WO2021132888A1

WO2021132888A1 - Mobile robot

Info

Publication number: WO2021132888A1
Application number: PCT/KR2020/016159
Authority: WO
Inventors: 이진학; 곽용수; 윤치열; 이규복
Original assignee: 삼성전자주식회사
Priority date: 2019-12-27
Filing date: 2020-11-17
Publication date: 2021-07-01
Also published as: KR20210084104A

Abstract

Disclosed is a mobile robot. A mobile robot of the present invention comprises: a main body provided with a motor; first and second wheels receiving driving power from the motor, and arranged on respective sides of the main body; and a plurality of covers covering the main body, wherein the plurality of covers have the same curvature.

Description

mobile robot device

The present disclosure relates to a mobile robot device, and more particularly, to a mobile robot device capable of traveling in a spherical shape.

With the development of robot technology, the supply of robots is becoming common not only in specialized academic fields or industries requiring large-scale labor but also in general households. In addition, a mobile robot capable of moving a position as well as a robot performing a function with a fixed position has been popularized.

The existing mobile robot has wheels on the floor and electronic devices are placed on it. In this form, stable driving is possible, but there is a problem in that the turning radius is large and cannot be returned to the original position in case of a fall.

In addition, the space occupied by the wheels compared to the overall size of the mobile robot was small, and accordingly, it was not possible to overcome obstacles such as thresholds and to move on non-hard floors such as carpets.

Accordingly, there was a mobile robot having a large proportion of wheels in the overall size of the mobile robot. However, the conventional robot has a vibration according to the rotational inertia force and action and reaction, so there is a limit in which stable driving and information collection cannot be performed.

The present disclosure is to solve the above problems, and an object of the present disclosure is to provide a mobile robot device having a spherical shape and capable of stable driving and information collection.

In order to achieve the above object, a mobile robot apparatus according to an embodiment of the present disclosure includes a main body including a motor, a driving force is provided through the motor, and first and second wheels disposed on both sides of the main body , and a plurality of covers surrounding the main body, wherein the plurality of covers have the same curvature.

In this case, the plurality of covers may include first and second side covers disposed on both side surfaces of the body, and body covers disposed on the front, rear, and upper surfaces of the body.

Meanwhile, the motor includes a first motor connected to the first wheel and a second motor connected to the second wheel, and the mobile robot device transmits a driving signal to the first and second motors, respectively, and the A processor for controlling the first and second motors may be included.

Meanwhile, the mobile robot device may further include an image pickup device that captures an image and a camera stabilizer that adjusts an imaging angle of the image pickup device.

In this case, the mobile robot apparatus may further include a processor for controlling the camera stabilizer so that the image pickup device captures images in the same direction during a movement process of the mobile robot apparatus.

Meanwhile, each of the first and second wheels may further include a tire having a ground surface in contact with the ground when the mobile robot device moves.

In this case, the tire may have an outer surface having the same curvature as the plurality of covers.

Meanwhile, the width of the tire may be 3 mm to 5 mm.

Meanwhile, the first and second side covers may be respectively coupled to the first and second wheels through magnets to be detachable.

Meanwhile, the first and second side covers may be respectively coupled to the main body.

Meanwhile, each of the first and second wheels includes a plurality of first air flow holes and a plurality of air flow blades for forming turbulence of air inside the mobile robot device, The second side cover may include a plurality of second air flow holes.

Meanwhile, the main body may include a weight disposed above the center of gravity of the main body and a driving device connected to the weight to move the position of the weight.

In this case, the mobile robot device may further include a processor for controlling the driving device to offset the rotation of the main body in the circumferential direction generated according to the driving of the mobile robot device.

Meanwhile, the mobile robot device may include a microphone disposed on the upper portion of the main body and a guide tube for guiding sound to be transmitted to the microphone.

In this case, the main body may include a plurality of microphone holes connected to one end of the guide tube, and the microphone may receive sound through the plurality of microphone holes.

In this case, the number of the microphones is four, and the four microphones may be disposed to be spaced apart from each other by a predetermined interval.

Meanwhile, the mobile robot device may include a speaker arranged to output sound in a downward direction of the mobile robot device.

Meanwhile, the mobile robot device may include at least one protruding member disposed on the lower surface of the main body and contacting the ground when the main body rotates by a predetermined angle in the circumferential direction.

Meanwhile, the body may have a separation distance of 1 mm to 3 mm from the ground.

Meanwhile, the mobile robot device may have a diameter of 90 mm to 100 mm.

1 is a perspective view schematically illustrating a mobile robot device according to an embodiment of the present disclosure.

FIG. 2 is a front view of the mobile robot device of FIG. 1 .

FIG. 3 is a rear view of the mobile robot device of FIG. 1 .

4 is a cross-sectional view for explaining a coupling structure between a side cover and a wheel of the mobile robot device according to an embodiment of the present disclosure.

5 is a view for explaining the inner structure of the wheel of the mobile robot device according to an embodiment of the present disclosure.

6 is a view for explaining the inner structure of the side cover of the mobile robot device according to an embodiment of the present disclosure.

7 is a view showing a lower cover of the mobile robot device body according to an embodiment of the present disclosure.

8 is a view for explaining a weight of a mobile robot device according to an embodiment of the present disclosure.

9 is a view for explaining an imaging device and a camera stabilizer of the mobile robot device according to an embodiment of the present disclosure.

10 is a view for explaining an imaging device and a camera stabilizer of the mobile robot device according to an embodiment of the present disclosure.

11 is a view for explaining an imaging device and a camera stabilizer of the mobile robot device according to an embodiment of the present disclosure.

12 is a cross-sectional view illustrating a microphone of a mobile robot device according to an embodiment of the present disclosure.

13 is a cross-sectional view illustrating a speaker of a mobile robot device according to an embodiment of the present disclosure.

14 is a view for explaining a protruding member of the mobile robot device according to an embodiment of the present disclosure.

15 is a front view illustrating a protruding member of the mobile robot apparatus according to an embodiment of the present disclosure.

-

It should be understood that the embodiments described below are illustratively shown to help the understanding of the present disclosure, and the present disclosure may be implemented with various modifications, different from the embodiments described herein. However, in the following description of the present disclosure, if it is determined that a detailed description of a related known function or component may unnecessarily obscure the subject matter of the present disclosure, the detailed description and specific illustration thereof will be omitted. In addition, the accompanying drawings are not drawn to scale in order to help understanding of the disclosure, but dimensions of some components may be exaggerated.

The terms used in this specification and claims have been chosen in consideration of the function of the present disclosure. However, these terms may vary depending on the intention, legal or technical interpretation of a person skilled in the art, and the emergence of new technology. Also, some terms are arbitrarily selected by the applicant. These terms may be interpreted in the meaning defined in the present specification, and if there is no specific term definition, it may be interpreted based on the general content of the present specification and common technical common sense in the art.

In the description of the present disclosure, the order of each step should be understood as non-limiting unless the preceding step must be logically and temporally performed before the subsequent step. That is, except for the above exceptional cases, even if the process described as a subsequent step is performed before the process described as the preceding step, the essence of the disclosure is not affected, and the scope of rights should also be defined regardless of the order of the steps.

In the present specification, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of a corresponding characteristic (eg, a numerical value, function, operation, or component such as a part). and does not exclude the presence of additional features.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms may be used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present disclosure, 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.

In addition, terms such as 'front', 'rear', 'top', 'bottom', 'side', 'left', 'right', 'top', 'bottom' used in the present disclosure are defined based on the drawings. and the shape and position of each component are not limited by this term.

In addition, since the present specification describes components necessary for the description of each embodiment of the present disclosure, the present disclosure is not necessarily limited thereto. Accordingly, some components may be changed or omitted, and other components may be added. Also, they may be distributed and arranged in different independent devices.

Further, an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings and the contents described in the accompanying drawings, but the present disclosure is not limited or limited by the embodiments.

Hereinafter, the present disclosure will be described in detail with reference to FIGS. 1 to 15 .

1 is a perspective view schematically showing a mobile robot device 1 according to an embodiment of the present disclosure, FIG. 2 is a front view of the mobile robot device 1, and FIG. 3 is a rear view of the mobile robot device 1 .

The mobile robot device 1 is a device having various functions, such as recognizing a surrounding environment, capable of autonomous driving and information collection, and transmitting information to a user.

The mobile robot device 1 may recognize the surrounding environment based on voice, sound, and image recognition. In addition, information can be transmitted to the user by controlling other electronic products or outputting voice through wireless communication.

The mobile robot device 1 can be physically moved by including a driving member, and through this, various functions of the mobile robot device 1 can be executed throughout the user's environment including indoors and outdoors.

When the mobile robot device 1 is used in the home, it interacts with electronic products such as TVs, vacuum cleaners, and washing machines placed in the home to execute functions and collect information, and transmit the collected information to family members including pets. can As a result, it is possible to connect all members of the home and electronic products.

The mobile robot device 1 can connect the user with family members who need help, including pets, by continuously checking and inspecting the environment in the home even when the user is absent. In addition, it is possible to check and operate other home appliances in the home through physical movement. Through this, it is possible to promote safety in the home and strengthen security.

The mobile robot apparatus 1 according to an embodiment of the present disclosure may be implemented in a form of performing work at home, but is not limited thereto, and may be implemented as a robot apparatus according to various embodiments.

Referring to FIG. 1 , a mobile robot device 1 according to an embodiment of the present disclosure includes a main body 10 , a first side cover 110 surrounding the main body 10 , a second side cover 120 , and a main body It may include a cover 140 , a lower cover 140 , and

tires

21a and 21b .

Although not shown in FIG. 1 , a motor, a battery, an actuator, a gear, a bearing, a wheel, etc. for driving the mobile robot device 1 may be included in the main body 10 of the mobile robot device 1 .

In addition, although not shown in FIG. 1 , the mobile robot device 1 may include a processor for controlling the operation of the mobile robot device 1 , and a sensor for recognizing the surrounding environment and communication with other electronic devices. It may include a communication device.

The processor may control the overall operation of the mobile robot device 1 . To this end, the processor may include one or more of a central processing unit (CPU), an application processor (AP), or a communication processor (CP). The processor may be a microcontroller (MCU).

The processor may control hardware or software components connected to the processor by driving an operating system or an application program, and may perform various data processing and operations. In addition, the processor may load and process commands or data received from at least one of the other components into the volatile memory, and store various data in the non-volatile memory.

The mobile robot device 1 may enable stable autonomous driving by collecting and analyzing various information such as sounds, voices, and images in the surrounding environment. For example, the mobile robot device 1 may include a microphone, a camera, a sensor, etc. for collecting information about the surrounding environment. A detailed description of an operation in which the mobile robot device 1 collects information about the surrounding environment will be described later.

Referring to FIG. 1 , the mobile robot device 1 may include a plurality of

covers

110 , 120 , 130 , and 140 surrounding the main body 10 . The plurality of

covers

110 , 120 , 130 , and 140 may have the same curvature, and thus the overall appearance of the mobile robot device 1 may be arranged to form a sphere.

Meanwhile, the surface of the lower cover 140 disposed under the body 10 may not have a shape that forms a part of the sphere. A detailed description of the shape of the lower cover 140 will be described later with reference to FIGS. 2 to 3 .

Although not shown in FIG. 1 , the first wheel 21 and the second wheel 22 may be disposed inside the plurality of

covers

110 , 120 , 130 , and 140 .

The first wheel 21 may be connected to a first motor (not shown), and the second wheel 22 may be connected to a second motor (not shown).

The processor may control the driving of the motor to control the driving of the mobile robot apparatus 1 . A detailed description of driving and traveling of the mobile robot device 1 will be described later.

The first wheel 21 may be coupled to the first side cover 110 , and the second wheel 22 may be coupled to the second side cover 120 . A detailed description of each coupling of the first and second wheels 21 and 22 and the first and second side covers 110 and 120 will be described later with reference to FIG. 4 .

FIG. 2 is a front view of the mobile robot apparatus 1 of FIG. 1 , and FIG. 3 is a rear view of the mobile robot apparatus 1 of FIG. 1 .

2 to 3 , an imaging device 11 is disposed on the front upper portion 10-1 of the main body 10, and a button for operation (10-2) on the rear lower portion 10-2 of the main body 10 drawing number not assigned), etc. may be disposed.

Various sensors (reference numbers not assigned) such as the imaging device 11 for recognizing an image may be disposed on the front upper portion 10-1 of the main body 10, and an indicator such as an LED may also be included. The front upper portion 10 - 1 of the main body 10 may be disposed on the main body 10 so as to face the front upper end from the front of the mobile robot device 1 . Accordingly, the sensor disposed on the front upper portion 10-1 of the main body 10 may recognize everything from the floor to the ceiling of the surrounding environment.

On the lower back 10-2 of the main body 10, a button (reference number not assigned) for operating the mobile robot device 1, a connector for charging (reference number not assigned), and the state of the mobile robot device 1 An LED (reference number not assigned) for indicating may be disposed.

2 to 3 , when the mobile robot device 1 is viewed from the front or rear side, the lower surface 141 of the lower cover 140 may be formed to be spaced apart from the floor by a predetermined distance. For example, the lower cover 140 may have a curved surface in the X-axis direction, but may be flat in the Y-axis direction. Accordingly, the main body 10 does not come into contact with the ground, so that the mobile robot device 1 can travel smoothly.

The distance at which the lower surface 141 of the lower cover is spaced apart from the ground may be 1 mm to 3 mm.

The distance at which the lower surface 141 of the lower cover is spaced apart from the ground may vary depending on the size of the

tires

21a and 21b.

The

tires

21a and 21b may be formed of an elastic material or an inelastic material, and may be formed to include both an elastic material and an inelastic material. For example, the

tires

21a and 21b may be manufactured by sequentially injecting an elastic material such as urethane and an inelastic material such as polycarbonate, or may be manufactured by attaching an elastic material and an inelastic material.

The

tires

21a and 21b may be connected to the first and second wheels 21 and 22, respectively, and may contact the ground when the mobile robot device 1 is driven.

The

tires

21a and 21b may be detachably connected to the first and second wheels 21 and 22 . Accordingly, when the

tires

21a and 21b are worn out or the type of the

tires

21a and 21b is to be changed, the

tires

21a and 21b can be replaced by separating them from the first and second wheels 21 and 22 . .

The

tires

21a and 21b may have various shapes according to the user's use environment. For example, when the mobile robot device 1 is used on the ground having a hard plane, the

tires

21a and 21b may be made of a urethane material having a hardness of 90 degrees and a width of 4 mm. On the other hand, when the mobile robot device 1 is used on an uneven ground such as a lawn, the

tires

21a and 21b may be made of a urethane material having a hardness of 60 degrees and a width of 12 mm. However, the material and size of the

tires

21a and 21b are not limited thereto, and may be implemented in various embodiments.

The

tires

21a and 21b may be respectively connected to the wheels 21 and 22 to receive driving force from the motor.

The processor may control the driving of the mobile robot apparatus 1 by controlling the operation of the motor. For example, the processor controls the first and second motors to rotate the first and

second wheels

21a and 21b in the same rotational direction and at the same speed so that the mobile robot device 1 travels straight in the +X-axis direction. can make it

In addition, the processor may control the first and

second wheels

21a and 21b to rotate in a direction opposite to the above-described rotational direction so that the mobile robot device 1 travels backward in the -X-axis direction.

Also, the processor may change the traveling direction of the mobile robot apparatus 1 by controlling the first and

second wheels

21a and 21b to rotate at different speeds.

In addition, the processor may control the first and

second wheels

21a and 21b to rotate in different directions to rotate the mobile robot device 1 in place.

4 is a cross-sectional view for explaining the coupling structure of the side covers 110 and 120 and the wheels 21 and 22 of the mobile robot device 1 according to an embodiment of the present disclosure.

In FIG. 4 , the side cover and the wheel are described as an example of the second side cover 120 and the second wheel 22 , respectively, for convenience of explanation, but the first side cover 110 and the first wheel 21 are The fastening structure may also be the same.

The side cover 120 may include a side cover magnet 121 , and the wheel 22 may include a wheel magnet 22-1. The side cover 120 and the wheel 22 are coupled even when the wheel 22 rotates while the mobile robot device 1 travels by the magnetic force between the side cover magnet 121 and the wheel magnet 22-1. there may be

The side cover 120 may include a side cover fastening structure 122 , and the wheel 22 may include a wheel fastening structure 22 - 2 . The wheel fastening structure 22-2 may have a flat section where the magnetic force between the wheel magnet 22-1 and the side cover magnet 121 acts the strongest, and an inclined surface inclined from the planar section. When the side cover magnet 121 is positioned in the flat section, the side cover 120 and the wheel 22 can be fixed by magnetic force and the coupling between the side cover fastening structure 122 and the wheel fastening structure 22-2. have.

When the side cover 120 is rotated while the wheel 22 is fixed, the side cover magnet 121 moves along the inclined surface to increase the magnetic force as the distance between the side cover magnet 121 and the wheel magnet 22-1 increases. decreases. Accordingly, the side cover 120 is detachable from the wheels 22 , so that the user can easily replace the side cover 120 without any tools or remove the side cover 120 and wash it.

5 is a view for explaining the inner structure of the wheels 21 and 22 of the mobile robot device 1 according to an embodiment of the present disclosure, and FIG. 6 is a mobile robot device 1 according to an embodiment of the present disclosure. ) is a view for explaining the inner structure of the side cover (110, 120).

5 to 6, the side cover and the wheel are described as an example as the second side cover 120 and the second wheel 22, respectively, for convenience of explanation, but the first side cover 110 and the first wheel ( 21) may also have the same inner structure.

Referring to FIG. 5 , the wheel 22 may include a first air flow hole 22 - 3 and an air flow blade 22 - 4 . Referring to FIG. 6 , the side cover 120 may include a second air flow hole 123 .

The air flow blade 22-4 may form a turbulence of air inside the mobile robot device 1 when the wheel 22 rotates. Accordingly, the air inside the mobile robot device 1 may pass through the first air flow hole 22 - 3 and the second air flow hole 123 to be discharged to the outside of the mobile robot device 1 .

Accordingly, the mobile robot device 1 may discharge high-temperature air, whose temperature is increased due to heat generated from the main board and the motor disposed therein, to the outside of the mobile robot device 1 .

Due to the above-described configuration of the first air flow hole 22-3, the second air flow hole 123, and the air flow blade 22-4, the air inside and outside the mobile robot device 1 is circulated to circulate the mobile robot It is possible to prevent the inside of the device 1 from overheating.

In order to prevent the second air flow hole 123 from being seen from the appearance of the mobile robot device 1 , the outside of the side cover 120 may be covered with a material through which air passes. For example, the outside of the first and second side covers 110 and 120 disposed on both sides of the mobile robot device 1 may be covered with an air-permeable cloth.

7 is a view showing the lower cover 140 of the mobile robot apparatus main body 10 according to an embodiment of the present disclosure.

7 illustrates that the lower cover 140 is positioned below the main body 10 outside the main body 10 of the mobile robot device 1 . The lower cover 140 may be configured separately from the body cover 130 .

Referring to FIG. 7 , the lower cover 140 may include a speaker hole 142 . Although not shown in FIG. 7 , a speaker may be disposed inside the main body 10 . The sound output from the speaker may be emitted to the outside of the main body 10 through the speaker hole 142 . A detailed description of the speaker disposed inside the main body 10 will be described later with reference to FIG. 13 .

8 is a view for explaining the weight 14 of the mobile robot device according to an embodiment of the present disclosure. 8 shows a cross section of the main body cover 130 , the weight 14 , and the driving device 15 .

Referring to FIG. 8 , the mobile robot device 1 may include a weight 14 and a driving device 15 . The weight 14 may be located above the center of gravity of the mobile robot device 1 .

The processor may control the driving device 15 connected to the weight 14 to move the position of the weight 14 . For example, the processor may control the driving device 15 to cancel the rotation of the main body 10 in the circumferential direction due to an action reaction and rotational inertia when the mobile robot device 1 is driven.

For example, when the mobile robot device 1 starts to travel in the +X-axis direction, the main body 10 rotates in the -X-axis direction by action and reaction. In this case, the processor controls the weight 14 to move in the +X-axis direction by the driving device 15 . Even when the speed of the mobile robot device 1 is changed while driving, the processor may control the driving device 15 to prevent the main body 10 from rotating in the circumferential direction.

In addition, when the mobile robot device 1 stops while traveling in the +X-axis direction, the main body 10 continues to rotate in the +X-axis direction due to rotational inertia. In this case, the processor controls the weight 14 to move in the -X-axis direction by the driving device 15 .

Accordingly, the main body 10 can perform stable driving without rotating in the circumferential direction even when the mobile robot device 1 travels, so that the components mounted on the main body 10 do not shake and the position in the main body 10 is maintained. can keep

Meanwhile, the processor may rotate the main body 10 in the circumferential direction by controlling the weight 14 to move by the driving device 15 while the mobile robot device 1 is stopped.

For example, the processor may rotate the body 10 by controlling the weight 14 to move by the driving device 15 to change the imaging direction of the imaging device 11 mounted on the body 10 . Thereby, the range imaged by the imaging element 11 can be widened.

9 to 11 are views for explaining the imaging device 11 and the

camera stabilizers

13 and 14 of the mobile robot apparatus according to an embodiment of the present disclosure.

9 to 11 are front views of the mobile robot apparatus 1 for explaining the positions of the imaging element 11 and the

camera stabilizers

13 and 14. As shown in FIG. The imaging device 11 may be disposed on the front surface of the main body 10 .

9 to 10 , the processor may move the position of the imaging device 11 by controlling the camera stabilizer 13 connected to the imaging device 11 . In this case, the camera stabilizer 13 may include a driving member.

For example, the processor cancels the change in the imaging direction of the imaging device 11 mounted on the body 10 due to the movement of the body 10 due to the action reaction and rotational inertia when the mobile robot device 1 is driven. It is possible to control the camera stabilizer 13 so as to

A sensor (not shown) mounted on the main body 10 may detect a rotation angle of the main body 10 . The processor may receive the rotation angle of the body 10 sensed from the sensor and calculate a correction angle for correcting the photographing direction of the imaging device 11 . The processor may control the camera stabilizer 13 connected to the imaging device 11 to change the imaging direction of the imaging device 11 by a correction angle.

For example, referring to FIG. 10 , when the mobile robot device 1 moves in the +X-axis direction, the wheels 21 and 22 rotate in the A direction, and the main body 10 moves in the B direction by action and reaction. As it rotates, the imaging device 11 mounted on the main body 10 also rotates in the B direction. The processor may control the camera stabilizer 13 to control the imaging device 11 to rotate in the A direction to control the imaging device 11 to image the same direction.

Similarly, when the main body 10 rotates in the A direction, the processor controls the camera stabilizer 13 to control the imaging device 11 to rotate in the B direction so that the imaging device 11 captures images in the same direction. can do.

On the other hand, even when the main body 10 rotates in the left and right directions, the processor controls the camera stabilizer 13 so that the image pickup device 11 rotates in the opposite direction to the rotation direction of the main body 10 to capture images in the same direction. can be controlled

Accordingly, even when the mobile robot device 1 is traveling, the imaging device 11 may capture images in the same direction to collect stable image information.

Meanwhile, referring to FIG. 11 , the camera stabilizer 14 may be in the form of a weight that does not include a driving member.

The camera stabilizer 14 may be rotatably connected to the imaging device 11 . That is, the camera stabilizer 14 may be connected to the imaging device 11 to face the direction of gravity regardless of the arrangement of the imaging device 11 . Accordingly, when the imaging device 11 rotates in the B direction due to the traveling of the mobile robot device 1 , the imaging device moves in the A direction due to gravity acting on the camera stabilizer 14 connected to the imaging device 11 . can receive a rotational force.

12 is a cross-sectional view for explaining the microphone 17 of the mobile robot device according to an embodiment of the present disclosure.

The main body 10 may include a microphone board (reference number not assigned) on which the microphone 17 is disposed. At least one microphone 17 is disposed on the microphone board, and a plurality of microphones 17 may be disposed.

The microphone 17 may be located on the inside of the main body 10 . For example, the microphone hole 132 may be formed in the upper portion of the body cover 130 , and the microphone 17 may be disposed in the lower portion of the microphone hole 132 .

* Since the mobile robot device 1 is a small robot, as the microphone hole 132 is disposed on the mobile robot device 1, it may be easy to recognize external sounds in all directions.

A guide tube 18 may be disposed between the microphone 17 and the microphone hole 132 . One end of the guide tube 18 may be connected to the microphone hole 132 , and the other end may be connected to the microphone 17 . Accordingly, the guide tube 18 may guide the external sound entered through the microphone hole 132 to be transmitted to the microphone 17 .

In the space between the microphone board and the body cover 130 , an auxiliary material (not shown) for eliminating a gap between the microphone 17 and the guide tube 18 may exist. The auxiliary material is an elastic material and can seal sound in the space between the microphone board and the body cover 130 .

Accordingly, the microphone 17 can easily receive an external sound.

Meanwhile, the four microphones 17 may be disposed to be spaced apart from each other by a predetermined interval on the microphone board. The four microphones 17 are arranged in different positions, so that due to the difference in time for external sound to reach each microphone 17, the processor included in the mobile robot device 1 can recognize the direction in which the external sound is generated. can

13 is a cross-sectional view for explaining the speaker 16 of the mobile robot device according to an embodiment of the present disclosure.

The speaker 16 may be disposed inside the body 10 .

For example, the speaker 16 may be disposed below the inside of the body 10 . In this case, the speaker 16 may be arranged to output sound in a downward direction of the mobile robot apparatus 1 . Accordingly, the sound output from the speaker 16 may be output toward the ground, reflected from the ground, and equally transmitted in all directions.

14 to 15 are views for explaining the protruding

members

19a and 19b of the mobile robot apparatus according to an embodiment of the present disclosure.

The protruding

members

19a and 19b are disposed on the lower surface of the main body 10 so that when the main body 10 rotates by a predetermined angle in the circumferential direction, it can contact the ground.

For example, when the protruding

members

19a and 19b rotate by a predetermined angle in the circumferential direction of the main body 10 due to an action reaction and rotational inertia when the mobile robot device 1 is driven, the protrusion length and The shape can be adjusted.

Accordingly, the protruding

members

19a and 19b apply a force to the main body 10 in a direction opposite to the rotational direction of the main body 10 when in contact with the ground to prevent excessive rotation of the main body 10 in the circumferential direction. have.

Two

protrusion members

19a and 19b may exist to stably travel on a hard and flat ground, and one may exist to cross a threshold or an electric wire. When there are two protruding

members

19a and 19b, the distance between the two protruding

members

19a and 19b can be changed according to the purpose of the mobile robot device 1 .

The thickness of the protruding

members

19a and 19b may be changed within a range not greater than the thickness of the

tires

21a and 21b. The protruding

members

19a and 19b may be made of plastic or metal depending on the purpose of the mobile robot device 1 , and may be formed in the form of a rotatable ball caster to reduce friction with the ground.

In the above, preferred embodiments of the present disclosure have been shown and described, but the present disclosure is not limited to the specific embodiments described above, and is commonly used in the technical field to which the disclosure belongs without departing from the gist of the present disclosure as claimed in the claims. Various modifications may be made by those having the knowledge of, of course, and these modifications should not be individually understood from the technical spirit or perspective of the present disclosure.

Claims

A mobile robot device comprising:

a body having a motor;

first and second wheels provided with a driving force through the motor and disposed on both sides of the main body;

Including; a plurality of covers surrounding the main body;

The plurality of covers have the same curvature (Curvature) of the mobile robot device.
According to claim 1,

The plurality of covers,

first and second side covers disposed on both sides of the body; and

A mobile robot device comprising a; body cover disposed on the front, rear and upper surfaces of the body.
According to claim 1,

The motor includes a first motor connected to the first wheel and a second motor connected to the second wheel,

The mobile robot device includes a processor for controlling the first and second motors by transmitting driving signals to the first and second motors, respectively.
According to claim 1,

an imaging device for capturing an image; and

The mobile robot device further comprising a; camera stabilizer (stabilizer) for adjusting the imaging angle of the imaging device.
5. The method of claim 4,

and a processor for controlling the camera stabilizer so that the imaging device captures images in the same direction during a movement process of the mobile robot device.
According to claim 1,

Each of the first and second wheels includes a tire having a ground surface in contact with the ground when the mobile robot device moves.
7. The method of claim 6,

wherein the tire has an outer surface having the same curvature as the plurality of covers.
7. The method of claim 6,

The width of the tire is 3mm to 5mm, mobile robot device.
3. The method of claim 2,

The first and second side covers are respectively coupled to the first and second wheels through a magnet and detachable, mobile robot device.
3. The method of claim 2,

and the first and second side covers are respectively coupled to the main body.
3. The method of claim 2,

Each of the first and second wheels,

a plurality of first air flow holes; and

a plurality of air flow blades forming turbulence of air inside the mobile robot device;

wherein the first and second side covers include a plurality of second air flow holes.
According to claim 1,

The body is

a weight disposed above the center of gravity of the body; and

A mobile robot device comprising a; a driving device connected to the weight to move the position of the weight.
13. The method of claim 12,

The mobile robot device further comprising a;
According to claim 1,

a microphone disposed on the upper part of the body; and

A mobile robot device comprising a; a guide tube for guiding sound to be transmitted to the microphone.
15. The method of claim 14,

The main body includes a plurality of microphone holes connected to one end of the guide tube, and the microphone receives sound through the plurality of microphone holes, the mobile robot device.