KR102252700B1 - Wheel attached snake robot - Google Patents

Abstract

The present invention relates to a snake-shaped robot attached with wheels. In an aspect of the present invention, a snake robot comprising a body portion connected to a plurality of modules, at least one of the length and shape of the body portion is changed based on a change in at least one of a connection point and a separation distance between the plurality of modules. The snake robot is movable by using at least one of the changed length and shape of the body portion. A wheel is provided on each of a first module, which is one end, and the second module, which is the other end, among the plurality of modules. A plurality of wheels may be provided at one end and the other end spaced apart from the ground so as not to come into contact with the ground.

Description

Wheel attached snake robot}

The present invention relates to a snake-shaped robot with wheels.

The robot hand refers to the hand of a machine that constrains or moves an object by a plurality of fingers, and while the robot arm determines a general position within a wide working area, the robot hand is a limited area. It is used for subtle manipulation or grasping of objects within.

In addition, such artificial intelligence and robot technologies are being used in various fields, and can be used as core technologies for breakthrough of handling technology of component gripping and assembly in a manufacturing environment.

The robot hand can be used in conjunction with a robot that prolongs the golden time by entering a narrow space when a building collapses in various disaster situations (earthquake, heavy snow, fire, heavy rain, landslide, etc.) to identify the location and condition of the investigator.

In the past, there is a case where a vine-type robot was developed, but only forward and backward is not possible, and reusability after one injection is not good, so use of detection and rescue missions that require repeated injection in several places. There was a problem that it was inappropriate.

In addition, the existing previously developed technologies have a problem that robots are being developed by focusing only on the movement/reconnaissance function of a narrow space.

Therefore, in order to extend the golden time of survivors, there is a growing need for a robot equipped with a function that can supply emergency drugs and nutrient juice to solve the above problems, in addition to the function of moving by mounting various sensors to find the investigator. .

(1) Korean Intellectual Property Office Application No. 10-2016-0007854 (2) Korean Intellectual Property Office Application No. 10-2016-0037824

In order to solve the above-described problem, the present invention is to propose a snake-shaped robot with wheels to a user.

Specifically, the present invention is based on a change in at least one of a connection point and a separation distance between a plurality of modules, at least one of the length and shape of the body portion is changed, and the change in the length and shape of the body portion is used. The snake robot is movable, and a wheel is provided at each of the first module at one end and the second module at the other end of the plurality of modules, and the plurality of wheels are spaced apart from the ground so as not to contact the ground and provided at one end and the other end. We would like to propose a snake-like robot with wheels to users.

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clearly to those of ordinary skill in the technical field to which the present invention belongs from the following description. It will be understandable.

In the snake robot consisting of a body portion connecting a plurality of modules, which is an aspect of the present invention for achieving the above technical problem, based on a change in at least one of a connection point and a separation distance between the plurality of modules, the body portion At least one of the length and shape is changed, the snake robot is movable by using at least one of the length and shape of the body portion that is changed, and each of the first module at one end and the second module at the other end of the plurality of modules Wheels may be provided, and the plurality of wheels may be spaced apart from the ground so as not to contact the ground and provided at one end and the other end.

In addition, when the weight of at least some of the plurality of modules can be changed, and the first module and the second module are in contact with the ground, at least one of the plurality of modules excluding the first module and the second module The weight of one third module may be reduced to less than a predetermined weight.

Here, the expression that the weight of the module changes means that the load supported by the module changes.

” 형태가 되고, 상기 변화된 형태를 기초로, 상기 제 1 모듈과 제 2 모듈에 구비된 복수의 바퀴가 상기 지면에 접촉될 수 있다.In addition, while the weight of the third module is reduced, the separation distance between the first module and the second module decreases, and the shape of the snake robot is “

”, and based on the changed shape, a plurality of wheels provided in the first module and the second module may contact the ground.

In addition, the snake robot may move using a change in a separation distance between the first module and the second module and a plurality of wheels in contact with the ground.

In addition, each of the first module and the second module further includes a brake that prevents rotation of the wheel, and the first wheel of the first module among the plurality of wheels is connected to the brake of the first module. Accordingly, in a state in which rotation is stopped, the second wheel of the second module rotates, so that the second module may move toward the first module.

In addition, when the second module is moved toward the first module, rotation of the second wheel is stopped by the brake of the second module, the operation of the brake of the first module is released, and the second wheel 2 When the rotation of the wheel is stopped, the first wheel rotates, so that the first module may move in a direction away from the second module.

In addition, the plurality of snake robots, the plurality of snake robots can be connected to each other, and in a state in which the plurality of snake robots are connected, a change in the separation distance between the first module and the second module of each of the plurality of snake robots and It is possible to move using at least one of a plurality of wheels of each of the plurality of snake robots.

In addition, when the plurality of snake robots move to a predetermined position, the plurality of snake robots are separated, and each of the plurality of separated snake robots may independently move to perform a predetermined task.

On the other hand, in another aspect of the present invention for achieving the above technical problem, in the control method of a snake robot consisting of a body portion connecting a plurality of modules, at least one of a connection point and a separation distance between the plurality of modules is changed. A first step in which at least one of the length and shape of the body portion is changed as a basis; And a second step of moving the snake robot using at least one of the length and shape of the changed body portion, wherein a wheel is provided in each of the first module at one end and the second module at the other end of the plurality of modules. The plurality of wheels may be spaced apart from the ground so as not to come into contact with the ground, and may be provided at one end and the other end.

In addition, the weight of at least some of the plurality of modules can be changed, and after the second step, the first module of the plurality of modules is in a state in which the first module and the second module are in contact with the ground. And a third step of reducing the weight of at least one third module excluding the second module to a predetermined weight or less.

” 형태가 되는 제 4 단계; 및 상기 변화된 형태를 기초로, 상기 제 1 모듈과 제 2 모듈에 구비된 복수의 바퀴가 상기 지면에 접촉되는 제 5 단계; 를 더 포함할 수 있다.In addition, after the third step, while the weight of the third module is reduced, the separation distance between the first module and the second module decreases, and the shape of the snake robot becomes “

”The fourth step of becoming a form; And a fifth step of contacting the ground with a plurality of wheels provided in the first module and the second module based on the changed shape. It may further include.

In addition, after the fifth step, a sixth step of moving the snake robot using a plurality of wheels in contact with the ground and a change in the separation distance between the first module and the second module; may further include have.

In addition, each of the first module and the second module further includes a brake that prevents rotation of the wheel, and in the sixth step, the first wheel of the first module among the plurality of wheels is A 6-1 step in which rotation is stopped by the brake of the first module; And a 6-2 step of moving the second module toward the first module by rotating the second wheel of the second module while the rotation of the first wheel is stopped. It may further include.

In addition, after step 6-2, when the second module is moved toward the first module, rotation of the second wheel is stopped by the brake of the second module, and the rotation of the first module is stopped. Step 6-3 in which the operation of the brake is released; And a 6-4 step of moving the first module in a direction away from the second module by rotating the first wheel while the rotation of the second wheel is stopped.

In addition, the snake robot is plural, and after the sixth step, the plurality of snake robots are connected to each other; And a change in the separation distance between the first module and the second module of each of the plurality of snake robots and a plurality of wheels of each of the plurality of snake robots while the plurality of snake robots are connected. Step 8; may further include.

In addition, after the seventh step, when the plurality of snake robots move to a predetermined position, an eighth step of separating the plurality of snake robots; And a ninth step of independently moving each of the separated plurality of snake robots to perform a predetermined task.

The present invention can provide a snake-shaped robot with wheels to a user.

Specifically, the present invention is based on a change in at least one of a connection point and a separation distance between a plurality of modules, at least one of the length and shape of the body portion is changed, and the change in the length and shape of the body portion is used. The snake robot is movable, and a wheel is provided at each of the first module at one end and the second module at the other end of the plurality of modules, and the plurality of wheels are spaced apart from the ground so as not to contact the ground and provided at one end and the other end. Serpentine robots with wheels can be provided to users.

In addition, the present invention is a gripper (e.g., 3G and 10 degrees of freedom, 4G and 8 degrees of freedom, 3 grippers and 1 A snake robot consisting of a single snake robot head module including a gripper combined with a camera) and a tube capable of supplying drugs or nutrient juice and a control method thereof can be provided to the user.

In addition, according to the present invention, since the requestor who is covered in debris is often unable to move his or her arms/legs, the golden time can be extended by supplying nutrient juice to the survivor.

In addition, according to the present invention, it is possible to provide a driving control assistant function that automatically controls the actual driving of the robot according to the surrounding environment by simply manipulating only the moving direction through the image and sensor information sent from the robot.

In addition, according to the present invention, it has a shape in which two degrees of freedom modules having drive shafts that are orthogonal to each other of a universal joint method similar to the vertebrae of a snake are joined together. By using a modular body, it becomes possible to easily shorten or lengthen the overall body length to suit the purpose of the robot.

In addition, according to the present invention, the modularized body has an aspect that is easy to mass-produce, and by replacing and operating sensor modules suitable for a purpose, it is possible to effectively respond to the detection of humans at the disaster site and the extension of the golden time.

In addition, according to the present invention, an information-oriented control screen is constructed from signals of a plurality of sensors mounted on a snake's head to provide an efficient method for detecting a buried person.

In addition, according to the present invention, it is possible to work in a narrow and dangerous industrial site and a disaster environment, so that it is possible to save time and cost for safety inspection, search for a narrow area, and work.

In addition, the present invention can be used in various fields such as a terrorist social safety robot and a military robot for detecting dangerous substances.

On the other hand, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. I will be able to.

1 is a block diagram illustrating the configuration of a snake robot proposed by the present invention.
2 shows an example of a snake robot proposed by the present invention.
3 shows a specific configuration of a structure connected to the tail of the snake robot according to the present invention.
Figure 4 is a block diagram illustrating the configuration of the nutrition supply unit of the snake robot according to the present invention.
Figure 5 shows an example of the nutrition supply unit of the snake robot according to the present invention.
6 shows an example of extending the golden time of the requestor through the nutrient juice supply tube structure of the snake robot according to the present invention.
7A to 7C show an example of the configuration of the driving unit (joint) of the snake robot body according to the present invention.
8A to 8D illustrate a specific example of a snake-shaped robot with wheels applied to a rough terrain in relation to the present invention.
9 is a flow chart illustrating a method of traveling on a level surface of a snake-shaped robot with wheels in connection with the present invention.
10 shows an example of a flat driving pattern of a snake-shaped robot with wheels in connection with the present invention.
11 is a flowchart illustrating a driving method using a brake of a wheel and a bending power of a body in connection with the present invention.
12 shows an example of a driving process using a brake of a wheel and a bending power of a body in connection with the present invention.
13 is a flowchart illustrating a method of moving by fastening a plurality of snake-like robots in connection with the present invention.
14 shows an example of moving by fastening a plurality of snake-like robots in connection with the present invention.

Snake robot

Prior to the detailed description of the present invention, a configuration of a snake robot applied to the present invention will be described with reference to the drawings.

1 is a block diagram illustrating the configuration of a snake robot proposed by the present invention.

Referring to FIG. 1, the snake robot 100 includes a wireless communication unit 110, an audio/video (A/V) input unit 120, a user input unit 130, a sensing unit 140, an output unit 150, and a memory. 160, an interface unit 170, a control unit 180, a power supply unit 190, a robot hand 200, and the like.

However, since the components shown in FIG. 1 are not essential, a snake robot having more components or fewer components may be implemented.

Hereinafter, the above components will be described in order.

The wireless communication unit 110 may include one or more modules that enable wireless communication between a snake robot and a wireless communication system or between a device and a network in which the device is located.

For example, the wireless communication unit 110 may include a mobile communication module 112, a wireless Internet module 113, a short-range communication module 114, a location information module 115, and the like.

The mobile communication module 112 transmits and receives a radio signal with at least one of a base station, an external device, and a server on a mobile communication network.

It may include various types of data according to transmission and reception of text/multimedia messages.

The wireless Internet module 113 refers to a module for wireless Internet access, and may be embedded or external to the snake robot. As a wireless Internet technology, WLAN (Wireless LAN) (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), and the like may be used.

The short-range communication module 114 refers to a module for short-range communication. Short range communication technologies include Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), ZigBee, and Wi-Fi (Wireless Fidelity, Wi-Fi). Can be used.

The location information module 115 is a module for obtaining the location of the snake robot, and a representative example thereof is a GPS (Global Position System) module.

Referring to FIG. 1, an A/V (Audio/Video) input unit 120 is for inputting an audio signal or a video signal, and may include a camera 121 and a microphone 122. The camera 121 processes an image frame such as a still image or a moving picture obtained by an image sensor in the photographing mode. The processed image frame may be displayed on the display unit 151.

The image frame processed by the camera 121 may be stored in the memory 160 or transmitted to the outside through the wireless communication unit 110.

Two or more cameras 121 may be provided depending on the use environment.

The camera 121 according to the present invention may be a thermal imaging camera.

The thermal imaging camera is also referred to as a far-infrared camera, and is a camera that photographs at least one object using far infrared (Far Infrared, LongWave Infrared, FIR).

Far-infrared rays usually mean infrared rays having a wavelength of 8 μm or more, and because they are longer than visible rays, they are invisible, have a large thermal action, and have a strong penetrating power.

The characteristics of the far-infrared camera according to the present invention will be described.

Since a camera using a general CCD or CMOS device detects and projects light in the visible light region, it is possible to acquire an image similar to what the human eye sees.

On the other hand, the far-infrared camera 122 projects light in an infrared band that humans cannot see.

Infrared refers to light in the band of 750nm to 1mm among the wavelengths of light. Among these infrared bands, the light of NIR (Near Infra-Red) refers to the wavelength of 700nm to 1400nm, and the light in the NIR band is not visible to the human eye. It can be detected with a CCD or CMOS device, and if a filter is used, only light in the NIR band can be detected.

In contrast, FIR light is also known as LWIR (Long Wavelength Infra-Red), and infrared rays represent a band of 8 μm to 15 μm among the wavelengths of light.

In particular, since the wavelength of the FIR band changes according to temperature, there is an advantage of distinguishing the temperature.

The body temperature of a person (pedestrian) who is the target of the far-infrared camera has a wavelength of 10 μm.

In particular, information acquired through a far-infrared camera is converted into a digital image signal, the converted image signal is analyzed, corrected, and supplemented through a specific algorithm, and the processed image signal is transmitted through the display unit 151. It can be controlled to be output.

The controller 180 may be implemented in a recording medium that can be read by a computer or a similar device using software, hardware, or a combination thereof.

In addition, a radar may be provided as a kind of camera 121 according to the present invention.

Radar is an abbreviation of Radio Detecting And Ranging. It emits electromagnetic waves of microwaves (microwaves, 10cm to 100cm wavelengths) to an object and receives the electromagnetic waves reflected from the object, such as distance, direction, and altitude from the object. It is a wireless monitoring device to find out.

In addition, a rider may be provided as a kind of camera 121 according to the present invention.

Rider is short for light detection and ranging, and is like laser radar.

It can be seen as a radar developed using a laser beam with properties close to radio waves. Although the laser was initially developed for communication, it has the characteristics of both light and radio waves due to its strong monochromaticity.

In other words, it is a device that emits pulsed laser light into the atmosphere and uses the reflector or scatterer to measure distance, atmospheric phenomena, and the like.

The Rider calculates the time measurement of the reflected light with a clock pulse, and can have a resolution of 5m at 30MHz and 1m at 150MHz, and generate a strong infrared pulse with a small beam width of about 30 seconds at an angle.

In addition, the microphone 122 receives an external sound signal by a microphone in a recording mode, a voice recognition mode, etc. and processes it as electrical voice data. The processed voice data may be converted into a format transmittable to a mobile communication base station through the mobile communication module 112 and then output. Various noise removal algorithms may be implemented in the microphone 122 to remove noise generated in the process of receiving an external sound signal.

The user input unit 130 generates input data for the user to control the operation of the snake robot. The user input unit 130 may be composed of a key pad, a dome switch, a touch pad (positive pressure/electrostatic), a jog wheel, a jog switch, and the like.

The sensing unit 140 detects the current state of the snake robot, such as the open/close state of the snake robot, the position of the snake robot, the presence of user contact, the direction of the snake robot, and acceleration/deceleration of the snake robot to control the operation of the snake robot. It generates a sensing signal.

The sensing unit 140 may sense whether the power supply unit 190 supplies power, whether the interface unit 170 is coupled to an external device, or the like.

Meanwhile, the sensing unit 140 may include a proximity sensor (not shown).

The output unit 150 is for generating output related to visual, auditory or tactile sense, and includes a display unit 151, an audio output module 152, an alarm unit 153, a haptic module 154, and a projector module ( 155).

The display unit 151 displays (outputs) information processed by the snake robot.

The display unit 151 includes a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. display) and a 3D display.

Some of these displays may be configured as a transparent type or a light-transmitting type so that the outside can be seen through it. This may be referred to as a transparent display, and a representative example of the transparent display is TOLED (Transparant OLED). The rear structure of the display unit 151 may also be configured as a light-transmitting structure.

Two or more display units 151 may exist depending on the implementation form of the snake robot. For example, in the snake robot, a plurality of display units may be spaced apart or integrally disposed on one surface, or may be disposed on different surfaces, respectively.

When the display unit 151 and a sensor for detecting a touch motion (hereinafter, referred to as a'touch sensor') form a mutual layer structure (hereinafter, referred to as a'touch screen'), the display unit 151 is used in addition to the output device. It can also be used as an input device. The touch sensor may have a shape such as, for example, a touch film, a touch sheet, and a touch pad.

The touch sensor may be configured to convert a change in pressure applied to a specific portion of the display unit 151 or a capacitance generated at a specific portion of the display unit 151 into an electrical input signal. The touch sensor may be configured to detect not only a touched position and area, but also a pressure at the time of touch.

When there is a touch input to the touch sensor, a signal(s) corresponding thereto is transmitted to the touch controller. The touch controller processes the signal(s) and then transmits the corresponding data to the controller 180. Accordingly, the controller 180 can know which area of the display unit 151 has been touched.

The proximity sensor (not shown) may be disposed in an inner area of the snake robot wrapped by the touch screen or near the touch screen. The proximity sensor refers to a sensor that detects the presence or absence of an object approaching a predetermined detection surface or an object existing in the vicinity using the force of an electromagnetic field or infrared rays without mechanical contact. Proximity sensors have a longer lifespan and higher utilization than contact sensors.

Examples of the proximity sensor include a transmission type photoelectric sensor, a direct reflection type photoelectric sensor, a mirror reflection type photoelectric sensor, a high frequency oscillation type proximity sensor, a capacitive type proximity sensor, a magnetic type proximity sensor, an infrared proximity sensor, and the like. When the touch screen is capacitive, it is configured to detect the proximity of the pointer by a change in an electric field according to the proximity of the pointer. In this case, the touch screen (touch sensor) may be classified as a proximity sensor.

Hereinafter, for convenience of explanation, the act of allowing the pointer to be recognized as being positioned on the touch screen by approaching the touch screen without contacting the pointer is referred to as "proximity touch", and the touch The act of actually touching the pointer on the screen is referred to as "contact touch". A position at which a proximity touch is performed by a pointer on the touch screen means a position at which the pointer vertically corresponds to the touch screen when the pointer is touched.

The proximity sensor detects a proximity touch and a proximity touch pattern (eg, a proximity touch distance, a proximity touch direction, a proximity touch speed, a proximity touch time, a proximity touch position, a proximity touch movement state, etc.). Information corresponding to the sensed proximity touch operation and proximity touch pattern may be output on the touch screen.

In addition, the snake robot 100 according to the present invention may include a gyro sensor 141.

The gyro sensor 141 is a sensor that measures the orientation change of an object by using the property to always maintain a predetermined direction initially set with high accuracy regardless of the rotation of the earth.The gyroscope uses a mechanical method and an optical method using light. have.

In addition, the snake robot 100 according to the present invention may include an acceleration sensor 142.

The acceleration sensor 142 measures the dynamic force such as acceleration, vibration, and impact of an object by processing the output signal.

Accelerometer 142 may be classified into a detection method broadly into an inertial type, a gyro type, and a silicon semiconductor type, and can be regarded as a type of acceleration sensor such as a seismometer or an inclinometer.

In addition, the snake robot 100 according to the present invention may include a pressure sensor 143.

The pressure sensor 143 refers to a device and element that detects the pressure of a liquid or gas, converts it into an electric signal that is easy to use for measurement or control, and transmits it.

There are many types of measurement principles, including displacement and deformation, as well as using the thermal conductivity of molecular density. Recently, a strain gauge-type pressure sensor made of silicon has been developed and is used for precise pressure measurement. Integrated pressure sensors have also been developed that make up an integrated circuit on the same substrate to process signals.

In addition, the snake robot 100 according to the present invention may include a tactile sensor 144.

Tactile sensor (144, Tactile Sensor) is a pressure sensor that aims to artificially realize human tactile sensation in robots. It is largely divided into contact sensors, pressure sensors, slip sensors, and temperature sensors.It is necessary to implement an advanced human tactile system. It's technology.

The tactile sensor array is a sensor for obtaining two-dimensional information by arranging several to tens of contact angle sensors 144 or pressure sensors in a planar shape, and can be used for detection of shape or motion.

Many of these sensors form an array-type sensor by dividing either one of electrodes on both sides of a conductive rubber, a piezoelectric polymer, or a pressure-sensitive polymer, and the two-dimensional pressure distribution is detected from a change in resistance or voltage output between the opposite electrodes.

In particular, the tactile sensor 144 according to the present invention may detect at least one of a normal force, a shear force, and a conductivity of an object that the robot hand 200 contacts.

Meanwhile, the sound output module 152 may output audio data received from the wireless communication unit 110 or stored in the memory 160 in a recording mode, a voice recognition mode, a broadcast reception mode, or the like. The sound output module 152 also outputs sound signals related to functions performed by the snake robot. The sound output module 152 may include a receiver, a speaker, a buzzer, and the like.

The alarm unit 153 outputs a signal for notifying the occurrence of an event of the snake robot.

The alarm unit 153 may output a signal for notifying the occurrence of an event in a form other than a video signal or an audio signal, for example, by vibration.

The video signal or audio signal may also be output through the display unit 151 or the audio output module 152, so that they 151 and 152 may be classified as part of the alarm unit 153.

The haptic module 154 generates various tactile effects that the user can feel. A typical example of the tactile effect generated by the haptic module 154 is vibration. The intensity and pattern of vibration generated by the haptic module 154 can be controlled.

For example, different vibrations may be synthesized and output or may be sequentially output.

In addition to vibration, the haptic module 154 is designed to respond to stimuli such as an arrangement of pins vertically moving with respect to the contact skin surface, blowing force or suction force of air through the injection or inlet, grazing against the skin surface, contact of an electrode, and electrostatic force. It can generate various tactile effects, such as an effect by the effect and an effect by reproducing the feeling of cooling and warming using an endothermic or exothermic element.

The haptic module 154 may not only deliver a tactile effect through direct contact, but may also be implemented so that a user can feel the tactile effect through a muscle sensation such as a finger or an arm. Two or more haptic modules 154 may be provided depending on the configuration aspect of the snake robot.

The projector module 155 is a component for performing an image project function using a snake robot, and is the same as or at least a part of an image displayed on the display unit 151 according to a control signal from the controller 180 Different images can be displayed on an external screen or wall.

Specifically, the projector module 155 generates an image to be output to the outside by using a light source (not shown) that generates light (for example, laser light) for outputting an image to the outside, and light generated by the light source. It may include an image generating means (not shown) for performing and a lens (not shown) for expanding the image to the outside at a predetermined focal length. In addition, the projector module 155 may include a device (not shown) capable of adjusting an image projection direction by mechanically moving a lens or the entire module.

The projector module 155 may be divided into a cathode ray tube (CRT) module, a liquid crystal display (LCD) module, a digital light processing (DLP) module, and the like according to the device type of the display means. In particular, the DLP module may be advantageous for miniaturization of the projector module 151 by magnifying and projecting an image generated by reflecting light generated from a light source onto a digital micromirror device (DMD) chip.

Preferably, the projector module 155 may be provided on the side, front, or rear of the snake robot in the longitudinal direction. Of course, it is natural that the projector module 155 may be provided at any position of the snake robot as needed.

Meanwhile, the memory unit 160 may store a program for processing and control of the controller 180, and temporarily store input/output data (eg, messages, audio, still images, moving pictures, etc.). It can also perform a function for. The memory unit 160 may also store a frequency of use of each of the data. In addition, the memory unit 160 may store data related to vibrations and sounds of various patterns that are output when a touch input on the touch screen is input.

The memory 160 is a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory, etc.), and RAM. (Random Access Memory, RAM), SRAM (Static Random Access Memory), ROM (Read-Only Memory, ROM), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic It may include at least one type of storage medium among a disk and an optical disk. The snake robot may operate in connection with a web storage that performs a storage function of the memory 160 on the Internet.

The interface unit 170 serves as a passage for all external devices connected to the snake robot. The interface unit 170 receives data from an external device or receives power and transmits it to each component inside the snake robot, or transmits data inside the snake robot to an external device. For example, a wired/wireless headset port, an external charger port, a wired/wireless data port, a memory card port, a port to connect a device equipped with an identification module, an audio input/output (I/O) port, A video input/output (I/O) port, an earphone port, and the like may be included in the interface unit 170.

The identification module is a chip that stores various information for authenticating the use rights of the snake robot, and includes a user identification module (UIM), a subscriber identification module (SIM), and a universal user authentication module (Universal Subscriber Identity). Module, USIM), and the like. A device equipped with an identification module (hereinafter referred to as'identification device') may be manufactured in the form of a smart card. Thus, the identification device can be connected to the snake robot through the port.

The interface unit becomes a path through which power from the cradle is supplied to the snake robot when the snake robot is connected to an external cradle, or a path through which various command signals input from the cradle by a user are transmitted to the mobile device. Can be. Various command signals or the power input from the cradle may be operated as signals for recognizing that the mobile device is correctly mounted on the cradle.

The controller 180 typically controls the overall operation of the snake robot.

The power supply unit 190 receives external power and internal power under the control of the controller 180 and supplies power necessary for the operation of each component.

Various embodiments described herein may be implemented in a recording medium that can be read by a computer or a similar device using, for example, software, hardware, or a combination thereof.

According to hardware implementation, the embodiments described herein include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), It may be implemented using at least one of processors, controllers, micro-controllers, microprocessors, and electrical units for performing other functions. The described embodiments may be implemented by the controller 180 itself.

According to software implementation, embodiments such as procedures and functions described in the present specification may be implemented as separate software modules. Each of the software modules may perform one or more functions and operations described herein. The software code can be implemented with a software application written in an appropriate programming language. The software code may be stored in the memory 160 and executed by the controller 180.

Further, the system 100 according to the present invention may include a robot hand 200.

The robot hand 200 largely includes a palm part 210 and a finger part 220.

The finger unit 220 may be configured in a structure having at least one node, and may move at the same speed with respect to the object through a distance sensor (not shown).

On the other hand, the robot hand 200 may be provided in the system 100 in plural, and not only a simple gripping operation but also performing a task having a specific order and coupling direction through the plurality of robot hands 200 It is possible.

In addition, the system 100 according to the present invention may include a nutrition supply unit 300.

The nutrition supply unit 310 may extend the golden time of the requestor by supplying the nutritional juice through the supply tube 310.

The structure of the snake robot

In the past, there is a case where a vine-type robot was developed, but only forward and backward is not possible, and reusability after one injection is not good, so use of detection and rescue missions that require repeated injection in several places. There was a problem that it was inappropriate.

In addition, the existing previously developed technologies have a problem that robots are being developed by focusing only on the movement/reconnaissance function of a narrow space.

Therefore, in order to extend the golden time of survivors, there is a growing need for a robot equipped with a function that can supply emergency drugs and nutrient juice to solve the above problems, in addition to the function of moving by mounting various sensors to find the investigator. .

An object of the present invention is to provide a user with a snake robot capable of extending the golden time of a requestor through a nutrient juice supply tube structure and a control method thereof in order to solve the conventional problem.

Specifically, the present invention relates to a snake robot for confirming life and danger at a site where a disaster such as a collapse of a building occurs. In the driving movement of the snake robot, forward/reverse rotation in horizontal and vertical directions is performed based on the module rotation axis. With a structure that can be implemented, a snake robot that implements the movement of the main body similar to the actual snake movement and a control method thereof are provided to the user.

In addition, the present invention is a gripper (e.g., 3G and 10 degrees of freedom, 4G and 8 degrees of freedom, 3 grippers and 1 It is intended to provide users with a snake robot consisting of a single snake robot head module with a gripper combined with a camera) and a tube that can supply drugs or nutrient juice, and a control method thereof.

2 shows an example of a snake robot proposed by the present invention.

2, the robot hand 200 of the snake robot 100 is shown.

Referring to FIG. 2, the robot hand 200 largely includes a palm part 210 and a finger part 220.

The finger unit 220 may be configured in a structure having at least one node, and may move at the same speed with respect to the object through a distance sensor (not shown).

In addition, the finger part 220 may be rotated based on a certain point and completely removed from the back or bent at a certain angle.

In addition, the robot hand 200 may be provided in the snake robot 100 in plural, and through the plurality of robot hands 200, not only a simple gripping operation, but also a task having a specific order and coupling direction is performed. It is also possible.

Further, referring to FIG. 2, the system 100 according to the present invention includes a nutrition supply unit 300.

The nutrition supply unit 310 may extend the golden time of the requestor by supplying the nutritional juice through the supply tube 310.

In addition, referring to FIG. 2, the body portion 410 of the snake robot 100 is shown, and through the inside of the body portion 410, a power line, a supply tube 310, a communication line, etc. may be disposed. .

In addition, referring to FIG. 2, a tail portion 420 of the snake robot 100 is shown, and a connection structure 411 connecting the tail portion 420 and the body portion 410 is also shown.

On the other hand, the body part 410 and the tail part 420 of the snake robot 100 according to the present invention are wrapped in a soft tube such as waterproof and dustproof rubber material so that they can be used in flat, non-flat, and narrow spaces. Can be implemented as

In addition, the snake robot 100 according to the present invention may be implemented by integrating lighting, a camera, various detection sensors and grippers, and a nutrient juice supply tube.

The snake robot 100 according to the present invention may compactly mount a plurality of sensors on at least a portion of the head region, the body portion 410 and the tail portion 420, and may be used for detection and rescue of buried persons.

3 shows a specific configuration of a structure connected to the tail of the snake robot according to the present invention.

3, the connection structure 411 connects the tail portion 420 and the body portion 410 of the snake robot 100, and the power line 191, the supply tube 310, and the communication line 111 are inside. ), etc. can be placed.

As shown in FIG. 3, the snake robot 100 has a shape in which two degrees of freedom modules having drive shafts orthogonal to each other in a universal joint method similar to the vertebrae of a snake are joined together.

Therefore, it is possible to shorten or lengthen the entire body length according to the purpose of the robot easily by using the modular body.

In addition, if the user simply manipulates only the moving direction through the image and sensor information sent from the snake robot 100, the actual driving of the robot can be automatically controlled according to the surrounding environment.

In addition, it is possible to provide an efficient method for detecting a buried person by configuring an information-oriented control screen from signals of a plurality of sensors 140 mounted on the snake robot 100.

As a result, the present invention implements the snake robot 100 in a structure capable of implementing the forward/reverse rotation in horizontal and vertical directions based on the module rotation axis in the driving movement of the snake robot. Move can be implemented.

In addition, the present invention is a robot hand (gripper, for example, 3G10 degrees of freedom, 4G8 degrees of freedom) for prolonging the golden time of people requiring rescue and various kinds of sensors 140 for checking life and danger. Etc.) can be used, but a typical set of three robot hands and one camera can be applied.

In addition, the present invention is to be a snake robot 100 comprising a tube capable of supplying drugs or nutrient juice as a single snake robot head module.

Nutrient supply unit applied to snake robot

Figure 4 is a block diagram illustrating the configuration of the nutrition supply unit of the snake robot according to the present invention.

Referring to FIG. 4, the nutrition supply unit 300 of the snake robot 100 according to the present invention includes a supply tube 310, a camera 320, a temperature sensor 330, a gas sensor 340, and a pattern projector 350. And the like.

In addition, although not shown, the nutrition supply unit 300 may additionally include a microphone.

As described above, the supply tube 310 is inserted into the body 410 of the snake robot 100 to supply nutrient juice, thereby extending the golden time of the requestor.

That is, the supply tube 310 is used in the snake robot body as a hose for supplying drugs and nutrient juice in response to the need to supply food, water, etc. to extend the golden time of the requestor.

In addition, two or more cameras 320 may be provided depending on the use environment.

The camera 320 according to the present invention may be a thermal imaging camera.

The thermal imaging camera is also referred to as a far-infrared camera, and is a camera that photographs at least one object using far infrared (Far Infrared, LongWave Infrared, FIR).

Far-infrared rays usually mean infrared rays having a wavelength of 8 μm or more, and because they are longer than visible rays, they are invisible, have a large thermal action, and have a strong penetrating power.

The characteristics of the far-infrared camera according to the present invention will be described.

Since a camera using a general CCD or CMOS device detects and projects light in the visible light region, it is possible to acquire an image similar to what the human eye sees.

On the other hand, the far-infrared camera 122 projects light in an infrared band that humans cannot see.

Infrared refers to light in the band of 750nm to 1mm among the wavelengths of light. Among these infrared bands, the light of NIR (Near Infra-Red) refers to the wavelength of 700nm to 1400nm, and the light in the NIR band is not visible to the human eye. It can be detected with a CCD or CMOS device, and if a filter is used, only light in the NIR band can be detected.

In contrast, FIR light is also known as LWIR (Long Wavelength Infra-Red), and infrared rays represent a band of 8 μm to 15 μm among the wavelengths of light.

In particular, since the wavelength of the FIR band changes according to temperature, there is an advantage of distinguishing the temperature.

The body temperature of a person (pedestrian) who is the target of the far-infrared camera has a wavelength of 10 μm.

In particular, information acquired through a far-infrared camera is converted into a digital image signal, the converted image signal is analyzed, corrected, and supplemented through a specific algorithm, and the processed image signal is transmitted through the display unit 151. It can be controlled to be output.

In addition, a radar may be provided as a kind of camera 320 according to the present invention.

Radar is an abbreviation of Radio Detecting And Ranging. It emits electromagnetic waves of microwaves (microwaves, 10cm to 100cm wavelengths) to an object and receives the electromagnetic waves reflected from the object, such as distance, direction, and altitude from the object. It is a wireless monitoring device to find out.

In addition, a rider may be provided as a kind of camera 320 according to the present invention.

Rider is short for light detection and ranging, and is like laser radar.

It can be seen as a radar developed using a laser beam with properties close to radio waves. Although the laser was initially developed for communication, it has the characteristics of both light and radio waves due to its strong monochromaticity.

In other words, it is a device that emits pulsed laser light into the atmosphere and uses the reflector or scatterer to measure distance, atmospheric phenomena, and the like.

The Rider calculates the time measurement of the reflected light with a clock pulse, and can have a resolution of 5m at 30MHz and 1m at 150MHz, and generate a strong infrared pulse with a small beam width of about 30 seconds at an angle.

In addition, a temperature sensor 330 is a sensor that responds to a change in temperature and is used to automate temperature management by detecting a change in temperature.

The temperature sensor 330 is a sensor that senses heat and generates an electrical signal, and is generally divided into a contact type and a non-contact type. The contact type measures a temperature value by directly contacting an object to be measured, and the non-contact type measures a heat ray radiated from an object. This is how to measure.

The temperature sensor is a device for electronic circuits having a characteristic of a negative resistance temperature coefficient that decreases the resistance value when the temperature increases, and it is widely used as a sensor for temperature control because the heat capacity is small and a sudden change in resistance occurs even with a small temperature change.

In addition, the gas sensor 340 is a generic term for a sensor that detects gas, and is one of the sensors that has increased in demand not only in the industrial field but also for home use as various gases have begun to be used as an energy source.

After measuring a gas component, a gas sensor 340 that transmits a signal according to an amount of a specific gas component contained in the gas is used to control the device or transmit an alarm according to the result.

The detection method of a gas sensor varies depending on the type and concentration of gas, so there are a great number of types. Examples of combustible gas sensors include catalytic combustion sensors, semiconductor sensors, ceramic gas sensors, and the like.

In addition, it is known that ZrO2, TiO2, CoO, and LaAlO3 materials are used for the oxygen sensor.

In addition, if classified by detection method, electrochemical method (solution conduction method, electrostatic potential electrolysis method, diaphragm electrode method), optical method (infrared absorption method, visible part absorption method, optical interference method), electrical method (hydrogen ionization method, thermal conduction method) , A catalytic combustion method, a semiconductor method), and the like, such as a gas chromatography method.

In addition, the pattern projector 350 is a device that illuminates a slide or a moving image on a screen using light, and in the present invention, it may be possible to display information by applying a pattern.

Figure 5 shows an example of the nutrition supply unit of the snake robot according to the present invention.

Referring to FIG. 5, an example of an actual implementation of the nutrition supply unit 300 is shown.

Referring to FIG. 5, in the nutrition supply unit 300, a supply tube 310 is shown, nutrient juice can be supplied through a corresponding region, two cameras 320 are provided, a temperature sensor 330, a gas sensor 340 and a pattern projector 350, and the like are included.

In addition, the robot hand 200 is connected to a partial area of the nutrition supply unit 300, and the plurality of finger portions 220 of the robot hand 200 are implemented in a form that is completely reclined in FIG. 5.

In addition, Figure 6 shows an example of extending the golden time of the requestor through the nutrient juice supply tube structure of the snake robot according to the present invention.

Joints that make up the body of the snake robot (driving part)

7A to 7C show an example of the configuration of the driving unit (joint) of the snake robot body according to the present invention.

First, referring to FIG. 7A, an example of any one of a plurality of modules constituting the body portion 410 is shown.

Referring to FIG. 7A, the driving part (joint) of the snake robot body module 410 is applied with a hinge method 415 capable of rotating 416 by ±90°.

In addition, the driving units 413, 414, etc. of the snake robot body module 410 are connected to each other by 90 degrees to form the snake robot body part 410.

The joint driving method of the trunk module is configured in a motor-gear-output shaft method, and two methods as shown in FIGS. 7B and 7C may be considered.

First, referring to FIG. 7B, a BLDC motor 431 and a spur gear module 432 are applied in a power transmission method.

In addition, referring to FIG. 7C, a BLDC motor 431, a timing belt 433 and a harmonic reducer 434 are applied as a power transmission method.

Serpentine robot with wheels

8A to 8D illustrate a specific example of a snake-shaped robot with wheels applied to a rough terrain in relation to the present invention.

As previously mentioned, in the present invention, at least one of the length and shape of the body portion is changed based on a change of at least one of a connection point and a separation distance between a plurality of modules, and at least one of the changed length and shape of the body portion is changed. Using the snake robot 100 is movable.

In this case, in an exemplary embodiment of the present invention, wheels 510 and 520 may be provided at each of the first module and the second module at one end of the plurality of modules 410.

At this time, the wheels 510 and 520 provided in the first module at one end and the second module at the other end of the plurality of modules 410 may use at least one of the length and shape of the body to change the snake robot 100. This can be a hindrance in the process of moving.

Therefore, as shown in FIG. 8A, in the present invention, the plurality of wheels 510 and 520 are spaced apart from the ground so as not to contact the ground and are provided at one end and the other end.

On the other hand, it is not easy for the snake robot 100 according to the present invention to move using at least one of the length and shape of the body part to be changed, and an environment in which the snake robot 100 is rolled through a wheel may be given a more suitable condition.

In this case, in the present invention, the wheels 510 and 520 provided in the first module at one end and the second module at the other end of the plurality of modules 410 are used.

That is, referring to FIG. 8B, the weight of at least some of the plurality of modules according to the present invention can be changed, and in a state in which the first module and the second module are in contact with the ground, the first module and the The weight of at least one third module excluding the second module may be reduced to less than a predetermined weight.

Here, the expression that the weight of the module changes means that the load supported by the module changes.

” 형태가 되고, 상기 변화된 “

" 형태를 기초로, 상기 제 1 모듈과 제 2 모듈에 구비된 복수의 바퀴가 상기 지면에 접촉된다.In addition, while the weight of the third module is reduced, the separation distance between the first module and the second module decreases, and the shape of the snake robot is “

”Became a form, and the changed“

"Based on the shape, a plurality of wheels provided in the first module and the second module are in contact with the ground.

" 형태에서 뱀 로봇(100)은 복수의 바퀴(510, 520)을 이용하여 이동하는 것이 가능하다.therefore "

In the form, the snake robot 100 can move using a plurality of wheels 510 and 520.

" 형태에서 뱀 로봇(100)을 험지(520)에서 장애물 극복에 활용하도록 적용하는 일례가 도시되고, 도 8d를 참조하면, 제 1 벽(611)과 제 2 벽(612)로 이루어진 극 협소 공간에서 전술한 “

" 형태의 뱀 로봇(100)을 활용하는 구체적인 일례가 도시된다.Referring to FIG. 8C, the above-described “

An example in which the snake robot 100 is applied to overcome obstacles in the rough terrain 520 is shown in the form, and referring to FIG. 8D, an extremely narrow space consisting of a first wall 611 and a second wall 612 As described above in “

A specific example of utilizing the snake robot 100 of the form is shown.

With reference to the drawings, the configuration and operation process of the present invention will be described in more detail.

9 is a flow chart illustrating a method of traveling on a level surface of a snake-shaped robot with wheels in connection with the present invention.

Referring to FIG. 9, first of all, a step (S10) in which wheels spaced apart from the ground are provided in each of the first module, which is one end, and the second module, which is the other end, among the plurality of modules.

Thereafter, based on a change in at least one of a connection point and a separation distance between the plurality of modules, at least one of the length and shape of the body portion is changed (S20).

In addition, a step (S30) of moving the snake robot 100 is performed using at least one of the length and shape of the body part 410 that is changed.

At this time, the weight of at least some of the plurality of modules can be changed, and the first module and the second module are in contact with the ground. A step (S40) of reducing the weight to less than a predetermined weight is performed.

Here, the expression that the weight of the module changes means that the load supported by the module changes.

” 형태가 되는 단계(S50)가 진행된다.In addition, while the weight of the third module is reduced, the separation distance between the first module and the second module decreases, and the shape of the snake robot becomes “

The step (S50) to become a form is in progress.

Based on this changed shape, a step (S60) in which a plurality of wheels provided in the first module and the second module contact the ground is performed.

After step S60, a step (S70) of moving the snake robot by using a plurality of wheels in contact with the ground and a change in the separation distance between the first module and the second module are performed.

In connection with step S70, FIG. 10 shows an example of a flat traveling pattern of a snake-shaped robot with wheels in connection with the present invention.

Referring to FIG. 10A, step S70 of FIG. 9 is applied, and the snake robot moves using a change in the separation distance between the first module and the second module and a plurality of wheels in contact with the ground.

On the other hand, as shown in (b) of Figure 10, it is also possible to apply a special driving pattern in the present invention.

That is, as in the skating driving method, it is possible to easily move through a plurality of wheels 510 and 520 in contact with the ground in a predetermined driving direction by periodically bringing the distance between the first module and the second module closer and further away. It is possible.

Driving method using the brake of the wheel and the bending power of the body of a snake-type robot with wheels

Meanwhile, in the movement of the snake-like robot 100 through the plurality of wheels 510 and 520 described above, a power source is not placed on the wheel itself, and a brake element is added to the plurality of wheels 510 and 520, and “brake control It is also possible to move the snake-like robot 100 through "and the bending motion of the body."

11 is a flowchart illustrating a driving method using a brake of a wheel and a bending power of a body in connection with the present invention.

Referring to FIG. 11, first, brakes 511 and 521 are further provided in each of the first module and the second module, and the first wheel of the first module among the plurality of wheels In step 510, the rotation is stopped by the brake 511 of the first module (S61).

At this time, in a state in which the rotation of the first wheel 510 is stopped, the second wheel 520 of the second module rotates to move the second module toward the first module (S62). .

In addition, when the second module is moved toward the first module, the rotation of the second wheel 520 is stopped by the brake 521 of the second module, and the brake 511 of the first module is operated. This is canceled step (S63) is performed.

As described above, in a state in which the rotation of the second wheel is stopped, the first wheel 510 rotates to move the first module in a direction away from the second module (S64).

Thereafter, steps S61 to S64 are repeatedly performed (S65), so that the snake-like robot 100 moves through “brake control and bending motion of the body”.

12 shows an example of a driving process using a brake of a wheel and a bending power of a body in relation to the present invention.

Referring to FIGS. 12A and 12B, rotation of the second wheel 510 of the second module is stopped by the brake 521 of the first module.

In addition, while the rotation of the second wheel 520 is stopped, the first wheel 510 of the first module rotates, so that the first module moves toward the second module.

Thereafter, as shown in (c) of FIG. 12, while the first module has moved toward the second module, the first wheel 510 is stopped rotating by the brake 511 of the first module. , The operation of the brake 512 of the second module is released.

In addition, when the rotation of the first wheel is stopped, the second wheel 520 rotates, and the second module moves in a direction away from the first module, thereby performing “brake control and bending operation of the body”. Through the snake-shaped robot 100 is moved.

How to move by connecting multiple snake-shaped robots

Meanwhile, according to another embodiment of the present invention, a method of fastening and applying a plurality of snake-like robots 100 may be applied.

13 is a flowchart illustrating a method of moving by fastening a plurality of snake-like robots in connection with the present invention.

Referring to FIG. 13, a step (S70) in which a plurality of snake robots 100 are connected to each other is performed.

A magnetic fastening method may be applied as a method in which the plurality of snake robots 100 are connected in step S70.

For example, each module includes a coupling portion having an uneven (male/male) structure, and after coupling a coupling portion (male/male) configured as a pair between modules, the coupling may be maintained by magnetic force.

After step S70, in a state in which the plurality of snake robots 100 are connected, a change in the separation distance between the first module and the second module of each of the plurality of snake robots 100 and a plurality of wheels of each of the plurality of snake robots A step (S80) of moving by using at least one is performed.

Thereafter, when the plurality of snake robots 100 move to a predetermined position, a step (S90) of separating the plurality of snake robots is performed.

In addition, each of the separated plurality of snake robots 100 independently moves in order to perform a predetermined task (S100).

Meanwhile, in the present invention, a method of moving through a walking method may be applied in addition to a method of moving through a wheel in a state in which the plurality of snake robots 100 are coupled.

That is, if the wheel is not in contact with the ground, and when a plurality of snake robots 100 are coupled, a plurality of ends come into contact with the ground, and by walking using these contacted ends as a leg, It is also possible.

14 shows an example of moving by fastening a plurality of snake-like robots in connection with the present invention.

” 형태가 되어 있는 모습이 도시되고, (b)에서는 2개의 뱀 로봇(100a, 100b)이 연결부(700)를 통해 결합된 모습이 도시된다.In Fig. 14(a), one snake robot is “

The shape is shown, and in (b), the two snake robots 100a and 100b are combined through the connection part 700.

In addition, referring to (c) of FIG. 14, three snake robots 100a, 100b, and 100c are coupled through the connection part 700, and it is possible to move through a plurality of wheels or move together through walking.

In addition, as described above, when the plurality of snake robots (100a, 100b, 100c) is moved to a predetermined position, the plurality of snake robots are separated, and the separated plurality of snake robots (100a, 100b, 100c) ) Each moves independently to perform a predefined task.

Effects of snake robot

The present invention can provide a snake-shaped robot with wheels to a user.

Specifically, the present invention is based on a change in at least one of a connection point and a separation distance between a plurality of modules, at least one of the length and shape of the body portion is changed, and the change in the length and shape of the body portion is used. The snake robot is movable, and a wheel is provided at each of the first module at one end and the second module at the other end of the plurality of modules, and the plurality of wheels are spaced apart from the ground so as not to contact the ground and provided at one end and the other end. Serpentine robots with wheels can be provided to users.

The present invention relates to a snake robot and a control method thereof, and the present invention can provide a user with a snake robot capable of extending the golden time of a requester through a nutrient juice supply tube structure and a control method thereof.

The present invention relates to a snake robot capable of removing obstacles through a gripper and a control method thereof.The present invention relates to a snake robot equipped with a gripper function capable of manipulation such as locking a gas valve or removing obstacles around a burial person, and the same. A control method can be provided to the user.

The present invention relates to a snake robot and a control method thereof for detecting a buried person in a collapsed terrain, and the present invention provides a snake robot and a control method thereof for detecting a buried person in a flat narrow space and securing and extending the lifesaving golden time to a user. I can.

The present invention relates to a snake robot having a tube-shaped shell and a control method thereof.The present invention relates to a part that can inflate the body like a balloon is located at the body or tail, so that it is possible to spread between debris with pneumatic supplied from the outside. As an additional function, a snake robot having a tube-shaped shell that can increase the ability to secure the safety of an investor and a control method thereof can be provided to the user.

Specifically, the present invention relates to a snake robot for checking life and danger at a site in which a disaster situation such as a collapse of a building occurs. In the driving movement of the snake robot, forward/reverse rotation in the horizontal and vertical directions is performed based on the module rotation axis. With a structure that can be implemented, it is possible to provide a user with a snake robot that implements movement of the main body similar to the actual snake movement and a control method thereof.

In addition, the present invention is a gripper (e.g., 3G and 10 degrees of freedom, 4G and 8 degrees of freedom, 3 grippers and 1 A snake robot consisting of a single snake robot head module including a gripper combined with a camera) and a tube capable of supplying drugs or nutrient juice and a control method thereof can be provided to the user.

In addition, according to the present invention, since the requestor who is covered in debris is often unable to move his or her arms/legs, the golden time can be extended by supplying nutrient juice to the survivor.

In addition, according to the present invention, it is possible to provide a driving control assistant function that automatically controls the actual driving of the robot according to the surrounding environment by simply manipulating only the moving direction through the image and sensor information sent from the robot.

In addition, according to the present invention, it has a shape in which two degrees of freedom modules with drive shafts that are orthogonal to each other in a universal joint method similar to the vertebrae of a snake are joined together, and the entire body length can be easily reduced to suit the purpose of the robot using a modular body. It becomes possible for me to stretch.

In addition, according to the present invention, the modularized body has an aspect that is easy to mass-produce, and by replacing and operating sensor modules suitable for a purpose, it is possible to effectively respond to the detection of humans at the disaster site and the extension of the golden time.

In addition, according to the present invention, an information-oriented control screen is constructed from signals of a plurality of sensors mounted on a snake's head to provide an efficient method for detecting a buried person.

In addition, according to the present invention, it is possible to work in a narrow and dangerous industrial site and a disaster environment, so that it is possible to save time and cost for safety inspection, search for a narrow area, and work.

In addition, the present invention can be used in various fields such as a terrorist social safety robot and a military robot for detecting dangerous substances.

On the other hand, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. I will be able to.

In addition, the above-described embodiments of the present invention can be implemented through various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

In the case of hardware implementation, the method according to embodiments of the present invention includes one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), and Programmable Logic Devices (PLDs). , Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and the like.

In the case of implementation by firmware or software, the method according to the embodiments of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above. The software code may be stored in a memory unit and driven by a processor. The memory unit may be located inside or outside the processor, and may exchange data with the processor through various known means.

Detailed description of the preferred embodiments of the present invention disclosed as described above has been provided to enable those skilled in the art to implement and practice the present invention. Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the scope of the present invention. For example, a person skilled in the art may use the components described in the above-described embodiments in a manner that combines with each other. Accordingly, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The present invention may be embodied in other specific forms without departing from the spirit and essential features of the present invention. Therefore, the detailed description above should not be construed as restrictive in all respects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention. The invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. In addition, an embodiment may be configured by combining claims that do not have an explicit citation relationship in the claims, or may be included as a new claim by amendment after filing.

Claims (16)

In the snake robot consisting of a body portion connecting a plurality of modules,

Based on a change in at least one of a connection point and a separation distance between the plurality of modules, at least one of the length and shape of the body portion is changed,

The snake robot is movable using at least one of the changing length and shape of the body part,

Wheels are provided in each of the first module as one end and the second module as the other end among the plurality of modules,

The plurality of wheels are spaced apart from the ground so as not to contact the ground and are provided at one end and the other end,

The snake robot moves using a change in the separation distance between the first module and the second module and a plurality of wheels in contact with the ground,

Each of the first module and the second module further includes a brake that prevents rotation of the wheel,

In a state in which rotation of the first wheel of the first module among the plurality of wheels is stopped by the brake of the first module,
The second wheel of the second module rotates so that the second module is movable toward the first module,

When the second module is moved toward the first module, rotation of the second wheel is stopped by the brake of the second module, and the operation of the brake of the first module is released,
When the rotation of the second wheel is stopped, the first wheel rotates, so that the first module is movable in a direction away from the second module.
delete delete delete delete delete The method of claim 1,
The snake robot is plural,
The plurality of snake robots can be connected to each other,
In a state in which the plurality of snake robots are connected,
A snake robot, characterized in that the snake robot moves using at least one of a plurality of wheels of each of the plurality of snake robots and a change in a separation distance between the first module and the second module of each of the plurality of snake robots.
The method of claim 7,
When the plurality of snake robots move to a predetermined position,
The plurality of snake robots are separated,
Each of the separated plurality of snake robots is capable of moving independently in order to perform a predetermined task.
In the control method of a snake robot consisting of a body portion connecting a plurality of modules,
A first step of changing at least one of a length and a shape of the body portion based on a change in at least one of a connection point and a separation distance between the plurality of modules; And
A second step of moving the snake robot by using at least one of the length and shape of the body portion to be changed; Including,
Wheels are provided in each of the first module as one end and the second module as the other end among the plurality of modules,
The plurality of wheels are spaced apart from the ground so as not to contact the ground and are provided at one end and the other end,

After the second step,
A third step of moving the snake robot by using a plurality of wheels in contact with the ground and a change in the separation distance between the first module and the second module; further comprising,

Each of the first module and the second module further includes a brake that prevents rotation of the wheel,
The third step,
A 3-1 step in which the rotation of the first wheel of the first module among the plurality of wheels is stopped by the brake of the first module; And
3-2 step of moving the second module toward the first module by rotating the second wheel of the second module while the rotation of the first wheel is stopped; It further includes,

After the 3-2 step,
Step 3-3 in which the rotation of the second wheel is stopped by the brake of the second module, and the operation of the brake of the first module is released while the second module is moved toward the first module. ; And
3-4 step of moving the first module in a direction away from the second module by rotating the first wheel while the rotation of the second wheel is stopped; snake, characterized in that it further comprises How to control the robot.
delete delete delete delete delete The method of claim 9,
The snake robot is plural,
After the third step,
A fourth step of connecting the plurality of snake robots to each other; And
In a state in which the plurality of snake robots are connected, a change in the separation distance between the first module and the second module of each of the plurality of snake robots and a fifth moving using at least one of a plurality of wheels of each of the plurality of snake robots Step; Control method of a snake robot, characterized in that it further comprises.
The method of claim 15,
After the fifth step,
A sixth step of separating the plurality of snake robots when the plurality of snake robots move to a predetermined position; And
A seventh step of independently moving each of the plurality of separated snake robots to perform a predetermined task.

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