KR20200067446A - Electronic device including spherical mobile device and second device movable thereon, and attitude conrol method of second devcie - Google Patents

Abstract

According to an embodiment of the present invention, an electronic device comprises a first device having a spherical housing and a second device disposed on a surface of the spherical housing. The first device includes: a first driving device disposed in the spherical housing, and transmitting power to the spherical housing; a second driving device disposed in the spherical housing, having a structure for allowing the second device to be disposed on the surface of the spherical housing, and causing movement of the structure; at least one sensor disposed in the structure; and a processor electrically connected to the first and second driving devices, and the sensor. The processor can obtain a value related to at least one of acceleration, gyro, or terrestrial magnetism from the sensor, and control the second driving device on the basis of the obtained value. Various other embodiments may be possible. According to the present invention, function implementation or service provision using the second device movable on the spherical movable device can be smoothly performed.

Description

ELECTRONIC DEVICE INCLUDING SPHERICAL MOBILE DEVICE AND SECOND DEVICE MOVABLE THEREON, AND ATTITUDE CONROL METHOD OF SECOND DEVCIE}

One embodiment of the present invention relates to an electronic device including a spherical mobile device and a second device movable thereon, and a posture control method of the second device.

The spherical moving device may include a spherical housing and an internal drive device disposed in the spherical housing. The spherical housing can be rotated by an internal drive, whereby the electronic device can be moved.

The spherical moving device may be shaken due to the characteristics of the spherical housing during acceleration or deceleration, for example. Such a shake may make it difficult to implement a function or provide a service through an old mobile device.

An embodiment of the present invention is an electronic device including a spherical moving device and a second device movable thereon, and a posture control of the second device, for solving a posture control problem related to acceleration or deceleration of the spherical mobile device You can provide a method.

According to an embodiment of the present invention, an electronic device includes a first device having a spherical housing, and a second device disposed on the spherical housing surface, wherein the first device is disposed in the spherical housing, and the A first driving device capable of transmitting power to the spherical housing, a structure disposed in the spherical housing, the second driving device causing the structure to move on the surface of the spherical housing, and the second driving device causing the structure to move. And a processor electrically connected to the first driving device, the second driving device, and the at least one sensor, wherein the processor includes acceleration, gyro, or geomagnetic from the at least one sensor. A value related to at least one of the values may be acquired, and the second driving device may be controlled based on the obtained value.

According to an embodiment of the present invention, it is possible to overcome the difficulty of posture control due to acceleration or deceleration of the old mobile device, and to smoothly implement a function or provide a service utilizing a second device that can move on the old mobile device. have.

In addition, effects obtained or predicted due to various embodiments of the present invention are disclosed directly or implicitly in the detailed description of the embodiments of the present invention. For example, various effects predicted according to various embodiments of the present invention will be disclosed in the detailed description to be described later.

1 is a block diagram of an electronic device in a network environment according to one embodiment.
2A is a perspective view of an electronic device according to an embodiment.
2B is a plan view of the electronic device of FIG. 2A according to an embodiment.
2C is a perspective view of an electronic device according to various embodiments of the present disclosure.
3 is an exploded perspective view of the first device of FIG. 2A according to an embodiment.
4 is a perspective view of a first device according to an embodiment.
5 is a partial cross-sectional view of a first device according to an embodiment.
6 is an exploded perspective view of a second device according to an embodiment.
7 is a block diagram of an electronic device according to an embodiment.
8 is an operation flowchart of the first device of FIG. 7 according to an embodiment.

Hereinafter, various embodiments of the present document will be described with reference to the accompanying drawings.

1 is a block diagram of an electronic device 101 in a network environment 100 according to various embodiments. Referring to FIG. 1, in the network environment 100, the electronic device 101 communicates with the electronic device 102 through the first network 198 (eg, a short-range wireless communication network), or the second network 199. It may communicate with the electronic device 104 or the server 108 through (eg, a remote wireless communication network). According to an embodiment, the electronic device 101 may communicate with the electronic device 104 through the server 108. According to an embodiment, the electronic device 101 includes a processor 120, a memory 130, an input device 150, an audio output device 155, a display device 160, an audio module 170, a sensor module ( 176), interface 177, haptic module 179, camera module 180, power management module 188, battery 189, communication module 190, subscriber identification module 196, or antenna module 197 ). In some embodiments, at least one of the components (for example, the display device 160 or the camera module 180) may be omitted, or one or more other components may be added to the electronic device 101. In some embodiments, some of these components may be implemented in one integrated circuit. For example, the sensor module 176 (eg, fingerprint sensor, iris sensor, or illuminance sensor) may be implemented while embedded in the display device 160 (eg, display).

The processor 120, for example, executes software (eg, the program 140) to execute at least one other component (eg, hardware or software component) of the electronic device 101 connected to the processor 120. It can be controlled and can perform various data processing or operations. According to one embodiment, as at least part of data processing or computation, the processor 120 may receive instructions or data received from other components (eg, the sensor module 176 or the communication module 190) in the volatile memory 132. Loaded into, process instructions or data stored in volatile memory 132, and store result data in non-volatile memory 134. According to one embodiment, the processor 120 includes a main processor 121 (eg, a central processing unit or an application processor), and an auxiliary processor 123 (eg, a graphics processing unit, an image signal processor) that can be operated independently or together. , Sensor hub processor, or communication processor). Additionally or alternatively, the coprocessor 123 may be set to use lower power than the main processor 121, or to be specialized for a designated function. The coprocessor 123 may be implemented separately from the main processor 121 or as part of it.

The coprocessor 123 may replace, for example, the main processor 121 while the main processor 121 is in an inactive (eg, sleep) state, or the main processor 121 may be active (eg, execute an application) ) With the main processor 121 while in the state, at least one of the components of the electronic device 101 (for example, the display device 160, the sensor module 176, or the communication module 190) It can control at least some of the functions or states associated with. According to one embodiment, the coprocessor 123 (eg, image signal processor or communication processor) may be implemented as part of other functionally relevant components (eg, camera module 180 or communication module 190). have.

The memory 130 may store various data used by at least one component of the electronic device 101 (eg, the processor 120 or the sensor module 176). The data may include, for example, software (eg, the program 140) and input data or output data for commands related thereto. The memory 130 may include a volatile memory 132 or a non-volatile memory 134.

The program 140 may be stored as software in the memory 130, and may include, for example, an operating system 142, middleware 144, or an application 146.

The input device 150 may receive commands or data to be used for components (eg, the processor 120) of the electronic device 101 from outside (eg, a user) of the electronic device 101. The input device 150 may include, for example, a microphone, mouse, or keyboard.

The audio output device 155 may output an audio signal to the outside of the electronic device 101. The audio output device 155 may include, for example, a speaker or a receiver. The speaker can be used for general purposes such as multimedia playback or recording playback, and the receiver can be used to receive an incoming call. According to one embodiment, the receiver may be implemented separately from, or as part of, a speaker.

The display device 160 may visually provide information to the outside of the electronic device 101 (eg, a user). The display device 160 may include, for example, a display, a hologram device, or a projector and a control circuit for controlling the device. According to an embodiment, the display device 160 may include touch circuitry configured to sense a touch, or a sensor circuit (eg, a pressure sensor) configured to measure the strength of the force generated by the touch. have.

The audio module 170 may convert sound into an electrical signal, or vice versa. According to an embodiment, the audio module 170 acquires sound through the input device 150, or an external electronic device (eg, directly or wirelessly connected to the sound output device 155 or the electronic device 101) Sound may be output through the electronic device 102 (eg, speakers or headphones).

The electronic device 101 may further include a speech recognition module (not shown). The speech recognition module may convert, for example, an acoustic speech signal obtained through a microphone included in the input device 150 or a sound sensor included in the sensor module 176 into words or sentences. The speech recognition module extracts an acoustic signal and removes noise, and then extracts the characteristics of the speech signal and compares it with a speech model database (DB) for speech recognition. According to an embodiment, the voice model database may be stored and managed in an external electronic device (eg, the server 108), and the voice recognition module may access the external electronic device through the communication module 190.

The sensor module 176 detects an operating state (eg, power or temperature) of the electronic device 101 or an external environmental state (eg, a user state), and generates an electrical signal or data value corresponding to the detected state can do. According to an embodiment, the sensor module 176 may include, for example, a gesture sensor, a gyro sensor, a barometric pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor, an infrared (IR) sensor, a biological sensor, It may include a temperature sensor, a humidity sensor, or an illuminance sensor.

The interface 177 may support one or more designated protocols that can be used for the electronic device 101 to directly or wirelessly connect to an external electronic device (eg, the electronic device 102). According to an embodiment, the interface 177 may include, for example, a high definition multimedia interface (HDMI), a universal serial bus (USB) interface, an SD card interface, or an audio interface.

The connection terminal 178 may include a connector through which the electronic device 101 can be physically connected to an external electronic device (eg, the electronic device 102 ). According to an embodiment, the connection terminal 178 may include, for example, an HDMI connector, a USB connector, an SD card connector, or an audio connector (eg, a headphone connector).

The haptic module 179 may convert electrical signals into mechanical stimuli (eg, vibration or movement) or electrical stimuli that the user can perceive through tactile or motor sensations. According to one embodiment, the haptic module 179 may include, for example, a motor, a piezoelectric element, or an electrical stimulation device.

The camera module 180 may capture still images and videos. According to one embodiment, the camera module 180 may include one or more lenses, image sensors, image signal processors, or flashes.

The power management module 188 may manage power supplied to the electronic device 101. According to an embodiment, the power management module 188 may be implemented, for example, as at least part of a power management integrated circuit (PMIC).

The battery 189 may supply power to at least one component of the electronic device 101. According to one embodiment, the battery 189 may include, for example, a non-rechargeable primary cell, a rechargeable secondary cell, or a fuel cell.

The communication module 190 is a direct (eg, wired) communication channel or a wireless communication channel between the electronic device 101 and an external electronic device (eg, the electronic device 102, the electronic device 104, or the server 108). It can support establishing and performing communication through the established communication channel. The communication module 190 operates independently of the processor 120 (eg, an application processor) and may include one or more communication processors supporting direct (eg, wired) communication or wireless communication. According to one embodiment, the communication module 190 may include a wireless communication module 192 (eg, a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module 194 (eg : Local area network (LAN) communication module, or power line communication module. Corresponding communication module among these communication modules includes a first network 198 (for example, a short-range communication network such as Bluetooth, WiFi direct, or infrared data association (IrDA)) or a second network 199 (for example, a cellular network, the Internet, or It may communicate with external electronic devices through a computer network (eg, a telecommunication network such as a LAN or WAN). These various types of communication modules may be integrated into a single component (eg, a single chip), or may be implemented as a plurality of separate components (eg, multiple chips). The wireless communication module 192 uses a subscriber information (eg, International Mobile Subscriber Identifier (IMSI)) stored in the subscriber identification module 196 within a communication network such as the first network 198 or the second network 199. The electronic device 101 can be identified and authenticated.

The antenna module 197 may transmit a signal or power to the outside (eg, an external electronic device) or receive it from the outside. The antenna module may be formed of a conductor or a conductive pattern according to an embodiment, and according to some embodiments, may further include other components (eg, RFIC) in addition to the conductor or conductive pattern. According to one embodiment, the antenna module 197 may include one or more antennas, from which at least one suitable for a communication scheme used in a communication network, such as the first network 198 or the second network 199 The antenna of, for example, may be selected by the communication module 190. The signal or power may be transmitted or received between the communication module 190 and an external electronic device through the at least one selected antenna.

At least some of the components are connected to each other through a communication method between peripheral devices (for example, a bus, a general purpose input and output (GPIO), a serial peripheral interface (SPI), or a mobile industry processor interface (MIPI)) and a signal ( Ex: command or data) can be exchanged with each other.

According to an embodiment, commands or data may be transmitted or received between the electronic device 101 and the external electronic device 104 through the server 108 connected to the second network 199. Each of the electronic devices 102 and 104 may be the same or a different type of device from the electronic device 101. According to an embodiment, all or some of the operations performed on the electronic device 101 may be performed on one or more external devices of the external electronic devices 102, 104, or 108. For example, when the electronic device 101 needs to perform a certain function or service automatically or in response to a request from a user or another device, the electronic device 101 can execute the function or service itself. In addition or in addition, one or more external electronic devices may be requested to perform at least a portion of the function or the service. The one or more external electronic devices receiving the request may execute at least a part of the requested function or service, or an additional function or service related to the request, and deliver the result of the execution to the electronic device 101. The electronic device 101 may process the result, as it is or additionally, and provide it as at least part of a response to the request. To this end, cloud computing, distributed computing, or client-server computing technology can be used, for example.

An electronic device according to various embodiments disclosed in the present disclosure may be various types of devices. The electronic device may include, for example, a portable communication device (eg, a smart phone), a computer device, a portable multimedia device, a portable medical device, a camera, a wearable device, or a home appliance device. The electronic device according to the embodiment of the present document is not limited to the above-described devices.

According to an embodiment, the electronic device 101 may include a mobile robot. For example, the sensor module 176 (eg, a proximity sensor) may sense an external object. The camera module 180 (eg, a depth camera and/or an RGB camera) may continuously acquire vision information. The microphone may acquire voice information regarding the driving of the mobile robot. The processor 120 may include at least one of an application processor (AP), a graphic processor (GP), an image signal processor (ISP), or a codec digital signal processor (DSP) for command processing for driving and service provision of the mobile robot. Can be. The memory 130 may include object data that can be compared with sensed object information. According to various embodiments, the memory 130 may store map information related to autonomous driving.

According to an embodiment, the electronic device 101, as a mobile robot, may include a driving unit. For example, the drive unit can be used to mechanically change the movement and other components of the mobile robot. The shape of the driving unit may be a form in which vertical, horizontal, or rotational movement is possible around at least one axis, and the shape may be variously implemented by combining a driving motor.

It should be understood that various embodiments of the document and terms used therein are not intended to limit the technical features described in this document to specific embodiments, and include various modifications, equivalents, or substitutes of the embodiment. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. A singular form of a noun corresponding to an item may include one or more of the items, unless the context clearly indicates otherwise. In this document, "A or B", "at least one of A and B", "at least one of A or B," "A, B or C," "at least one of A, B and C," and "A Each of the phrases such as "at least one of,, B, or C" may include any one of the items listed together in the corresponding phrase of the phrases, or any possible combination thereof. Terms such as “first”, “second”, or “first” or “second” can be used to simply distinguish a component from other components, and to separate components from other aspects (eg, importance or Order). Any (eg, first) component is referred to as “coupled” or “connected” to another (eg, second) component, with or without the term “functionally” or “communically” When mentioned, it means that any of the above components can be directly (eg, wired) to other components, wirelessly, or through a third component.

As used herein, the term "module" may include units implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic blocks, components, or circuits. The module may be an integrally configured component or a minimum unit of the component or a part thereof performing one or more functions. For example, according to an embodiment, the module may be implemented in the form of an application-specific integrated circuit (ASIC).

Various embodiments of the present disclosure may include one or more instructions stored in a storage medium (eg, internal memory 136 or external memory 138) readable by a machine (eg, electronic device 101). It may be implemented as software (e.g., program 140) that includes. For example, a processor (eg, processor 120) of a device (eg, electronic device 101) may call and execute at least one of one or more commands stored from a storage medium. This enables the device to be operated to perform at least one function according to the at least one command called. The one or more instructions may include code generated by a compiler or code executable by an interpreter. The storage medium readable by the device may be provided in the form of a non-transitory storage medium. Here,'non-transitory' only means that the storage medium is a tangible device, and does not contain a signal (eg, electromagnetic waves). It does not distinguish between temporary storage cases.

According to an embodiment, a method according to various embodiments disclosed in this document may be provided as being included in a computer program product. Computer program products are commodities that can be traded between sellers and buyers. The computer program product is distributed in the form of a device-readable storage medium (eg compact disc read only memory (CD-ROM)), or through an application store (eg Play StoreTM) or between two user devices. It can be distributed directly, online (eg, downloaded or uploaded). In the case of online distribution, at least a portion of the computer program product may be stored at least temporarily on a storage medium readable by a device such as a memory of a manufacturer's server, an application store's server, or a relay server, or may be temporarily generated.

According to various embodiments, each component (eg, module or program) of the above-described components may include a singular or a plurality of entities. According to various embodiments, one or more components or operations of the above-described corresponding components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (eg, modules or programs) may be integrated into one component. In this case, the integrated component may perform one or more functions of each component of the plurality of components the same or similar to that performed by the corresponding component among the plurality of components prior to the integration. . According to various embodiments, operations performed by a module, program, or other component may be executed sequentially, in parallel, repeatedly, or heuristically, or one or more of the operations may be executed in a different order, or omitted Or, one or more other actions can be added.

2A is a perspective view of an electronic device according to an embodiment. 2B is a plan view of the electronic device of FIG. 2A according to an embodiment. 2C is a perspective view of an electronic device according to various embodiments of the present disclosure.

2A and 2B, in an embodiment, the electronic device 200 (eg, the electronic device 101 of FIG. 1) may include a first device 210 and a second device 220. The first device 210 has a spherical appearance, and may cause a rolling motion of the spherical appearance to move the electronic device 200. According to some embodiments, the first device 210 may be referred to as a spherical mobile device. The second device 220 is disposed on the surface of the first device 210 and is movable on the first device 210 under the control of the electronic device 200.

According to an embodiment, the first device 210 may include a spherical first housing 211 and a driving device (or an internal driving device) disposed in the first housing 211. The driving device is a device that moves a mechanism or a power mechanism, and may include a first driving device (not shown) for transmitting power (or output torque) to the first housing 211. The first housing 211 may be rotated by the first driving device, and the first device 210 may be moved by rotation of the first housing 211. The first housing 211 may be connected to the first driving device in various ways.

According to one embodiment, the first device 210 may be moved using a center of gravity movement (eg, a barycenter offset (BCO)). The center of gravity movement may refer to an operation of moving the center of gravity of the first apparatus 210 in order to produce the necessary movement in the first apparatus 210. For example, when it is assumed that the first device 210 is in an equilibrium state, the mass of the first device 210 when the first driving device disposed in the first housing 211 moves along the first housing 211 The distribution moves, and the first device 210 can roll in search of a new equilibrium position.

According to one embodiment, the first device 210 is connected to the first drive device and at least one wheel (eg, an inner wall) (eg, an inner spherical surface) of the first housing 211 in contact with the at least one wheel ( wheel) (not shown). Power (or motion) may be transmitted from the wheel to the first housing 211 by the frictional force of the contact surface between the wheel and the first housing 211. For example, when the first driving device rotates the wheel, power is transmitted from the wheel to the first housing 211 so that the first housing 211 can be rotated. According to an embodiment, the first device 210 includes a control circuit (or control device) (eg, the processor 120 of FIG. 1) included in the first driving device or electrically connected to the first driving device. can do. The control circuit may control the first driving device, and accordingly, the rotation direction, rotation angle, rotation amount, rotation speed, rotation acceleration, or rotation angular speed with respect to the rotation of the at least one wheel is adjusted so that the first device 210 Movement (or movement) can be controlled. In addition, the first device 210 may be implemented with various other mechanisms that can cause movement (eg, rolling motion, rotational motion, or support motion) of the first housing 211. According to one embodiment, the first driving device, the first housing 211 may be controlled to move its position by rolling or rotating motion. According to various embodiments, the first driving device may be controlled such that the first housing 211 rotates in place. According to various embodiments, the first driving device may be controlled for a support movement that prevents the first housing 211 from moving. For example, the first driving device may control the wheel so that the first housing 211 does not move by an external force, thereby supporting a supporting motion of the first housing 211. For another example, the first driving device may control the wheel so that the first housing 211 does not roll down on an inclined surface, thereby supporting a supporting motion of the first housing 211.

According to an embodiment, the first device 210 may include instructions stored in a memory (eg, the memory 130 of FIG. 1) included in the first device 210 or the second device 220, or The first driving device may be controlled based on a program (eg, the program 140 of FIG. 1 ). For example, the first device 210 may be a signal (or input) received from an external electronic device (eg, the electronic device 102 or 104 of FIG. 1 or the server 108), or the first device 210 or The first driving device may be controlled based on data (or values) obtained from at least one sensor (eg, an acceleration, gyro, or geomagnetic sensor) disposed in at least one of the second devices 220, Thereby, the rotation direction, rotation angle, rotation amount, rotation speed, rotation acceleration, or rotation angular velocity related to rotation of at least one wheel may be adjusted.

According to an embodiment, the second device 220 may be in the form of a ring disposed on a spherical surface (or first surface) 211a of the first housing 211. For example, the second device 220 is exposed to the inner circumferential surface (or the second surface) 221a that is not exposed to the outside facing the spherical surface 211a of the first housing 211, and is exposed to the outside. It may include a second housing 221 having an outer circumferential surface (or a third surface) 221b forming a part of the exterior of the electronic device 200. According to one embodiment, the inner circumferential surface 221a is a great circle of the first housing 211 (eg, a circumference of a plane passing through the center C of the sphere and the spherical surface 211a) 211b. Can be arranged accordingly. The inner circumferential surface 221a is a first small circle 211c of the first housing 211 spaced parallel to the first direction 2001 from the circumference 211b (for example, the center C of the sphere) The second wish of the first housing 211 spaced parallel to the second direction 2002 opposite to the first direction 2001 from the circumference) and the circumference 211b of the plane and the spherical surface 211a which do not pass. It may include a curved surface that covers (211d) between. According to an embodiment, the second device 220 includes various electronic components (eg, a camera 222) disposed at least partially in a space (not shown) between the inner circumferential surface 221a and the outer circumferential surface 221b. Display, microphone, speaker, sensor or battery).

According to one embodiment, the second device 220 may be capable of a rotation motion 201 around an axis C1 passing through the center of the circumference 211b along the inner circumferential surface 221a. . According to one embodiment, the second device 220 may be capable of a tilting motion 202. When the second device 220 performs the tilting motion 202, the area of the spherical surface 211a facing the inner circumferential surface 221a is changed and accordingly the crew 211b, the first wish 211c, the second The wish 211d and the axis C1 may also be different. According to some embodiments, the tilt motion 202 may also be referred to as a rotation motion about an axis (not shown) orthogonal to the axis C1 of the rotation motion 201.

According to some embodiments, the second device 220 may be formed in a structure that can be mounted to the first housing 211 of the first device 210 in an assembled state. Referring to FIG. 2C, in one embodiment, the inner peripheral surface 221a of the second device 220 has a first portion 221c disposed above and a second portion disposed below with respect to the crew 211b. It may include (221d). For example, the first portion 221c is disposed to face the first area (not shown) between the first wish 211c and the crew 211b of the spherical surface 211a of the first housing 211, and The second portion 221d may be disposed to face the second area (not shown) between the second element 211d and the element 211b of the spherical surface 211a of the first housing 211. According to one embodiment, the circumference of the first portion 221c may be smaller than the circumference 211b, and the circumference of the second portion 221d may be larger than the circumference 211b. The second device 220 may be mounted on the first device 210 in the second direction 2002. According to various embodiments, the second device 220 may include a member (not shown) forming the inner circumferential surface 221a, and the member may be formed in an integral ring shape.

According to an embodiment, the driving device of the first device 210 is a second driving device (not shown) for causing movement of the second device 220 (eg, rotational motion 201 or tilting motion 202). ). According to an embodiment, between the second driving device and the second device 220, a force to pull each other (human force) or a force to push each other (repulsive force) between the first housing 211 may act. For example, the second device 220 may include a plurality of second magnets disposed on the inner circumferential surface 221a, and the second driving device may include a plurality of second magnets aligned with the plurality of second magnets. It may include the first magnets. When the second driving device is rotated or tilted, the second device 220 also rotates 201 or tilted due to attraction or repulsion between the plurality of first magnets and the plurality of second magnets ( 202).

According to various embodiments, the second device 220 is not limited to the illustrated shape and may be formed in various other shapes movable on the first housing 211.

According to an embodiment, the first device 210 may include instructions stored in a memory (eg, the memory 130 of FIG. 1) included in the first device 210 or the second device 220, or The second driving device may be controlled based on a program (eg, the program 140 of FIG. 1). For example, the first device 210 may be a signal (or input) received from an external electronic device (eg, the electronic device 102 or 104 of FIG. 1 or the server 108), or the first device 210 or A second driving device may be controlled based on data obtained from at least one sensor disposed in at least one of the second devices 220 (for example, sensors related to acceleration, gyro, or geomagnetic), whereby the second driving device may be controlled. The rotation direction, rotation angle, rotation amount, rotation speed, rotation acceleration, or rotation angular velocity of the rotation motion 201 or the tilt motion 202 of the device 220 may be determined.

According to an embodiment, the first device 210 may receive a signal from the second device 220 through wireless communication or transmit a signal to the second device 220. For example, the first device 210 may communicate with the second device 220 through a short-range communication network (eg, the first network 198 of FIG. 1) such as Bluetooth, WiFi direct, or infrared data association (IrDA). Can be. According to various embodiments, the first device 210 or the second device 220 may wirelessly communicate with an external control unit (eg, data logging or navigation system).

According to various embodiments, the electronic device 200 may be implemented as autonomous robots or remotely controlled (teleoperated robots).

3 is an exploded perspective view of the first device of FIG. 2A according to an embodiment. 4 is a perspective view of a first device according to an embodiment. 5 is a partial cross-sectional view of a first device according to an embodiment.

3, 4 and 5, in one embodiment, the first device 210 is a first housing 211, a first wheel 310, a second wheel 320 or a driving device 300 (eg : It may include at least one of the first driving device 330 and the second driving device 340.

According to an embodiment, the first housing 211 may include a first hemispherical housing 2111 and a second hemispherical housing 2112. The first wheel 310, the second wheel 320, and the driving device 300 may be disposed in a spherical inner space formed by the combination of the first hemispherical housing 2111 and the second hemispherical housing 2112. In FIG. 4, the first housing 211 is transparently expressed for structural understanding of elements disposed inside the first housing 211, but according to various embodiments, the first housing 211 is opaque or transparent It can be formed of materials. According to various embodiments, at least a portion of the first housing 211 may be formed of a solid material or a flexible material (or elastic material). For example, the first housing 211 may include an outer structure forming an outer surface 211a having elasticity, and an inner structure forming a rigid inner surface 2113.

According to various embodiments, the first housing 211 may completely seal the first device 210 from the external environment. For example, a sealing material may be interposed in the junction 2114 between the first hemispherical housing 2111 and the second hemispherical housing 2112.

According to an embodiment, the driving device 300 may include a first driving device 330 for transmitting power to the first wheel 310 and the second wheel 320. The first wheel 310 and the second wheel 320 may be coupled to both sides of the first driving device 330 to receive power from the first driving device 330 to rotate. According to some embodiments, the first driving device 330 may be referred to as an element including a wheel (eg, the first wheel 310 and the second wheel 320).

According to one embodiment, the first drive device 330 may include elements for transmitting power to the first wheel 310, for example, a first shaft 411, a first support It may include at least one of a member 412, a first motor 413, a first gear 415, or a second gear 416. The first shaft 411 may connect the first wheel 310 and the first support member 412. One end of the first shaft 411 is coupled by a first wheel 310 and a bolt 337, and the other end of the first shaft 331 is a hole (not shown) formed in the first support member 412 It can be rotatably combined. The first gear 415 may be connected to the first shaft 411 between the first wheel 310 and the first support member 412. The first motor 413 is disposed on the first support member 412, and the shaft 414 of the first motor 413 can be connected to the second gear 416. The first gear 415 and the second gear 416 may transmit rotation or power between the first shaft 411 and the shaft 414 of the first motor 413. For example, the first gear 415 and the second gear 416 may be spur gears or helical gears. When the first motor 413 is driven, by interaction between the second gear 416 connected to the shaft 414 of the first motor 413 and the first gear 415 connected to the first shaft 411, The first wheel 310 can be rotated. According to an embodiment, the first gear 415 may have more teeth than the second gear 416, and the gear ratios for the first gear 415 and the second gear 416 vary. Can be prepared. According to various embodiments, it may be replaced by various other gears (eg, bevel gears, screw gears) that transmit power between the first wheel 310 and the first motor 413, , Accordingly, the arrangement of the first shaft 411 and/or the first motor 413 may vary. According to some embodiments, the shaft 414 and the first wheel 310 of the first motor 413 may be directly connected without the first gear 415 and the second gear 416.

According to an embodiment, the first driving device 330 may include elements for transmitting power to the second wheel 320, and substantially include elements for transmitting power to the first wheel 320. The same can be provided. For example, the first drive device 330, in relation to the second wheel 320, the second shaft 421, the second support member 422, the second motor 423, the third gear 425 ) Or the fourth gear 426. One end of the second shaft 421 is coupled by the second wheel 320 and the bolt 338, and the other end of the second shaft 421 is formed with a hole (not shown) formed in the second support member 422. It can be rotatably combined. The third gear 425 may be connected to the second shaft 421 between the second wheel 320 and the second support member 422. The second motor 423 is disposed on the second support member 422, and the shaft 424 of the second motor 423 may be connected to the fourth gear 426. The third gear 425 and the fourth gear 426 may transmit power between the second motor 423 and the second wheel 320. According to an embodiment, the axis of rotation 3201 of the second wheel 320 and the axis of rotation 3101 of the first wheel 310 may coincide.

According to various embodiments, the first support member 412 and the second support member 422 may be integrally formed, and may include the same material.

According to various embodiments, the first wheel 310 and the second wheel 320 may include elastic members (or flexible members) 339a, 339b, such as rubbers disposed on the surfaces. have. The elastic members 339a and 339b may increase the friction between the inner surfaces 2113 of the first housing 211, and from the first wheel 310 and the second wheel 320 to the first housing 211 The loss of transmitted power can be reduced.

According to one embodiment, the first driving device 330 is in a first direction 3001 orthogonal to the rotation axis 3101 of the first wheel 310 (or the rotation axis 3201 of the second wheel 320). It may include a printed circuit board 430 and the first plate 440 disposed in parallel. According to various embodiments, a plate for supporting the printed circuit board 430 may be further provided.

According to an embodiment, the first support member 412 and the second support member 422 may be disposed between the printed circuit board 430 and the first plate 440. According to one embodiment (not shown), the first support member 412 and the second support member 422 are coupled to the printed circuit board 430 and/or the first plate 440 using elements such as bolts Can be.

According to an embodiment, the first driving device 330 is orthogonal to the rotation axis 3101 of the first wheel 310 (or the rotation axis 3201 of the second wheel 320) and the first direction 3001. A second plate 450 and a third plate 460 disposed in parallel in the second direction 3002 may be included. The first support member 412 and the second support member 422 may be disposed between the second plate 450 and the third plate 460. One end 451 of the second plate 450 may be coupled to the printed circuit board 430, and the other end 452 of the second plate 450 may be coupled to the first plate 440. One end 461 of the third plate 460 may be coupled to the printed circuit board 430, and the other end 462 of the third plate 460 may be coupled to the first plate 440.

According to an embodiment, the printed circuit board 430 may include a first through part 431 and a second through part 432, and one end 451 of the second plate 450 may pass through the first. Inserted into the portion 431 and one end 461 of the third plate 460 may be inserted into the second through portion 432. According to one embodiment, the first plate 440 may include one surface 441 facing in the first direction 3001, the other end 452 and/or the third plate of the second plate 450 ( The other end 462 of 460 may be coupled face to face with the one surface 441 using an element such as a bolt.

According to some embodiments, the first plate 440 and the second plate 450 (or the third plate 460) may be integrally formed and may include the same material.

According to one embodiment, at least some of the first plate 440, the second plate 450, the third plate 460, the first support member 412 or the second support member 422 is a metallic material or a non-metal It can be formed of materials.

According to an embodiment, the printed circuit board 430 may be equipped with a processor (eg, the processor 120 of FIG. 1 ), a memory, and/or an interface. The processor may include, for example, one or more of a central processing unit, an application processor, a graphics processing unit, an image signal processor, a sensor hub processor, or a communication processor.

The memory (eg, the memory 130 of FIG. 1) may be, for example, a volatile memory (eg, the volatile memory 132 of FIG. 1) or a non-volatile memory (eg, the nonvolatile memory 134 of FIG. 1). It can contain.

The interface (eg, the interface 177 of FIG. 1) may include, for example, a high definition multimedia interface (HDMI), a universal serial bus (USB) interface, an SD card interface, and/or an audio interface. The interface may electrically or physically connect the electronic device 300 to an external electronic device, for example, and include a USB connector, an SD card/MMC connector, or an audio connector.

According to an embodiment, at least one motor driving circuit (eg, a motor driver or a motor controller) (not shown) may be disposed on the printed circuit board 430. The at least one motor driving circuit is electrically connected to the first motor 413 and the second motor 423, and the first motor 413 or the first motor 413 is controlled under the control of a processor (eg, the processor 120 of FIG. 1). 2 The corresponding signal can be output to the motor 423. According to an embodiment, the processor may store instructions stored in a memory (eg, the memory 130 of FIG. 1) included in the first device 210 or the second device (eg, the second device 220 of FIG. 2A ). Alternatively, the first motor 413 or the second motor 423 may be controlled based on a program (eg, the program 140 of FIG. 1 ). For example, the processor may be a signal (or input) received from an external electronic device (eg, the electronic device 102 or 104 or server 108 of FIG. 1), or a first device 210 or a second device (eg : A first motor 413 or a second based on data obtained from at least one of the at least one sensor (eg, sensor related to acceleration, gyro, or geomagnetic) disposed in the second device 220 of FIG. 2A The motor 423 can be controlled, whereby the rotation direction, rotation angle, rotation amount, rotation speed, rotation acceleration, or rotation angular speed with respect to the rotation of the first wheel 310 or the second wheel 320 can be adjusted. have.

According to an embodiment, the first driving device 330 may include a battery (not shown) as a device for supplying power to at least one component of the first device 210. The battery can include, for example, a rechargeable secondary cell, or a fuel cell. According to an embodiment, the battery may be disposed between the printed circuit board 430 and the first plate 440. According to various embodiments, the battery can be placed in a variety of different locations. According to various embodiments, the battery may be implemented as solar cells.

According to an embodiment, the driving device 300 may include a second driving device 340 connected to the first driving device 330. The second driving device 340 may include, for example, a ring structure 510, a third motor 520, a fourth motor 530, a first support structure 560, a second support structure ( 570), a plurality of first magnets (541, 542, 543, 544) or may include at least one of the one or more sensors (550).

According to one embodiment, the ring structure 510 is a bracket (bracket) 512, an annular plate (hereinafter, ring plate) 511 surrounding the bracket 512, and the bracket 512 and the ring plate 511 ) May include a plurality of ribs (513, 514). The bracket 512 may be an axis that receives power. The ring plate 511 may be disposed to face the inner surface 2113 of the first housing 211, and connected to the bracket 512 and a plurality of ribs 513 and 514 to move the bracket 512. By doing this, it is possible to perform rotational movement or tilting movement. For example, the ring structure 510 may be rotated about the third rotation axis 5101 passing through the bracket 512. The center of gravity of the ring structure 510 may be formed on the third rotation axis 5101. The plurality of ribs 513 and 514 may include first ribs 513 and second ribs 514 arranged at substantially the same angle around the bracket 512. When viewed in the first direction 3001, the second ribs 514 may be disposed between the first ribs 513. According to an embodiment, the bracket 512 may include a first edge (not shown) and a second edge (not shown) formed at different heights in the first direction 3001 as a form including an opening. The first ribs 513 may be formed to extend from the ring plate 511 and converge to the third rotational axis 5101, and the first edge of the bracket 512 is further in the first direction 3001 than the second edge. It can be extended and connected to the first ribs 513. The second ribs 514 may extend from the ring plate 511 to the second edge of the bracket 512.

According to one embodiment, the ring plate 511 may be disposed along the circumference of the first housing 511 (eg, a circumference of a plane passing through the center of the sphere and the spherical surface 211a) 211b.

According to an embodiment, the third motor 520 may be disposed between the bracket 512 of the ring structure 510 and the printed circuit board 530. For example, the third motor 520 may be mounted on the printed circuit board 530. According to various embodiments (not shown), various structures for coupling the third motor 520 and the printed circuit board 530 may be provided.

According to an embodiment, the fourth motor 530 may be disposed between the bracket 512 of the ring structure 510 and the third motor 520. According to an embodiment, the first support structure 560 is disposed between the third motor 520 and the fourth motor 530 to connect the third motor 520 and the fourth motor 530. For example, the first support structure 560 fits one end 561 connected to the shaft 521 (or gear connected to the shaft) of the third motor 520 and the fourth motor 530. It may include a space 562. When the third motor 520 (eg, a pan motor) is driven, the first support structure 560 connected to the shaft 521 and the fourth motor 530 disposed in the first support structure 560 are in the first direction. A rotational motion may be performed around the first rotational shaft 5201 directed to (3001).

According to an embodiment, the second support structure 570 may connect the bracket 512 of the ring structure 510 and the fourth motor 530. When the third motor 520 is driven, the first support structure 560 connected to the shaft 521 of the third motor 520, the fourth motor 520 coupled to the first support structure 560, the fourth The second support structure 570 connected to the motor 520 and the ring structure 510 connected to the second support structure 570 may perform a rotational movement around the first rotation axis 5201. When the fourth motor 530 (eg, tilt motor) is driven, a second support structure 570 connected to a shaft (not shown) of the fourth motor 530 and a ring structure connected to the second support structure 570 510 may be rotated (eg, tilted) about a second rotation axis 5301 directed in a direction orthogonal to the first direction 3001.

According to an embodiment, when the first rotation axis 5201 and the third rotation axis 5301 coincide, the ring structure 510 may be referred to as being horizontal with respect to the first driving device. When the third motor 530 is driven when the first rotational shaft 5201 and the third rotational shaft 5301 coincide, the ring structure 510 may rotate the first rotational shaft 5201 or the third rotational shaft 5301 in a horizontal state. You can rotate around the center. When the third motor 520 is driven when the first rotation shaft 5201 and the third rotation shaft 5301 do not match by driving the fourth motor 530, the ring structure 510 is first in the non-horizontal state. Rotational motion may be performed around the rotation axis 5201.

According to an embodiment, at least one motor driving circuit (eg, a motor driver or a motor controller) disposed on the printed circuit board 430 may be electrically connected to the third motor 520 and the fourth motor 530. . At least one motor driving circuit may output corresponding signals to the third motor 520 and the fourth motor 530 under the control of a processor (eg, the processor 120 of FIG. 1 ). According to an embodiment, the processor may store instructions stored in a memory (eg, the memory 130 of FIG. 1) included in the first device 210 or the second device (eg, the second device 220 of FIG. 2A ). The third motor 520 or the fourth motor 530 may be controlled based on the field or program (eg, the program 140 of FIG. 1 ). For example, the processor may include a signal (or input) received from an external electronic device (eg, the electronic device 102 or 104 of FIG. 1, the server 108, or the second device 220 of FIG. 2A), or the first Based on data obtained from at least one deployed at least one sensor (e.g., sensor related to acceleration, gyro or geomagnetic) of the device 210 or a second device (e.g., second device 220 of Figure 2A) As a result, the third motor 520 or the fourth motor 530 of the second driving device 340 may be controlled.

According to an embodiment, one or more sensors 550 may be disposed on the ring plate 511 of the ring structure 510. According to an embodiment, the one or more sensors 550 may be disposed on one surface of the ring plate 511 facing the inner surface 2113 of the first housing 211. According to various embodiments, one or more sensors 550 may be disposed in a recess formed in the ring plate 511. One or more sensors 550 may be disposed on the ring plate 511 at regular intervals along its perimeter.

According to one embodiment, the one or more sensors 550 may measure the posture value of the ring structure 510. According to an embodiment, the posture value may include a value for at least one of a roll, a pitch, and a yaw of the ring structure 510. For example, the ring structure 510 may move relative to the first driving device 330 by driving the third motor 520 and/or the fourth motor 530, and the one or more sensors 550 may Posture values for these movements can be measured. According to an embodiment, the one or more sensors 550 are sensors related to acceleration, gyro, or geomagnetism, and may include, for example, a 9-axis sensor.

According to one embodiment, the one or more sensors 550 are capable of measuring a change in the force of gravitational acceleration acting on the x-axis, y-axis, and z-axis (eg, an axis extending in the first direction 3001). It may include an acceleration sensor. The acceleration sensor can measure the slope with respect to gravity acceleration. For example, when the third rotation axis 5101 of the ring structure 510 coincides with the first rotation axis 5201, the value of the gravitational acceleration acting on the x-axis and y-axis is 0, and acting on the z-axis When the value of the gravitational acceleration is 1G, it can be said that the ring structure 510 (or the ring plate 511) is in a horizontal posture. For example, when the ring structure 510 is rotated with respect to the y axis, a change in the force of gravity acceleration acting on the x axis and the z axis may occur, and the ring structure 510 may be said to be in a non-horizontal state. . For example, when the ring structure 510 is rotated with respect to the x-axis, a force of gravity acceleration acting on the y-axis and the z-axis may change, and the ring structure 510 may be said to be in a non-horizontal state. .

According to one embodiment, the one or more sensors 550 may have an angular velocity (angle per unit time) of the ring structure 510 about the x-axis, y-axis, and z-axis (eg, an axis extending in the first direction 3001). It may include a gyro sensor that can measure the amount of change.

According to an embodiment, the one or more sensors 550 may include a geomagnetic sensor capable of detecting the direction or rotation of the ring structure 510 using the Earth's magnetic field.

According to an embodiment, the plurality of first magnets 541, 542, 543, and 544 may be disposed on the ring plate 511 of the ring structure 510. For example, the plurality of first magnets 541, 542, 543, and 544 may be disposed in a plurality of recesses 5111 (or through holes) formed in the ring plate 511. A plurality of first magnets (541, 542, 543, 544) is a second device (e.g., the second device 220 of FIG. 2A) coupled with the first device 210 pulls (force) or push It can provide the force to exert (repulsion). For example, the second device may include a plurality of second magnets aligned with the plurality of first magnets 541, 542, 543, 544, thereby between the ring plate 511 and the second device. , With the first housing 211 therebetween, an attractive force or a repulsive force may act. The attraction or repulsive force may cause the second device to be disposed on the spherical surface 211a of the first housing 211. When the second driving device 340 is rotated by the third motor 520 or tilted by the fourth motor 530, a plurality of first magnets 541, 542, 543, 544 and a plurality of Due to the attraction or repulsive force between the second magnets of the second device, the second device may also perform a rotational movement (eg, rotational movement 201 in FIG. 2A) or a tilting movement (eg, a tilting movement 202 in FIG. 2A).

According to an embodiment, the plurality of first magnets 541, 542, 543, and 544 may have the same first polarity (eg, N pole), and the plurality of second magnets may be different from the first polarity. It can have 2 polarities (eg S pole).

According to some embodiments, some of the plurality of first magnets 541, 542, 543, and 544 may have an N pole, and some may have an S pole. The second magnet of the second device facing the first magnet 541, 542, 543, or 544 may have a polarity capable of exerting an attractive force or a repulsive force with respect to the first magnet.

According to an embodiment, the plurality of first magnets 541, 542, 543, and 544 may be disposed on the ring plate 511 at regular intervals along its circumference. For example, a plurality of first magnets 541, 542, 543, and 544 have the same first polarity (eg, N pole), and a plurality of second magnets have a second polarity different from the first polarity (eg : S pole), the second device may be disposed on the first device 210 in one of the arrangement directions divided by an angle of 90 degrees.

According to some embodiments, some of the plurality of first magnets 541, 542, 543, and 544 may be arranged at different intervals from other portions. According to various embodiments, the position or number of the first magnets may be provided differently without being limited to the example illustrated in FIGS. 3, 4 or 5.

According to an embodiment, the one or more sensors 550 may be disposed between the plurality of first magnets 541, 542, 543, 544. According to one embodiment, the posture value of the ring structure 510 measured from the one or more sensors 550 is a second device that moves with the ring structure 510 (eg, the second device 220 of FIG. 2A ). It can be referred to as the attitude value of. According to various embodiments, the position or number of the one or more sensors 550 may be formed differently without being limited to the example illustrated in FIGS. 3, 4 or 5.

According to an embodiment, the first device 210 may include at least one antenna. The at least one antenna may transmit or receive a signal or power to the outside (eg, the electronic device 102 or 104 of FIG. 1 ). According to one embodiment, the first device 210 transmits a signal or power with a second device (eg, the second device 220 of FIG. 2A) coupled to the first device 210 through at least one antenna. Or you can receive it. According to one embodiment, at least one antenna may be formed of a conductor or a conductive pattern. According to an embodiment, at least one antenna may be utilized in a short-range wireless communication network (eg, the first network 198 in FIG. 1) or a remote wireless communication network (eg, the second network 199 in FIG. 1). have.

According to an embodiment, the first device 210 may include a balance weight. The balance weight may bias the center of gravity of the first device 210 in a third direction 3003 opposite to the first direction 3001. For example, the center of gravity of the first device 210 may be formed at a position spaced apart from the rotation axis 3101 or 3201 of the wheel in the third direction 3003. According to one embodiment, the balance weight is such that the rear surface of the first plate 440 (eg, the surface facing the inner surface 2113 of the first housing 211) is substantially directed in the third direction 3003. The first device 210 can be balanced. According to an embodiment, the balance weight includes a first support member 412, a second support member 422, a first plate 440, a second plate 450, and a first support member included in the first driving device 330. It may be formed by at least some of the three plates 460 or the battery. According to various embodiments, the second driving device 340 is formed below a set weight compared to the first driving device 330 so that the center of gravity of the first device 210 is biased in the third direction 3003 Can be. According to various embodiments, the second driving device 340 is formed below a predetermined height, and the center of gravity of the first device 210 may be biased in the third direction 3003. According to various embodiments, even if the first device 210 and the second device (eg, the second device 220 of FIG. 2A) are combined, the balance weight has a substantially third surface of the first plate 440. The first device 210 can be balanced to face in the direction 3003.

According to one embodiment, the balance weight is an imbalance of the first driving device 330 that may result when the first driving device 330 transmits power to the first wheel 310 and/or the second wheel 320. Can be solved. For example, the action that the wheel (eg, the first wheel 310 or the second wheel 320) rotates in contact with the first housing 211, and the power transmission elements connected to the wheel (eg, the first shaft) (411), the second shaft 421, the first gear 415, the second gear 416, the third gear 425, the fourth gear 426 from the torque (torque) to rotate the driving device ( 300) There may be reactions that are affected (eg, the rotation of the axis of rotation). The balance weight may weaken or cancel the torque applied to the driving device 300 by the reaction.

According to an embodiment, the balance weight may eliminate an imbalance of the first driving device 330 that may occur when the second driving device 340 performs a rotational motion or a tilting motion.

According to one embodiment, the first device 210 is a rear surface of the first plate 440 of the first driving device 330 (eg, a surface facing the third direction 3003), or the first plate 440 It may include an antenna 610 disposed between the rear surface and the first housing (211). According to some embodiments, the antenna 610 may be disposed inside the first plate 440. The antenna 610 is, for example, a wireless charging antenna, and can transmit and receive power required for charging wirelessly. According to an embodiment, the balance of the first driving device 330 in the first housing 211 is held by the balance weight, and the surface on which the antenna 610 is disposed may be directed in the third direction 3003. .

According to an embodiment of the present disclosure, when the battery level reaches a set value, the first device 210 stores instructions or programs stored in the memory (eg, the memory 130 of FIG. 1) (eg, the program 140 of FIG. 1). Based on the can be set to move to a wireless charging device (not shown). For example, when the first device 210 is moved to the wireless charging device, the antenna 610 may be aligned with an antenna included in the wireless charging device, and the first device from the wireless charging device by electromagnetic induction between the two antennas Power may be wirelessly transmitted to 210.

According to an embodiment, the rear surface of the first plate 440 (eg, the surface facing the third direction 3003) may include a curved surface along the inner surface 2113 of the first housing 211. According to one embodiment, when the first driving device 330 is balanced by the balance weight, the rear surface of the first plate 440 is in contact with the inner surface 2113 of the first housing 211. The inner surface 2113 of the first housing 211 may be spaced apart from the wheel 310 and the second wheel 320.

6 is an exploded perspective view of a second device according to an embodiment.

Referring to FIG. 6, in one embodiment, the second device 220 may include a ring-shaped second housing 221. For example, the second housing 221 has an inner circumferential surface 221a disposed along a first crew 701 (eg, crew 211b of FIG. 2A) of the spherical surface 211a of the first device 210. And an outer circumferential surface 221b. When the second device 220 is combined with the first device 210, the inner circumferential surface 221a is not exposed to the outside by facing the spherical surface 211a of the first device 210, and the outer circumferential surface 221b Silver can be exposed outside to form part of the exterior. According to one embodiment, the second housing 221 includes a first plate 711, a second plate 712, a first inner cover 721, a second inner cover 722, a first outer cover 731 Alternatively, at least one of the second outer covers 732 may be included.

According to one embodiment, the first plate 711 may be a curved shape extending along one side (semicircle) of the first crew 701 of the spherical surface 211a (eg, the crew 211b of FIG. 2A ). The first plate 711 may have a curved shape extending from a first crew 701 along a portion of the second crew 702 orthogonal to the first crew 701. The first plate 711 may form one side 7111 of the inner circumferential surface 221a of the second housing 221. The second plate 712 is disposed opposite to the first plate 711 and is coupled to the first plate 711, and may have a shape similar to that of the first plate 711. The second plate 712 may form the other side 7121 of the inner circumferential surface 221a of the second housing 221. One end 711a of the first plate 711 and one end 712a of the second plate 712 are joined by the first member 734, and the other end 711b of the first plate 711 and The other end 712b of the second plate 712 may be coupled by the second member 735.

According to one embodiment, the first inner cover 721 extends along one side (semicircle) of the first crew 701 of the spherical surface 211a (eg, the crew 211b of FIG. 2A) and the first plate 711 ). The second inner cover 722 may extend along the other side (semicircle) of the first circumference 701 of the spherical surface 211a and be coupled to the second plate 712.

According to one embodiment, the first outer cover 731 may extend along one side (semicircle) of the first crew 701 of the spherical surface 211a (eg, the crew 211b of FIG. 2A ). The first outer cover 731 may form one side 7111 of the outer circumferential surface 221b of the second housing 221. The second outer cover 732 may extend along the other side (semicircle) of the first crew 701 of the spherical surface 211a. The second outer cover 732 may form the other side 7221 of the outer circumferential surface 221b of the second housing 221. According to some embodiments, the first outer cover 731 and the first inner cover 721, or the second outer cover 732 and the second inner cover 722 may be integrally formed and include the same material can do.

According to some embodiments, the second device 220 may be formed in a structure that can be mounted to the first housing 211 of the first device 210 in an assembled state. For example, the first plate 711 may include a first portion (not shown) disposed above the first crew 701 and a second portion (not shown) disposed below. The second plate 712 may also include a first portion (not shown) disposed above the first crew 701 and a second portion (not shown) disposed below. The first portions may have a curved shape extending along a portion of the second crew 702 orthogonal to the first crew 701. The second parts may be extended from the first parts to be spaced apart from the spherical surface 211a, and the second device 220 in an assembled state may be mounted on the first housing 211. When the second device 220 in the assembled state is mounted on the first housing 211, the first portions may support the mounting while facing the spherical surface 211a. In this case, the first plate 711 and the second plate 712 may be integrally formed without the first member 734 and the second member 735. Of the first portion (not shown) of the first plate 711 or the second plate 712 disposed adjacent to the first wish of the first device 210 (eg, the first wish 211c of FIG. 2A) The perimeter may be smaller than the first crew 701. Of the second portion (not shown) of the first plate 711 or the second plate 712 disposed adjacent to the second wish of the first device 210 (eg, the second wish 211d of FIG. 2A) The perimeter may be greater than the first crew 701.

According to an embodiment, between the outer peripheral surface 221b and the inner peripheral surface 221a, between the first plate 711 and the first inner cover 721, or the second plate 712 and the second inner cover ( Various electronic components (e.g., camera 771), display 772, a plurality of microphones 773a, 773b, 773c, 773d, a plurality of speakers 774a, 774b, wireless And/or a wired charging module 775, at least one sensor or battery). According to various embodiments, the type of the electronic component or the number of positions of the electronic component is not limited to the example illustrated in FIG. 6 and may be formed differently.

According to an embodiment, at least one electronic component may be disposed on the first plate 711 or the second plate 712. For example, the first plate 711 or the second plate 712 has a printed circuit board for wiring between electronic components or mounting of electronic components (eg, a rigid printed circuit board, or flexible printing) A circuit board (flexible printed circuit board) may be disposed.

According to an embodiment, at least one electronic component may be disposed on the first inner cover 721 or the second inner cover 722. For example, the camera 771 may be disposed in an opening (not shown) formed in the first inner cover 721 or may be disposed on one surface of the first inner cover 721 facing the first outer cover 731. have.

According to an embodiment, at least one electronic component may be disposed on the first outer cover 731 or the second outer cover 732. For example, the display 772 (or, a light emitting device (eg, a light emitting diode (LED)) is attached to the first outer cover 731 to be exposed through the outer circumferential surface 7311 of the first outer cover 731. Can be deployed.

According to an embodiment, the second device 220 may include a plurality of second magnets 811, 812, 813, and 814 disposed at regular intervals along the periphery on the inner circumferential surface 221a. For example, the plurality of second magnets 811, 812, 813, and 814 may be disposed in a recess or through hole (not shown) formed in the inner circumferential surface 221a. The plurality of second magnets 811, 812, 813, 814 may include a plurality of first magnets of the first device 210 (eg, a plurality of first magnets 541, 542, 543, 544 of FIG. 3) ). As a result, between the first device 210 and the second device 220, a force to pull each other (force) or a force to push each other (repulsion) between the first housing 211 may act. When the second driving device (for example, the second driving device 340 of FIG. 3) in which the plurality of first magnets are disposed performs a rotational or tilting movement, the plurality of first magnets and the plurality of second magnets ( Due to the attraction or repulsive force between 811, 812, 813, and 814, the second device 220 may also be rotated (eg, rotated 201 in FIG. 2A) or tilted (eg, tilted 202 in FIG. 2A). )can do.

7 is a block diagram of an electronic device according to an embodiment.

Referring to FIG. 7, in an embodiment, the electronic device 700 (eg, the electronic device 101 of FIG. 1 or the electronic device 200 of FIG. 2A) includes: the first device 701 and the second device ( 702). The first device 701 (for example, the first device 210 of FIG. 2A) has a spherical appearance, and may cause the rolling motion of the spherical appearance to move the electronic device 700. The second device 702 (eg, the second device 220 of FIG. 2A) is disposed on the surface of the first device 701 and is movable on the first device 701 under the control of the electronic device 200. .

According to an embodiment, the first device 701 may include at least one of a first driving device 710, a second driving device 720, at least one sensor 730, a memory 740, or a wireless communication circuit 750. It can contain one.

According to an embodiment, the first driving device 710 (eg, the first driving device 330 of FIG. 3) is disposed in a spherical housing (eg, the first housing 211 of FIG. 2A or 3) and the spherical housing Can cause cloud movement. The first driving device 710 transmits power to at least one wheel (eg, the first wheel 310 and the second wheel 320 in FIG. 3) and at least one wheel that are in contact with the inner surface of the spherical housing. It may include at least one motor (for example, the first motor 413 and/or the second motor 423 of FIG. 3). The first driving device 710, according to the control of the processor 760 (for example, the processor 120 of FIG. 1), the rotation direction, rotation angle, rotation amount, rotation speed, rotation acceleration, or rotation angular speed of at least one motor It may include a motor controller for adjusting the.

According to an embodiment, the second driving device 720 (eg, the second driving device 340 of FIG. 3) is disposed in a spherical housing (eg, the first housing 211 of FIG. 2A or 3 ), and The motion of the second device 702 disposed on the first device 701 (eg, the rotational motion 201 of FIG. 2A) or the tilting motion 202 may occur. The second driving device 720 may be connected to the first driving device 710, and may be capable of rotating or tilting on the first driving device 710. According to one embodiment, the second driving device 720 includes a ring structure (eg, ring structure 510 of FIG. 3) including an annular surface facing the inner surface of the spherical housing, and rotation of the ring structure It may include at least one motor (for example, the third motor 520 or the fourth motor 530 of FIG. 3) for a movement or a tilting movement. The second driving device 720, according to the control of the processor 760 (for example, the processor 120 of FIG. 1), the rotation direction, rotation angle, rotation amount, rotation speed, rotation acceleration, or rotation angular speed of at least one motor It may include a motor controller for adjusting the.

According to an embodiment, the second driving device 720 may include a plurality of first magnets disposed in a ring structure (eg, the ring structure 510 of FIG. 3) (eg, a plurality of first magnets of FIG. 3) 541, 542, 543, 544), and the second device 702 includes a plurality of second magnets aligned with the first magnets (eg, a plurality of second magnets 811 in FIG. 6, 812, 813, 814)). When the ring structure of the second driving device 720 rotates or tilts, the second device 220 also rotates or rotates due to attraction or repulsion between the plurality of first magnets and the plurality of second magnets. It is possible to exercise tilt.

According to an embodiment, the at least one sensor 730 may measure a posture value of the second device 702 disposed on the first device 701. According to one embodiment, at least one sensor 730 (eg, one or more sensors 550 of FIG. 3 or 5) is a ring of a second drive device 720 that can move with the second device 702 It may be disposed in a structure (eg, ring structure 510 of FIG. 3). According to an embodiment, the at least one sensor 730 may include a sensor (eg, a 9-axis sensor) related to acceleration, gyro, or geomagnetic.

According to an embodiment, the memory 740 (eg, the memory 130 of FIG. 1) controls the posture of the second device 702 based on the reference posture value 741 and the reference posture value 741. The posture control instructions 742 may be stored. The reference posture value 741 is a posture related value set with respect to the second device 702, and may include, for example, a value for at least one of roll, pitch, or yaw. According to an embodiment, the posture control instruction 742 corresponds to a reference posture value 741 in the second section 702 in a movement section (eg, a state in which the motor is driven) of the first drive device 710 It may include a routine related to posture compensation to be maintained in the posture. According to various embodiments, the reference posture value 741 may be set according to a user input or an executed application (eg, camera shooting). For example, the reference posture value 741 may be changed according to motion output related to an operation of controlling the posture of the second device 702 to track the user through the camera when an application for tracking the user is executed. have. For example, the reference posture value 741 may vary according to motion output related to user interaction (eg, a system in which a response is made by a user's input). The processor 760 may control the second driving device 720 according to the posture control instruction 742 stored in the memory 740.

According to one embodiment, the posture control instructions 742 may include a processor 760 for at least one of posture values (eg, roll, pitch, and yaw) for the second device 702 from the at least one sensor 730. Value) may be included. According to some embodiments, the posture control instructions 742 may include a routine that causes the processor 760 to obtain the posture values from the second device 702. For example, the second device 702 may include at least one sensor related to acceleration, gyro, or geomagnetic, and the first device (eg, a posture value obtained from the at least one sensor) through the wireless communication circuit 750 701).

According to one embodiment, the posture control instruction 742 is configured to compensate for the posture from the posture value acquired by the processor 760 from the at least one sensor 730 and the reference posture value 741 stored in the memory 730. It may include a routine to calculate the compensation value. For example, the processor 760 compares a posture value obtained from at least one sensor 730 and a reference posture value 741 stored in the memory 730 to calculate a posture error, and the second device 702 A value that compensates for the posture error may be output so that the posture corresponds to the reference posture value. The posture control instruction 742 may include a routine for causing the processor 760 to control the second driving device 720 related to the movement of the second device 702 based on the compensation value. For example, the processor 760 may include at least one motor related to a ring structure (eg, the ring structure 510 of FIG. 3) (eg, the third motor 520 or the fourth motor 530 of FIG. 3). A signal based on the compensation value may be output to a motor controller connected to. The motor controller may control at least one motor based on the signal received from the processor 760, and the rotation direction, rotation angle, rotation amount, rotation speed, rotation acceleration, or rotation angular speed of the at least one motor may be adjusted to adjust the ring The posture of the second device 210 moving together with the structure and the ring structure can be compensated. According to some embodiments, the attitude control instruction 742 may include a difference in the attitude value obtained by the processor 760 from the at least one sensor 730 by a threshold value or higher than the reference attitude value 741 stored in the memory 730. It may include a routine to control the motor controller of the second driving device 720 based on the difference when f is.

According to various embodiments, the posture control instruction 742 collects data having the respective fields as the processor 760 calculates compensation values based on the posture values obtained from the at least one sensor 730. It can include routines that allow you to save, or analyze. When the posture value is output from the at least one sensor 730, the processor 760 derives the corresponding compensation value by utilizing the accumulated data as a resource without calculating the compensation value based on the output posture value. can do. In this way, it is possible to reduce the time for deriving the compensation value or to increase the accuracy.

According to various embodiments of the present disclosure, the posture control instruction 742 may include a state in which the processor 760 drives the at least one motor of the first driving device 710 (eg, rotation direction, rotation angle, rotation amount, rotation speed, On the basis of rotational acceleration or rotational angular velocity), a routine for controlling the motor controller of the second driving device 720 may be included to compensate for the posture of the second device 720. When the first driving device 710 is driven, the driving state of at least one wheel (eg, rotation direction, rotation angle, rotation amount, rotation speed, rotation acceleration, or rotation angular velocity) compensates for the attitude of the second device 720 Can be used as data to calculate or estimate. According to an embodiment, the first driving device 710 may include a motor encoder for detecting a driving state of at least one motor. For example, the motor encoder detects the rotation direction, rotation angle, rotation amount, rotation speed, rotation acceleration, or rotation angular velocity of the rotation axis by using a disc coupled with the rotation axis of the motor and an electronically recognizable scale and mark on the original plate. It may include a detector (detector).

According to various embodiments, the posture control instruction 742 is substantially simultaneous when the processor 760 outputs a driving signal for operating at least one motor of the first driving device 710 to the motor controller. In order to compensate for the posture of the second device 720, a routine for controlling the motor controller of the second driving device 720 may be included. The driving signal output to the first driving device 710 may be used as data for calculating or estimating posture compensation of the second device 720.

According to various embodiments, the posture control instruction 742 may include a second device based on image data acquired by the processor 760 from the camera of the second device 702 (eg, the camera 771 of FIG. 6 ). For the posture compensation of 720, a routine for controlling the motor controller of the second driving device 720 may be included.

According to an embodiment, assuming a case of executing a function through the camera of the second device 702 (eg, the camera 771 of FIG. 6) without compensating the posture of the second device 702, The driving device (eg, the first driving device 710 and the second driving device 720) may swing in the spherical housing due to the reaction or moment when the first device 701 accelerates or decelerates. Due to the attraction force between the second driving device 720 and the second device 702, the second device 702 may also be shaken, thereby making it difficult to implement functions of the second device 702 through the camera. According to one embodiment, in the movement section of the first driving device 710, when the posture of the second device 702 is compensated according to the posture control instruction 742, the second device 702 is a reference set in the camera function The posture may be maintained at the posture value 741.

According to an embodiment, the wireless communication circuit 750 (eg, the wireless communication module 192 of FIG. 1) may establish communication between the first device 701 and the second device 702. For example, the wireless communication circuit 750 may support a short-range communication network 798 such as Bluetooth, WiFi direct, or IrDA (eg, the first network 198 in FIG. 1).

8 is an operation flowchart of the first device of FIG. 7 according to an embodiment.

According to an embodiment, the first device 701 may include a spherical housing (eg, the first housing 211 of FIG. 2A) and a first driving device disposed in the spherical housing to cause rolling motion of the spherical housing. Can be. According to one embodiment, the first device 701 may include a second drive device disposed in a spherical housing, and the second drive device 720 is a second disposed on the surface of the first device 701 Movement of the device 702 (eg, the second device 220 of FIG. 2A) (eg, rotational motion 201 of FIG. 2A) or tilting motion 202.

Referring to FIG. 8, in operation 801, the processor 760 of the first device 701 acquires an attitude value (eg, a value for at least one of roll, pitch, or yaw) related to the second device 702 can do. According to an embodiment, the processor 760 may acquire the posture value from at least one sensor 730 disposed in the second driving device 720 that can move together with the second device 702. According to some embodiments, the processor 760 may receive the posture value from the second device 702.

According to an embodiment, in operation 803, the processor 760 may calculate a compensation value for attitude control of the second device 702 from the acquired attitude value and the reference attitude value stored in the memory 740.

According to an embodiment, in operation 805, the processor 760 controls a driving device (eg, the second driving device 720 of FIG. 7) related to the movement of the second device 702 based on the compensation value. can do. When the driving device (second driving device 720) related to the movement of the second device 702 is controlled, the second device 702 is the first driving device (eg, the first driving device 710 of FIG. 7) ) May be maintained in a posture corresponding to a reference posture value in a motion section.

According to an embodiment of the present invention, an electronic device (eg, the electronic device 200 of FIG. 2A) has a first device (eg, a first housing 211 of FIG. 2A) (eg, FIG. 2A) And a second device (eg, the second device 220 of FIG. 2A) disposed on the surface of the spherical housing. The first device is disposed in the spherical housing, a first driving device capable of transmitting power to the spherical housing (eg, the first driving device 330 of FIG. 3), disposed in the spherical housing, and the second A structure that allows the device to be disposed on the surface of the spherical housing (eg, ring structure 510 in FIG. 3) and a second drive device that causes movement of the structure (eg, second drive device 340 in FIG. 3). , At least one sensor (eg, one or more sensors 550 of FIG. 3) disposed in the structure, and a processor electrically connected to the first driving device, the second driving device, and the at least one sensor (eg The processor 760 of FIG. 7 may be included. The processor may acquire a value related to at least one of acceleration, gyro, or geomagnetic from the at least one sensor, and control the second driving device based on the obtained value.

According to an embodiment of the present invention, the at least one sensor (eg, one or more sensors 550 of FIG. 3) may include a 9-axis sensor.

According to an embodiment of the present invention, the obtained value may include a value related to at least one of a roll, a pitch, or a yaw.

According to an embodiment of the present invention, the processor (eg, the processor 760 of FIG. 7) is based on a difference between a reference value (eg, the reference posture value 741 of FIG. 7) and the obtained value. The second driving device (eg, the second driving device 340 of FIG. 3 or the second driving device 720 of 7) may be controlled.

According to an embodiment of the present invention, the reference value (eg, the reference posture value 741 of FIG. 7) may be set according to the executed application.

According to an embodiment of the present invention, the processor (eg, the processor 760 of FIG. 7) may include the first driving device (eg, the first driving device 330 of FIG. 3 or the first driving device of FIG. 7 ). In the movement section of (710), the second driving based on the value obtained from the at least one sensor (eg, one or more sensors 550 of FIG. 3 or at least one sensor 730 of FIG. 7) A device (for example, the second driving device 340 of FIG. 3 or the second driving device 720 of FIG. 7) may be controlled.

According to an embodiment of the present invention, the first driving device (eg, the first driving device 330 of FIG. 3) includes at least one wheel (eg, the first wheel 310 of FIG. 3, the second wheel) 320, and a motor connected to the at least one wheel (eg, the first motor 413 and the second motor 423 of FIG. 3).

According to an embodiment of the present invention, the electronic device includes at least one first magnet disposed on the structure (eg, the ring structure 510 of FIG. 3) (eg, a plurality of first magnets of FIG. 3) 541, 542, 543, 544) and the second device (eg, at least one second magnet disposed on the second device 220 of FIG. 6 (eg, a plurality of second magnets 911 of FIG. 6) 912, 913, 914), due to attraction or repulsion between the first magnet and the second magnet, the structure (eg, ring structure 510 of FIG. 3) and the second device. Can move together.

According to one embodiment of the present invention, the structure, the spherical housing (eg, the first housing 211 of FIG. 3), the inner surface (eg, the inner surface 2113 of FIG. 3) is disposed to face the annular It may include a ring structure including a surface (for example, the ring structure 510 of FIG. 3).

According to an embodiment of the present invention, the at least one sensor (eg, one or more sensors 550 of FIG. 3) may be disposed on the annular surface.

According to an embodiment of the present invention, the at least one sensor is provided in plural, and the plurality of sensors (eg, one or more sensors 550 of FIG. 5) are arranged at regular intervals along the annular surface. Can be.

According to an embodiment of the present invention, the second driving device (eg, the second driving device 340 of FIG. 3) includes the ring structure (eg, the ring structure 510 of FIG. 3) and the first driving At least one motor disposed between the devices (eg, the first driving device 330 of FIG. 3) and connected to the ring structure (eg, the ring structure 510 of FIG. 3) (eg, the third motor of FIG. 3) 520 and/or the fourth motor 530.

According to an embodiment of the present invention, the first driving device (eg, the first driving device 330 of FIG. 3) may include a balance weight.

According to an embodiment of the present invention, the second device (eg, the second device 220 of FIG. 2A) may be annular disposed along the annular surface.

According to an embodiment of the present invention, the second device (eg, the second device 220 of FIG. 6) includes a camera (eg, the camera 771 of FIG. 6 ), a display (eg, the display of FIG. 6 ( 772)), a microphone (e.g., a plurality of microphones 773a, 773b, 773c, 773d) in FIG. 6 or a speaker (e.g., a plurality of speakers 774a, 774b in FIG. 6). have.

The embodiments of the present invention disclosed in the present specification and drawings are merely illustrative of the technical contents according to the embodiments of the present invention and are merely presented as specific examples to help understanding of the embodiments of the present invention, and limit the scope of the embodiments of the present invention It is not intended. Therefore, the scope of various embodiments of the present invention should be interpreted to include all changes or modified forms derived based on the technical spirit of various embodiments of the present invention in addition to the embodiments disclosed herein to be included in the scope of various embodiments of the present invention. .

700: electronic device 701: first device
702: second device 710: first driving device
720: second drive device 730: at least one sensor
740: Memory 741: Reference posture value
742: attitude control instruction 750: wireless communication circuit
760: processor

Claims (15)

In the electronic device,
A first device having a spherical housing, and a second device disposed on the surface of the spherical housing,
The first device,
A first driving device disposed in the spherical housing and capable of transmitting power to the spherical housing;
A structure that is disposed in the spherical housing, and allows the second device to be disposed on the surface of the spherical housing, and a second driving device that causes movement of the structure;
At least one sensor disposed in the structure; And
And a processor electrically connected to the first driving device, the second driving device, and the at least one sensor,
The processor,
An electronic device that acquires a value related to at least one of acceleration, gyro, or geomagnetic from the at least one sensor, and controls the second driving device based on the obtained value.
According to claim 1,
The at least one sensor,
An electronic device comprising a 9-axis sensor.
According to claim 1,
The obtained value,
An electronic device comprising a value related to at least one of a roll, a pitch, or a yaw.
According to claim 1,
The processor,
An electronic device that controls the second driving device based on a difference between a reference value and the obtained value.
The method of claim 4,
The reference value is,
An electronic device that is set according to the executed application.
According to claim 1,
The processor,
An electronic device that controls the second driving device based on a value obtained from the at least one sensor in a movement section of the first driving device.
According to claim 1,
The first drive device,
An electronic device comprising at least one wheel and a motor connected to the at least one wheel.
According to claim 1,
Further comprising at least one first magnet disposed in the structure and at least one second magnet disposed in the second device,
An electronic device capable of moving the structure and the second device together due to attraction or repulsion between the first magnet and the second magnet.
According to claim 1,
The structure,
An electronic device comprising a ring structure including an annular surface facing the inner surface of the spherical housing.
The method of claim 9,
The at least one sensor,
An electronic device disposed on the annular surface.
The method of claim 10,
A plurality of the at least one sensor is provided,
The plurality of sensors are electronic devices arranged at regular intervals along the annular surface.
The method of claim 9,
The second drive device,
An electronic device disposed between the ring structure and the first driving device and including at least one motor connected to the ring structure.
The method of claim 12,
The first drive device,
An electronic device including a balance weight.
The method of claim 9,
The second device,
An annular electronic device disposed along the annular surface.
According to claim 1,
The second device,
An electronic device comprising at least one of a camera, display, microphone or speaker.

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