KR20210059539A - Robot - Google Patents

Abstract

A robot comprises: a main body provided with at least one traveling wheel and a traveling motor rotating the traveling wheel; a seating body disposed on the upper side of the main body; a footrest arranged to be moved in the front lower part of the main body; and a front light disposed on the footrest, wherein the front light creates a variable lighting pattern in which the light is changed while the footrest is advanced, and when the advancement of the footrest is completed, a fixed lighting pattern in which the light is constant is created.

Description

Robot {Robot}

The present invention relates to a robot.

A robot is a machine that automatically processes or operates a given task by its own ability, and the application field of the robot can be classified into industrial, medical, space, and submarine applications, and can be used in various fields.

In recent years, a guidance robot that provides various information services at airports or government offices, a transport robot that transports goods, and a boarding-type robot on which users are boarding are gradually increasing.

An example of a boarding robot may include a seat for a user to board, and in Korean Patent Publication No. 10-1216028 (announced on December 27, 2012), A wheelchair to which a balancing two-wheel driving robot function is applied is disclosed.

The backrest of the seat disclosed in Korean Patent Publication No. 10-1216028 (announced on December 27, 2012) is formed to extend at one end of the seating surface, and the footrest of the seat extends from the other end of the seating surface toward the ground.

Wheelchair applying the balancing two-wheel driving robot function disclosed in Korean Patent Publication No. 10-1216028 (announced on December 27, 2012) has a footrest integrally formed on the seating surface, providing comfort to various users with different body sizes. It is not easy to do, and when the user is located far from the robot or the robot is located in a dark place, there is a problem that it is difficult for the user to easily recognize the current state of the wheelchair.

Korean Registered Patent Publication No. 10-1216028 (announced on December 27, 2012)

An object of the present invention is to provide a robot capable of visually expressing a current state through a light and intuitively recognizing a current state of a user or the like.

Another object of the present invention is to provide a robot that can be safely used by a user.

A robot according to an embodiment of the present invention includes a body provided with at least one driving wheel and a driving motor for rotating the driving wheel; A seating body disposed on the upper side of the body; A footrest disposed to be moved in the front and lower portions of the main body; Includes a front light placed on the footrest.

The front light may generate a variable lighting pattern in which light changes while the footrest is advanced. The front light may generate a fixed lighting pattern in which light is constant when the advance of the footrest is completed.

The robot may further include a footrest mover for advancing or retracting the footrest. The front light may generate a variable lighting pattern while the footrest mover advances the footrest.

The variable lighting pattern may be a moving lighting pattern in which light revolves around the front light.

The size of the fixed lighting pattern may be larger than the size of the variable lighting pattern.

The front light may generate a fixed lighting pattern when the main body is running or the main body is stopped.

The front light may generate light of different colors when the main body is running and when the main body is stopped.

The front light may generate a variable lighting pattern in the limited boarding mode.

The front light may generate a dimming lighting pattern in which the intensity of light gradually increases or decreases as light rotates a set number of times along the circumference of the front light when power is turned on or off.

The robot includes a steering body disposed to be elevated on the seated body; It may further include a steering light provided on the steering body.

The robot may further include a display covering the steering body when the steering is lowered. The steering light may be kept off when the steering body is lowered.

The steering light may generate a variable lighting pattern in which light changes while the steering body is raised. The steering light may generate a fixed lighting pattern in which light is constant when the steering body is raised.

The steering light may generate a fixed lighting pattern when the body is running or when the body is stopped.

The robot may further include a rear light disposed on the body.

The rear light may generate light of different colors when the main body is running and when the main body is stopped.

The rear light may generate a variable lighting pattern in which the position of the light or the size of the light changes in the longitudinal direction of the rear light when the power is turned on or off.

The rear light may generate a moving lighting pattern that repeats the movement of light in the longitudinal direction of the rear light in the limited boarding mode.

According to an embodiment of the present invention, since a variable lighting pattern in which light changes in the front light is generated while the footrest is moving forward, a passenger or a pedestrian can easily visually recognize that the footrest is currently advancing and wait. It is possible to minimize accidents that may occur during the advance of the pedestal.

In addition, since the variable lighting pattern is a moving lighting pattern that rotates around the front light, the lighting pattern of the front light can be easily recognized even from a distance.

In addition, when the advance of the footrest is completed, a fixed lighting pattern with constant light is generated from the front light, so that the occupants or pedestrians can easily recognize the change in the lighting pattern and easily recognize that the advancement of the footrest has been completed. have.

In addition, since the size of the fixed lighting pattern is larger than the size of the variable lighting pattern, confusion between the fixed lighting pattern and the variable lighting pattern can be minimized.

In addition, since the front light generates a variable lighting pattern in the boarding limit mode, the boarding limit mode can be visually expressed, and it is possible to minimize pedestrians around the robot to board the robot.

In addition, when the main body is running or the main body is stopped, the front light generates a positive lighting pattern, so that the front light can express the footrest advance or the boarding restriction mode differentiated from the driving of the main body and stopping the driving of the main body.

In addition, when the main body is running and when the main body is stopped, the front lights generate light of different colors from each other, so that driving and stopping of the main body from a distance can be easily identified.

In addition, when the power is turned on or off, the front light generates a dimming lighting pattern, so that the power on and off can be displayed by distinguishing the advance of the footrest, the boarding restriction mode, the running of the body and the stopping of the running of the body, etc. It can express more various states of the robot.

In addition, the steering light generates a variable lighting pattern when the steering body rises, so that the position of the steering body and that the steering body is rising can be externally expressed, and the occupants or pedestrians can control the position of the steering body and the elevation of the steering body even from a distance. It is easy to recognize.

In addition, when the steering body is completed ascending, the steering light may generate a fixed lighting pattern in which light is constant, and the occupant or pedestrian may easily recognize the completion of the ascent of the steering body.

In addition, since the rear light generates a moving lighting pattern that repeats the movement of light in the longitudinal direction of the rear light in the ride restriction mode, a pedestrian or a manager can recognize the ride restriction mode of the robot from a distance.

1 is a diagram illustrating an AI device including a robot system according to an embodiment of the present invention.
2 is a diagram illustrating an AI server connected to a robot system according to an embodiment of the present invention.
3 is a diagram illustrating an AI system including a robot system according to an embodiment of the present invention.
4 is a perspective view showing a robot according to an embodiment of the present invention,
5 is a plan view showing a robot according to an embodiment of the present invention,
6 is a front view showing a robot according to an embodiment of the present invention,
7 is a side view showing a robot according to an embodiment of the present invention,
8 is a cross-sectional view illustrating a rear light according to an embodiment of the present invention;
9 is a cross-sectional view illustrating a change in light of a rear light when the robot is powered on,
10 is a cross-sectional view showing a change in light of a rear light when the robot is powered off;
11 is a cross-sectional view showing a change in light of a rear light when the robot is restricted on boarding;
12 is a cross-sectional view showing the light of the rear light when the footrest is ready for boarding or when the robot is running or the robot is stopped
13 is a view showing a footrest and a front light according to an embodiment of the present invention;
14 is a view showing a footrest mover according to an embodiment of the present invention,
15 is a cross-sectional view showing a front light according to an embodiment of the present invention;
16 is a horizontal cross-sectional view when the size of the light is varied while the front light shown in FIG. 15 forms light that draws a circle;
FIG. 17 is a horizontal cross-sectional view when the front light shown in FIG. 15 forms light that draws a circle and the size of light is constant;
18 is a lateral cross-sectional view when the front light shown in FIG. 15 forms constant light;
19 is a vertical cross-sectional view showing a steering body and a steering light according to an embodiment of the present invention;
20 is a vertical cross-sectional view when the steering body is lowered and the display covers the steering body according to an embodiment of the present invention;
21 is a cross-sectional view showing a stringing light according to an embodiment of the present invention,
22 is a lateral cross-sectional view when the steering light shown in FIG. 21 forms light forming a circle;
23 is a lateral cross-sectional view when the steering light shown in FIG. 21 forms a constant light.

Hereinafter, specific embodiments of the present invention will be described in detail together with the drawings.

<Robot>

A robot may refer to a machine that automatically processes or operates a task given by its own capabilities. In particular, a robot having a function of recognizing the environment and performing an operation by self-determining may be referred to as an intelligent robot.

Robots can be classified into industrial, medical, household, military, etc. depending on the purpose or field of use.

The robot may be provided with a driving unit including an actuator or a motor to perform various physical operations such as moving a robot joint. In addition, the movable robot includes a wheel, a brake, a propeller, and the like in a driving unit, and can travel on the ground or fly in the air through the driving unit.

<Artificial Intelligence (AI)>

Artificial intelligence refers to the field of researching artificial intelligence or the methodology that can create it, and machine learning (Machine Learning) refers to the field of studying methodologies to define and solve various problems dealt with in the field of artificial intelligence. do. Machine learning is also defined as an algorithm that improves the performance of a task through continuous experience.

An artificial neural network (ANN) is a model used in machine learning, and may refer to an overall model with problem-solving capabilities, which is composed of artificial neurons (nodes) that form a network by combining synapses. The artificial neural network may be defined by a connection pattern between neurons of different layers, a learning process for updating model parameters, and an activation function for generating an output value.

The artificial neural network may include an input layer, an output layer, and optionally one or more hidden layers. Each layer includes one or more neurons, and the artificial neural network may include neurons and synapses connecting neurons. In an artificial neural network, each neuron can output a function of an activation function for input signals, weights, and biases input through synapses.

Model parameters refer to parameters determined through learning, and include weights of synaptic connections and biases of neurons. In addition, the hyperparameter refers to a parameter that must be set before learning in a machine learning algorithm, and includes a learning rate, number of iterations, mini-batch size, and initialization function.

The purpose of learning the artificial neural network can be seen as determining the model parameters that minimize the loss function. The loss function can be used as an index to determine an optimal model parameter in the learning process of the artificial neural network.

Machine learning can be classified into supervised learning, unsupervised learning, and reinforcement learning according to the learning method.

Supervised learning refers to a method of training an artificial neural network when a label for training data is given, and a label indicates the correct answer (or result value) that the artificial neural network must infer when training data is input to the artificial neural network. It can mean. Unsupervised learning may mean a method of training an artificial neural network in a state in which a label for training data is not given. Reinforcement learning may mean a learning method in which an agent defined in a certain environment learns to select an action or sequence of actions that maximizes the cumulative reward in each state.

Among artificial neural networks, machine learning implemented as a deep neural network (DNN) including a plurality of hidden layers is sometimes referred to as deep learning (deep learning), and deep learning is a part of machine learning. Hereinafter, machine learning is used in the sense including deep learning.

<Self-Driving>

Autonomous driving refers to self-driving technology, and autonomous driving vehicle refers to a vehicle that is driven without a user's manipulation or with a user's minimal manipulation.

For example, in autonomous driving, a technology that maintains a driving lane, a technology that automatically adjusts the speed such as adaptive cruise control, a technology that automatically travels along a specified route, and a technology that automatically sets a route when a destination is set, etc. All of these can be included.

The vehicle includes all of a vehicle including only an internal combustion engine, a hybrid vehicle including an internal combustion engine and an electric motor, and an electric vehicle including only an electric motor, and may include not only automobiles, but also trains and motorcycles.

In this case, the autonomous vehicle can be viewed as a robot having an autonomous driving function.

1 is a diagram illustrating an AI device including a robot system according to an embodiment of the present invention.

The AI device 100 includes a TV, a projector, a mobile phone, a smartphone, a desktop computer, a laptop computer, a digital broadcasting terminal, a personal digital assistant (PDA), a portable multimedia player (PMP), a navigation system, a tablet PC, a wearable device, and a set-top box (STB). ), a DMB receiver, a radio, a washing machine, a refrigerator, a desktop computer, a digital signage, a robot, a vehicle, and the like.

Referring to FIG. 1, the AI device 100 includes a communicator 110, an input interface 120, a learning processor 130, a sensor 140, an output interface 150, a memory 170, and a processor 180. It may include.

The communicator 110 may transmit and receive data with external devices such as the other AI devices 100a to 100e or the AI server 500 using wired/wireless communication technology. For example, the communicator 110 may transmit and receive sensor information, a user input, a learning model, and a control signal with external devices.

At this time, communication technologies used by the communicator 110 include Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Long Term Evolution (LTE), 5G, Wireless LAN (WLAN), and Wireless-Fidelity (Wi-Fi). ), Bluetooth™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), ZigBee, and Near Field Communication (NFC).

The input interface 120 may acquire various types of data.

In this case, the input interface 120 may include a camera for inputting an image signal, a microphone for receiving an audio signal, a user input interface for receiving information from a user, and the like. Here, by treating a camera or a microphone as a sensor, a signal obtained from the camera or a microphone may be referred to as sensing data or sensor information.

The input interface 120 may acquire training data for model training and input data to be used when acquiring an output by using the training model. The input interface 120 may obtain unprocessed input data, and in this case, the processor 180 or the learning processor 130 may extract an input feature as a preprocess for the input data.

The learning processor 130 may train a model composed of an artificial neural network by using the training data. Here, the learned artificial neural network may be referred to as a learning model. The learning model can be used to infer a result value for new input data other than the training data, and the inferred value can be used as a basis for a decision to perform a certain operation.

In this case, the learning processor 130 may perform AI processing together with the learning processor 540 of the AI server 500.

In this case, the learning processor 130 may include a memory integrated or implemented in the AI device 100. Alternatively, the learning processor 130 may be implemented using the memory 170, an external memory directly coupled to the AI device 100, or a memory maintained in an external device.

The sensor 140 may acquire at least one of internal information of the AI device 100, information on the surrounding environment of the AI device 100, and user information by using various sensors.

At this time, the sensors included in the sensor 140 include a proximity sensor, an illuminance sensor, an acceleration sensor, a magnetic sensor, a gyro sensor, an inertial sensor, an RGB sensor, an IR sensor, a fingerprint recognition sensor, an ultrasonic sensor, an optical sensor, a microphone, a lidar, and And radar.

The output interface 150 may generate output related to visual, auditory, or tactile sense.

In this case, the output interface 150 may include a display unit outputting visual information, a speaker outputting auditory information, a haptic module outputting tactile information, and the like.

The memory 170 may store data supporting various functions of the AI device 100. For example, the memory 170 may store input data, training data, a learning model, and a learning history acquired from the input interface 120.

The processor 180 may determine at least one executable operation of the AI device 100 based on information determined or generated using a data analysis algorithm or a machine learning algorithm. In addition, the processor 180 may perform the determined operation by controlling the components of the AI device 100.

To this end, the processor 180 may request, search, receive, or utilize data from the learning processor 130 or the memory 170, and perform a predicted or desirable operation among the at least one executable operation. The components of the AI device 100 can be controlled to run.

In this case, when connection of an external device is required to perform the determined operation, the processor 180 may generate a control signal for controlling the corresponding external device and transmit the generated control signal to the corresponding external device.

The processor 180 may obtain intention information for a user input and determine a user's requirement based on the obtained intention information.

In this case, the processor 180 uses at least one of a Speech To Text (STT) engine for converting a speech input into a character string or a Natural Language Processing (NLP) engine for obtaining intention information of a natural language. Intention information corresponding to the input can be obtained.

At this time, at least one or more of the STT engine and the NLP engine may be composed of an artificial neural network, at least partially trained according to a machine learning algorithm. And, at least one of the STT engine or the NLP engine is learned by the learning processor 130, learning by the learning processor 540 of the AI server 500, or learned by distributed processing thereof. Can be.

The processor 180 collects the history information including the user's feedback on the operation content or the operation of the AI device 100 and stores it in the memory 170 or the learning processor 130, or the AI server 500 Can be transferred to an external device. The collected history information can be used to update the learning model.

The processor 180 may control at least some of the components of the AI device 100 in order to drive the application program stored in the memory 170. Further, in order to drive the application program, the processor 180 may operate by combining two or more of the components included in the AI device 100 with each other.

2 is a diagram illustrating an AI server connected to a robot system according to an embodiment of the present invention.

Referring to FIG. 2, the AI server 500 may refer to a device that trains an artificial neural network using a machine learning algorithm or uses the learned artificial neural network. Here, the AI server 500 may be configured with a plurality of servers to perform distributed processing, or may be defined as a 5G network. In this case, the AI server 500 may be included as a part of the AI device 100 to perform at least a part of AI processing together.

The AI server 500 may include a communicator 510, a memory 530, a running processor 540, a processor 520, and the like.

The communicator 510 may transmit and receive data with an external device such as the AI device 100.

The memory 530 may include a model storage unit 531. The model storage unit 531 may store a model (or artificial neural network, 531a) being trained or trained through the learning processor 540.

The learning processor 540 may train the artificial neural network 531a by using the training data. The learning model may be used while being mounted on the AI server 500 of an artificial neural network, or may be mounted on an external device such as the AI device 100 and used.

The learning model can be implemented in hardware, software, or a combination of hardware and software. When part or all of the learning model is implemented in software, one or more instructions constituting the learning model may be stored in the memory 530.

The processor 520 may infer a result value for new input data using the learning model, and generate a response or a control command based on the inferred result value.

3 is a diagram illustrating an AI system including a robot system according to an embodiment of the present invention.

3, the AI system 1 includes at least one of an AI server 500, a robot 100a, an autonomous vehicle 100b, an XR device 100c, a smartphone 100d, or a home appliance 100e. It is connected with this cloud network 10. Here, the robot 100a to which the AI technology is applied, the autonomous vehicle 100b, the XR device 100c, the smartphone 100d, or the home appliance 100e may be referred to as the AI devices 100a to 100e.

The cloud network 10 may constitute a part of the cloud computing infrastructure or may mean a network that exists in the cloud computing infrastructure. Here, the cloud network 10 may be configured using a 3G network, a 4G or Long Term Evolution (LTE) network, or a 5G network.

That is, each of the devices 100a to 100e and 500 constituting the AI system 1 may be connected to each other through the cloud network 10. In particular, the devices 100a to 100e and 500 may communicate with each other through a base station, but may communicate with each other directly without through a base station.

The AI server 500 may include a server that performs AI processing and a server that performs an operation on big data.

The AI server 500 includes at least one of a robot 100a, an autonomous vehicle 100b, an XR device 100c, a smartphone 100d, or a home appliance 100e, which are AI devices constituting the AI system 1 It is connected through the cloud network 10 and may help at least part of the AI processing of the connected AI devices 100a to 100e.

In this case, the AI server 500 may train an artificial neural network according to a machine learning algorithm in place of the AI devices 100a to 100e, and may directly store the learning model or transmit it to the AI devices 100a to 100e.

At this time, the AI server 500 receives input data from the AI devices 100a to 100e, infers a result value for the received input data using a learning model, and generates a response or control command based on the inferred result value. It can be generated and transmitted to the AI devices 100a to 100e.

Alternatively, the AI devices 100a to 100e may infer a result value for input data using a direct learning model, and may generate a response or a control command based on the inferred result value.

Hereinafter, various embodiments of the AI devices 100a to 100e to which the above-described technology is applied will be described. Here, the AI devices 100a to 100e illustrated in FIG. 3 may be viewed as a specific example of the AI device 100 illustrated in FIG. 1.

<AI+robot>

The robot 100a is applied with AI technology and may be implemented as a guide robot, a transport robot, a cleaning robot, a wearable robot, an entertainment robot, a pet robot, an unmanned flying robot, and the like.

The robot 100a may include a robot control module for controlling an operation, and the robot control module may refer to a software module or a chip implementing the same as hardware.

The robot 100a acquires status information of the robot 100a by using sensor information acquired from various types of sensors, detects (recognizes) the surrounding environment and objects, generates map data, or moves paths and travels. You can decide on a plan, decide on a response to user interaction, or decide on an action.

Here, the robot 100a may use sensor information obtained from at least one sensor among a lidar, a radar, and a camera in order to determine a moving route and a driving plan.

The robot 100a may perform the above-described operations using a learning model composed of at least one artificial neural network. For example, the robot 100a may recognize a surrounding environment and an object using a learning model, and may determine an operation using the recognized surrounding environment information or object information. Here, the learning model may be directly learned by the robot 100a or learned by an external device such as the AI server 500.

At this time, the robot 100a may perform an operation by generating a result using a direct learning model, but it transmits sensor information to an external device such as the AI server 500 and performs the operation by receiving the result generated accordingly. You may.

The robot 100a determines a movement route and a driving plan using at least one of map data, object information detected from sensor information, or object information obtained from an external device, and controls the driving unit to determine the determined movement path and travel plan. Accordingly, the robot 100a can be driven.

The map data may include object identification information on various objects arranged in a space in which the robot 100a moves. For example, the map data may include object identification information on fixed objects such as walls and doors and movable objects such as flower pots and desks. In addition, the object identification information may include a name, type, distance, and location.

In addition, the robot 100a may perform an operation or run by controlling the driving unit based on the user's control/interaction. In this case, the robot 100a may acquire interaction intention information according to a user's motion or voice speech, and determine a response based on the obtained intention information to perform the operation.

<AI+robot+autonomous driving>

The robot 100a may be implemented as a guide robot, a transport robot, a cleaning robot, a wearable robot, an entertainment robot, a pet robot, an unmanned flying robot, etc. by applying AI technology and autonomous driving technology.

The robot 100a to which AI technology and autonomous driving technology are applied may refer to a robot having an autonomous driving function or a robot 100a interacting with the autonomous driving vehicle 100b.

The robot 100a having an autonomous driving function may collectively refer to devices that move by themselves according to a given movement line without the user's control or by determining the movement line by themselves.

The robot 100a having an autonomous driving function and the autonomous driving vehicle 100b may use a common sensing method to determine one or more of a moving route or a driving plan. For example, the robot 100a having an autonomous driving function and the autonomous driving vehicle 100b may determine one or more of a movement route or a driving plan using information sensed through a lidar, a radar, and a camera.

The robot 100a interacting with the autonomous driving vehicle 100b exists separately from the autonomous driving vehicle 100b, and is linked to an autonomous driving function inside the autonomous driving vehicle 100b, or in the autonomous driving vehicle 100b. It is possible to perform an operation associated with the user on board.

At this time, the robot 100a interacting with the autonomous driving vehicle 100b acquires sensor information on behalf of the autonomous driving vehicle 100b and provides it to the autonomous driving vehicle 100b, or acquires sensor information and provides information on the surrounding environment or By generating object information and providing it to the autonomous driving vehicle 100b, it is possible to control or assist the autonomous driving function of the autonomous driving vehicle 100b.

Alternatively, the robot 100a interacting with the autonomous vehicle 100b may monitor a user in the autonomous vehicle 100b or control functions of the autonomous vehicle 100b through interaction with the user. . For example, when it is determined that the driver is in a drowsy state, the robot 100a may activate the autonomous driving function of the autonomous driving vehicle 100b or assist in controlling the driving unit of the autonomous driving vehicle 100b. Here, the functions of the autonomous driving vehicle 100b controlled by the robot 100a may include not only an autonomous driving function, but also functions provided by a navigation system or an audio system provided inside the autonomous driving vehicle 100b.

Alternatively, the robot 100a interacting with the autonomous driving vehicle 100b may provide information or assist a function to the autonomous driving vehicle 100b from outside of the autonomous driving vehicle 100b. For example, the robot 100a may provide traffic information including signal information to the autonomous vehicle 100b, such as a smart traffic light, or interact with the autonomous driving vehicle 100b, such as an automatic electric charger for an electric vehicle. You can also automatically connect an electric charger to the charging port.

Hereinafter, the robot 100a will be described by taking a boarding robot that a user can board.

4 is a perspective view showing a robot according to an embodiment of the present invention, FIG. 5 is a plan view showing a robot according to an embodiment of the present invention, and FIG. 6 is a front view showing a robot according to an embodiment of the present invention. , Figure 7 is a side view showing a robot according to an embodiment of the present invention.

The robot 100a may include a body 200.

The main body 200 may include at least one driving wheel, and may be a driving module or a mobile robot capable of driving or autonomous driving according to a user's input.

The main body 200 may be a combination of a plurality of parts, and the main body 200 may further include a driving mechanism (or a driving mechanism) connected to a driving wheel and capable of rotating the driving wheel forward or backward.

A pair of driving wheels may be provided on the main body 200, and a pair of driving wheels 202 and 204 may be provided on the main body 200 to be spaced apart in the left and right directions (Y).

The driving mechanism may include a driving motor that generates a driving force to rotate the driving wheels 202 and 204. An example of the driving mechanism is that the driving motor is directly connected to the driving wheels 202 and 204 so that the driving motor can rotate the driving wheels 202 and 204 directly forward and backward. Another example of the driving mechanism is that the driving motor is connected to the driving wheels 202 and 204 through various power transmission members such as a rotation shaft and a gear to rotate the driving wheels 202 and 204 forward and reverse through the power transmission member. It is possible.

The main body 200 may include a separate steering wheel (not shown) disposed to be spaced apart from the driving wheels 202 and 204 in order to change the driving direction of the robot 100a, and a steering wheel to be described later. By 600, the direction of the steering wheel and the driving direction of the main body 200 may be determined.

The main body 200 does not include a separate steering wheel for changing the driving direction of the main body 200, and the driving direction of the main body 200 may be determined using a pair of driving wheels 202 and 204. . In the main body 200, the driving direction of the main body 200 can be determined by using the rotation direction of each of the pair of driving wheels 202 and 204 or the difference in the rotational speed of the pair of driving wheels 202 and 204. have.

The main body 200 may be configured to rotate a pair of driving wheels 202 and 204 independently of each other, and the main body 200 is a pair for rotating a pair of driving wheels 202 and 204 The traveling motors 206 and 208 may be included. A pair of driving motors 206 and 208 include a right driving motor 206 that rotates the right driving wheel 202 among a pair of driving wheels 202 and 204, and a pair of driving wheels 202 ( Among the 204), a left driving motor 208 for rotating the left driving wheel 204 may be included.

The main body 200 may further include a battery 210 for supplying power to each component of the robot 100a. The battery 210 may be disposed on the main body 200 in consideration of the center of gravity of the robot 100a.

The body 200 may include a housing 220 forming an exterior. The housing 220 may be formed as a combination of a plurality of members, and the housing 220 may include an upper surface 221 and a lower surface 222 and a peripheral surface 223.

Each of the upper surface 221 and the lower surface 222 of the housing 220 may have a planar shape, and the circumferential surface 223 of the housing 220 may have a curved shape.

The circumferential surface 223 may include a left surface 224, a right surface 225, and a rear surface 226 and a front surface 227.

The left side 224 may be convex toward the left, and the right side 225 may be convex toward the right. And, the rear surface 226 may be convex toward the rear between the upper and lower ends. The front surface 227 may be convex toward the front between the upper and lower ends.

The upper end of the front surface 227 of the circumferential surface 223 may extend closer to the rear end of the front end of the upper surface 221 and the rear end of the upper surface 221.

The circumferential surface 223 may further include a plane 228 extending from one side of the convex front surface 227 to the tip end of the upper surface 221. The plane 228 may be an inclined surface inclined toward the front and lower sides.

The housing 220 may further include an upper rear surface 229 extending upwardly from an upper portion of the convex rear surface 226.

The housing 220 is a lower housing 220a including an upper surface 221, a lower surface 222, and a circumferential surface 223, and extends to protrude upward from one side of the lower housing 220a, and the upper rear surface 229 It may include an upper housing (220b) including.

The lower housing 220a may have an upper surface 221 and a lower surface 222 as a whole may be formed in a flat spherical shape.

The upper housing 220b may extend from the rear upper portion of the lower housing 220a to the rear of the backrest 320 to be described later.

The driving wheels 202 and 204 may be rotatably disposed in the housing 220, and a lower portion thereof may be disposed in the housing 220 to pass through a wheel through hole formed in the lower portion of the housing 220.

A space may be formed inside the housing 220, and the battery 210 may be accommodated in a space formed inside the housing 220.

The robot 100a may further include a seating body 300 disposed above the main body 200 and a footrest 400 disposed in front of the main body 200.

The seating body 300 may be configured to allow a user to seat. The seating body 300 may be provided with a seat on which the user is seated. In addition, the seating body 300 may be provided with an armrest through which the user can raise the arm. The height of the armrest may be higher than the height of the seat.

The seating body 300 may further include a seat body 310 on which the user sits and a backrest 320 through which the user can lean on his or her back.

The seat body 310 may include a lower cushion 311 and a lower seat body 312 on which the lower cushion 311 is mounted.

The lower cushion 311 may be disposed on the upper surface of the lower seat body 312. The lower cushion 311 may be provided to have more elasticity than the lower seat body 312.

The lower seat body 312 may be disposed on the housing 220, particularly, the lower housing 220a. The lower seat body 312 may cover a space formed inside the housing 220.

The seat body 310 does not include the lower cushion 311, but may also include the lower seat body 312.

The backrest 320 may include a rear cushion 321 and a rear seat body 322 supporting the rear cushion 321. The rear seat body 322 may be supported by the rear supporter 324, and the backrest 320 may further include a rear supporter 324.

The rear cushion 321 may be disposed on the front side of the rear seat body 322. The rear cushion 321 may be provided to have more elasticity than the rear seat body 322.

All or part of the rear seat body 322 may overlap with the upper housing 220b in the front-rear direction, and the rear supporter 324 may overlap with the upper housing 220b in the front-rear direction. The rear seat body 322 and the rear supporter 324 may be protected by the upper housing 220b.

The lower portion of the rear supporter 324 may be connected to the lower seat body 312. The rear supporter 324 may be configured such that the upper part is bent around the lower part. The lower portion of the rear supporter 324 may be rotatably connected to the lower seat body 312 by a hinge axis, and the backrest 320 may be disposed to rotate around the lower portion.

The backrest 320 does not include a rear cushion 321, but may include a rear seat body 322 and a rear supporter 324.

The armrest may be disposed on the seat body 310 so as to move forward and backward. A pair of armrests may be provided on the seating body 300.

A pair of armrests 330 and 340 may include a right armrest 330 and a left armrest 340 disposed to be spaced apart from each other in the left and right direction (Y), and the right armrest 330 and the left The armrests 340 may be spaced apart from each other in the left and right direction (Y), and may be disposed to be symmetrically left and right.

A pair of armrests 330 and 340 may be disposed so as to move forward and backward in the seat body 310, in particular, the lower seat body 312, and a lower portion of each of the pair of armrests 330 and 340 It may be inserted into the interior of the seat body 312. The lower portion of each of the pair of armrests 330 and 340 may be guided forward and backward along a guide provided on the seat body 310 in the forward and backward direction (X).

The footrest 400 may be disposed on the main body 200. The footrest 400 may be disposed to protrude from the main body 200 in the forward direction. The footrest 400 may be disposed in the front and lower portions of the main body 200. The footrest 400 may be disposed to advance and retreat in the front-rear direction (X) on the body 200.

An auxiliary wheel for supporting the footrest 400 may be disposed on the footrest 400. A pair of auxiliary wheels may be provided on the footrest 400, and a pair of auxiliary wheels 402 and 404 may be disposed to be spaced apart from the footrest 400 in the horizontal direction.

The robot 100a may include a steering 600 operated by a user. The steering 600 may be an adjustment device such as a jog & shuttle or a joystick.

The steering 600 may include a handle 612 held by a user by hand. The steering 600 may be an input interface through which a user can hold and manipulate the robot 100a to input a driving direction or a driving speed of the robot 100a.

The steering 600 may be disposed on at least one armrest. The steering 600 may be provided on each of the pair of armrests 330 and 340, and may be disposed on any one of the pair of armrests 330 and 340.

The steering 600 may include a steering body 610 held by a user by hand. The steering body 610 may be a body that is held by a user and manipulated in various directions such as front, rear, left and right. A handle 612 that the user holds by hand may be formed on the upper part of the steering body 610. The steering body 610 may include a steering shaft 614 extending under the handle 612.

The user may hold the handle 612 while sitting on the seat body 310 and push the steering body 610 forward or backward, or push the steering body 610 to the left or the right.

An example of the steering body 610 may be arranged so that the handle 612 can be tilted toward one side such as front, rear, left, right, etc. around the steering shaft 614. The robot 100a may include a sensor that senses an inclination angle and an inclination direction of the steering body 610. The robot 100a may sense a steering direction or speed based on an inclination angle (or inclination angle), an inclination direction, or the like of the steering body 610 sensed by a sensor.

Another example of the steering body 610 may be arranged such that the steering shaft 614 and the handle 612 are moved forward, backward, left, rear, and the like. The robot 100a may include a sensor that senses the position of the steering body 610. The robot 100a may sense a steering direction or a speed according to the position of the steering body 610 sensed by the sensor.

Another example of the steering body 610 may be arranged such that the steering shaft 614 and the handle 612 are rotated in a clockwise or counterclockwise direction. The robot 100a may include a sensor that senses the rotation angle of the steering body 610. The robot 100a may sense a steering direction or a speed according to the rotation angle of the steering body 610 sensed by the sensor.

The sensor may transmit the sensed steering direction or speed signal to the processor 180, and the processor 180 may control the driving motors 206 and 208 to be described later according to the signal transmitted from the sensor.

The robot 100a may further include a display 700. The display 700 may be disposed on at least one of the pair of armrests 330 and 340. The display 700 may be arranged to be rotated about a horizontal rotation center. The display 700 may be an output interface capable of displaying various types of information such as driving information.

The display 700 may be rotatably connected to the steering housing 360. The display 700 may be connected to the front end of the steering housing 360.

A display connection part 364 to which the display 700 is rotatably connected may be formed in the steering housing 360.

The display connection part 364 may be horizontally spaced apart from the steering body 610 when the steering body 610 is raised.

The robot 100a may further include a display rotator 370 that rotates the display 700. The display rotator 370 may be a rotating mechanism that rotates the display 700 connected to the display 700. The display rotator 370 may include a display motor connected to the display 700 to rotate the display 700. Hereinafter, for convenience, the display motor will be described with reference numeral 370 together with the display rotator 370. The display motor 370 may be disposed to be accommodated in the display connector 364. A motor space in which the display motor 370 can be accommodated may be formed inside the display connection part 364.

A rotation shaft for rotating the display 700 may be provided to the display motor 370, and the rotation shaft may be horizontally disposed. The rotation shaft may be long disposed in the left and right direction (Y). The display motor 370 may rotate the display 700 so that the display 700 is erected around a rotation axis or the display 700 is laid down.

In the present specification, erecting of the display 700 is not limited to erecting the display 700 vertically, but may be defined as including erecting the display 700 at an inclined angle.

The display 700 may include a front surface 701 facing the front and a rear surface 702 facing the rear when it is erected. A screen (or screen) capable of providing various types of information to a user may be disposed on the rear surface 702 of the display 700. A touch screen may be provided on the rear surface 702 of the display 700, and a user may input various commands through the touch screen.

The display 700 may be rotated on the armrest in parallel with the upper surface of the armrest, and in this case, the front surface 701 when the display 700 is erected may be the upper surface of the display 700, and the display The rear surface 702 when the 700 is erected may be the bottom surface of the display 700.

When the display 700 is laid horizontally, the screen of the display 700 is not visible from the outside, and the screen of the display 700 may be protected.

The robot 100a may further include at least one accessory capable of providing convenience to a user.

Accessories may be provided on the armrest or the body 200, and a plurality of accessories may be provided to the robot 100a.

The robot 100a may include an accessory 800 (an armrest accessory) provided on an armrest. The robot 100a may include an accessory 900 (body accessory) provided on the body 200. The robot 100a may include both the accessory 800 provided on the armrest and the accessory 900 provided on the main body 200.

An example of the accessory 800 provided on the armrest may be a cup holder on which a cup can be seated. Another example of the accessory 800 provided on the armrest may be a sub armrest that has the same size and shape as the steering housing 360, but does not have an opening 362 formed thereon.

The steering housing 360 of this embodiment may be selectively disposed on the armrest body 350 of the left armrest 340 or the armrest body 350 of the right armrest body 340 for user convenience. , Accessories such as a cup holder or a sub armrest may be disposed on the armrest body 350 of the armrest in which the steering housing 360 is not disposed among the left armrest 340 and the right armrest 330, Together with the hanging body 350, the user's arm can be supported.

The accessory 800 provided on the armrest is not limited to the cup holder or the sub armrest, but is not limited to the type as long as it is an accessory that can provide user convenience and can be accommodated in the receiving portion 352.

An opening 362 may be formed in the armrest, and an inner space S in which a part of the steering 600 may be accommodated may be formed inside the armrest. When the robot 100a includes a pair of armrests 330 and 340, the steering 600 may be disposed on any one of the pair of armrests 330 and 340.

At least one of the pair of armrests 330 and 340 may be a combination of a plurality of members, and at least one of the pair of armrests 330 and 340 is the armrest body 350 and the steering housing 360 ) Can be included.

Any one 330 of the pair of armrests 330 and 340 may include an armrest body 350 and a steering housing 360 disposed on the armrest body 350, and such an armrest body An accommodation part 352 in which the steering housing 360 is accommodated may be formed in 350.

The receiving portion 352 may be formed in a shape recessed in the armrest body 350. The upper surface of the receiving portion 352 may be open. Each of the upper surface and the front surface of the receiving portion 352 may be opened.

The steering housing 360 may be inserted into and accommodated in the receiving part 352, and may be protected by the receiving part 352.

The steering housing 360 may surround at least a part of the steering 600 and may protect the steering 600.

The other 340 of the pair of armrests 330 and 340 may include an armrest body 350, and may further include an accessory 800 disposed on the armrest body 350. The armrest body 350 may be provided with a receiving portion 352 in which the accessory 800 is accommodated.

The pair of armrests 330 and 340 may include an armrest body 350 having the same structure, and the steering housing 360 and the accessory 800 may be positioned symmetrically to each other. Each of the pair of armrests 330 and 340 may be provided with a receiving portion 352 having the same shape and size.

The accessory 800 and the steering housing 360 may have the same size and outer shape.

The steering housing 360 and the accessory 800 may have the same shape and size, and may be symmetrically disposed on the seating body 300.

The steering housing 360 may constitute a steering assembly together with the steering 600, and the steering assembly may be selectively disposed together with the accessory 800.

When the steering housing 360 is disposed on the armrest body 350 of the right armrest 330, the accessory 800 may be disposed on the armrest body 350 of the left armrest 340, vice versa, When the steering housing 360 is disposed on the armrest body 350 of the left armrest 340, the accessory 800 may be disposed on the armrest body 350 of the right armrest 330.

An example of the accessory 900 provided on the main body 200 may be a cradle on which the user's baggage (eg, a carrier) seated on the seated body 300 can be placed. Another example of the accessory 900 provided on the main body 200 may be a cradle on which a medical device (eg, crutches, medicines, etc.) that helps the user to walk is mounted. The accessory 900 provided on the main body 200 is a cradle. The configuration is not limited to, but is not limited to the type, as long as it can be moved together with the user, and various types of accessories 900 may be detachably detachably attached to the main body 200.

The robot 100a may include a sensor 140, and the sensor 140 may include at least one sensor for autonomous driving, driving assistance, and safety.

The sensor 140 may include a rear sensor 280 capable of sensing the rear and rear peripheries of the robot 100a. An example of the rear sensor 280 may be a lidar sensor that detects an object using a wavelength of light. The rear sensor 280 is not limited to a lidar sensor, and may include a radar sensor that detects an object using electromagnetic or an ultrasonic sensor that detects an object using ultrasonic waves.

The rear sensor 280 may be disposed on the rear portion of the robot 100a. The rear portion of the robot 100a may be defined as between the center of the robot 100a and the rear end of the robot 100a in the front-rear direction X of the robot 100a. Hereinafter, the rear sensor 280 will be referred to as a sensor 280 and described.

A plurality of sensors 140 may be provided to the robot 100a. The sensor 140 may include at least one front sensor 380 and 480 capable of sensing the front and front peripheries of the robot 100a.

The front sensors 380 and 480 may be disposed in the front of the robot 100a. The front portion of the robot 100a may be defined as between the center of the robot 100a and the front end of the robot 100a in the front-rear direction X of the robot 100a.

The front sensors 380 and 480 may be provided on the seating body 300 or may be provided on the footrest 400.

Examples of the front sensors 380 and 480 may be lidar sensors that detect an object using a wavelength of light. The rear sensor 280 is not limited to a lidar sensor, and may include a radar sensor that detects an object using electromagnetic or an ultrasonic sensor that detects an object using ultrasonic waves.

A plurality of front sensors 380 and 480 may be provided to the robot 100a, and the plurality of front sensors 380 and 480 may be disposed at different heights. The plurality of front sensors 380 and 480 may include a front sensor 380 provided on the seating body 300 and a front sensor 480 disposed on the footrest 400.

The plurality of front sensors 380 and 480 may be configured by a combination of a lidar sensor, a radar sensor, and an ultrasonic sensor.

The height of the front sensor 380 provided on the seating body 300 may be higher than the height of the front sensor 480 disposed on the footrest 400, and the front sensor 380 provided on the seating body 300 may be , The front sensor 480 disposed on the footrest 400 may be a front lower sensor.

A plurality of front lower sensors may be provided on the footrest 400, and may include at least one lidar 482 and at least one infrared sensor 484.

The lidar 482 can measure the distance to the obstacle or object by emitting a laser pulse and receiving the laser pulse reflected from the surrounding obstacle or object, and a pair of left and right spaced apart from the footrest 400 Can be provided.

The infrared sensor 484 (IR sensor) is a sensor using infrared rays, and can measure the presence or absence of an obstacle or a substance by infrared rays emitted from surrounding obstacles or objects, and a plurality of them are arranged in a horizontal direction. They can be arranged spaced apart.

The robot may include a plurality of auxiliary wheels disposed on at least one of the main body 200 and the footrest 400.

An auxiliary wheel 250 that assists the driving wheels 202 and 204 may be disposed on the main body 200. The auxiliary wheel 250 is a wheel capable of enhancing a sense of stability at the rear of the robot, and may be rotatably disposed on the main body 200.

The auxiliary wheel 250 disposed on the main body 200 may be a rear wheel closer to the rear of the front end of the robot and the rear end of the robot. Hereinafter, the rear wheel will be described with reference numeral 250.

The footrest 400 may be disposed in the front and lower portions of the main body 200, and the auxiliary wheels 402 and 404 disposed on the footrest 400 are rotatably disposed on the footrest 400, so that the robot front It may be a wheel that enhances a sense of negative stability.

The auxiliary wheels 402 and 404 disposed on the footrest 400 may be a front wheel closer to the rear of the front and rear ends of the robot, and hereinafter, auxiliary wheels 402 and 404 disposed on the footrest 400 Will be referred to as the front wheels 402 and 404 and described.

The robot may include at least one light (lighting device), and the light may generate light (or lighting pattern) capable of expressing various states of the robot to the outside. The light may generate a predetermined lighting pattern according to the current state of the robot, and when the current state is changed, the lighting pattern may be changed according to the changed state.

The various states of the robot include a state in which the power of the robot is on (hereinafter referred to as a state in which the power is turned on), a state in which the power of the robot is turned off (hereinafter, referred to as a state in which the power is turned off), and a state in which the user's boarding is restricted (ie. , Non-service state), a state in which the footrest 400 is ready for boarding, a state in which the robot, in particular, the main body is running (i.e., in a service state), and the robot, in particular, the main body 200, does not travel, and stops (position is fixed). ), etc.

The power-on state may be a state in which the robot is ready to operate (run, turn, prepare for boarding, limit boarding, etc.) and wait.

The power off state may be a state in which the robot is not operated. For example, the robot may be being charged by a charging station or the like, or the robot may be discharged.

The state of restricting the user's boarding (non-service state) may be a state in which a non-user/non-administrator is not seated in the seated body 300. The robot may be in a special state, such as while driving toward a charging station (not shown), while driving to a specific place for an AS, or waiting at a specific place to board only a predetermined specific user. In the special case as described above, in order to maintain a state that restricts the user's boarding, the robot may convert all or part of the robot into a state in which boarding is uncomfortable. For example, in the robot, the backrest 320 may be rotated or moved on the seat body 310 by a backrest motor (not shown). It may be difficult to sit on the body 310.

The state in which the footrest 400 is ready for boarding may be a state in which the robot 100a advances the footrest 400 to assist the occupant on board, and the footrest 400 is the footrest 400 advancing. It is started and can be operated forward in the forward direction until the foot bed 400 is stopped. The state in which the foot footbed 400 is advancing may be defined as a state in which the footrest 400 is ready for boarding.

A state in which the robot 100a is driven may be a state in which the robot 100a travels or rotates while the driving motors 206 and 208 are driven and the driving wheels 202 and 204 are rotated.

A state in which the robot 100a is stopped without traveling is a state in which the robot 100a is running and then stopped/paused, and the driving wheels 202 and 204 may be stopped by a brake or the like.

When the light is in a specific state (for example, a state in which the footrest 400 is ready for boarding) among the various states as described above, the light (or lighting Pattern).

The robot 100a may include a rear light 290 (refer to FIGS. 5 and 7) provided on the main body 200. When the robot 100a includes the rear light 290, the pro sensor 180 may control the rear light 290 differently according to various states of the robot 100a.

The robot 100a may include a front light 490 (FIGS. 4, 6 and 7) disposed on the footrest 400. When the robot 100a includes the front light 490, the pro sensor 180 may control the front light 490 differently according to various states of the robot 100a.

The front light 490 may be disposed on the footrest 400 itself, or may be disposed on the front sensor 480 disposed on the footrest 400. When the front light 490 is disposed on the footrest 400 itself, as well as when disposed on the front sensor 480 disposed on the footrest 400, the front light 490 is disposed on the footrest 400 Can be defined as The front light 490 may be disposed on the lidar 482 among the front sensors 480 and may form part of the lidar 482.

The robot 100a may include a steering light 690 (FIGS. 4 and 7) disposed on the steering 600. When the robot includes the steering light 690, the pro sensor 180 may control the steering light 690 according to various states of the robot 100a.

The robot 100a may include at least one of a rear light 290, a front light 490, and a steering light 690, and at least one of the rear light 290, the front light 490, and the steering light 690 By one, the current state of the robot 100a can be externally expressed.

A passenger boarding the robot 100a or a pedestrian around the robot 100a may be in at least one of the rear lights 290, the front lights 490, and the steering lights 690 (e.g., lighting patterns, Illumination color, etc.), and the current state of the robot 100a can be recognized.

When the robot 100a is in a specific state, at least two of the rear light 290, the front light 490, and the steering light 690 can each generate an illumination pattern. In this case, the robot 100a Nearby users/non-users/pedestrians, etc. can easily recognize the current state of the robot 100a from the front, back, and sides of the robot 100a.

8 is a cross-sectional view illustrating a rear light according to an embodiment of the present invention, FIG. 9 is a cross-sectional view illustrating a change in light of a rear light when the robot is powered on, and FIG. 10 is a light of a rear light when the robot is powered off. A cross-sectional view showing a change, FIG. 11 is a cross-sectional view showing a change in the light of the rear light when the robot is restricted on boarding, and FIG. 12 is a view showing the light of the rear light when the footrest is ready for boarding, the robot is running, or the robot is stopped. It is a cross-sectional view.

The rear light 290 may be disposed on the rear portion of the main body 200 so that light is irradiated toward the rear of the main body 200. The rear light 290 may be a rear indicator disposed on the rear portion of the main body 200.

The rear light 290 may include at least one light source. The rear light 290 may include a plurality of light sources 291, 292, 293, 294, 295, and 296. The rear light 290 may include a PCB 297 equipped with a light source. The rear light 290 may include a window 298 through which light generated from a light source passes.

The light source may be an LED, an OLED, or the like, and as long as it is a configuration capable of generating light, it is a matter of course that the light source is not limited to the type.

The plurality of light sources 291, 292, 293, 294, 295, and 296 may be disposed to be spaced apart from each other on the PCB 297, and may be disposed to be spaced apart from each other in the longitudinal direction of the rear light 290. have.

The rear lights 290 may be elongated in the horizontal direction. The rear light 290 may be formed in a curved shape that is convex in the rear direction as a whole. The length direction of the rear light 2900 may be defined as a length in a horizontal direction, in particular, a length in a left and right direction.

The rear light 290 may form various lighting patterns according to the number of light sources to be turned on among the plurality of light sources or the position of the light sources to be turned on.

Various lighting patterns may include variable lighting patterns in which the size or position of light is variable.

An example of the variable lighting pattern may include an extended lighting pattern in which light gradually expands as time elapses. The plurality of light sources 291, 292, 293, 294, 295, and 296 may be sequentially turned on along the length direction of the rear light 290, and the size of light gradually increases in the length direction of the rear light 290. It may be extended, and the extended lighting pattern may be a lighting pattern in which the number of light sources that are changed from an off state to an on state is gradually increased.

Another example of the variable lighting pattern may include a reduced lighting pattern in which light gradually decreases over time. The plurality of light sources 291, 292, 293, 294, 295, and 296 may be sequentially turned off along the length direction of the rear light 290, and the amount of light is in the length direction of the rear light 290. It may be gradually reduced, and the reduced lighting pattern may be a lighting pattern in which the number of light sources that are kept on is gradually decreased.

Another example of the variable lighting pattern may include a moving lighting pattern in which the size of the light is constant but the position of the light is variable even when time elapses. The plurality of light sources 291, 292, 293, 294, 295, and 296 are not entirely turned on, and can be turned on and off by a set number of light sources, and the on-in light source is the length of the rear light 290 It can be moved sequentially along the direction. For example, a plurality of light sources 291, 292, 293, 294, 295, 296 are sequentially arranged along the length direction of the rear light 290, the first light source 291, the second light source (292), when the third light source 293, the fourth light source 294, the fifth light source 295, and the sixth light source 296 is included, the rear light 290 is the first light source as time elapses. (291) is turned on and off, the second light source 291 is turned on and off, the third light source 293 is turned on and off, and the fourth light source 294 is turned on and off, The fifth light source 295 may be turned on and off, and the sixth light source 296 may be turned on and then turned off.

Various lighting patterns may include a fixed lighting pattern in which light is constant, and the fixed lighting pattern may be a lighting pattern in which the size and position of the light are not changed, and all or some of the plurality of light sources are constantly turned on.

On the other hand, the rear light 290 may generate a variable lighting pattern when the power is turned on, the power is turned off, or in the boarding restriction mode.

When the power is turned on or off, the rear light 290 may move the light left and right, and in the boarding restriction mode, the rear light 290 may continue to move the light left and right.

The detailed patterns of the variable lighting pattern when the power is on, the variable lighting pattern when the power is off, and the variable lighting pattern when the boarding limit mode are respectively different from each other may be different from each other.

The variable lighting pattern generated by the rear light 290 when the power is on is the center of the rear light 290 in each of the left side 290A and the right side 290B of the rear light 290 ( 290C) allows the light (L) to move.

An example of moving the light from the left side 290A and the right side 290B of the rear light 290 to the center 290C is, referring to FIG. 9, a first light source 291 and a first light source 291 located at the outermost side relatively. The sixth light source 296 is turned on and off first, and thereafter, the second light source 292 positioned to the right of the second light source 292 and the fifth light source 295 positioned to the left of the sixth light source 294 are After turning on and off, the third light source 293 and the fourth light source 294 positioned approximately at the center may be turned on and then turned off. In this case, the rear light 290 forms light L that moves from the left and right sides 290A and 290B of the rear light 290 to the center 290C of the rear light 290 as time elapses. The light L may form a variable lighting pattern that moves from both left and right sides of the rear light 290 to the center 290C. When forming the variable lighting pattern as described above, the light intensity of the plurality of light sources 291, 292, 293, 294, 295, and 296 gradually increases toward the center 290C of the rear light 290. It is also possible.

The variable lighting patterns generated by the rear light 290 when the power is off are as shown in FIG. 10, at the center 290C of the rear light 290 to the left 290A and the right ( 290B) allows the light (L) to move.

Referring to FIG. 10, a third light source 293 and a fourth light source 294 located relatively in the center are turned on and off first, and then a second light source 292 positioned to the left of the third light source 293. ) And the fifth light source 295 positioned to the right of the fourth light source 294 are turned on and off, and finally the first light source 291 positioned at the left and the sixth light source positioned at the rightmost ( 296) can be turned on and off. In this case, the rear light 290 forms light L that moves from the center 290C of the rear light 290 to the left and right sides 290A and 290B of the rear light 290 as time elapses. The light L may form a variable lighting pattern in which the rear light 290 moves from the center 290C to the left and right sides 290A and 290B. In the case of forming the variable lighting pattern as described above, the plurality of light sources 291, 292, 293, 294, 295, and 296 have the intensity of light toward the left and right sides 290A and 290B of the rear light 290. It is also possible to increase gradually.

Each of the variable lighting pattern when the power is on and the variable lighting pattern when the power is off may include light of a specific color, and for example, may be red light.

Meanwhile, in the limited boarding mode, the rear light 290 may continue to move the light L left and right along the longitudinal direction of the rear light 290.

In the limited boarding mode, an example of the lighting pattern generated by the rear light 290 is, as shown in FIG. 10, the light L generated from the rear light 290 is at the left side 290A of the rear light 290. ) To the right side (290B), and then from the right side (290B) of the rear light 290 to the right side (290A) of the rear light 290, and the right and left side of the light (L) The movement can be repeated while the restricted boarding mode continues.

The rear light 290 forms a fixed lighting pattern when the footrest 400 is advanced, the main body 200 is running, or the main body 200 is stopped, and as shown in FIG. 11 in the rear light 290, In the case of the variable lighting pattern, light L having a larger size may be formed.

On the other hand, the color of light when the main body 200 is driven may be different from the color of light when the footrest 400 is advanced and the color of light when the body 200 is stopped.

The rear light 290 may generate a red fixed lighting pattern while the footrest 400 is advancing, and may generate a blue fixed lighting pattern when the main body 200 is running, and when the main body 200 is stopped. It is possible to create a fixed red lighting pattern.

13 is a view showing a footrest and a front light according to an embodiment of the present invention, and FIG. 14 is a view showing a footrest mover according to an embodiment of the present invention.

The robot may further include a footrest mover 260 for advancing and retreating the footrest 400.

The footrest mover 260 may be connected to the footrest 400 and may move the footrest 400 in the forward and backward direction (X).

The footrest mover 260 may include a motor 262 and at least one power transmission member that transmits the driving force of the motor 262 to the footrest 400. The power transmission member constituting the footrest mover 260 includes a screw 264 rotated by a motor 262 and a carrier 266 disposed to be moved along the screw 264 and connected to the footrest 400 can do.

The motor 262 may be mounted to be located at the rear of the screw 264 and may rotate the screw 264.

The screw 264 may be elongated in the front-rear direction (X), and may be connected to the motor 262 and rotated by the motor 262. The connection between the screw 264 and the motor 262 is not only that the screw 264 is directly connected to the rotational shaft of the motor 262, but also the screw 264 is a motor (not shown) by a power transmission member (not shown) such as a gear. 262) may be defined as including all those connected to the axis of rotation.

The carrier 266 is a screw body 267 that is linearly moved along the screw 264 and has a threaded thread that moves along the screw 264 in the inner circumference and surrounds a part of the outer circumference of the screw 264, It may include a connector 268 connected to the screw body 267 and fastened to the footrest 400 with a fastening member such as screws or pins.

The carrier 266 may move the footrest 400 in the forward and backward direction (X) along the screw 264 in the lower part of the footrest 400, and may move the footrest 400 in the forward and backward direction (X).

The footrest mover 260 is not limited to the screw 264 and the carrier 266 as described above, but a drive gear such as a pinion gear connected to the motor 262, and a rack gear provided on the footrest 400 It is also possible to include a driven gear such as, as long as it is a configuration capable of moving the footrest 400 in the front-rear direction (X), it is of course not limited to the type.

A lower plate 270 capable of guiding the advance and retreat of the footrest 400 may be disposed on the main body 200. The lower plate 270 may be a foot rest guide guiding the foot rest 400, and the foot rest 400 may be disposed on the main body 200 by the lower plate 270 so as to move forward and backward.

The lower plate 270 may be a fixed support disposed on the main body 200, in particular, the housing 220 to guide the footrest 400, and the footrest 400 is guided by the lower plate 270 to guide the lower plate. It may be a moving pedestal that advances and retreats along 270.

The footrest 400 may include a protrusion 406 formed in the rear direction, and the protrusion 406 is movably seated on the lower plate 270, and a protrusion guide 271 that guides the movement of the protrusion 406 ) Can be formed. The protrusion guide 271 may be formed in a shape recessed in the upper surface of the lower plate 270. The protrusion guide 271 may have a shape in which left, right, rear and bottom surfaces are blocked, and the protrusion 406 may be guided by the protrusion guide 271 in a state in which the protrusion guide 271 is accommodated and contacted.

The robot may further include a guide body 408 disposed on the footrest 400. The guide body 408 may be long disposed on the footrest 400 in the front-rear direction (X).

A guide rail 272 guiding the guide body 408 may be disposed on the lower plate 270. A guide rail mounter 274 on which the guide rail 272 is mounted may be formed on the lower plate 270. The guide rail mounter 274 may be formed elongated in the front-rear direction (X) on the lower plate 270, and the guide rail 272 is mounted on the guide rail mounter 274 to be elongated in the front-rear direction (X). In addition, it is possible to guide the guide body 408 in the front-rear direction (X).

A footrest mover 260 may be disposed on the lower plate 270. The motor 262 may be mounted on the lower plate 270 to be located behind the screw 264.

At least one screw supporter 275 and 276 rotatably supporting the screw 264 may be formed on the lower plate 270.

The rear wheel 250 may be rotatably disposed on the lower plate 270, and a rear wheel supporter 277 rotatably supporting the rear wheel 250 may be formed on the lower plate 270.

A pair of rear wheel supporters 277 may be provided on the lower plate 270, and a pair of rear wheel supporters 277 may be provided at the side of the rear wheel 250, in particular the rear wheel 250, the main wheel (or main wheel). Frame wheel) can be supported rotatably. Any one of the rear wheel 250 and the rear wheel supporter 277 may be provided with a support shaft that is elongated in the horizontal direction, and the support shaft may be rotated on the other of the rear wheel 250 and the rear wheel supporter 277 A support shaft supporter that supports it may be provided.

Driving wheel through holes 278 and 279 through which the driving wheels 202 and 204 are rotatably penetrated may be formed in the lower plate 270.

The driving wheel through holes 278 and 279 may be formed to penetrate the lower plate 270 in the vertical direction (Z). A pair of driving wheel through-holes 278 and 279 may be provided in the lower plate 270, and the pair of driving wheel through-holes 278 and 279 may be spaced apart in the left-right direction (Y).

Each of the pair of driving wheels 202 and 204 and the rear wheel 250 may be disposed to be rotated independently of each other on the body 200 including the lower plate 270.

A pair of front wheels 402 and 404 may be provided to the footrest 400 to be spaced apart in the left and right directions (Y).

A front wheel supporter (not shown) rotatably supporting the front wheels 402 and 404 may be disposed inside the footrest 400. The front wheel supporters may be provided for each of the pair of front wheels 402 and 404, respectively.

Front through holes 409 and 410 through which the front wheels 402 and 404 pass may be formed in the footrest 400. The front through-holes 409 and 410 may be formed to be open to the lower plate of the footrest 400 in the vertical direction (Z). A pair of front through-holes 409 and 410 may be provided in the footrest 400, and a pair of front through-holes 409 and 410 may be formed to be spaced apart from the footrest 400 in the left and right directions. have.

A pair of front wheels 402 and 404 may be disposed to rotate independently of each other on the footrest 400.

The robot may include a processor 180 that controls the overall operation of the robot, and the processor 180 may control the footrest mover 260 and a pair of traveling motors 206 and 208. When controlling the footrest mover 260, the processor 180 may drive the motor 262 forward and backward.

When the motor 262 rotates the rotation axis in one direction, the carrier 266 and the footrest 400 may be advanced in the forward direction, and when the motor 262 rotates the rotation axis in the other direction, the carrier 266 and the foot The pedestal 400 may be retracted in the forward direction.

The front light 490 may be disposed on the footrest 400, in particular, the lidar 482 so that light is irradiated around the footrest 400. The rear light 290 may be a front indicator disposed on the front part of the robot.

FIG. 15 is a cross-sectional view illustrating a front light according to an exemplary embodiment of the present invention, and FIG. 16 is a cross-sectional view of the front light shown in FIG. 15 when the size of the light is changed while forming a circled light, and FIG. 17 Is a cross-sectional view when the front light shown in FIG. 15 forms light that draws a circle and the size of the light is constant, and FIG. 18 is a cross-sectional view when the front light shown in FIG. 15 forms a constant light.

The front light 490 may include at least one light source. The front light 490 may include a plurality of light sources 491, 492, 493, 494, 495 and 496. The front light 490 may include a PCB 497 in which a light source is installed. The front light 490 may include a window 498 through which light generated from a light source passes.

The light source may be an LED, an OLED, or the like, and as long as it is a configuration capable of generating light, it is a matter of course that the light source is not limited to the type.

The plurality of light sources 491, 492, 493, 494, 495, and 496 may be disposed to be spaced apart from each other on the PCB 497, and may be disposed to be spaced apart from each other along the circumference of the front light 490. have.

The front light 490 may be arranged in a circular or arc shape as a whole.

The front light 490 may form various lighting patterns according to the number of light sources to be turned on among the plurality of light sources or the position of the light sources to be turned on.

The front light 490 may generate a variable lighting pattern in which the size of light or the position of the light is changed, or a fixed lighting pattern in which light is constant.

An example of the variable lighting pattern may be an extended lighting pattern in which the size of light gradually expands along the circumference of the front light 490.

Another example of the variable lighting pattern may be a reduced lighting pattern in which the size of light gradually decreases along the circumference of the front light 490.

Another example of a variable lighting pattern may be a moving lighting pattern in which light revolves around the front light 490.

An example of the moving illumination pattern may be an illumination pattern (hereinafter referred to as a dimming illumination pattern) in which the intensity of light increases or decreases when light travels along the circumference of the front light 490. The dimming lighting pattern may be an illumination pattern in which the intensity of light gradually increases or decreases as the light rotates the set number of times along the circumference of the front light 490, and after the light turns the set number of times along the circumference of the front light 490 These may be all on or all off lighting patterns.

Another example of the moving lighting pattern may be a general moving lighting pattern in which the intensity of light is constant when light travels along the circumference of the front light 490.

The fixed illumination pattern may be an illumination pattern in which light is constant. The fixed lighting pattern may be a lighting pattern that forms light having a size larger than that of the variable lighting pattern.

The front light 490 may generate a dimming lighting pattern when power is turned on or off. When the power is turned on or off, the front light 490 rotates the set number of times (for example, two times) as the light L draws a circle along the circumference of the front light 490 as shown in FIG. 16. As the light rotates along the outer circumference of the front light 490, the intensity of the light may be gradually increased or the intensity of the light may be gradually decreased. For example, when the power is turned on, the front light 490 rotates the set number of times (eg, twice) in a circular motion along the circumference of the front light 490, so that the intensity of the light may gradually increase. In addition, when the power is turned off, the front light 490 rotates the set number of times (for example, twice) in a circular motion along the circumference of the front light 490, so that the intensity of light may gradually decrease.

For example, in the front light 490, after the first light source 491 is turned on and off, the second light source 492 is turned on and off, and the third light source 493 is turned on and off. The fourth light source 494 may be turned on and off, and the sixth light source 496 may be turned on and off after the fifth light source 495 is turned on and off, and the sixth light source 496 may be turned on and off. The light intensity may gradually increase or decrease as the light source 491 goes toward the light source 491.

The front light 490 may generate a variable lighting pattern in the limited boarding mode. The boarding restriction mode may be a mode in which the main body 200 is driven while the robot 100a restricts the user's boarding. The front light 490 may form a variable lighting pattern in which light L continues to move in a circular motion along the circumference of the front light 490 in the limited boarding mode.

The front light 490 may generate a variable lighting pattern while the footrest 400 is moved. The front light 490 may generate a variable lighting pattern while the footrest mover 460 advances the footrest 400. The front light 490 may form a variable lighting pattern in which the light L continues to move in a circular motion along the circumference of the front light 490 while advancing the footrest 400.

The front light 490 may form a general variable lighting pattern in which the size of light is constant as shown in FIG. 17 while the boarding restriction mode or the footrest 400 is being moved.

For example, in the front light 490, after the first light source 491 is turned on and off, the second light source 492 is turned on and off, and the third light source 493 is turned on and off. The fourth light source 494 may be turned on and off, and the sixth light source 496 may be turned on and off after the fifth light source 495 is turned on and off, and a plurality of light sources 491, 492, ( When each of the 493, 494, 495, and 496 is ON, the intensity of light may be the same.

When the movement of the footrest 400 is completed, the front light 490 may generate a fixed lighting pattern.

When the advance of the footrest 400 is completed, the front light 490 may form an illumination pattern in which the light L does not move, as illustrated in FIG. 18. In this case, the front light 490 may turn on all of the plurality of light sources 491, 492, 493, 494, 495 and 496.

The front light 490 may generate a fixed lighting pattern as illustrated in FIG. 18 while the main body is running. In this case, the front light 490 may turn on all of the plurality of light sources 491, 492, 493, 494, 495 and 496.

The front light 490 may generate a fixed lighting pattern as shown in FIG. 18 while the main body is stopped driving. In this case, the front light 490 may turn on all of the plurality of light sources 491, 492, 493, 494, 495 and 496.

Meanwhile, the front light 490 may generate light of different colors when the main body 200 is running and when the main body 200 is stopped. For example, the front light 490 may generate blue light while the main body 200 is traveling, and may generate red light while the main body 200 is stationary.

19 is a vertical cross-sectional view illustrating a steering and a steering light according to an embodiment of the present invention, and FIG. 20 is a vertical cross-sectional view when the steering body is lowered and the display covers the steering body according to the embodiment of the present invention. .

An opening 362 may be formed in the upper portion of the steering housing 360, and an inner space S may be formed inside the steering housing 360.

The steering housing 360 may be disposed on the armrest body 350. The steering housing 360 may be fastened to the armrest body 350, in particular, the receiving portion 352 with a fastening member such as a screw.

The steering housing 360 may include a lower housing 366 having an inner space S formed therein, and a steering top cover 368 disposed on the upper end of the lower housing 366 to cover the inner space S. .

The lower housing 366 may be provided with a fastening portion such as a fastening boss to which a fastening member such as a screw is fastened.

An opening 362 may be formed at one side of the steering top cover 368 to penetrate in the vertical direction.

The steering body 610 may have a handle 612 formed thereon. The steering body 610 may pass through the opening 362. The lower portion of the steering body 610 may be accommodated in the inner space S.

The steering 600 may include an elevator 620.

The elevator 620 may be accommodated in the inner space S and may lift the steering body 610. The elevator 620 may be connected to a lower portion of the steering body 610 to lift the steering body 610.

The elevator 620 may raise the handle 612 higher than the opening 362 above the opening 362 and lower the handle 612 into the opening 362. When the handle 612 is lowered to the opening 362, the opening 362 of the steering housing 360 may surround the outer circumference of the handle 612.

In the elevator 620, when the steering body 610 descends, the height of the top of the handle 612 matches the height of the top of the steering housing 360, or the height of the top of the handle 612 is greater than the height of the top of the steering housing 360. The steering body 610 can be lowered.

When the steering body 610 is raised, the elevator 620 may raise the steering body 610 so that the height of the upper end of the handle 612 is higher than the height of the upper surface of the steering housing 360.

The elevator 620 includes a motor 622; It may include at least one power transmission member connected to the motor 622. The power transmission member may include at least one lever 624.

The motor 622 may be accommodated in the inner space S formed inside the armrest. The motor 622 may be accommodated in the steering housing 360 among armrests.

The lever 624 may be connected to the steering body 610 to lower or raise the steering body 610. The lever 624 may be rotated by being connected to the rotation shaft 623 of the motor 622. The lever 624 may be connected to the lower portion of the steering body 610. The lever 624 may be connected to the connection shaft 618 formed under the steering body 610.

A guide hole 626 through which the connection shaft 618 is guided to be movable may be formed in the lever 624. The guide hole 626 may be formed long in the length direction of the lever 624.

The steering light 690 may be disposed on the handle 612 of the stirring body 610 and may be a part of the handle 612.

The steering light 690 may be disposed on the steering 600 so that light is irradiated around the steering 600. The steering light 690 is preferably installed at a portion of the steering 600 that can be exposed to the outside, and may be disposed on the steering body 610. The steering light 690 may be a moving indicator that is disposed on the steering body 610 and can be moved up and down together with the steering body 610.

The steering light 690 may generate light to the surroundings when the steering body 610 rises, and may be turned off when the steering body 610 descends. The steering light 690 may be an upper indicator disposed at an upper portion of an upper portion and a lower portion of the robot.

The display 700 may be formed larger than the opening 362. The length L3 of the display 700 may be longer than the distance L4 between the display connector 364 and the opening 362.

When the display 700 is rotated to cover the upper surface 361 of the steering housing 360, it may cover the opening 362.

The display 700 may be formed larger than the upper surface 361 of the steering housing 360. When the display 700 is rotated to cover the upper surface 361 of the steering housing 360, the display 700 may have a size covering the boundary 358 between the steering housing 360 and the armrest body 350.

When the steering body 610 is lowered and the display 700 is rotated to cover the upper surface of the steering housing 360, the display 700 covers the opening 362 and the steering body 610 on the opening 362. I can. The opening 362 and the handle 612 may be covered by the display 700.

FIG. 21 is a cross-sectional view showing a steering light according to an embodiment of the present invention, FIG. 22 is a cross-sectional view of a steering light shown in FIG. 21 when forming a circled light, and FIG. 23 is It is a cross-sectional view when the illustrated steering light forms a constant light.

The steering light 690 may include at least one light source. The steering light 690 may include a plurality of light sources 691, 692, 693, 694, 695, and 696. The steering light 690 may include a PCB 697 equipped with a light source. The steering light 690 may include a window 698 through which light generated from a light source passes.

The light source may be an LED, an OLED, or the like, and as long as it is a configuration capable of generating light, it is a matter of course that the light source is not limited to the type.

The plurality of light sources 691, 692, 693, 694, 695, and 696 may be disposed to be spaced apart from each other on the PCB 697, and may be disposed to be spaced apart from each other along the circumference of the steering light 690. have.

The steering light 690 may be arranged in a circular shape or an arc shape as a whole.

The steering light 690 may form various lighting patterns according to the number of light sources to be turned on among the plurality of light sources or the position of the light sources to be turned on.

Like the front light 490, the steering light 690 may generate a variable lighting pattern or a fixed lighting pattern.

Detailed examples of the variable and fixed lighting patterns generated by the steering light 690 are the same as or similar to those of the front light 490, and thus detailed descriptions thereof will be omitted.

An example of a variable lighting pattern of the steering light 690 may be a moving lighting pattern in which light rotates along the circumference of the steering light 690.

The steering 600 may be a descending mode in which the steering body 610 descends when the power is turned on, the power is turned off, or when the boarding restriction mode is limited. As shown at 21, it can be held off.

The steering light 690 may generate a variable lighting pattern while the steering 600, in particular, the steering body 610 is raised, and may generate a moving lighting pattern among the variable lighting patterns. The steering light 690 may generate a general moving lighting pattern in which light intensity is constant as shown in FIG. 22 while the steering body 610 is raised, and the light is around the steering body 61 at a constant intensity. It can be rotated along a circle.

The steering light 690 may generate a fixed lighting pattern as shown in FIG. 23 when the steering 600, in particular, the steering body 610 is lifted.

The steering light 690 may generate a fixed lighting pattern as shown in FIG. 23 when the main body 200 is running or the main body 200 is stopped.

The fixed lighting pattern generated by the steering light 690 may be a lighting pattern that forms a constant light, and may be a lighting pattern that forms light having a size larger than that of the variable lighting pattern.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments.

The scope of protection of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

200: main body 202,204: driving wheel
206,208: driving motor 300: seated body
400: footrest 490: front light

Claims (20)

A main body provided with at least one driving wheel and a driving motor for rotating the driving wheel;
A seated body disposed on the upper side of the main body;
A footrest disposed to be moved in the front and lower portions of the main body;
Including a front light disposed on the footrest,
The front light is
Generates a variable lighting pattern in which light changes while the footrest is advanced,
When the advancing of the footrest is completed, the robot generates a fixed lighting pattern in which light is constant. The method of claim 1,
Further comprising a footrest mover for advancing or retracting the footrest,
The front light is a robot that generates the variable lighting pattern while the footrest mover advances the footrest. The method of claim 1,
The variable lighting pattern is a moving lighting pattern in which light rotates around the front light. The method of claim 1,
The size of the fixed lighting pattern is larger than the size of the variable lighting pattern. The method of claim 1,
The front light is
A robot that generates the fixed lighting pattern when the main body is running or the main body is stopped. The method of claim 5,
The front light is
A robot that generates light of different colors when the main body is running and when the main body is stopped. The method of claim 1,
The front light is
In the boarding restriction mode, a robot that generates the variable lighting pattern. The method of claim 1,
The front light is
When the power is turned on or off, the robot generates a dimming lighting pattern in which the intensity of light gradually increases or decreases while the light rotates around the circumference of the front light a set number of times. The method of claim 1,
A steering body disposed to be elevated on the seating body;
Robot further comprising a steering light provided on the steering body. The method of claim 9,
The steering light is
Generating a variable lighting pattern in which light changes while the steering body is raised,
When the steering body is lifted, the robot generates a fixed lighting pattern with constant light. The method of claim 10,
The steering light is
A robot that generates the fixed lighting pattern when the main body is running or when the main body is stopped. The method of claim 1,
Robot further comprising a rear light disposed on the main body. The method of claim 12,
The rear light is a robot that generates light of different colors when the main body is running and when the main body is stopped running. The method of claim 12,
The rear light
A robot that generates a variable lighting pattern in which the position of the light or the size of the light changes in the longitudinal direction of the rear light when the power is turned on or off. The method of claim 12,
The rear light
In the limited boarding mode, the robot generates a moving lighting pattern that repeats the movement of light in the longitudinal direction of the rear light. A main body provided with at least one driving wheel and a driving motor for rotating the driving wheel;
A seated body disposed on the upper side of the main body;
A steering body disposed to be elevated on the seating body;
Further comprising a steering light provided on the steering body,
The steering light is
Generates a variable lighting pattern in which light changes while the steering is raised,
When the steering is completed, the robot generates a fixed lighting pattern with constant light. The method of claim 15,
The variable lighting pattern is a moving lighting pattern in which light rotates around the front light. The method of claim 16,
The light size of the fixed lighting pattern is larger than the size of the variable lighting plate. The method of claim 16,
The steering light
A robot that generates the fixed lighting pattern when the main body is running or when the main body is stopped. The method of claim 16,
When the steering is lowered, further comprising a display covering the steering body,
The steering light is turned off when the steering body is lowered.

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