Robot and method for controlling robot

Abstract

The present invention relates to a robot comprising: a robot main body in which a motor and a battery are accommodated; a pair of leg units provided in the robot main body; and a pair of wheels rotatably coupled to the pair of leg units, respectively, wherein the robot main body, when located within a preset reference distance from an obstacle of at least a predetermined height, can move away from the obstacle and then travel toward the obstacle to quickly go over the obstacle.

Description

Robots and robot control methods

[0001] The present invention relates to a robot and a method for controlling the robot. More specifically, the present invention relates to a robot and a method for controlling the robot, which can provide various services based on user command input.

[0002] Recently, with the advancement of robot technology, the use of robots is increasing not only in industrial fields but also in homes.

[0003] Domestic robots include robots that perform household tasks such as cleaning or controlling home appliances, robots that use artificial intelligence (AI) to act as assistants or provide education to users, or robots that replace pets.

[0004] However, conventional home robots have limitations in that they can only perform one of the above functions and cannot perform various functions depending on the user's needs or circumstances.

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

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

[0007] In the case of these two-wheeled robots, since they have to balance with only two wheels, they need to maintain balance when overcoming obstacles, etc.

[0008] In this regard, US Patent Publication No. US 2020-0362972A1 (November 19, 2020) discloses a mobile robot that moves using a pair of legs equipped with wheels.

[0009] The above mobile robot can move by rotating wheels provided on a pair of legs while lifting an object using an arm.

[0010] However, the arm of the above mobile robot only has the function of lifting objects, and there is a limitation that the robot's function cannot be expanded through the arm.

[0011] In addition, the above-mentioned mobile robot has a main body to which the leg portion is connected that rotates in a pendulum shape to maintain balance while moving or stopped, and maintains balance by rotating a counter-balance in response to the rotation of the main body.

[0012] Therefore, the above-mentioned mobile robot must continuously operate its motors to rotate its wheels and counterweights to maintain a stable posture. In this case, the mobile robot faces the limitation of continuously consuming electrical energy even when stationary or in standby.

[0013] In addition, the above-mentioned mobile robot can maintain balance on flat ground, but has a limitation in that it cannot maintain balance when going over obstacles with different heights.

[0014] Meanwhile, Korean Patent Publication No. 2021-0064016 (June 2, 2021) discloses a driving module capable of lifting a driving unit while driving along floors of various heights.

[0015] The above driving module can easily climb over obstacles by lifting part of the wheels.

[0016] However, the above driving module rotates six wheels to drive along the ground, and when going over an obstacle, at least four wheels are in contact with the ground or obstacle.

[0017] Therefore, the above driving module has limitations in that it cannot be applied to a two-wheeled robot that drives on the ground with two wheels.

[0018] The present invention was created to improve the problems of the prior art as described above, and its purpose is to provide a robot that can perform various functions according to a situation or a user's command.

[0019] Additionally, the purpose is to provide a robot that can change an existing function into a new function or add a new function to an existing function.

[0020] Additionally, the purpose is to provide a robot that can prevent itself from tripping over obstacles while overcoming them.

[0021] Additionally, the purpose is to provide a robot that can reduce the spatial limitations on where the robot can drive.

[0022] In order to achieve the above-described purpose, a robot according to the present invention comprises: a robot body having a motor and a battery housed therein; a pair of leg parts provided in the robot body; and a pair of wheels rotatably coupled to each of the pair of leg parts; and when the robot body is positioned within a preset reference distance from an obstacle of a predetermined height or higher, the robot body can move away from the obstacle and then drive toward the obstacle.

[0023] At this time, the robot body may drive at a preset first driving speed, and when driving toward the obstacle after moving away from the obstacle, may drive at a second driving speed different from the first driving speed.

[0024] At this time, the second driving speed may be faster than the first driving speed.

[0025] Meanwhile, when the robot body is positioned within a preset reference distance from an obstacle of a predetermined height or higher, the robot body may move forward toward the obstacle until both of the pair of wheels come into contact with the obstacle, and when both of the pair of wheels come into contact with the obstacle, the robot body may move backward away from the obstacle by a preset distance and then move forward toward the obstacle.

[0026] Accordingly, the robot body can overcome the obstacle.

[0027] Meanwhile, the robot body can go over the obstacle if the height of the obstacle is greater than or equal to a preset first height and less than or equal to a preset second height, and can avoid the obstacle if the height of the obstacle is greater than or equal to the second height.

[0028] Meanwhile, the robot according to the present invention may further include a sensor unit that is placed on the robot body or the leg unit and measures the distance to the obstacle.

[0029] Meanwhile, in order to achieve the above-described purpose, a control method of a robot according to the present invention may include an obstacle detection step of detecting an obstacle placed on the ground while rotating the wheel and driving along the ground at a first speed set in advance; and a climbing step of moving forward at a second speed greater than the first speed to climb over the obstacle when the longitudinal direction of the obstacle and the front of the robot are perpendicular.

[0030] At this time, if the height of the obstacle detected in the obstacle detection step is greater than or equal to a preset first height and less than or equal to a preset second height, the climbing step is performed, and if the height of the obstacle is less than the first height, the obstacle can be overcome by moving forward toward the obstacle at the first speed.

[0031] Additionally, if the height of the obstacle is greater than or equal to the second height, the obstacle can be avoided.

[0032] Meanwhile, the control method of the robot according to the present invention may further include, after the obstacle detection step, an approach step of moving forward toward the obstacle.

[0033] Meanwhile, the control method of the robot according to the present invention may further include a backward step of moving backward away from the obstacle by a preset distance when the pair of wheels come into contact with the obstacle during the approach step.

[0034] As described above, the robot according to the present invention has the effect of enabling the robot to perform various movements by rotating both sides of the robot body and one pivotally-equipped arm, thereby expanding or changing the function of the robot.

[0035] In addition, a function module can be combined with the lower part of the robot body according to the user's command or situation, and various functions can be performed through the function module.

[0036] Additionally, by replacing the robot mask, which is detachably connected to the robot body, it is possible to change the design of the robot or add new functions.

[0037] Additionally, when the robot goes over an obstacle, it has the effect of being able to quickly go over the obstacle by going over it right away or by going backwards and then accelerating to go over it, depending on the height of the obstacle.

[0038] Additionally, since a pair of wheels move backwards while in contact with an obstacle, it has the advantage of quickly determining the vertical direction to the obstacle and easily passing over it.

[0039] Additionally, it has the advantage of reducing the area in which the robot cannot drive, allowing the robot to be used without spatial limitations.

[0040] FIG. 1 is a perspective view illustrating a robot according to one embodiment of the present invention.

[0041] Figure 2 is a front view of a robot according to one embodiment of the present invention.

[0042] Figure 3 is a side view of a robot according to one embodiment of the present invention.

[0043] Figure 4 is a rear view of a robot according to one embodiment of the present invention.

[0044] Figure 5 is a plan view of a robot according to one embodiment of the present invention.

[0045] Figure 6 is a bottom view of a robot according to one embodiment of the present invention.

[0046] FIG. 7 is a drawing for explaining the coupling relationship between a robot mask and a robot body in a robot according to one embodiment of the present invention.

[0047] Figure 8 is a block diagram for explaining the control configuration of a robot according to one embodiment of the present invention.

[0048] Figure 9 is a flowchart for explaining a method for controlling a robot according to one embodiment of the present invention.

[0049] FIG. 10 is a drawing for explaining a situation in which a robot detects an obstacle according to one embodiment of the present invention.

[0050] FIGS. 11 to 16 are drawings for explaining a situation in which a robot according to one embodiment of the present invention overcomes an obstacle.

[0051] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0052] The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention.

[0053]

[0054] FIGS. 1 to 6 illustrate a perspective view, a front view, a side view, a rear view, a plan view, and a bottom view, respectively, for explaining a robot according to one embodiment of the present invention, and FIG. 7 illustrates a drawing for explaining a coupling relationship between a robot mask and a robot body in a robot according to one embodiment of the present invention.

[0055] Referring to FIGS. 1 to 6, a robot (1) according to one embodiment of the present invention will be described as follows.

[0056] The robot (1) according to an embodiment of the present invention is configured to be placed on the floor and move along the ground (B). Accordingly, the following description will be given of the up-down direction based on the state in which the robot (1) is placed on the floor.

[0057] And, the direction in which the obstacle detection camera (610) to be described later is placed is set as the front of the robot (1) and explained. In addition, the direction opposite to the front is set as the rear of the robot (1) and explained.

[0058] The 'lowest part' of each configuration described in the embodiment of the present invention may be the part that is positioned lowest in each configuration when the robot (1) according to the embodiment of the present invention is used while placed on the floor, or may be the part closest to the floor.

[0059] A robot (1) according to an embodiment of the present invention comprises a robot body (100), a leg part (200), a wheel part (300), an arm (400), and a robot mask (500). At this time, the leg part (200) is coupled to the robot body (100), and the wheel part (300) is coupled to the leg part (200). In addition, an arm (400) is pivotally coupled to both sides of the robot body (100). In addition, a robot mask (500) is detachably coupled to the robot body (100).

[0060]

[0061] Robot body

[0062] Referring to FIGS. 1 to 7, the robot body (100) of the robot (1) according to one embodiment of the present invention will be described as follows.

[0063] Each component of the robot (1) can be coupled to the robot body (100). For example, a robot mask (500) can be detachably coupled to the robot body (100). In addition, an arm (400) is pivotally coupled to the robot body (100). The arms (400) are pivotally coupled to both ends of the robot body (100). The robot body (100) can implement a standby posture for power saving or a posture for getting up after falling through the arms (400). The lower part of the robot body (100) can be detachably coupled to a function module (not shown). The robot body (100) can perform additional functions by being coupled to the function module (not shown).

[0064] Some of the components that make up the robot (1) can be accommodated inside the robot body (100).

[0065] The main body housing (110) can form the outer shape of the robot body (100). The internal space of the main body housing (110) can accommodate one or more motors including a suspension motor (MS), one or more sensors, and a battery (800).

[0066] Additionally, although not shown, at least one bumper may be provided inside the main body housing (110).

[0067] The bumper may be provided to be movable relative to the main body housing (110). For example, the bumper may be coupled to the main body housing (110) so as to be movable back and forth along the front-back direction of the main body housing (110).

[0068] The bumper may be coupled along part or all of the front edge of the main body housing (110). Additionally, the bumper may be positioned on the inner rear side of the main body housing (110).

[0069] With this configuration, when the robot (1) collides with another object or person, the bumper can absorb the impact applied to the robot body (100) and protect the robot body (100) and the parts contained inside the robot body (100).

[0070] A pair of leg parts (200) are coupled inside the main body housing (110). The pair of leg parts (200) can penetrate the main body housing (110) and be exposed to the outside.

[0071] Specifically, an upper leg (210) may be rotatably coupled inside the main body housing (110). For example, a link frame (not shown) to which the upper leg (210) is linked may be provided inside the main body housing (110).

[0072] Additionally, a suspension motor (MS) may be accommodated inside the main body housing (110). For example, a suspension motor (MS) may be placed in a link frame (not shown). The suspension motor (MS) may be connected to an upper leg (210).

[0073] A pair of leg guide holes may be formed in the main body housing (110). For example, a pair of leg guide holes may be formed in parallel along the front-rear direction of the main body housing (110).

[0074] With this configuration, the leg part (200) can rotate along the leg guide hole and guide the rotational movement range of the leg part (200).

[0075] The main body housing (110) may be formed in a shape in which the horizontal width (or diameter) is greater than the vertical height. For example, the main body housing (110) may be formed in a shape similar to an ellipsoid.

[0076] This robot body (100) can help the robot (1) to have a stable structure and provide a structure that is advantageous for maintaining balance when the robot (1) moves (drives).

[0077] The robot body (100) can be placed vertically above the wheel (310) described later. The load of the robot body (100) can be transmitted to the wheel (310) through the leg portion (200), and the wheel (310) can support the leg portion (200) and the robot body (100). With this configuration, the wheel (310) can stably support the load of the robot body (100).

[0078]

[0079] The robot body (100) may include a display (120). The display (120) may be coupled to the body housing (110). The display (120) may be formed in a flat shape. The display (120) may be positioned at a predetermined angle relative to the ground. For example, the display (120) may be positioned so as to face the upper front. With this configuration, when the robot (1) approaches a user and the user looks at the robot (1), the display (120) may be visible.

[0080] Meanwhile, the display (120) can visually convey information about the operating status of the robot (1) to the user.

[0081] The display (120) may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0082] The display (120) can display information such as operating time information of the robot (1) and battery (800) power information.

[0083] In some embodiments, the display (120) may be an input unit (125). That is, the display (120) may receive control commands from a user. For example, the display (120) may be a touchscreen that visually displays an operating status and receives control commands from a user.

[0084] The display (120) may display the facial expression of the robot (1). Alternatively, the display (120) may display the pupils of the robot (1). The current state of the robot (1) may be personified and expressed as an emotion through the shape of the face or pupils displayed on the display (120). For example, when a user returns home after going out, the display (120) may display a smiling facial expression or smiling eye shapes. This provides the user with the effect of feeling a sense of connection with the robot (1).

[0085]

[0086] A charging terminal may be positioned on the main body housing (110). For example, the charging terminal may be positioned facing the ground. As an example, the charging terminal may be positioned facing the ground. As another example, the charging terminal may be positioned at a predetermined angle with respect to the ground. With this configuration, when the robot (1) is coupled to a robot charging stand (not shown), the charging terminal may come into contact with a terminal provided on the robot charging stand (not shown).

[0087] The charging terminal can be electrically connected to a robot charging stand (not shown). With this configuration, the robot (1) can receive power through the charging terminal. The power supplied to the charging terminal can be supplied to the battery (800). In addition, the robot (1) can receive an electric signal through the charging terminal. The electric signal transmitted through the charging terminal can be received by the control unit (700).

[0088]

[0089] A microphone (140) may be placed in the main body housing (110). A plurality of microphones (140) may be placed in the main body housing (110). For example, four microphones (140) may be placed on the upper side of the main body housing (110). With this configuration, the microphone (140) can detect sounds coming from various directions and detect the location of a sound source.

[0090]

[0091] A module coupling part (150) may be positioned at the bottom of the main body housing (110). The module coupling part (150) is detachably coupled to a functional module (not shown). Specifically, the module coupling part (150) may be selectively coupled to or separated from the functional module (not shown).

[0092] For example, the module coupling unit (150) is configured in the form of an electromagnet, and can selectively apply magnetic force (attractive force) to a functional module (not shown) depending on the power supply. As another example, the module coupling unit (150) can be configured to be hook-coupled with the coupling unit of the functional module (not shown). In this case, the coupling force between the robot body (100) and the functional module (not shown) can be strengthened.

[0093] At this time, a connection terminal may be arranged in the module coupling portion (150). With this configuration, the module coupling portion (150) can be coupled to the detachable portion of the metal material (or electromagnet) provided in the functional module (not shown) at an accurate position, and has the effect of guiding the connection terminal to make contact with the corresponding terminal provided in the functional module (not shown) at an accurate position.

[0094] The connection terminal can be electrically connected to a functional module (not shown). The connection terminal can be electrically connected by making contact with a corresponding terminal provided on the functional module (not shown).

[0095] With this configuration, power from the robot body (100) can be supplied to the functional module (not shown) through the connection terminal. In addition, the robot body (100) can transmit and receive electric signals to and from the functional module (not shown) through the connection terminal.

[0096] Meanwhile, a detailed description of the function module (not shown) will be provided later.

[0097]

[0098] An operating unit (160) may be placed in the main body housing (110). For example, the operating unit (160) may be placed at the rear of the main body housing (110).

[0099] The control unit (160) can be operated by the user, and the power of the robot (1) can be turned on / off by operating the control unit (160).

[0100] The operating unit (160) may be provided so as to be pushable to the main body housing (110), or may be provided so as to pivot left and right, depending on the embodiment.

[0101] For example, the control unit (160) may be a button. Accordingly, when the power of the robot (1) is off, the user can turn on the power of the robot (1) by pushing the control unit (160) and pressing the control unit (160). In addition, when the power of the robot (1) is on, the user can turn off the power of the robot (1) by pushing the control unit (160).

[0102]

[0103] Meanwhile, an obstacle detection camera (610) may be placed at the front of the main body housing (110). Depending on the embodiment, a plurality of obstacle detection cameras (610) may be placed. For example, a first detection camera (611) may be placed at the front lower portion of the main body housing (110), and a second detection camera (612) may be placed at the front upper portion of the main body housing (110). At this time, the obstacle detection camera (610) may be placed on a center line passing through the left and right centers of the main body housing (110). With this configuration, the obstacle detection camera (610) can detect an object or person placed at the front of the robot (1).

[0104] Additionally, an IR sensor (620) may be placed in the main body housing (110). Depending on the embodiment, a plurality of IR sensors (620) may be placed. For example, a first IR sensor (621) may be placed in the front lower portion of the main body housing (110), and a second IR sensor (622) may be placed in the rear portion of the main body housing (110). With this configuration, the IR sensor (620) can detect the position of a light source that generates infrared rays.

[0105] The IR sensor (620) may be positioned close to the obstacle detection camera (610). For example, the first IR sensor (621) may be positioned directly below the first obstacle detection camera (611).

[0106] With this arrangement, the IR sensor (620) can detect the light irradiated by the lamp of the function module (not shown) or the robot charging stand (not shown), and when the robot body (100) approaches the lamp, the obstacle detection camera (610) can detect the shape of the function module (not shown) or the robot charging stand (not shown).

[0107]

[0108] leg

[0109] Referring to FIGS. 1 to 7, the leg portion (200) of the robot (1) according to one embodiment of the present invention will be described as follows.

[0110] The leg portion (200) is coupled to the robot body (100) and can support the robot body (100). For example, a pair of leg portions (200) are provided, each coupled to the inside of the body housing (110). The pair of leg portions (200) can be arranged symmetrically (linearly symmetrically) to each other. At this time, at least a portion of the leg portions (200) is arranged closer to the ground than the robot body (100). Therefore, the robot body (100) can move while standing on the ground by the pair of leg portions (200). That is, the gravity applied to the robot body (100) can be supported by the leg portions (200), and the height of the robot body (100) can be maintained.

[0111] The leg section (200) includes an upper leg (210) and a lower leg (230). At this time, the upper leg (210) is rotatably coupled to the robot body (100) and the lower leg (230).

[0112] Meanwhile, although not shown, the upper leg (210) includes a first link and a second link. At this time, the first link and the second link are rotatably connected to the robot body (100) and the lower leg (230), respectively. That is, the first link and the second link are link-connected to the robot body (100) and the lower leg (230), respectively.

[0113] The first and second links are positioned within the upper link cover and are not exposed to the outside. The upper link cover is formed in a kind of corrugated pipe shape to accommodate the first and second links within it, and can be configured to be able to expand and contract in length according to the rotation of the upper leg (210).

[0114] The first link is linked to the inner left and right sides of the robot body (100).

[0115] The first link is connected to the suspension motor (MS). For example, the first link may be connected directly to the shaft of the suspension motor (MS) or through a gear. With this configuration, the first link receives driving power from the suspension motor (MS).

[0116] The first link is formed in a frame shape, and a suspension motor (MS) is connected to one longitudinal side, and a lower leg (230) is connected to the other longitudinal side. At this time, one side of the first link connected to the suspension motor (MS) may be positioned further from the ground than the other side connected to the lower leg (230).

[0117] One end of the first link is coupled to a leg support (not shown) provided within the main body housing (110). The first link may be rotatably coupled to the leg support. For example, one end of the first link may be formed in a disk shape or a circular plate shape. Accordingly, one end of the first link may penetrate the leg support and be connected to the suspension motor (MS).

[0118] One end of the first link is connected to the suspension motor (MS). For example, one end of the first link may be fixedly coupled to the shaft of the suspension motor (MS). With this configuration, when the suspension motor (MS) is driven, one end of the first link may rotate in conjunction with the rotation of the shaft of the suspension motor (MS).

[0119] The other end of the first link is rotatably connected to the lower leg (230). For example, a through hole may be formed in the other end of the first link. A shaft may be rotatably connected through the through hole. Both longitudinal ends of the shaft may be connected to the lower leg (230).

[0120] With this configuration, the shaft can be an axis around which the first link and / or the lower leg (230) rotate. Accordingly, the first link and the lower leg (230) can be connected to enable relative rotation.

[0121] Although not shown, the leg section (200) may further include a gravity compensation section. The gravity compensation section compensates for the robot body (100) from descending vertically due to gravity. In other words, the gravity compensation section provides force to support the robot body (100).

[0122] For example, the gravity compensation unit may be a torsion spring. The gravity compensation unit may be wound to surround the outer surface of the first link. In addition, one end of the gravity compensation unit may be inserted into the first link and fixedly connected, and the other end of the gravity compensation unit may be inserted into the lower leg (230) and fixedly connected.

[0123] The gravity compensation unit applies force (rotational force) in a direction in which the angle between the first link and the lower leg (230) increases. For example, the gravity compensation unit has both ends pre-folded so that it applies a restoring force in a direction in which the angle between the first link and the lower leg (230) increases. Therefore, even if gravity is applied to the robot body (100) while the robot (1) is placed on the ground, the angle between the first link and the lower leg (230) can be maintained within a predetermined angle range.

[0124] With this configuration, the robot body (100) can be prevented from descending toward the ground even when the suspension motor (MS) is not driven. Accordingly, there is an effect of maintaining the height of the robot body (100) above a predetermined distance from the ground while preventing energy loss due to the driving of the suspension motor (MS) by the gravity compensation unit.

[0125]

[0126] The second link is linked to the inner left and right sides of the robot body (100). For example, the second link may be linked to a leg support (not shown) provided inside the body housing (110). That is, the second link may be linked together with the leg support (not shown) to which the first link is linked.

[0127] The second link is formed in a frame shape, one longitudinal side is connected to a leg support (not shown), and the other longitudinal side is connected to a lower leg (230).

[0128] The second link can accommodate wires. For example, a space can be formed on the inside of the second link to accommodate the wires. Accordingly, power from the battery (800) can be supplied to the wheel unit (300) via the wires. Furthermore, the wires can be prevented from being exposed to the outside.

[0129] One end of the second link is rotatably connected to the leg support. For example, although not shown, one end of the second link may be connected to a shaft that is connected to the leg support. The shaft may have a hollow space. A wire may pass through the hollow space. With this configuration, the wire that supplies power from the battery (800) to the wheel motor (MW) can be prevented from being exposed to the outside.

[0130] The other end of the second link is rotatably coupled to the lower leg (230). Specifically, the other end of the second link is rotatably coupled to the lower leg (230) via a shaft. For example, the other end of the second link may be formed in a disk shape, and the shaft may be coupled therethrough. In addition, both longitudinal ends of the shaft may be coupled to the lower leg (230). With this configuration, the shaft may become an axis around which the second link and / or the lower leg (230) rotate. Therefore, the second link and the lower leg (230) may be connected to be relatively rotatable.

[0131]

[0132] The lower leg (230) is linked to the first link and the second link and is linked to the wheel section (300).

[0133] The lower leg (230) is formed in a frame shape, and a first link and a second link are combined on one side in the longitudinal direction, and a wheel part (300) is combined on the other side in the longitudinal direction.

[0134] One longitudinal side of the lower leg (230) is linked to the first link and the second link. For example, a space may be formed on one side of the lower leg (230) to accommodate the first link and the second link. That is, one side of the lower leg (230) may be formed in the form of a pair of parallel frames, and the first link and the second link may be accommodated in the space between the pair of frames.

[0135] Here, two shafts may be arranged parallel between a pair of frames. That is, both ends of each of the two shafts may be coupled to a pair of frames. Each shaft may pass through a first link and a second link. At this time, the first link may be arranged forward and lower than the second link. That is, the shaft passing through the first link may be arranged closer to the wheel (310) than the shaft passing through the second link.

[0136] Accordingly, the first link and the second link can be coupled to the lower leg (230) so as to be rotatable relative to each other.

[0137] The longitudinal other side of the lower leg (230) is connected to the wheel part (300). The longitudinal other side of the lower leg (230) may be formed to cover at least a portion of the wheel (310). For example, the longitudinal other side of the lower leg (230) may be formed to cover the center of rotation of the wheel (310), and a space may be formed inside to rotatably accommodate the wheel (310).

[0138] Additionally, a wheel motor (MW) can be accommodated inside the longitudinal side of the lower leg (230).

[0139] With this configuration, a wheel (310) and a wheel motor (MW) can be accommodated on the longitudinal side of the lower leg (230), and the wheel (310) can be rotatably coupled.

[0140] Meanwhile, a sensor capable of measuring the distance from the ground may be provided on the longitudinal side of the lower leg (230). Specifically, a cliff sensor (670) may be arranged on the lower leg (230). For example, a first cliff sensor (671) may be arranged on the front lower side of the lower leg (230), and a second cliff sensor (672) may be arranged on the rear upper side of the lower leg (230). With this configuration, the distance between the lower leg (230) and the wheel (310) and the ground (B) can be measured. In addition, it is also possible to calculate the angle between the lower leg (230) and the ground through the distance difference between the first cliff sensor (671) and the second cliff sensor (672).

[0141] Meanwhile, although not shown, the leg portion (200) may be provided with a stopper. The stopper may be positioned inside the main body housing (110). The stopper may be positioned adjacent to the rotational coupling portion (410) of the arm (400). For example, the stopper may be positioned on the inner surface of the rotational coupling portion (410) formed in a cylindrical shape.

[0142] For example, the stopper may be placed on a leg support (not shown). As another example, the stopper may be placed on the first link.

[0143] The stopper may be formed in a protruding shape toward the rotational joint (410). The stopper may be supported by contact with a rotational projection (not shown) of the arm (400) to be described later. For example, a rotational projection protruding on the inner circumferential surface of the rotational joint (410) rotates together with the rotation of the arm (400), and may come into contact with the stopper when the arm (400) is rotated to a predetermined position.

[0144] With this configuration, the stopper can limit the rotation angle of the arm (400) when the arm (400) rotates.

[0145]

[0146] Looking at the balance by the leg section (200) as a whole, the first link and the second link are rotatably coupled to the link frame (not shown) provided inside the robot body (100), and the first link and the second link are linked to the lower leg (230). That is, the robot (1) has a structure that supports the robot body (100) through a four-section link consisting of the link frame (not shown), the first link, the second link, and the lower leg (230).

[0147] In addition, the leg portion (200) generates a restoring force in the direction in which the gravity compensation portion lifts the robot body (100). Therefore, even when the suspension motor (MS) is not driven, the pair of leg portions (200) can maintain the robot body (100) lifted to a predetermined height from the ground.

[0148] Meanwhile, the robot (1) according to the embodiment of the present invention can maintain balance by driving the suspension motor (MS) when lifting at least one of a pair of wheels (310) to overcome an obstacle or lowering the height of the robot body (100) for charging, etc.

[0149] When the suspension motor (MS) is driven, the first link rotates around the motor coupling portion as an axis, and the link coupling portion moves upward. Furthermore, the lower leg (230) moves in accordance with the rotation of the first link. Furthermore, the second link is pushed by the lower leg (230) and rotates. Consequently, one end of the lower leg (230) can move rearward, and the other end of the lower leg (230) can move upward.

[0150] With this configuration, even if the wheel (310) is moved up and down, the range of movement in the forward and backward directions of the wheel (310) can be limited. Therefore, the robot (1) can stably maintain balance.

[0151] Therefore, according to the robot (1) according to the present invention, there is an effect of being able to overcome obstacles of various heights by using a four-section link structure.

[0152]

[0153] Wheel

[0154] Referring to FIGS. 1 to 8, the wheel part (300) of the robot (1) according to one embodiment of the present invention will be described as follows.

[0155] The wheel part (300) is rotatably connected to the leg part (200) and can roll on the ground to move the robot body (100) and the leg part (200).

[0156] The wheel section (300) includes a wheel (310) that moves in a rolling manner over the ground by contacting the ground.

[0157] The wheel (310) is provided to have a predetermined radius and a predetermined width along the axial direction. When the robot (1) is viewed from the front, at least a portion of the robot body (100) and the leg portion (200) can be placed vertically above the wheel (310).

[0158] Although not shown, the wheel (310) may include a circularly formed wheel frame. The wheel frame may be formed in a cylindrical shape with one side open toward the shaft of the wheel motor (MW). This can reduce the weight of the wheel frame.

[0159] However, when the wheel frame is formed into a cylindrical shape, the overall rigidity of the wheel frame may be reduced. Considering this, ribs (not shown) for reinforcing rigidity may be formed on the inner and outer surfaces of the wheel frame, respectively.

[0160] A tire is attached to the outer surface of the wheel frame. The tire may be formed into an annular shape having a diameter that can fit onto the outer surface of the wheel frame.

[0161] The outer surface of the tire may have grooves formed in a predetermined pattern to improve the tire's grip.

[0162] In one embodiment, the tire may be formed of a rubber material having elasticity.

[0163] The wheel motor (MW) can provide driving force to the wheel (310). The wheel motor (MW) can receive power from the battery (800) and generate rotational force.

[0164] The wheel motor (MW) may be accommodated inside the other side of the lower leg (230). And, the shaft of the wheel motor (MW) may be coupled to the wheel (310). That is, the wheel motor (MW) may be an in-wheel motor.

[0165] With this configuration, when the wheel motor (MW) is driven, the wheel (310) can rotate and roll along the ground, and the robot (1) can move along the ground.

[0166]

[0167] cancer

[0168] Referring to FIGS. 1 to 7, the arm (400) in the robot (1) according to one embodiment of the present invention will be described as follows.

[0169] The arm (400) can be pivotally coupled to both sides of the robot body (100). For example, the arm (400) can be coupled to both ends of the axial direction (length direction) of the ellipsoidal robot body (100), and can mean a rotating body that rotates around both ends of the axial direction of the robot body (100) as one rotation axis.

[0170] Specifically, the arm (400) includes a rotational joint (410) and a connecting portion (420).

[0171] The rotation coupling part (410) can be rotatably coupled to both sides of the robot body (100). A pair of rotation coupling parts (410) can be provided and can be coupled to both left and right sides of the robot body (100) so as to be relatively rotatable. At this time, the pair of rotation coupling parts (410) can rotate in conjunction with each other. That is, the pair of rotation coupling parts (410) rotate simultaneously with each other, and the angular size of the rotation can also be the same. However, when viewed based on the robot body (100), the rotation directions of the pair of rotation coupling parts (410) can be opposite to each other. That is, when viewed based on the robot body (100), when the rotation coupling part (410) on one side rotates clockwise, the rotation coupling part (410) on the other side can rotate counterclockwise.

[0172] The rotational coupling part (410) may be formed in a shape that can cover both left and right ends of the robot body (100). For example, the rotational coupling part (410) may be formed in a cylindrical shape with a predetermined thickness. In this case, the left and right ends of the robot body (100) may be arranged to face each other and the rotational center of the rotational coupling part (410).

[0173] That is, when explaining the state in which the rotating joint (410) is coupled to the robot body (100), assuming that the robot body (100) is a human face, the rotating joint (410) may have a shape similar to a pair of earplugs or an earpiece of headphones.

[0174]

[0175] The arm motor (MA) may be positioned inside the main body housing (110). Alternatively, depending on the embodiment, the arm motor (MA) may be positioned inside the rotary joint.

[0176] The arm motor (MA) can be connected to the arm (400) to provide driving force to the arm (400). More specifically, the final output end of the shaft or gear of the arm motor (MA) is connected to the rotary coupling (410). For example, the shaft of the arm motor (MA) can be connected to a reducer, and the reducer can be connected to a driven gear.

[0177] The reducer is composed of at least one gear, and transmits the rotational force applied from the arm motor (MA) to the driven gear, and can reduce the rotational speed of the driven gear through a gear ratio. Through this, the precise rotation of the arm (400) can be controlled, and the arm (400) can be enabled to provide a relatively large force.

[0178] The driven gear can be rotated integrally by being coupled with the rotary coupling (410). The driven gear can be meshed with the output end of the reducer to receive the rotational power of the arm motor (MA).

[0179] With this configuration, when the arm motor (MA) is operated, the rotary joint (410) can rotate.

[0180] Two arm motors (MA) may be provided and connected to a pair of rotating couplings (410), respectively. As another example, one arm motor (MA) may be provided and connected to one of the rotating couplings (410).

[0181] With this configuration, when the arm motor (MA) is operated, a pair of rotating coupling parts (410) are rotated together in conjunction, and the connecting part (420) is rotated together according to the rotation of the rotating coupling part (410). That is, according to the present invention, the arm (400) can be rotated as a single unit with the rotating coupling part (410) and the connecting part (420) using the arm shaft of the rotating coupling part (410) as the rotation axis.

[0182] Meanwhile, a speaker (450) may be placed on the outside of the rotation coupling part (410). That is, a speaker (450) may be placed in each of the opposite directions of the direction in which the robot body (100) is placed in a pair of rotation coupling parts (410). Accordingly, the speakers (450) may be placed at positions that cover both left and right sides of the body housing (110).

[0183] The speaker (450) can transmit information about the robot (1) as sound. The source of the sound transmitted by the speaker (450) may be sound data previously stored in the robot (1). For example, the previously stored sound data may be voice data of the robot (1). For example, the previously stored sound data may be a notification sound that guides the status of the robot (1). Meanwhile, the source of the sound transmitted by the speaker (450) may be sound data received through the communication unit (710).

[0184]

[0185] Meanwhile, conventional robots are equipped with a pair of arms on each side of the main body, similar to human arms, to move objects or perform specific tasks.

[0186] However, when equipped with a pair of arms as described above, each arm can move independently, and thus the load applied to each side of the robot may vary. Consequently, the robot may tilt to one side and fall over.

[0187] Additionally, when the robot falls, it can attempt to stand up by having the arms touch the ground, but since the arms on both sides rotate separately to touch the ground, there is a limitation that the robot may lose its balance during the standing process and fall down again.

[0188] Meanwhile, in the case of a robot that transports objects or performs a specific task through a single arm, there is a limitation that the load of the object being transported or the shock that may occur during the task is concentrated on only one arm, which may cause damage to the arm.

[0189] To solve this, the robot (1) according to the embodiment of the present invention is configured in a form in which one arm (400) is rotatably connected to both sides of the robot body (100).

[0190] The connecting portion (420) can connect a pair of rotational coupling portions (410) to each other. The connecting portion (420) can connect a pair of rotational coupling portions (410) covering both left and right sides of the robot body (100) so that they rotate together.

[0191] The connecting portion (420) connects a pair of rotational coupling portions (410) to each other and can be formed in a shape that can rotate around the robot body (100). Specifically, the connecting portion (420) can be formed in a frame shape in which both longitudinal ends are formed as bent extensions. At this time, both ends of the connecting portion (420) formed as bent extensions can be arranged parallel to each other and connected to a pair of rotational coupling portions (410). As an example, the connecting portion (420) can be formed in a '∩' shape. As another example, the connecting portion (420) can also be formed in an arch shape.

[0192] When describing the state in which the arm (400) is connected to the robot body (100), assuming that the robot body (100) is a human face, the connecting portion (420) may have a shape similar to a headphone hair band. That is, assuming that the robot body (100) is a human face, the arm (400) may appear to have a shape similar to a headphone.

[0193] With this configuration, a pair of rotating joints (410) are integrally connected to the connecting part (420), so that the entire arm (400) can rotate together with the rotating joint (410) as the center of rotation.

[0194] Meanwhile, the radius of rotation of the arm (400) may be longer than the maximum length of the first link and shorter than the maximum length of the leg portion (200). Specifically, the shortest distance from the center of rotation of the rotational coupling portion (410) to the outer end of the connection portion (420) may be longer than the maximum length of the first link and shorter than the maximum length of the leg portion (200).

[0195] With this configuration, when the arm (400) is rotated, it is possible for at least a portion of the arm (400) to be positioned closer to the ground than the first link.

[0196]

[0197] In cases where no special user command or preset situation occurs, the outer end of the arm (400) may be positioned further from the ground than the robot body (100). With this configuration, the user can easily carry the robot (1) by holding the arm (400). In other words, the arm (400) can function as a handle that the user can grip.

[0198] And, if no special command from the user or a preset situation occurs, the arm (400) can be placed behind the robot mask (500). This is to prevent the robot mask (500) from being covered by the arm (400) when the user looks at the robot (1).

[0199] Meanwhile, when a special command from the user or a preset situation occurs, the arm (400) can rotate and implement various functions.

[0200] For example, the robot (1) can implement a squatting (scooch down) posture. To this end, the robot (1) can rotate the arm (400) from the upper side of the robot body (100) to the lower side of the rear side of the robot body (100). In addition, or prior to the rotation of the arm (400), the leg portion (200) can be moved to lower the posture of the robot (1). Accordingly, even if the operation of the wheel motor (MW) is stopped and the wheel (310) does not rotate, the robot (1) can tilt backward, and the lower end of the pair of wheels (310) and the arm (400) can come into contact with the ground. Consequently, through the above-described operation of the robot (1), one arm (400) and one pair of wheels (310) can come into contact with the ground, and the robot body (100) can be supported at three points. Through this, a standby posture can be assumed to reduce power consumption.

[0201] As another example, the robot (1) can stand up from a fallen state by supporting the ground through the arm (400). To this end, the robot (1) can rotate the arm (400) toward the front of the robot body (100), and at the same time, the wheel (310) can be rotated in the direction in which the robot (1) moves forward. That is, a pair of wheels (310) can be rotated in a direction in which the distance from the arm (400) becomes shorter. Consequently, according to the robot (1) of the present invention, since one arm can support the ground and stand up, the robot (1) can be prevented from shaking or falling again during the standing up process, and the power consumed during the standing up operation can be minimized.

[0202]

[0203] Meanwhile, according to an embodiment, the arm (400) of the robot (1) may further include a detachable part (430) to be coupled with a functional module (not shown).

[0204] The attachment / detachment part (430) may be placed on the connection part (420). Specifically, the attachment / detachment part (430) may be placed on the outer surface of the connection part (420). Here, the outer surface of the connection part (420) may mean a surface placed in the opposite direction from the direction in which the connection part (420) faces the robot body (100).

[0205] With this configuration, the detachable part (430) can be exposed to the outside of the robot body (100) to facilitate contact with objects approaching from the outside of the robot (1).

[0206] The detachable portion (430) can be detachably coupled with a functional module (not shown). Specifically, the detachable portion (430) can be selectively coupled to or separated from the functional module (not shown).

[0207] The detachable part (430) is configured in the form of an electromagnet, and can selectively apply magnetic force (attractive force) to a functional module (not shown) depending on the power supply.

[0208] For example, the detachable part (430) may be configured in the form of an electromagnet. With this configuration, the detachable part (430) can form a uniform magnetic field over a wide area and can be stably coupled with a functional module (not shown).

[0209]

[0210] robot mask

[0211] As illustrated in FIG. 7, a robot (1) according to one embodiment of the present invention may further include a robot mask (500).

[0212] The robot mask (500) is detachably connected to the robot body (100) and can cover the display (120). The robot mask (500) can be connected to the robot body (100) to form the exterior of the robot (1).

[0213] The robot mask (500) includes a mask body (510) and a window (550).

[0214] The mask body (510) constitutes the exterior of the robot mask (500). For example, based on the state in which the robot mask (500) and the robot body (100) are combined, the outer surface of the mask body (510) exposed to the outside may be formed into a curved shape having a predetermined curvature.

[0215] And the inner surface of the mask body (510) facing the robot body (100) can be formed in a shape corresponding to the shape of the robot body (100). For example, the inner surface of the mask body (510) can be formed in a flat shape corresponding to the shape of the display (120), and the outer surface thereof can have a side wall protrudingly formed to accommodate a portion of the body housing (110). Accordingly, the inner surface of the mask body (510) can be formed in the shape of an oval-shaped flat surface and a side wall surrounding the oval-shaped flat surface.

[0216] Although not shown, a magnet for bonding may be placed on the mask body (510).

[0217] For example, at least one magnet may be placed on a side wall protruding from the inner surface of the mask body (510).

[0218] In addition, the magnet generates magnetic force (attractive force) and is detachably coupled to the robot body (100). With this configuration, the magnet can couple the body housing (110) and the mask body (510) through magnetic force, and when a user applies an external force of a predetermined size or greater, the body housing (110) and the mask body (510) can be separated.

[0219] Although not shown, a mask communication unit is placed in the mask body (510) and can communicate with the communication unit (710) provided in the robot body (100).

[0220] The communication unit of the robot mask (500) can support wireless communication with the robot body (100). A short-range communication module can be provided as a wireless communication module to support wireless communication.

[0221] Short-range communication can be, for example, NFC (Near Field Communication).

[0222] Information about the shape of the robot mask (500) and the functions provided in the robot mask (500) can be transmitted to the robot body (100) through the communication unit of the robot mask (500). In addition, the communication unit of the robot mask (500) can receive a control command from the control unit (700) provided in the robot body (100).

[0223] Meanwhile, the robot mask (500) can be supplied with power from the robot body (100). Although not shown, the robot mask (500) may be equipped with a terminal that can be electrically connected to the robot body (100).

[0224] Meanwhile, the robot mask (500) according to one embodiment of the present invention, when combined with the robot body (100), may include a window (550) that exposes an image displayed on the display (120) to the outside.

[0225] The window (550) may be placed in the mask body (510). Specifically, the window (550) may be placed through the mask body (510) and may be placed at a position facing the display (120) when the robot mask (500) is coupled to the robot body (100).

[0226] The window (550) may be formed of a material that allows light to pass through. For example, the window (550) may be formed of a transparent material.

[0227]

[0228] Meanwhile, when the robot mask (500) is combined with the robot body (100), the face and expression can be displayed on the display (120).

[0229] The robot (1) can display facial features such as eyes, nose, and mouth on the display (120) to make the user feel that the robot is expressing emotions.

[0230] The robot (1) can depict facial expressions by displaying preset images on the display (120), thereby allowing the user to perceive that the robot is expressing emotions.

[0231] For example, when a user returns home, the robot (1) may display a smiling face on the display (120) to express its happiness.

[0232] As another example, if the robot (1) detects a cliff and escapes the risk of falling, the robot (1) may display a surprised face and surprised eye expression on the display (120).

[0233] As another example, when a user calls a robot (1), the robot (1) may gaze at the user on the display (120) and display a curious facial expression. The robot (1) may be configured to detect and respond to a call when the user calls it with a specific pronunciation.

[0234] As another example, if the robot (1) cannot understand the user's command, the robot (1) may display a curious facial expression along with a symbol such as '?' on the display (120).

[0235] As another example, if the user continuously commands the robot (1) to perform a service, it may display a distressed facial expression along with a picture showing sweat.

[0236] As another example, if the user does not issue a command to the robot (1) for a preset period of time, a sleeping facial expression may be displayed.

[0237] In addition to the examples above, the robot (1) can express various emotions on the display (120), and the expressions that can be displayed can be improved or added through software updates, etc.

[0238] In this way, the robot (1) can provide a pet robot service that displays emotions to the user and communicates with the user, and has the effect of providing emotional stability to the user.

[0239] As described above, the robot (1) can visually display emotions by showing facial expressions on the display (120), and can also display emotions through voice output from the speaker (450).

[0240] For example, sounds such as smiling or surprised can be output in response to facial expressions displayed on the display (120).

[0241] In addition, the robot (1) can visually display emotions by displaying facial expressions on the display (120) as described above, and can also display emotions through the rotation of the arm (400).

[0242] For example, the emotion can be expressed by shaking the arm (400) while displaying a smiling expression on the display (120).

[0243]

[0244] Meanwhile, the display (120) may change the shape displayed when the robot mask (500) is combined depending on the shape of the robot mask (500).

[0245] Specifically, the control unit (700) of the robot (1) can receive information about the shape of the mask (500) through the mask communication unit (530). For example, each robot mask (500) has information about its shape recorded therein, and the control unit (700) can receive information about the shape of the robot mask (500) from the mask communication unit (530) of the robot mask (500). At this time, graphical user interface (GUI) information according to the shape of each mask (500) is stored in the memory (720). In addition, the control unit (700) can control the display (120) to display a GUI corresponding to the shape of the robot mask (500). Therefore, when the robot mask (500) and the robot body (100) are combined, the display (120) can display a GUI, and the GUI displayed on the display (120) can be viewed from the outside of the robot mask (500) by passing through the window (550).

[0246] Meanwhile, the user can directly select the GUI through the input unit (125). In addition, the control unit (700) can control the display (120) to display the GUI input by the user.

[0247] With this configuration, the user can purchase a robot mask (500) that suits his or her taste or customize the appearance of the robot (1) by selecting a GUI of his or her preference.

[0248]

[0249] Control configuration

[0250] FIG. 8 is a block diagram illustrating a control configuration of a robot according to one embodiment of the present invention.

[0251] Referring to FIGS. 1 to 8, a robot (1) according to an embodiment of the present invention may include a sensor unit (600), a control unit (700), a communication unit (710), a memory (720), a battery (800), a motor unit, and an interface unit.

[0252] The components shown in the block diagram of FIG. 10 are not essential for implementing the robot (1), and thus the robot (1) described in this specification may have more or fewer components than the components listed above.

[0253] First, the control unit (700) can control the overall operation of the robot (1). The control unit (700) can control the robot (1) to perform various functions according to setting information stored in the memory (720) described later.

[0254] The control unit (700) can be placed on the robot body (100). More specifically, the control unit (700) can be mounted and provided on a PCB placed inside the body housing (110).

[0255] The control unit (700) may include all types of devices capable of processing data, such as a processor. Here, the term "processor" may refer to a data processing device built into hardware that has a physically structured circuit to perform a function expressed by a code or command included in a program, for example. Examples of such data processing devices built into hardware may include processing devices such as a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), and a field programmable gate array (FPGA), but the scope of the present invention is not limited thereto.

[0256] The control unit (700) can receive information about the external environment of the robot (1) from at least one of the components of the sensor unit (600) described below. At this time, the information about the external environment may be, for example, information about the temperature, humidity, and amount of dust in the room in which the robot (1) is driving. Or, for example, it may be cliff information. Or, for example, it may be indoor map information. Of course, the information about the external environment is not limited to the examples described above.

[0257] The control unit (700) can receive information about the current state of the robot (1) from at least one of the components of the sensor unit (600) described below. At this time, the current state may be, for example, inclination information of the robot body (100). Or, for example, information about the separation state between the wheel (310) and the ground. Or, for example, position information of the wheel motor (MW). Or, for example, position information of the suspension motor (MS). Of course, information about the current state of the robot (1) is not limited to the examples described above.

[0258] The control unit (700) can transmit a drive control command to at least one of the components of the motor unit described below. For example, the rotation of the wheel motor (MW) can be controlled for driving the robot (1). Or, for example, the rotation of the wheel motor (MW) can be controlled for maintaining the horizontal posture of the robot (1). Or, for example, the rotation of the suspension motor (MS) can be controlled for maintaining the horizontal posture of the robot (1).

[0259] The control unit (700) can receive a user's command through at least one of the interface unit components described below. For example, the command may be a command for turning the robot (1) on / off. Alternatively, for example, the command may be a command for manually controlling various functions of the robot (1).

[0260] The control unit (700) can output information related to the robot (1) through at least one of the components of the interface unit described below. For example, the output information may be visual information. Or, for example, the output information may be auditory information.

[0261] The motor section includes at least one motor and can provide driving force to a configuration connected to each motor.

[0262] The motor unit may include a wheel motor (MW) that provides driving force to the left and right wheels (310). More specifically, the motor unit may include a first wheel motor (MW1) that provides driving force to a wheel (310) arranged on one side in the left and right directions, and a second wheel motor (MW2) that provides driving force to a wheel (310) arranged on the other side in the left and right directions.

[0263] The wheel motors (MW) may be respectively placed in the wheel section (300). More specifically, the wheel motors (MW) may be accommodated inside the lower leg (230). Alternatively, the wheel motors (MW) may be accommodated inside the wheel (310).

[0264] The wheel motor (MW) is connected to the wheel (310). More specifically, the final output end of the shaft or gear of the first wheel motor (MW1) is connected to the wheel (310) arranged on one side in the left and right directions. The final output end of the shaft or gear of the second wheel motor (MW2) is connected to the wheel (310) arranged on the other side in the left and right directions. Each of the left and right wheel motors (MW) is driven and rotates according to the control command of the control unit (700), and the robot (1) travels along the ground by the rotation of the wheel (310) according to the rotation of the wheel motor (MW).

[0265] The motor unit may include a suspension motor (MS) that provides driving force to the left and right leg units (200). More specifically, the motor unit may include a first suspension motor (MS1) that transmits driving force to the leg units (200) arranged on one side in the left and right direction, and a second suspension motor (MS2) that transmits driving force to the leg units (200) arranged on the other side in the left and right direction.

[0266] The suspension motor (MS) can be placed in the robot body (100). More specifically, the suspension motor (MS) can be each accommodated inside the body housing (110).

[0267] The suspension motor (MS) is connected to the first link. More specifically, the final output end of the shaft or gear of the first suspension motor (MS1) is connected to the first link arranged on one side in the left and right directions. The final output end of the shaft or gear of the second suspension motor (MS2) is connected to the first link arranged on the other side in the left and right directions. Each of the left and right suspension motors (MS) is driven and rotates according to the control command of the control unit (700), and the first link rotates according to the rotation of the suspension motor (MS), and the lower leg (230) connected to the first link rotates, so that the angle between the first link and the lower leg (230) can be changed as a result.

[0268] Through this, the robot (1) can lift or lower the wheel (310) and maintain a horizontal posture when climbing an obstacle or driving on a curved surface. Alternatively, the robot body (100) can move downward or upward.

[0269] The motor unit may include an arm motor (MA) that provides rotational force to the arm (400).

[0270] The arm motor (MA) can be placed in the robot body (100). More specifically, at least one arm motor (MA) can be accommodated inside the body housing (110).

[0271] The arm motor (MA) is driven and rotates according to the control command of the control unit (700), and the rotation coupling part (410) rotates according to the rotation of the arm motor (MA), and the connection part (420) formed integrally with the rotation coupling part (410) rotates, resulting in pivotal movement of the arm (400) with respect to the robot body (100).

[0272] Through this, the robot (1) can perform a motion to rotate the arm (400), and can be coupled with a functional module (not shown) by rotating the arm (400). Alternatively, the arm (400) can be made to touch the ground by rotating the arm (400).

[0273]

[0274] The sensor unit (600) includes at least one sensor, and each sensor can measure or detect information about the external environment of the robot (1) and / or information about the current status of the robot (1).

[0275] The sensor unit (600) may include an obstacle detection camera (610).

[0276] An obstacle detection camera (610) is provided to detect obstacles (T) existing in the room where the robot (1) is driving and to map the structure of the room.

[0277] For this purpose, an obstacle detection camera (610) may be placed in front of the robot body (100). More specifically, the obstacle detection camera (610) may be placed in front of the body housing (110).

[0278] Meanwhile, in the present embodiment, a plurality of obstacle detection cameras (610) may be arranged. For example, a first detection camera (611) may be arranged at the lower front portion of the main body housing (110), and a second detection camera (612) may be arranged at the upper front portion of the main body housing (110). With this configuration, the obstacle detection camera (610) can detect objects or people arranged at the front of the robot (1).

[0279] The obstacle detection camera (610) can detect an obstacle (T) and detect the distance to the obstacle (T). For example, the first detection camera (611) may be a depth camera.

[0280] The obstacle detection camera (610) can capture indoor images while driving to perform SLAM (Simultaneous Localization and Mapping). For example, the second detection camera (612) can be an RGB camera.

[0281] Depth cameras and RGB cameras can calculate distance by irradiating light and calculating the time it takes for the irradiated light to reflect back.

[0282] The control unit (700) can detect an obstacle (T) and implement SLAM based on information about the surrounding environment captured by the obstacle detection camera (610) and information about the current location of the robot (1).

[0283] Meanwhile, the robot (1) according to the embodiment of the present invention may implement SLAM using only an obstacle detection camera (610), but is not limited thereto. For example, the robot (1) may also implement SLAM using additional sensors. The additional sensors may be, for example, LDS (Laser Distance Sensor).

[0284]

[0285] The sensor unit (600) may include an IR sensor (620) for infrared detection.

[0286] The IR sensor (620) may be an IR camera that detects infrared light.

[0287] The IR sensor (620) may be placed on the robot body (100). In an embodiment of the present invention, a plurality of IR sensors (620) may be placed. For example, a first IR sensor (621) may be placed on the front lower portion of the body housing (110), and a second IR sensor (622) may be placed on the rear of the body housing (110). With this configuration, the positions of light sources placed in various directions can be detected.

[0288] The IR sensor (620) may be positioned close to the obstacle detection camera (610). For example, the first IR sensor (621) may be positioned directly below the first obstacle detection camera (611).

[0289] With this arrangement, the IR sensor (620) can detect the light irradiated by the lamp of the function module (not shown) or the robot charging stand (not shown), and when the robot body (100) approaches the lamp, the obstacle detection camera (610) can detect the shape of the function module (not shown) or the robot charging stand (not shown).

[0290] The IR sensor (620) detects infrared light emitted by an IR LED installed in a specific module and can access the module. For example, the module may be a charging stand for charging the robot (1). For example, the module may be a functional module (not shown) that is detachably installed on the robot body (100).

[0291] The control unit (700) can control the IR sensor (620) to start detecting the IR LED when the charging status of the robot (1) is below a preset level. The control unit (700) can control the IR sensor (620) to start detecting the IR LED when a command to find a specific module is received from a user.

[0292] The sensor unit (600) may include a wheel motor sensor (630).

[0293] The wheel motor sensor (630) can measure the position of the wheel motor (MW). For example, the wheel motor sensor (630) can be an encoder. As is well known, an encoder can detect the position of the motor and also the rotational speed of the motor.

[0294] The wheel motor sensor (630) may be positioned on each of the left and right wheel motors (MW). More specifically, the wheel motor sensor (630) may be connected to the final output end of the shaft or gear of the wheel motor (MW) and accommodated inside the lower leg (230) together with the wheel motor (MW).

[0295] The sensor unit (600) may include an arm motor sensor (640).

[0296] The arm motor sensor (640) can measure the position of the arm (400). For example, the arm motor sensor (640) can be a photo sensor. As is well known, the photo sensor can measure the degree of rotation of the arm motor (MA) or the degree to which the arm (400) has rotated.

[0297] The arm motor sensor (640) may be positioned close to the arm motor (MA). More specifically, the arm motor sensor (640) may be accommodated inside the main body housing (110) or the rotating coupling (410) together with the arm motor (MA).

[0298] The suspension motor sensor (650) can measure the position of the leg portion (200). For example, the suspension motor sensor (650) may be a photo sensor. As is well known, the photo sensor can measure the degree of rotation of the suspension motor (MS) or the degree of rotation of the upper leg (210).

[0299] The suspension motor sensor (650) may be positioned close to the suspension motor (MS). More specifically, the suspension motor sensor (650) may be accommodated inside the main body housing (110) together with the suspension motor (MS).

[0300] The sensor unit (600) may include an IMU sensor (660).

[0301] The IMU sensor (660) can measure the tilt angle of the robot body (100).

[0302] As is well known, the IMU (Inertial Measurement Unit) sensor (660) is a sensor that incorporates a 3-axis acceleration sensor, a 3-axis gyro sensor, and a geomagnetic sensor, and is also referred to as an inertial measurement sensor.

[0303] A 3-axis acceleration sensor detects the gravitational acceleration of an object while stationary. Since gravitational acceleration varies depending on the angle at which the object is tilted, measuring gravitational acceleration yields the tilt angle. However, it has the disadvantage of not being able to obtain accurate values ​​when the object is moving and accelerating, rather than stationary.

[0304] A 3-axis gyro sensor measures angular velocity. Integrating this velocity over time yields the tilt angle. However, the angular velocity measured by the gyro sensor is subject to persistent errors due to noise and other factors. These errors cause errors in the integrated value to accumulate over time.

[0305] As a result, when the robot (1) remains stationary for a long time, the inclination can be accurately measured by the acceleration sensor, but an error occurs in the gyro sensor. When the robot (1) is moving, the inclination value can be accurately measured by the gyro sensor, but the correct value cannot be obtained by the acceleration sensor.

[0306] Using an IMU sensor (660) can compensate for the shortcomings of the above-described acceleration sensor and gyro sensor.

[0307] This specification describes an embodiment in which an IMU sensor (660) is provided.

[0308] The IMU sensor (660) may be placed on the robot body (100). More specifically, the IMU sensor (660) may be placed adjacent to the control unit (700). The IMU sensor (660) may be mounted and provided on a PCB inside the robot body (100). In order to improve the measurement accuracy of the tilt angle and direction, the IMU sensor (660) is preferably placed close to the central region of the robot body (100).

[0309] The IMU sensor (660) can measure at least one of the three-axis acceleration, three-axis angular velocity, and three-axis geomagnetic data of the robot body (100) and transmit it to the control unit (700).

[0310] The control unit (700) can calculate the tilt direction and tilt angle of the robot body (100) using at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor (660). Based on this, the control unit (700) can perform horizontal posture maintenance control of the robot body (100), which will be described later.

[0311] The sensor unit (600) may include a cliff sensor (670) for detecting a cliff.

[0312] The cliff sensor (670) can be configured to detect the distance from the front ground along which the robot (1) is moving. The cliff sensor (670) can be configured in various ways within a range that can detect the relative distance between the point where the cliff sensor (670) is formed and the ground.

[0313] For example, the cliff sensor (670) may include a light emitting portion that irradiates light and a light receiving portion into which reflected light is incident. The cliff sensor (670) may be formed of an infrared sensor.

[0314] The cliff sensor (670) may be placed on the lower leg (230). For example, a first cliff sensor (671) may be placed on the front lower side of the lower leg (230), and a second cliff sensor (672) may be placed on the rear upper side of the lower leg (230). With this configuration, the distance between the lower leg (230) and the wheel (310) and the ground (B) can be measured. In addition, it is also possible to calculate the angle between the lower leg (230) and the ground through the distance difference between the first cliff sensor (671) and the second cliff sensor (672).

[0315] The cliff sensor (670) can irradiate light toward the ground (floor) in front of the robot (1). The cliff sensor (670) can detect in advance whether a cliff exists in front of the robot (1) in the direction of travel.

[0316] The light emitting portion of the cliff sensor (670) can irradiate light obliquely toward the front ground (floor surface). The light receiving portion of the cliff sensor (670) can receive light reflected from the ground (floor surface) and incident thereon. The distance between the front ground and the cliff sensor (670) can be measured based on the difference between the time of irradiation and the time of reception of light.

[0317] If the distance measured by the cliff sensor (670) exceeds a preset value or a preset range, it may be a case where the front ground suddenly lowers. A cliff can be detected using this principle.

[0318] The control unit (700) can control the wheel motor (MW) so that the robot (1) can drive while avoiding the detected cliff when a cliff is detected ahead. At this time, the control of the wheel motor (MW) may be a stop control. Alternatively, the control of the wheel motor (MW) may be a rotation direction change control.

[0319] The sensor unit (600) may include an environmental sensor (680).

[0320] The environmental sensor (680) may be configured to measure various environmental conditions outside the robot (1), i.e., inside the house where the robot (1) is moving. The environmental sensor (680) may include at least one of a temperature sensor, a humidity sensor, and a dust sensor.

[0321] For example, the environmental sensor (680) may be placed on the arm (400). More specifically, the environmental sensor (680) may be placed on the connection portion (420). In a possible embodiment, information measured by the environmental sensor (680) may be visually displayed on the display (120).

[0322] The sensor unit (600) may include a side sensor (690).

[0323] The side sensor (690) can measure the distance to obstacles, including walls, etc.

[0324] The side sensor (690) can be configured to detect the distance from the wall on the side where the robot (1) is moving. The side sensor (690) can be configured in various ways within a range that can detect the relative distance between the point where the side sensor (690) is placed and an obstacle.

[0325] For example, the side sensor (690) may include a light emitting portion that irradiates light and a light receiving portion where reflected light is incident. The side sensor (690) may be formed of an infrared sensor.

[0326] The side sensor (690) may be placed on both sides of the robot (1). For example, the side sensor (690) may be placed on the outer surface of the lower leg (230) of the leg portion (200).

[0327] The interface section includes at least one configuration for interaction between a user and a robot (1), and each configuration may be provided to input a command from a user and / or output information to the user.

[0328] The interface unit may include a microphone (140).

[0329] A microphone (140) is a component that recognizes the user's voice, and may be provided in multiple numbers. A plurality of microphones (140) may be placed in the main body housing (110). For example, four microphones (140) may be placed on the upper side of the main body housing (110).

[0330] The audio signal received by the microphone (140) can be used to track the user's location. At this time, a known audio source tracking algorithm can be applied. For example, the audio source tracking algorithm may be a three-point measurement method (triangulation method) that utilizes the time difference between when multiple microphones (140) receive audio signals. This principle calculates the location of the audio source using the position of each microphone (140) and the speed of sound waves.

[0331] Meanwhile, if the microphone (140) and the above-described obstacle detection camera (610) cooperate with each other, the robot (1) can be implemented to find the user's location even when the user calls the robot (1) from a distance.

[0332] The interface unit may include a speaker (450).

[0333] The speaker (450) may be placed on the arm (400). For example, the speaker (450) may be placed on the rotational joint (410) of the arm (400). The speaker (450) may be placed at positions covering both left and right sides of the main body housing (110).

[0334] The speaker (450) can transmit information about the robot (1) as sound. The source of the sound transmitted by the speaker (450) may be sound data previously stored in the robot (1). For example, the previously stored sound data may be voice data of the robot (1). For example, the previously stored sound data may be a notification sound that guides the status of the robot (1). Meanwhile, the source of the sound transmitted by the speaker (450) may be sound data received through the communication unit (710).

[0335] The interface unit may include a display (120) and an input unit (125).

[0336] The display (120) may include a display arranged in one or more modules. The display (120) may be arranged on the front upper side of the robot body (100).

[0337] The display (120) may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0338] The display (120) can display information such as operating time information of the robot (1) and power information of the battery (800).

[0339] The display (120) may display the facial expression of the robot (1). Alternatively, the display (120) may display the pupils of the robot (1). The current state of the robot (1) may be personified and expressed as an emotion through the shape of the face or pupils displayed on the display (120). For example, when a user returns home after going out, the display (120) may display a smiling facial expression or smiling eye shapes. This provides the user with the effect of feeling a sense of connection with the robot (1).

[0340] The input unit (125) may be configured to receive control commands from a user for controlling the robot (1). For example, the control commands may be commands for changing various settings of the robot (1). For example, the settings may be voice volume, display brightness, power saving mode settings, etc.

[0341] The input unit (125) can be placed on the display (120).

[0342] The input unit (125) generates key input data that the user inputs to control the operation of the robot (1). To this end, the input unit (125) may be configured with a key pad, a dome switch, a touch pad (static / capacitive), etc. In particular, when the touch pad forms a mutual layer structure with the first display, it may be called a touch screen.

[0343] A communication unit (710) may be provided for signal transmission between each internal component of the robot (1). The communication unit (710) may support, for example, CAN (Controller Area Network) communication. The signal may be, for example, a control command transmitted from the control unit (700) to another component.

[0344] The communication unit (710) can support wireless communication with other devices existing outside the robot (1). A short-range communication module or a long-range communication module can be provided as a wireless communication module for supporting wireless communication.

[0345] Short-range communication can be, for example, Bluetooth communication, NFC (Near Field Communication), etc.

[0346] Long-distance communication includes, for example, Wireless LAN (WLAN), Digital Living Network Alliance (DLNA), Wireless Broadband (Wibro), World Interoperability for Microwave Access (Wimax), Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), Wideband CDMA (WCDMA), High Speed ​​Downlink Packet Access (HSUPA), High Speed ​​Uplink Packet Access (HSUPA), IEEE 802.16, Long Term Evolution (LTE), Long Term Evolution-Advanced (LTEA), Wireless Mobile Broadband Service (WMBS), Bluetooth Low Energy (BLE), Zigbee, Radio Frequency (RF), and Long Range (LoRa). It can be done.

[0347] The memory (720) is a configuration in which various data for driving and operating the robot (1) are stored.

[0348] The memory (720) may store an application program for autonomous driving of the robot (1) and various related data. The memory (720) may also store each piece of data sensed by the sensor unit (600), and may store setting information for various settings selected or entered by the user.

[0349] The memory (720) may include a magnetic storage media or a flash storage media, but the scope of the present invention is not limited thereto. The memory (720) may include built-in memory and / or external memory, and may include a volatile memory such as a DRAM, an SRAM, or an SDRAM, a non-volatile memory such as an OTPROM (one time programmable ROM), a PROM, an EPROM, an EEPROM, a mask ROM, a flash ROM, a NAND flash memory, or a NOR flash memory, a flash drive such as an SSD, a CF (compact flash) card, an SD card, a Micro-SD card, a Mini-SD card, an Xd card, or a memory stick, or a storage device such as an HDD.

[0350] The memory (720) may be included in the control unit (700) or may be provided as a separate configuration.

[0351] The battery (800) is configured to supply power to other components that make up the robot (1).

[0352] The battery (800) may be placed in the robot body (100). More specifically, the battery (800) may be accommodated inside the body housing (110). Although not shown, the battery (800) may be placed rearward of the suspension motor (MS).

[0353] The battery (800) can be charged by an external power source, and for this purpose, a charging terminal (130) for charging the battery (800) may be provided on one side of the robot body (100). As in the embodiment of the present invention, the charging terminal (130) may be positioned at the bottom of the robot body (100). Accordingly, the robot (1) can be easily connected to the charging station by approaching the charging station and descending, thereby placing the charging terminal (130) on the corresponding terminal of the charging station from the top.

[0354]

[0355] Obstacle Passing Control

[0356] Meanwhile, FIG. 9 illustrates a flowchart for explaining a control method of a robot according to an embodiment of the present invention, FIG. 10 illustrates a drawing for explaining a situation in which a robot according to an embodiment of the present invention detects an obstacle, and FIGS. 11 to 16 illustrate drawings for explaining a situation in which a robot according to an embodiment of the present invention overcomes an obstacle.

[0357] Referring to FIGS. 9 to 16, a method for controlling a robot according to one embodiment of the present invention is described as follows.

[0358] A control method of a robot according to one embodiment of the present invention includes an obstacle detection step (S10), an approach step (S20), a backward step (S30), and a climbing step (S40).

[0359] The obstacle detection step (S10), approach step (S20), backward step (S30), and climbing step (S40) can be performed while the robot (1) rotates the wheel (310) and drives along the ground (B).

[0360] In the obstacle detection step (S10), the control unit (700) can detect an obstacle (T) placed on the ground (B). Specifically, in the obstacle detection step (S10), the obstacle detection camera (610) or the cliff sensor (670) can detect the terrain in front of the robot (1). That is, the obstacle detection camera (610) or the cliff sensor (670) can detect the distance to an object placed in front, and thereby detect that a height difference occurs on the ground (B).

[0361] At this time, the obstacle detection camera (610) or the cliff sensor (670) can detect an obstacle (T) having a height greater than or equal to a preset first height (H1) placed on the ground (B) and transmit to the control unit (700) that there is an obstacle (T). For example, the obstacle detection camera (610) or the cliff sensor (670) can detect an obstacle (T) having a height greater than or equal to 1.0 cm placed on the ground (B) and transmit to the control unit (700) that there is an obstacle (T) (see FIG. 10).

[0362] At this time, the control unit (700) can detect the angle formed by the obstacle (T) placed on the ground (B) with the robot (1). That is, in the obstacle detection step (S10), the control unit (700) can draw a virtual line with respect to the forward driving direction of the robot (1) and calculate the angle formed by the longitudinal direction of the obstacle (T) and the forward driving direction of the robot (1).

[0363] According to an embodiment, the control unit (700) can stop the movement of the robot (1). That is, the control unit (700) can stop the movement of the robot body (100).

[0364] Thereafter, the control unit (700) can determine whether to go over the obstacle (T) and the path to go over the obstacle (T) by using the overall shape of the obstacle (T) and the surrounding terrain information. For example, if the height of the obstacle (T) is higher than a preset limit height, the control unit (700) can determine to move by avoiding the obstacle (T) rather than going over the obstacle (T). For example, if the height of the obstacle (T) is 2.0 cm or higher, the control unit (700) can determine to move by avoiding the obstacle (T) rather than going over the obstacle (T).

[0365] On the other hand, if the height of the obstacle (T) is less than a preset limit height (hereinafter referred to as a second height (H2)) (for example, less than 2.0 cm), the control unit (700) can determine to go over the obstacle (T).

[0366] Meanwhile, in the obstacle detection step (S10), the control unit (700) can control the robot body (100) to drive along the ground at a preset first speed (v1) by rotating the wheel (310).

[0367]

[0368] After the obstacle detection step (S10), the robot (1) can move forward toward the obstacle in the approach step (S20).

[0369] Specifically, in the approach step (S20), the control unit (700) can control the robot body (100) to drive along the ground at a first speed (v1) by rotating the wheels (310). At this time, the control unit (700) can rotate a pair of wheels (310) at the same rotation speed so as to move forward toward the obstacle (T).

[0370] Accordingly, at least one of the pair of wheels (310) of the robot (1) may come into contact with an obstacle (T).

[0371] At this time, if the height of the obstacle (T) is less than the first height (H1), the wheel (310) in contact with the obstacle (T) can go over the obstacle (T).

[0372] On the other hand, if the height of the obstacle (T) is greater than or equal to the first height (H1) and less than the second height (H2), the control unit (700) can continue to rotate the wheel (310).

[0373] At this time, the control unit (700) can control a pair of wheels (310) to continue to rotate. In this case, the wheel (310) that has come into contact with the obstacle (T) cannot go over the obstacle (T) and can continue to remain in contact with the obstacle (T).

[0374] In contrast, the control unit (700) can control the wheels that come into contact with the obstacle (T) to stop rotating and only the wheels (310) that do not come into contact with the obstacle (T) to rotate.

[0375] Accordingly, when the height of the obstacle (T) is greater than or equal to the first height (H1) and less than the second height (H2), both of the wheels (310) may come into contact with the obstacle (T).

[0376] As a result, when the height of the obstacle (T) is greater than or equal to the first height (H1) and less than the second height (H2) in the approach step (S20), both of the pair of wheels (310) can come into contact with the obstacle (T). This means that the front of the robot body (100) and the longitudinal direction of the obstacle (T) are perpendicular to each other. Thereafter, the backward step (S30) described below is performed.

[0377] Meanwhile, if the height of the obstacle (T) is less than the first height (H1) in the approach step (S20), the obstacle (T) can be overcome. In this case, the control method of the robot according to one embodiment of the present invention can be terminated.

[0378]

[0379] The backward step (S30) can move backward away from the obstacle (T) by a preset distance if a pair of wheels (310) come into contact with the obstacle (T) in the approach step (S20).

[0380] In the backward step (S30), the control unit (700) can control the robot body (100) to move along the ground by rotating a pair of wheels (310). At this time, the control unit (700) can move backward away from the obstacle (T).

[0381] For example, the backward speed of the robot body (100) may be the first speed (v1) or may be less than the first speed (v1), but is not limited thereto.

[0382] In the backward step (S30), the robot body (100) or wheel (310) can move backward by a preset backward distance (D).

[0383] The backward distance (D) may refer to the distance over which the robot (1) can gain acceleration to overcome an obstacle (T) while moving forward. For example, the backward distance (D) may be 3.0 cm. The position at which the robot (1) stops after moving backward in this manner may be called the climbing preparation position.

[0384] In the backward step (S30), the control unit (700) can stop the robot body (100) after it has moved backward a distance (D) from the obstacle (T). At this time, the control unit (700) does not stop the rotation of the wheel (310), but can control the wheel (310) so that the robot body (100) maintains its balance without falling over.

[0385] As a result, in the backward step (S30), the front of the robot body (100) and the longitudinal direction of the obstacle (T) are arranged in a mutually perpendicular direction, and the robot (1) can stop with the obstacle (T) and the wheel (310) separated by a backward distance (D). Thereafter, the climbing step (S40) is performed.

[0386]

[0387] In the climbing stage (S40), the robot (1) moves forward toward the obstacle and can overcome the obstacle (T).

[0388] In the climbing stage (S40), the control unit (700) can control the robot body (100) to move forward toward the obstacle (T) by rotating a pair of wheels (310).

[0389] In the climbing stage (S40), the control unit (700) can control a pair of wheels (310) so that the robot body (100) moves forward at a preset second speed (v2). At this time, the second speed (v2) may be greater than the first speed (v1). For example, the second speed (v2) may be 0.40 m / s or more and 0.50 m / s or less.

[0390] However, the moving speed of the robot (1) is not maintained at the second speed (v2). When starting from the climbing preparation position, the speed may be 0, and when gradually accelerating and going over the obstacle (T), the speed may be the second speed (v2).

[0391] Accordingly, when the robot (1) accelerates to the second speed (v2) and moves forward in the climbing stage (S40), it can overcome the obstacle (T).

[0392]

[0393] In the climbing end determination step (S50), after the climbing step (S40), the control unit (700) can determine whether the robot (1) has overcome the obstacle (T).

[0394] At this time, the control unit (700) can determine whether the robot (1) has passed over the obstacle (T) using at least one of the methods described below.

[0395] Specifically, the control unit (700) can calculate the distance the robot (1) has moved forward and determine whether the calculated forward distance is greater than or equal to the backward distance (D).

[0396] Alternatively, the control unit (700) can determine whether the current driving surface is flat. Specifically, by calculating whether the robot body (100) is tilted through the IMU sensor (660), the control unit (700) can determine whether the robot (1) is driving on a flat surface.

[0397] Alternatively, the control unit (700) can determine whether an obstacle remains ahead. Specifically, by detecting an obstacle (T) ahead through an obstacle detection camera (610) or a cliff sensor (670), the control unit (700) can determine whether an obstacle remains ahead.

[0398] Through this, if the control unit (700) determines that the robot (1) has passed over the obstacle (T), it can terminate the robot control method according to one embodiment of the present invention.

[0399]

[0400] Accordingly, according to the present invention, when the robot goes over an obstacle, depending on the height of the obstacle (T), if the obstacle (T) is low, it goes over it immediately, and if the obstacle (T) is high, it moves backwards and then runs over the obstacle, thereby having the effect of quickly going over the obstacle.

[0401] In addition, according to the present invention, since the vehicle moves backwards while a pair of wheels are in contact with the obstacle without continuously sensing the obstacle and performing posture correction while away from the obstacle in order to find a direction perpendicular to the longitudinal direction of the obstacle, there is an advantage in that the vehicle can quickly determine the perpendicular direction to the obstacle and easily pass over it.

[0402] In addition, according to the present invention, there is an advantage in that the height of an obstacle that the robot can overcome is increased, thereby enabling the robot to be used without spatial limitations.

[0403]

[0404] Although the present invention has been described in detail through specific examples, this is for the purpose of specifically explaining the present invention, and the present invention is not limited thereto, and it is clear that the present invention can be modified or improved by a person having ordinary knowledge in the relevant field within the technical spirit of the present invention.

[0405] All simple modifications or changes of the present invention fall within the scope of the present invention, and the specific scope of protection of the present invention will be made clear by the appended claims.

Claims

1. Robot body with motor and battery inside; A pair of leg parts provided on the robot body; and A pair of wheels rotatably coupled to each of the pair of leg sections; Including, A robot characterized in that when the robot body is located within a preset reference distance from an obstacle of a predetermined height or higher, the robot body moves away from the obstacle and then drives toward the obstacle.

2. In paragraph 1, The above robot body, A robot characterized in that it drives at a preset first driving speed, and when it drives toward the obstacle after moving away from the obstacle, it drives at a second driving speed different from the first driving speed.

3. In paragraph 2, A robot characterized in that the second driving speed is faster than the first driving speed.

4. Robot body with motor and battery inside; A pair of leg parts provided on the robot body; and A pair of wheels rotatably coupled to each of the pair of leg sections; Including, When the robot body is positioned within a preset reference distance from an obstacle of a predetermined height or higher, the robot body moves forward toward the obstacle until both of the pair of wheels come into contact with the obstacle, A robot characterized in that when both of the pair of wheels come into contact with the obstacle, the robot body moves backward away from the obstacle by a preset distance and then moves forward toward the obstacle.

5. In paragraph 4, The above robot body, A robot characterized by overcoming the above obstacles.

6. In paragraph 4, The above robot body, If the height of the above obstacle is greater than or equal to a preset first height and less than or equal to a preset second height, the obstacle is passed over, A robot characterized in that it avoids the obstacle when the height of the obstacle is greater than or equal to the second height.

7. In paragraph 1, A sensor unit disposed on the robot body or the leg unit and measuring the distance to the obstacle; A robot that includes more.

8. A method for controlling a robot including a pair of leg parts and a wheel coupled to each of the leg parts, An obstacle detection step for detecting an obstacle placed on the ground while driving along the ground at a preset first speed by rotating the wheel; and A climbing step of moving forward at a second speed greater than the first speed to overcome the obstacle when the length direction of the obstacle and the front of the robot are perpendicular to each other; A method for controlling a robot including:

9. In paragraph 8, If the height of the obstacle detected in the obstacle detection step is greater than or equal to a preset first height and less than or equal to a preset second height, the climbing step is performed, A control method for a robot, characterized in that when the height of the obstacle is less than the first height, the robot moves forward toward the obstacle at the first speed and goes over the obstacle.

10. In paragraph 9, A robot characterized in that it avoids the obstacle when the height of the obstacle is greater than or equal to the second height.

11. In paragraph 8, After the above obstacle detection step, an approach step of moving forward toward the obstacle; A method for controlling a robot including:

12. In paragraph 11, A backward step of moving backward away from the obstacle by a preset distance when the pair of wheels come into contact with the obstacle during the approach step; A method for controlling a robot including:

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