KR20180074486A - Guidance robot - Google Patents

Abstract

A guidance robot according to an embodiment of the present invention includes: a base having a wheel and a motor for traveling; a first horizontal frame positioned at an upper side of the base and disposed therein with a battery; a second horizontal frame spaced upwards from the first horizontal frame and disposed therein with a sensor for autonomous travel; a third horizontal frame spaced upwards from the second horizontal frame; a pair of main vertical frames spaced apart from each other at an upper surface of the second horizontal frame and vertically passing through the third horizontal frame; and at least one sub-vertical frame provided between the second horizontal frame and the third horizontal frame to support the third horizontal frame. Accordingly, a center of gravity is located at a lower part even when the height of the robot is increased.

Description

Guide Robot {GUIDANCE ROBOT}

The present invention relates to a guidance robot.

Recently, the functions of robots are expanding due to the development of deep learning technology, autonomous driving technology, automatic control technology, and Internet of things.

To describe each technique in detail, deep learning is an area of machine learning. Deep learning is a technique that allows a program to make similar judgments about a variety of situations, not by pre-checking conditions and setting commands. Thus, deep learning allows a computer to think similar to a human brain, and enables vast amounts of data analysis.

Autonomous driving is a technique by which a machine can judge itself and move and avoid obstacles. According to the autonomous navigation technology, the robot can recognize the position autonomously through the sensor and can move and avoid obstacles.

The automatic control technology refers to a technology that automatically controls the operation of the machine by feeding back the measured value of the machine condition to the control device. Therefore, it is possible to control the operation without human operation, and to automatically control the target object to be controlled within a target range, that is, to reach the target value.

The Internet of Things is an intelligent technology and service that connects all objects based on the Internet and communicates information between people, things, things and things. Things that are connected to the Internet by the Internet cause autonomous communication by exchanging information without any help from people.

The development and convergence of the technologies described above makes it possible to implement intelligent robots and it is possible to provide various information and services through intelligent robots.

The applications of these robots are generally classified into industrial, medical, space, and submarine applications. For example, in the mechanical processing industry such as automobile production, robots can perform repetitive tasks. In other words, if you teach the work of the human arm only once, many industrial robots that repeat the same operation for a few hours are already in operation.

On the other hand, a traffic guidance intelligent robot capable of autonomous travel is disclosed in Korean Patent Registration No. 10-1193610 (Oct. 26, 2012). According to the above-mentioned prior art, a robot that autonomously travels on a crosswalk or the like for traffic guidance guidance while avoiding obstacles is disclosed.

The robot is largely composed of a driving part, a body part, an arm part and a head part, and the body part is provided with a predetermined display part. Generally, the robot is preferably positioned at the bottom of the robot so that the weight is heavy when viewed from the center of gravity. However, when the display unit is located at the bottom, there is a problem that the information displayed on the display unit is difficult to see because the eye level of the user does not match.

On the contrary, when the display unit is positioned at the upper part of the robot, the user can easily see the information displayed on the display, but the center of gravity is shifted upward, which is structurally unstable. Furthermore, in the case of a traveling robot, if the center of gravity is not caught, the center of gravity tends to be stuck to one side or can not move in a desired direction.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a guide robot in which the center of gravity can be positioned at the lower part even if the height of the robot is increased.

Another object of the present invention is to provide a guide robot capable of maintaining a balance of weight while providing a large display portion.

It is a further object of the present invention to provide a guide robot in which a plurality of electronic components can be efficiently installed even in a narrow internal space and the heat dissipation of a large number of electronic components can be effectively performed.

It is another object of the present invention to provide a guide robot in which maintenance and management of electronic parts installed in the robot can be easily performed.

The guide robot according to the present invention is provided with a base, a first horizontal frame, a second horizontal frame, and a third horizontal frame on which the batteries are arranged, sequentially spaced upward from each other. The guide robot may include a pair of main vertical frames spaced apart from each other on an upper surface of the second horizontal frame and passing through the third horizontal frame vertically and a pair of main vertical frames disposed between the second horizontal frame and the third horizontal frame, By providing one or more sub-vertical frames for supporting the third horizontal frame, it is possible to provide a robot structure in which the center of gravity can be positioned at the lower part even if the height of the robot is increased.

The guide robot according to the present invention is characterized in that the pair of main vertical frames are equally spaced from both sides of the center of the second horizontal frame and a bracket having a plurality of boards is coupled to the pair of main vertical frames Therefore, a large number of electronic parts can be efficiently installed, and heat dissipation of a large number of electronic parts can be effectively performed by the bracket part.

Since the guide robot according to the present invention is combined with the fixing member for fixing the display unit to the bracket unit, balance of weight can be maintained while providing a large display unit.

The guide robot according to the present invention is characterized in that the bracket portion includes a first bracket portion and a second bracket portion which are respectively coupled to the pair of main vertical frames and positioned so as to face each other, And management can be facilitated.

According to the present invention, even if the height of the robot is increased, the center of gravity can be positioned at the lower part. Therefore, it is possible to have a stable robot structure, and stable traveling can be performed without shaking.

According to the present invention, since a large number of electronic parts can be efficiently installed in a narrow internal space, the internal space of the robot can be effectively used, and the robot can be made compact.

According to the present invention, there is provided a robot capable of maintaining a center of gravity while a large display unit is provided, so that information displayed on the display unit can be easily viewed.

According to the present invention, since the accessibility to the electronic parts installed in the robot is facilitated, there is an advantage that the maintenance and management can be easily performed.

1 is a perspective view of a guide robot according to an embodiment of the present invention;
2 is a bottom perspective view of the guide robot viewed from the bottom;
3 is a side view of the guide robot.
4 is an exploded perspective view of the guide robot.
5 is a perspective view of the main body of the guide robot.
6 is a side view of the main body.
7 is an exploded perspective view of the main body.
8 is a view showing a motor and a wheel provided in a driving unit of the main body.
9 is a plan view of the body portion of the main body.
10 is a plan view showing positions of main frames and subframes of the body part;

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

It is to be understood that the present invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, It is provided to inform.

Hereinafter, a guide robot according to an embodiment of the present invention will be described in detail with reference to the drawings.

The guide robot of the present invention can provide a route guidance service to a user in a public place or the like. The guide robot can travel in one direction or another direction in accordance with the determined travel route.

1 is a perspective view of a guide robot according to an embodiment of the present invention, FIG. 2 is a bottom perspective view of the guide robot viewed from the bottom, FIG. 3 is a side view of the guide robot, and FIG. 4 is an exploded perspective view of the guide robot .

1 to 4, the guiding robot 1 according to the present invention may include a main body 10 and a display unit 20.

The main body 10 may have a long length in a vertical direction and may have a slender shape as it goes up from the lower part to the upper part as a whole.

In detail, the main body 10 may include a case 30 forming an outer appearance of the guide robot 1. [

The case 30 includes a top cover 31 disposed on the upper side, a first middle cover 32 disposed on the lower side of the top cover 31, a second middle cover 32 disposed on the lower side of the first middle cover 32, A middle cover 33 and a bottom cover 34 disposed under the second middle cover 33.

The top cover 31 is located at the uppermost end of the guide robot 1 and may have a hemispherical shape or a dome shape. The top cover 31 may be located at a lower height (e.g., 132 to 152 cm) than an adult's key for easy input of commands from a user. The top cover 31 may be configured to rotate at a predetermined angle.

The top cover 31 may include an operation unit 311 on one side of the front cover.

The operation unit 311 may perform a function of receiving a command from a user. To this end, the operation unit 311 may include a touch monitor 312 for receiving a touch input from a user. The touch monitor 312 may include a touch panel configured to receive a user's input and a monitor for displaying output information.

In addition, the operation unit 311 may be oriented upward by a predetermined angle so that the user can easily operate the touch monitor 312 while looking down on the touch monitor 312. For example, the operation unit 311 may be disposed on a surface of the top cover 31, which is formed by cutting a part of the top cover 31. Accordingly, the touch monitor 312 may be disposed to be inclined.

On the other hand, the direction in which the operating portion 311 faces with reference to Fig. 1 is defined as "forward ". The direction opposite to the operating portion 311, that is, the direction toward the display portion 20 is defined as "rear ".

The operation unit 311 may further include a subject recognition sensor 313.

The object recognition sensor 313 may be disposed on the upper side of the touch monitor 312. The object recognition sensor 313 may include a 2D camera 313a and RGBD sensors 313b and 313c.

The 2D camera 313a may be a sensor for recognizing a person or an object based on a two-dimensional image.

Also, the RGBD sensors (Red, Green, Blue, Distance) 313b and 313c may be sensors for acquiring a person's position or a face image. The RGBD sensors 313b and 313c may be sensors for detecting people or objects using captured images having depth data obtained from a camera having RGBD sensors or other similar 3D imaging devices.

In order to accurately detect a person's position or a face image, the RGBD sensors 313b and 313c may be plural. For example, the RGBD sensors 313b and 313c may be disposed on the left and right sides of the 2D camera 313a.

Although not shown, the operation unit 311 may further include a physical button for directly receiving a command from a user.

In addition, the top cover 31 may further include a microphone 314.

The microphone 314 may perform a function of receiving a command of an audio signal from a user. For example, the microphone 314 may be formed at four points at any point on the top of the top cover 31 to correctly receive voice commands from the user. Therefore, even when the guide robot 1 is running or the top cover 31 is rotating, it is possible to correctly receive a voice guidance request from the user.

In the present embodiment, the top cover 31 can be rotated so that the operating portion 311 faces the running direction while the guide robot 1 is running. The top cover 31 can be rotated such that the operating section 311 faces the direction in which the user is positioned when the guide robot 1 receives a command (e.g., voice command) from the user while the guide robot 1 is running.

Alternatively, the top cover 31 may be rotated in a direction opposite to the running direction of the guide robot 1 when the guide robot 1 receives a command from the user while the guide robot 1 is running. That is, the top cover 31 may be rotated in a direction in which the display unit 20 faces. Accordingly, the user can operate the operation unit 311 effectively while viewing the route guidance service information or the like displayed on the display unit 20.

On the other hand, in a state where the guide robot 1 is running or stopped, the direction in which the operating unit 311 and the display unit 20 are viewed may be opposite to each other. In this case, for example, the operation unit 311 may be oriented toward one direction and the display unit 20 may be oriented toward the other direction opposite to the one direction. Therefore, the operation unit 311 or the display unit 20) can be viewed from both directions.

In addition, the top cover 31 may further include an emergency operation button 315.

The emergency operation button 315 can perform the function of immediately stopping the operation of the guide robot 1 while the guide robot 1 is stationary or running. For example, the emergency operation button 315 may be located behind the guide robot 1 so that the emergency operation button 315 can be easily operated even if the guide robot 1 runs forward. have.

The first middle cover 32 may be disposed below the top cover 31. Various electronic components including a substrate may be positioned inside the first middle cover 33. The first middle cover 32 may have a cylindrical shape having a larger diameter as it goes downward from the upper portion.

In detail, the first middle cover 32 may include an RGBD sensor 321.

The RGBD sensor 321 may sense a collision between the guide robot 1 and an obstacle while the guide robot 1 is running. For this purpose, the RGBD sensor 321 may be positioned in a direction in which the guide robot 1 travels, that is, in front of the first middle cover 32. For example, the RGBD sensor 321 may be positioned at the upper end of the first middle cover 32, taking into consideration the obstacle or human key present in front of the guide robot 1. However, the present invention is not limited thereto, and the RGBD sensor 321 may be disposed at various positions in front of the first middle cover 32.

The first middle cover 32 may further include a speaker hole 322.

The speaker hole 322 may be a hole for transmitting sound generated from the speaker to the outside. The speaker hole 322 may be formed on the outer peripheral surface of the first middle cover 32, or may be formed in a single number. Alternatively, the plurality of speaker holes 322 may be formed on the outer peripheral surface of the first middle cover 32 to be spaced apart from each other.

The first middle cover 32 may further include a hole 323 for a stereo camera.

The hole 323 for a stereo camera may be a hole for an operation of a stereo camera 137 (see FIG. 5) installed in the main body 10. For example, the hole 323 for the stereo camera may be formed at a lower front end of the first middle cover 32. Accordingly, the stereo camera 137 can take a picture of the front area of the guide robot 1 through the hole for stereo camera 323.

The second middle cover (33) may be disposed below the first middle cover (32). A battery, a rider for autonomous traveling, and the like may be positioned inside the second middle cover 33. Like the first middle cover 32, the second middle cover 33 may have a cylindrical shape having a larger diameter from the upper to the lower side. The outer side of the second middle cover (33) may be connected to the outer side of the first middle cover (32) without a step. That is, since the outer side of the second middle cover 33 and the outer side of the first middle cover 32 can be smoothly connected, the appearance of the second middle cover 33 can be improved.

Further, the first middle cover 32 and the second middle cover 33 have a cylindrical shape having a larger diameter as they descend from the upper portion to the lower portion, so that the first middle cover 32 and the second middle cover 33 may have a chirped shape as a whole. Therefore, the impact generated when the main body 10 collides with a person or an obstacle can be alleviated.

In detail, the second middle cover 33 may include a first cutout 331.

The first cutout 331 may be formed laterally in front of the outer circumferential surface of the second middle cover 33. The first cutout portion 331 is a portion cut from the second middle cover 33 so that a front rider 136, which will be described later, can operate.

Specifically, the first cutout 331 may be cut to a predetermined length in the radial direction from the outer circumferential surface of the front side of the second middle cover 33. Here, the front rider 136 is positioned inside the second middle cover 33. The first cutout portion 331 may be formed along the circumference of the second middle cover 33 on the outer circumferential surface of the second middle cover 33 corresponding to the position of the front rider 136 . That is, the first incision part 331 and the front rider 136 may face each other. Therefore, the front rider 136 may be exposed to the outside by the first cutout portion 331. [

For example, the first incision 331 may be cut by 270 degrees around the front of the second middle cover 33. The reason why the first incision 331 is formed in the second middle cover 33 is to prevent the laser emitted from the front rider 136 from being directly irradiated to the eyes of an adult or a child to be.

In addition, the second middle cover 33 may further include a second cutout 332.

The second cut portion 332 may be formed laterally from the rear of the outer circumferential surface of the second middle cover 33. The second cut-out portion 332 is a portion cut from the second middle cover 33 so that a rear rider 118, which will be described later, is operable.

Specifically, the second cut-out portion 332 may be cut to a predetermined length in the radial direction from the rear outer circumferential surface of the second middle cover 33. Here, the rearward rider 118 is located inside the second middle cover 33. The second cut-out portion 332 may be formed along the second middle cover 33 at a position corresponding to the position of the rear rider 118. Therefore, the rear rider 118 may be exposed to the outside by the second cutout 332. [ For example, the second incision 332 may be cut by about 130 degrees along the circumference at the rear of the second middle cover 33.

In the present embodiment, the first incision part 331 may be spaced apart from the second incision part 332 in the vertical direction. The first incision part 331 may be positioned above the second incision part 332.

If the first incision portion 331 and the second incision portion 332 are positioned on the same line, the laser emitted from the rider of the guide robot can be irradiated to the rider of the other guide robot. Then, lasers emitted from the riders of the guide robots may mutually interfere with each other, and accurate distance detection may become difficult. In this case, since it is impossible to detect the distance between the guidance robot and the obstacle, normal traveling is difficult and a problem that the guidance robot and the obstacle collide with each other may occur.

Further, the second middle cover 33 may further include an ultrasonic sensor 333.

The ultrasonic sensor 333 may be a sensor for measuring the distance between the obstacle and the guide robot 1 using ultrasonic signals. The ultrasonic sensor 333 can perform a function of detecting an obstacle close to the guide robot 1. [ For example, the ultrasonic sensor 333 may be configured to detect obstacles in all directions close to the guide robot 1. The plurality of ultrasonic sensors 333 may be spaced apart from each other around the lower end of the second middle cover 33.

The bottom cover 34 may be disposed on the lower side of the second middle cover 33. A wheel 112, a caster 112a, and the like may be positioned inside the bottom cover. Unlike the first middle cover 32 and the second middle cover 33, the bottom cover 34 may have a cylindrical shape whose diameter decreases from the upper portion to the lower portion. That is, the main body 10 has a staggered shape as a whole to reduce the amount of impact applied when the robot is in a collision state, and the lower end of the main body 10 has a structure to move inwardly to prevent a human foot from being caught by the wheels of the robot .

In detail, a base 111 may be positioned inside the bottom cover 34.

The base 111 may form the bottom surface of the guide robot 1. [ In addition, the base 111 may be provided with a wheel 112 for traveling the guide robot 1. The wheel 112 may be positioned on the left and right sides of the base 111, respectively.

In addition, the base 111 may be provided with a caster 112a for assisting the traveling of the guide robot 1. [ Here, the casters 112a may be composed of a plurality of casters for manual movement of the guide robot 1. [ For example, the casters 112a may be positioned at the front and rear of the base 111, respectively.

According to the above-described caster structure, when the power of the guide robot 1 is turned off or the guide robot 1 is manually moved, the guide robot 1 can be pushed and moved without applying a large force There are advantages.

The display unit 20 may be formed long in the vertical direction at one side of the guide robot 1. [

In detail, the display unit 20 may include a curved surface display 21.

The curved display 21 may be positioned behind the first middle cover 32. [ The curved surface display 21 may perform a function of outputting time information (e.g., airport gate inquiry information, route guidance service information, etc.) related to a service currently being provided.

In addition, the curved display 21 may have a shape curved outwards to a predetermined curvature. That is, the curved display 21 may have a generally concave shape. The curved display 21 may have a shape that tilts backward as it goes down from the upper part. In other words, the curved display 21 can be formed so as to move away from the case 1 as it goes down from the upper part.

The information displayed on the curved surface display 21 is not only visible at a position far from the guide robot 1 but also displayed on the curved surface display 21 at various angles There is no advantage.

In addition, according to the embodiment of the present invention, the guide robot 1 can move along the set path to guide the user to the path. Then, the user can see the display unit 20 installed behind the guide robot 1 while moving along the guide robot 1. That is, even if the guide robot 1 travels for guiding the route, the user can easily see the information displayed on the display unit 20 while following the guide robot 1.

The upper end of the curved display 21 may extend to the upper end of the first middle cover 32 and the lower end of the curved display 21 may extend to the second cutout 332. In this embodiment, the lower end of the curved display 21 should be formed so as not to exceed the second cutout 332. If the curved display 21 is formed to cover the second cut-out portion 332, the laser emitted from the rear rider 118 will strike the lower end of the curved display 21. As a result, the guide robot (1) may be unable to detect the distance to the obstacle located behind.

The display unit 20 may further include a support unit 22.

The support portion 22 may function to hold the curved display 21 at a position behind the first middle cover 32. The support portion 22 may extend from the back surface of the curved display portion 21. The support portion 22 may be formed to be long in the vertical direction on the back surface of the curved display 21 and may protrude further downward from the upper portion.

The support portion 22 may be inserted into the first middle cover 32 through the rear of the first middle cover 32. To this end, a through hole 324 through which the support portion 22 can pass may be formed in the rear of the first middle cover 32. The through-hole 324 may be formed by cutting a part of the outer peripheral surface of the first middle cover 32 rearward.

The display unit 20 may be fixed to the inside of the main body 10 by a separate fixing member 138. The structure in which the display 20 is fixed to the main body 10 will be described later.

Hereinafter, the components constituting the main body of the guide robot will be described in detail with reference to the drawings. Hereinafter, the case is removed from the main body.

FIG. 5 is a perspective view of the main body of the guide robot, FIG. 6 is a side view of the main body, FIG. 7 is an exploded perspective view of the main body, and FIG.

5 to 8, the main body 10 according to the present invention may include a driving unit 11. [ The driving unit 11 may include a plurality of components for driving the guide robot 1. [

In detail, the driving unit 11 may include a base 111.

The base 111 may form a bottom surface of the guide robot 1. [ The base 111 may have a disc shape, and may be positioned inside the bottom cover 34.

The driving unit 11 may further include a wheel 112 for driving the guide robot 1 and a motor 112b for transmitting power to the wheel 112. [ The wheel 112 may be rotated by the power transmitted from the motor 112b. The wheels 112 may be formed as a pair and may be disposed on the left and right sides of the base 111, respectively. The motors 112b may also be configured as a pair and may be coupled to the pair of wheels 112, respectively. However, the present invention is not limited to this, and the motor 112b may be a single motor to drive the pair of wheels 112.

The driving unit 11 may further include a cliff detection sensor 113.

The cliff detection sensor 113 may be a sensor for detecting a cliff or a cliff in a traveling range of the guide robot 1 in 360 degrees forward direction. The cliff detection sensor 113 may include a plurality of cliff detection sensors. For example, the plurality of cliff-detection sensors 113 may be spaced apart from each other along the edge of the base 111.

Further, the driving unit 11 may further include a first supporting rib 114.

The first support ribs 114 may support the first support plate 115, which will be described later. The first support ribs 114 may extend upward from the upper surface of the base 111. For example, the first support ribs 114 may extend upward from the edge of the base 111. The first support ribs 114 may include a plurality of first support ribs 114. Some of the first support ribs 114 may be hollow or have one side recessed to minimize weight.

In the present embodiment, the two first support ribs 114 may be connected in a "? &Quot; shape. However, the present invention is not limited thereto, and the first support ribs 114 may be disposed in various positions and shapes.

In addition, the driving unit 11 may further include a first support plate 115.

The first support plate 115 may be positioned above the first support ribs 114. The first support plate 115 may have a plate-like shape. The first support plate 115 may include a drain hole 115a for minimizing weight. A plurality of holes 115a may be formed on the upper surface of the first support plate 115.

The driving unit 11 may further include a first bumper unit 116.

The first bumper part 116 may be moved in the forward and backward directions to absorb a certain amount of an impact when an external impact is applied. The first bumper part 116 may be formed in a ring shape having an inner space and may be disposed on the upper surface of the first support plate 115.

In addition, the driving unit 11 may further include a battery 117.

The battery 117 may supply power for driving the guide robot 1. [ The battery 117 may be disposed at the center of the upper surface of the first support plate 115 in consideration of the center of gravity of the guide robot 1. [ The battery 117 occupies the largest weight of the entire weight of the guide robot 1, so that the battery 117 is located at a lower position in the main body 10.

The battery 117 may include a lithium-ion battery (Li-Ion Battery). However, the present invention is not limited thereto, and the battery 117 may include a battery other than a lithium-ion battery.

In addition, the driving unit 11 may further include a rear rider 118.

The rearward rider 118 may be a laser radar, which performs a position recognition by irradiating a laser beam and collecting and analyzing backscattered light among light absorbed or scattered by the aerosol . The rear rider 118 may be disposed behind the first support plate 115. That is, the rearward rider 118 may be disposed toward the rear of the guide robot 1. [ The rear rider 118 may be exposed to the outside through the second cut-out portion 332 formed in the second middle cover 33.

In addition, the driving unit 11 may further include a second supporting rib 119.

The second support rib 119 may support the second support plate 120, which will be described later. The second support ribs 119 may extend upward from the upper surface of the first support plate 115.

Specifically, the second support ribs 119 may be formed at the edge of the battery 117. For example, the second support ribs 119 may be formed on both sides of the battery 117, respectively. The second supporting ribs 119 may be formed with a plurality of second supporting ribs 119 to increase the supporting force and the upper ends of the plurality of second supporting ribs 119 may be connected. That is, the second support ribs 119 may have an arch shape. However, the present invention is not limited thereto, and the second support rib 119 may have various shapes.

In addition, the driving unit 11 may further include a second support plate 120.

The second support plate 120 may be positioned above the second support rib 119. The second support plate 120 may have a plate-like shape. In addition, the second support plate 120 may include a hole 120a for draining to minimize weight. A plurality of the holes 120a may be spaced apart from the upper surface of the second support plate 120.

In addition, the driving unit 11 may further include a second bumper unit 121.

Like the first bumper part 116, the second bumper part 121 can be moved in the forward and backward directions to absorb a certain amount of impact when an external impact is applied. The second bumper part 121 may be formed in a ring shape and may be disposed on the upper surface of the second support plate 120.

The driving unit 11 may further include a height adjusting rib 122.

The height adjusting ribs 122 may provide a predetermined height to the front rider 136, which will be described later. That is, the height adjusting ribs 122 may be disposed on the lower side of the front rider 136 to assist in adjusting the height of the front rider 136 and the first incision portion 331. The height adjusting ribs 122 may extend upward from the upper surface of the second support plate 120.

Hereinafter, a vertical frame structure for maintaining the weight balance of the guide robot of the present invention will be described in detail with reference to the drawings.

FIG. 9 is a plan view of a body part of the main body, and FIG. 10 is a plan view showing positions of main frames and subframes of the body part.

5 to 10, the main body 10 may further include a body portion 13. As shown in FIG.

The body part 13 serves to fix and support the heavy display part 20 next to the battery 117 among the components of the guide robot 1. [ Accordingly, the body part 13 may be provided with a plurality of vertical frames, and a frame structure capable of aligning the center of gravity of the body part 13 even if the display part 20 is coupled to the body part 13 is required.

The body part 13 is disposed on the upper side of the driving part 11 and may include various boards 133 for controlling the overall operation of the guide robot 1. [ In this embodiment, the substrate 133 may include a first substrate 133a, a second substrate 133b, a third substrate 133c, a fourth substrate 133d, and a fifth substrate 133e.

In detail, the body part 13 may include a main frame 131.

The main frame 131 may support the display unit 20 and a head unit 15 to be described later. The main frame 131 may include a first main frame 131a and a second main frame 131b. The first main frame 131a and the second main frame 131b may have a columnar shape that is long in the vertical direction. The first main frame 131a and the second main frame 131b may be fixed to the upper surface of the second support plate 120.

For example, the first main frame 131a and the second main frame 131b may be equally spaced from both sides of the center of the second support plate 120 in consideration of the center of gravity. That is, the first main frame 131a and the second main frame 131b may be symmetrical with respect to the center of the second support plate 120. The head portion 15 may be coupled to the upper ends of the first main frame 131a and the second main frame 131a.

Further, the body part 13 may further include a third support plate 132.

The third support plate 132 may be passed through the main frame 131 and fixed to the main frame 131 at a predetermined position. The third support plate 132 may be positioned below the bisector with respect to a point bisecting the main frame 131 in order to reduce the center of gravity as much as possible. In addition, the third support plate 132 may have a disk shape and may include a drain hole 132a for minimizing weight.

The second support plate 12 may have a larger area than the first support plate 115 and a smaller area than the third support plate 132. That is, the area of each plate may become smaller as it goes up from the first support plate 115 to the third support plate 132. With such a structure, the main body 10 can have a staggered shape in which the upper portion is slimmer than the lower portion as a whole. Therefore, the guide robot 1 can visually provide a sense of stability and can be structurally stable by increasing the area of the plate that is actually supported from the upper portion to the lower portion.

In addition, the body part 13 may further include a first substrate 133a.

The first substrate 133a may be disposed on the upper surface of the third support plate 132. The first substrate 133a may include an AP (Application Processor), for example. The AP board can function as a device for managing the entire system of the hardware module of the guide robot 1, i.e., a control unit.

Although not shown, other electronic components may be further disposed in the third support plate 132. In this case, the third support plate 132 may function to dissipate heat generated from the first substrate 133a and other electronic components. The third support plate 132 has a structure in which it is fitted to the main frame 131 so that heat generated from the first substrate 133a and other electronic components is transferred to the third support plate 132 So that the heat can be more advantageously transmitted to the main frame 131.

In addition, the body part 13 may further include a subframe 134. The subframe 134 may be formed between the second support plate 120 and the third support plate 132 to support the third support plate 132. The sub-frame 134 may be lower than the height of the main frame 131.

In particular, the sub-frame 134 may include a first sub-frame 134a and a second sub-frame 134b.

The first sub-frame 134a and the second sub-frame 134b may have a columnar shape that is long in the vertical direction. The lower end of the first sub frame 134a and the second sub frame 134b may be fixed to the upper surface of the second support plate 120 and the upper end of the first sub frame 134a may be coupled to the third support plate 132 .

In addition, the first sub-frame 134a and the second sub-frame 134b may be disposed adjacent to the main frame 131. [ For example, the first subframe 134a and the second subframe 134b may be equally spaced rearward from the first main frame 131a and the second main frame 131b, respectively. That is, the first sub-frame 134a and the second sub-frame 134b may be symmetrical with respect to the center of the second support plate 120. The upper ends of the first sub-frame 134a and the second sub-frame 134a may be fastened to the third support plate 132 by fastening means.

In addition, the sub-frame 134 may further include a third sub-frame 134c.

The third sub-frame 134c may have a columnar shape that is long in the vertical direction. The third sub-frame 134c is positioned between the second support plate 120 and the third support plate 132 in the same manner as the first sub-frame 134a and the second sub-frame 134b .

In addition, the third sub-frame 134c may be disposed adjacent to the main frame 131. [ For example, the third sur- face frame 134c may be spaced apart from the center of the second support plate 120 by a predetermined distance. In other words, the third sub-frame 134c may be positioned in front of the second support plate 120 in consideration of the center of gravity of the third support plate 132. The upper end of the third sub-frame 134c may be fastened to the third support plate 132 by fastening means.

In addition, the first sub-frame 134a, the second sub-frame 134b, and the third sub-frame 134c may have the same height. Therefore, the third support plate 132 can be kept horizontal without being tilted to one side.

Further, the body part 13 may further include a bracket part 135. The bracket portion 135 may have a plate-like shape and may be formed long in the vertical direction and may be coupled to the main frame 131.

Specifically, the bracket portion 135 may include a first bracket portion 135a and a second bracket portion 135b.

The first bracket part 135a may be coupled to the first main frame 131a and the second bracket part 135b may be coupled to the second main frame 131b. In the present embodiment, the first bracket portion 135a may be disposed to face the second bracket portion 135b. That is, the first bracket portion 135a and the second bracket portion 135b may be fixed to the surfaces of the first main frame 131a and the second main frame 131b facing each other.

The first bracket portion 135a and the second bracket portion 135b may be extended downward from upper ends of the first main frame 131a and the second main frame 131b. The lower part of the first bracket part 135a and the lower part of the second bracket part 135b may penetrate a part of the third support plate 132. [

In addition, the body part 13 may further include a second substrate 133b.

The second substrate 133b may be disposed on the first bracket portion 135a. Specifically, the second substrate 133b may be disposed at an inner lower portion of the first bracket portion 135a. The second board 133b may include an MCU board (Micro Controller Unit). The MCU board can control the overall driving of the guide robot 1 and may include a memory in which data supporting various functions of the guide robot 1 are stored.

In addition, the body part 13 may further include a third substrate 133c.

The third substrate 133c may be disposed on the first bracket portion 135a. Specifically, the third substrate 133c may be disposed on the first substrate 133b. The third substrate 133c may include a stereo board, for example. The stereo board processes and processes sensing data collected from various sensors and cameras to manage data for recognizing the position of the guide robot 1 and recognizing obstacles.

Further, the body part 13 may further include a fourth substrate 133d.

The fourth substrate 133d may be disposed on the first bracket portion 135a. In detail, the fourth substrate 133d may be disposed on the third substrate 133c. The fourth substrate 133d may include a user interface board. The user interface board can control an operation of a component responsible for user input and output.

In addition, the body part 13 may further include a fifth substrate 133e.

The fifth substrate 133e may be disposed on the second bracket portion 135b. Specifically, the fifth board 133e may be disposed to face the second board 133b from the inside of the second bracket portion 135b. The fifth board 133e may include a power board, for example. The power supply board can control that the power of the battery 117 is supplied to each component included in the guide robot 1. [

As described above, since the plurality of boards are disposed adjacent to each other in the bracket part 135, a large number of parts can be efficiently installed even in a narrow space. Therefore, there is an advantage that the internal space of the robot requiring compactness can be utilized efficiently.

In addition, since the bracket part 135 is formed long downward along the main frame 131, the cross-sectional area of the bracket part 135 is widened, thereby effectively dissipating heat generated from the plurality of boards 133. The brackets 135 may have a structure in which a part of the brackets 135 are in contact with the main frame 131 so that the heat generated from the plurality of boards 133 is transmitted to the main frame 131 So that the heat dissipation can be further improved.

In the present embodiment, the body portion 13 has been described as including five substrates 133a, 133b, 133c, 133d, and 133e. However, the number of the substrate 133 is not limited to the above number, but may be smaller or larger than the above number. It should be understood that the types of the above-described substrates have been described by way of example, and thus are not limited to the above-described types of substrates.

In addition, the body part 13 may further include a fixing member 138. The fixing member 138 may perform a function of fixing the display unit 20 to the main body 10.

Specifically, one side of the fixing member 138 may be coupled to the bracket 135, and the other side thereof may be coupled to the display unit 20. The fixing member 138 may be coupled to the display unit 20 through the through hole 324 formed in the rear of the first middle cover 32. [ One side of the fixing member 138 can be fixed to the bracket part 135 by fastening means and the other side can be fixed to the display part 20 by fastening means.

At this time, the supporting portion 22 of the display unit 20 can be raised above the fixing member 138. In other words, the extension part 20 is mounted on the upper side of the fixing member 138, and a part of the fixing member 138 can be fixed to a part of the display part 20. With the above-described display unit fixing structure, the display unit 20 can be stably positioned behind the first middle cover 32.

The display unit 20 is fixed to the bracket 135 coupled to the main frame 131 so that the display unit 20 is supported by the main frame 131. That is, since the main frame 131 is composed of a plurality of main frames 131 rather than a single main frame 131, the large display unit 20 can be stably supported.

In addition, the main frame 131 is supported by the third plate 132 so that the large display unit 20 can be more stably supported. In addition, the third plate 132 is supported by the three sub-frames 134, so that the display unit 20 can be supported more strongly.

Also, in this embodiment, the main frame 131 and the sub-frame 135 should be formed only on the second plate 120. This is because a motor 122b for driving the wheel 112 is disposed at the center of the base 111 and a battery 117 is disposed at the center of the upper surface of the first plate 120. Therefore, in order to improve the supporting force of the main frame 131 and the sub-frame 135, it should be positioned on the upper surface of the second plate 120.

On the other hand, the display unit 20 has a structure that can be easily attached to and detached from the fixing member 138. In this case, when the display unit 20 is detached from the fixing member 138, a plurality of substrates 133 disposed on the bracket unit 135 through the through holes 324 can be seen at a glance. That is, by simply separating the display unit 20, access to the plurality of substrates 133 can be facilitated. Therefore, according to the present invention, there is an advantage that maintenance and management of electronic parts installed in the robot are easy.

Here, the main frame 131 and the sub-frame 135 are vertically erected frames, and may be referred to as "main vertical frame" and "sub vertical frame", respectively. The first support plate 115, the second support plate 120, the third support plate 132, and the fourth support plate 151 are horizontally arranged, Quot ;, " second horizontal frame ", " third horizontal frame ", and " fourth horizontal frame ".

In addition, the body part 13 may further include a front rider 137.

The front rider 137 may be a laser radar, which is a sensor that irradiates a laser beam and collects and analyzes backscattered light among light absorbed or scattered by the aerosol to perform position recognition. The front rider 137 may have the same configuration as the rear rider 118. However, the front rider 137 may be disposed in front of the second support plate 120. That is, the front rider 137 may be disposed toward the front of the guide robot 1. [ The front rider 137 may be exposed to the outside through the first cut-out portion 331 formed in the second middle cover 33. The front rider 137 may be lifted up to the height adjustment rib 122 formed on the second support plate 120.

In addition, the body part 13 may further include a stereo camera 137.

The stereo camera 137 may perform a function of detecting an obstacle in front of the guide robot 1 together with the RGBD sensor 321. The stereo camera 137 acquires a stereoscopic image using two cameras, and can measure the distance between the guide robot 1 and the obstacle through the obtained stereoscopic image. In one example, the stereo camera 137 may be located in a room directly above the front rider 137. For this purpose, the stereo camera 137 may be fixed to one side of the third sub-frame 134c. The stereo camera 137 may photograph the front area of the guide robot 1 through the hole for stereo camera 323 formed in the first middle cover 32. [

The main body 10 may further include a head 15. The head part 15 may be disposed on the upper side of the body part 13. The head cover 15 is coupled to the top cover 31, and the top cover 31 is rotatable.

In detail, the head portion 15 may include a fourth support plate 151.

The fourth support plate 151 is mounted on the upper end of the main frame 131 and can be engaged with the main frame 131. The fourth support plate 151 has a disk shape and may include a drain hole 151a for minimizing weight.

Further, the head 15 may further include a rotating member 152.

The rotary member 152 is disposed on the upper side of the fourth support plate 151 and can be rotated at a predetermined angle. The rotary member 152 may have a ring shape. The rotating member 152 may be coupled to a rotating motor to be described later. For this purpose, the rotating member 152 may include a motor engaging portion 152a extending from the edge of the rotating member 152 toward the center of the rotating member 152 at a certain point. The top cover 31 may be coupled to an edge of the rotary member 152. Accordingly, the top cover 31 can be rotated together by the rotation of the rotatable member 152.

The head unit 15 may further include a rotation motor 153.

The rotation motor 153 may provide power for rotating the rotary member 152. [ The rotation motor 153 has a rotation axis, and the rotation axis can be coupled to the motor coupling part 152a. Therefore, the rotation member 152 can be rotated in one direction or another direction by driving the rotation motor 153. [ The rotation motor 153 may include, for example, a DC motor. However, the present invention is not limited thereto, and various motors such as a stepping motor may be used.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the invention is not limited to the disclosed exemplary embodiments. It is obvious that a transformation can be made. Although the embodiments of the present invention have been described in detail above, the effects of the present invention are not explicitly described and described, but it is needless to say that the effects that can be predicted by the configurations should also be recognized.

Claims (13)

A base having a wheel and a motor for traveling;
A first horizontal frame positioned above the base and having a battery disposed therein;
A second horizontal frame spaced upwards from the first horizontal frame and having a sensor for autonomous travel;
A third horizontal frame spaced upwards from the second horizontal frame;
A pair of main vertical frames spaced apart from each other on an upper surface of the second horizontal frame and vertically penetrating the third horizontal frame; And
And one or more sub-vertical frames formed between the second horizontal frame and the third horizontal frame to support the third horizontal frame. The method according to claim 1,
Wherein the pair of main vertical frames are equally spaced from both sides of the center of the second horizontal frame. 3. The method of claim 2,
Further comprising a bracket portion coupled to the pair of main vertical frames and having a plurality of substrates. The method of claim 3,
And the bracket portion includes a first bracket portion and a second bracket portion which are respectively coupled to the pair of main vertical frames and positioned to face each other. The method of claim 3,
And a fixing member to which the display unit is fixed is coupled to the bracket unit. The method according to claim 1,
The sub-
A first sub-vertical frame spaced rearwardly from the main vertical frame by a predetermined distance;
A second sub-vertical frame spaced rearward from the main vertical frame by a predetermined distance; And
And a third sub-vertical frame spaced a predetermined distance forward from the center of the second horizontal frame. The method according to claim 6,
Wherein the first sub-vertical frame, the second sub-vertical frame, and the third vertical sub-frame have the same height. The method according to claim 1,
Wherein the second horizontal frame is smaller in area than the first horizontal frame and the area is larger than the third horizontal frame. The method according to claim 1,
Wherein the third horizontal frame is positioned below the bisector based on a point bisecting the main vertical frame. The method according to claim 1,
And a first supporting rib for supporting the first horizontal frame is formed on an upper surface of the base. The method according to claim 1,
And a second support rib for supporting the second horizontal frame is formed on an upper surface of the first horizontal frame. The method according to claim 1,
And at least one electronic component is disposed in the second horizontal frame. The method according to claim 1,
And a head portion positioned above the pair of main vertical frames.

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