Robot device

Abstract

The present disclosure relates to a robot device. The robot device may comprise a main body, a rechargeable battery, a cover, an actuator, at least one sensor and a processor. The cover can move in a sliding manner on the main body. The processor opens the cover for docking with an external station, drives the actuator so as to close the cover when the robot device is separated from the external station, identifies, on the basis of a sensing value of the at least one sensor, the position of a marker formed on the cover when the cover moves, and can control whether to drive the actuator according to the identified position.

Description

Robot device

[0001] The present disclosure relates to a robot device, and more specifically, to a robot device including a charging module.

[0002] With the advancement of robotic technology, research and development of various robotic devices designed to replace humans in diverse settings such as stores, cafes, and restaurants are actively underway. These devices include humanoid robots that drive and operate autonomously without separate user intervention, and technology is evolving in a direction that enhances autonomy. For example, technology is advancing to enable robotic devices to autonomously move to an external station, open a cover, and dock at a charging port when battery charging is required.

[0003] However, conventional robot devices had a problem in that the opening and closing of the cover was achieved solely by an actuator, which could cause damage to the cover or the main body due to a collision between the cover and the main body. In addition, conventional robot devices had a problem in that they could not verify whether the cover was fully opened or closed.

[0004] A robot device according to at least one embodiment of the present disclosure may include: a main body; a rechargeable battery; a cover for covering a space in which a charging terminal of the battery is located; an actuator for opening and closing the cover; at least one sensor; and a processor. The cover may be movable in a sliding manner on the main body according to the driving of the actuator. The processor may drive the actuator to open the cover for docking with an external station and to close the cover when separated from the external station, and when the cover moves by the driving of the actuator, it may identify the position of a marker formed on the cover based on the sensing value of the at least one sensor and control whether to drive the actuator according to the identified position.

[0005] A method for controlling a robot device according to at least one embodiment of the present disclosure, comprising a battery and an actuator for driving a cover for covering a space in which a charging terminal of the battery is arranged, may include: a step of driving the actuator to open the cover and docking with an external station when the remaining charge of the battery is less than a threshold; a step of moving the position of the robot device to be separated from the external station when the charging of the battery is completed; and a step of driving the actuator to close the cover. The step of docking with the external station may include: a step of identifying the position of a marker formed on the cover based on a sensing value of at least one sensor arranged in the space; and a step of controlling whether to drive the actuator based on the position of the marker.

[0006] FIG. 1 is a perspective view showing a robot device according to at least one embodiment of the present disclosure.

[0007] FIG. 2 is a drawing for explaining the structure of a charging module according to at least one embodiment of the present disclosure.

[0008] FIG. 3 is a drawing of a charging module with the housing removed according to at least one embodiment of the present disclosure.

[0009] Figure 4 is a drawing showing the state with the cover removed from Figure 3.

[0010] FIGS. 5A and FIGS. 5B are drawings showing sides of a charging module according to at least one embodiment of the present disclosure.

[0011] FIGS. 6a and 6b are drawings showing the side view of a charging module of a robot device according to at least one embodiment of the present disclosure.

[0012] FIG. 7 is a block diagram of a robot device according to at least one embodiment of the present disclosure.

[0013] FIG. 8 is a drawing for explaining a robot device that communicates with various external devices according to at least one embodiment of the present disclosure.

[0014] FIGS. 9 to 11 are flowcharts of a robot device according to at least one embodiment of the present disclosure.

[0015] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments.

[0016] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0017] The singular form of the noun corresponding to the item may include one or multiple items, unless the relevant context clearly indicates otherwise.

[0018] In this document, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0019] The term "and / or" includes a combination of multiple related described components or any of the multiple related described components.

[0020] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order).

[0021] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0022] Terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0023] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0024] When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0025] Hereinafter, an electronic device (1) according to various embodiments will be described in detail with reference to the drawings.

[0026] FIG. 1 is a perspective view showing a robot device (1) according to one embodiment of the present invention.

[0027] In FIG. 1, the robot device (1) may include a main body (10), a main module (20), and a charging module (30).

[0028] The robot device (1) is a device capable of autonomously performing various actions. For example, in the case of a kitchen robot, the robot device (1) can autonomously perform tasks such as cooking, washing dishes, and tidying up tables. Additionally, if the battery needs to be charged, the robot device (1) can move to an external station on its own, dock at the external station, and charge the battery. Here, the external station is a device that supplies power to the robot device (1) and can be placed separately from the robot device (1). The external station may also be referred to by various terms such as a power supply device and a charging station.

[0029] The main body (10) is an assembly formed by combining various parts of the robot device (1). Additionally, the main body (10) forms the exterior of the robot device (1). The main body (10) may be formed as a single unit or may be formed by combining various modules. In FIG. 1, the main body (10) may include a main module (20) and an assembly module positioned above the main module (20). The main module (20) is a module that may include parts capable of centrally controlling the robot device (1). The main module (20) can control the overall operation of the robot device (1). The main module (20) may be referred to by various other terms such as housing, cabinet, and core module. The assembly module positioned above the main module (20) can perform various operations based on control signals from the main module (20). For example, the assembly module can perform an operation to transport an object based on an object transport control signal from the main module (20). Additionally, the assembly module can perform a cleaning operation based on a cleaning operation control signal from the main module (20). Additionally, the assembly module may have various shapes on the upper side of the main module (20). For example, the assembly module may have a humanoid shape or a 3-axis core robot shape.

[0030] The main body (10) may include a charging module (30). The charging module (30) is a module capable of providing power required by the robot device (10). The charging module (30) may be placed on the rear side of the robot device (1). In other words, the charging module (30) may be placed on the rear side of the main body (10). Additionally, the charging module (30) may be placed on the rear side of the main module (20). The charging module (30) may include various components such as a coupling part (300) coupled with the main module (20), a case (100) placed on the outside of the coupling part (300), a rechargeable battery, a charging terminal of the battery, and a cover (200) for covering the space where the charging terminal of the battery is placed. Since the description of the charging module (30) will be covered in detail in FIG. 2, the description thereof is omitted.

[0031] The robot device (1) may include a plurality of wheels (40). The plurality of wheels (40) may be positioned on the lower side of the robot device (1). Additionally, the robot device (1) may include a driving module (not shown) for rotating the plurality of wheels (40). The plurality of wheels (40) may perform an operation to move the robot device (1) to a specific point via the driving module (not shown) based on a control signal from the main module (20). For example, if the robot device (1) needs to be charged and intends to move to an external station, the plurality of wheels (40) may perform an operation to move the robot device (1) to the external station based on a control signal from the main module (20).

[0032] FIG. 2 is a drawing for explaining the structure of a charging module (30) according to at least one embodiment of the present disclosure.

[0033] The charging module (30) may be positioned on the rear portion of the main module (20). The charging module (30) may include a coupling portion (300) coupled to the rear portion of the main module (20), a case (100) assembled to the rear portion of the coupling portion (300), and a cover (200).

[0034] The case (100) is a component for protecting various parts such as a battery, a charging terminal, an actuator for opening and closing the cover (200), and at least one sensor placed inside. The case (100) may be formed in a shape protruding from the coupling part (300).

[0035] A slot may be formed at a point on the outer surface of the case (100). A cover (200) may be placed in the slot of the case (100). Depending on whether the cover (200) is opened or closed, a gap may be created in the slot of the case (100), or the gap may disappear.

[0036] The cover (200) is a component for covering the charging terminal of the battery. The cover (200) can be placed on the inner side of the case (100). The cover (200) can be placed in a manner that contacts the inner surface of the case (100). Accordingly, there is no gap between the cover (200) and the case (100), so that foreign substances such as water can be prevented from entering the charging module (30). The cover (200) can be slid upward or downward by an actuator on the inner surface of the case (100). Here, the sliding direction of the cover (200) is not necessarily limited to the upper or lower side and may vary depending on the design of the robot device (200), etc. The cover (200) can move in a sliding manner on the main body (10) according to the driving of the actuator. That is, the cover (200) can be opened and closed on the inner surface of the case (100) by an actuator. The battery and battery charging terminal can be attached to the coupling portion (300) in one area of ​​the slot inside the case (100). Accordingly, the cover (200) can be opened via an actuator when the robot device (1) requires battery charging, and can be closed via an actuator when the robot device (1) is fully charged. The cover (200) can be slid down via an actuator when the robot device (1) requires battery charging, and can be slid up via an actuator when the robot device (1) is fully charged.

[0037] The configuration of the actuator will be described in detail starting from Figure 3.

[0038] Based on the drawing, the cover (200) has been described using the expressions "slide up" or "slide down," but it is not necessarily limited thereto. For example, the cover (200) can move in a first direction to open the space and a second direction to close the space. Based on this, the cover (200) can slide. In subsequent descriptions as well, the cover (200) will be described using the expressions "slide up" or "slide down," but the sliding direction of the cover (200) is not necessarily limited thereto.

[0039] FIG. 3 is a drawing in which the case (100) is removed from a charging module (30) according to at least one embodiment of the present disclosure.

[0040] In FIG. 3, the charging module (30) may include a cover (200), an actuator (401, 402), and at least one sensor (501, 502, 503).

[0041] The actuators (401, 402) can perform the operation of opening and closing the cover (200). The actuators (401, 402) can slide the cover (200) up or slide it down. The actuators (401, 402) can be positioned on both sides of the inner surface of the cover (200). The actuators (401, 402) can be attached in a form that protrudes from the coupling part (300) toward the case (100). The actuators (401, 402) can be divided into a first actuator (401) positioned on the left side of the cover (200) and a second actuator (402) positioned on the right side of the cover (200). The first actuator (401) and the second actuator (402) can be driven as a single unit.

[0042] At least one sensor (501, 502, 503) may be disposed on the outer surface of the coupling portion (300). At least one sensor (501, 502, 503) is a component capable of identifying the position of a marker formed on the cover (200). Here, the marker refers to a component for identifying the position of the cover (200) through at least one sensor (501, 502, 503). The marker may have a protruding shape, may be made of a material with a color different from that of the cover (200), or may have a recessed shape. It is not limited to these, and may be formed in various shapes. For example, if at least one sensor (501, 502, 503) is a ToF sensor, the marker may have a protruding or recessed shape. Accordingly, the distance of the marker from at least one sensor (501, 502, 503) may differ from that of the cover (200). As another example, if at least one sensor (501, 502, 503) is an image sensor, the marker may have a shape with a different color or a different mark from the cover (200). Accordingly, the marker can identify a marker with a color different from the cover (200) through at least one sensor (501, 502, 503). Among the at least one sensor (501, 502, 503), the first sensor (501) and the second sensor (502) may be positioned in a direction toward the inner side of the cover (200) from the outer side of the coupling part (300). The third sensor (503) may be positioned in a direction toward the lower side of the cover (200) from the outer side of the coupling part (300). Here, the first sensor (501) is a sensor capable of detecting the state in which the cover (200) of the charging module (30) is closed. The second sensor (502) is a sensor capable of detecting that the cover (200) of the charging module (30) is open. The third sensor (503) is a sensor capable of detecting the position of the cover (200) in the charging module (30).That is, the first sensor (501) refers to a sensor capable of detecting a marker (800) placed on the cover (200) when the cover (200) moves to a fully open state, and the second sensor (502) refers to a sensor capable of detecting a marker (200) when the cover (200) moves to a fully closed state. At least one sensor (501, 502, 503) may be a ToF sensor. However, it is not necessarily limited to this, and at least one sensor (501, 502, 503) may be various sensors such as an infrared sensor, a laser sensor, etc.

[0043] Based on the drawings, the cover (200) has been described using the expressions "slide up" or "slide down," but it is not necessarily limited thereto. For example, the cover (200) can move in a first direction to open the space and in a second direction to close the space. Based on this, the cover (200) can be slid. In this case, the first sensor (501) can be positioned on the first direction side within the space, and the second sensor (502) can be positioned on the second direction side relative to the first sensor (501) within the space.

[0044] A detailed description of the detection operation of the cover (200) of at least one sensor (501, 502, 503) will be covered in detail in FIGS. 5a to 6b.

[0045] Figure 4 is a drawing showing the state in which the cover (200) has been removed from Figure 3.

[0046] In FIG. 4, the charging module (30) may include a battery (600). The battery (600) may be positioned on the upper side of the central part of the coupling part (300). The battery (600) is a device capable of supplying power necessary to operate the robot device (1). In FIG. 4, the battery (600) is shown positioned on the outer side of the coupling part (300), but is not necessarily limited thereto; only the part connected to the battery charging terminal while mounted on the main module (20) may be positioned on the outer surface of the coupling part (300). Additionally, the battery (600) may be in the form of multiple units connected. Accordingly, the battery (600) may be mounted inside the main module (20), and only the battery (600) component connected to the charging terminal may be assembled to the coupling part (300). The battery (600) may include a charging terminal (610). The charging terminal (610) may be arranged in multiple units. For example, as shown in FIG. 4, the charging terminal (610) may have three charging terminals. The charging terminal (610) may be placed within a space that is opened and closed by a cover (200) inside the main body (10). The charging terminal (610) may be connected via an external station. Accordingly, power can be supplied from the external station to the robot device (1). Accordingly, the battery (600) of the robot device (1) can be charged. Here, the external station is a device capable of supplying power to the robot device (1) from the outside. The external station may also be referred to by various terms such as a charging station, a charging station, or a power supply station.

[0047] In FIG. 4, the actuator (410, 420) may include a motor on the lower side. Additionally, the actuator (410, 420) may include a joint (430, 440). The cover (200) may be coupled to the joint (430, 440) of the actuator (410, 420). There are various methods of coupling, such as welding or screw coupling. The actuator (410, 420) can adjust the height of the joint (430, 440) through the motor. Accordingly, the cover (200) coupled to the joint (430, 440) may slide upward or downward.

[0048] The charging module (300) may include a support member (701, 702). The support member (701, 702) may be positioned between the actuator (410, 420) and the coupling member (300). The support member (701, 702) may support the actuator (410, 420). Accordingly, when the actuator (410, 420) operates to adjust the height of the coupling member (430, 440), the support member (701, 702) can stably support the actuator (410, 420) without shaking.

[0049] Among at least one sensor (501, 502, 503), the first sensor (501) may be positioned on the lower side of the central part of the coupling part (300). Among at least one sensor (501, 502, 503), the second sensor (502) may be positioned at a certain distance from the upper side of the first sensor (501). Additionally, among at least one sensor (501, 502, 503), the second sensor (502) may be positioned on the lower side of the battery (600). Among at least one sensor (501, 502, 503), the third sensor (503) may be positioned in a protruding form on the lower side of the central part of the coupling part (300). The third sensor (503) may be positioned in a direction facing upward. The third sensor (503) can identify the distance from the cover (200). Accordingly, the robot device (1) can improve accuracy by additionally verifying whether the cover (200) is accurately opened or closed based on the sensing values ​​obtained from the first sensor (501) and the second sensor (502) through auxiliary information from the third sensor (503).

[0050] FIGS. 5A and FIGS. 5B are side views of the charging module (30) of FIG. 3 according to at least one embodiment of the present disclosure.

[0051] FIG. 5a is a drawing showing a charging module (30) with the cover (200) in a slide-up state, and FIG. 5b is a drawing showing a charging module (30) with the cover (200) in a slide-down state. That is, FIG. 5a is a drawing showing a charging module (30) with the cover (200) in a closed state, and FIG. 5b is a drawing showing a charging module (30) with the cover (200) in an open state. In other words, FIG. 5a is a drawing showing a charging module (30) with the cover moved to a fully open state, and FIG. 5b is a drawing showing a charging module (30) with the cover (200) moved to a fully closed state.

[0052] In FIGS. 5A and 5B, the cover (200) may include a marker (800). The marker (800) may be positioned on the lower side of the cover (200). The marker (800) may be in the form of a protrusion on the inner side of the cover (200). The marker (800) of the cover (200) may be formed as a minimum unit that can be identified by the first sensor (501) and the second sensor (502). Additionally, the marker (800) may have an elongated shape along the horizontal direction of the cover (200). The marker (800) may also be referred to by various other terms such as a protrusion or a sensing part. When the marker (800) is at the same height as the first sensor (501) and the second sensor (502), the marker (800) may be positioned at a location corresponding to the first sensor (501) and the second sensor (502). Accordingly, the first sensor (501) and the second sensor (502) can identify that the cover (200) has reached a specific point by the marker (800) while the cover (200) is sliding.

[0053] In FIG. 5a, the cover (200) of the charging module (30) is positioned in a slide-up state. The second sensor (502) is in a state of identifying a marker (800) positioned on the inner side of the cover (200). The second sensor (502) is positioned in the direction of the cover (200) so as to identify the distance between the cover (200), the case (100), and the marker (800). By identifying the marker (800) inside the cover (200) with the second sensor (502), the robot device (1) can determine that the cover (200) is positioned in a completely closed state based on the sensing value sensed by the second sensor (502). The second sensor (502) can continuously identify the marker (800) of the cover (200) in all states except the charging ready state, the charging state, and the maintenance state after charging is complete. That is, the cover (200) can be positioned to remain closed in the charging module (200) in all states except the charging ready state, the charging state, and the maintenance state after charging is complete.

[0054] In FIG. 5b, the cover (200) of the charging module (30) is positioned in a slide-down state. The first sensor (501) is in a state of identifying a marker (800) positioned on the inner side of the cover (200). The first sensor (501), like the second sensor (502), is positioned toward the cover (200) so as to identify the distance between the cover (200), the case (100), and the marker (800). By identifying the marker (800) inside the cover (200) with the first sensor (501), the robot device (1) can determine that the cover (200) is positioned in a fully open state based on the sensing value sensed by the first sensor (501). The first sensor (501) can continuously identify the marker (800) of the cover (200) in the charging ready state, charging state, and maintenance state after charging is complete.

[0055] The third sensor (503) can identify the distance to the lower side of the cover (200). In FIG. 5a, the cover (200) is positioned at the uppermost side, in a position where charging is not required. Accordingly, the robot device (1) can set the distance sensing value obtained from the third sensor (503) when the cover (200) is at the uppermost side as a default value. Subsequently, when the robot device (1) becomes in a state where charging is required, the cover (200) of the robot device (1) can move to the lowest side position shown in FIG. 5b. Accordingly, the sensing value calculated by the third sensor (503) is changed. The robot device (1) can set the distance sensing value when the cover (200) reaches the lowest side position as a new setting value.

[0056] In FIGS. 5A and 5B, the actuator (401, 402) may include a motor (421), a load portion (422), and a joint portion (440). The load portion (422) may be connected to the motor (421). The load portion (422) may rotate by driving the motor (421). The outer portion of the joint portion (440) may be connected to the cover (200). The rear portion of the joint portion (440) may be connected to the load portion (422). The height of the joint portion (440) may be adjusted through the rotation of the load portion (422) caused by driving the motor (421). Accordingly, the cover (200) may slide up or slide down.

[0057] FIGS. 6a and FIGS. 6b are drawings showing the side view of a charging module (30) of a robot device (1) according to at least one embodiment of the present disclosure.

[0058] FIGS. 5A and 5B are drawings showing a state in which there is one marker (800) placed on the cover (200) and two sensors (501, 502) placed on the side of the coupling part (300), but FIGS. 6A and 6B are drawings showing a state in which, unlike FIGS. 5A and 5B, there are two markers (801, 802) placed on the cover (200) and one sensor (502) placed on the side of the coupling part (300).

[0059] In FIGS. 6a and 6b, the markers (801, 802) may include a first marker (801) and a second marker (802). The first marker (801) refers to a marker placed in a first area detectable by at least one sensor (502) when the cover (200) moves to a fully open state. The second marker (802) refers to a marker placed in a second area detectable by at least one sensor (502) when the cover (200) moves to a fully closed state.

[0060] The first marker (801) and the second marker (802) may be in the form of protrusions protruding from the inner surface of the cover (200). The first marker (801) and the second marker (802) may be positioned at a spaced-apart location from each other on the inner surface of the cover (200).

[0061] FIG. 6a is a drawing showing a charging module (30) in a state where the cover (200) has moved to a fully open state, and FIG. 6b is a drawing showing a charging module (30) in a state where the cover (200) has moved to a fully closed state.

[0062] In FIG. 6a, the first marker (801) is positioned at a location corresponding to the second sensor (502). In FIG. 6b, the second marker (802) is positioned at a location corresponding to the second sensor (502). Accordingly, the robot device (1) can determine whether the cover (200) is in a fully open state or a fully closed state through the sensing value of the second sensor (502).

[0063] In FIGS. 6a and 6b, the configuration and structure of the actuators (401, 402) are the same as those in FIGS. 5a and 5b, and since the configuration and structure of the actuators (401, 402) have been explained in FIGS. 5a and 5b, the explanation thereof is omitted.

[0064] FIG. 7 is a block diagram of a robot device (1) according to at least one embodiment of the present disclosure.

[0065] The robot device (1) may include at least one sensor (500), a memory (1000), and a processor (2000).

[0066] At least one sensor (500) may include a Time-of-Flight Sensor (ToF sensor). At least one sensor (500) may emit light toward the cover (200) and measure the time it takes for the light to hit the cover (200), case (100), and markers (800, 801, 802) and be reflected back.

[0067] In addition, at least one sensor (500) may include various types of sensors such as an infrared sensor, an ultrasonic sensor, and a laser distance sensor.

[0068] The memory (1000) is configured to contain various programs, instructions, and data required for the operation of the robot device (1). Although the memory (1000) is depicted as being separate from the processor (2000) in FIG. 8, it is not necessarily limited to this, and the memory (1000) may be implemented as an internal memory such as ROM (e.g., EEPROM (electrically erasable programmable read-only memory)) or RAM included in the processor (2000).

[0069] Alternatively, the memory (1000) may be implemented in the form of a memory embedded in the robot device (1) or in the form of a memory that can be attached to and detached from the robot device (1), depending on the purpose of data storage. Specifically, the memory (1000) may be implemented in various forms such as volatile memory, SRAM (static RAM), or SDRAM (synchronous dynamic RAM), etc., non-volatile memory (e.g., OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory, hard drive, or solid state drive (SSD), CF (compact flash), SD (secure digital), MicroSD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card), etc.

[0070] In the present disclosure, the term memory (1000) may be used to include a storage unit, a ROM (not shown), a RAM (not shown) within a processor (2000), or a memory card (not shown) mounted on an electronic device (e.g., a micro SD card, a memory stick). Although the memory (1000) is depicted as one in FIG. 8, the memory (1000) may be implemented in various numbers.

[0071] The memory (1000) is accessed by the processor (2000). In the memory (1000), reading, writing, modifying, deleting, updating, etc. of data by the processor (2000) can be performed.

[0072] Specifically, the memory (1000) may store various information such as position information of the cover (200) based on the sensing value of at least one sensor (501, 502, 503), state information of the cover (200), distance information between the first sensor (501) and the second sensor (502) and the marker (800, 801, 802), information about a first position in which the cover (200) is in a fully open state, information about a second position in which the cover (200) is in a fully closed state, battery charge state information, and position information of an external station, as well as programs and commands for controlling the operation of the robot device (1) and other devices.

[0073] The processor (2000) is a component connected to each component of the robot device (1) to control the overall operation of the robot device (1). The processor (2000) may be implemented as a digital signal processor (DSP) that processes digital video signals, a microprocessor, a GPU (Graphics Processing Unit), etc. However, it is not limited thereto, and may include one or more of a central processing unit (CPU), a Micro Controller Unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a communication processor (CP), or an ARM processor, or may be defined by such terms. Additionally, the processor (2000) may be implemented as a System on Chip (SoC) or Large Scale Integration (LSI) with built-in processing algorithms, or may be implemented in the form of an Application Specific Integrated Circuit (ASIC) or Field Programmable Gate Array (FPGA).

[0074] The processor (2000) may perform at least one of the various operations described above based on an artificial intelligence model. The processor (2000) for executing the artificial intelligence model may be implemented through a combination of software and a general-purpose processor such as a CPU, AP, DSP (Digital Signal Processor), a graphics-dedicated processor such as a GPU, VPU (Vision Processing Unit), or an artificial intelligence-dedicated processor such as an NPU.

[0075] If the processor (2000) is implemented as a processor dedicated to artificial intelligence, it may be designed as a hardware chip such as an ASIC or FPGA specialized in processing a specific artificial intelligence model.

[0076] When the processor (2000) is implemented as a dedicated processor, it may be implemented to include a memory (1000) for implementing an embodiment of the present disclosure, or may be implemented to include a memory processing function for using external memory. The processor (2000) may be implemented as one or multiple processors. Additionally, the processor (2000) may perform various operations based on programs, instructions, data, etc. stored in the memory (1000).

[0077] Various information received by the robot device (1) and information generated by the robot device (1), for example, position information of the cover (200) based on the sensing value of at least one sensor (501, 502, 503), state information of the cover (200), distance information between the first sensor (501) and the second sensor (502) and the marker (800, 801, 802), information about a first position where the cover (200) is in a fully open state, information about a second position where the cover (200) is in a fully closed state, battery charge state information, and position information of an external station, etc., can be stored in the memory (1000).

[0078] The processor (2000) can drive actuators (401, 402) to open the cover (200) for docking with an external station and to close the cover (200) when separated from the external station.

[0079] When the cover (200) moves by driving the actuator (401, 402), the processor (2000) can identify the position of a marker (800) formed on the cover (200) based on the sensing value of at least one sensor (501, 502, 503). The processor (2000) can control whether to drive the actuator (401, 402) according to the identified position.

[0080] The processor (2000) can drive the actuators (401, 402) until the position of the marker (800) reaches a first position when the cover (200) is fully open while in a state for docking with an external station. The processor (2000) can stop driving the actuators (401, 402) when the marker (800) is identified at the first position. The processor (2000) can drive the actuators (401, 402) until the position of the marker (800) reaches a second position when the cover (200) is fully closed while separated from the external station, and can stop driving the actuators (401, 402) when the marker (800) is identified at the second position.

[0081] The processor (2000) can identify a change in distance from the cover (200) based on a sensing value sensed by at least one sensor (501, 502, 503). The processor (2000) can identify the degree of opening or closing of the cover (200) based on a sensing value of a ToF sensor positioned on the second direction side relative to the cover (200) in the opening of the space.

[0082] The processor (2000) can transmit information about the location where the cover (200) has reached to the server device via the communication unit. The processor (2000) can transmit information about the docking or disconnection status with the external station to the server device via the communication unit. If the robot device (1) requires charging, the processor (2000) can control a driving module (not shown) to drive a plurality of wheels (40) to move to the external station. The processor (2000) can identify the remaining battery level of the robot device (1) when it approaches within a certain range based on the location of the external station. If the remaining battery level of the robot device (1) is below a threshold, the processor (2000) can control the driving module (not shown) to move to the external station.

[0083] The processor (2000) can control actuators (401, 402) so that the cover (200) can slide in a first direction to open the space when the robot device (1) needs charging and arrives at an external station. The processor (2000) can identify that the marker (800) has arrived at a position corresponding to the first sensor (501) based on the sensing value of the first sensor (501). Afterward, the processor (2000) can control actuators (401, 402) so that the sliding motion of the cover (200) can be stopped. The processor (2000) can identify whether the external station is connected by the charging terminal (610). After the battery (610) is fully charged and the docking is released from the external station, the processor (2000) can control the actuators (401, 402) so that the cover (200) can slide in a second direction to close the space. The processor (2000) can identify that the marker (800) has arrived at a position corresponding to the second sensor (502) based on the sensing value of the second sensor (502). Afterward, the processor (2000) can control the actuators (401, 402) so that the sliding motion of the cover (200) can be stopped.

[0084] In contrast, when there are two markers (801, 802) of the cover (200) and one sensor (502), the processor (2000) can detect the first marker (801) at a first position by the second sensor (502) when the cover (200) moves to a fully open state. Subsequently, when the cover (200) moves to a fully closed state, the processor (2000) can detect the second marker (802) at a second position by the second sensor (502).

[0085] The processor (2000) can identify the distance to the cover (200) through a third sensor (503) positioned on the lower side of the cover (200). The processor (2000) can use the third sensor (503) in an auxiliary manner to determine the accuracy of whether the cover (200) is open or closed.

[0086] FIG. 8 is a drawing for explaining a robot device that communicates with various external devices according to at least one embodiment of the present disclosure.

[0087] The robot device (1) may include a communication unit (not shown). The communication unit (not shown) is configured to perform communication with various devices. Specifically, the communication unit (not shown) can perform communication with various devices such as an external station (3000) and a server device (4000).

[0088] The communication unit (not shown) may include at least one wireless communication module, at least one wired communication module, etc. Each communication module may be implemented in the form of at least one hardware chip. The wireless communication module may include at least one module among a Wi-Fi module, a Bluetooth module, an infrared communication module, or other communication modules. In addition, the communication unit may include at least one communication chip that performs communication according to various wireless communication standards such as Zigbee, 3G (3rd Generation), 3GPP (3rd Generation Partnership Project), LTE (Long Term Evolution), LTE-A (LTE Advanced), 4G (4th Generation), 5G (5th Generation), etc. The wired communication module may include, for example, at least one of a LAN (Local Area Network) module, an Ethernet module, a pair cable, a coaxial cable, a fiber optic cable, or an UWB (Ultra Wide-Band) module.

[0089] The robot device (1) can transmit information regarding whether the cover (200) has reached a first position or a second position to the server device (4000) via a communication unit (not shown). Here, the server device (4000) is a device capable of managing the robot device (1) in an integrated manner. The server device (4000) may also be a user terminal device. In this case, the robot device (1) can transmit various information, such as information on whether the cover (200) is open or closed and location information of the cover (200), to the server device (4000).

[0090] The robot device (1) can transmit various information, such as battery charging status information, battery charging time information, and connection information with the battery charging terminal, to an external station (3000) through a communication unit (not shown). Here, the external station (3000) is a device capable of managing the overall charging of the robot device (1) and supplying power to the robot device (1). The external station (3000) may also be referred to by various terms such as a power supply device, a charging station, or a power supply station.

[0091] The robot device (1) can receive various information, such as battery charging completion information and battery charging status information, from an external station (3000) through a communication unit.

[0092] FIG. 9 is a flowchart of a robot device (1) according to at least one embodiment of the present disclosure.

[0093] When the remaining amount of the battery (600) is below a threshold, the robot device (1) can operate the actuators (401, 402) to open the cover (200) and dock with the external station (3000) (S1010). When the charging of the battery (600) is complete, the robot device (1) can move its position to be separated from the external station (3000) (S1020). The robot device (1) can operate the actuators (401, 402) to close the cover (200) (S1030).

[0094] Here, in the step of docking with an external station (3000), the robot device (1) can identify the position of a marker (800) formed on a cover (200) based on the sensing value of at least one sensor (501, 502) placed within the space. Subsequently, the robot device (1) can control whether to drive an actuator (401, 402) based on the position of the marker (800).

[0095] Additionally, the robot device (1) can identify a change in distance from the cover (200) by the first marker (801) and the second marker (802) based on a sensing value sensed by at least one sensor (501, 502). Additionally, the robot device (1) can control a plurality of wheels (40) to move to an external station (3000) if the robot device (1) needs to be charged.

[0096] Additionally, when the robot device (1) arrives at a work area near the external station (3000), it can determine whether the robot device (1) needs to be charged. If the robot device (1) needs to be charged, it can control a plurality of wheels (40) to move to the external station (3000), and if the robot device (1) does not need to be charged, it can control a plurality of wheels (40) to move to another area.

[0097] Here, the description of the external station (3000), actuator (401, 402), and at least one sensor (501, 502, 503), etc., has been covered in detail in the above section, so the description thereof is omitted.

[0098] FIG. 10 is a flowchart of a robot device (1) according to at least one embodiment of the present disclosure.

[0099] In the step of controlling whether to drive the actuators (401, 402) based on the position of the marker (800), the robot device (1) can drive the actuators (401, 402) until the marker (800) reaches a first position when the cover (200) is fully opened (S1110). The robot device (1) can stop driving the actuators (401, 402) when the marker (800) is identified at the first position (S1120).

[0100] In the step of driving actuators (401, 402) to close the cover (200), the robot device (1) can drive actuators (401, 402) until the marker (800) reaches a second position when the cover (200) is fully closed (S1130). When the marker (800) is identified at the second position, the robot device (1) can stop driving actuators (401, 402) (S1140).

[0101] Here, the first position, the second position, the driving method of the actuator (401, 402), the cover (200), etc. have been described in detail in the above section, so the description thereof is omitted.

[0102] FIG. 11 is a flowchart of a robot device (1) according to at least one embodiment of the present disclosure.

[0103] The robot device (1) can drive actuators (401, 402) to open the cover (200) (S1210). The robot device (1) can identify a marker (800) based on the sensing value of the first sensor (501) (S1220). As soon as the marker (800) is identified, the robot device (1) can stop driving the actuators (401, 402) (S1230). The robot device (1) can dock the charging terminal (610) of the battery (600) to an external station (3000) (S1240). Afterward, the robot device (1) can charge the battery (600) by the external station (3000) (S1250). When the charging of the battery (600) is completed, the robot device (1) can disconnect the charging terminal (610) of the battery (600) from the external station (3000) (S1260). The robot device (1) can drive the actuators (401, 402) so that the cover (200) is closed (S1270). The robot device (1) can identify the marker (800) based on the sensing value of the second sensor (S1280). Subsequently, the robot device (1) can stop the driving of the actuators (401, 402) at the same time as the marker (800) is identified (S1290).

[0104] Here, the description of the battery (600), charging terminal (610), marker (800), etc., has been covered in detail in the above section, so the description thereof is omitted.

[0105] Each of the components described in this document may consist of one or more components, and the names of such components may vary depending on the type of robot device.

[0106] Although various embodiments of the present disclosure have been described individually above, each embodiment is not required to be implemented alone, and the configuration and operation of each embodiment may be implemented in combination with at least one other embodiment.

[0107] Although preferred embodiments have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present disclosure.

Claims

1. In a robot device, entity; Rechargeable battery; A cover for covering the space where the charging terminal of the above battery is located; An actuator for opening and closing the above cover; At least one sensor; and Includes a processor; The above cover is capable of moving in a sliding manner on the main body according to the driving of the actuator, and The above processor is, The actuator is driven to open the cover for docking with an external station, and to close the cover when separated from the external station. A robot device that, when the cover moves by driving the actuator, identifies the position of a marker formed on the cover based on the sensing value of at least one sensor, and controls whether to drive the actuator according to the identified position.

2. In Paragraph 1, The above processor is, In a state for docking with the external station, the actuator is driven until the position of the marker reaches a first position when the cover is fully open, and when the marker is identified at the first position, the driving of the actuator is stopped. A robot device that drives the actuator until the position of the marker reaches a second position when the cover is fully closed while separated from the external station, and stops the driving of the actuator when the marker is identified at the second position.

3. In Paragraph 1, The above marker is, A first marker formed in a first region within the above cover; and It includes a second marker formed in a second region within the cover; The first area is a part that moves to the first position when the cover moves to a fully open state, and The robot device, wherein the second region is a part that moves to the second position when the cover moves to a fully closed state.

4. In Paragraph 3, The first marker and the second marker are in the form of protrusions protruding from the inner surface of the cover, and The above at least one sensor is a ToF sensor, and The above processor is, A robot device that identifies a change in distance from the cover based on a sensing value sensed by at least one sensor.

5. In Paragraph 1, The above-mentioned at least one sensor is, A robot device comprising a first sensor and a second sensor positioned at different locations within a space where the charging terminal of the battery is positioned.

6. In Paragraph 5, The above marker is in the form of a protrusion protruding from the inner surface at the specific point of the above cover, and The first sensor and the second sensor are ToF sensors for sensing the distance to the marker or the cover, and The charging terminal of the battery is positioned within the main body in a space that is opened and closed by the cover, and The above cover is movable in a first direction for opening the space and in a second direction for closing the space, and The first sensor is positioned on the first direction side within the space, and The robot device, wherein the second sensor is positioned on the second direction side relative to the first sensor within the space.

7. In Paragraph 1, The above cover is movable in a first direction for opening the space and in a second direction for closing the space, and The above-mentioned at least one sensor is, It includes a ToF sensor positioned on the second direction side relative to the cover in the opening of the space above, and The above processor is, A robot device that identifies the degree of opening or closing of the cover based on the sensing value of the above ToF sensor.

8. In Paragraph 2, Includes a communication unit; and The above processor is, A robot device that transmits information about the location reached by the above cover to a server device through the above communication unit.

9. In Paragraph 8, The above processor is, A robot device that transmits information regarding the docking or disconnection status with the external station to the server device via the communication unit.

10. In Paragraph 1, A plurality of wheels provided on the above main body; and It further includes a driving module for rotating the plurality of wheels mentioned above, and The above processor is, A robot device that controls the driving module to move to the external station when the robot device needs charging.

11. In Paragraph 1, A plurality of wheels provided on the above main body; and It further includes a driving module for rotating the plurality of wheels mentioned above, and The above processor is, A robot device that identifies the remaining battery level of the robot device when approaching within a certain range based on the location of the external station, and controls the driving module to move to the external station when the remaining battery level is below a threshold.

12. A control method for a robot device comprising an actuator for driving a cover for covering a space in which a battery and a charging terminal of said battery are arranged, If the remaining charge of the battery is below a threshold, the step of driving the actuator to open the cover and docking with an external station; When the charging of the battery is completed, the step of moving the position of the robot device so as to be separated from the external station; The method includes the step of driving the actuator to close the cover; The step of docking with the external station mentioned above is, A step of identifying the position of a marker formed on the cover based on the sensing value of at least one sensor disposed within the space; and A method for controlling a robot device, comprising the step of controlling whether to drive the actuator based on the position of the marker.

13. In Paragraph 12, The step of controlling whether the actuator is driven based on the position of the marker is: A step of driving the actuator until the marker reaches a first position when the cover is fully open; and A method for controlling a robot device, comprising the step of stopping the driving of the actuator when the marker is identified at the first position.

14. In Paragraph 13, The step of driving the actuator to close the cover is, A step of driving the actuator until the marker reaches a second position when the cover is fully closed; and A method for controlling a robot device, comprising the step of stopping the driving of the actuator when the marker is identified at the second position.

15. In Paragraph 12, The above marker is, A first marker in the form of a protrusion formed in a first region within the above cover; and It includes a second marker in the form of a protrusion formed in a second region within the cover; The above-mentioned first region is, This is a part that moves to the first position when the above cover moves to a fully open state, and The above second region is, This is a part that moves to the second position when the above cover moves to a fully closed state, and The above-mentioned at least one sensor is, A first sensor and a second sensor for identifying the distance to the first marker or the second marker; comprising, The above cover is movable in a first direction for opening the space and in a second direction for closing the space, and The first sensor is positioned on the first direction side within the space, and The robot device, wherein the second sensor is positioned on the second direction side relative to the first sensor within the space.

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