The present invention relates to a robot capable of maintaining horizontal posture, and according to at least one embodiment of the present invention, a motor wheel and/or a suspension wheel are controlled to be driven according to the tilting direction and degree of a robot body so as to horizontally control the posture. Also, according to at least one embodiment of the present invention, left and right suspension motors are not simultaneously controlled, but sequentially or selectively controlled, when correcting left/right tilt with respect to the robot body, and thus, the battery power may be saved. Also, at least one embodiment of the present invention is provided with a contact detection sensor so as to sense whether the wheel comes into contact with the ground, and thus, there is an effect that the robot may not fall and may easily balance even when a user picks up and then lays down the robot.

    La présente invention concerne un robot pouvant maintenir une posture horizontale, et selon au moins un mode de réalisation de la présente invention, une roue de moteur et/ou une roue de suspension sont commandées pour être entraînées en fonction de la direction et du degré d'inclinaison d'un corps de robot de façon à commander horizontalement la posture. En outre, selon au moins un mode de réalisation de la présente invention, des moteurs de suspension gauche et droit ne sont pas commandés simultanément, mais commandés séquentiellement ou sélectivement, lors de la correction de l'inclinaison gauche/droite par rapport au corps de robot, et ainsi, l'alimentation par batterie peut être économisée. Egalement, au moins un mode de réalisation de la présente invention est pourvu d'un capteur de détection de contact de façon à détecter si la roue vient en contact avec le sol, et il y a ainsi un effet selon lequel le robot peut ne pas tomber et peut facilement s'équilibrer même lorsqu'un utilisateur prend et pose le robot.

    본 발명은 수평 자세의 유지가 가능한 로봇에 관한 것으로서, 본 발명의 적어도 하나의 실시예는 로봇 본체의 기울임 방향과 정도에 따라 모터 휠 및/또는 서스펜션 휠을 구동 제어하도록 구성됨으로써 자세의 수평 제어가 가능하다. 또한 본 발명의 적어도 하나의 실시예는 로봇 본체에 대한 좌우 기울임 보정시 좌우측 서스펜션 모터를 동시에 제어하지 않고 순차적 또는 선택적으로 제어하도록 구성됨으로써 배터리 전력을 절감할 수 있다. 또한, 본 발명의 적어도 하나의 실시예는 접촉 감지 센서를 구비하여 휠과 지면의 접촉 여부를 감지하도록 구성됨으로써 사용자가 로봇을 들어올렸다가 다시 내려놓는 경우에도 로봇이 넘어지지 않고 쉽게 균형을 잡을 수 있는 효과가 있다.


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    Title :

    ROBOT AND METHOD FOR CONTROLLING ROBOT


    Additional title:

    ROBOT ET PROCÉDÉ DE COMMANDE DE ROBOT
    로봇 및 로봇의 제어 방법


    Contributors:

    Publication date :

    2023-09-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge



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