The present invention relates to a robot capable of maintaining a horizontal posture, and at least one embodiment of the present invention is configured to drive and control a motor wheel and/or a suspension wheel according to the direction and degree of inclination of a robot body, thereby enabling horizontal control of the posture. Furthermore, at least one embodiment of the present invention is configured so that when correcting the left-right tilt of the robot body, the left and right suspension motors are sequentially or selectively controlled without simultaneous control, thereby saving battery power. Furthermore, at least one embodiment of the present invention is configured to sense whether or not the wheels are in contact with the ground surface by providing a contact sensing sensor, thereby having an effect that the robot can easily maintain balance without falling down even when the user lifts the robot and then replaces the robot.
本发明涉及能够保持水平姿势的机器人,本发明的至少一个实施例构成为,根据机器人主体倾斜的方向和程度来驱动控制马达轮和/或悬架轮,从而能够实现姿势的水平控制。另外,本发明的至少一个实施例构成为,在校正机器人主体的左右倾斜时,依次或选择性地控制左右侧悬架马达而不会同时控制,从而能够节省电池电力。另外,本发明的至少一个实施例构成为,通过具备接触感测传感器来感测轮和地面是否接触,从而具有即使在用户抬起机器人后重新放下的情况下,机器人也能够容易地保持平衡而不会摔倒的效果。
ROBOT AND METHOD FOR CONTROLLING ROBOT
机器人及机器人的控制方法
2024-10-22
Patent
Electronic Resource
Chinese