Patent Application
20250160545
This application claims the benefit of Korean Patent Application No. 10-2023-0161401, filed on Nov. 20, 2023, which application is hereby incorporated herein by reference.
The present disclosure relates to a robot and a method of controlling the same.
A partition is one way that is used to partition a space. This partition is generally manufactured to have a flat plate shape. In recent years, this partition is not only manufactured to have a certain shape but is also manufactured as a rollable partition that has rollable properties so that the partition may be unfolded or stored in an accommodation space as needed.
A robot provided with the rollable partition is provided with an accommodation body that includes an accommodation space in which the partition may be accommodated. In a robot according to the related art, the accommodation body is configured to be fixed to a specific area, and the rollable partition is extracted from the fixed accommodation body to partition a plurality of predetermined spaces.
Meanwhile, in the robot according to the related art, the plurality of predetermined spaces may be partitioned, but when positions of spaces that require partitioning change, a position of the accommodation body needs to be changed. That is, the robot according to the related art has a problem in that it is difficult to flexibly response to changes in the positions of the spaces that require the partitioning.
An embodiment of the present disclosure can solve the above-mentioned problems occurring in the prior art while advantages achieved by the prior art are maintained intact.
An embodiment of the present disclosure can provide a robot that may flexibly respond to changes of positions of spaces that require partitioning.
Technical problems to be solved by an embodiment of the present disclosure are not limited to the aforementioned problems, and an embodiment of the present disclosure may solve other technical problems not mentioned herein, as can be understood from the following description by those skilled in the art to which the present disclosure pertains.
According to an embodiment of the present disclosure, a robot can include a partition wound about a partition rotation axis extending in a first direction, a plurality of body parts surrounding an accommodation space in which the partition is accommodated, and a roller part having a plurality of rollers rotatably mounted on at least some of the plurality of body parts, and the roller part includes a roller group that is a pair of rollers mounted to face each other in each of two adjacent body parts of the plurality of body parts, the roller part is provided in a guide state in which movement of a portion of the partition is guided in a second direction intersecting the first direction when the portion of the partition is positioned between the pair of rollers, and the roller part provided in the guide state extracts the partition from the accommodation space or retracts the partition into the accommodation space in the second direction through rotation of the pair of rollers.
Further, the robot may further include a vertical moving part provided to move in a vertical direction parallel to the first direction with respect to the body part, and the body part may include a first area on which the vertical moving part is movably mounted such that a portion of the vertical moving part is accommodated therein.
Further, when the vertical moving part moves to a lowermost side with respect to the body part, a height of an upper end of the vertical moving part may correspond to a height of an upper end of the body part in the vertical direction.
Further, the body part may include a second area that is connected to the first area and on which the roller is rotatably mounted such that a partial area of the roller is accommodated therein, and when a direction in which the first area faces the second area is referred to as a connection direction, the other partial area of the roller may protrude in the connection direction with respect to the second area.
Further, the plurality of second areas may include a (2-1)th area connected to one side of the first area, and a (2-2)th area connected to the other side of the first area, and a first connection direction that is a direction in which the one side of the first area faces the (2-1)th area, a second connection direction that is a direction in which the other side of the first area faces the (2-2)th area, and the first direction may intersect each other.
Further, the plurality of rollers may include a first roller mounted on the (2-1)th area, and a second roller mounted on the (2-2)th area, a portion of the first roller in a direction opposite to the first connection direction may be accommodated inside the (2-1)th area such that a side of the first roller in the first connection direction protrudes in the first connection direction with respect to the (2-1)th area, and a portion of the second roller in a direction opposite to the second connection direction may be accommodated inside the (2-2)th area such that a side of the second roller in the second connection direction protrudes in the second connection direction with respect to the (2-2)th area.
Further, the body part may further include a third area that defines a portion of an area forming the accommodation space and extends in the first direction, and the third area may include a recessed area provided to face the partition in a wound state and having a shape recessed in a direction toward the first area.
Further, a cross section of the recessed area along a direction perpendicular to the first direction may have a curvature of which a center of the curvature is positioned in the accommodation space.
Further, centers of curvature of the cross sections of the recessed areas provided in the plurality of body parts along a direction perpendicular to the first direction may correspond to each other.
Further, the plurality of body parts may include a first body part, a second body part, a third body part, and a fourth body part that are sequentially arranged in a clockwise direction or a counterclockwise direction perpendicular to the first direction, the roller group may include a first roller group that is a pair of rollers mounted to face each other in the first body part and the second body part, a second roller group that is a pair of rollers mounted to face each other in the second body part and the third body part, a third roller group that is a pair of rollers mounted to face each other in the third body part and the fourth body part, and a fourth roller group that is a pair of rollers mounted to face each other in the fourth body part and the first body part, and the first roller group, the second roller group, the third roller group, and the fourth roller group may be sequentially arranged in the clockwise direction or the counterclockwise direction.
Further, when one of horizontal directions perpendicular to the first direction is referred to as a first horizontal direction, and one of the horizontal directions perpendicular to the first horizontal direction is referred to as a second horizontal direction, the first body part and the third body part may be spaced apart from each other in the first horizontal direction with the partition interposed therebetween, and the second body part and the fourth body part may be spaced apart from each other in the second horizontal direction with the partition interposed therebetween.
Further, the robot may further include a robot driver that moves the plurality of body parts in a horizontal direction with respect to the ground and is positioned below the plurality of body parts.
Further, the robot may further include a partition driver that provides the partition rotation axis and rotate the partition about the partition rotation axis, and the partition may be extracted from the accommodation space when the partition driver rotates in one direction of a clockwise direction and a counterclockwise direction that is perpendicular to the first direction and may be retracted into the accommodation space when the partition driver rotates in the other one direction of the clockwise direction and the counterclockwise direction.
According to an embodiment of the present disclosure, a method of controlling a robot is provided wherein the robot can include a partition wound about a partition rotation axis extending in a first direction, a plurality of body parts surrounding an accommodation space in which the partition is accommodated, and a roller part having a plurality of rollers rotatably mounted on at least some of the plurality of body parts, the roller part includes a roller group that is a pair of rollers mounted to face each other in each of two adjacent body parts of the plurality of body parts, the roller part can be provided in a guide state in which movement of a portion of the partition is guided in a second direction intersecting the first direction when the portion of the partition is positioned between the pair of rollers, and the roller part provided in the guide state can extract the partition from the accommodation space or retracts the partition into the accommodation space in the second direction through rotation of the pair of rollers.
Further, the robot may be provided in plurality, and the method may include, when predetermined two robots among the plurality of robots are referred to a first robot and a second robot, an approaching operation of providing the first robot and the second robot that approach each other, an extraction operation of extracting a first partition from the first robot toward the second robot after the approaching operation, a retraction operation of retracting the first partition extracted from the first robot into the second robot, and a fixation operation of fixing the first partition retracted into the second robot to the second robot.
The method may further include an input operation of inputting a space partition request, and a movement operation of moving the first robot and the second robot away from each other in a state in which the first partition is fixed to the second robot based on the input space partition request.
The above and other features and advantages of the present disclosure can be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which:
Hereinafter, some example embodiments of the present disclosure will be described in detail with reference to the drawings. In adding reference numerals to components of each drawing, it can be noted that identical or equivalent components can be designated by an identical numeral even when they are displayed on other drawings. Further, in describing an example embodiment of the present disclosure, a detailed description of the related known configuration or function can be omitted when it is determined that it interferes with the understanding of the embodiment of the present disclosure.
Hereinafter, a space partitioning device 1 according to the embodiment of the present disclosure will be described with reference to the accompanying drawings.
Referring to
Referring further to
Referring back to
Further, one robot 10 (e.g., the fifth robot) in addition to the four robots 10 may be placed to be positioned between two adjacent robots. For example, when the fifth robot is positioned between the first robot and the second robot adjacent to each other, the fifth robot may be connected to the first robot through a partition 200, which will be described below, and may be spaced apart from the second robot. For example, a separation space formed between the first robot and the fifth robot may be an entrance space which a user may enter and exit. The robot 10 may include a body part 100, the partition 200, a vertical moving part 300, and a roller part 400.
Referring further to
The first body part 101, the second body part 102, the third body part 103, and the fourth body part 104 may be sequentially arranged in the clockwise direction or the counterclockwise direction. Hereinafter, as illustrated in
The first body part 101 and the third body part 103 may be spaced apart from each other in a first horizontal direction D1 with the partition 200 therebetween. The first body part 101 and the third body part 103 may pass through a center of the robot 10 and may be symmetrical to each other with respect to a first reference plane that is perpendicular to the first horizontal direction D1.
The second body part 102 and the fourth body part 104 may be spaced apart from each other in a second horizontal direction D2 with the partition 200 therebetween. The second body part 102 and the fourth body part 104 may pass through the center of the robot 10 and may be symmetrical to each other with respect to a second reference plane that is perpendicular to the second horizontal direction D2. Further, the first horizontal direction D1 and the second horizontal direction D2 may intersect each other. For example, the first horizontal direction D1 and the second horizontal direction D2 may be perpendicular to each other. Furthermore, the first horizontal direction D1 and the second horizontal direction D2 may be perpendicular to the vertical direction “H.” Each of the plurality of body parts 100 may include a first area 110, a second area 120, and a third area 130.
The vertical moving part 300 may be mounted on the first area 110. An insertion groove into which a portion of the vertical moving part 300 may be inserted may be formed in the first area 110. The insertion groove may extend downward from an upper end of the first area 110. Further, an upper portion of the vertical moving part 300 may be seated on an upper surface of the first area 110.
The second area 120 may be connected to the first area 110. The second area 120 and the first area 110 may be arranged in a connection direction that is a direction in which the first area 110 faces the second area 120. The connection direction may be perpendicular to the vertical direction “H.”
A roller 401, which will be described below, may be rotatably mounted in the second area 120. Further, a partial area of the roller 401, which will be described below, may be accommodated inside the second area 120. The second area 120 may be provided as a plurality of second areas 120. The plurality of second areas 120 may include a (2-1)th area 121 and a (2-2)th area 122.
The (2-1)th area 121 may be connected to one side of the first area 110. The (2-1)th area 121 and the first area 110 may be arranged in a first connection direction that is a direction in which the first area 110 faces the (2-1)th area 121.
The (2-2)th area 122 may be connected to the other side of the first area 110. The (2-2)th area 122 and the first area 110 may be arranged in a second connection direction that is a direction in which the first area 110 faces the (2-2)th area 122. The first connection direction, the second connection direction, and the vertical direction “H” may intersect each other. For example, the first connection direction, the second connection direction, and the vertical direction “H” may be perpendicular to each other.
The third area 130 may define a portion of an area that forms the accommodation space 100S. The third area 130 may be disposed between the (2-1)th area 121 and the (2-2)th area 122. The third area 130 may connect the (2-1)th area 121 and the (2-2)th area 122.
Further, a side of the third area 130 in a direction opposite to the second connection direction may be connected to the (2-1)th area 121. Further, a side of the third area 130 in a direction opposite to the first connection direction may be connected to the (2-2)th area 122. Further, as an example, the first area 110, the (2-1)th area 121, the (2-2)th area 122, and the third area 130 may be formed integrally. However, the present disclosure is not limited to this example, and the first area 110, the (2-1)th area 121, the (2-2)th area 122, and the third area 130 may be formed as separate members and may be separately coupled to each other.
Referring back to
Further, the centers of curvatures of the plurality of recessed areas provided in the plurality of body parts 100 (e.g., the first body part 101, the second body part 102, the third body part 103, and the fourth body part 104) may be formed at positions corresponding to each other. Further, the centers of curvatures of the recessed areas provided in the first body part 101, the second body part 102, the third body part 103, and the fourth body part 104 may correspond to the center of the robot 10 based on the horizontal direction.
A state in which predetermined components are formed at positions corresponding to each other may be understood as a concept including a state in which the predetermined components are formed exactly at the same position as well as a state in which the predetermined components are formed close to each other to the extent that the predetermined components exhibit the same effect as or the similar effect to the state in which the predetermined components are formed exactly at the same position.
The partition 200 may be wound about a partition rotation axis extending in a first direction. The first direction may mean the vertical direction “H.” This partition 200 may be named a “rollable partition.”
Further, the partition 200 may be accommodated in the accommodation space 100S. A portion of the partition 200 may be extracted from the accommodation space 100S to the outside of the robot 10. Further, a portion of the partition 200 positioned outside the robot 10 may be retracted into the accommodation space 100S.
The partition 200 may be made of a flexible material. The partition 200 may be used to partition a space as well as used as a display that displays an image.
Referring back to
The vertical moving part 300 may include an upper plate and a pillar part. The upper plate may form the upper portion of the vertical moving part 300. A lower surface of the upper plate may be in close contact with the upper surface of the first area 110. For example, when the vertical moving part 300 is positioned at the lowermost side (when the vertical moving part 300 is lowered to the maximum with respect to the body part 100), the lower surface of the upper plate may be in contact with the upper surface of the first area 110.
Referring back to
In this way, when the vertical moving part 300 is positioned at the lowermost side, the height of the upper end of the vertical moving part 300 and the height of the upper end of the body part 100 correspond to each other. Thus, the vertical moving part 300 that is not extracted upward and the first area 110 may be prevented from forming a sense of difference in a design with the second area 120 and the third area 130.
The pillar part may have a shape extending downward from a lower end of the upper plate. For example, the pillar part and the upper plate may be formed integrally. The pillar part may be inserted into the insertion groove of the first area 110. For example, the pillar part may be inserted downward into the insertion groove or may be released upward from the insertion groove. The upper plate may move downward relative to the body part 100 by the insertion operation of the pillar part and the upper plate may move upward relative to the body part 100 by the releasing operation of the pillar part.
The roller part 400 may include a plurality of rollers 401. The roller 401 may rotate about a rotation axis extending in the vertical direction “H.” The roller 401 may be rotatably mounted on the body part 100. For example, the roller 401 may be rotatably mounted in the second area 120. As a detailed example, the roller 401 may include a first roller 401-1 and a second roller 401-2 that are mounted on the (2-1)th area 121 and the (2-2)th area 122, respectively.
The first roller 401-1 may be mounted on a side of the (2-1)th area 121 in the first connection direction. For example, a side of the first roller 401-1 in the first connection direction may protrude in the first connection direction with respect to the (2-1)th area 121. In other words, a portion of the first roller 401-1 in a direction opposite to the first connection direction may be accommodated inside the (2-1)th area 121.
The second roller 401-2 may be mounted on a side of the (2-2)th area 122 in the second connection direction. For example, a side of the second roller 401-2 in the second connection direction may protrude in the second connection direction with respect to the (2-2)th area 122. In other words, a portion of the second roller 401-2 in a direction opposite to the second connection direction may be accommodated inside the (2-2)th area 122.
The plurality of rollers 401 may include a roller group. The roller group may be a pair of rollers mounted to face each other in two adjacent body parts 100 of the plurality of body parts 100. As an example, the two adjacent body parts of the plurality of body parts 100 may be the first body part 101 and the second body part 102, the second body part 102 and the third body part 103, the third body part 103 and the fourth body part 104, or the fourth body part 104 and the first body part 101.
When the portion of the partition 200 is located between the pair of rollers, the roller part 400 may be provided in a guide state in which movement of the portion of the partition 200 is guided in a second direction that is a direction intersecting the first direction (e.g., the vertical direction “H”). The second direction may include the first connection direction, the second connection direction, a direction opposite to the first connection direction, and a direction opposite to the second connection direction.
Further, the roller part 400 provided in the guide state may extract the partition 200 from the accommodation space 100S in the second direction or may retract the partition 200 into the accommodation space 100S in the second direction through rotation of the pair of rollers 401. For example, when the roller part 400 is in the guide state, the pair of rollers 401 may rotate while gripping the portion of the partition 200 and move the portion of the partition 200 in the second direction. In other words, the portion of the partition 200 may move in the second direction by a rotational force of the pair of rollers 401. In this case, for example, the partition 200 may be provided with a spiral spring such that the partition 200 is retracted into and wound on the accommodation space 100S.
However, the present disclosure is not necessarily limited to this example, and when the roller part 400 is in the guide state, the partition 200 may be prevented from being separated from a direction skewed from the second direction by the pair of rollers 401. For example, when the roller part 400 is in the guide state, the partition 200 may move in the second direction to pass through a space between the pair of rollers 401 by a partition driver (not illustrated). The partition driver may be a component provided in the robot 10. For example, the partition driver may be a motor that provides a partition rotation axis and winds the partition 200 about the partition rotation axis. For example, when the partition driver rotates in one direction among the clockwise direction and the counterclockwise direction, the partition 200 may be extracted from the accommodation space 100S, and when the partition driver rotates in the other one direction among the clockwise direction and the counterclockwise direction, the partition 200 may be retracted into the accommodation space 100S.
Referring back to
The first roller group 401g1 may be a pair of rollers mounted to face each other in the first body part 101 and the second body part 102. For example, the pair of rollers of the first roller group 401g1 may be provided with the second roller 401-2 mounted on the first body part 101 and the first roller 401-1 mounted on the second body part 102.
The second roller group 401g2 may be a pair of rollers mounted to face each other in the second body part 102 and the third body part 103. For example, the pair of rollers of the second roller group 401g2 may be provided with the second roller 401-2 mounted on the second body part 102 and a first roller 401-1 mounted on the third body part 103.
The third roller group 401g3 may be a pair of rollers mounted to face each other in the third body part 103 and the fourth body part 104. For example, the pair of rollers of the third roller group 401g3 may be provided with the second roller 401-2 mounted on the third body part 103 and the first roller 401-1 mounted on the fourth body part 104.
The fourth roller group 401g4 may be a pair of rollers mounted to face each other in the fourth body part 104 and the first body part 101. For example, the pair of rollers of the fourth roller group 401g4 may be provided with the second roller 401-2 mounted on the fourth body part 104 and the first roller 401-1 mounted on the first body part 101. The first roller group 401g1, the second roller group 401g2, the third roller group 401g3, and the fourth roller group 401g4 may be sequentially arranged in the clockwise direction or the counterclockwise direction.
Further, in one of the plurality of roller groups, the partition 200 may be extracted, and in the others of the plurality of roller groups, a portion of the partition 200 positioned outside the robot 10 may be gripped. For example, in the first roller group 401g1 of a first robot, the partition 200 of the first robot may be extracted, and in at least one of the second roller group 401g2, the third roller group 401g3, and the fourth roller group 401g4 provided in the first robot, a portion of the partition 200 extracted by a second robot may be gripped.
The robot driver 20 may move the robot 10 relative to the ground. The robot driver 20 may be mounted on a lower portion of the robot 10. The robot driver 20 may be a component included in the robot 10. In other words, the robot driver 20 may form a portion of the robot 10. Further, the robot driver 20 may rotate the plurality of rollers 401 independently.
The robot driver 20 may be provided as a plurality of robot drivers 20. The plurality of robot drivers 20 may be provided to correspond to the plurality of robots 10, respectively.
Referring further to
A space partition request may be input to the system controller 31 (input operation S100). The system controller 31 may classify the plurality of robots 10 through numbering, based on the space partition request. For example, when the number of the plurality of robots 10 is five, the five robots 10 may be classified into the first robot, the second robot, the third robot, the fourth robot, and the fifth robot.
The system controller 31 may determine positions of the plurality of robots 10 and then set target positions. The system controller 31 may transmit, to the robot controller 32, a signal related to current position information and target position information of the plurality of robots 10.
The robot controller 32 may control the robot driver 20 so that the plurality of robots 10 move, based on the current position information and the target position information. The robot controller 32 may control the robot driver 20 so that the plurality of robots 10 approach each other (approaching operation S200). Further, in a state in which the plurality of robots 10 approach each other, the robot controller 32 may control the extraction, the retraction, and the fixation of the partition 200 in the plurality of robots 10.
Hereinafter, a process of forming the target partitioning space “T” when four robots 10 are provided will be described in detail.
The robot controller 32 may control the robot driver 20 so that the four robots are in close contact with each other and arranged in a 2×2 matrix (based on a state in which the space partitioning device 1 is viewed from above).
Referring further to
Further, the robot positioned at the first row and the second column may extract the partition toward the robot positioned at a second row and the second column (extraction operation S300). The partition of the robot positioned at the first row and the second column may be retracted into the roller group of the robot positioned at the second row and the second column (retraction operation S400). The robot positioned at the second row and the first column may grip and fix the partition of the robot positioned at the first row and the second column (fixation operation S500).
Further, the robot positioned at the second row and the second column may extract the partition toward the robot positioned at the second row and the first column (extraction operation S300). The partition of the robot positioned at the second row and the second column may be retracted into the roller group of the robot positioned at the second row and the first column (retraction operation S400). The robot positioned at the second row and the first column may grip and fix the partition of the robot positioned at the second row and the second column (fixation operation S500).
Further, the robot positioned at the second row and the first column may extract the partition toward the robot positioned at the first row and the first column (extraction operation S300). The partition of the robot positioned at the second row and the first column may be retracted into the roller group of the robot positioned at the first row and the first column (retraction operation S400). The robot positioned at the first row and the first column may grip and fix the partition of the robot positioned at the second row and the second column (fixation operation S500).
Thereafter, the robot controller 32 may control the robot driver 20 so that the four robots move away from each other while fixing the partitions of the adjacent robots to form the target partitioning space “T” (movement operation S600).
The system controller 31 and the robot controller 32 may be electrically connected to the plurality of robots 10 and the plurality of robot drivers 20 and may be implemented by a process having a function of decoding and executing commands based on previously input information.
Hereinafter, a method S10 of controlling the robot will be described with reference to
The method S10 of controlling a robot may include input operation S100, approaching operation S200, extraction operation S300, retraction operation S400, fixation operation S500, and movement operation S600.
In input operation S100, the space partition request may be input. The space partition request may include information on the target partitioning space “T.”
In approaching operation S200, the first robot and the second robot that are two predetermined robots among the plurality of robots 10 may approach each other to become closer to each other. As an example, approaching operation S200 may be performed after input operation S100.
In extraction operation S300, the partition may be extracted from one to the other one of the first robot and the second robot. For example, in extraction operation S300, a first partition that is a partition of the first robot may be extracted toward the second robot. As an example, extraction operation S300 may be performed after approaching operation S200.
In retraction operation S400, the partition may be retracted from one to the other one of the first robot and the second robot. For example, in retraction operation S400, the first partition may be retracted between the pair of rollers provided in the roller group of the second robot (the roller group closest to the first robot among the plurality of roller groups).
As an example, retraction operation S400 may be performed simultaneously with extraction operation S300. For example, a partition of one robot among the plurality of robots 10 may be extracted from the one robot, and at the same time, a partition extracted from another robot may be retracted into the one robot.
In fixation operation S500, the partition retracted into any one of the first robot and the second robot may be fixed. For example, the first partition retracted into the second robot may be gripped and fixed by the pair of rollers provided in the roller group of the second robot. As an example, fixation operation S500 may be performed after retraction operation S400.
In movement operation S600, the plurality of robots 10 may move away from each other while one robot fixes a partition of another robot, to form the target partitioning space “T.” Further, in movement operation S600, after the target partitioning space “T” is formed, the vertical moving part 300 may move upward and come into close contact with the ceiling. As an example, movement operation S600 may be performed after fixation operation S500.
A robot according to an embodiment of the present disclosure may flexibly respond to changes of positions of spaces that require partitioning.
Hereinabove, even though it has been described that all components constituting the embodiments of the present disclosure are combined into one part or are operated while combined with each other, the present disclosure is not necessarily limited to these embodiments. That is, all the components may be operated while selectively combined into one or more parts within the scope of the present disclosure. Further, terms such as “includes”, “constitutes”, or “have” described above can mean that the corresponding component may be inherent unless otherwise stated, and thus can be construed as not excluding other components but further including other components. Terms including technical or scientific terms can have same meanings as those commonly understood by those skilled in the art to which the present disclosure pertains unless otherwise defined. Generally used terms defined in the dictionaries can be construed as having meanings that coincide with meanings of the contexts of the related technologies, and/or can be clearly defined in the present disclosure.
The above description is merely illustrative of the technical spirit of the present disclosure, and those skilled in the art to which the present disclosure belongs may make various modifications and changes without departing from features of the present disclosure. Thus, the example embodiments disclosed in the present disclosure are not intended to necessarily limit the technology spirit of the present disclosure, but are intended to describe the present disclosure, and scopes of the technical spirit of the present disclosure are not necessarily limited by these example embodiments. The scopes of protection of the present disclosure can be interpreted by the appended claims, and all technical spirits within scopes equivalent thereto can be interpreted as being included in scopes of the present disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10-2023-0161401 | Nov 2023 | KR | national |
