KR20210041323A - Mobile robot apparatus and method of controling the same - Google Patents

Abstract

The present invention relates to a mobile robot apparatus. More specifically, the present invention relates to a mobile robot apparatus which is able to suppress the pitching and rolling which may occur during the driving of the conventional robot, and is possible to drive in a more stable manner, comprising: a main body unit; a robot wheel unit which includes a shaft crossing the main body unit, and in which at least a part connected to the shaft is a curved surface to come in contact with the ground surface, thereby driving; ball plungers placed on the main body unit to be respectively placed on an upper end and a lower end in a direction where the robot wheel unit comes in contact with the ground surface, thereby keeping the interval between the main body unit and the robot wheel unit; a driving unit placed in the main body unit to provide a driving force to a driving friction wheel in contact with an inner circumferential surface of the robot wheel unit; a control unit which controls the rotary direction and speed of the driving unit; and an edge ring which covers at least a part of the outer circumferential surface of the main body unit and the robot wheel unit, and which independently drives separately from the driving of the main body unit.

Description

Mobile robot device and its control method {MOBILE ROBOT APPARATUS AND METHOD OF CONTROLING THE SAME}

The present invention relates to a mobile robot device and a control method thereof, and more particularly, to a mobile robot device that enables more stable driving by suppressing the pitching and rolling phenomena that may occur during driving of a conventional old robot, and a control method thereof. will be.

As technology advances, various types of robots that perform human roles have been developed and provided. Such robots are generally developed in a number of shapes such as humanoid robots that shape a person's shape or a part of a person's body, or a circular disk-shaped cleaning robot.

However, conventionally developed mobile robots have many driving constraints depending on the environment. In particular, robots such as cleaning robots have not been able to overcome the jaws provided on the floor of the house, and there are often cases of difficulty in driving even when passing through uneven floors.

In addition, in the previously developed spherical robot, since all points at which the driving unit contacts the floor are in point or line contact, the driving balance of the robot according to the slope of the road surface is greatly affected. In addition, there are cases in which the service items of the robot that should be originally performed cannot be executed normally due to the abnormal operation of the robot.

In order to solve this problem, a robot that has a small volume, is capable of moving agile, and has a body in direct contact with the ground has been developed to solve the slippage occurring during movement, and a robot that can move agile and quickly has been developed.

For example, Korean Patent Publication No. 10-1180872 (registration date: 2012.09.03) relates to a spherical robot having a pair of electrons, and provides a flexible direction change by implementing various motions according to the surrounding environment while driving. Thus, it relates to a spherical robot that is easy to avoid obstacles and correct the driving direction.

However, since the body of such a spherical robot is formed in a spherical shape, the internal configuration for advancement and direction change is complicated, and there is a problem that it is difficult to move in an uneven ground or on the water surface.

Korean Patent Publication No. 10-1180872 (Registration Date: 2012.09.03)

An object of the present invention is to provide a mobile robot device that prevents rolling and pitching that may occur when a robot device having a spherical shape is driven.

An object of the present invention is to provide a mobile robot device capable of overcoming a stepped obstacle and uneven ground while driving.

An object of the present invention is to provide a mobile robot device in which a part where sensors are located and a part for driving are separated from each other.

An object of the present invention is to provide a mobile robot device capable of recognizing the surrounding environment and stably recognizing the surrounding environment irrespective of the curvature of the ground.

The present invention is to provide a mobile robot device equipped with an algorithm for suppressing pitching.

The present invention for achieving this object is a main body part, a robot wheel part rotatably coupled to both sides of the main body part, and at least partly curved to be rolled on the ground, and a robot wheel part provided in the main body part, wherein the A drive unit that provides a driving force to the robot wheel unit, a control unit that controls the driving unit to control the rotation direction and speed of the robot wheel unit, and surrounds at least a portion of the outer circumferential surface of the main body unit and the robot wheel unit, and drives the main body unit And a rim ring which is independently driven separately from the main body part, and the main body part includes a main body part inertial sensor that measures rotation angles about at least the x-axis, y-axis, and z-axis, and the rim ring measures at least a pitch angle. It is provided with a frame ring inertial sensor.

Preferably, in the present invention, it further comprises a ball plunger provided between the main body part and the robot wheel part, and maintaining a gap between the main body part and the robot wheel part.

Preferably, in the present invention, the main body portion includes a support fixed to the main body portion, and a ball plunger fixing portion coupled to both sides of the support, and to prevent separation of the robot wheel portion from the main body portion. In order to prevent it, a seating groove is formed along the inner circumferential surface of the robot wheel part in contact with the ball plunger.

Preferably, in the present invention, the shaft further comprises a shaft crossing the main body, and shock absorbers are provided at both ends of the shaft, and the shock absorber supports the inner circumferential surface of the robot wheel to cancel an external shock. Let it.

Preferably, in the present invention, the rim ring includes a microphone for confirming the origin of sound, an RGB camera for confirming the shape or environment of surrounding objects, and an object recognized by the camera in a movement trajectory. It includes at least one of a distance sensor that senses information by infrared or laser.

Preferably, in the present invention, the edge ring inertial sensor drives a stabilization algorithm based on time based on the measured pitch angle data to enable independent control from the main body.

인 것을 특징으로 한다. (

= t 시간에 대한 상기 테두리 링의 제어변수,

= 상기 테두리 링의 제어 방정식,

= 상기 테두리 링의 안정화 제어변수 Gain)Preferably in the present invention, the stabilization algorithm is the equation

It is characterized by being. (

= control variable of the rim ring for time t,

= Control equation of the rim ring,

= Stabilization control variable Gain of the rim ring)

Preferably, in the present invention, the main body part inertial sensor is provided inside the main body part, disposed in the center of the main body part in a horizontal direction, and downward from the center height of the main body part in a height direction. It is placed in a 10% lowered position.

Preferably, in the mobile robot device according to the present invention, the inertial sensor of the main body unit receives rotation information for each axis of the x-axis, y-axis, and z-axis.

expression

= 상기 로봇휠부의 직경,

= 상기 이동형 로봇 장치 전체 직경,

= 상기 이동형 로봇 장치 중심부와 상기 로봇휠부의 접촉 중심점에 대한 각도,

= 기 메인바디부 관성센서의 자세정보,

= 상기 양쪽 로봇휠부에 대한 각속도).Can be measured with (

= Diameter of the robot wheel part,

= The total diameter of the mobile robot device,

= Angle with respect to the center of the mobile robot device and the contact center of the robot wheel,

= Attitude information of the inertial sensor of the main body,

= Angular velocity for both robot wheel parts).

Preferably, in the present invention, the rim ring is provided with an LED indirect light, and the LED indirect light is at least one of a status display of the mobile robot device, an equalizer function when playing music, an active emotional state display of a user, and a sleep lamp. Represents.

Preferably, in the present invention, the driving unit includes a driving motor and a driving friction wheel connected to the shaft of the driving motor, the driving friction wheel being in contact with the inner circumferential surface of the robot wheel unit, and the robot wheel unit The driving friction wheel is rotated by the frictional force of the robot wheel.

Preferably, in the present invention, the main body portion is provided with a power switch and a connector that enables wired charging, and further includes a charging terminal that enables automatic wireless charging through a docking system.

Preferably, in the present invention, a speaker is provided between the robot wheel unit and the rim ring at left and right ends of the robot wheel unit, and generates a warning sound to a user or reproduces music.

Preferably, in the present invention, the main body part and the robot wheel part rotatably coupled to both sides of the main body part, and at least partly formed in a curved surface so as to be rolled on the ground, and the robot wheel part provided in the main body part A driving unit providing a driving force to the wheel unit, a control unit controlling the driving unit to control the rotation direction and speed of the robot wheel unit, and surrounding at least a portion of the outer circumferential surface of the main body unit and the robot wheel unit, and driving the main body unit In the control method of a mobile robot device including a rim ring in which a separate independent drive is performed, executing a security mode, storing an indoor area recognized through the camera, and guarding the recognized indoor area, In the case of an unrecognized obstacle during guard, avoiding or detecting an obstacle other than a label stored through an image, and transmitting a situation to the user's mobile device when the obstacle is detected.

According to the mobile robot apparatus according to the present invention, it is possible to be less affected by rolling and pitching occurring in a conventional ball-shaped robot.

In the mobile robot device according to the present invention, the left and right widths of the robot wheel part are wide, so that stable driving control is achieved as the friction area increases.

The mobile robot device according to the present invention is divided into a part where a sensor is located and a part for driving, thereby stabilizing posture and overcoming inertia generated during driving.

The camera provided in the mobile robot device according to the present invention maps the surrounding environment and is driven based on the mapped information to avoid or overcome obstacles.

The two microphones provided in the mobile robot device according to the present invention have an effect of detecting a corresponding direction when a user's voice or sound is detected in an indoor environment.

When the mobile robot device according to the present invention detects an abnormality, it is effective to safely guard the house by transmitting an image of a point where the abnormality occurs to the user in real time.

1 is a perspective view of a mobile robot device according to the present invention,
2 is an exploded perspective view of a main body portion and a robot wheel portion of the mobile robot device according to the present invention;
3 is a detailed view of a driving unit provided in the main body of the mobile robot device according to the present invention,
4 is a system configuration diagram of a mobile robot device according to the present invention,
5 is a side perspective view of the robot wheel part of the mobile robot device according to the present invention,
6 is a detailed view of the ball plunger of the mobile robot device according to the present invention,
7 is a detailed view of the rim ring of the mobile robot device according to the present invention,
8 is a view of the operation of the mobile robot device according to the present invention,
9 is a state in which the mobile robot device according to the present invention moves to the docking system,
10 is a flow chart for the guard mode process of the mobile robot device according to the present invention.

Specific structural or functional descriptions presented in the embodiments of the present invention are exemplified only for the purpose of describing the embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be implemented in various forms. In addition, it should not be construed as being limited to the embodiments described in the present specification, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

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

1 shows a perspective view of a mobile robot device according to the present invention.

The mobile robot device 1 according to the embodiment of the present invention is rotatably coupled to both sides of the main body portion 10 and the main body portion 10, and at least a portion thereof is formed in a curved surface so as to be rolled on the ground. The robot wheel part 20, the driving part 40 provided in the main body part 10 to provide a driving force to the robot wheel part 20, and the driving part 40 to control the rotation direction and speed of the robot wheel part 20. It includes a control unit 50 to control and a frame ring 30 that surrounds at least a part of the outer circumferential surface of the main body 10 and the robot wheel 20, and is independently driven separately from the driving of the main body 10. In addition, the main body part 10 includes a main body part inertial sensor 17 that measures rotation angles with respect to at least the x-axis, y-axis, and z-axis, and the rim ring 30 measures at least a pitch angle. It may be provided with an edge ring edge ring inertial sensor 34.

The mobile robot device 1 can be divided into a part where the sensors 31 and 34 are mainly located and a part for driving.

The various sensors 31 and 34 are mainly located on the rim ring 30, and the driving part is a robot wheel part that is moved on the ground by the main body part 10, the driving part 40 and the driving part 40 It can be composed of (20).

Looking at the driving part, the robot wheel part 20 connected to the main body part 10 has a hemispherical shape extending left and right, and the body part inertial sensor 17 inside the main body part 10 Is equipped. The shape of the robot wheel part 20 is not limited to a hemispherical shape, and a shape of a curved surface capable of rotation so that the mobile robot device 1 can travel will be sufficient.

For example, in the case of a mobile robot with a complete spherical shape, the pitching (vertical shaking) phenomenon that can occur due to vibration or passing through uneven ground while driving, and the rolling (horizontal shaking) caused by centrifugal force when traveling on a curved path at high speed. ) Phenomenon may occur. If a pitching or rolling phenomenon occurs while the robot is running, the maneuverability is poor, so it cannot be moved to the desired position, and may be overturned. Accordingly, in order to prevent the pitching and rolling phenomenon occurring during driving, the mobile robot device 1 according to the present embodiment uses the hemispherical robot wheel part 20 extending in the left and right directions. The robot wheel unit 20 whose width is extended to the left and right increases the friction area in contact with the ground, so that the pitching and rolling phenomenon are relatively less generated.

That is, since the width of the robot wheel part 20 in contact with the ground is wide, the friction area is wide, so that the pitching and rolling phenomenon can be sufficiently overcome.

The rim ring 30, which is a portion where the sensors 31 and 34 are located, has a shape such as a band surrounding the main body 10 and the robot wheel 20. In addition, the rim ring 30 is coupled to the shaft 11 extending from the main body portion 10, and the main body portion 10 is spaced apart from the main body portion 10 and the robot wheel portion 20 at a predetermined interval. ) And the outer circumferential surface of the robot wheel part 20, and independent and independent driving is performed regardless of the driving of the reference main body part 10 or the robot wheel part 20.

The rim ring 30 is driven independently of the main body portion 10 so that the mobile robot device 1 maintains a balance and can move easily. In addition, since a camera 32 and a sensor are provided, information necessary for driving can be mapped, obstacles can be detected and avoided, and the main body part 10 and the robot wheel part 20 can be removed from the impact of the obstacle during movement. It could also play a protective role.

The shaft 11 is located in the same direction as the rotation axis in which the robot wheel part 20 rotates, and is formed longer than the horizontal length of the main body part 10 and the robot wheel part 20 to facilitate coupling with the rim ring 30 Let's do it.

A detailed description of the rim ring 30 connected from the shaft 11 will be described in detail below.

Meanwhile, a speaker 39 may be positioned between the robot wheel part 20 and the rim ring 30 at the left and right ends of the robot wheel part 20. A warning may be given to the user through the speaker 39, and music may be played through a mobile device.

2 is an exploded perspective view of a main body portion and a robot wheel portion of the mobile robot device according to the present invention.

Hemispherical robot wheel parts 20 are located on both sides of the main body part 10, and a driving part 40 that enables driving of the robot wheel part 20 is located inside the main body part 10. A pair of robot wheel parts 20 disposed on both sides of the main body 10 may rotate or operate together, and may rotate independently of each other depending on the situation.

The shape of the main body portion 10 should be the same as or smaller than the outer diameter of the robot wheel portion 20, and any shape that does not interfere with the rotation of the robot wheel portion 20 will be irrelevant. . Preferably, the size of the main body portion 10 is made of a size slightly smaller than the outer diameter of the robot wheel portion 20, and it would be advantageous to have a shape of a disk.

A power switch 12 of the mobile robot device 1 and a connector 13 enabling wired charging may be positioned on the outer peripheral surface of the main body 10. The connector 13 that enables wired charging from the outside of the main body 10 may use at least one of various types of terminals such as Micro-C, Micro, and Thunder that enable charging of a mobile device.

In addition, when the mobile robot device 1 consumes the battery 44 while driving, it may be automatically charged by moving to a station through a docking system to charge. Therefore, when the mobile robot device 1 performs reconnaissance or driving and finishes performing the task, it can automatically return to the station and charge. A wireless charging unit (not shown) may be further included in the main body unit 10 of the mobile robot device 1 to enable wired or wireless charging according to the conditions of the station.

On the other hand, the robot wheel part 20 is a pair and one side of the hemisphere is located facing each other, but in order to increase the size of the area in which the mobile robot device 1 directly contacts the floor surface while driving, the rotation axis direction of the robot wheel part 20 The left and right widths are wide. Therefore, it is possible to significantly reduce the pitching and rolling phenomenon that occurs while the mobile robot device 1 is traveling.

A pair of robot wheel parts 20 that travel in a straight line rotate in the same direction and speed with each other, but when changing directions or avoiding obstacles according to the situation, a pair of robot wheel parts to enable rotation in different directions or speeds (20) may be driven independently. Since the robot wheel unit 20 can rotate independently, it will be easier to change direction more quickly and agilely.

As the material of the robot wheel part 20, it is preferable that the mobile robot device 1 is made of a plastic or metal material that is not easily damaged from external shocks while driving, and does not slip on the floor and absorbs shocks that may occur during driving. It would be good to be made of an elastic material such as rubber that is easy to do. Preferably, it may be formed of PC, ABS or urethane material.

In addition, since the surface of the robot wheel part 20 needs to be replaced when it is driven for a long time, it is preferable to have a structure in which the user can easily replace the robot wheel part 20 from the main body part 10.

3 is a detailed view of a driving unit provided in the main body of the mobile robot device according to the present invention.

The driving unit 40 drives the robot wheel unit 20 located on the main body unit 10, and the driving motor 42 and the driving friction wheel 43 connected to the shaft (not shown) of the driving motor 42 ), and the driving friction wheel 43 is in contact with the inner circumferential surface of the robot wheel part 20, and the robot wheel part 20 rotates by the frictional force of the driving friction wheel 43 and the robot wheel part 20.

The robot wheel part 20 is connected to the shaft 11 crossing the main body part 10, and the inner circumferential surface of the robot wheel part 20 is positioned in contact with the driving friction wheel 43 which is spaced apart from the shaft 11 . At this time, as the driving motor 42 connected to the driving friction wheel 43 provides a driving force to the driving friction wheel 43, kinetic energy is generated due to the friction force generated between the driving friction wheel 43 and the inner circumferential surface of the robot wheel part 20. It is transmitted and the robot wheel unit 20 is driven. That is, the driving unit 40 does not directly drive the robot wheel unit 20, but the driving force through the driving friction wheel 43 located between the driving motor 42 provided in the driving unit 40 and the robot wheel unit 20 Will be delivered.

And the main body part inertial sensor 17 is provided inside the main body part 10. The main body part inertial sensor 17 is provided inside the main body part 10 and disposed in the center of the main body part 10 in the horizontal direction, and the center height of the main body part 10 in the height direction. It is placed in a position 10% down from.

The following control algorithm equation can be derived through the rotation information of the main body 10, and the driving torque of the mobile robot device 1 can be actively controlled through this algorithm.

expression

= 로봇휠부의 직경

= Diameter of robot wheel

= 이동형 로봇 장치의 전체 직경

= Overall diameter of mobile robotic device

= 이동형 로봇 장치의 중심부와 로봇휠부의 접촉 중심점에 대한 각도

= Angle of the center of the mobile robot device and the contact center of the robot wheel

= 메인 바디부 관성센서의 자세정보

= Posture information of the inertial sensor of the main body

= 쪽 로봇휠부에 대한 각속도 : 로봇휠부의 속도

= Angular speed of the robot wheel part: The speed of the robot wheel part

The pair of robot wheel parts 20 includes a driving friction wheel 43 capable of being driven in contact with each inner circumferential surface, two driving motors 42 providing driving force to the driving friction wheel 43, and a driving motor 42. Includes a battery 44 for supplying power to ). And in order to prevent the weight of the driving unit 40 from being biased by the driving motor 42 and the battery 44, the driving motor 42 is arranged in a symmetrical structure according to the center of gravity in the driving unit 40, and the battery ( 44) is preferably located at the bottom of the driving unit 40. That is, in one robot wheel part 20, the driving motor 42 and the driving friction wheel 43 and the battery 44 connected to the driving motor 42 form one set to drive the robot wheel part 20. It can be possible.

In addition, because it is very important to maintain a balance during driving due to the external appearance of the mobile robot device 1, the drive motor 42 and the battery 44, which are relatively heavy in the mobile robot device 1, are the main body part 10. It is better to be placed on the bottom rather than on the top. In addition, since the driving motor 42 and the battery 44 are each used in two, if they are arranged in a symmetrical structure, the weight may be prevented from being biased in one direction.

Meanwhile, a shock absorbing part 22 is positioned between the shaft 11 and the robot wheel part 20. Preferably, it further includes a shaft 11 that traverses the main body portion 10, and shock absorbing portions 22 are provided at both ends of the shaft 11, and the shock absorbing portion 22 is a robot wheel portion 20 It supports the inner circumferential surface of the body to offset the external impact.

The control unit 50 provided on one side of the driving unit 40 includes all data acquired from the distance sensor 31 and the frame ring inertial sensor 34 provided on the frame ring 30 and necessary for driving the mobile robot device 1. You will be in charge of all control. In addition, the control unit 50 has an external charging module (not shown) that enables charging of the battery 44 by receiving power from the outside, and further includes a converter that adjusts the voltage level when charging through the external charging module. do.

A description of the process by which the control unit 50 controls the mobile robot device 1 will be described in detail below.

4 is a system configuration diagram of a mobile robot device according to the present invention.

The control unit 50 provided in the main body 10 recognizes external information and obstacles through the distance sensor 31, the edge ring inertial sensor 34, and the camera 32. At this time, the rim ring inertial sensor 34 may be provided on the main body 10 and the rim ring 30, respectively.

In addition, the control unit 50 provides various information other than the information obtained from the distance sensor 31, such as the source of sound, and the frame ring inertial sensor 34 and the camera 32 through the microphone 38 provided on the frame ring 30. You can collect more information. In addition, the speaker 39 may respond to a user's command or warn an intruder from outside.

If it is determined that the obstacle recognized by the various sensors 31, 32, and 34 should be reported to the user, the controller 50 controls the wireless communication module 52 provided in the main body 10. This is quickly notified to the user's mobile device. Then, the user can check the obstacles or intruders transmitted by the mobile robot 1 through pictures or images and react quickly.

5 is a side perspective view of the robot wheel part of the mobile robot device according to the present invention, and FIG. 6 shows a detailed view of the ball plunger of the mobile robot device according to the present invention.

Since the main body part 10 and the robot wheel part 20 of the mobile robot device 1 are independently driven, the main body prevents the separation of the robot wheel part 20 and enables smooth driving of the robot wheel part 20. It is preferable that a mechanism for maintaining the gap between the unit 10 and the robot wheel unit 20 is provided.

It further includes a ball plunger 18 provided between the main body 10 and the robot wheel 20 and maintaining a gap between the main body 10 and the robot wheel 20. At this time, when the direction in which the robot wheel part 20 contacts the ground is a downward direction, a plurality of ball plungers 18 are positioned in the upper and lower directions of the robot wheel part 20.

The main body portion 10 includes a ball plunger fixing portion 16 for supporting and fixing the ball plunger 18, and a support 15 to which the ball plunger fixing portion 16 is coupled to both sides. The ball plunger fixing part 16 and the support 15 may be fixed to the main body part 10, and such a ball plunger fixing part 16 and the support 15 are from the main body part 10 to the robot wheel part. Since (20) serves to prevent separation, it may be referred to as a wheel separation prevention structure (14).

In addition, in order to prevent separation of the robot wheel part 20 from the main body part 10, a seating groove 21 may be formed on the inner circumferential surface of the robot wheel part 20 that the ball plunger 18 contacts with.

The support 15 may serve to fix the ball plunger 18 so that one end of the ball plunger 18 can be located in the seating groove 21 formed on the inner circumferential surface of the robot wheel 20. Ball plunger fixing parts 16 are coupled and fixed at both ends of the support 15 in the direction in which the pair of robot wheel parts 20 are positioned, and insertion holes are formed in the ball plunger fixing part 16 to form a ball The plunger 18 is inserted into the insertion hole.

The ball plunger 18 is generally used in the market, and the ball 19 located at the end of the ball plunger 18 is located in the seating groove 21 formed on the inner circumferential surface of the robot wheel part 20, and the robot It is possible to prevent the wheel part 20 from being separated from the main body part 10. In addition, the ball 19 provided in the ball plunger 18 minimizes the friction generated between the ball plunger 18 and the robot wheel part 20 when the robot wheel part 20 rotates, so that the robot wheel part 20 It enables smooth rotation of the company.

An elastic body (not shown) such as a spring is located inside the ball plunger 18, so that the ball 19 enables a linear reciprocating motion by the elastic body. Accordingly, as the ball 19 in contact with the robot wheel part 20 is compressed and restored by the elastic body, the distance between the main body part 10 and the robot wheel part 20 is kept constant within a range of a predetermined distance.

The fixture 14 and the ball plunger 18 may be positioned in any direction between the main body portion 10 and the robot wheel portion 20. However, the distance between the main body part 10 and the robot wheel part 20 is maintained when the robot wheel part 20 is positioned in the upper and lower directions of the robot wheel part 20, which is the part that is most affected by the load and gravity. It can be advantageous.

7 shows a detailed view of the rim ring of the mobile robot device according to the present invention.

The frame ring 30 includes a microphone 38 for confirming the source of sound, an RGB camera 32 for confirming the shape or environment of surrounding objects, and an object recognized by the camera 32 in the movement trajectory. At least one of the distance sensors 31 for sensing distance information by infrared or laser is provided.

The rim ring 30 may be operated independently from the main body 10 to provide a driving balance of the mobile robot device 1. In addition, various types of sensors are provided on the rim ring 30 to control vibration, rolling, and pitch phenomena generated when the robot wheel unit 20 is driven. The rim ring 30 acts like a camera gimbal to stabilize the posture and drive the mobile robot device 1.

The microphone 38 includes a function of recognizing a user's voice and performing a command according to the user's voice. In addition, when a sound above a preset threshold is detected, the mobile robot device 1 moves toward the source of the sound to induce the presence or absence of an abnormality.

If the microphone 38 detects an abnormality, the mobile robot device 1 photographs the user around the source of the sound with the camera 32, and transmits the captured image to the user's mobile device to provide information on the location of the abnormality. I can provide it quickly. At least two microphones 38 are located on either side or front and rear of the rim ring 30, and this microphone 38 is a MEMS microphone 38, which may be used to detect the direction in which the sound was sensed. .

The camera 32 and the distance sensor 31 are located in the front or rear of the rim ring 30 in the direction in which the mobile robot device 1 moves, and the camera 32 and the distance sensor 31 are located in the same direction. do.

The camera 32 is an RGB camera that recognizes the external environment, and is used to check the shape or environment of an object viewed from the robot's point of view by taking a two-dimensional RGB image of the periphery of the mobile robot device 1 do.

In addition, the function of the camera 32 and a deep learning technique may be combined and used. By learning in advance so that the mobile robot device 1 can recognize the shape of the user's face, it will be able to recognize the user and execute the user's command. In addition, information on the environment in which the mobile robot device 1 is used is mapped in advance, and based on the mapped information, the moving speed of the robot wheel unit 20 and the moving speed of the robot wheel unit 20 through a deep learning technique provided in the camera 32 and the control unit 50 By controlling the direction, the mobile robot device 1 can move quickly and safely.

The distance sensor 31 uses infrared rays or lasers, and the distance information of the object recognized by the camera 32 or the fixed or moving object included in the moving trajectory of the mobile robot device 1 is transmitted through infrared rays, lasers, etc. Can be detected.

That is, since the distance sensor 31 recognizes an object through the camera 32 in addition to infrared rays or lasers, the camera 32 and the distance sensor 31 are preferably positioned in the same direction of the rim ring 30.

The frame ring inertial sensor 34 is located on the opposite side of the frame ring 30 where the camera 32 and the distance sensor 31 are located, and controls the independent posture of the frame ring 30 and the driving posture of the robot moving device. Makes it possible.

The edge ring inertial sensor 34 drives a stabilization algorithm based on time based on the measured pitch angle data to enable independent control from the main body 10.

으로 이루어지며,In this case, the stabilization algorithm is the equation

Consists of

= t 시간에 대한 테두리 링 모터 제어변수,

= Edge ring motor control variable for time t,

= 테두리 링 모터 제어 방정식

= Edging ring motor control equation

= 테두리 링의 안정화 제어변수 Gain

= Gain of stabilization control variable of rim ring

Consists of

In addition, in the control of the driving posture of the mobile robot device 1, it may be difficult to follow a uniform posture because the part in contact with the robot wheel 20 and the ground is in point or line contact. Therefore, it is possible to follow the posture through the rim ring inertial sensor 34 provided in the rim ring 30.

On the other hand, the speaker 39 is provided between the robot wheel part 20 and the rim ring 30 and is located in the axial direction in which the robot wheel part 20 rotates, responds to a user's command, and generates a warning sound to an external intruder. Includes features. In addition, the speaker 39 may play radio or music through a wireless connection such as Bluetooth.

In addition, an indirect light such as an LED indirect light 36 may be provided on the outer circumferential surface of the rim ring 30. The LED indirect light 36 installed on the rim ring 30 may be used as a power ON/OFF, an error message, a charging indicator, etc. that indicate the state of the mobile robot device 1. In addition to the status display of the mobile robot device 1, at least one of an equalizer function and a volume level display when playing music through the speaker 39 may be displayed, and the active emotional state of the user recognized by the camera 32 may be displayed. It can also be used for sleep.

LED indirect light 36 may be located on both sides of the camera 32 and the distance sensor 31, in addition, if the sensor or other devices do not interfere with the operation, along the outer circumferential surface of the rim ring 30 It will be irrelevant if the LED indirect light 36 is located there.

Figure 8 relates to the operation of the mobile robot device according to the present invention.

When the user calls, the mobile robot device 1 moves toward the user, and the main body portion 10 of the moving mobile robot device 1 forms orthogonal to the ground so that it is skewed in either direction or is not tilted so that it is stable. Driving is done. The mobile robot device 1 that has reached the user recognizes the user's command and performs an appropriate operation thereto.

On the other hand, a wireless communication repeater is further provided on the main body 10 or the rim ring 30 of the mobile robot device 1. The mobile robot device 1 connects to an external network through a wireless communication repeater, and the user can stream the image captured by the camera 32 in real time through the mobile device.

Therefore, in addition to the user's command, a guard mode is added to the mobile robot device 1, and when no one is in the home, the mobile robot device 1 guards the house. If an abnormal sound occurs or an irregular sound is detected, the mobile robot device 1 moves to the point where the sound is generated and checks whether there is an abnormality, and if there is an abnormality, the image taken with the camera 32 Can be provided in real time through the user's mobile.

In addition, it will be possible to remotely control the mobile robot device 1 through a remote control or a user's smart phone, and through a connection with a mobile device such as a smart phone, the user will be able to move to a desired location and provide image information. In addition, the user's voice may be transmitted through the speaker 39 provided in the mobile robot device 1.

9 is a view of the mobile robot device according to the present invention is moved to the docking system, Figure 10 shows a flow chart of the guard mode process of the mobile robot device according to the present invention.

When the remaining amount of the battery 44 of the mobile robot device 1 is low, the user can directly connect the mobile robot device 1 to the charger to charge it, and the mobile robot device ( A docking system in which 1) automatically moves to the charging station 60 to perform charging may be further provided.

Therefore, if the mobile robot device 1 needs to charge the battery 44 while guarding a preset area by a user's command, the mobile robot device 1 may move to the charging station 60 and charge it by itself. . At this time, the charging station 60 may be provided with a terminal (not shown) connected to the mobile robot device 1 to supply power so that it can be charged, and a mobile robot device 1 without a separate terminal by providing a wireless charging system. When) is located in the charging station 60, charging may be performed automatically.

On the other hand, the mobile robot device 1 according to the present embodiment may be used as a robot for guarding the house as a home robot, and may be used for a user to check the state of a pet from a distance.

That is, the process when using the mobile robot device 1 in the security mode is the step of the user executing the security mode of the mobile robot device (S10), the step of recognizing the stored indoor area (S20), and the stored through the image. The detection of an obstacle other than a label (S30) and a step (S40) of transmitting the situation to the user's mobile device upon detection of the obstacle may be performed.

In the step (S10) of the user executing the guard mode of the mobile robot device, the mobile robot device 1 guards a preset area designated by the user by the user's command.

Recognizing the stored indoor area (S20) is a step of setting a user-designated area before the mobile robot device 1 guards, and recognizes the indoor area through the camera 32 provided in the frame ring 30. , The recognized area is saved. In addition, when the mobile robot device 1 pays the guard, the controller 50 controls the mobile robot device 1 to guard only the stored area.

The step of detecting an obstacle other than the label stored through the image (S30) is to detect an obstacle to avoid or report a situation to the user when an unrecognized obstacle is detected while the mobile robot device 1 is guarding, Obstacles are recognized using a distance sensor 31 and a camera 32 provided in the rim ring 30.

In the step of transmitting the situation to the user's mobile device when an obstacle is detected (S40), if the obstacle detected by the mobile robot 1 is recognized as an obstacle to be reported to the user, a photograph or image of the obstacle is captured through the camera 32. It will be photographed and transmitted to the user's mobile device. If it is recognized that it is an obstacle that does not need to be reported to the user, the mobile robot device 1 avoids the obstacle through the camera 32 and the distance sensor 31 and continues to guard the rest of the area.

The mobile robot device 1 may be utilized as a military or disaster robot that can be used in the field if the outdoor function as well as the indoor driving function is improved.

The present invention described above is not limited by the above-described embodiments and the accompanying drawings, and various substitutions, modifications, and changes are possible within the scope of the technical spirit of the present invention. It will be obvious to those who have the knowledge of.

1: mobile robot device 10: main body
11: shaft 12: power switch
13: connector 14: fixture
15: support 16: ball plunger fixing portion
18: ball plunger 19: ball
20: robot wheel part 21: seating groove
22: shock absorber 30: frame ring
31: distance sensor 32: camera
34: inertial sensor 36: LED
38: microphone 39: speaker
40: drive unit 42: drive motor
43: driving friction wheel 44: battery
50: control unit 60: charging station

Claims (14)

Main body part;
A robot wheel portion rotatably coupled to both sides of the main body portion and having at least a portion formed in a curved surface so as to be rolled on the ground;
A driving unit provided on the main body and providing a driving force to the robot wheel;
A control unit for controlling the driving unit to control the rotation direction and speed of the robot wheel unit; And
A rim ring surrounding at least a portion of an outer circumferential surface of the main body part and the robot wheel part, and independently driving the main body part;
Including,
The main body portion includes a main body portion inertial sensor for measuring rotation angles with respect to at least the x-axis, y-axis, and z-axis, and the edge ring has an edge ring inertial sensor that measures at least a pitch angle. The method of claim 1,
A mobile robot apparatus further comprising a ball plunger provided between the main body part and the robot wheel part and maintaining a gap between the main body part and the robot wheel part. The method of claim 2,
The main body portion includes a support fixed to the main body portion, and a ball plunger fixing portion coupled to both sides of the support,
A mobile robot device, characterized in that a seating groove is formed along an inner circumferential surface of the robot wheel part to which the ball plunger contacts to prevent separation of the robot wheel part from the main body part. The method of claim 1,
Further comprising a shaft crossing the main body,
Shock absorbing units are provided at both ends of the shaft, and the shock absorbing units support an inner circumferential surface of the robot wheel to cancel an external shock. The method of claim 1,
The rim ring includes a microphone for confirming the origin of sound, an RGB camera for confirming the shape or environment of surrounding objects, and an object recognized by the camera in a moving trajectory to detect distance information with infrared or laser. A mobile robot device having at least one of the distance sensors. The method of claim 1,
The rim ring inertial sensor drives a stabilization algorithm based on time based on the measured pitch angle data to enable independent control from the main body. The method of claim 6,
The stabilization algorithm is the equation

Mobile robot device, characterized in that.
(

= control variable of the rim ring for time t,

= Control equation of the rim ring,

= Stabilization control variable Gain of the rim ring) The method of claim 1,
The main body part inertial sensor is provided inside the main body part and disposed in the center of the main body part in a horizontal direction,
A mobile robot device disposed at a position 10% down from the center height of the main body part based on the height direction. The method of claim 1,
The main body inertial sensor receives rotation information for each axis of the x-axis, y-axis, and z-axis.
expression

A mobile robot device that is measured with a device.
(

= Diameter of the robot wheel part,

= The total diameter of the mobile robot device,

= Angle with respect to the center of the mobile robot device and the contact center of the robot wheel,

= Attitude information of the inertial sensor of the main body,

= A mobile robot device consisting of an angular velocity with respect to both of the robot wheel parts. The method of claim 1,
The rim ring is provided with an LED indirect light, and the LED indirect light indicates at least one of a status display of the mobile robot device, an equalizer function during music playback, an active emotional state display of a user, and a sleep lamp. The method of claim 1,
The driving unit,
A drive motor and a drive friction wheel connected to the shaft of the drive motor,
The driving friction wheel is in contact with the inner circumferential surface of the robot wheel, and the robot wheel is rotated by a friction force between the driving friction wheel and the robot wheel. The method of claim 1,
The main body portion is provided with a power switch and a connector that enables wired charging, and further comprises a charging terminal that enables automatic wireless charging through a docking system. The method of claim 1,
A mobile robot device comprising a speaker provided between the robot wheel part and the rim ring at left and right ends of the robot wheel part to generate a warning sound to a user or play music. A main body part, a robot wheel part rotatably coupled to both sides of the main body part and having at least a part of a curved surface so as to be rolled on the ground, a driving part provided in the main body part to provide a driving force to the robot wheel part; , A control unit for controlling the driving unit to control the rotation direction and speed of the robot wheel unit, and a frame ring surrounding at least a portion of the outer circumferential surface of the main body unit and the robot wheel unit, and independently driving the main body unit. In the control method of a mobile robot device comprising a,
Executing the guard mode;
Storing the indoor area recognized through the camera and guarding the recognized indoor area;
Avoiding an obstacle that is not recognized while guarding, or detecting an obstacle other than a label stored through an image; And
Transmitting the situation to the user's mobile device when an obstacle is detected;
Control method of a mobile robot device comprising a.

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