KR20210151326A - Moving robot - Google Patents

Abstract

A mobile robot of the present invention includes a body; a pair of driving wheels provided on both sides of the body; a pair of rotating shafts connecting each of the pair of driving wheels and the body; and first and second units provided symmetrically with each other, and provided on the left and right sides of the body, respectively. Each of the first and second units includes: a first driving motor for driving the driving wheel; a first power transmission part connected to the first driving motor to transmit power to the rotating shaft; a weight provided to be rotatable and controlling the center of gravity of the body; a second driving motor for rotating the weight; and a second power transmission part connected to the second driving motor to transmit a rotational force to the weight. One aspect of the present disclosure provides the mobile robot capable of maintaining a stable motion by controlling the movement of the center of gravity of the body to remove vibration of the body in a situation where inertia acts on the body.

Description

mobile robot {MOVING ROBOT}

The present disclosure relates to a mobile robot, and more particularly, to a mobile robot having two wheels.

In general, mobile robots are used to perform work while driving using circular wheels, or to be applied to installation objects such as wheelchairs. This mobile robot has a body and two wheels that are symmetrically disposed on both sides of the body and are larger than the body.

When the wheels are driven to move forward/backward of the mobile robot, the body may be rotated together with the wheels.

In order to prevent rotation of the body, a weight may be mounted on the body so that the body has directionality due to gravity. However, in this case, when the mobile robot makes a sudden stop in the running state or when the mobile robot performs a running motion such as forward or backward in a stopped state, the body may react due to inertia. Due to this, the movement of the sensor mounted on the body may be caused and the function of the sensor may be deteriorated.

One aspect of the present disclosure provides a mobile robot capable of maintaining a stable motion by controlling the movement of the center of gravity of the body to remove vibration of the body in a situation where inertia acts on the body.

In addition, by controlling the movement of the center of gravity of the body and tilting the sensor mounted on the body together with the body, there is provided a mobile robot capable of smoothly sensing a desired part.

In addition, there is provided a mobile robot capable of controlling the movement of the center of gravity of the left and right sides of the body, respectively, so that the mobile robot can generate various motions while driving or in a stationary state.

The mobile robot according to the spirit of the present invention is provided with a body, a pair of driving wheels provided on both sides of the body, a pair of rotational shafts connecting each of the pair of driving wheels and the body, and symmetrically with each other and first and second units provided on the left and right sides of the body, respectively.

Each of the first and second units includes a first driving motor for driving the driving wheel, a first power transmission unit connected to the first driving motor to transmit power to the rotating shaft, and rotatably provided to the body It characterized in that it comprises a weight for controlling the center of gravity of the weight, a second driving motor for rotating the weight, and a second power transmission unit connected to the second driving motor to transmit a rotational force to the weight.

The mobile robot may have a sphere shape, and each of the pair of driving wheels may have a half sphere shape.

Each of the pair of driving wheels may include a contact member provided to surround a portion of an outer surface and contacting the ground.

The first power transmission unit, It may include a first pinion gear coupled to the first driving motor to rotate, and a second pinion gear fitted to the rotation shaft and receiving power from the first pinion gear to rotate the rotation shaft.

The second power transmission unit may include a first gear fitted to the rotation shaft, a second gear coupled to the second driving motor and rotating, a second gear transmitting a rotational force to the first gear, and the first gear coupled to the first gear It may include a first link rotated together with the gear and a second link coupled to the first link and the weight to rotate the weight.

The first gear may be fitted and coupled to the rotation shaft while being spaced apart from the rotation shaft, and the first link may be rotated about the rotation shaft.

The mobile robot may have a spherical shape, and the body may include a space portion provided to have a space between the first and second units.

The first link may extend to the outside of the first gear, and the second link may extend to the outside of the first link toward the space.

A control unit for controlling the first driving motor and the second driving motor of each of the first and second units may be provided in the space.

The control unit may include a traveling control unit for controlling the traveling of the mobile robot by controlling the first driving motor and a center of gravity control unit for controlling the movement of the center of gravity of the body by controlling the second driving motor.

It may further include an inertial sensor for measuring the current inclination value of the body.

The center of gravity control unit includes a setting unit for setting a target inclination value of the body, a calculation unit calculating a difference value between a target inclination value of the body and a current inclination value of the body, and rotation of the weight based on the difference value It may include a processing unit for determining the direction and rotation speed, and an output unit for operating the second driving motor to correspond to the rotation direction and rotation speed of the weight determined by the processing unit.

The weights of each of the first and second units may be rotated at the same speed and at the same angle to each other toward the front or rear of the reference line in a state in which they are located on the reference line.

A camera for photographing a front image is provided on the body, and the camera may be rotated together with the body to perform photographing.

When the weight of each of the first and second units rotates at least one wheel or more, the mobile robot may perform a rolling motion mode.

When the weight of each of the first and second units rotates two or more wheels toward the rear of the reference line, the mobile robot may perform a vibrating motion mode.

The weights of each of the first and second units are rotated at the same speed as each other in a state positioned on the reference line, and may be rotated in opposite directions.

In a state in which the pair of driving wheels move forward, one of the weights of each of the first and second units rotates one turn toward the front of the reference line, and the other rotates one turn toward the rear of the reference line. In this case, the traveling direction of the mobile robot may be switched to the other side.

According to the spirit of the present invention described above, it is possible to secure the running stability of the mobile robot by removing the vibration of the body in a situation where inertia acts on the body.

In addition, by moving the body to a desired position, the sensor mounted on the body can be tilted to a desired position, so that a desired portion can be smoothly sensed through the sensor.

In addition, the mobile robot may generate various motions while driving or in a stationary state, and may have extended mobility such as vibration driving and rolling motion in addition to forward/backward driving.

1 is a perspective view showing a mobile robot according to an embodiment of the present invention.
Figure 2 is a perspective view showing the inside of the mobile robot of Figure 1;
Figure 3 is a front view showing the inside of the mobile robot of Figure 2;
4 is a cross-sectional view illustrating a first gear coupled to a rotation shaft of the mobile robot of FIG. 3 ;
5 is a block diagram illustrating a control unit of the mobile robot of FIG. 3;
6 to 9 are exemplary views illustrating a motion of a mobile robot.

The configuration shown in the embodiments and drawings described in this specification is only a preferred example of the disclosed invention, and there may be various modifications that can replace the embodiments and drawings of the present specification at the time of filing of the present application.

In addition, the same reference numerals or reference numerals in each drawing of the present specification indicate parts or components that perform substantially the same functions.

In addition, the terminology used herein is used to describe the embodiments, and is not intended to limit and/or limit the disclosed invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

In addition, terms including an ordinal number, such as "first", "second", etc. used herein may be used to describe various elements, but the elements are not limited by the terms, and the terms are It is used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. The term “and/or” includes a combination of a plurality of related listed items or any of a plurality of related listed items.

Hereinafter, an embodiment will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a mobile robot according to an embodiment of the present invention, FIG. 2 is a perspective view showing the inside of the mobile robot of FIG. 1, and FIG. 3 is a front view showing the inside of the mobile robot of FIG. , FIG. 4 is a cross-sectional view illustrating a first gear coupled to the rotation shaft of the mobile robot of FIG. 3 , and FIG. 5 is a block diagram illustrating a control unit of the mobile robot of FIG. 3 .

1 and 2, the mobile robot 1 includes a body 10, a pair of driving wheels 21 and 22 provided on both sides of the body 10, and a pair of symmetrical to each other. The first and second units 100 and 200 connected to the driving wheels 21 and 22, respectively, and the space portion 300 provided to have an installation space between the first and second units 100 and 200 ) is included.

The body 10 and a pair of driving wheels 21 and 22 provided on both sides of the body 10 together form a sphere shape, and accordingly, the mobile robot 1 is provided in a spherical shape as a whole.

The body 10 forms the center of the mobile robot 1 , and a pair of driving wheels 21 and 22 are provided in a half sphere shape so as to be symmetrically rotatable on the left and right sides of the body 10 . .

In this case, each of the pair of driving wheels 21 and 22 may include a contact member 25 provided at a portion adjacent to the body 10 . That is, the contact member 25 may be provided at the boundary between the driving wheels 21 and 22 and the body 10, and may be provided to surround a portion of the outer surfaces of the driving wheels 21 and 22 so as to be in contact with the ground. The pair of driving wheels 21 and 22 can be made to roll on the ground.

A camera 70 for photographing a front image while the mobile robot 1 is traveling may be provided on the outer surface or the inside of the body 10 . Rotating shafts 110 and 210 provided on both sides of the body 10 are coupled to a pair of driving wheels 21 and 22 .

The first unit 100 is provided on the left side with respect to the space portion 300 of the body 10 and the second unit 200 is provided on the right side with respect to the space portion 300 of the body 10, Driving of the pair of driving wheels 21 and 22 can be controlled, and further, the center of gravity of the body 10 can be controlled. That is, as the first and second units 100 and 200 are provided symmetrically with respect to the space portion 300 of the body 10, the left and right sides of the body 10 can be controlled separately. can

In this case, the components included in each of the first and second units 100 and 200 may be symmetrical to each other as well. That is, components included in the first and second units 100 and 200 may be provided as a pair.

However, the first unit 100 is provided on the right side with respect to the space portion 300 of the body 10 and the second unit 200 is on the left side with respect to the space portion 300 of the body 10 . may be provided.

Furthermore, as the first and second units 100 and 200 are formed symmetrically to each other to form the space portion 300 of the body 10 , the mobile robot 1 is placed in the space portion 300 of the body 10 . ) can be located to maximize the usability of space. In this case, electronic devices necessary for controlling the mobile robot 1 may be disposed in the space portion 300 of the body 10 .

Referring to FIG. 3 , each of the first and second units 100 and 200 includes a first driving motor 105 , 205 , a rotation shaft 110 , 210 , a first power transmission unit 120 , 220 , and a weight. It includes weights 130 and 230 , second driving motors 140 and 240 , and second power transmission units 150 and 250 . In this case, the first driving motors 105 and 205, the rotation shafts 110 and 210, the first power transmission units 120 and 220, the weights 130 and 230, the second driving motors 140 and 240 and the second Each of the two power transmission units 150 and 250 is provided as a pair.

The first driving motors 105 and 205 are provided inside the body 10 for driving the driving wheels 21 and 22 .

The rotating shafts 110 and 210 are provided on both sides of the body 10, respectively, and are coupled to the driving wheels 21 and 22. The rotating shafts 110 and 210 may be rotated by receiving power from the first driving motors 105 and 205, and accordingly, the driving wheels 21 and 22 may be driven.

In this way, the first power transmitting units 120 and 220 are provided inside the body 10 so that the rotating shafts 110 and 210 can receive power from the first driving motors 105 and 205 . , 205 may be provided to transmit power to the rotating shafts 110 and 210 .

The first power transmission units 120 and 220 include first and second pinion gears 121 and 221 and second pinion gears 122 and 222 .

The first pinion gears 121 and 221 are coupled to the rotation shafts 110 and 210 of the first drive motors 105 and 205 and receive power from the first drive motors 105 and 205 to receive the power from the first drive motor 105 . , 205 may be rotated about the axis of rotation 106 , 206 . The second pinion gears 122 and 222 may be fitted to the rotation shafts 110 and 210 and provided to mesh with the first pinion gears 121 and 221 . When the first pinion gears 121 and 221 are rotated, the second pinion gears 122 and 222 may be rotated together with the first pinion gears 121 and 221 to rotate the rotation shafts 110 and 210, and accordingly The driving wheels 21 and 22 respectively coupled to one end of each of the rotation shafts 110 and 210 may be rotated.

Meanwhile, the weights 130 and 230 are provided to be rotatable inside the body 10 to change the position of the center of gravity of the body 10 . The weights 130 and 230 may control the movement of the center of gravity of the body 10 to finely control the balance of the mobile robot 1 . Accordingly, the weights 130 and 230 can solve the problem that the mobile robot 1 cannot be balanced by various external forces and cannot move in an unset direction when the mobile robot 1 moves. In addition, when the mobile robot 1 stops while moving or when it moves in a stopped state, inertia may be applied to the mobile robot 1 , in which case the weights 130 and 230 have the body 10 inertia to prevent it from being tilted to one side.

The weights 130 and 230 of each of the first and second units 100 and 200 may be simultaneously rotated in the same direction and at the same angle to control the balance of the mobile robot 1 . For example, when the mobile robot 1 travels forward, the first links 153 and 253 of each of the first and second units 100 and 200 may be vertically positioned on the ground as shown in FIG. 3 . .

In this case, the position of the weights 130 and 230 may be defined as the first position. That is, the first position refers to the position of the weights 130 and 230 in a state in which the weights 130 and 230 are located on the reference line (L of FIG. 6 ).

At this time, when the mobile robot 1 stops suddenly, the body 10 of the mobile robot 1 may be tilted forward of the reference line L due to inertia. The weights 130 and 230 of each of the first and second units 100 and 200 are rotated counterclockwise to move backward of the reference line L, thereby moving the robot 1 forward of the reference line L. It can prevent you from leaning forward.

The weights 130 and 230 are for generating energy necessary for the movement of the body 10 , and may be made of a weight capable of moving the body 10 . That is, when the weights 130 and 230 are positioned forward or backward relative to the reference line L without facing the direction of gravity, the center of gravity of the body 10 moves in the direction in which the weights 130 and 230 move. It is preferably formed with a movable weight.

The second driving motors 140 and 240 are for rotating the weights 130 and 230 and may be provided inside the body 10 to generate power.

The second power transmission units 150 and 250 may be connected to the second driving motors 140 and 240 to transmit rotational force to the weights 130 and 230 . The second power transmission units 150 and 250 include first gears 151 and 251 , second gears 152 and 252 , first links 153 and 253 , and second links 154 and 254 .

The first gears 151 and 251 are fitted to the rotation shafts 110 and 210 . In this case, the first gears 151 and 251 may have a through hole (71 in FIG. 4 ) to be fitted to the rotation shafts 110 and 210 . The second gears 152 and 252 are coupled to the rotation shafts 110 and 210 of the second drive motors 140 and 240 to receive rotational force from the second drive motors 140 and 240 to the second drive motors 140 and 240 ) may be rotated around the rotation shafts 141 and 241. As the first gears 151 and 251 and the second gears 152 and 252 are provided to mesh with each other, the second gears 152 and 252 transmit the rotational force to the first gears 151 and 251 to the first gear It can rotate with (151, 251).

The first links 153 and 253 may be coupled to the first gears 151 and 251 to rotate together with the first gears 151 and 251 .

The second link (154, 254) is coupled with each of the first link (153, 253) and the weight (130, 230) so as to be positioned between the first link (153, 253) and the weights (130, 230). It is rotated together with the first link (153, 253) can rotate the weights (130, 230).

Meanwhile, referring to FIG. 4 , the first gears 151 and 251 may be fitted and coupled to the rotation shafts 110 and 210 while being spaced apart from the rotation shafts 110 and 210 . The first gears 151 and 251 may include a through hole 71 into which the rotation shafts 110 and 210 are fitted, and an extension portion 72 extending in a circumferential direction from the through hole. In this case, the first gears 151 and 251 are coupled to the rotation shafts 110 and 210 through the through holes so that the rotation shafts 110 and 210 do not come into contact with the extension portion 72 so that the rotation shafts 110 and 210 are rotated. Also, it may not rotate together with the rotation shafts 110 and 210 .

That is, the first gears 151 and 251 can be rotated only by the rotating second gears 152 and 252 , and can be rotated around the rotating shafts 110 and 210 by being fitted to the rotating shafts 110 and 210 . have. At this time, the first links (153, 253) connected to the first gears (151, 251) and the second links (154, 254) connected to the first links (153, 253) are also about the rotation shafts (110, 210). It can be rotated, and thus the weights 130 and 230 connected to the second links 154 and 254 can also be rotated stably by rotating about the rotation shafts 110 and 210 located in the center of the body 10. .

In this way, since the weights 130 and 230 can rotate 360 degrees around the rotation shafts 110 and 210 located at the center of the body 10 , the position of the center of gravity of the body 10 is set inside the body 10 . can be changed over a wider range. Accordingly, the center of gravity of the mobile robot 1 can be changed in a wider range, and fine adjustment of the movement of the center of gravity of the mobile robot 1 is possible.

On the other hand, the first link (153, 253) extends to the outside of the first gear (151, 251), the second link (154, 254) of the body 10 to the outside of the first link (153, 253) It extends toward the space portion 300 . This makes it easier to control the center of gravity of the body 10 by allowing the weights 130 and 230 connected to the second links 154 and 254 to be positioned farther from the rotation shafts 110 and 210, and at the same time, the position of the center of gravity. in order to be more diversified. That is, when the first and second links (154, 254) rotate together in the interior of the body (10), the weights (130, 230) coupled to the second links (154, 254) of the body (10) By rotating at a position relatively far from the rotation shafts 110 and 210 inside, the movement of the center of gravity of the body 10 can be controlled in a wide range.

Furthermore, the mobile robot 1 may further include a control unit 400 to control the movement of the center of gravity and the driving operation. The control unit 400 may be provided inside the body 10 or may be provided on the outer surface of the body 10 . When the control unit 400 is provided inside the body 10 , the control unit 400 may be positioned in the space unit 300 described above to improve the usability of the internal space of the body 10 .

The controller 400 may control components included in the mobile robot 1 to perform various embodiments that may be performed by various components included in the mobile robot 1 . That is, in various embodiments to be described below, it may be understood that the operation of the mobile robot 1 is based on the control operation by the controller 400 . According to an embodiment, the controller 400 may include at least one of a RAM, a ROM, a CPU, a graphic processing unit (GPU), and a bus (BUS), which may be connected to each other.

Referring to FIG. 5 , the controller 400 controls the first driving motors 105 and 205 of the first and second units 100 and 200 to control the driving of the driving wheels 21 and 22 , respectively. A control unit 410 and a center of gravity control unit 420 for controlling the movement of the center of gravity of the body 10 by controlling the second driving motors 140 and 240 of the first and second units 100 and 200, respectively. include

Here, the center of gravity control unit 420 controls the weights 130 and 230 to adjust the position of the body 10 of the mobile robot 1 based on the sensing information measured by the sensing unit to thereby control the mobile robot 1 . can control the movement of the center of gravity of That is, the center of gravity controller 420 may control the weights 130 and 230 to move the center of gravity of the mobile robot 1 .

Although not shown, the sensing unit may be located in the space unit 300 like the control unit 400 . The sensing unit may include an inertial sensor for measuring the inclination of the body 10 of the mobile robot 1 . In addition, the sensing unit may include a proximity sensor, an illumination 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, a light sensor, a microphone, a lidar, a radar, and a temperature sensor. have.

In order to provide power necessary for the operation of various components including the sensing unit, the weights 130 and 230 and the control unit 400 , a battery 500 may be included in the body 10 .

Meanwhile, the center of gravity control unit 420 includes a setting unit 421 , a calculation unit 422 , a processing unit 423 , and an output unit 424 .

The setting unit 421 sets a target inclination value of the body 10 . The target inclination value may be a target angle formed between the weights 130 and 230 and the rotation shafts 110 and 210 .

The inertial sensor measures the current inclination value of the body 10 when the body 10 is tilted not parallel to the ground, or tilted upward or downward while facing the front. The current inclination value may be a current angle between the weights 130 and 230 and the rotation shafts 110 and 210 .

The calculating unit 422 receives the target inclination value of the body 10 set by the setting unit 421 and the current inclination value of the body 10 measured by the inertial sensor, and then the target inclination value of the body 10 and the body (10) Calculate the difference value of the current slope value. The difference value may be a rotation angle of the weights 130 and 230 with respect to the rotation shafts 110 and 210 .

The processing unit 423 may determine the rotation direction and rotation speed of the weights 130 and 230 based on the difference value.

When the output unit 424 determines the rotation direction and rotation speed of the weights 130 and 230 in the processing unit 423 , the output unit 424 corresponds to the rotation direction and rotation speed of the weights 130 and 230 determined by the processing unit 423 . The second driving motors 140 and 240 may be controlled. At this time, the processing unit is generally a sensor configured to sense the rotation speed and angle of the rotation shafts 141 and 241 of the second drive motors 140 and 240 or the rotation speed and rotation angle of the second drive motors 140 and 240 itself. It may include a sensor configured to detect.

6 to 9 are exemplary views illustrating the motion of the mobile robot.

Hereinafter, various implementation examples in which the weights 130 and 230 are controlled will be described with reference to the drawings. In addition, the weights 130 and 230 of the first unit 100 are referred to as first weights 130 and 230 , and the weights 130 and 230 of the second unit are referred to as second weights 130 and 230 . is called

It can be determined in which direction the center of gravity of the body 10 is biased through the inertial sensor. In this case, the center of gravity is stably changed by rotating the first and second weights 130 and 230 in the opposite direction to the side where the body 10 of the mobile robot 1 is biased, and accordingly, the mobile robot 1 ) can be prevented from overturning by a small amount of external force.

6A illustrates a state in which the first and second weights 130 and 230 are positioned at a first position (a state positioned on the reference line L). At this time, after stopping the pair of driving wheels 21 and 22, the first and second weights 130 and 230 are set counterclockwise (rearward of the reference line L) at the same speed as each other. rotate the angle. Then, the body 10 is rotated so that the camera faces upward as shown in (b) of FIG. In this state, when the pair of driving wheels 21 and 22 travel backward, the mobile robot 1 can continuously photograph the upper side through the camera while moving backward.

7 (a) shows a state in which the first and second weights 130 and 230 are positioned at the first position. At this time, after stopping the pair of driving wheels 21 and 22, the first and second weights 130 and 230 are moved at the same speed in the clockwise direction (in front of the reference line L) at a predetermined angle. rotate Then, the body 10 is rotated so that the camera faces downward as shown in (b) of FIG. When the pair of driving wheels 21 and 22 are driven forward in this state, the mobile robot 1 can continue to photograph the lower side through the camera while moving forward.

Furthermore, when the first and second weights 130 and 230 are rotated one turn toward the front or rear of the reference line L in a state positioned at the first position, the body 10 is rotated clockwise or counterclockwise rotates one turn in the same direction. Accordingly, the mobile robot 1 is able to perform the rolling motion mode.

Fig. 8 (a) shows a state when the mobile robot 1 is observed from above. In this case, the first and second weights 130 and 230 are repeated at the same speed and in the same direction as each other to the front of the reference line L at the first position and the rear of the reference line L at the first position. to exercise That is, as shown in (b) of FIG. 8, the first weight 130 continues to move forward and backward at a predetermined angle to the reference line L, and although not shown, the second weight 230 is The first weight 130 is moving at the same speed and in the same direction. As described above, when the first and second weights 130 and 230 move, the body 10 is repeatedly rotated in a clockwise and counterclockwise direction according to the positions of the first and second weights 130 and 230 . rotate the angle

Referring to Figure 9 (a), in a state in which the pair of driving wheels 2 is stopped, the first weight 130 is rotated forward of the reference line L at the first position, and at the same time, the second weight When the 230 is rotated backward of the reference line L in the first position, the body 10 is inclined to the left and the camera provided in the body 10 is also inclined to the left. On the contrary, referring to FIG. 9 (b), in a state in which the pair of driving wheels 2 are stopped, the first weight 130 is rotated to the rear of the reference line L at the first position, and at the same time, the second 2 When the weight 230 is rotated forward of the reference line L in the first position, the body 10 is tilted to the right and the camera provided on the body 10 is also tilted to the right. When the first and second weights 130 and 230 repeat such an operation, the mobile robot 1 may perform an operation of repeatedly tilting left and right.

Referring to FIG. 10 , when the pair of driving wheels 21 and 22 are advanced or stopped, the first and second weights 130 and 230 are positioned at the first positions. When the weights 130 and 230 are rotated counterclockwise by two or more turns, the mobile robot 1 may vibrate by recoil of the weight, and through this, it will be able to cross the obstacle 5 such as a threshold. . That is, the mobile robot 1 can easily jump over the obstacle 5 by performing the vibrating motion mode.

As shown in (a) of Figure 11, in a state in which the pair of driving wheels 21 and 22 are stopped, the first weight 130 rotates one turn toward the front of the reference line L, and the second 2 When the weight 230 rotates one turn toward the rear of the reference line L, as shown in FIG. The weight (first weight) rotated toward the "? term? * can be rotated.

When the operation of the pair of weights is performed in a state in which the pair of driving wheels 21 and 22 rapidly advance, the mobile robot 1 moving as shown in FIG. 12 (a) is shown in FIG. As shown in (b) of 12, it can make a sharp turn. Such a motion may change the traveling direction of the mobile robot 1 , and thus, when the mobile robot 1 makes a U-turn or turns a corner, such a motion may be performed.

Referring to (a) of FIG. 13 , in a state in which the pair of driving wheels 21 and 22 move forward, the first weight 130 rotates one turn toward the front of the reference line (L) and then the reference line (L) one turn toward the rear of the At the same time, referring to (b) of FIG. 13 , the second weight 230 rotates one turn toward the rear of the reference line L and then rotates one turn toward the front of the reference line L. That is, while the first weight 130 rotates one turn toward the front of the reference line L, the second weight 230 rotates one turn toward the rear of the reference line L, and the first weight 130 ) while rotating one turn toward the rear of the reference line (L), the second weight 230 rotates one turn toward the front of the reference line (L).

If this operation is continuously repeated, the body 1 is repeatedly inclined to the left and right, and thus the mobile robot 1 can perform the operation to repeatedly tilt left and right while moving forward.

As described above, by independently controlling each of the first and second weights 130 and 230, detailed control of the direction change of the mobile robot 1 is possible, and the mobile robot 1 can generate various motions. This makes it possible to smoothly drive the mobile robot 1 in any use environment.

The scope of the present invention is not limited to the specific embodiments described above. Various other embodiments that can be modified or modified by those of ordinary skill in the art within the scope that do not deviate from the gist of the present invention specified in the claims will also fall within the scope of the present invention.

1: mobile robot 10: body
21, 22: drive wheel 100: first unit
200: second unit 300: space part
105, 205: first drive motor 110, 210: rotation shaft
130, 230: weight 230, 240: second drive motor
150, 250: second power transmission unit

Claims (18)

body;
a pair of driving wheels rotatably provided on both sides of the body;
a pair of rotating shafts connecting each of the pair of driving wheels and the body; and
First and second units provided symmetrically with each other, respectively, provided on the left and right sides of the body; and
Each of the first and second units,
a first driving motor for driving the driving wheel;
a first power transmission unit connected to the first driving motor to transmit power to the rotation shaft;
a weight provided to be rotatable to control the center of gravity of the body;
a second driving motor for rotating the weight; and
and a second power transmission unit connected to the second driving motor to transmit rotational force to the weight. According to claim 1,
The mobile robot is provided in a sphere shape, and each of the pair of driving wheels is provided in a half sphere shape. 3. The method of claim 2,
Each of the pair of driving wheels includes a contact member provided to surround a portion of an outer surface and contacting the ground. According to claim 1, wherein the first power transmission unit,
a first pinion gear coupled to the first driving motor to rotate; and
and a second pinion gear fitted to the rotation shaft and receiving power from the first pinion gear to rotate the rotation shaft. According to claim 1, wherein the second power transmission unit,
a first gear fitted to the rotation shaft;
a second gear coupled to the second driving motor to rotate, and transmitting a rotational force to the first gear;
a first link coupled to the first gear and rotated together with the first gear; and
and a second link coupled to the first link and the weight to rotate the weight. 6. The method of claim 5,
The first gear is fitted to the rotation shaft in a state spaced apart from the rotation shaft,
The first link is a mobile robot that is rotated about the axis of rotation. 6. The method of claim 5,
The body includes a space portion provided to have a space between the first and second units. 8. The method of claim 7,
The first link extends to the outside of the first gear,
The second link extends to the outside of the first link toward the space portion of the mobile robot. The method of claim 7, wherein the space portion,
A mobile robot provided with a control unit for controlling the first driving motor and the second driving motor of each of the first and second units. The method of claim 9, wherein the control unit,
a driving control unit for controlling the driving of the mobile robot by controlling the first driving motor; and
and a center of gravity control unit for controlling the movement of the center of gravity of the body by controlling the second driving motor. 11. The method of claim 10,
The mobile robot further comprising an inertial sensor for measuring the current inclination value of the body. The method of claim 11, wherein the center of gravity control unit,
a setting unit for setting a target inclination value of the body;
a calculation unit for calculating a difference value between the target inclination value of the body and the current inclination value of the body;
a processing unit for determining a rotation direction and a rotation speed of the weight based on the difference value; and
and an output unit for operating the second driving motor to correspond to the rotation direction and rotation speed of the weight determined by the processing unit. 13. The method of claim 12,
Each of the weights of the first and second units are rotated at the same speed and at the same angle to each other toward the front or rear of the reference line in a state where they are located on the reference line. 14. The method of claim 13,
The body is provided with a camera for photographing a front image,
The camera is rotated together with the body to perform photographing. 14. The method of claim 13,
When the weight of each of the first and second units rotates at least one wheel or more, the mobile robot performs a rolling motion mode. 14. The method of claim 13,
When the weight of each of the first and second units rotates two or more wheels toward the rear of the reference line, the mobile robot performs an oscillating motion mode. 13. The method of claim 12,
The weights of each of the first and second units are rotated at the same speed as each other in a state positioned on the reference line, and are rotated in opposite directions. 18. The method of claim 17,
In a state in which the pair of driving wheels move forward, one of the weights of each of the first and second units rotates one turn toward the front of the reference line, and the other rotates one turn toward the rear of the reference line. In this case, the traveling direction of the mobile robot is switched to the other side.

Images