KR20210094441A - Robot furniture system and arrangement method for robot furniture - Google Patents

Abstract

The present invention relates to a robot furniture system and an arrangement method of robot furniture. The robot furniture system comprises: a furniture body; a moving unit disposed on the furniture body and moving the furniture body; and a control unit setting a movement path of the furniture body and including a driving unit for controlling driving of the moving unit. According to the present invention, the robot furniture can be automatically moved to be disposed to a position where a user wants, a space is maximally used in a narrow space in a case of using hybrid type furniture, and an arrangement position can be easily changed without work load of the user in a wide space.

Description

ROBOT FURNITURE SYSTEM AND ARRANGEMENT METHOD FOR ROBOT FURNITURE

The present invention relates to a robot furniture system and a method for arranging robot furniture, and more particularly, to a robot furniture system and a method for arranging robot furniture that can be automatically moved and arranged by a user to a desired position.

Furniture is placed in people's homes and offices, and has been functioning as a tool for storing books, souvenirs, home appliances, etc., or as a tool for studying and working.

People have made effective use of limited space by arranging furniture in appropriate locations. In particular, when the living space is narrow, it is important to arrange the furniture in an appropriate position inside the space to secure the maximum possible space for activities.

Recently, hybrid-type furniture in which furniture that functions such as a cabinet and desk and furniture that functions such as a bed are combined has been released one after another. These hybrid-type furniture are arranged overlapping each other, or have a structure in which, for example, a bed is arranged inside a cabinet and a desk. Specifically, when a person studies or works, a desk can be used, and when a person sleeps, a bed can be arranged outside and utilized. That is, the hybrid type furniture is effective in utilizing a narrow space with the above-described structure and method.

However, the conventional hybrid-type furniture requires the user to lift and move it or directly change the shape, so there is always a risk of a safety accident during operation. In addition, there was a limited aspect in terms of space utilization as the location change between overlapping furniture was limited. In addition, the furniture used in the home or office space is usually heavy, so it is often difficult for the user to move the furniture to the desired location alone, and there is a risk of safety accidents occurring in the process of moving the furniture.

The present invention has been devised to solve the above problems, and an object of the present invention is to provide a robot furniture system and a robot furniture arrangement method that can be automatically moved and arranged to a desired position by a user.

Robot furniture system according to an embodiment of the present invention for achieving the above objects, a furniture body; a moving unit disposed on the furniture body and configured to move the furniture body; and a control unit including a driving unit for setting a movement path of the furniture body and controlling driving of the moving unit.

In addition, in an embodiment of the present invention, the moving unit includes: a support frame disposed under the furniture body; a moving motor connected to the support frame by a motor bracket and disposed; and a wheel connected to the rotation shaft of the moving motor.

In addition, in an embodiment of the present invention, the wheel may be an omni wheel wheel.

In addition, in the embodiment of the present invention, the shaft rotation motor is disposed on the support frame, the rotation shaft is connected to the motor bracket; may further include.

In addition, in an embodiment of the present invention, the moving unit may include: a support frame disposed under the furniture body and rotatably mounted on a plurality of track wheels; a caterpillar connecting a plurality of track wheels rotatably mounted to the support frame; and a moving motor disposed on the support frame and having one of the plurality of track wheels connected to the rotating shaft.

In addition, in an embodiment of the present invention, the furniture body includes: a lower body having first and second legs disposed on both sides, and an opening portion having an open shape formed on the central side; and an upper body disposed on an upper portion of the lower body to be detachably attached to the lower body, wherein the moving part may be disposed on the first and second legs.

In addition, in an embodiment of the present invention, an impact sensor for detecting an external impact may be disposed on the furniture body.

In addition, in an embodiment of the present invention, when the shock sensor detects an external shock, the control unit may stop the operation of the moving unit.

Also, in an embodiment of the present invention, the control unit may further include a shock sensing unit for detecting an impact applied to the furniture body according to a signal from the shock sensing sensor and collecting information.

In addition, in an embodiment of the present invention, an obstacle detection sensor for detecting an obstacle on a set movement path is disposed on the furniture body, and the control unit detects an obstacle on the set movement path of the furniture body according to a signal from the obstacle detection sensor and an obstacle detecting unit for collecting information; may further include.

In addition, in an embodiment of the present invention, a position sensor for detecting the position of the furniture body is disposed on the furniture body, and the control unit detects the real-time position of the furniture body according to a signal of the position sensor and collects information. It may further include a position sensing unit.

In addition, in an embodiment of the present invention, a camera for photographing a space is disposed on the furniture body, and the control unit may further include a space sensing unit for measuring the size and shape of the space by analyzing the photographed image of the camera. .

In addition, in an embodiment of the present invention, the control unit includes information on the size and shape of a space measured by the space sensing unit, location information of an obstacle detected by the obstacle sensing unit, and the furniture body detected by the position sensing unit. The method may further include a route setting unit configured to set a movement path from the current location of the furniture body to the location of the furniture that the user wants to move through the location information.

In addition, in an embodiment of the present invention, it is disposed on the lower portion of the furniture body, the lifting unit for elevating the furniture body; may further include.

In addition, in an embodiment of the present invention, the lifting unit, the first plate is arranged connected to the upper portion of the support frame, the first moving groove is formed; a second plate disposed in the inner groove of the furniture body and having a second moving groove; a first moving bar having one end hingedly connected to the first plate, and the other end being movably disposed in the second moving groove; a second moving bar having one end hingedly connected to the second plate, and the other end being movably disposed in the first moving groove; and a hydraulic cylinder arranged to connect the first and second plates, and elevating the second plate.

In addition, in an embodiment of the present invention, the lifting unit, the first plate is arranged connected to the upper portion of the support frame, the first moving groove is formed; a second plate disposed in the inner groove of the furniture body and having a second moving groove; a first moving bar having one end hingedly connected to the first plate, and the other end being movably disposed in the second moving groove; a second moving bar having one end hingedly connected to the second plate, and the other end being movably disposed in the first moving groove; a lifting motor disposed on the first plate and having a screw connected to the rotating shaft; and a moving block disposed under the second plate and connected to the screw in a ball screw structure.

A robot furniture system according to an embodiment of the present invention includes a basic furniture and an interactive furniture that moves relative to the basic furniture, wherein the basic furniture and the interactive furniture include: a furniture body; a moving unit disposed on the furniture body and configured to move the furniture body; and a control unit including a driving unit for setting a movement path of the furniture body and controlling driving of the moving unit.

In addition, in an embodiment of the present invention, the moving unit includes: a support frame disposed under the furniture body; a moving motor connected to the support frame by a motor bracket and disposed; and a wheel connected to the rotation shaft of the moving motor.

In addition, in the embodiment of the present invention, the shaft rotation motor is disposed on the support frame, the rotation shaft is connected to the motor bracket; may further include.

In addition, in an embodiment of the present invention, the moving unit may include: a support frame disposed under the furniture body and rotatably mounted on a plurality of track wheels; a caterpillar connecting a plurality of track wheels rotatably mounted to the support frame; and a moving motor disposed on the support frame and having one of the plurality of track wheels connected to the rotating shaft.

In addition, in an embodiment of the present invention, a ceiling fixing part disposed on the furniture body and fixing the furniture body to the ceiling so that the furniture body does not fall down may further include.

In addition, in an embodiment of the present invention, the ceiling fixing part includes a hydraulic cylinder disposed in an upper groove formed in the furniture body; It may include; a cover piece disposed at the rod end of the hydraulic cylinder; and a contact pad disposed on the cover piece.

In addition, in an embodiment of the present invention, the ceiling fixing part may include: a fixing motor disposed in an upper groove formed in the furniture body; a rotating bar connected to the rotating shaft of the fixed motor and disposed in the vertical direction; a support bearing disposed in the upper groove and supporting an end of the rotating bar; a moving piece connected to the rotating bar by a ball screw method and ascending and descending along the rotating bar; a fixing bar connected to the moving piece and elevating in the ceiling direction according to the elevating of the moving piece; a cover piece disposed on the fixing bar; and a contact pad disposed on the cover piece.

A method for arranging robot furniture according to an embodiment of the present invention includes: a space determination step of photographing a space with a camera and determining the size and shape of the space; a target position input step in which a user inputs a target position for moving furniture in a space; a moving path setting step of setting the shortest moving path of the furniture; an obstacle detecting step of detecting an obstacle on the moving path of the furniture; a furniture movement step of moving the furniture along a movement path by a user's movement input; and a movement completion signal step of transmitting a movement completion signal to the user's terminal or an interface of the furniture after the movement of the furniture to the target position is completed.

Further, in the embodiment of the present invention, when an obstacle is detected on the movement path of the furniture in the obstacle detecting step, the method may further include a movement path resetting step of resetting the movement path of the furniture in consideration of the detected position of the obstacle. .

In addition, in an embodiment of the present invention, after the obstacle detecting step or the movement path resetting step and before the furniture moving step, the final movement path transmission step of transmitting the final movement path of the furniture to the user's terminal or the interface of the furniture; may include more.

In addition, in the embodiment of the present invention, after the furniture moving step and before the moving completion signal step, a real-time location transmission step of transmitting the moving path of the furniture to the user's terminal or the interface of the furniture in real time; may further include. .

According to an embodiment of the present invention, the user automatically moves the furniture to the desired position in the space through the interface manipulation of the terminal (eg, smart phone, notebook computer, tablet PC, remote controller, artificial intelligence device, etc.) or furniture. can be moved to

According to another embodiment, through the user's terminal (eg, smart phone, notebook, tablet PC, remote controller, artificial intelligence device, etc.) or the interface of the furniture, the user selects the target position to which the user wants to move the furniture in the space. If inputted, the robot furniture can automatically set the movement path and move and arrange it by itself.

This can ultimately reduce the user's workload that may be caused by moving furniture.

In addition, since the robot furniture can be operated in a hybrid form in a narrow space and can be easily moved to an appropriate location, it is possible to make the most of the narrow space.

For example, if the robot furniture is a cabinet, the cabinet can be arranged in the form of a bed and a hydride having a robot furniture function, and a plurality of robot furniture can be easily reconfigured in the space to fit the required work, thereby making the space wider and create an action living space where you can feel relaxed.

And in a large space, the robot furniture can be automatically moved to the desired arrangement by the user, so the user's arrangement work load is reduced.

1A is a plan view showing a wheel-shaped moving part according to an embodiment of the present invention.
1B is a bottom view illustrating an operation method of a wheel-shaped moving part according to an embodiment of the present invention.
2A is a plan view showing a moving part in the form of a caterpillar track according to an embodiment of the present invention.
Figure 2b is a bottom view showing the operation method of the moving part in the form of a caterpillar according to an embodiment of the present invention.
3 is a bottom view showing a moving part in the form of a shaft rotating wheel according to an embodiment of the present invention.
4A is a side cross-sectional view showing a structure of a wheel-shaped moving part according to an embodiment of the present invention.
Figure 4b is a side cross-sectional view showing the structure of the moving part in the form of a caterpillar according to an embodiment of the present invention.
Figure 4c is a side cross-sectional view showing the structure of the moving part in the form of a shaft rotating wheel according to an embodiment of the present invention.
Figure 5a is a side cross-sectional view showing the structure of the lifting unit of the hydraulic cylinder type according to an embodiment of the present invention.
Figure 5b is a side cross-sectional view showing the structure of the lifting unit of the ball screw/motor type according to an embodiment of the present invention.
6A is a view showing one form of a structure of basic furniture, a battery, and an arrangement structure of various sensors according to an embodiment of the present invention.
Figure 6b is a view showing another form of the structure of the basic furniture, the arrangement of the battery and various sensors according to an embodiment of the present invention.
7 is a diagram showing the configuration of a control unit according to an embodiment of the present invention.
8 is a flowchart of a method for arranging robot furniture according to an embodiment of the present invention.
9A is a side view illustrating a state in which the robot furniture according to an embodiment of the present invention is used in a hybrid form to change the arrangement in a narrow space.
9B is a plan view illustrating a state in which the robot furniture according to an embodiment of the present invention is used in a hybrid form to change the arrangement in a narrow space.
10 and 11 are plan views illustrating a state in which the robot furniture according to an embodiment of the present invention changes the arrangement while avoiding obstacles in a wide space.
12A is a side view illustrating a hydraulic cylinder method of a ceiling fixing part according to an embodiment of the present invention.
12B is a side view illustrating a ball screw/motor driving method of a ceiling fixing part according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the robot furniture system and the arrangement method of the robot furniture according to the present invention will be described in detail with reference to the accompanying drawings.

1A to 3 and 7 , the robot furniture system according to an embodiment of the present invention may include a furniture body 100 , a moving unit 200 , and a control unit 600 .

The furniture body 100 may be implemented in the form of general furniture such as a storage space and a desk, and is usually made of wood, but is not necessarily limited thereto.

And referring to FIGS. 6A and 6B , in the embodiment of the present invention, the furniture body 100 may include a lower body 120 and an upper body 110 .

The lower body 120 may have first and second legs 121 and 123 disposed on both sides thereof, and an open portion 125 having an open shape may be formed on the central side thereof. Other furniture, such as interactive furniture 20 to be described later, may be disposed in the opening 125 , and the lower body 120 has the opening 125 formed therein, so that the interactive furniture 20 and It can move through the top of other pieces of the same furniture.

The upper body 110 may be detachably disposed on the upper portion of the lower body 120 , and functions such as a storage space and a desk may be implemented. For example, when moving robot furniture into a narrow space, if the door or window is small, there is a difficulty in moving the furniture, so the upper body 110 is separated from the lower body 120 and individually transported into the space, It can be reunited within the space.

However, the robot furniture system of the present invention is not necessarily limited to the structure of the furniture body 100 .

The moving unit 200 may be disposed on the furniture body 100 and configured to move the furniture body 100 . Referring to FIGS. 1A and 1B , assuming that the shape of the top view of the furniture body 100 is a rectangular shape in this embodiment, the moving part 200 is disposed adjacent to each corner of the furniture body 100 . may be, but is not necessarily limited thereto.

Referring to FIG. 4A , the first embodiment of the moving unit 200 in the present invention may include a support frame 210 , a moving motor 220 , and wheels 230 .

The support frame 210 may be disposed under the furniture body 100 . Specifically, the support frame 210 may be made of high-strength metal, reinforced plastic, ceramic, or the like, and may be bolted to and fixed to the lower body 120 of the furniture body 100 (refer to FIG. 6A ). .

The moving motor 220 may be connected to the motor bracket 260 by being bolted, and the motor bracket 260 may be bolted to the lower portion of the support frame 210 to be fixed.

And the wheel 230 may be connected to the rotation shaft of the moving motor 220 .

According to the structure of the moving unit 200 , when the user operates the driving unit 670 constituting the control unit 600 through the interface of a terminal or furniture, the moving motor 220 operates while rotating the wheel 230 . and the furniture body 100 is moved.

Meanwhile, in an embodiment of the present invention, the wheel 230 may be an omni wheel. For example, the omni wheel is a main wheel connected to the rotating shaft of the moving motor 220 and a plurality of sub-wheels arranged in a different axial direction from the rotating shaft of the moving motor 220 along the circumferential direction of the main wheel are combined. can have a structure. By the omni wheel, the robot furniture according to this embodiment can be moved in various directions as well as in the direction of the rotation axis of the moving motor 220 .

Referring to FIG. 1B , the starting form of the furniture body 100 by the operation of the moving unit 200 is shown, which is basically to implement various starting directions by individually operating a plurality of moving motors 220 . .

For example, a) in order to make the furniture body 100 move in a straight line (Y1), the entire first, second, third, and fourth moving parts 201, 202, 203, and 204 need to be rotated in the same direction, b) the furniture body 100 In order to rotate (Y2), the first and second moving parts 201 and 202 are rotated in the same direction, and the third and fourth moving parts 203 and 204 are stopped or vice versa. And c) if you want to rotate (Y3) the furniture body 100 in place, the first and second moving parts 201 and 202 are rotated in one direction, and the third and fourth moving parts 203 and 204 are rotated in the opposite direction.

In this case, when the omni wheel is used as the wheel 230, more various maneuvers are possible. In addition to the linear movement (Y1), the rotational movement (Y2), and the in-place rotational movement (Y3) described above, it is possible to move in the oblique direction (Y4, Y5). Through manipulation of the plurality of moving motors 220, various types of operation of the omni wheel can be derived.

2A, 2B and 4B, the second embodiment of the moving unit 200 in the present invention is to be configured to include a support frame 210, a moving motor 220 and a caterpillar 240. can

Referring to FIG. 4B, the support frame 210 may be disposed under the furniture body 100, and the support frame 210 may be made of high-strength metal, reinforced plastic, ceramic, or the like. It may be bolted and fixed on the lower body 120 of the furniture body 100 .

In addition, a plurality of track wheels 245 may be rotatably disposed on the support frame 210 by a shaft at a predetermined interval.

The caterpillar 240 may be disposed by connecting a plurality of track wheels 245 rotatably mounted on the support frame 210 to each other.

Although not shown in the drawings, rubber pads are mounted on the individual track plates constituting the caterpillar 240 on the outer periphery of the caterpillar 240 to protect the space floor.

In addition, the moving motor 220 may be disposed inside the support frame 210 , and the rotating shaft may be connected to one of the plurality of track wheels 245 . Although not shown in the drawings, at least one of the plurality of track wheels 245 has a sawtooth shape along the outer periphery, and is coupled with the caterpillar 240 so that the caterpillar 240 can be rotated stably. there is.

According to the structure of the moving unit 200, when the user operates the driving unit 670 constituting the control unit 600 through the interface of a terminal or furniture, the moving motor 220 operates and the caterpillar 240 is operated. It rotates and moves the furniture body 100 .

Referring to FIG. 2B , the movement form of the furniture body 100 by the operation of the moving unit 200 is shown. Basically, a plurality of moving motors 220 and the caterpillar 240 are individually operated to provide various It implements the starting direction.

For example, a) In order to make the furniture body 100 linearly move (Y1), all the fifth and sixth moving parts 205 and 206 may be started in the same direction, and b) the furniture body 100 is rotated (Y2). To do this, the fifth moving unit 205 is rotated in one direction, and the sixth moving unit 206 is stopped or vice versa. And c) if you want to rotate the furniture body 100 in place (Y3), the fifth moving part 205 is rotated in one direction, and the sixth moving part 206 is rotated in the opposite direction.

Referring to FIGS. 3 and 4C , the third embodiment of the moving unit 200 in the present invention includes a support frame 210 , a moving motor 220 , a wheel 230 , and a shaft rotating motor 250 . can be configured.

The support frame 210 may be disposed under the furniture body 100 . Specifically, the support frame 210 may be made of high-strength metal, reinforced plastic, ceramic, or the like, and may be bolted to and fixed to the lower body 120 of the furniture body 100 .

Here, the shaft rotation motor 250 is disposed inside the support frame 210 , and the rotation shaft of the shaft rotation motor 250 is disposed in a downward direction and may be connected to an upper portion of the motor bracket 260 .

The moving motor 220 may be connected to the motor bracket 260 by being bolted, and the motor bracket 260 may be bolted to the lower portion of the support frame 210 to be fixed. And the wheel 230 may be connected to the rotation shaft of the moving motor 220 .

According to the structure of the moving unit 200, when the user operates the driving unit 670 constituting the control unit 600 through the interface of a terminal or furniture, the shaft rotation motor 250 and the moving motor 220 are operated. While rotating the wheel 230 in both the axial direction of the axial rotation motor 250 and the axial direction of the moving motor 220 , the furniture body 100 is moved.

Referring to FIG. 3 , it shows the starting form of the furniture body 100 by the operation of the moving unit 200 , which is basically by individually operating a plurality of moving motors 220 and shaft rotating motors 250 . It implements various starting directions.

For example, it is basically possible to drive only the moving motor 220 shown in FIG. 1B , that is, a) To make the furniture body 100 linearly move Y1, the first, second, third, and fourth moving parts 201, 202, 203, 204 ) to rotate the whole in the same direction, b) to rotate the furniture body 100 (Y2), the first and second moving parts 201 and 202 rotate in the same direction, and the third and fourth moving parts 203 and 204 are rotated in the same direction. can be stopped or vice versa. And c) if you want to rotate (Y3) the furniture body 100 in place, the first and second moving parts 201 and 202 are rotated in one direction, and the third and fourth moving parts 203 and 204 are rotated in the opposite direction.

As the shaft rotation motor 250 is disposed, each of the first, second, third, and fourth moving parts 201, 202, 203, and 204 can individually rotate in the axial direction (Y6), so that the above-described omni wheel and similar start can be possible. Accordingly, through individual manipulation of the plurality of moving motors 220, more various maneuvers are possible, including the inclination direction movements (Y4, Y5).

The control unit 600 may include a driving unit 670 that sets a movement path of the furniture body 100 and controls driving of the moving unit 200 .

The driving unit 670 may control the operation of the above-described moving motor 220 and shaft rotation motor 250 . In addition, the driving unit 670 may control the hydraulic cylinder 340 and the lifting motor 351 constituting the lifting unit 300 to be described later.

Referring to FIG. 7 , in addition to the driving unit 670 , the control unit 600 includes an impact sensing unit 610 , a position measuring unit 620 , an obstacle sensing unit 630 , a space sensing unit 640 , and a path setting unit ( 650) and an interface unit 660 may be further included.

6A and 6B , an impact sensor 510 for detecting an external impact may be disposed on the lower body 120 of the furniture body 100 . However, it is not limited to a position on the drawing.

The impact sensor 510 performs a function of detecting when a collision occurs while the furniture body 100 is moving. In FIGS. 9A and 9B , the impact sensor 510 may be configured to transmit an initial signal for stopping the operation of the moving unit 200 when the robot furniture collides with the inner wall of the space (A). Details will be described later.

Here, the shock sensing unit 610 may perform a function of detecting the shock applied to the furniture body 100 according to the signal of the shock sensing sensor 510 and collecting information. In addition, the collected information can be displayed by transmitting it to the user's terminal or the interface of the furniture.

Referring to FIG. 6B , the obstacle detecting sensor 530 may be disposed on the lower body 120 of the furniture body 100 . Of course, it is not limited to the position on the drawing.

The obstacle detecting sensor 530 may perform a function of detecting an obstacle existing in the set movement path of the furniture body 100 .

And the obstacle detection unit 630 may perform a function of detecting obstacles on the set movement path of the furniture body 100 according to the signal of the obstacle detection sensor 530 and collecting information, It can be displayed by transmitting it to the user's terminal or the interface of the furniture.

Such obstacle detection may basically be to detect an object inside the space photographed by the camera 540 and an object sensed through the obstacle detection sensor 530 . That is, the camera 540 and the obstacle detection sensor 530 are used together.

Referring to FIG. 6B , the position sensor 520 may be disposed on the lower body 120 of the furniture body 100 . Of course, it is not limited to the position on the drawing.

The position sensor 520 may perform a function of detecting the position of the furniture body 100 in space.

Here, the position sensing unit may perform a function of detecting the real-time position of the furniture body 100 according to the signal of the position sensor 520 and collecting information. In addition, the collected information can be displayed by transmitting it to the user's terminal or the interface of the furniture.

Referring to FIG. 6B , the camera 540 may be disposed on the upper body 110 of the furniture body 100 . Of course, it is not limited to the location on the drawing, and it will be possible in other locations that can photograph the space.

Alternatively, instead of the furniture body 100, the camera 540 is mounted on a user's terminal (eg, a smartphone, a laptop computer, a tablet PC, a remote controller, an artificial intelligence device, etc.) or a camera 540 already mounted. function can be performed instead.

In this case, software may be downloaded and installed in the user's terminal so that the camera 540 may perform a related operation.

The camera 540 may be a camera 540 capable of capturing the size and shape of a space, such as a depth camera 540 and a 3D camera 540 .

Here, the space sensing unit 640 may perform a function of measuring the size and shape of the space by analyzing the captured image of the camera 540 .

Meanwhile, the path setting unit 650 includes information on the size and shape of a space measured by the space sensing unit 640 , location information of an obstacle detected by the obstacle sensing unit, and the furniture body detected by the position sensing unit. Through the location information of ( 100 ), a function of setting a movement path from the current location of the furniture body 100 to the location of the furniture to which the user wants to move may be performed.

That is, the route setting unit 650 may set an optimal movement route when the user wants to move the furniture based on the spatial information, the obstacle information, and the furniture location information.

The interface unit 660 may be installed in an interface of a user's terminal or furniture, and may perform a function of a physical medium or protocol with the user. The user may check and control the movement of the furniture body 100 through the interface unit 660 .

On the other hand, referring to Figures 5a and 5b, in the embodiment of the present invention robot furniture system may be configured to further include a lifting unit (300). The lifting unit 300 may be disposed on the furniture body 100 , and may be implemented to raise and lower the furniture body 100 .

The lifting unit 300 may lower the furniture body 100 when fixing the position of the furniture body 100 so that the lower end of the furniture body 100 comes into contact with the floor of the space.

The lifting unit 300 elevates the furniture body 100 to move the position of the furniture body 100 so that the lower end of the furniture body 100 is separated from the floor of the space, and the moving unit It is possible to create a state in which the 200 can move without friction between the lower end of the furniture body 100 and the floor of the space.

In addition, the lifting unit 300 may prevent the moving unit 200 from continuously being exposed to the load by the load of the furniture body 100 . That is, after the movement is completed, the lower end of the furniture body 100 is brought into contact with the floor of the space, and the movement motor 220 is connected to the wheel 230 of the moving unit 200 by the load of the furniture body 100 . It is possible to remove the load applied to the rotating shaft of This prevents damage to the moving part 200 and increases the service life.

Specifically, the structure of the lifting unit 300 of the hydraulic cylinder 340 type is disclosed in FIG. 5A , and the structure of the lifting unit 300 of the ball screw 353/motor type is disclosed in FIG. 5B .

Referring to FIG. 5A , in one embodiment, the lifting unit 300 includes a first plate 310 , a second plate 320 , a first moving bar 331 , a second moving bar 336 and a hydraulic cylinder ( 340) may be included.

The first plate 310 may be connected to the upper portion of the support frame 210 by bolting, and a first moving groove 311 may be formed. In addition, the second plate 320 may be fixedly arranged by being bolted to the inner groove of the furniture body 100 , and a second moving groove 321 may be formed.

One end of the first moving bar 331 is hinged 331a connected to the first plate 310 , and the other end is movably disposed in the second moving groove 321 with a first moving pin 331b. can be And one end of the second moving bar 336 is hinged 336a connected to the second plate 320, and the other end is movable to the first moving groove 311 by a second moving pin 336b. can be placed. The first and second moving bars 331 and 336 may be connected to each other in a cross shape with a center hinge 333 .

And the hydraulic cylinder 340 may be arranged to connect the first and second plates 331 and 336. For example, as shown in FIG. 5A , the tube of the hydraulic cylinder 340 is bolted to the upper portion of the first plate 310 and fixed, and the rod end of the hydraulic cylinder 340 is the lower portion of the second plate 320 . It can be fixed by bolting to the Through the above-described connection structure, the hydraulic cylinder 340 may elevate the second plate 320 with respect to the first plate 310 .

As the second plate 320 is raised and lowered, the furniture body 100 is raised and lowered.

Referring to FIG. 5B , in another embodiment, the lifting unit 300 includes a first plate 310 , a second plate 320 , a first moving bar 331 , a second moving bar 336 , and a lifting motor ( 351 ), a screw 353 , and a moving block 355 may be included.

The descriptions of the first plate 310 , the second plate 320 , the first moving bar 331 , and the second moving bar 336 are the same as described above, and thus will be omitted.

The lifting motor 351 may be fixedly arranged by being bolted to the upper portion of the first plate 310, the rotating shaft of the lifting motor 351 is arranged to face upward, and a screw 353 having a screw thread is formed. They can be connected by coupling.

And the moving block 355 may be fixedly arranged by being bolted to the lower portion of the second plate 320, and although not shown in the drawings, a plurality of balls are disposed inside the moving block 355, and , may be connected to the screw 353 and the ball screw 353 structure. Accordingly, the moving block 355 may move up and down along the screw thread formed on the screw 353 to lift the second plate 320 .

As the second plate 320 is raised and lowered, the furniture body 100 is raised and lowered.

Meanwhile, FIGS. 6A and 6B show the structure of the furniture body 100 , the battery 400 and the arrangement of various sensors.

Referring to FIG. 6A , in the embodiment of the present invention, the furniture body 100 has a lower body in which first and second legs 121 and 123 are disposed on both sides and an open portion 125 in an open form is formed on the central side ( 120) and an upper body 110 disposed on the lower body 120 to be detachably detached from the lower body 120 .

In this case, the moving part 200 may be disposed on the first and second legs 121 and 123 .

In addition, a battery 400 is built-in on the lower body 120 to supply power to the moving motor 220 of the moving unit 200 .

The impact sensor 510 disposed on the lower body 120 is the same as described above. Although not shown in the drawings, the battery 400 may also supply power to the impact sensor 510 if necessary.

Referring to FIG. 6B , in another embodiment of the present invention, the lifting unit 300 , the camera 540 , the position sensor 520 , and the obstacle detection sensor 530 are additionally arranged on the furniture body 100 . is disclosed, and the description of the configuration is also the same as described above.

In this case, the battery 400 may supply power not only to the moving motor 220 of the moving unit 200 , but also to the elevating motor 351 of the elevating unit 300 . Although not shown in the drawings, if necessary, the battery 400 may supply power to the camera 540 , the position sensor 520 , the obstacle detection sensor 530 , and the impact detection sensor 510 .

On the other hand, referring to FIGS. 12A and 12B , in the robot furniture system according to an embodiment of the present invention, after the robot furniture is moved to a position desired by the user, it is stably fixed at the target position, and the furniture body 100 ) may further include a ceiling fixing unit 700 to prevent the collapse.

When a child climbs on a piece of furniture, a user steps on a part of the furniture to take out an object placed on top of the piece of furniture, or excessively displays items on the furniture, the center of gravity of the furniture shifts between the child, the user, and the work. It is not uncommon for furniture to fall due to leaning in the right direction.

In recent years, there has also been a problem in which certain furniture products have collapsed, taking the life of a precious child.

In an embodiment of the present invention, in order to prevent the above-described problem from occurring, the ceiling fixing part 700 is disposed on the furniture body 100 . That is, the ceiling fixing part 700 is such that a part of the upper part 133 of the furniture body 100 is fixed to the ceiling K, so that it does not easily fall down even if it is shaken severely by the center of gravity of the robot furniture or moves in a specific direction.

Referring to FIG. 12A , one form of the ceiling fixing unit 700 is disclosed. In FIG. 12A , the ceiling fixing unit 700 may include a hydraulic cylinder 710 , a cover piece 131 , and a contact pad 730 .

The hydraulic cylinder 710 may be disposed inside the upper groove 135 formed in the upper portion 133 of the furniture body 100 . At this time, the tube 711 of the hydraulic cylinder 710 may be fixed by bolting to the inner lower end of the upper groove 135, and the rod end 713 of the hydraulic cylinder 710 may be disposed upward. there is.

The cover piece 131 may be disposed on the rod end 713 of the hydraulic cylinder 710 , and the cover piece 131 may correspond to the size and shape of the inlet of the upper groove 135 , and the It may be made of the same material as the furniture body 100 .

The contact pad 730 may be disposed on the cover piece 131 . The contact pad 730 may be implemented with an elastic material such as rubber, silicone, or urethane, and may be tightly attached to the ceiling (K).

That is, the cover piece 131 may be in close contact with the ceiling K due to the material properties of the contact pad 730 .

Even when the surface of the ceiling (K) is uneven, since the contact pad 730 is stretched and contracted to correspond to the surface of the ceiling (K) and is in close contact, the cover piece 131 is stably fixed to the ceiling (K). can do.

As the cover piece 131 is closely fixed to the ceiling K, an effect in which the upper part 133 of the furniture body 100 is fixed is derived.

Referring to FIG. 12B , another form of the ceiling fixing unit 700 is disclosed. 12b, the ceiling fixing unit 700 includes a fixed motor 721, a rotating bar 723, a support bearing 725, a moving piece 728, a fixed bar 727, a cover piece 131, and a contact pad ( 730) may be included.

The fixed motor 721 may be disposed inside the upper groove 135 formed in the furniture body 100 , and the rotating bar 723 is connected to the rotating shaft of the fixed motor 721 by a coupling and is vertically disposed. direction can be placed. In addition, the support bearing 725 may be mounted in the upper groove 135 by a bearing bracket 726 and support the end of the rotation bar 723 .

Although not shown in the drawings, the moving piece 728 may be connected to the rotating bar 723 by a ball screw method, and may move up and down along the rotating bar 723 . In addition, the fixing bar 727 is connected to the moving piece 728, and can be raised and lowered in the direction of the ceiling (K) according to the elevating of the moving piece 728 .

The cover piece 131 may be disposed on the fixing bar 727 , and the contact pad 730 may be disposed on the cover piece 131 .

When the user operates the fixed motor 721 according to the above-described structure, the rotating bar 723 rotates, and the moving piece 728 and the fixed bar 727 rise according to the rotation of the rotating bar 723 .

Then, the cover piece 131 moves in the direction of the ceiling (K), and the contact pad 730 is in close contact with the ceiling (K) to fix the upper part 133 of the furniture body 100 . The function of the contact pad 730 is the same as described above.

That is, after the robot furniture system according to an embodiment of the present invention has completed moving the robot furniture to the target position desired by the user, by operating the ceiling fixing unit 700 at the target position to firmly fix the upper part of the robot furniture, the robot It is possible to prevent the occurrence of various safety accidents including personal accidents by preventing the furniture from falling.

On the other hand, FIG. 8 discloses an algorithm for a method for arranging robot furniture according to an embodiment of the present invention.

Referring to Figure 8, the arrangement method of the robot furniture in the embodiment of the present invention, the space determination step (S1), the target position input step (S2), the movement path setting step (S3), the obstacle detection step (S4), movement It may be configured to include a route resetting step (S6), a final movement route transmission step (S7), a furniture movement step (S8), a real-time location transmission step (S9), and a movement completion signal step (S10).

The space determination step S1 may be a step of photographing a space with the camera 540 and determining the size and shape of the space by the space sensing unit 640 .

The camera 540 may be operated by being mounted on the furniture body 100 as shown in FIG. 6B , or may be used instead of being photographed with a camera 540 mounted on the user's terminal.

When the size and shape of the space are determined in the space determination step S1, the target position input step S2 is performed thereafter. The target location input step ( S2 ) may be a step in which the user inputs a moving target location of the furniture in the space.

The user can check the location where the furniture is to be moved in the space where the size and shape are determined through the interface arranged on the terminal or the furniture body 100, and a simple click on the display or voice recognition, specific behavior recognition, etc. It is possible to set the moving target position of the furniture through the motion.

When the next moving target position of the furniture is set, the moving path setting step S3 is performed thereafter. In the moving path setting step ( S3 ), the path setting unit 650 sets the shortest moving path through which the furniture can move to the target position in the space.

In addition, in the moving path setting step (S3), the starting method of the moving unit 200 may be set according to an appropriate position in space.

Thereafter, the obstacle detecting step S4 is performed. In the obstacle detecting step S4, the obstacle detecting unit 630 detects an obstacle on the moving path of the furniture.

The obstacle detection may basically detect an object inside the space photographed by the camera 540 and an object sensed through the obstacle detection sensor 530 . That is, the camera 540 and the obstacle detection sensor 530 may be used together.

Here, if an obstacle is not detected on the shortest moving path of the furniture, the next step may be to perform the final moving path transmission step S7.

Conversely, if an obstacle is detected on the shortest moving path of the furniture, the moving path resetting step S6 may be performed.

The moving path resetting step S6 may be a step of resetting the moving path of the furniture in consideration of the detected position of the obstacle. For example, as shown in FIGS. 10 and 11 , the movement path and the movement method of the furniture (various operation methods of the moving unit 200 described above) are reset in consideration of the position of the detected obstacle B.

Next, after the obstacle detecting step (S4) or the moving path resetting step (S6), the final moving path transmission step (S7) may be performed.

The final movement path transmitting step (S7) may be a step of transmitting the final movement path of the furniture in which the movement path and the furniture starting method are finally set in consideration of the location of the obstacle detected on the user's terminal or the furniture interface.

Accordingly, the user can check the final moving path of the furniture through the terminal or the interface of the furniture.

Thereafter, the furniture moving step (S8) may be performed. The furniture moving step (S8) may be a step in which the user inputs a furniture moving command through an operation such as clicking, voice recognition, or specific behavior recognition on a terminal or an interface of the furniture.

Next, the real-time location transmitting step (S9) may be a step of transmitting the real-time location of the moving furniture according to the moving command in the furniture moving step (S8) to the user's terminal or the furniture interface to the moving path of the furniture. .

In this way, the user can continuously monitor the real-time location of the furniture, and for example, in a large space, it is possible to easily grasp information about how the furniture is moving to the target location to which the user wants to move and where it is moving. .

Finally, the movement completion signal step (S10) may be a step of transmitting a movement completion signal to the user's terminal or the interface of the furniture after the movement of the furniture to the target position is completed so that the user can confirm that the furniture is placed at the desired target position. there is.

Through the above-described process, the furniture can be automatically moved to a target position desired by the user, thereby reducing the user's placement work load.

6A, 9A and 9B, in order to secure a user's living space in a relatively narrow space (A) such as a small pyeong-sized general house, the basic furniture 10 and interaction according to an embodiment of the present invention The furniture 20 may be used together as a hybrid type furniture.

In an embodiment of the present invention, the basic furniture 10 includes the above-described furniture body 100, a moving unit 200 (indicated as 200a in FIGS. 9A and 9B), a lifting unit 300, a battery 400, and an impact sensor. It may include a sensor 510 , a position sensor 520 , an obstacle detection sensor 530 , a camera 540 , a controller 600 , and the like. In particular, in the basic furniture 10 , the furniture body 100 may include an upper body 110 and a lower body 120 , and the lower body 120 includes first and second legs 121 and 123 and an opening 125 . ) may be included.

And the interactive furniture 20 is also the above-described furniture body 100, the moving part 200 (indicated as 200b in FIGS. 9A and 9B), the lifting part 300, the battery 400, the impact sensor 510. , a position sensor 520 , an obstacle detection sensor 530 , a camera 540 , a control unit 600 , and the like.

The basic furniture 10 and the interactive furniture 20 may be configured to have the same basic driving principle, structure, function, coupling relationship, and the like.

In an embodiment of the present invention, the interaction furniture 20 may be inserted into the opening 125 formed in the lower body 120 of the furniture body 100 constituting the basic furniture 10 to be disposed.

As described above, the interface 50 may be disposed on one side of the furniture body 100 , and the user may input a movement command or the like to the robot furniture through the interface 50 . And the above-mentioned moving part 200 is disposed at the lower part of the furniture body 100 .

Now, if the user wants to move the furniture from the current position D1 to the target position D2 in the narrow space A, the user simply touches a movement command button through the interface 50 .

Accordingly, the robot furniture moves from the D1 position to the D2 position.

At this time, since the shock sensor 510 is attached to the furniture body 100, when it comes into contact with the inner wall of the narrow space A adjacent to the position D2, the shock sensor 510 recognizes the impact and moves the moving unit 200. will stop driving. As the driving of the moving unit 200 is stopped, the robot furniture moves to the D2 position.

The above-described operation method is an example of one of the simplest operation methods using the impact sensor 510 .

Meanwhile, if the algorithm disclosed in FIG. 8 is applied, the following operation method may be performed.

The space (A) is photographed with the camera (540), and the size and shape of the space (A) are determined. When the size and shape determination of the space (A) is completed, 3D space information is displayed on the display on the interface 50 of the robot furniture, and the user can use the robot through methods such as touch or button on the display screen, voice recognition, and specific behavior recognition. Enter the target position to which the furniture is to be moved.

The robot furniture sets the shortest moving path from the current position (D1) to the target position (D2) and detects the presence of obstacles.

If, as in FIGS. 9A and 9B, if no obstacle is found on the shortest moving path, the final moving path is transmitted to the display 550 of the robot furniture, and the moving unit 200 is driven according to the user's moving command. It moves from position D1 to position D2.

And when the movement to the D2 position is completed, the driving of the moving unit 200 is stopped, and a movement completion signal is transmitted to the interface 50 of the robot furniture so that the user can check it.

10 and 11 show a state of arranging the robot furniture according to an embodiment of the present invention in a relatively large space (A) such as an office. In FIGS. 10 and 11 , the robot furniture may be moved according to the algorithm disclosed in FIG. 8 .

Referring to FIGS. 6B, 8, 10 and 11 , the space A is first photographed with the camera 540 and the size and shape of the space A are determined.

In this case, the space (A) can be photographed using the camera 540 disposed on the robot furniture, and the camera 540 built into the user's terminal (eg, a smartphone, a laptop computer, a tablet PC, a remote controller, an artificial intelligence device, etc.) Available. However, 3D image shooting must be possible, and related software may be downloaded and installed for this purpose.

When the size and shape determination of the space A is completed through the camera 540 shooting, 3D space information is displayed on the display on the interface of the user's terminal or robot furniture, and the user touches the display screen or uses a button, voice recognition, specific Input the target position to move the robot furniture through a method such as behavior recognition.

When the target position is input, the robot furniture sets the shortest movement path from the current position (D1) to the target position (D2), and detects the presence or absence of an obstacle (B).

If an obstacle (B) is found on the shortest moving path, as in FIGS. 10A and 10B , the movement path of the robot furniture is reset in consideration of the position of the detected obstacle (B) to enable avoidance maneuvers.

At this time, the path setting unit 650 of the control unit 600 sets the final movement path related to avoidance of the obstacle (B) and at the same time avoids the obstacle (B) and allows the user to place the robot furniture at the desired position, a starting method also decide. Here, the starting method refers to the starting direction (Y1 to Y6) movement method shown in FIGS. 1B, 2B, and 3 .

When the final movement path is derived according to the movement path reset, the final movement path is then transmitted to the user's terminal or the display of the robot furniture, and the moving unit 200 is driven according to the user's movement command from the D1 position to the D2 position. will move

At the same time, the control unit 600 transmits the movement path of the robot furniture in real time to the user's terminal or the interface of the robot furniture in real time, and allows the real-time location of the robot furniture to be known on the movement path of the large space (A).

And when the movement to the D2 position is completed, the driving of the moving unit 200 is stopped, and the movement completion signal is transmitted to the user's terminal or the interface of the robot furniture so that the user can check it.

Through the above-described method of arranging the robot furniture, the user can automatically move the furniture to the desired position in the space through the manipulation of the terminal or the interface of the furniture.

In addition, as another arrangement method, if the user inputs a target position to move the furniture in the space through the user's terminal or the interface of the furniture, the robot furniture can automatically set the movement path and move and arrange it by itself. there will be

Accordingly, it is possible to reduce the user's workload that may be generated by moving the furniture.

In addition, since the robot furniture can be operated in a hybrid form in a narrow space and can be easily moved to an appropriate location, it is possible to make the most of the narrow space.

In addition, in a large space, the robot furniture can automatically move to the desired arrangement position by the user, so the user's arrangement work load is reduced.

The above is merely showing a specific embodiment of the robot furniture system and the arrangement method of the robot furniture. In particular, it should be understood that the expressions of basic furniture and interactive furniture in the present invention merely indicate the relationship between a plurality of households, and the importance of the two households does not change by the expressions 'basic' and 'interaction'. .

Therefore, within the limits that do not depart from the spirit of the present invention described in the following claims, the present invention can be substituted and modified in various forms, so that those of ordinary skill in the art can easily grasp that do.

10: basic furniture 20: interactive furniture
100: furniture body 110: upper body
120: lower body 121: first leg
123: second leg 131: cover piece
133: upper part of the furniture body 135: upper groove
200: moving part 210: support frame
220: moving motor 230: wheel
240: caterpillar 245: orbit wheel
250: shaft rotation motor 260: motor bracket
300: lifting unit 310: first plate
311: first moving groove 320: second plate
321: second moving groove 331: first moving bar
336: second moving bar 340: hydraulic cylinder
351: elevating motor 353: screw
355: moving block
400: battery
510: shock sensor 520: position sensor
530: obstacle detection sensor 540: camera
600: control unit 610: impact detection unit
620: position measurement unit 630: obstacle detection unit
640: space sensing unit 650: path setting unit
660: interface unit 670: driving unit
700: ceiling fixing part 710: hydraulic cylinder
711: hydraulic cylinder tube 713: hydraulic cylinder rod
721: fixed motor 723: rotating bar
725: support bearing 726: bearing bracket
727: fixed bar 728: moving piece
730: adhesive pad
A: Space B: Obstacles
D1: first placement position D2: second placement position
K: Ceiling

Claims (16)

furniture body;
and a support frame disposed under the furniture body, a moving motor connected to the support frame by a motor bracket and a wheel connected to a rotation shaft of the moving motor, and disposed on the furniture body to move the furniture body moving part to make; and
A control unit including a driving unit that sets a movement path of the furniture body and controls driving of the moving unit;
The support frame is a metal with high strength,
An interface for inputting a movement command to the furniture is provided on one side of the furniture body, the movement command may be transmitted by a user's terminal, and the size and shape are determined through the user's terminal or the interface. You can check the location where you want to move the furniture in the
When the driving unit constituting the control unit is operated through the user's terminal or the interface, the moving motor rotates the wheel while operating,
Robot furniture system.
According to claim 1,
It is disposed on the support frame and further comprises a shaft rotation motor in which a rotation shaft extending in the vertical direction is connected to an upper portion of the motor bracket,
When the driving unit constituting the control unit is operated through the user's terminal or the interface, the shaft rotating motor and the moving motor are operated to rotate the wheel around the rotating shaft of the shaft rotating motor and the axis of the moving motor,
Robot furniture system.
3. The method of claim 1 or 2,
Further comprising a ceiling fixing part disposed on the furniture body so as to be fixed after completing the movement of the furniture body to the target position and fixing the furniture body to the ceiling,
Robot furniture system.
4. The method of claim 3,
The ceiling fixing part,
a hydraulic cylinder disposed in an upper groove formed in the furniture body;
Containing; a cover piece disposed on the rod end of the hydraulic cylinder and a contact pad disposed on an upper portion of the cover piece;
Robot furniture system.
4. The method of claim 3,
The ceiling fixing part,
a fixed motor disposed in an upper groove formed in the furniture body;
a rotating bar connected to the rotating shaft of the fixed motor and disposed in the vertical direction;
a support bearing disposed in the upper groove and supporting an end of the rotating bar;
a moving piece connected to the rotating bar by a ball screw method and ascending and descending along the rotating bar;
a fixing bar connected to the moving piece and elevating in the ceiling direction according to the elevating of the moving piece;
a cover piece disposed on the fixing bar; and
Including; a contact pad disposed on the top of the cover piece;
Robot furniture system.
3. The method of claim 1 or 2,
The furniture body,
a lower body having first and second legs disposed on both sides, and an opening formed in an open form on the central side; and
An upper body disposed on an upper portion of the lower body to be detachable from the lower body, wherein the moving part is disposed on the first and second legs.
3. The method of claim 1 or 2,
Robot furniture in which an impact sensor for detecting an external impact is disposed on the furniture body
system.
8. The method of claim 7,
When the shock sensor detects an external shock, the control unit moves the moving unit
Robot furniture system, characterized in that stopping the small.
9. The method of claim 8,
The control unit is
The robot furniture system further comprising a; an impact sensor for detecting the impact applied to the furniture body according to the signal of the impact sensor and collecting information.
10. The method of claim 9,
An obstacle detection sensor for detecting an obstacle on a set movement path is disposed on the furniture body,
The control unit is
The robot furniture system further comprising a; an obstacle detecting unit for detecting an obstacle on the set movement path of the furniture body according to the signal of the obstacle detection sensor and collecting information.
11. The method of claim 10,
A position sensor for detecting the position of the furniture body is disposed on the furniture body,
The control unit is
The robot furniture system further comprising; a position sensing unit for detecting the real-time position of the furniture body according to the signal of the position sensor and collecting information.
12. The method of claim 11,
A camera for photographing the space is disposed on the furniture body,
The control unit further comprises a space sensing unit for measuring the size and shape of the space by analyzing the captured image of the camera.
13. The method of claim 12,
The control unit is
Through the size and shape information of the space measured by the space sensing unit, the location information of the obstacle detected by the obstacle sensing unit, and the position information of the furniture body detected by the position sensing unit, the current position of the furniture body is determined. The robot furniture system further comprising a; a path setting unit for setting a movement path to the location of the furniture to which the user wants to move.
Including the basic furniture and the interaction furniture overlapping or spaced apart by relative movement with the basic furniture,
The basic furniture and interactive furniture,
furniture body;
and a support frame disposed under the furniture body, a moving motor connected to the support frame by a motor bracket and a wheel connected to a rotation shaft of the moving motor, and disposed on the furniture body to move the furniture body moving part to make; and
A control unit including a driving unit that sets a movement path of the furniture body and controls driving of the moving unit;
The support frame is a metal with high strength,
An interface for inputting a movement command to the furniture is provided on one side of the furniture body, the movement command may be transmitted by a user's terminal, and the size and shape are determined through the user's terminal or the interface. You can check the location where you want to move the furniture in the
When the driving unit constituting the control unit is operated through the user's terminal or the interface, the moving motor rotates the wheel while operating,
Robot furniture system.
15. The method of claim 14,
The furniture body,
a lower body having first and second legs disposed on both sides, and an opening formed in an open form on the central side; and
An upper body disposed on an upper portion of the lower body to be detachably attached to the lower body; including, wherein the moving part is disposed on the first and second legs,
Robot furniture system.
16. The method of claim 15,
Any one of the basic furniture and the interactive furniture is characterized in that it can be inserted into the opening of the other one of the basic furniture and the interactive furniture,
Robot furniture system.

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