KR20210070153A - Robot - Google Patents

Abstract

A robot according to an embodiment of the present invention comprises a body provided with a driving wheel; and a plurality of ultrasonic sensors spaced apart from each other along the circumference of the body. A plurality of ultrasonic sensors may include: first and second front sensors that are spaced apart from one another and transmit and receive ultrasonic waves, respectively; first and second left sensors facing each other in a left direction or a direction inclined to the front left and adjacent to each other, wherein one of the first and second left sensors transmits an ultrasonic wave and the other receives the ultrasonic wave; first and second right sensors facing to the right or in a direction inclined to the front right and adjacent to each other, wherein one of the first and second right sensors transmits an ultrasonic wave and the other one receives the ultrasonic wave.

Description

robot {ROBOT}

The present invention relates to a robot comprising an ultrasonic sensor.

To take on a part of factory automation, robots have been developed for industrial use. Recently, the field of application of robots has been further expanded, and robots that can be used in daily life as well as medical robots and aerospace robots are being developed.

These daily life robots provide specific services (eg, shopping, serving, chatting, cleaning, etc.) in response to a user's command.

In particular, a driving robot (eg, a robot cleaner) includes a plurality of sensors such as lidar and ultrasonic sensors to smoothly perform autonomous driving.

Prior Document 1 (KR 10-2004-0063556A) related thereto discloses a method of alternately changing transmission/reception roles in order to prevent interference of adjacent ultrasonic sensors. However, since all ultrasonic sensors operate in an indirect method in which transmission/reception are separated, there is a problem in that the number of necessary ultrasonic sensors is excessively increased.

Prior Document 2 (KR 10-2004-0057112A) discloses a configuration in which grooves of a certain depth are installed in all sensors in order to prevent signal interference caused by adjacent ultrasonic sensors. However, there is a problem that a detection blind spot may occur due to the groove in a state in which all ultrasonic sensors are operated in an indirect method in which transmission/reception is separated.

KR 10-2004-0063556A (2004.07.14. Disclosure) KR 10-2004-0057112A (2004.07.02. Disclosure)

One problem to be solved by the present invention is to provide a robot capable of covering the same detection range as the conventional one with a relatively small number of ultrasonic sensors.

Another object to be solved by the present invention is to provide a robot that minimizes blind spots while preventing interference of neighboring ultrasonic sensors.

In the robot according to an embodiment of the present invention, each of the front sensors operates in a direct manner in which transmission and reception of ultrasonic waves are simultaneously performed, and a pair of left sensors and a pair of light sensors directed to the side or one direction between the front and the side are each Transmission and reception of ultrasonic waves operate in a separate indirect manner.

In more detail, a robot according to an embodiment of the present invention includes a main body provided with a traveling wheel; and a plurality of ultrasonic sensors spaced apart from each other along the circumference of the main body. The plurality of ultrasonic sensors may include first and second front sensors that transmit and receive ultrasonic waves, respectively, and are spaced apart from one another; first and second left sensors facing each other in a left direction or an inclined direction to the front left and adjacent to each other, one of which transmits an ultrasonic wave and the other receives the ultrasonic wave; and first and second light sensors that are directed in a right direction or a direction inclined to the front right and are adjacent to each other, one of which transmits an ultrasonic wave and the other one receives the ultrasonic wave.

The first left sensor may be adjacent to the first front sensor, and the first light sensor may be adjacent to the second front sensor.

The first front sensor may be eccentric to the left side of the main body and the second front sensor may be eccentric to the right side of the main body.

The robot may further include a processor for selectively driving the first front sensor and the second front sensor according to a preset time interval.

The robot includes a processor that switches ultrasonic transmission and reception of the first left sensor and the second left sensor with each other, and the ultrasonic transmission/reception of the first light sensor and the second light sensor according to a preset time interval. may include more.

When the first front sensor is driven, the processor may transmit an ultrasonic wave from the first left sensor adjacent to the first front sensor and receive the ultrasonic wave from the second left sensor. When the second front sensor is driven, the processor may transmit an ultrasonic wave from the first light sensor adjacent to the second front sensor and receive the ultrasonic wave from the second light sensor.

When the first front sensor is driven, the processor transmits ultrasonic waves from the second light sensor, receives ultrasonic waves from the first light sensor, and generates ultrasonic waves from the second left sensor when the second front sensor is driven and transmit the ultrasonic wave from the first left sensor.

The plurality of ultrasonic sensors are disposed to be stepped by a predetermined step distance inward with respect to the outer circumferential surface of the main body, and each step distance between the first left sensor and the first light sensor is the step distance of the first front sensor and the second step distance. It may be farther than the step distance of the 2 front sensor.

The step distance between the second left sensor and the second light sensor may be the same as the step distance of the first front sensor and the step distance of the second front sensor.

Each step distance between the first left sensor and the first light sensor may be 3 mm to 5 mm.

A plurality of openings in which the plurality of ultrasonic sensors are disposed may be formed on a circumferential surface of the main body, and the openings in which the first left sensor and the first light sensor are disposed may be tapered to increase in diameter toward the outside.

The first front sensor and the second front sensor are symmetrically arranged left and right, the first left sensor and the first light sensor are symmetrically arranged left and right, and the second left sensor and the second light sensor are symmetrical left and right. can be placed so

Based on the center of the body, the angle between the first front sensor and the first left sensor is greater than the angle between the first left sensor and the second left sensor, and the second front sensor and the first light An angle between the sensors may be greater than an angle between the first light sensor and the second light sensor.

The plurality of ultrasonic sensors may include: a rear sensor positioned at the center of the main body in a left and right direction and facing rearward; a third left sensor eccentric to the left side of the main body, adjacent to the rear sensor, and inclined toward the rear left; and a third light sensor eccentric to the right side of the main body, adjacent to the rear sensor, and inclined in a rear right direction.

The third left sensor and the third light sensor may be symmetrically disposed left and right.

The front-back distance between the second left sensor and the virtual reference plane crossing the center of the main body left and right may be closer than the front-back distance between the reference plane and the third left sensor. A front-back distance between the reference plane and the second light sensor may be closer than a front-back distance between the reference plane and the third light sensor.

The rear sensor is disposed asymmetrically with the first and second front sensors in the front-rear direction, the third left sensor is disposed asymmetrically with the first and second left sensors in the front-rear direction, and the third light sensor is disposed in the front-rear direction As a result, the first and second light sensors may be asymmetrically disposed.

The first front sensor may face a direction inclined forward or front left, and the second front sensor may face a direction inclined forward or front right.

A robot according to an embodiment of the present invention includes a housing; a plurality of openings spaced apart from each other along the periphery of the housing; and a plurality of ultrasonic sensors facing the outside of the housing through the plurality of openings and disposed to be stepped by a predetermined step distance inward with respect to the outer circumferential surface of the housing. The plurality of ultrasonic sensors may include: a front sensor for transmitting and receiving ultrasonic waves; a first side sensor adjacent to the front sensor and transmitting or receiving ultrasonic waves; and a second side sensor adjacent to the first side sensor and configured to receive an ultrasonic wave transmitted from the first side sensor or transmit an ultrasonic wave received from the first side sensor. The step distance of the first side sensor may be greater than the step distance of the front sensor and the step distance of the second side sensor.

The step distance of the first side sensor may be 3 mm to 5 mm.

Among the plurality of openings, the opening in which the first side sensor is disposed may be tapered to increase in diameter toward the outside.

The front sensor may face a front or an oblique direction between the front and the side, and the first side sensor and the second side sensor may face a side or an oblique direction between the side and the front.

The robot may further include a processor that turns on/off the front sensor according to a preset time interval and switches transmission/reception of ultrasonic waves between the first side sensor and the second side sensor.

The processor transmits ultrasonic waves from the first side sensor and receives ultrasonic waves from the second side sensor when the front sensor is turned on, and transmits ultrasonic waves from the second side sensor when the front sensor is turned off. Ultrasound can be received from the side sensor.

Based on the center of the housing, the angle between the front sensor and the imaginary reference plane crossing the center of the housing back and forth is 26 degrees or less, and the angle between the reference plane and the first side sensor is 26 degrees to 50 degrees, , the angle between the reference plane and the second side sensor may be 50 degrees to 71 degrees.

With respect to the center of the housing, an angle between the front sensor and the first side sensor may be greater than an angle between the first side sensor and the second side sensor.

Based on the center of the housing, the angle between the front sensor and the second side sensor is greater than the angle between the first side sensor and the second side sensor and between the front sensor and the first side sensor. can be large

The plurality of ultrasonic sensors may include: a rear sensor positioned at the center of the housing in a left and right direction and facing rearward; and a third side sensor adjacent to the rear sensor and facing in one direction between the side and the rear.

A front-back distance between the second side sensor and a virtual reference plane crossing the center of the housing from side to side may be closer than a front-back distance between the reference plane and the third side sensor.

The rear sensor may be asymmetrically disposed with the front sensor in a front/rear direction, and the third side sensor may be disposed asymmetrically with the first and second side sensors in a front/rear direction.

The robot may include a long hole formed long in a circumferential direction of the housing; And it may further include a lidar facing the outside of the housing through the long hole. The height of the lidar with respect to the lower end of the housing may be higher than the height of the ultrasonic sensor.

A distance between the lidar and the front sensor may be closer than a distance between the lidar and the first side sensor and a distance between the lidar and the second side sensor.

According to a preferred embodiment of the present invention, since the front sensor operates in a direct method in which transmission and reception of ultrasound are merged, the number of ultrasound sensors required to cover the same sensing range can be reduced. Thereby, the manufacturing cost of the robot can be reduced.

In addition, since the side sensor operates in an indirect method in which transmission and reception of ultrasonic waves are separated, it is possible to precisely measure the proximity distance of an object adjacent to the side of the main body. Accordingly, while the robot passes through the narrow path, the robot does not stop running due to walls located on both sides of the robot, and the robot can smoothly travel through the narrow path.

In addition, a pair of front sensors spaced apart from side to side may be alternatively driven according to a set period. Accordingly, it is possible to prevent ultrasonic interference from occurring between the pair of front sensors.

In addition, when one front sensor is driven, one side sensor adjacent thereto transmits an ultrasonic wave, and when the one front sensor is stopped, the one side sensor may receive an ultrasonic wave. Accordingly, the ultrasonic wave directed toward the one side sensor may not interfere with the one front sensor.

In addition, a pair of side sensors adjacent to each other may switch transmission/reception of ultrasonic waves according to a set period. Accordingly, while continuously sensing the front and left and right sides of the robot, it is possible to minimize the risk of interference with the front sensor operating in a direct manner.

In addition, the first side sensor adjacent to the front sensor may be deeply stepped inward of the outer circumferential surface of the main body compared to the front sensor and the second side sensor. Accordingly, ultrasonic interference between the first side sensor and the front sensor can be prevented.

In addition, the opening in which the first side sensor is disposed may be tapered so that the inner diameter increases toward the outside. Accordingly, while minimizing interference of the ultrasonic wave transmitted from the first side sensor to the first front sensor, the detection range (FoV) of the first left sensor is reduced, thereby reducing the possibility of a blind spot.

Also, the angle between the front sensor and the first side sensor may be greater than the angle between the first side sensor and the second side sensor. Accordingly, it is possible to detect an object located between the front and the side more precisely than an object located in front of the main body.

The front-back distance between the second side sensor and the virtual surface crossing the center of the body left and right may be closer than the front-back distance between the virtual surface and the third side sensor. Accordingly, it is possible to detect an object located between the front and the side of the main body more precisely than the object located at the rear of the main body.

Also, the number of ultrasonic sensors disposed in the rear housing may be less than the number of ultrasonic sensors disposed in the front housing. Accordingly, the total number of ultrasonic sensors provided in the robot can be reduced, and the manufacturing cost of the robot can be reduced.

1 shows an AI device including a robot according to an embodiment of the present invention.
2 shows an AI server connected to a robot according to an embodiment of the present invention.
3 shows an AI system according to an embodiment of the present invention.
4 is a perspective view of a robot according to an embodiment of the present invention.
5 is a perspective view of a front housing according to an embodiment of the present invention.
6 is a view for explaining the arrangement of a plurality of ultrasonic sensors according to an embodiment of the present invention.
7 is a diagram illustrating a step difference between a plurality of ultrasonic sensors and an outer peripheral surface of a housing according to an embodiment of the present invention.
8A and 8B are diagrams for explaining the operation of a plurality of ultrasonic sensors according to an embodiment of the present invention.

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

Hereinafter, when an element is described as being "fastened" or "connected" to another element, it means that two elements are directly fastened or connected, or a third element exists between the two elements and two elements are connected by the third element. It may mean that the elements are connected or fastened to each other. On the other hand, when it is described that one element is "directly fastened" or "directly connected" to another element, it may be understood that a third element does not exist between the two elements.

<Robot>

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

Robots can be classified into industrial, medical, home, 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 the robot joints. In addition, the movable robot includes a wheel, a brake, a propeller, and the like in the driving unit, and can travel on the ground or fly in the air through the driving unit.

<Artificial Intelligence (AI)>

Artificial intelligence refers to a field that studies artificial intelligence or methodologies that can make it, and machine learning refers to a field that defines various problems dealt with in the field of artificial intelligence and studies methodologies to solve them. do. Machine learning is also defined as an algorithm that improves the performance of a certain task through constant experience.

An artificial neural network (ANN) is a model used in machine learning, and may refer to an overall model having problem-solving ability, which is composed of artificial neurons (nodes) that form a network by combining synapses. An artificial neural network may be defined by a connection pattern between neurons of different layers, a learning process that updates model parameters, and an activation function that generates 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 the artificial neural network, each neuron may output a function value of an activation function for input signals, weights, and biases input through synapses.

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

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

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

Supervised learning refers to a method of training an artificial neural network in a state where a label for training data is given, and the label is the correct answer (or result value) that the artificial neural network should infer when the training data is input to the artificial neural network. can mean Unsupervised learning may refer to a method of training an artificial neural network in a state where no labels are given for training data. Reinforcement learning can refer to a learning method in which an agent defined in an 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 also called deep learning (deep learning), and deep learning is a part of machine learning. Hereinafter, machine learning is used in a sense including deep learning.

<Self-Driving>

Autonomous driving refers to a technology that drives by itself, and an autonomous driving vehicle refers to a vehicle that runs without a user's manipulation or with a minimal user's manipulation.

For example, autonomous driving includes technology for maintaining a driving lane, technology for automatically adjusting speed such as adaptive cruise control, technology for automatically driving along a predetermined route, technology for automatically setting a route when a destination is set, etc. All of these can be included.

The vehicle includes a vehicle having only an internal combustion engine, a hybrid vehicle having both an internal combustion engine and an electric motor, and an electric vehicle having only an electric motor, and may include not only automobiles, but also trains, motorcycles, and the like.

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

1 shows an AI device 10 including a robot according to an embodiment of the present invention.

The AI device 10 is a TV, a projector, a mobile phone, a smart phone, a desktop computer, a notebook computer, a digital broadcasting terminal, a personal digital assistant (PDA), a portable multimedia player (PMP), a navigation system, a tablet PC, a wearable device, 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, etc., may be implemented as a fixed device or a movable device.

Referring to FIG. 1 , the terminal 10 includes a communication interface 11 , an input interface 12 , a learning processor 13 , a sensor 14 , an output interface 15 , a memory 17 and a processor 18 , and the like. may include.

The communication interface 11 may transmit/receive data to and from external devices such as other AI devices 10a to 10e or the AI server 20 using wired/wireless communication technology. For example, the communication interface 11 may transmit and receive sensor information, a user input, a learning model, a control signal, and the like with external devices.

At this time, the communication technology used by the communication interface 11 includes GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless- Fidelity), Bluetooth??, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, NFC (Near Field Communication), and the like.

The input interface 12 may acquire various types of data.

In this case, the input interface 12 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, the camera or microphone may be treated as a sensor, and a signal obtained from the camera or microphone may be referred to as sensing data or sensor information.

The input interface 12 may acquire training data for model training, input data to be used when acquiring an output using the training model, and the like. The input interface 12 may acquire raw input data, and in this case, the processor 18 or the learning processor 13 may extract input features as pre-processing for the input data.

The learning processor 13 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 may be used to infer a result value with respect to new input data other than the training data, and the inferred value may be used as a basis for a decision to perform a certain operation.

At this time, the learning processor 13 may perform AI processing together with the learning processor 24 of the AI server 20 .

In this case, the learning processor 13 may include a memory integrated or implemented in the AI device 10 . Alternatively, the learning processor 13 may be implemented using the memory 17 , an external memory directly coupled to the AI device 10 , or a memory maintained in an external device.

The sensor 14 may acquire at least one of internal information of the AI device 10 , surrounding environment information of the AI device 10 , and user information by using various sensors.

At this time, sensors included in the sensor 14 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, radar, etc.

The output interface 15 may generate an output related to visual, auditory, tactile, or the like.

In this case, the output interface 15 may include a display unit that outputs visual information, a speaker that outputs auditory information, and a haptic module that outputs tactile information.

The memory 17 may store data supporting various functions of the AI device 10 . For example, the memory 17 may store input data obtained from the input interface 12 , learning data, a learning model, a learning history, and the like.

The processor 18 may determine at least one executable operation of the AI device 10 based on information determined or generated using a data analysis algorithm or a machine learning algorithm. In addition, the processor 18 may control the components of the AI device 10 to perform the determined operation.

To this end, the processor 18 may request, retrieve, receive or utilize the data of the learning processor 13 or the memory 17, and may perform a predicted operation or an operation determined to be desirable among the at least one executable operation. It is possible to control the components of the AI device 10 to execute.

In this case, when the connection of the external device is required to perform the determined operation, the processor 18 may generate a control signal for controlling the corresponding external device and transmit the generated control signal to the corresponding external device.

The processor 18 may obtain intention information with respect to a user input, and determine a user's requirement based on the obtained intention information.

In this case, the processor 18 uses at least one of a speech to text (STT) engine for converting a voice 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 may be obtained.

At this time, at least one of the STT engine and the NLP engine may be configured as an artificial neural network, at least a part of which is learned according to a machine learning algorithm. And, at least one of the STT engine or the NLP engine is learned by the learning processor 13, or learned by the learning processor 24 of the AI server 20, or learned by distributed processing thereof. it could be

The processor 18 collects and stores history information including the user's feedback on the operation contents or operation of the AI device 10 and stores it in the memory 17 or the learning processor 13, or the AI server 20 It can be transmitted to an external device. The collected historical information may be used to update the learning model.

The processor 18 may control at least some of the components of the AI device 10 in order to drive an application program stored in the memory 17 . Furthermore, the processor 18 may operate by combining two or more of the components included in the AI device 10 with each other in order to drive the application program.

2 shows an AI server 20 connected to a robot according to an embodiment of the present invention.

Referring to FIG. 2 , the AI server 20 may refer to a device that trains an artificial neural network using a machine learning algorithm or uses a learned artificial neural network. Here, the AI server 20 may be configured with a plurality of servers to perform distributed processing, and may be defined as a 5G network. In this case, the AI server 20 may be included as a part of the AI device 10 to perform at least a part of AI processing together.

The AI server 20 may include a communication interface 21 , a memory 23 , a learning processor 24 and a processor 26 , and the like.

The communication interface 21 may transmit/receive data to and from an external device such as the AI device 10 .

The memory 23 may include a model storage 23a. The model storage 23a may store a model (or artificial neural network, 23b) being trained or learned through the learning processor 24 .

The learning processor 24 may train the artificial neural network 23b using the training data. The learning model may be used while being mounted on the AI server 20 of the artificial neural network, or may be used while being mounted on an external device such as the AI device 10 .

The learning model may be implemented in hardware, software, or a combination of hardware and software. When a 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 23 .

The processor 26 may infer a result value with respect to new input data using the learning model, and may generate a response or a control command based on the inferred result value.

3 shows an AI system 1 according to an embodiment of the present invention.

Referring to FIG. 3 , the AI system 1 includes at least one of an AI server 20 , a robot 10a , an autonomous vehicle 10b , an XR device 10c , a smart phone 10d or a home appliance 10e . It is connected to the cloud network (2). Here, the robot 10a to which the AI technology is applied, the autonomous driving vehicle 10b, the XR device 10c, the smart phone 10d, or the home appliance 10e may be referred to as AI devices 10a to 10e.

The cloud network 2 may constitute a part of the cloud computing infrastructure or may mean a network existing in the cloud computing infrastructure. Here, the cloud network 2 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 10a to 10e and 200 constituting the AI system 1 may be connected to each other through the cloud network 2 . In particular, each of the devices 10a to 10e and 200 may communicate with each other through the base station, but may directly communicate with each other without passing through the base station.

The AI server 20 may include a server performing AI processing and a server performing an operation on big data.

The AI server 20 includes at least one of the AI devices constituting the AI system 1, such as a robot 10a, an autonomous vehicle 10b, an XR device 10c, a smart phone 10d, or a home appliance 10e, and It is connected through the cloud network 2 and may help at least a part of AI processing of the connected AI devices 10a to 10e.

In this case, the AI server 20 may train the artificial neural network according to a machine learning algorithm on behalf of the AI devices 10a to 10e, and directly store the learning model or transmit it to the AI devices 10a to 10e.

At this time, the AI server 20 receives input data from the AI devices 10a to 10e, infers a result value with respect to the received input data using a learning model, and provides a response or control command based on the inferred result value. It can be generated and transmitted to the AI devices 10a to 10e.

Alternatively, the AI devices 10a to 10e may infer a result value with respect to input data using a direct learning model, and generate a response or a control command based on the inferred result value.

Hereinafter, various embodiments of the AI devices 10a to 10e to which the above-described technology is applied will be described. Here, the AI devices 10a to 10e shown in FIG. 3 may be viewed as specific examples of the AI device 10 shown in FIG. 1 .

<AI+Robot>

The robot 10a 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. to which AI technology is applied.

The robot 10a may include a robot control module for controlling an operation, and the robot control module may refer to a software module or a chip implemented as hardware.

The robot 10a acquires state information of the robot 10a by using sensor information obtained from various types of sensors, detects (recognizes) surrounding environments and objects, generates map data, moves path and travels A plan may be determined, a response to a user interaction may be determined, or an action may be determined.

Here, the robot 10a may use sensor information obtained from at least one sensor among LiDAR, radar, and camera to determine a movement path and a travel plan.

The robot 10a may perform the above-described operations using a learning model composed of at least one artificial neural network. For example, the robot 10a may recognize a surrounding environment and an object using a learning model, and may determine a motion using the recognized surrounding environment information or object information. Here, the learning model may be directly learned from the robot 10a or learned from an external device such as the AI server 20 .

At this time, the robot 10a may perform an operation by generating a result by using the direct learning model, but transmits sensor information to an external device such as the AI server 20 and receives the result generated accordingly to perform the operation You may.

The robot 10a determines a movement path and travel plan by 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 apply the determined movement path and travel plan. Accordingly, the robot 10a may be driven.

The map data may include object identification information for various objects disposed in a space in which the robot 10a moves. For example, the map data may include object identification information for fixed objects such as walls and doors and movable objects such as flowerpots and desks. In addition, the object identification information may include a name, a type, a distance, a location, and the like.

In addition, the robot 10a may perform an operation or drive by controlling the driving unit based on the user's control/interaction. In this case, the robot 10a may acquire intention information of an interaction according to a user's motion or voice utterance, determine a response based on the acquired intention information, and perform the operation.

<AI+Robot+Autonomous Driving>

The robot 10a 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. to which AI technology and autonomous driving technology are applied.

The robot 10a to which AI technology and autonomous driving technology are applied may mean a robot having an autonomous driving function or a robot 10a that interacts with the autonomous driving vehicle 10b.

The robot 10a having an autonomous driving function may collectively refer to devices that move by themselves according to a given movement line without user's control, or move by determining a movement line by themselves.

The robot 10a with autonomous driving function and the autonomous driving vehicle 10b may use a common sensing method to determine one or more of a moving route or a driving plan. For example, the robot 10a and the autonomous driving vehicle 10b having an autonomous driving function may determine one or more of a moving route or a driving plan by using information sensed through lidar, radar, and camera.

The robot 10a interacting with the autonomous vehicle 10b exists separately from the autonomous vehicle 10b, and is linked to an autonomous driving function inside the autonomous vehicle 10b, or connected to the autonomous vehicle 10b. An operation associated with the user on board may be performed.

At this time, the robot 10a interacting with the autonomous driving vehicle 10b acquires sensor information on behalf of the autonomous driving vehicle 10b and provides it to the autonomous driving vehicle 10b, or obtains sensor information and obtains the surrounding environment information or By generating object information and providing it to the autonomous driving vehicle 10b, the autonomous driving function of the autonomous driving vehicle 10b may be controlled or supported.

Alternatively, the robot 10a interacting with the autonomous driving vehicle 10b may monitor a user riding in the autonomous driving vehicle 10b or control the functions of the autonomous driving vehicle 10b through interaction with the user. . For example, when it is determined that the driver is in a drowsy state, the robot 10a may activate the autonomous driving function of the autonomous driving vehicle 10b or assist in controlling the driving unit of the autonomous driving vehicle 10b. Here, the function of the autonomous driving vehicle 10b controlled by the robot 10a may include not only an autonomous driving function, but also a function provided by a navigation system or an audio system provided in the autonomous driving vehicle 10b.

Alternatively, the robot 10a interacting with the autonomous vehicle 10b may provide information or assist the function of the autonomous vehicle 10b from the outside of the autonomous vehicle 10b. For example, the robot 10a may provide traffic information including signal information to the autonomous vehicle 10b, such as a smart traffic light, or interact with the autonomous vehicle 10b, such as an automatic electric charger for an electric vehicle. You can also automatically connect an electric charger to the charging port.

4 is a perspective view of a robot according to an embodiment of the present invention.

The robot 10a according to the present embodiment may include a main body 200 , a neck body 300 , and a head 400 . The robot 10a may further include a service module 900 .

The body 200 may form the base of the robot 10a. The main body 200 may be provided with a traveling wheel 202 for driving the robot 10a. The traveling wheel 202 may protrude downward of the main body 200 .

The body 200 may include a housing 210 that forms an exterior. The housing 210 may form an outer circumferential surface of the body 200 . The outer circumferential surface of the housing 210 may be the outer circumferential surface of the body 200 .

The upper surface of the housing 210 may be opened, and the service module 900 to be described later may cover the open upper surface of the housing 210 from the upper side. The service module 900 may cover the body frame 220 from the upper side. However, the present invention is not limited thereto, and a configuration in which the upper surface of the housing 210 supports the service module 900 is also possible.

The housing 210 may be formed by coupling a plurality of members separable to each other. In more detail, the housing 210 may include a front housing 220 and a rear housing 230 . Accordingly, the assembly and separation of the housing 210 may be facilitated.

The front housing 220 may be convexly curved toward the front, and the rear housing 230 may be convexly curved toward the rear. The rear end of the front housing 220 and the front end of the rear housing 230 may contact each other. Each outer surface of the front housing 220 and the rear housing 230 may be continuously connected.

The body 200 may be provided with a lidar 204 .

In more detail, the housing 210 may be formed with a long hole 220a elongated in the circumferential direction of the housing 210 . The long hole 220a may be formed in the front housing 220 . The lidar 204 may face the outside of the main body 200 through the long hole 220a, and may detect an obstacle or a person located in front of the robot 10a.

A plurality of ultrasonic sensors 800 may be provided in the body 200 . The plurality of ultrasonic sensors 800 may be spaced apart from each other in the circumferential direction of the main body 200 .

A plurality of openings 211 (see FIG. 5 ) in which the ultrasonic sensor 800 is disposed may be formed on the outer periphery of the housing 210 . Each ultrasonic sensor 800 may detect an object around the mobile robot 1 through the opening 211 .

The ultrasonic sensor 800 may be installed at a lower position than the lidar 204 . In more detail, with respect to the lower end of the main body 200 , the height of the ultrasonic sensor 800 may be lower than the height of the lidar 204 .

The ultrasonic sensor 800 may detect an obstacle or a person around the main body using sound waves. Accordingly, an object that absorbs or transmits light (eg, a glass window) can be easily detected.

Meanwhile, the neck body 300 may extend upwardly from the front portion of the body 200 . The neck body 300 may be formed vertically. The neck body 300 may protrude upward than the service module 900 . An upper portion of the neck body 300 may be bent toward the rear upper side.

The head 400 may be connected to the upper end of the neck body 300 . The head 400 may be tilted back and forth with respect to the neck body 300 . The head 400 may be located above the service module 900 .

The head 400 may be provided with a display 430 . The display 430 may be provided on the front side of the head 400 . A preset image or image may be output to the display 430 . In addition, the display 430 may include a touch panel and function as an input unit capable of a touch input.

The service module 900 may cover the main body 200 from the upper side. In addition, the service module 900 may cover the neck body 300 from the rear.

The service module 900 may be located below the head 400 . In more detail, the height from the top of the main body 200 to the head 400 may be higher than the height of the service module 900 .

The service module 900 may vary according to need. For example, the service module 900 may include a plurality of drawers (not shown) positioned at different heights. The plurality of drawers may be opened by sliding backward, or may be closed by sliding forward. The robot 10a may autonomously travel in a state in which articles are accommodated in a plurality of drawers, and may function as a delivery robot.

5 is a perspective view of a front housing according to an embodiment of the present invention, and FIG. 6 is a view for explaining the arrangement of a plurality of ultrasonic sensors according to an embodiment of the present invention.

A plurality of openings 211 in which the ultrasonic sensor 800 is disposed may be formed in the housing 210 . The plurality of openings 211 may be spaced apart from each other along the circumference of the housing 210 . The ultrasonic sensor 800 may face the outside of the housing 210 through the opening 211 .

The plurality of ultrasonic sensors 800 may include front sensors 811 and 812 , left sensors 821 and 822 , and light sensors 831 and 832 .

The front sensors 811 and 812 may face forward or in one direction between the front and the side. The front sensors 811 and 812 may be disposed on the front surface of the housing 210 , more specifically, the front housing 220 .

A pair of front sensors 811 and 812 may be provided left and right. The pair of front sensors 811 and 812 may include a first front sensor 811 eccentric to the left side of the body 200 and a second front sensor 812 eccentric to the right side of the body 200 . have.

The first front sensor 811 may face a direction inclined to the front or front left. The second front sensor 812 may face a direction inclined to the front or front right.

That is, the first front sensor 811 and the second front sensor 812 may be positioned opposite to each other with respect to the virtual reference plane P that crosses the center C of the body 200 back and forth. The center C of the main body 200 may be the center of the housing 210 .

The first front sensor 811 and the second front sensor 812 may be symmetrically disposed. That is, the first front sensor 811 and the second front sensor 812 may be symmetrically disposed with respect to the reference plane P.

The first front sensor 811 and the second front sensor 812 may transmit and receive ultrasonic waves, respectively.

In more detail, each of the front sensors 811 and 812 may include an emitter configured to transmit ultrasonic waves and a receiver configured to receive ultrasonic waves. Since the emitter and receiver are well-known configurations, detailed description thereof will be omitted.

The emitter and receiver of each front sensor 811, 812 may be activated simultaneously. That is, each of the front sensors 811 and 812 may operate in a direct manner that simultaneously functions as a transmitter and a receiver of ultrasonic waves.

The ultrasonic waves transmitted from the front sensors 811 and 812 may be reflected from an object located in front of the main body 200 , and the front sensors 811 and 812 may receive the reflected ultrasonic waves from the object. Accordingly, each of the front sensors 811 and 812 may detect an object located in front of the main body 200 .

The left sensors 821 and 822 may face a left direction or a direction inclined to the front left. The direction inclined to the front left may mean one direction between the front and left directions.

A direction that the first front sensor 811 faces and a direction that the left sensors 821 and 822 face may be different from each other.

The left sensors 821 and 822 may be disposed on the left side of the housing 210 , more specifically, the front housing 220 .

A pair of left sensors 821 and 822 may be provided adjacent to each other.

When the pair of ultrasonic sensors 800 are 'adjacent', it means that there is no other ultrasonic sensor between the pair of ultrasonic sensors 800 .

A pair of left sensors 821 and 822 includes a first left sensor 821 adjacent to the first front sensor 811 and a second left sensor 822 adjacent to the first left sensor 821. may include

That is, the first left sensor 821 may be positioned between the first front sensor 811 and the second left sensor 822 in the circumferential direction of the housing 210 .

Each of the left sensors 821 and 822 may transmit or receive ultrasonic waves.

In more detail, each left sensor 821, 822 may include an emitter configured to transmit ultrasonic waves and a receiver configured to receive ultrasonic waves, and each left sensor 821, 822 may include an emitter configured to transmit ultrasonic waves. The emitter and receiver of can be activated alternatively.

When one emitter of the first left sensor 821 and the second left sensor 822 is activated, the other receiver may be activated. That is, the first left sensor 821 and the second left sensor 822 may operate in an indirect manner in which one serves as a transmitter of ultrasonic waves and the other serves as a receiver of ultrasonic waves. .

The ultrasonic wave transmitted from any one of the first left sensor 821 and the second left sensor 822 may be reflected from an object located on the left side or the left front side of the main body 200 . The other of the first left sensor 821 and the second left sensor 822 may receive the ultrasonic wave reflected from the object. Accordingly, the first left sensor 821 and the second left sensor 822 may detect an object located on the left side or the left front side of the main body 200 .

The light sensors 831 and 832 may face a right direction or a direction inclined to the front right. The direction inclined to the front right may mean one direction between the front and right directions.

The direction in which the second front sensor 812 faces and the direction in which the left sensors 821 and 822 face may be different from each other.

The light sensors 831 and 832 may be disposed on the right side of the housing 210 , more specifically, the front housing 220 .

A pair of light sensors 831 and 832 adjacent to each other may be provided. The pair of light sensors 831 and 832 includes a first light sensor 831 adjacent to the second front sensor 812 and a second light sensor 832 adjacent to the first light sensor 831 . can do.

That is, the first light sensor 831 may be positioned between the second front sensor 812 and the second light sensor 832 in the circumferential direction of the housing 210 .

Each of the light sensors 831 and 832 may transmit or receive ultrasonic waves.

In more detail, each light sensor 831 , 832 may include an emitter configured to transmit ultrasonic waves and a receiver configured to receive ultrasonic waves, and each light sensor 831 , 832 may include an emitter configured to transmit ultrasonic waves. The emitter and receiver of can be activated alternatively.

When one emitter of the first light sensor 831 and the second light sensor 832 is activated, the other receiver may be activated. That is, the first light sensor 831 and the second light sensor 832 may operate in an indirect manner in which one serves as a transmitter of ultrasonic waves and the other acts as a receiver of ultrasonic waves. .

Ultrasound transmitted from any one of the first light sensor 831 and the second light sensor 832 may be reflected from an object located on the right or right front side of the main body 200 . The other of the first light sensor 831 and the second light sensor 832 may receive the ultrasonic wave reflected from the object. Accordingly, the pair of left sensors 831 and 832 may detect an object located on the right or right front side of the main body 200 .

The left sensors 821 and 822 and the light sensors 831 and 832 may be symmetrically disposed. In more detail, the first left sensor 821 and the first light sensor 831 may be symmetrically disposed with respect to the reference plane P. In addition, the second left sensor 822 and the second light sensor 832 may be symmetrically disposed with respect to the reference plane P.

The first left sensor 821 and the first light sensor 831 may be referred to as a first side sensor. Also, the second left sensor 822 and the second light sensor 832 may be referred to as a second side sensor.

Hereinafter, the arrangement of the first front sensor 811 , the first left sensor 821 , and the second left sensor 822 will be described. From this, those skilled in the art will be able to easily understand the arrangement of the second front sensor 812 , the first light sensor 831 , and the second light sensor 832 .

The first front sensor 811 may be closest to the lidar 204 among the plurality of ultrasonic sensors 800 . In more detail, the distance between the first front sensor 811 and the lidar 204 (see FIG. 4 ) may be closer than the distance between the first left sensor 821 and the lidar 204 . Also, the distance between the first left sensor 821 and the lidar 204 may be closer than the distance between the second left sensor 822 and the lidar 204 .

That is, the first front sensor 811 and/or the second front sensor 812 may be the sensor closest to the lidar 204 among the plurality of ultrasonic sensors 800 .

In addition, the left and right distance from the reference plane P that crosses the center C of the housing 210 back and forth to the first front sensor 811 is greater than the left and right distance from the reference plane P to the first left sensor 821 . can be close In addition, the left and right distances from the reference plane P to the first left sensor 821 may be closer than the left and right distances from the reference plane P to the second left sensor 822 .

That is, the first front sensor 811 and/or the second front sensor 812 may be a sensor disposed closest to the reference plane P among the plurality of ultrasonic sensors 800 provided in the front housing 220 . have.

In addition, the front-back distance from the reference plane H that crosses the center C of the housing 210 left and right to the first front sensor 811 is the front-back distance from the reference plane H to the first left sensor 821 . can be further away In addition, the front-back distance from the reference plane H to the first left sensor 821 may be greater than the front-to-back distance from the reference plane H to the second left sensor 822 .

That is, the first front sensor 811 and/or the second front sensor 812 may be a sensor disposed farthest from the reference plane H among the plurality of ultrasonic sensors 800 provided in the front housing 220 . .

An angle between the reference plane P and the first front sensor 811 with respect to the center C of the housing 210 may be smaller than a predetermined first angle T1 . In more detail, with respect to the first virtual surface P1 passing through the center C of the housing 210 and forming the first angle T1 with the reference plane P, the first front sensor 811 is the It may be located between the reference plane P and the first virtual plane P1.

In addition, based on the center C of the housing 210, the angle between the reference plane P and the first left sensor 821 is greater than the first angle T1 and the first angle T1. It may be between two angles T2. In more detail, with respect to the second imaginary surface P2 passing through the center C of the housing 210 and forming the second angle T2 with the reference plane P, the first left sensor 821 is It may be positioned between the reference plane P and the second virtual plane P2.

In addition, based on the center C of the housing 210, the angle between the reference plane P and the second left sensor 822 is greater than the second angle T2 and the second angle T2. It may be between the three angles T3. In more detail, with respect to the third virtual surface P3 passing through the center C of the housing 210 and forming the third angle T3 with the reference plane P, the second left sensor 822 is It may be located between the reference plane P and the third virtual plane P3.

That is, the first front sensor 811 and/or the second front sensor 812 is the reference plane with respect to the center C of the housing 210 among the plurality of ultrasonic sensors 800 provided in the front housing 220 . The sensor may have the smallest angle with P. In order for a field of view (FOV) of the plurality of ultrasonic sensors 800 to cover both the front and the front, the first angle T1 is 26 degrees, the second angle T2 may be 50 degrees, and the third angle T3 may be 71 degrees.

That is, based on the center (C) of the housing 210, the angle between the reference plane (P) and the first ultrasonic sensor 811 is 26 degrees or less, the reference plane (P) and the first left sensor 821 ) may be 26 degrees to 50 degrees, and the angle between the reference plane P and the second left sensor 822 may be 50 degrees to 71 degrees.

Accordingly, the detection range (FOV) of the plurality of ultrasonic sensors 800 in the horizontal direction may be widened.

The angle (a1+a2) between the first front sensor 811 and the second left sensor 822 with respect to the center C of the housing 210 is the first front sensor 811 and the first left sensor. It may be greater than the angle a1 between 821 and the angle a2 between the first left sensor 821 and the second left sensor 822 .

In addition, the angle a1 between the first front sensor 811 and the first left sensor 821 with respect to the center C of the housing 210 is the first left sensor 821 and the second left sensor. may be greater than the angle a2 between 822 . That is, the distance between the ultrasonic sensors 800 may become narrower from the front to the side.

Accordingly, the ultrasound transmitted from one of the first left sensor 821 and the second left sensor 822 may be smoothly received by the other. Accordingly, it is possible to more precisely sense the front left direction of the housing 210 .

If the distance between the first left sensor 821 and the second left sensor 822 is long, smooth transmission and reception may be difficult, and distortion may occur in the sensing distance.

Meanwhile, the plurality of ultrasonic sensors 800 may further include a rear sensor 840 , a third left sensor 841 , and a third light sensor 842 . The third left sensor 841 and the third light sensor 842 may be referred to as a third side sensor.

The rear sensor 840 , the third left sensor 841 , and the third light sensor 842 may be disposed in the rear housing 230 .

The rear sensor 840 may face rearward. The rear sensor 840 may be disposed on the rear surface of the housing 210 , more specifically, the rear housing 230 .

The third left sensor 841 may face a direction inclined to the rear left, and the third light sensor 842 may face a direction inclined to the rear right. The direction inclined to the rear left may mean one direction between the rearward and leftward directions. A direction inclined to the rear right may refer to a direction between the rearward and rightward directions.

The third left sensor 841 may be disposed on the left side of the housing 210 , more specifically, the rear housing 230 . That is, the third left sensor 841 may be eccentric to the left side of the main body 200 .

The third light sensor 842 may be disposed on the right side of the housing 210 , more specifically, the rear housing 230 . That is, the third light sensor 842 may be eccentric to the right side of the main body 200 .

The third left sensor 841 and the third light sensor 842 may be adjacent to the rear sensor 840 . The rear sensor 840 may be positioned between the third left sensor 841 and the third light sensor 842 in the circumferential direction of the housing 210 . The rear sensor 840 may be spaced apart from the third left sensor 841 and the third light sensor 842 in the circumferential direction of the housing 210 .

The third left sensor 841 and the third light sensor 842 may be symmetrically disposed. In more detail, the third left sensor 841 and the third light sensor 842 may be disposed symmetrically with respect to the reference plane P.

The rear sensor 840 , the third left sensor 841 , and the third light sensor 842 may transmit and receive ultrasonic waves, respectively. That is, the rear sensor 840 , the third left sensor 841 , and the third light sensor 842 may operate in a direct manner in which the emitter and the receiver are simultaneously activated.

The ultrasonic wave transmitted from the rear sensor 840 may be reflected from an object located at the rear of the main body 200 , and the rear sensor 840 may receive the reflected ultrasonic wave from the object. Accordingly, the rear sensor 840 may detect an object located at the rear of the main body 200 .

The ultrasonic wave transmitted from the third left sensor 841 may be reflected from an object located on the rear left side of the main body 200 , and the third left sensor 841 may receive the reflected ultrasonic wave from the object. Accordingly, the third left sensor 841 may detect an object located on the rear left side of the main body 200 .

The ultrasonic wave transmitted from the third light sensor 842 may be reflected from an object located on the rear right side of the main body 200 , and the third light sensor 842 may receive the reflected ultrasonic wave from the object. Accordingly, the third light sensor 842 may detect an object located on the rear right side of the main body 200 .

Hereinafter, the arrangement of the rear sensor 840 and the third left sensor 841 with respect to the center C of the main body 200 will be described. From this, a person skilled in the art may easily understand the arrangement of the second light sensor 842 .

The rear sensor 840 may be located at the center of the housing 210 in the left and right directions. In more detail, the rear sensor 840 may be located on a virtual reference plane P that crosses the center C of the housing 210 back and forth.

Accordingly, the rear sensor 840 may be asymmetrically disposed with the front sensors 811 and 812 in the front-rear direction.

The front-back distance L1 between the imaginary reference plane H crossing the center C of the housing 210 left and right and the second left sensor 822 is the reference plane H and the third left sensor 842 ). It may be closer than the front-to-back distance L2 between them.

In addition, the angle a3 between the rear sensor 840 and the third left sensor 841 with respect to the center C of the housing 210 is the first front sensor 811 and the first left sensor 821 . ) may be greater than an angle a1 between the , and an angle a2 between the first left sensor 821 and the second left sensor 822 .

That is, the third left sensor 841 may be asymmetrically disposed with the first left sensor 821 and the second left sensor 822 in the front-rear direction.

Accordingly, the number of the ultrasonic sensors 800 oriented in one direction between the front and the side may be greater than the number of the ultrasonic sensors 800 oriented in one direction between the rear and the side. Accordingly, an object located in one direction between the front and the side of the robot 10a can be detected relatively precisely.

7 is a diagram illustrating a step difference between a plurality of ultrasonic sensors and an outer peripheral surface of a housing according to an embodiment of the present invention.

7 shows a first front sensor 811 , a first left sensor 821 , and a second left sensor 822 . From this, those skilled in the art will also be able to easily understand the second front sensor 812 , the first light sensor 831 , and the second light sensor 832 .

The plurality of ultrasonic sensors 800 may be disposed to be stepped inward with respect to the outer circumferential surface of the main body 200 , that is, the housing 210 . The ultrasonic sensor 800 may not protrude from the opening 211 of the housing 210 .

In more detail, the ultrasonic sensor 800 may be disposed to be stepped inward from the outer circumferential surface of the housing 210 through the opening 211 of the housing 210 . The step distance of one ultrasonic sensor 800 may mean an average depth from the outer peripheral surface of the housing 210 to the one ultrasonic sensor 800 through the opening 211 .

Based on the outer circumferential surface of the housing 210 , the step distance g2 of the first left sensor 821 is the step distance g1 of the first front sensor 811 and the step distance of the second left sensor 822 . It can be farther than (g3).

For example, the step distance g2 of the first left sensor 821 is about 3 mm, the step distance g1 of the first front sensor 811 and the step distance g3 of the second left sensor 822 are It may be about 1 mm.

Since the first front sensor 811 transmits and receives ultrasonic waves at the same time, it may be relatively more sensitive to interference from external ultrasonic waves. Accordingly, the step distance g2 between the first front sensor 811 and the adjacent first left sensor 821 is made relatively larger, so that the ultrasonic wave transmitted from the first left sensor 821 is transmitted to the first front sensor ( 811) can be minimized.

In order to prevent the detection range (FoV) of the first left sensor 821 from being excessively reduced while minimizing interference of the ultrasonic wave transmitted from the first left sensor 821 to the first front sensor 811, the first left sensor The step distance g2 of 821 may be 3 mm to 5 mm.

In more detail, if the step distance g2 of the first left sensor 821 is closer than 3 mm, the risk of the ultrasonic waves transmitted from the first left sensor 821 interfering with the first front sensor 811 may increase. Also, when the step distance g2 of the first left sensor 821 is greater than 5 mm, the sensing range FoV of the first left sensor 821 may be too narrow.

In addition, in order to prevent the detection range FoV of the first left sensor 821 from being excessively reduced, the opening 211b in which the first left sensor 821 is disposed is tapered to increase in diameter toward the outside. can

On the other hand, the opening 211a in which the first front sensor 811 is disposed and the opening 211c in which the second left sensor 822 is disposed have a constant diameter or the opening 211b in which the first left sensor 821 is disposed. ) may be tapered smaller than the inner perimeter slope.

8A and 8B are diagrams for explaining the operation of a plurality of ultrasonic sensors according to an embodiment of the present invention.

The processor 18 (refer to FIG. 1 ) of the robot 10a may receive sensing data of each ultrasonic sensor 800 . The processor 18 may calculate whether an object exists and a distance to the object based on the sensed data.

The processor 18 may control each ultrasonic sensor 800 . In more detail, the processor 18 may activate or deactivate the emitter and/or limiter of each ultrasonic sensor 800 .

The processor 18 may selectively drive the first front sensor 811 and the second front sensor 812 according to a preset period. That is, the first front sensor 811 and the second front sensor 812 may not be driven simultaneously, but may be periodically switched and driven.

When the first front sensor 811 is driven, the first front sensor 811 may transmit and receive ultrasonic waves. In more detail, ultrasonic waves may be transmitted from the emitter of the first front sensor 811 and ultrasonic waves may be received from the receiver. In this case, the operation of the second front sensor 812 may be in a stopped state.

When the second front sensor 812 is driven, the second front sensor 812 may transmit/receive ultrasonic waves. In more detail, ultrasonic waves may be transmitted from the emitter of the second front sensor 812 and ultrasonic waves may be received from the receiver. In this case, the operation of the first front sensor 811 may be in a stopped state.

Accordingly, interference of ultrasonic waves does not occur between the first front sensor 811 and the second front sensor 812 .

Also, the processor 18 may switch ultrasonic transmission/reception between the first left sensor 821 and the second left sensor 831 according to the set period.

That is, a sensor that transmits an ultrasonic wave and a sensor that receives an ultrasonic wave among the first left sensor 821 and the second left sensor 822 may be periodically switched. In more detail, when the emitter of the first left sensor 821 is activated, the receiver of the second left sensor 822 may be activated. Conversely, when the receiver of the first left sensor 821 is activated, the emitter of the second left sensor 822 may be activated.

Also, the processor 18 may switch ultrasonic transmission and reception between the first light sensor 831 and the second light sensor 832 according to the set period.

That is, a sensor that transmits ultrasonic waves and a sensor that receives ultrasonic waves among the first light sensor 831 and the second light sensor 832 may be periodically switched. In more detail, when the emitter of the first light sensor 831 is activated, the receiver of the second light sensor 832 may be activated. Conversely, when the receiver of the first light sensor 831 is activated, the emitter of the second light sensor 832 may be activated.

As shown in FIG. 8A , when the first front sensor 811 is driven and the second front sensor 811 is stopped, the processor 18 transmits an ultrasonic wave from the first left sensor 821 and the second left The sensor 822 may receive the ultrasonic wave, the first light sensor 831 may receive the ultrasonic wave, and the second light sensor 832 may transmit the ultrasonic wave.

That is, the processor 18 includes the emitter and receiver of the first front sensor 811 , the emitter of the first left sensor 821 , the receiver of the second left sensor 822 , and the first light sensor 831 . ) and the emitter of the second light sensor 832 may be simultaneously activated.

Since the first light sensor 831 that receives the ultrasonic wave and the adjacent second front sensor 812 are not driven, the ultrasonic wave directed to the first light sensor 831 may affect the second front sensor 812 . can be prevented

As shown in FIG. 8B , when the second front sensor 812 is driven and the first front sensor 811 is stopped, the processor 18 receives the ultrasound from the first left sensor 821, and the second left The sensor 822 may transmit an ultrasonic wave, the first light sensor 831 may transmit an ultrasonic wave, and the second light sensor 832 may receive the ultrasonic wave.

That is, the processor 18 includes the emitter and receiver of the second front sensor 812 , the receiver of the first left sensor 821 , the emitter of the second left sensor 822 , and the first light sensor 831 . ) and the receiver of the second light sensor 832 may be simultaneously activated.

Since the first left sensor 821 that receives the ultrasonic wave and the adjacent first front sensor 811 are not driven, the ultrasonic wave directed to the first left sensor 821 may affect the first front sensor 811 . can be prevented

In summary, the state shown in Fig. 8A and the state shown in Fig. 8B can be switched periodically. Accordingly, while continuously sensing the front and left and right sides of the main body 200, it is possible to minimize the possibility of interference with the front sensors 811 and 812 operating in a direct manner.

Also, since the front sensors 811 and 812 operate in a direct method in which transmission and reception of ultrasound are combined, the number of required ultrasound sensors 800 may be reduced.

In addition, since the left sensors 821 and 822 and the light sensors 831 and 832 operate in an indirect manner in which transmission and reception of ultrasonic waves are separated, the proximity distance between the body 200 and the wall W can be precisely measured. can be measured accurately.

Accordingly, it is possible to prevent the processor 18 from stopping the running of the robot by recognizing the wall W adjacent to the side of the main body 200 as an obstacle, and as shown in FIGS. 8A and 8B, the robot 10a Silver can easily pass through the narrow path formed between the pair of walls (W).

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

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

The protection scope 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: body 210: housing
211: opening 800: ultrasonic sensor
811: first front sensor 812: second front sensor
821: first left sensor 822: second left sensor
831: first light sensor 832: second light sensor

Claims (32)

a body provided with a driving wheel; and
A plurality of ultrasonic sensors spaced apart from each other along the circumference of the main body,
The plurality of ultrasonic sensors,
first and second front sensors that transmit and receive ultrasonic waves, respectively, and are spaced apart from one another;
first and second left sensors facing each other in a left direction or an inclined direction to the front left and adjacent to each other, one of which transmits an ultrasonic wave and the other receives the ultrasonic wave; and
A robot including first and second light sensors facing to the right or in a direction inclined to the front right and adjacent to each other, one of which transmits an ultrasonic wave and the other one receives the ultrasonic wave. The method of claim 1,
The first left sensor is adjacent to the first front sensor, and the first light sensor is adjacent to the second front sensor. The method of claim 1,
The first front sensor is eccentric to the left side of the main body and the second front sensor is eccentric to the right side of the main body. 3. The method of claim 2,
The robot further comprising a processor for selectively driving the first front sensor and the second front sensor according to a preset time interval. The method of claim 1,
The robot further comprising a processor for switching the ultrasonic transmission and reception of the first left sensor and the second left sensor with each other according to a preset time interval, and for switching the ultrasonic transmission and reception of the first light sensor and the second light sensor with each other . 5. The method of claim 4,
The processor is
When the first front sensor is driven, the first left sensor adjacent to the first front sensor transmits an ultrasonic wave and the second left sensor receives the ultrasonic wave,
When the second front sensor is driven, the robot transmits ultrasonic waves from the first light sensor adjacent to the second front sensor and receives the ultrasonic waves from the second light sensor. 7. The method of claim 6,
The processor is
When the first front sensor is driven, the second light sensor transmits an ultrasonic wave and the first light sensor receives the ultrasonic wave,
When the second front sensor is driven, the robot transmits an ultrasonic wave from the second left sensor and receives the ultrasonic wave from the first left sensor. 3. The method of claim 2,
The plurality of ultrasonic sensors are disposed to be stepped by a predetermined step distance inward with respect to the outer circumferential surface of the main body,
The step distance between the first left sensor and the first light sensor is greater than the step distance of the first front sensor and the step distance of the second front sensor. 9. The method of claim 8,
The step distance of the second left sensor and the second light sensor is the same as the step distance of the first front sensor and the step distance of the second front sensor. 9. The method of claim 8,
The step distance between the first left sensor and the first light sensor is 3 mm to 5 mm. 3. The method of claim 2,
A plurality of openings in which the plurality of ultrasonic sensors are disposed are formed on the circumferential surface of the main body,
The opening in which the first left sensor and the first light sensor are disposed is tapered so that the inner diameter increases toward the outside. The method of claim 1,
The first front sensor and the second front sensor are arranged symmetrically left and right,
The first left sensor and the first light sensor are arranged symmetrically left and right,
The second left sensor and the second light sensor are arranged symmetrically left and right. 3. The method of claim 2,
Based on the center of the body, the angle between the first front sensor and the first left sensor is greater than the angle between the first left sensor and the second left sensor,
The angle between the second front sensor and the first light sensor is greater than the angle between the first light sensor and the second light sensor. 3. The method of claim 2,
The plurality of ultrasonic sensors,
a rear sensor located in the center of the main body in the left and right direction and facing rearward;
a third left sensor eccentric to the left side of the main body, adjacent to the rear sensor, and inclined toward the rear left; and
The robot further comprising a third light sensor eccentric to the right side of the main body, adjacent to the rear sensor, and inclined toward the rear right. 15. The method of claim 14,
The third left sensor and the third light sensor are arranged symmetrically left and right. 15. The method of claim 14,
The front-back distance between the imaginary reference plane crossing the center of the main body left and right and the second left sensor is closer than the front-back distance between the reference plane and the third left sensor,
The front-back distance between the reference plane and the second light sensor is closer than the front-back distance between the reference plane and the third light sensor. 15. The method of claim 14,
The rear sensor is disposed asymmetrically with the first and second front sensors in the front-rear direction,
The third left sensor is disposed asymmetrically with the first and second left sensors in the front-rear direction,
The third light sensor is disposed asymmetrically with the first and second light sensors in the front-rear direction. The method of claim 1,
The first front sensor faces a direction inclined to the front or front left,
The second front sensor is a robot facing a direction inclined to the front or front right. housing;
a plurality of openings spaced apart from each other along the periphery of the housing; and
A plurality of ultrasonic sensors facing the outside of the housing through the plurality of openings and disposed to be stepped by a predetermined step distance inwardly with respect to the outer circumferential surface of the housing,
The plurality of ultrasonic sensors,
a front sensor that transmits and receives ultrasonic waves;
a first side sensor adjacent to the front sensor and transmitting or receiving ultrasonic waves;
a second side sensor adjacent to the first side sensor and configured to receive an ultrasonic wave transmitted from the first side sensor or transmit an ultrasonic wave received from the first side sensor;
The step distance of the first side sensor is greater than the step distance of the front sensor and the step distance of the second side sensor. 20. The method of claim 19,
The step distance of the first side sensor is 3mm to 5mm robot. 20. The method of claim 19,
Among the plurality of openings, the opening in which the first side sensor is disposed is tapered so that the diameter increases toward the outside. 20. The method of claim 19,
The front sensor faces the front or the oblique direction between the front and the side,
The first side sensor and the second side sensor face the side, or the robot that faces an inclination direction between the side and the front. 20. The method of claim 19,
The robot further comprising a processor that turns on/off the front sensor and switches transmission/reception of ultrasonic waves between the first side sensor and the second side sensor according to a preset time interval. 24. The method of claim 23,
The processor is
When the front sensor is turned on, the first side sensor transmits an ultrasonic wave and the second side sensor receives the ultrasonic wave,
When the front sensor is turned off, the robot transmits an ultrasonic wave from the second side sensor and receives the ultrasonic wave from the first side sensor. 20. The method of claim 19,
Based on the center of the housing, the angle between the front sensor and the imaginary reference plane crossing the center of the housing back and forth is 26 degrees or less, and the angle between the reference plane and the first side sensor is 26 degrees to 50 degrees, , the angle between the reference plane and the second side sensor is 50 degrees to 71 degrees robot. 20. The method of claim 19,
Based on the center of the housing, the angle between the front sensor and the first side sensor is greater than the angle between the first side sensor and the second side sensor. 20. The method of claim 19,
Based on the center of the housing, the angle between the front sensor and the second side sensor is greater than the angle between the first side sensor and the second side sensor and between the front sensor and the first side sensor. big robot. 20. The method of claim 19,
The plurality of ultrasonic sensors,
a rear sensor located in the center of the housing in the left-right direction and facing rearward; and
The robot further comprising a third side sensor adjacent to the rear sensor and facing in one direction between the side and the rear. 29. The method of claim 28,
The front-back distance between the second side sensor and the virtual reference plane crossing the center of the housing left and right is closer than the front-back distance between the reference plane and the third side sensor. 29. The method of claim 28,
The rear sensor is disposed asymmetrically with the front sensor in the front-rear direction,
The third side sensor is disposed asymmetrically with the first and second side sensors in the front-rear direction. 20. The method of claim 19,
a long hole formed long in the circumferential direction of the housing; and
Further comprising a lidar facing the outside of the housing through the long hole,
The height of the lidar based on the lower end of the housing is higher than the height of the ultrasonic sensor robot. 32. The method of claim 31,
A distance between the lidar and the front sensor is closer than a distance between the lidar and the first side sensor and a distance between the lidar and the second side sensor.

Images