Mobile object and method of controlling the same
View Patent ↗Disclosed is a mobile object including a body part, a drive part coupled to one side of the body part and including one or more wheels, and an accommodation part coupled to the other side of the body part and having an internal space capable of accommodating an article, in which the drive part is coupled to a lower region of the body part, and the body part is rotatably coupled to the drive part, and in which the accommodation part is coupled to an upper region of the body part, and the accommodation part rotatably coupled to the body part.
1. A mobile object comprising:
a body part;
a drive part coupled to one side of the body part and comprising one or more wheels; and
an accommodation part coupled to another side of the body part and having an internal space capable of accommodating an article,
wherein the drive part is coupled to a lower region of the body part, and the body part is rotatably coupled to the drive part,
wherein the accommodation part is coupled to an upper region of the body part, and the accommodation part is rotatably coupled to the body part,
wherein the accommodation part comprises:
a frame comprising a plurality of rod members fixedly coupled to one another to define the internal space;
wherein the body part comprises:
a first region configured to define one side region of the body part and rotatably coupled to the wheel and the frame; and
a second region configured to define another side region of the body part and rotatably coupled to the wheel and the frame,
wherein the first region comprises:
a first frame comprising a rod member extending in a vertical direction; and
a first plate coupled to a lateral side of an upper region of the first frame, and
wherein the second region comprises:
a second frame comprising a rod member extending in the vertical direction; and
a second plate coupled to a lateral side of an upper region of the second frame,
wherein the accommodation part further comprises:
a first rotary shaft configured to penetrate the first plate and provided to be rotatable relative to the first plate;
a rotary motor configured to operate the first rotary shaft, and
a second rotary shaft configured to penetrate the second plate and provided to be rotatable relative to the second plate,
wherein the second rotary shaft rotates passively by the rotation of the first shaft by the operation of the rotary motor.
2. The mobile object of claim 1 , wherein the accommodation part further comprises:
a battery fixed to a lower region of the frame.
3. The mobile object of claim 2 , wherein the battery is fixed to a bottom surface of the frame.
4. A method of controlling the mobile object of claim 1 ,
the method comprising:
a first-1 step in which the drive part is positioned at a front side of the mobile object and faces an obstacle protruding from a ground surface;
a first-2 step in which the body part rotates relative to the drive part and the body part tilts forward;
a first-3 step in which the accommodation part rotates relative to the body part in a direction in which the accommodation part moves forward; and
a first-4 step in which the wheel of the drive part rotates and the mobile object moves forward.
5. The method of claim 4 , wherein in the first-1 step, the wheel of the drive part comes into contact with the obstacle, and
wherein in the first-3 step, the accommodation part rotates relative to the body part so that a center of gravity of the mobile object is positioned forward from a region in which the wheel is in contact with the obstacle.
6. The method of claim 4 , wherein in the first-3 step, the accommodation part rotates relative to the body part so that the accommodation part is perpendicular to a gravitational direction.
7. A method of controlling the mobile object of claim 1 ,
the method comprising:
a second-1 step in which the drive part is positioned at a front side of the mobile object and faces an obstacle protruding from a ground surface;
a second-2 step in which the body part rotates relative to the drive part and the body part tilts forward;
a second-3 step in which the wheel of the drive part rotates and the mobile object moves forward; and
a second-4 step in which the accommodation part rotates relative to the body part in a direction in which the accommodation part moves rearward which is opposite to the forward direction.
8. The method of claim 7 , further comprising:
a second-5 step in which the accommodation part rotates relative to the body part in a direction in which the accommodation part moves forward after the second-4 step.
9. The method of claim 8 , wherein in the second-5 step, the accommodation part rotates relative to the body part so that the accommodation part is perpendicular to a gravitational direction.