WO2021133105A1

WO2021133105A1 - Mobile robot device and control method therefor

Info

Publication number: WO2021133105A1
Application number: PCT/KR2020/019099
Authority: WO
Inventors: 이철준
Original assignee: 삼성전자주식회사
Priority date: 2019-12-24
Filing date: 2020-12-24
Publication date: 2021-07-01

Abstract

A mobile robot device is disclosed. The present mobile robot device comprises: a main body which has a motor; first and second wheels which are disposed on both side surfaces, respectively, of the main body and receive a driving force through the motor; a sensor which detects the tilt of the main body; and a processor which, when a travel signal for the mobile robot device is inputted, controls the motor on the basis of first speed information included in the travel signal, and if the tilt detected by the sensor is within a predetermined range, updates the first speed information on the basis of the tilt.

Description

Mobile robot device and its control method

The present disclosure relates to a mobile robot apparatus and a control method thereof, and more particularly, to a mobile robot apparatus and a control method thereof for reducing shaking of a main body during driving.

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-described problems, and an object of the present disclosure is to improve stable driving and quality of images captured by a camera included in the main body by reducing shaking of the main body, and a method for controlling the same is to provide.

In order to achieve the above object, a mobile robot device according to an embodiment of the present disclosure includes a main body including a motor, a driving force provided through the motor, and first and second wheels disposed on both sides of the main body , When a sensor for detecting the inclination of the main body and a driving signal for the mobile robot device are input, the motor is controlled based on first speed information included in the driving signal, and the inclination detected by the sensor is a preset range and a processor for updating the first speed information based on the slope.

In this case, the processor calculates a first target RPM for the motor based on the first speed information, calculates a second target RPM corresponding to the slope, and calculates the first target RPM and the second target RPM. The first speed information may be updated with the sum of RPMs.

In this case, the processor may calculate the second target RPM based on the pitch angle of the main body sensed through the sensor.

Meanwhile, the processor may calculate the second target RPM so that a preset pitch angle of the main body is maintained when the mobile robot device travels at a constant speed.

Meanwhile, the processor may calculate the second target RPM so that a pitch angle corresponding to an acceleration value is maintained when the mobile robot apparatus accelerates traveling.

On the other hand, the mobile robot device further includes an image pickup device that captures an image, the processor obtains a location of the object to be photographed based on the image photographed by the image pickup device, and travels along the obtained location The motor can be controlled to do so.

In this case, the processor may stop acquiring the position of the object to be photographed while the mobile robot device accelerates.

On the other hand, the control method of the mobile robot device according to an embodiment of the present disclosure, when a driving signal for the mobile robot device is input, controlling a motor based on first speed information included in the driving signal; It may include detecting the inclination of the main body of the mobile robot device through the step and updating the first speed information based on the inclination when the inclination detected by the sensor is within a preset range.

In this case, the updating includes calculating a first target RPM for the motor based on the first speed information and calculating a second target RPM corresponding to the slope, The first speed information may be updated as the sum of the target RPM and the second target RPM.

In this case, the calculating of the second target RPM may include calculating the second target RPM based on a pitch angle of the main body sensed through the sensor.

Meanwhile, the calculating of the second target RPM may include calculating the second target RPM so that a preset pitch angle of the main body is maintained when the mobile robot device travels at a constant speed.

Meanwhile, the calculating of the second target RPM may include calculating the second target RPM so that a pitch angle corresponding to an acceleration value is maintained when the mobile robot apparatus accelerates traveling.

On the other hand, the control method, further comprising the step of obtaining the position of the photographing target based on the image photographed by the imaging device, the step of controlling the motor, the mobile robot device to determine the position of the obtained photographing object The motor may be controlled to drive along.

In this case, the controlling of the motor may stop acquiring the position of the object to be photographed while the mobile robot device accelerates driving.

On the other hand, in the computer-readable recording medium storing a program for controlling the mobile robot apparatus according to an embodiment of the present disclosure, the program includes a second information included in the travel signal when a travel signal for the mobile robot apparatus is input. 1 Controlling a motor based on speed information, detecting a tilt of the main body of the mobile robot device through a sensor, and when the tilt detected by the sensor is within a preset range, the first speed information based on the tilt including updating.

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

2 is a block diagram illustrating a configuration of a mobile robot apparatus according to an embodiment of the present disclosure.

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

FIG. 4 is a rear view of the mobile robot device of FIG. 1 .

5 is a view for explaining a case in which the mobile robot device travels at a constant speed according to an embodiment of the present disclosure.

6 is a view for explaining a case in which the mobile robot device accelerates and travels according to an embodiment of the present disclosure.

7 is a view for explaining a case in which the mobile robot device travels while decelerating according to an embodiment of the present disclosure.

8 is a view for explaining a method of controlling a 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 8 .

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 through a driving unit including a motor, wheels, and the like, thereby executing various functions of the mobile robot device 1 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 apparatus 1 according to an embodiment of the present disclosure includes a main body 10 , first wheels 121 and second wheels 122 respectively disposed on both sides of the main body 10 . , an upper cover 11 , a lower cover 12 , a first side cover 131 , and a second side cover 132 surrounding the imaging device 200 and the body 10 .

The mobile robot device 1 may enable autonomous driving by collecting and analyzing various information such as sounds, voices, and images in the surrounding environment. For example, the processor 400 of the mobile robot apparatus 1 is configured to perform the mobile robot apparatus 1 based on information about the surrounding environment collected through the imaging device 200 , the sensor 300 , the microphone 700 , and the like. By controlling it, you can drive stably or perform various functions. 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 apparatus 1 may include a plurality of

covers

11 , 12 , 131 , and 132 surrounding the main body 10 . The plurality of

covers

11 , 12 , 131 , and 132 may have the same curvature, and thus the overall appearance of the mobile robot device 1 may be arranged to form a sphere.

On the other hand, the surface of the lower cover 12 disposed under the body 10 may not have a shape constituting a part of the sphere. A detailed description of the shape of the lower cover 12 will be described later with reference to FIGS. 3 to 4 .

The first and second side covers 131 and 132 may be disposed to surround the side surfaces of the first and

second wheels

121 and 122, respectively. The first wheel 121 may be coupled to the first side cover 131 , and the second wheel 122 may be coupled to the second side cover 132 .

The first wheel 121 may be connected to a first motor (not shown), and the second wheel 122 may be connected to a second motor (not shown), and may rotate at the same speed or at different speeds. .

Referring to FIG. 2 , the mobile robot device 1 includes a driving unit 100 , an imaging device 200 , a sensor 300 , a processor 400 , a memory 500 , a communication interface 600 , and a microphone 700 . may include

The driving unit 100 is configured to drive the mobile robot device 1, and includes a motor (not shown) providing driving force, first and

second wheels

121 and 122 connected to the motor, a battery, and an actuator. , gears, bearings, etc. may be included.

The imaging device 200 may recognize the surrounding environment and collect information about the surrounding environment through image capturing. In this case, the processor 400 obtains the position of the object to be photographed based on the image photographed through the imaging device 200 , and controls the motor so that the mobile robot device 1 travels along the position of the object to be photographed. can The imaging device 200 may be a camera (eg, a mono camera, a stereo camera, etc.) that acquires an image of the surrounding space.

The sensor 300 may generate and output an electrical signal for the detection result. The sensor 300 may transmit an electrical signal to the processor 400 or store the detection result in the memory 500 of the mobile robot device 1 or an external device.

The sensor 300 may include a gyro sensor, an acceleration sensor, and the like for detecting the inclination of the body 10 .

The processor 400 may control the overall operation of the mobile robot apparatus 1 . To this end, the processor 400 includes a RAM (not shown), a ROM (not shown), a graphic processing unit (not shown), a main CPU (not shown), first to n interfaces (not shown), and a bus (not shown). may include In this case, RAM (not shown), ROM (not shown), graphic processing unit (not shown), main CPU (not shown), first to n interfaces (not shown), etc. may be connected to each other through a bus (not shown). .

The processor 400 may control the driving of the motor to control the driving of the mobile robot apparatus 1 . For example, the processor 400 controls the first and second motors to rotate the first and

second wheels

121 and 122 in the same rotational direction and at the same speed so that the mobile robot device 1 moves in the +Y-axis direction. can be driven in a straight line.

In addition, the processor 400 may control the first and

second wheels

121 and 122 to rotate in a direction opposite to the above-described rotational direction so that the mobile robot device 1 travels backward in the -Y-axis direction.

In addition, the processor 400 may change the traveling direction of the mobile robot device 1 by controlling the first and

second wheels

121 and 122 to rotate at different speeds, and the first and

second wheels

121 and 122 may By controlling the 122 to rotate in different directions, the mobile robot device 1 can be rotated in place.

In particular, when a driving signal for the mobile robot device 1 is input, the processor 400 controls the motor based on first speed information included in the driving signal, and the inclination of the body 10 detected by the sensor 300 . If is within a preset range, the first speed information may be updated based on the detected inclination.

For example, the processor controls the motor so that the traveling speed of the mobile robot device 1 achieves the input first speed, and based on the inclination of the body 10 sensed through the sensor 300 while driving, the main body ( If the change in inclination of 10) is greater than or equal to a preset range, the motor may be controlled to change the traveling speed of the mobile robot apparatus 1 based on the detected inclination. A detailed description related thereto will be described later with reference to FIGS. 5 to 7 .

Various instructions, programs, or data required for the operation of the mobile robot device 1 or the processor 400 may be stored in the memory 500 . For example, information acquired by the sensor 300 and data received from an external electronic device (not shown) may be stored in the memory 500 .

The memory 500 includes volatile memories such as static random access memory (S-RAM) and dynamic random access memory (D-RAM), flash memory, read only memory (ROM), erasable programmable read only memory (EPROM), and EEPROM. It may be implemented as a nonvolatile memory such as (Electrically Erasable Programmable Read Only Memory), a hard disk drive (HDD), or a solid state drive (SSD). The memory 500 is accessed by the processor 400 , and reading/writing/modification/deletion/update of data by the processor 400 may be performed. The term memory in the present disclosure refers to a memory 500, a RAM (not shown) in the processor 400, a ROM (not shown), or a memory card (not shown) mounted in the mobile robot device 1 (eg, micro SD card, memory stick, etc.).

Here, the processor 400 and the memory 500 may be implemented as physically separate configurations, or may be implemented as a single configuration such as the processor 400 including the memory 500 . In addition, the processor 400 may be implemented as a single configuration or a plurality of configurations as one system. The memory 500 may also be implemented in a single configuration or a plurality of configurations as one system.

The communication interface 600 may transmit/receive various types of data by performing communication with an external device (eg, a server, a smart phone, etc.) according to various types of communication methods.

To this end, the communication interface 600 includes a Bluetooth chip (not shown), a Wi-Fi chip (not shown), a wireless communication chip (not shown) and an NFC chip (not shown) for performing wireless communication, and an Ethernet module for performing wired communication. It may include at least one of (not shown) and a USB module (not shown). In this case, an Ethernet module and a USB module performing wired communication may communicate with an external device through an input/output port (not shown).

Here, the input/output port (not shown) may be implemented as a wired port such as an HDMI port, a display port, an RGB port, a Digital Visual Interface (DVI) port, a Thunderbolt, a LAN port, a USB port, a Lightning cable port, and a component port. The input/output port may transmit/receive various types of data by performing communication with various types of external devices through each communication standard.

The microphone 700 may receive sound information generated around the mobile robot device 1 . For example, the microphone 700 may receive a user uttered voice.

The main body 10 may include a microphone board (not shown) on which the microphone 700 is disposed. At least one microphone 700 may be disposed on the microphone board. However, the present invention is not limited thereto, and a plurality of microphones 700 may be disposed.

The microphone 700 may be located on the inside of the main body 10 . For example, a microphone hole (not shown) may be formed in an upper portion of the upper cover 11 , and the microphone 700 may be disposed in a lower portion of the microphone hole.

Since the mobile robot device 1 is a small robot, as the microphone 700 is disposed on the mobile robot device 1, it may be easy to recognize external sounds in all directions.

Meanwhile, the four microphones 700 may be disposed to be spaced apart from each other by a predetermined interval on the microphone board. The processor 400 may recognize the direction in which the external sound is generated based on a difference in time for the external sound to reach each of the four microphones 700 .

FIG. 3 is a front view of the mobile robot apparatus of FIG. 1 , and FIG. 4 is a rear view of the mobile robot apparatus of FIG. 1 .

Referring to FIGS. 3 to 4 , the imaging device 200 and the like are disposed on the front upper part 13 of the main body 10 , and a button for operation (reference number not provided) is provided on the rear lower part 14 of the main body 10 . ), etc. may be placed.

Various sensors such as the imaging device 200 for capturing an image and an indicator such as an LED may be disposed on the front upper portion 13 of the main body 10 . The front upper portion 13 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 imaging device 200 and the sensor disposed on the front upper portion 13 of the main body 10 can be recognized as a whole from the floor to the ceiling of the surrounding environment.

In the lower back 14 of the main body 10, a button for operation of the mobile robot device 1 (reference number not assigned), a connector for charging (reference number not assigned), and the state of the mobile robot device 1 are indicated. LED lights for betting may be arranged.

3 to 4 , when the mobile robot device 1 is viewed from the front or rear side, the lower surface of the lower cover 12 may be formed to be spaced apart from the floor by a predetermined distance. For example, the lower cover 12 may form a curved surface in the Y-axis direction, but may be flat in the X-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.

Hereinafter, an operation of controlling a motor according to a change in inclination of a main body in the mobile robot apparatus according to an embodiment of the present disclosure will be described with reference to FIGS. 5 to 7 .

Referring to FIG. 5 , when the mobile robot device 1 travels at a constant speed, the imaging device 200 of the main body 10 can take pictures relatively stably. However, as shown in FIGS. 6 and 7 , when the mobile robot device 1 travels with acceleration as in the case of acceleration or deceleration, the body 10 rotates due to inertia and the imaging direction of the imaging device 200 changes. may be changed, and accordingly, the quality of the image acquired through the imaging device 200 may be deteriorated.

The processor 400 controls the motor so that the traveling speed of the mobile robot device 1 achieves the input first speed, and based on the inclination of the body 10 detected through the sensor 300 while driving, the main body 10 ), the motor may be controlled to change the traveling speed of the mobile robot apparatus 1 based on the detected inclination when the change in inclination is greater than or equal to a preset range.

For example, the processor 400 may control the motor so that the mobile robot device 1 can travel at the input speed by calculating the first target RPM for the motor based on the first speed information included in the driving signal. can In addition, the processor 400 may detect the inclination of the main body 10 through the sensor 300 . Specifically, the processor 400 detects the pitch angle of the main body 10 through the sensor 300 , and when the change in the pitch angle is greater than or equal to a preset value, the second target RPM corresponding to the change in the pitch angle is determined. can be calculated.

The processor 400 may update the first speed information, that is, the traveling speed of the mobile robot apparatus 1 as a value obtained by adding the first target RPM and the second target RPM.

For example, when the mobile robot device 1 travels at a constant speed as shown in FIG. 5 , the second target RPM may be calculated so that a preset pitch angle of the main body 10 is maintained. Accordingly, the processor 400 controls the rotation of the motor according to the inclination of the main body 10 to minimize shaking of the main body 10, thereby improving the quality of the image obtained through the imaging device 200. have.

Also, when the mobile robot apparatus 1 accelerates as shown in FIGS. 6 and 7 , the second target RPM may be calculated so that a pitch angle corresponding to the acceleration value is maintained. For example, when the mobile robot device 1 is accelerated, the main body 10 may rotate upward (a1) or downward (a2), and the second target RPM is maintained so that the rotated pitch angle is maintained during accelerated driving. can be calculated. Accordingly, it is possible to minimize the shaking of the imaging device 200 while the mobile robot apparatus 1 accelerates traveling.

However, in this case, since the imaging device 200 shoots above the preset shooting direction, when the mobile robot device 1 travels along the location of the target, the imaging device is used to view the target during accelerated travel. It is possible to stop the operation of acquiring the position. When the constant speed driving section is reached after the acceleration is completed, the processor 400 may resume the operation of controlling the motor to obtain the position of the imaging target through the imaging device 200 and travel along the position of the imaging target.

In order to minimize the section in which the driving motion along the location of the object to be photographed is stopped, the processor 400 may control the motor so that the acceleration time is less than 1 second.

Referring to FIG. 8 , the method of controlling a mobile robot device according to an embodiment of the present disclosure includes the steps of, when a driving signal for the mobile robot device is input, controlling a motor based on first speed information included in the driving signal ( S810), detecting the inclination of the main body of the mobile robot device through a sensor (S820), and updating the first speed information based on the inclination if the inclination detected by the sensor is within a preset range (S830).

First, when a driving signal is input, the mobile robot device may control the motor based on first speed information included in the driving signal ( S810 ).

In addition, the mobile robot device may detect the inclination of the main body through the sensor ( S820 ).

In this case, the mobile robot device may acquire the pitch angle of the main body through the sensor.

Also, if the inclination detected by the sensor is within a preset range, the mobile robot apparatus may update the first speed information based on the inclination (S830).

In this case, the processor may calculate a first target RPM for the motor based on the first speed information, and may calculate a second target RPM corresponding to the inclination sensed through the sensor, the first target RPM and the second target The first speed information may be updated with the sum of the RPMs.

Meanwhile, when the mobile robot device travels at a constant speed, the processor may calculate the second target RPM so that a preset pitch angle of the main body is maintained. Also, when the mobile robot device accelerates, the processor may calculate the second target RPM so that a pitch angle corresponding to the acceleration value is maintained.

Meanwhile, the processor may obtain a position of the object to be photographed based on the image photographed by the imaging device, and may control the motor to drive the mobile robot device along the obtained position of the object to be photographed. In this case, while the mobile robot device accelerates, acquisition of the position of the object to be photographed may be stopped.

Meanwhile, computer instructions for performing a processing operation in the mobile robot apparatus according to various embodiments of the present disclosure described above may be stored in a non-transitory computer readable medium. When the computer instructions stored in the non-transitory computer-readable medium are executed by the processor of the specific device, the specific device performs the processing operation of the mobile robot device according to the various embodiments described above.

The non-transitory readable medium refers to a medium that stores data semi-permanently, rather than a medium that stores data for a short moment, such as a register, cache, memory, etc., and can be read by a device. Specifically, the above-described various applications or programs may be provided by being stored in a non-transitory readable medium such as a CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, and the like.

The method according to various embodiments may be provided by being included in a computer program product. Computer program products may be traded between sellers and buyers as merchandise. The computer program product may be distributed in the form of a machine-readable storage medium (eg, compact disc read only memory (CD-ROM)) or online through an application store (eg, Play Store™). In the case of online distribution, at least a part of the computer program product may be temporarily stored or temporarily created in a storage medium such as a server device of a manufacturer, a server device of an application store, or a memory of a relay server.

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 body;

a sensor for detecting the inclination of the body; and

When a driving signal for the mobile robot device is input, the motor is controlled based on first speed information included in the driving signal, and if the inclination detected by the sensor is within a preset range, the first speed based on the inclination A mobile robot device comprising a; processor for updating information.
According to claim 1,

The processor is

A first target RPM for the motor is calculated based on the first speed information, a second target RPM corresponding to the slope is calculated, and the first target RPM and the second target RPM are summed up as the value. and updating the first speed information.
3. The method of claim 2,

The processor is

A mobile robot device for calculating the second target RPM based on the pitch angle of the main body sensed through the sensor.
3. The method of claim 2,

The processor is

When the mobile robot device travels at a constant speed, the second target RPM is calculated so that a preset pitch angle of the main body is maintained.
3. The method of claim 2,

The processor is

and calculating the second target RPM so that a pitch angle corresponding to an acceleration value is maintained when the mobile robot apparatus accelerates travel.
According to claim 1,

It further includes; an imaging device for taking an image;

The processor is

A mobile robot device for obtaining a position of a subject to be captured based on the image captured by the imaging device and controlling the motor to travel along the obtained position of the subject to be captured.
7. The method of claim 6,

The processor is

The mobile robot device stops acquiring the position of the object to be photographed while the mobile robot device accelerates.
A method for controlling a mobile robot device, comprising:

controlling a motor based on first speed information included in the driving signal when a driving signal for the mobile robot device is input;

detecting a tilt of the main body of the mobile robot device through a sensor; and

If the inclination detected by the sensor is within a preset range, updating the first speed information based on the inclination; including, a control method.
9. The method of claim 8,

The updating step is

calculating a first target RPM for the motor based on the first speed information; and

Calculating a second target RPM corresponding to the slope;

and updating the first speed information to a value obtained by adding the first target RPM and the second target RPM.
10. The method of claim 9,

Calculating the second target RPM includes:

The control method of calculating the second target RPM based on the pitch angle of the main body sensed through the sensor.
10. The method of claim 9,

Calculating the second target RPM includes:

When the mobile robot device travels at a constant speed, the second target RPM is calculated so that a preset pitch angle of the main body is maintained.
10. The method of claim 9,

Calculating the second target RPM includes:

When the mobile robot apparatus accelerates traveling, the second target RPM is calculated so that a pitch angle corresponding to the acceleration value is maintained.
9. The method of claim 8,

Further comprising; acquiring the position of the photographing target based on the image photographed by the imaging device;

The step of controlling the motor,

A control method for controlling the motor so that the mobile robot device travels along the acquired position of the photographing target.
14. The method of claim 13,

The step of controlling the motor,

A control method for stopping acquisition of a position of a photographing target while the mobile robot device accelerates travel.
A computer-readable recording medium storing a program for controlling a mobile robot device, comprising:

The program is

controlling a motor based on first speed information included in the driving signal when a driving signal for the mobile robot device is input;

detecting a tilt of the main body of the mobile robot device through a sensor; and

If the inclination detected by the sensor is within a preset range, updating the first speed information based on the inclination.