KR20170101873A - Moving robot and controlling method thereof - Google Patents

Abstract

In order to solve the problem of the present invention, according to an embodiment of the present invention, a moving robot comprises: a body; a driving unit moving the body; and a cleaning unit cleaning a cleaning area in which the body is placed. The driving unit comprises: a main wheel; a motor generating a driving force; a gear unit connected to the main wheel and the motor, and transmitting the driving force of the motor to the main wheel; and a leg member arranged on a shaft to connect the main wheel and the gear unit.

Description

[0001] MOVING ROBOT AND CONTROLLING METHOD THEREOF [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot and a control method thereof, and more particularly, to a mobile robot capable of overcoming a wheel restraint and a control method thereof.

In general, robots have been developed for industrial use and have been part of factory automation. In recent years, medical robots, aerospace robots, and the like have been developed, and household robots that can be used in ordinary homes are being developed.

A representative example of the domestic robot is a robot cleaner, which is a type of household appliance that sucks and cleanes dust or foreign matter around the robot while traveling in a certain area by itself. Such a robot cleaner is generally equipped with a rechargeable battery and has an obstacle sensor capable of avoiding obstacles during traveling, so that it can run and clean by itself.

In recent years, research has been actively carried out to utilize the robot cleaner in various fields such as health care, smart home, and remote control by moving away from the cleaning operation by merely autonomously moving the cleaning area by the robot cleaner.

When the robot cleaner performs autonomous traveling in the cleaning area, the robot cleaner may encounter various obstacles present in the cleaning area, so an algorithm for avoiding such obstacles is required while performing autonomous traveling and cleaning operations.

However, in the case where the bottom surface of the cleaning area is not formed uniformly, if the bottom surface portions that are not flat are recognized as obstacles, the cleaning range is reduced, so that the recognition criteria related to the obstacle should not be set too strict .

Accordingly, when the robot cleaner does not recognize a part of the uneven floor surface as an obstacle but passes through a part of the bottom surface, at least one of the plurality of wheels does not contact the floor surface and idling may occur, There is a problem that the cleaner can not travel normally.

In addition, when at least one of the plurality of wheels of the robot cleaner is completely restrained, there may arise a problem that the restraint state of the wheel can not be released only by the output of the motor.

Accordingly, there is a need for a robot cleaner and a control method thereof for solving idling phenomena and complete restraint phenomenon of a wheel that may be generated while passing through a floor having various conditions as described above. That is, there is a need for a robot cleaner capable of escaping from an idling phenomenon or a completely restricting phenomenon and a control method thereof.

Korean Patent Laid-Open Publication No. 10-2015-0065134 discloses a cleaning robot that detects a stuck state such as a pinching, lifting or object stuck phenomenon at the time of driving.

However, the conventional cleaning robot as described above can not solve the phenomenon of being pinched, lifted or stuck with objects by only the main wheel, and needs a sub wheel provided to correspond to the main wheel and a separate motor for moving the sub wheel in the stuck state. Therefore, the manufacturing cost of the robot for installing the motor for moving the sub wheel and the sub wheel is increased, and the separate power is supplied to the separate motor for moving the sub wheel, so that the power efficiency consumed by the robot .

Further, as the sub wheel is added, the weight of the robot main body increases, which causes inconvenience to the user.

Further, when the conventional robot exceeds an obstacle, there is a problem that only the power transmitted to the sub wheel is used, and idling still occurs in the main wheel.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot cleaner and a control method thereof for preventing at least one wheel from idling by at least one of a plurality of wheels not contacting the floor.

Another object of the present invention is to provide a robot cleaner and a control method thereof that can escape from a self-restrained state when at least one of a plurality of wheels is completely restrained by an obstacle and does not move.

It is also an object of the present invention to provide a robot cleaner capable of passing through a floor surface where bending is not recognized as an object to be avoided and a control method thereof.

It is another object of the present invention to provide a robot cleaner capable of passing an obstacle through a driving shaft connecting a driving wheel, a driving wheel and a motor, without adding a wheel to the robot cleaner, and a control method thereof .

According to an aspect of the present invention, there is provided a mobile robot or a self-running vacuum cleaner including a main body, a driving unit for moving the main body, and a cleaning unit for cleaning the cleaning area in which the main body is located. Wherein the driving unit includes a main wheel, a motor for generating a driving force, a gear unit connected to the main wheel and the motor for transmitting the driving force of the motor to the main wheel, And a leg member disposed on the axis to provide a propulsion force separate from the main wheel.

The leg member according to the present invention may be formed in the shape of a bar and may be provided with a propelling force different from that of the main wheel so that the mobile robot can be restored to a normal state when the main wheel is idling or completely restrained or stuck by an obstacle to provide. That is, when the main wheels of the mobile robot are idle or fully restrained or deadlocked by an obstacle, the leg members are moved in the idle state or completely restrained state Or may be free of deadlocks.

Specifically, the leg member is formed in a bar shape, the length of the leg member is larger than the radius of the main wheel, and the leg member rotates when the main wheel is idle or restrained by an obstacle.

In one embodiment, the driving unit further includes an elastic member disposed between the leg member and the gear unit, and is twisted or loosened as the torque applied to the main wheel is changed, whereby the length of the elastic member is changed .

In one embodiment, when the main wheel is idling, the torque applied to the main wheel is reduced to loosen the twist of the elastic member, thereby increasing the length of the elastic member, .

In one embodiment, when the main wheel is restrained by an obstacle, a torque applied to the main wheel is increased to further twist the elastic member, so that the length of the elastic member is reduced, Is connected to a part of the body.

In one embodiment, the apparatus further includes a sensor for sensing information related to the torque applied to the driving unit, and a controller for controlling the driving unit based on information sensed by the sensor.

According to another aspect of the present invention, there is provided a vacuum cleaner or a mobile robot for performing autonomous traveling, the vacuum cleaner including a main body, a driving unit for moving the main body, a cleaning unit for cleaning the cleaning area in which the main body is located, A gear unit connected to the main wheel and the motor and transmitting a driving force of the motor to the main wheel; and a gear unit connected to the main wheel and the motor, And a sub shaft member connected between the clutch member and the auxiliary wheel, the control member being connected to the auxiliary wheel, the auxiliary shaft member being connected to the auxiliary wheel, And the installation position is changed.

In one embodiment, the clutch member distributes driving force transmitted to the main wheel to the auxiliary wheel.

In one embodiment, the information processing apparatus further includes a sensor for sensing information related to the obstacle, and the control unit controls the driving unit such that the auxiliary wheel contacts the obstacle based on information sensed by the sensor do.

According to the present invention, when at least one of the plurality of wheels performs the idle while the robot is passing through the floor having various conditions, the idle state can be released using a driving force different from that of the main wheel.

Also, according to the present invention, when at least one of the plurality of wheels is restrained by an obstacle while the robot is passing through a floor having various conditions, it can be released from the restraint state by using a driving force different from that of the main wheel.

In addition, according to the present invention, it is possible to improve rugged running performance by merely adding a simple device to the driving unit without attaching a separate sensor to the robot, and thus the running performance of the robot can be remarkably improved at a low cost have.

Further, according to the present invention, an effect that a robot equipped with a wheel can easily move the hull is derived.

Further, according to the present invention, cleaning efficiency of the robot can be improved even when the cleaning area is rough or an obstacle exists in the cleaning area.

Further, according to the present invention, unlike a conventional robot, it is possible to pass an obstacle without adding a sub-wheel, so that it is possible to provide a robot with reduced manufacturing cost and weight and power efficiency compared to a conventional robot have.

FIG. 1A is a conceptual view illustrating a rear surface of a mobile robot according to an embodiment of the present invention. FIG.
1B is a conceptual view showing a side view of a mobile robot according to an embodiment of the present invention.
1C is a block diagram illustrating components of a mobile robot according to an embodiment of the present invention.
2A and 2B are conceptual diagrams illustrating a driving unit of a mobile robot according to an embodiment of the present invention in more detail.
2C is a three-dimensional view showing the driving unit shown in Figs. 2A and 2B.
FIG. 2D is a conceptual diagram illustrating the driving unit 130 of the robot cleaner shown in FIG. 2C in more detail.
3A to 3C are conceptual diagrams showing the operation of the driving unit 130 according to the traveling state, the fully restrained state, and the idle state of the mobile robot according to the present invention.
4A and 4B are conceptual diagrams showing that the main wheel and the support of the mobile robot according to the present invention escape from the restrained state.
5 is a conceptual diagram of a mobile robot according to another embodiment of the present invention.
6A and 6B are conceptual diagrams illustrating a driving unit including a main wheel and a sub-wheel included in the mobile robot shown in FIG.
FIG. 7 is a side view of the driving unit including the main wheels and the auxiliary wheels shown in FIGS. 6A and 6B.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. . Also, the technical terms used herein should be interpreted as being generally understood by those skilled in the art to which the presently disclosed subject matter belongs, unless the context clearly dictates otherwise in this specification, Should not be construed in a broader sense, or interpreted in an oversimplified sense. In addition, when a technical term used in this specification is an erroneous technical term that does not accurately express the concept of the technology disclosed in this specification, it should be understood that technical terms which can be understood by a person skilled in the art are replaced. Also, the general terms used in the present specification should be interpreted in accordance with the predefined or prior context, and should not be construed as being excessively reduced in meaning.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In this specification, the terms "comprising ", or" comprising "and the like should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

1A and 1B illustrate an embodiment of a mobile robot according to an embodiment of the present invention, particularly a back surface of a mobile robot.

Referring to FIGS. 1A and 1B, the mobile robot 100 may include a main body 10 configured to be movable. For example, when the mobile robot 100 is a robot cleaner, the main body 10 may include a cleaning unit (not shown) for generating a suction force.

The main body 10 is provided with a drive unit that can move the main body 10 in a desired direction and rotate the main body 10. The driving portion may include a plurality of rotatable wheels, and each of the wheels may be individually rotated so that the body 10 can be rotated in a desired direction. More specifically, the driving unit may include at least one main driving wheel 130a and auxiliary wheels 130e and 130f. For example, the main body 10 may include two main driving wheels 130a, and the main driving wheels may be installed on the bottom of the main body 10. [

FIG. 1C illustrates components of a mobile robot according to an embodiment of the present invention in more detail.

1C, a mobile robot according to an embodiment of the present invention includes a communication unit 110, an input unit 120, a driving unit 130, a sensing unit 140, an output unit 150, a power source unit 160 ), A memory 170, and a controller 180, or a combination thereof.

At this time, it is needless to say that the components shown in FIG. 1C are not essential, so that a robot cleaner having more or fewer components can be implemented. Hereinafter, each component will be described.

First, the power supply unit 160 includes a battery that can be charged by an external commercial power supply, and supplies power to the mobile robot. The power supply unit 160 supplies driving power to each of the components included in the mobile robot, and supplies operating power required for the mobile robot to travel or perform a specific function.

At this time, the controller 180 senses the remaining power of the battery, and when the remaining power is insufficient, controls the battery 180 to move to a charge connected to the external commercial power source, and receives the charging current from the charging stand to charge the battery. The battery may be connected to the battery sensing unit so that the battery remaining amount and the charging state may be transmitted to the control unit 180. The output unit 150 can display the battery remaining amount on the screen by the control unit.

The battery may be located at the bottom of the center of the robot cleaner, or may be located at either the left or right side. In the latter case, the mobile robot may further include a balance weight to eliminate weight biases of the battery.

Meanwhile, the driving unit 130 includes a motor. By driving the motor, the left and right main wheels can be rotated in both directions to rotate or move the main body. The driving unit 130 can advance the main body of the mobile robot forward, backward, leftward, rightward, curved, or rotated in place.

Meanwhile, the input unit 120 receives various control commands from the user for the robot cleaner. The input unit 120 may include one or more buttons, for example, the input unit 120 may include an OK button, a setting button, and the like. The OK button is a button for receiving a command for confirming the detection information, the obstacle information, the position information, and the map information from the user, and the setting button is a button for receiving a command for setting the information from the user.

Also, the input unit 120 may include an input reset button for canceling the previous user input and receiving the user input again, a delete button for deleting the preset user input, a button for setting or changing the operation mode, A button for receiving an input, and the like.

The input unit 120 may be installed on the upper portion of the mobile robot using a hard key, a soft key, a touch pad, or the like. In addition, the input unit 120 may have a form of a touch screen together with the output unit 150.

On the other hand, the output unit 150 can be installed on the upper portion of the mobile robot. Of course, the installation location and installation type may vary. For example, the output unit 150 may display a battery state, a traveling mode, and the like on a screen.

In addition, the output unit 150 can output the state information of the mobile robot, for example, the current state of each configuration included in the mobile robot, detected by the sensing unit 140. [ The output unit 150 may display the external status information, the obstacle information, the position information, the map information, and the like detected by the sensing unit 140 on the screen. The output unit 150 may include any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED) As shown in FIG.

The output unit 150 may further include sound output means for audibly outputting an operation process or an operation result of the mobile robot performed by the control unit 180. [ For example, the output unit 150 may output a warning sound to the outside in accordance with the warning signal generated by the control unit 180.

In this case, the sound output means may be means for outputting sound such as a beeper, a speaker, and the like, and the output unit 150 may output the sound using audio data or message data having a predetermined pattern stored in the memory 170, And output to the outside through the output means.

Accordingly, the mobile robot according to an embodiment of the present invention can output environment information on the driving area through the output unit 150 or output it as sound. According to another embodiment, the mobile robot may transmit map information or environment information to the terminal device through the communication unit 110 so that the terminal device outputs a screen or sound to be outputted through the output unit 150. [

On the other hand, the communication unit 110 is connected to the terminal device and / or another device (referred to as "home appliance" in this specification) located in a specific area and a communication method of one of wired, wireless, And transmits and receives signals and data.

The communication unit 110 can transmit and receive data with other devices located in a specific area. In this case, the other device may be any device capable of connecting to a network and transmitting / receiving data. For example, the device may be an air conditioner, a heating device, an air purifier, a lamp, a TV, The other device may be a device for controlling a door, a window, a water supply valve, a gas valve, or the like. The other device may be a sensor for detecting temperature, humidity, air pressure, gas, or the like.

Meanwhile, the memory 170 stores a control program for controlling or driving the robot cleaner and data corresponding thereto. The memory 170 may store audio information, image information, obstacle information, location information, map information, and the like. Also, the memory 170 may store information related to the traveling pattern.

The memory 170 mainly uses a nonvolatile memory. Here, the non-volatile memory (NVM) is a storage device capable of continuously storing information even when power is not supplied. Examples of the storage device include a ROM, a flash memory, A storage device (e.g., a hard disk, a diskette drive, a magnetic tape), an optical disk drive, a magnetic RAM, a PRAM, and the like.

Meanwhile, the sensing unit 140 may include at least one of an external signal sensor, a front sensor, a cliff sensor, a lower camera sensor, and an upper camera sensor.

The external signal detection sensor can detect the external signal of the mobile robot. The external signal detection sensor may be, for example, an infrared ray sensor, an ultrasonic sensor (Ultra Sonic Sensor), a RF sensor (Radio Frequency Sensor), or the like.

The mobile robot can detect the position and direction of the charging base by receiving the guidance signal generated by using the external signal detection sensor. At this time, the charging base can transmit a guidance signal indicating a direction and a distance so that the mobile robot can return. That is, the mobile robot can receive the signal transmitted from the charging station, determine the current position, set the moving direction, and return to the charging state.

On the other hand, the front sensor may be installed at a predetermined distance in front of the mobile robot, specifically along the side surface of the side of the mobile robot. The front sensing sensor is located at least on one side of the mobile robot and detects an obstacle in front of the mobile robot. The front sensing sensor senses an object, especially an obstacle, existing in the moving direction of the mobile robot, . That is, the front sensing sensor can sense protrusions on the moving path of the mobile robot, household appliances, furniture, walls, wall corners, and the like, and can transmit the information to the controller 180.

For example, the frontal detection sensor may be an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, or the like, and the mobile robot may use one type of sensor as the front detection sensor or two or more kinds of sensors have.

Ultrasonic sensors, for example, can typically be used to detect distant obstacles in general. The ultrasonic sensor includes a transmitter and a receiver. The controller 180 determines whether an obstacle is present or not based on whether the ultrasonic wave radiated through the transmitter is reflected by an obstacle or the like and is received by the receiver, The distance to the obstacle can be calculated.

Also, the controller 180 can detect the information related to the size of the obstacle by comparing the ultrasonic waves emitted from the transmitter and the ultrasonic waves received by the receiver. For example, the control unit 180 can determine that the larger the obstacle is, the more ultrasonic waves are received in the receiving unit.

In one embodiment, a plurality (e. G., Five) of ultrasonic sensors may be installed along the outer circumferential surface on the front side of the mobile robot. At this time, preferably, the ultrasonic sensor can be installed on the front side of the mobile robot alternately with the transmitting part and the receiving part.

That is, the transmitting unit may be disposed to be spaced left and right from the front center of the main body, and one or two transmitting units may be disposed between the receiving units to form a receiving area of the ultrasonic signal reflected from the obstacle or the like. With this arrangement, the receiving area can be expanded while reducing the number of sensors. The angle of origin of the ultrasonic waves can maintain an angle range that does not affect different signals to prevent crosstalk. Also, the receiving sensitivity of the receiving units may be set differently.

In addition, the ultrasonic sensor may be installed upward by a predetermined angle so that the ultrasonic wave emitted from the ultrasonic sensor is outputted upward, and the ultrasonic sensor may further include a predetermined blocking member to prevent the ultrasonic wave from being radiated downward.

On the other hand, as described above, the front sensor can use two or more kinds of sensors together, so that the front sensor can use any one of an infrared sensor, an ultrasonic sensor, and an RF sensor .

For example, the front sensing sensor may include an infrared sensor in addition to the ultrasonic sensor.

The infrared sensor may be installed on the outer surface of the mobile robot together with the ultrasonic sensor. The infrared sensor can also detect the obstacles existing on the front or side and transmit the obstacle information to the controller 180. That is, the infrared sensor senses protrusions existing on the moving path of the mobile robot, house furniture, furniture, wall surface, wall edge, and the like, and transmits the information to the control unit 180. Therefore, the mobile robot can move within a specific area without collision with the obstacle.

On the other hand, a cliff sensor (or Cliff Sensor) can detect obstacles on the floor supporting the main body of the mobile robot by mainly using various types of optical sensors.

That is, it is a matter of course that the cliff detection sensor is installed on the rear surface of the bottom mobile robot, but may be installed at a different position depending on the type of the mobile robot. The obstacle detection sensor is located on the back surface of the mobile robot and detects an obstacle on the floor. The obstacle detection sensor includes an infrared sensor, an ultrasonic sensor, an RF sensor, a PSD (Position Sensitive Detector) sensor.

For example, one of the cliff detection sensors may be installed in front of the mobile robot, and the other two cliff detection sensors may be installed relatively behind.

For example, the cliff detection sensor may be a PSD sensor, but it may be composed of a plurality of different kinds of sensors.

The PSD sensor uses a semiconductor surface resistance to detect the shortest path distance of incident light at one p-n junction. The PSD sensor includes a one-dimensional PSD sensor for detecting light in only one direction and a two-dimensional PSD sensor for detecting a light position on a plane, all of which can have a pin photodiode structure. The PSD sensor is a type of infrared sensor that measures the distance by measuring the angle of the infrared ray reflected from the obstacle after transmitting the infrared ray by using the infrared ray. That is, the PSD sensor uses the triangulation method to calculate the distance to the obstacle.

The PSD sensor includes a light emitting unit that emits infrared rays to an obstacle, and a light receiving unit that receives infrared rays that are reflected from the obstacle and is returned to the obstacle. When an obstacle is detected by using the PSD sensor, a stable measurement value can be obtained irrespective of the reflectance and the color difference of the obstacle.

The control unit 180 can detect the depth of the cliff by measuring the infrared angle between the light emission signal of the infrared ray emitted from the cliff detection sensor toward the ground and the reflection signal reflected and received by the obstacle.

On the other hand, the control unit 180 can determine whether to pass or not according to the ground state of the detected cliff by using the cliff detection sensor, and can determine whether the cliff passes or not according to the determination result. For example, the control unit 180 determines whether or not a cliff is present and the depth of the cliff through the cliff detection sensor, and then passes through the cliff only when the reflection signal is detected through the cliff detection sensor.

As another example, the control unit 180 may determine the lifting of the mobile robot using a cliff detection sensor.

On the other hand, the lower camera sensor is provided on the back surface of the mobile robot, and acquires image information on the lower side, that is, the bottom surface (or the surface to be cleaned) during the movement. The lower camera sensor is also referred to as an optical flow sensor in other words. The lower camera sensor converts the downward image inputted from the image sensor provided in the sensor to generate image data of a predetermined format. The generated image data can be stored in the memory 170.

Also, one or more light sources may be installed adjacent to the image sensor. The at least one light source irradiates light onto a predetermined area of the bottom surface, which is photographed by the image sensor. That is, when the mobile robot moves in a specific region along the bottom surface, a certain distance is maintained between the image sensor and the bottom surface when the bottom surface is flat. On the other hand, when the mobile robot moves on the bottom surface of a nonuniform surface, it is distant by a certain distance due to the unevenness and obstacles on the bottom surface. At this time, one or more light sources may be controlled by the control unit 180 to adjust the amount of light to be irradiated. The light source may be a light emitting device capable of adjusting the amount of light, for example, an LED (Light Emitting Diode).

Using the lower camera sensor, the control unit 180 can detect the position of the mobile robot regardless of the slip of the mobile robot. The control unit 180 may compute and analyze the image data photographed by the lower camera sensor over time to calculate the moving distance and the moving direction, and calculate the position of the mobile robot on the basis of the movement distance and the moving direction. By using the image information of the lower portion of the mobile robot using the lower camera sensor, the controller 180 can perform a correction that is robust against slippage with respect to the position of the mobile robot calculated by other means.

On the other hand, the upper camera sensor can be installed to the upper side or the front side of the mobile robot, and can photograph the vicinity of the mobile robot. When the mobile robot includes a plurality of upper camera sensors, the camera sensors may be formed on the upper or side surface of the mobile robot at a certain distance or at an angle.

2A and 2B, an embodiment related to a driving unit of the mobile robot according to the present invention will be described.

FIG. 2C is a perspective view of the driving unit shown in FIGS. 2A and 2B.

2A, the driving unit 130 includes a motor 131, a leg member 132 for providing a driving force, a main wheel 133, a spring member 134, an elastic member 135, (136).

Specifically, the main wheel 133 is formed in a circular shape, and a plurality of grooves may be provided on the outer surface. A hole may be formed in the central portion of the main wheel 133.

The motor 131 generates a driving force and the main wheel 133 can receive the driving force generated from the motor 131 through the gear unit 136.

The leg member 132 may be formed in a shape of a bar and formed longer than the radius of the main wheel 133. In addition, a hole substantially corresponding to the hole formed in the main wheel 133 may be formed in a part of the leg member 132. [ In this case, one end of the leg member 132 may be spaced farther from the same axis than the outer circumferential surface of the main wheel 133. In this case, the leg member 132 and the main wheel 133 may be disposed on the same axis.

Thus, even when the main wheel 133 is idling or is completely restrained by the obstacle, the main body 133 of the mobile robot can be moved to the bottom of the leg member 132, It is possible to provide a separate thrust.

That is, the leg member 132 may be a state of being constrained to an obstacle, a stall state, or a propulsive force providing member that provides a separate propulsive force for restoring the robot in a idle state to a normal state.

That is, the leg member 132 can rotate when the main wheel 133 is idle or restrained by an obstacle.

2C, the leg member 132 may be formed in a shape of a bar, and one end of the leg member 132 may be formed in a gently curved surface. Although not shown in FIG. 2C, a cushioning member (not shown) may be attached to one end portion of the leg member 132 which is spaced apart from the outer circumferential surface of the main wheel 133. This can prevent one end portion of the leg member 132 from being broken when the leg member 132 provides a propulsion force to the floor surface or the obstacle separately from the main wheel.

Meanwhile, the leg member 132 may be formed of a material different from the outer circumferential surface of the main wheel 133. That is, the coefficient of friction of the outer surface of one end of the leg member 132 may be higher than that of the outer surface of the main wheel 133.

The gear unit 136 is connected to the main wheel 133 and the motor 131 so as to transmit the driving force of the motor 131 to the main wheel 133. The leg member 132 may be disposed on an axis connecting the main wheel 133 and the gear unit 136.

The gear unit 136 may include a shaft connected to the motor 131 and the main wheel 133. A plurality of gears may be installed in the gear unit 136 to mesh with each other, The driving force can be transmitted to the main wheel 133.

The spring member 134 can be coupled to the gear unit 136 and the body of the robot, respectively. The spring member 134 couples the driving unit 130 to the main body and can perform a buffering action against an external impact.

In addition, the elastic member 135 may be disposed between the leg member 132 and the gear unit 136. 2C, the elastic member 135 may be installed on a shaft that connects the gear unit 136 and the main wheel 133. As shown in FIG. That is, the elastic member 135 may have a hole like the main wheel 133 and the leg member 132 and may be fitted in a driving shaft connecting the main wheel 133 and the gear unit 136.

In the following Fig. 2D, one embodiment related to the drive shaft portion connecting the gear unit 136 and the main wheel 133 to each other will be described.

Referring to FIG. 2D, a wheel coupling portion may be formed on the first portion 136a of the drive shaft. The wheel fastening member can restrict the drive shaft and the main wheel 133 to one rigid body.

A first engaging member for engaging the main wheel 133 and the leg member 132 may be formed on the second portion 136b of the drive shaft and a third member 136c of the drive shaft may be provided with a leg member 132 And a part of the gear unit 136 may be formed.

That is, as the length of the elastic member 135 increases in the second portion 136b of the drive shaft, when the leg member 132 is positioned in the second portion 136b, A first engaging member for engaging the engaging portion 133 may be located. Here, the first coupling member is a component for coupling the two components with a predetermined force when two different components are in contact with each other, and a known configuration for coupling the two components is sufficient.

When the leg member 132 is positioned on the third portion 136c as the length of the elastic member 135 is reduced in the third portion 136c of the drive shaft, A second engaging member that engages the engaging member 136 may be located. As with the first engaging member, it is sufficient that the second engaging member has a known construction for engaging the two parts. Therefore, detailed descriptions related to the shapes of the first and second engagement members are omitted.

In addition, an elastic member fastening portion may be formed on the fourth portion 136d of the drive shaft. Thereby, one end of the elastic member 135 can be fastened to a part of the gear unit 136 with one rigid body.

3A to 3C, an embodiment related to the driving state of the mobile robot according to the present invention, the fully constrained state, and the operation of the driving unit 130 according to idling state will be described.

Referring to FIG. 3A, when the mobile robot normally operates, the leg members 132 do not rotate as the drive shaft but can be substantially fixed to the body of the mobile robot. That is, a bearing (not shown) is provided between the leg member 132 and the drive shaft so that the leg member 132 can be staggered with respect to the drive shaft when it is not constrained to the first engaging member or the second engaging member. In addition, when the mobile robot normally operates, the elastic member 135 can maintain a predetermined length.

That is, when the mobile robot normally operates, the elastic member 135 maintains the predetermined length so that the distance between one surface of the leg member 132 and one surface of the gear unit 136 is maintained at the first reference distance d1 . Thus, if the torque applied to the drive shaft and the twisting force of the elastic member 135 are balanced, the length of the elastic member 135 can be maintained.

Meanwhile, although not shown in FIG. 3A, since the motor 131 is in an off state when the mobile robot is stationary, the elastic member 135 can be maintained in a free length state.

Referring to FIG. 3B, when the main wheel of the mobile robot idles, the length of the elastic member 135 may increase.

Specifically, when the main wheel 133 enters the idle state, the external force or torque applied to the main wheel 133 decreases, and the torque applied to the drive shaft of the main wheel 133 also decreases. Thereby, a change occurs in the torque applied to the elastic member 135, and the twist of the elastic member 135 can be released according to such a change. That is, when the main wheel 133 idles, the length of the elastic member 135 can be increased.

When the length of the elastic member 135 increases and the distance between one surface of the leg member 132 and one surface of the gear unit 136 becomes equal to or greater than the second reference distance, the leg member 132 engages with the first engaging member , And can be restrained to the main wheel 133.

3B does not show the shape of the first engaging member for engaging the main wheel 133 and the leg member 132. However, as shown in FIG. 3B, when the length of the elastic member 135 increases , It is clearly shown that the leg member 132 is brought into contact with the main wheel 133 side. It is therefore sufficient if the first engaging member is a known engaging member capable of engaging the leg member 132 and the main wheel 133 when the leg member 132 abuts against the main wheel 133. [ 3B, a detailed description related to the first engaging member will be omitted.

3C, when the main wheel of the mobile robot is restrained by an obstacle, the length of the elastic member 135 can be reduced.

More specifically, when the main wheel 133 is restrained by the obstacle, the external force or torque applied to the main wheel 133 increases, and the torque applied to the drive shaft of the main wheel 133 also increases. Thereby, a change occurs in the torque applied to the elastic member 135, and the twisting of the elastic member 135 can be further twisted according to this change. That is, when the main wheel 133 is restrained by the obstacle, the length of the elastic member 135 can be reduced

When the distance between the one surface of the leg member 132 and one surface of the gear unit 136 is less than the third reference distance, the leg member 132 is engaged with the second engaging member And can be constrained to the drive shaft of the gear unit.

In the case of the second coupling member, a known coupling member capable of coupling the leg member 132 and the gear unit 136 is sufficient as in the case of the first coupling member.

According to the above embodiment, it is possible to improve the running performance of the hull by merely adding a simple device to the driving unit without attaching a separate sensor to the robot, so that the running performance of the robot can be remarkably improved at a low cost have.

In addition, since the improvement of the power transfer part and the addition of the mechanical part are reduced to a minimum in the existing cleaning robot mechanism, the process of improving the mechanical parts can be simplified, and the development time of the conventional cleaning robot can be shortened. In addition, since there is no additional actuator, there is an economic advantage of being able to escape the constraint while minimizing additional power consumption.

Meanwhile, the mobile robot according to the present invention may include a sensor for sensing information related to the torque applied to the driving unit.

5, a mobile robot according to another embodiment of the present invention will be described.

5, the driving unit 130 includes at least one of the main wheel 133, the auxiliary wheel 137, the motor 131, the gear unit 136, the clutch member 138, and the auxiliary shaft member 139 .

5, the clutch member 138 may be connected to the auxiliary wheel 137 and the gear unit 136, and may transmit the driving force of the motor 131 to the auxiliary wheel 137. As shown in Fig.

For example, the clutch member 138 may be formed of a magnetic clutch. The magnetic clutch includes a solenoid and can transmit the driving force to the auxiliary wheel 137 by using the magnetic force generated in the solenoid.

In another example, the clutch member 138 may receive control signals associated with the operation of the clutch member 138 from the control unit 180. [

The clutch member 138 can distribute the power of the main wheel 133 to the auxiliary wheel 137. [

When the clutch member 138 is in the ON state, the clutch member 138 is rotatable, and the installation position of the auxiliary wheel 138 can be changed.

Referring to FIGS. 6A and 6B, the driving unit 130 of the mobile robot shown in FIG. 5 is shown in more detail.

6A, when the mobile robot is in normal traveling, the clutch member 138 is off, and the auxiliary wheel 137 may not be in contact with the ground or the obstacle. 7, when the clutch member 138 is in the OFF state, the position of the auxiliary wheel 137 may be a position not contacting the ground or the obstacle.

6B, when the main wheel 133 of the mobile robot is idling or completely restrained by the obstacle, the clutch member 138 is turned on, and the auxiliary wheel 137 is brought into contact with the ground or the obstacle Lt; / RTI > 7, when the clutch member 138 is in the ON state, the position of the auxiliary wheel 137 may be a position in contact with the ground or an obstacle.

On the other hand, the control unit 180 can control the operation of the clutch member 138 based on the information related to the obstacle. Here, the information related to the obstacle may include information related to the distance between the obstacle and the body, the height of the obstacle, the slope, the shape, the surface, and the like.

For example, when the height of the obstacle lying in the traveling direction of the robot is equal to or greater than a predetermined height value, the control unit 180 turns on the clutch member 138 so that the driving unit 130 Can be controlled.

6A and 6B, the surfaces of the main wheels and the auxiliary wheels may be formed in different shapes.

Preferably, the frictional force formed by the surface shape of the auxiliary wheel may be higher than the frictional force formed by the surface shape of the main wheel. For example, the surface of the auxiliary wheel may be formed in a spoke shape.

According to the present invention, when at least one of the plurality of wheels performs the idle while the robot is passing through the floor having various conditions, the idle state can be released using a driving force different from that of the main wheel.

Also, according to the present invention, when at least one of the plurality of wheels is restrained by an obstacle while the robot is passing through a floor having various conditions, it can be released from the restraint state by using a driving force different from that of the main wheel.

In addition, according to the present invention, it is possible to improve rugged running performance by merely adding a simple device to the driving unit without attaching a separate sensor to the robot, and thus the running performance of the robot can be remarkably improved at a low cost have.

Further, according to the present invention, an effect that a robot equipped with a wheel can easily move the hull is derived.

Further, according to the present invention, cleaning efficiency of the robot can be improved even when the cleaning area is rough or an obstacle exists in the cleaning area.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

Claims (6)

main body;
A driving unit for moving the main body;
And a cleaning unit for cleaning the cleaning area where the main body is located,
The driving unit includes:
With the main wheels,
A motor for generating a driving force,
A gear unit connected to the main wheel and the motor for transmitting the driving force of the motor to the main wheel,
And a leg member disposed on a shaft connecting the main wheel and the gear unit to provide a separate propulsion force to the main wheel. The method according to claim 1,
The leg members are formed in a bar shape,
The length of the leg member is greater than the radius of the main wheel,
Wherein the leg member rotates when the main wheel is idle or restrained by an obstacle. The method according to claim 1,
Wherein the driving unit further comprises an elastic member disposed between the leg member and the gear unit,
Wherein the length of the elastic member is changed by twisting or loosening as the torque applied to the main wheel is changed. The method of claim 3,
When the main wheel idles,
Wherein the torque applied to the main wheel is reduced and the elastic member is twisted to increase the length of the elastic member so that the leg member and the main wheel are engaged. The method of claim 3,
When the main wheel is restrained by an obstacle,
Wherein a torque applied to the main wheel is increased to further twist the elastic member, thereby reducing the length of the elastic member, thereby coupling the leg member and the gear unit. The method according to claim 1,
A sensor for sensing information related to a torque applied to the driving unit,
Further comprising a controller for controlling the driving unit based on information sensed by the sensor.

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