (33).

[0180] And, among the edge regions of the fixed plate (32), a third electromagnet (63) may be placed in the right edge region based on the driving direction of the main body (10). And, among the edge regions of the fixed plate (32), a fourth electromagnet (64) may be placed in the left edge region based on the driving direction of the main body (10).

[0181] Referring to FIG. 15, when the sensor (40) is detected to be tilted to the right with respect to the driving direction of the main body (10) (i.e., when the sensor (40) rotates in the positive direction of the roll angle), the processor (120) can apply a current to the fourth electromagnet (64) so ​​that the fourth electromagnet (64) has the same polarity of magnetism as the fourth magnetic member (54). Accordingly, a repulsive force may be generated between the fourth electromagnet (64) and the fourth magnetic member (54) to repel each other. In this case, the support member (33) may rotate in a direction in which the fourth electromagnet (64) and the fourth magnetic member (54) move away from each other. At this time, the support member (33) may rotate in the opposite direction and with the same magnitude with respect to the direction and magnitude in which the support member (33) rotates with respect to the ground.

[0182] Alternatively, if the sensor (40) detects that the main body (10) is tilted to the right (i.e., if the sensor (40) rotates in the positive direction of the roll angle), the processor (120) may apply a current to the third electromagnet (63) so that the third electromagnet (63) has a magnetism of opposite polarity to that of the third magnetic member (53). Accordingly, an attractive force may be generated between the third electromagnet (63) and the third magnetic member (53) to attract each other. In this case, the support member (33) may rotate in a direction in which the third electromagnet (63) and the third magnetic member (53) come closer to each other. At this time, the support member (33) may rotate in the opposite direction and at the same rotational degree as the direction in which the support member (33) rotates with respect to the ground.

[0183] FIG. 16 is a drawing for explaining a method of rotating a sensor (40) in the reverse direction when the sensor (40) is rotated to the left of the main body (10) by an electronic device (100) according to one or more embodiments of the present disclosure.

[0184] Referring to FIG. 16, when the sensor (40) is detected to be tilted to the left with respect to the driving direction of the main body (10) (i.e., when the roll angle of the sensor (40) changes in the negative direction), the processor (120) can apply current to the third electromagnet (63) so that the third electromagnet (63) has the same polarity of magnetism as the third magnetic member (53). Accordingly, a repulsive force can be generated between the third electromagnet (63) and the third magnetic member (53) to repel each other. In this case, the support member (33) can rotate in a direction in which the third electromagnet (63) and the third magnetic member (53) move away from each other. At this time, the support member (33) can rotate in the opposite direction and at the same rotational degree as the direction in which the support member (33) rotates with respect to the ground.

[0185] Alternatively, when the sensor (40) is detected to be tilted to the left with respect to the driving direction of the main body (10) (i.e., when the roll angle of the sensor (40) changes in the negative direction), the processor (120) may apply a current to the fourth electromagnet (64) so ​​that the third electromagnet (63) has a magnetism of the opposite polarity to that of the fourth magnetic member (54). Accordingly, an attractive force may be generated between the fourth electromagnet (64) and the fourth magnetic member (54) to attract each other. In this case, the support member (33) may rotate in a direction in which the fourth electromagnet (64) and the fourth magnetic member (54) come closer to each other. At this time, the support member (33) may rotate in the opposite direction and with the same magnitude with respect to the direction and magnitude in which the support member (33) rotates with respect to the ground.

[0186] Meanwhile, the current applied to the electromagnet by the electronic device (100) to rotate the support member (33) may correspond to the size of the target rotation value. That is, the larger the size of the target rotation value, the larger the current applied to the electromagnet by the electronic device (100).

[0187] Meanwhile, as described above, when rotation of the sensor (40) is detected, the electronic device (100) applies current to the electromagnet to rotate the sensor (40) in reverse, but this is only one embodiment, and the electronic device (100) according to the present disclosure may also rotate the sensor (40) in reverse using a rotation motor.

[0188] Meanwhile, according to one or more embodiments of the present disclosure, the sensor module (30) may further include a rotation motor for rotating the support (33). The electronic device (100) according to the present disclosure may maintain the balance of the support (33) by rotating the support (33) using the rotation motor.

[0189] FIG. 17 is a drawing for explaining a rotary motor according to one or more embodiments of the present disclosure.

[0190] Referring to FIG. 17, the sensor module (30) may further include a first rotation motor (210, 220) for rotating the support member (33) in the pitch angle direction and a second rotation motor (230) for rotating the support member (33) in the roll angle direction. The processor (120) may control the rotation motor to rotate the support member (33) so that the balance of the support member is maintained.

[0191] At this time, the direction and size in which the electronic device (100) rotates the support (33) using the rotation motor may be the same as the method described with reference to FIGS. 12 to 16.

[0192] Specifically, when rotation in the pitch angle direction and / or roll angle direction of the sensor (40) is detected, the processor (120) can rotate the support (33) at an angle opposite to the rotation angle in the detected pitch angle direction and / or roll angle direction. In addition, the electronic device (100) can rotate the support (33) at a size equal to the size of the rotation angle in the detected pitch angle direction and / or roll angle direction.

[0193] Specifically, when the sensor (40) is detected to be tilted forward based on the driving direction of the main body (10) (i.e., when the support member (33) rotates in the positive direction of the pitch angle), the processor (120) can control the first rotation motor (210, 220) so that the sensor (40) rotates backward based on the driving direction of the main body (10) (i.e., so that the support member (33) rotates in the negative direction of the pitch angle).

[0194] Alternatively, when the sensor (40) is detected to be tilted backwards based on the driving direction of the main body (10) (i.e., when the support member (33) rotates in the positive direction of the pitch angle), the processor (120) can control the first rotation motor (210, 220) so that the sensor (40) rotates forwards based on the driving direction of the main body (10) (i.e., so that the support member (33) rotates in the positive direction of the pitch angle).

[0195] Alternatively, if the sensor (40) is detected to be tilted to the right with respect to the driving direction of the main body (10) (i.e., if the support member (33) rotates in the positive direction of the roll angle), the processor (120) can control the second rotation motor (230) so that the sensor (40) rotates to the left with respect to the driving direction of the main body (10) (i.e., so that the support member (33) rotates in the negative direction of the roll angle).

[0196] Alternatively, if the sensor (40) is detected to be tilted to the left with respect to the driving direction of the main body (10) (i.e., the support member (33) rotates in the negative direction of the roll angle), the processor (120) can control the second rotation motor (220, 230) so that the sensor (40) rotates to the right with respect to the driving direction of the main body (10) (i.e., the support member (33) rotates in the positive direction of the roll angle).

[0197] For example, if the sensor (40) is rotated 10 degrees toward the front of the main body (10) and 5 degrees toward the right side of the main body (10), the electronic device (100) can rotate the sensor (40) 10 degrees toward the rear of the main body (10) through the first rotation motor (210, 220) and rotate the sensor (40) 5 degrees toward the left side of the main body (10) through the second rotation motor (230).

[0198] Meanwhile, according to the present disclosure, the operation of rotating the support (33) through the above-described electromagnet and the operation of rotating the support (33) through the rotation motor can be performed simultaneously.

[0199] Meanwhile, the angle at which the support (33) can be rotated through the above-described electromagnet and the angle at which the support (33) can be rotated through the rotation motor may be limited.

[0200] Accordingly, when the rotation of the sensor module (30) is detected through the sensor module (30), the electronic device (100) can rotate the support (33) by a first angle through the electromagnet and by a second angle through the rotation motor. At this time, the sum of the first angle and the second angle can be equal to the rotation angle of the sensor module (30) detected through the sensor module (30).

[0201] Specifically, the processor (120) can identify whether the size of the angle at which the sensor module is rotated is greater than or equal to a preset angle. At this time, if the size of the angle at which the sensor module (30) is rotated is greater than or equal to the preset angle, the electronic device (100) may have a problem in that it cannot maintain the balance of the sensor module (30) with only one of the electromagnet or the rotation motor. Here, the preset angle may be an angle at which the electronic device (100) can rotate the support (33) through the electromagnet or an angle at which the electronic device (100) can rotate the support (33) through the rotation motor. Information about the preset angle may be stored in the memory (110).

[0202] Accordingly, if the size of the angle at which the sensor module (30) is rotated detected through the sensor module (30) is greater than or equal to a preset angle, the processor (120) can rotate the support member (33) by a first angle through the electromagnet and rotate the support member (33) by a second angle through the rotation motor. At this time, the sum of the first angle and the second angle can be equal to the size of the angle at which the sensor module (30) is rotated detected through the sensor module (30).

[0203] Meanwhile, although the sensor module (30) has been described as being controlled by the processor (120) of the electronic device (100), it is not limited thereto. According to one or more embodiments of the present disclosure, the sensor module (30) may include a memory and a processor. The memory included in the sensor module (30) may be configured to store various software, commands, data, etc. required for the operation of the electronic device (100). In addition, the processor included in the sensor module (30) is configured to control the overall operation of the sensor module (30).

[0204] The operation of the processor (120) of the electronic device (100) described above may be performed by the processor included in the sensor module (30). That is, the processor included in the sensor module (30) may detect the rotation of the sensor (40) and, based on the detected rotation of the sensor (40), control an electromagnet or a motor to reversely rotate the sensor (40). At this time, the operation of detecting the rotation of the sensor (40) and reversely rotating the sensor (40) may be the same as the operation performed by the processor of the electronic device (100).

[0205] Meanwhile, according to one or more embodiments of the present disclosure, the sensor module (30) may further include a projector unit.

[0206] FIG. 18a and FIG. 18b are drawings for explaining a projector unit according to one or more embodiments of the present disclosure.

[0207] Referring to FIG. 18a, a projector unit (240) may be attached (or connected) to one side of the sensor module (30) of the present disclosure. At this time, the projector unit (240) may be implemented so as to be detachable from the sensor module (30).

[0208] Referring to FIG. 18b, the sensor module (30) may further include a projector unit (240). The projector unit (240) may be configured to project an image.

[0209] According to one or more embodiments of the present disclosure, the processor (120) can control the driving unit (20) to move the electronic device (100) to a position spaced apart from the projection surface by a preset distance.

[0210] At this time, information about the space where the electronic device (100) is located and information about the projection surface may be stored in the memory (110). Based on the information about the current location of the electronic device (100) and the projection surface, the processor (120) may set a driving path so that the electronic device (100) moves to a position spaced apart from the projection surface by a preset distance, and control the driving unit (20) to move according to the set driving path.

[0211] The projector unit (240) may be attached to one side of the sensor module (30) or supported by the support unit (33). Accordingly, the projector unit (240) may move in conjunction with the movement of the support unit (33).

[0212] At this time, the processor (120) can maintain the balance of the projector unit (240) in the same way as the method of maintaining the balance of the sensor module (30). That is, the balance of the projector unit (240) can be maintained by at least one of the balance member, the magnetic member, the electromagnet, and the rotation motor according to the above-described embodiment.

[0213] Accordingly, the electronic device (100) according to the present disclosure can maintain the balance of the projector unit (240) so that the projector unit (240) can stably project the image when projecting an image through the projector unit (240) while driving.

[0214] Although various embodiments have been described above, each embodiment is not necessarily implemented individually, and may be implemented together in a single product by being combined in whole or in part with at least one other embodiment. For example, although the electronic device (100) including the rotation motor (210, 220, 230) of FIG. 17 and the electronic device (100) including the projector unit (240) of FIG. 18 are illustrated separately, the electronic device (100) according to the present disclosure may also include the rotation motor (210, 220, 230) and the projector unit (240) together.

[0215] Meanwhile, the terms "part" or "module" used in the present disclosure include units composed of hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A "part" or "module" may be an integrally composed component, a minimum unit performing one or more functions, or a portion thereof. For example, a module may be composed of an application-specific integrated circuit (ASIC).

[0216] Various embodiments of the present disclosure may be implemented as software including instructions stored in a machine-readable storage medium that can be read by a machine (e.g., a computer). The device may include an electronic device (100) according to the disclosed embodiments, which is a device capable of calling instructions stored in the storage medium and operating according to the called instructions. When the instructions are executed by a processor, the processor may directly or under the control of the processor perform a function corresponding to the instructions using other components. The instructions may include code generated or executed by a compiler or interpreter. The machine-readable storage medium may be provided as a non-transitory storage medium. Here, "non-transitory" means that the storage medium does not contain signals and is tangible, but does not distinguish between data being stored semi-permanently or temporarily in the storage medium.

[0217] According to one or more embodiments, the methods according to various embodiments disclosed herein may be provided as a computer program product. The computer program product may be traded as a commodity between a seller and a buyer. The computer program product may be distributed via a machine-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or online via an application store (e.g., Play Store™). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily generated in a storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0218] Each component (e.g., a module or a program) according to various embodiments may be composed of one or more entities, and some of the aforementioned sub-components may be omitted, or other sub-components may be further included in various embodiments. Alternatively or additionally, some components (e.g., a module or a program) may be integrated into a single entity, which may perform the same or similar functions as those performed by each of the respective components prior to integration. Operations performed by a module, program, or other component according to various embodiments may be executed sequentially, in parallel, iteratively, or heuristically, or at least some operations may be executed in a different order, omitted, or other operations may be added.

Claims

1. In electronic devices, entity; A driving unit configured to drive the above main body; and a sensor module; The above sensor module, At least one sensor; A support supporting at least one sensor; A sensor module body that secures the sensor module to the main body; and A hinge portion that rotatably connects the support portion and the sensor module body; and The above hinge part comprises a first hinge that supports the support part so that the support part can be rotated from the side of the support part with respect to the front direction of the main body; and A second hinge is included for supporting the support part so that it can rotate at the rear side of the support part with respect to the front direction of the main body; An electronic device comprising: a balance member arranged on the lower side of the support member and configured to maintain the balance of the support member while the main body is driven by the driving member.

2. In paragraph 1, The above sensor module, Including the projector section; The above electronic device, at least one processor; and further comprising a memory for storing instructions; The above instructions, when executed by the at least one processor, cause the at least one processor to: Controls the driving unit so that the electronic device moves to a position spaced apart from the projection surface by a preset distance, An electronic device that controls the projector unit to play content data stored in the memory and project the played content data when the main body moves to the above location.

3. In paragraph 2, The above driving part includes two wheels connected to the main body, The above sensor module body, A fixed plate fixed to the above body; A first body part in which the first hinge is arranged; A second body part connected to the first body part through the second hinge and supported by the fixed plate; The above first hinge maintains the balance of the support portion while the main body rotates so that the pitch angle of the main body changes during the driving of the main body, The second hinge is an electronic device that maintains the balance of the support portion while the main body rotates so that the roll angle of the main body changes while the main body is driving.

4. In paragraph 3, The above sensor module, A plurality of magnetic elements dispersed on the lower surface of the support; and Further comprising a plurality of electromagnets, each of which is arranged at a position corresponding to the plurality of magnetic elements on the fixed plate; At least one of the above sensors comprises a tilt detection sensor; The above instructions cause at least one processor to: An electronic device that applies an electric signal to one of the plurality of electromagnets according to the inclination of the sensor module detected by the inclination detection sensor, thereby maintaining the balance of the support part.

5. In paragraph 3, The above sensor module, A first magnetic member arranged in a front edge region of the support portion based on the front direction of the main body among the edge regions of the support portion; A second magnetic member arranged in a rear edge region of the support portion with respect to the front direction of the main body among the edge regions of the support portion; A first electromagnet arranged in a front edge region based on the front direction of the main body among the edge regions of the above fixed plate; and Further comprising a second electromagnet arranged in a rear edge region based on the front direction of the main body among the edge regions of the above fixed plate; At least one sensor of the above sensor module comprises a tilt detection sensor; The above instructions cause at least one processor to: When the sensor module is detected to be tilted forward of the main body through the tilt detection sensor, a first electric signal is applied to the first electromagnet so that the first electromagnet has the same polarity as the first magnetic member, An electronic device that, when the sensor module is detected to be tilted toward the rear of the main body through the tilt detection sensor, applies a second electric signal to the second electromagnet so that the second electromagnet has the same polarity as the second magnetic member.

6. In paragraph 3, The above sensor module, A third magnetic member arranged in the right edge region of the support portion based on the front direction of the main body among the edge regions of the support portion; A fourth magnetic member arranged in a left edge region of the support portion based on the front direction of the main body among the edge regions of the support portion; A third electromagnet is arranged in the right edge region based on the front direction of the main body among the edge regions of the above fixed plate; and Further comprising a fourth electromagnet, which is arranged in a left edge region based on the front direction of the main body among the edge regions of the above fixed plate; At least one sensor of the above sensor module comprises a tilt detection sensor, The above instructions cause at least one processor to: When the sensor module is detected to be tilted to the right with respect to the front direction of the main body through the tilt detection sensor, a third electric signal is applied to the third electromagnet so that the third electromagnet has the same polarity as the third magnetic member. An electronic device that, when the sensor module is detected to be tilted to the left with respect to the front direction of the main body through the tilt detection sensor, applies a fourth electric signal to the fourth electromagnet so that the fourth electromagnet has the same polarity as the fourth magnetic member.

7. In paragraph 1, The above sensor module, lidar sensor; and Including the projector section; An electronic device in which the balance member includes a weight that is heavier than the weight of the lidar sensor and the projector unit disposed on the upper side of the support member and configured to maintain the center of gravity of the sensor module.

8. A method for controlling an electronic device including a sensor module, A step of detecting an inclination of the sensor module based on a sensing value of a tilt detection sensor disposed within the sensor module while the electronic device is driving; A step of maintaining the balance of the sensor module by applying an electric signal to at least one of a plurality of electromagnets included in the sensor module; The above sensor module, A support supporting at least one sensor including the above-mentioned tilt detection sensor; A sensor module body for fixing the sensor module to the main body of the electronic device; A hinge portion that rotatably connects the support portion and the sensor module body; and A control method, comprising: a balance member arranged on the lower side of the support member and configured to maintain the balance of the support member while the main body is driven by the driving member.

9. In paragraph 8, The above sensor module, A plurality of magnetic elements distributed on the edge regions of the above support member; A plurality of electromagnets distributed on the edge areas of the fixed plate within the above sensor module body; The above sensor module; A control method configured to maintain balance by applying an electric signal to an electromagnet in the direction of inclination or an electromagnet on the opposite side among the plurality of electromagnets when the sensor module is detected to be tilted to one side based on the driving direction of the main body through the tilt detection sensor, thereby providing a magnetic force in the opposite direction in which the sensor module is tilted.

10. In paragraph 8, The above sensor module, A third magnetic member arranged in a right edge region of the support portion based on the driving direction of the main body among the edge regions of the support portion; A fourth magnetic member arranged in a left edge region of the support portion based on the driving direction of the main body among the edge regions of the support portion; A third electromagnet is arranged in the right edge area based on the driving direction of the main body among the edge areas of the fixed plate; and Including a fourth electromagnet arranged in a left edge region based on the driving direction of the main body among the edge regions of the above fixed plate; The above control method is, Based on the sensing value of the tilt detection sensor, if the sensor module is detected to be tilted to the right with respect to the driving direction of the main body, a step of applying a third current to the third electromagnet so that the third electromagnet has the same polarity as the third magnetic member; and A control method further comprising: a step of applying a fourth current to the fourth electromagnet so that the fourth electromagnet has the same polarity as the fourth magnetic member when the sensor module detects that the main body is tilted to the left with respect to the driving direction.

11. In a sensor module for mounting in an electronic device, A support for supporting at least one sensor; A sensor module body for fixing the sensor module to the main body of the electronic device; A hinge portion that rotatably connects the support portion and the sensor module body; and A balance member is disposed on the lower side of the support member and configured to maintain the balance of the support member while the electronic device is driving; The above hinge part, A first hinge that supports the support so as to be rotatable on both sides of the support based on the front direction of the electronic device; and A sensor module comprising a second hinge that rotatably supports the support portion at the rear side of the support portion with respect to the front direction of the electronic device.

12. In paragraph 11, Including the projector section; wherein at least one of the sensors comprises a lidar sensor, A sensor module, wherein the balance member includes a weight that is heavier than the weight of the lidar sensor and the projector unit arranged on the upper side of the support member and is configured to maintain the center of gravity of the sensor module.

13. In paragraph 11, The above sensor module body, A fixed plate fixed to the body of the above electronic device; A first body part in which the first hinge is arranged; P comprises a second body part connected to the first body part through the second hinge and supported by the fixed plate; The first hinge maintains the balance of the support portion while the main body of the electronic device rotates so that the pitch angle of the main body of the electronic device changes while the main body of the electronic device is running, The second hinge is a sensor module that maintains the balance of the support portion while the main body of the electronic device rotates so that the roll angle of the main body of the electronic device changes while the main body of the electronic device is moving.

14. In paragraph 13, A plurality of magnetic elements dispersed on the lower surface of the support; and It further includes a plurality of electromagnets, each of which is arranged at a position corresponding to the plurality of magnetic elements on the fixed plate; A sensor module in which the above plurality of electromagnets provide a magnetic force to the support so that, when the sensor module is tilted, an attractive force acts in the opposite direction to the tilting of the sensor module.

15. In paragraph 13, A first magnetic member arranged in a front edge region of the support portion based on the front direction of the main body among the edge regions of the support portion; A second magnetic member arranged in a rear edge region of the support portion with respect to the front direction of the main body among the edge regions of the support portion; A first electromagnet arranged in a front edge region based on the front direction of the main body among the edge regions of the above fixed plate; A second electromagnet arranged in a rear edge region based on the front direction of the main body among the edge regions of the above fixed plate; A third magnetic member arranged in the right edge region of the support portion based on the front direction of the main body among the edge regions of the support portion; A fourth magnetic member arranged in a left edge region of the support portion based on the front direction of the main body among the edge regions of the support portion; A third electromagnet is arranged in the right edge region based on the front direction of the main body among the edge regions of the above fixed plate; and A sensor module further comprising a fourth electromagnet arranged in a left edge region based on the front direction of the main body among the edge regions of the above fixed plate.

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