KR102489330B1 - Assembly Type Moving Robot - Google Patents

Abstract

The present invention relates to a prefabricated mobile robot configured to separate and combine a driving part and a functional part, wherein any one driving unit selected by a user among a plurality of driving units constituting a driving unit group: and a plurality of functional units forming a functional unit group It consists of any one functional unit selected by the user, the selected any one driving unit and the selected any one function unit are configured to be mutually coupled and separated, and the selected any one driving unit and any one selected above The structure, installation location, and fastening method of the first power terminal and the first communication terminal, the second power terminal and the second communication terminal, respectively, mounted on the functional unit are the same, and the selected arbitrary driving unit is manufactured to perform autonomous driving a first driving unit, a second driving unit manufactured to perform semi-autonomous driving according to the user's remote control operation, and a third driving unit selectively operating the autonomous driving and the semi-autonomous driving, wherein the plurality of Only the portion to which the driving part and the plurality of functional parts are fastened is manufactured in a unified standard, the shape and function of the plurality of driving parts and the plurality of functional parts are independently manufactured, and the third driving part among the plurality of driving parts The conversion from the autonomous driving to the semi-autonomous driving and the conversion from the semi-autonomous driving to the autonomous driving are automatically performed.

Description

Assembly type moving robot {Assembly Type Moving Robot}

The present invention relates to a mobile robot, and more particularly, to a prefabricated mobile robot configured to separate and combine a driving part and a functional part.

Currently, various types of robots are being developed and used for medical, real life, and industrial purposes. Among them, robots used in real life include cleaning robots, guide robots, crime prevention robots, and the like, and perform their own unique functions while moving within a given space.

In particular, as described in Korean Patent Registration No. 10-2156511, the cleaning robot is manufactured to perform functions such as cleaning and purifying the air indoors.

However, as we enter the era of COVID-19, the functions of cleaning robots demanded by consumers, such as disinfection, quarantine, and sterilization, are increasing, and the functions required by each individual are also different.

However, current cleaning robots are manufactured and sold in a form having functions intended by manufacturers, and thus do not satisfy all individual needs.

1. Domestic Patent No. 10-2156511 (Registration date: 2020.09.09.) (Name: Mobile robot and its control method) 2. Korean Patent Publication No. 10-2015-0122471 (Publication date: 2015.11.02) (Name: Robot module with non-directional connection and prefabricated robot using the module)

An object to be solved by the present invention is to provide a mobile robot having functions desired by a user.

The problem to be solved by the present invention is to allow a user to directly assemble and make a mobile robot having functions suitable for living or working environments.

It is not limited to the above technical problems, and other technical problems can be inferred from the following embodiments.

In the prefabricated mobile robot of the present invention according to an embodiment for solving the above problems, an arbitrary driving unit selected by a user among a plurality of driving units constituting a driving unit group: and a plurality of functional units selected by the user among a plurality of functional units forming a functional unit group Consisting of any one functional unit, the selected any one driving unit and the selected any one function unit are mutually coupled and separated, and the selected any one driving unit and the selected any one function unit are mounted respectively The structure, installation position, and fastening method of the first power terminal and the first communication terminal, the second power terminal and the second communication terminal are the same, and the selected arbitrary driving unit is a first driving unit manufactured to perform autonomous driving; A second driving unit manufactured to perform semi-autonomous driving according to the user's remote control operation, and a third driving unit selectively operating in the autonomous driving and the semi-autonomous driving, wherein the plurality of driving units and the plurality of driving units are selected. Only the part to which the functional part is fastened is manufactured in a unified standard, the plurality of driving parts and the shape and function of the plurality of functional parts are manufactured independently, and the third driving part among the plurality of driving parts is the same as in the autonomous driving. It is characterized in that the conversion to semi-autonomous driving and the conversion from the semi-autonomous driving to the autonomous driving are automatically performed.

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According to an embodiment of the present invention, the present invention can respond to various indoor environments by assembling and installing function units suitable for situations, such as cleaning, air purification, and sterilization, on a driving unit having wheels.

1 is a conceptual diagram of a prefabricated mobile robot according to an embodiment of the present invention.
2 is a view showing an assembled state of a prefabricated mobile robot according to an embodiment of the present invention.
3 is a block configuration diagram of a driving unit in a prefabricated mobile robot according to a first embodiment of the present invention.
4 is a block configuration diagram of a driving unit in a prefabricated mobile robot according to a second embodiment of the present invention.
5 is a block configuration diagram of functional units in the prefabricated mobile robot according to the first embodiment of the present invention.
6 is a block diagram of functional units in a prefabricated mobile robot according to a second embodiment of the present invention.
7 is a block diagram of functional units in a prefabricated mobile robot according to a third embodiment of the present invention.
8 is a block diagram of functional units in a prefabricated mobile robot according to a fourth embodiment of the present invention.
9 is a flowchart illustrating a method for recognizing functional parts in a fastening process in a prefabricated mobile robot according to a first embodiment of the present invention.
10 is a flowchart of a method for recognizing functional parts in a fastening process in a prefabricated mobile robot according to a second embodiment of the present invention.

In the following, several embodiments will be described clearly and in detail with reference to the accompanying drawings so that those skilled in the art (hereinafter, those skilled in the art) can easily practice the present invention. will be. Also, the term "unit" used in the specification may mean a hardware component or circuit.

Hereinafter, a prefabricated mobile robot according to an embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a conceptual diagram of a prefabricated mobile robot according to an embodiment of the present invention. Referring to FIG. 1, a prefabricated mobile robot 1000 according to an embodiment of the present invention includes a driving unit 100 equipped with a plurality of wheels and capable of forward, backward, left, right and rotational driving, air purification function, and disinfection. It consists of a functional unit 200 that performs functions such as / quarantine function, and the driving unit 100 and the functional unit 200 are detachably manufactured.

The driving unit 100 is one driving unit selected by a user or a manufacturer among a plurality of driving units constituting the driving unit group 10 . Here, the driving units constituting the driving unit group 10 include a first driving unit 11 manufactured to perform autonomous driving, a second driving unit 12 manufactured to drive according to a user's remote control operation, that is, semi-autonomous driving, and autonomous driving. In addition to the third driving unit 13 that selectively operates driving and semi-autonomous driving, there are a plurality of driving units equipped with additional functions.

When manufactured for autonomous driving, the driving unit 100 has a function of searching for a surrounding environment using a LIDAR sensor and a camera, a function of detecting and avoiding an obstacle using an ultrasonic sensor, a function of estimating a current location, and a function of creating a map and a route. is mounted Map information used by the mobile robot 1000 during autonomous driving may be map information stored in the mobile robot 1000 itself or map information provided from a remote location based on the current location of the mobile robot 1000.

When manufactured for semi-autonomous driving, the driving unit 100 has a function of performing short-range communication with a user's remote control and driving according to a command received from the remote control. In addition, in the case of manufacturing autonomous driving and semi-autonomous driving, the driving unit 100 allows the conversion from autonomous driving to semi-autonomous driving and the conversion from semi-autonomous driving to autonomous driving by the user's remote control operation, or set It can be made to be done automatically when an event is detected.

The functional unit 200 is one functional unit selected by a user or a manufacturer among a plurality of functional units constituting the functional unit group 20 . Here, the functional units constituting the functional unit group 20 include a first functional unit 21 that performs a cleaning function, a second functional unit 22 that performs a disinfection function, a third functional unit 23 that performs a disinfection function, There are a plurality of functional units that perform at least two functions of cleaning, disinfection, and quarantine. Of course, the functional unit 200 may have a function other than a cleaning function, a disinfection function, and a quarantine function.

Therefore, the prefabricated mobile robot 1000 according to an embodiment of the present invention is a combination of a selected one of a plurality of driving units and a selected one of a plurality of functional units.

2 is a view showing an assembled state of a prefabricated mobile robot according to an embodiment of the present invention. Referring to FIG. 2 , in the prefabricated mobile robot 1000 according to an embodiment of the present invention, a main controller is mounted on the driving unit 100 and a power supply unit is also mounted.

The main controller controls the overall operation of the driving unit 100 when the functional unit 200 is not coupled, and controls the overall operation of the driving unit 100 and the functional unit 200 when the functional unit 200 is coupled. control the action And the power supply unit supplies power to each component of the driving unit 100 when the function unit 200 is not coupled, and when the function unit 200 is coupled, the driving unit 100 and the function unit 200 supply power to each component of Here, it is preferable that the power supply unit is composed of at least one battery.

Therefore, in the prefabricated mobile robot 1000 according to an embodiment of the present invention, if only the part where the driving part 100 and the functional part 200 are fastened is manufactured in a unified standard, the driving part 100 and the functional part 200 The overall shape or function can be designed and manufactured independently.

The unified standard is the coupling (connection) standard of the data communication terminal (communication terminal) between the driving unit 100 and the functional unit 200 and the power supply terminal (power terminal) between the driving unit 100 and the functional unit 200. It is a combination (fastening) standard. The standards include structures and fastening methods of communication terminals and power terminals, installation positions of communication terminals and power terminals, and the like.

As an example, referring to FIG. 2 , in the driving unit 100, the first power terminal 100a1 is installed on a part of the upper side of the driving unit 100, and the first communication terminal 100b1 is installed on the driving unit 100. It is installed on another part of the upper side. Correspondingly, in the functional unit 200, a second power terminal 100a2 manufactured and installed to be fastened to the first power terminal 100a1 is installed on a part of the lower side of the functional unit 200, and the first communication terminal The second communication terminal 100b2 manufactured and installed to enable fastening with (100b1) is installed on another part of the lower side of the functional unit 200.

That is, the first and second power terminals 100a1 and 100a2 are manufactured so that when the driving unit 100 and the functional unit 200 are coupled, they are naturally connected to each other, and the first and second communication terminals 100b1 and 100b2 ) Also, according to the combination of the driving unit 100 and the functional unit 200, they are manufactured to be naturally fastened to each other.

3 is a block configuration diagram of a driving unit in a prefabricated mobile robot according to a first embodiment of the present invention, and is an example of a driving unit having an autonomous driving function.

Referring to FIG. 3 , the driving unit 100 of the prefabricated mobile robot 1000 according to the first embodiment of the present invention includes a battery unit 110, a main wheel driving unit 120, an auxiliary wheel driving unit 130, and obstacle detection. / includes the avoidance unit 140, the main controller 150, the first power terminal 100a1 and the first communication terminal 100b1. Here, since the basic configuration required for autonomous driving and the configuration for user input (eg, power switch, operation switch, etc.) can be sufficiently predicted by those skilled in the art, they are not shown in FIG. 3 and accordingly are not shown. Omit the description of the configuration.

In addition, the driving unit 100 has at least two driving wheels 101 for forward and backward movement and at least one auxiliary wheel 102 for left and right steering.

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The battery unit 110 powers the main controller 150, the main wheel drive unit 120, the auxiliary wheel drive unit 130, the obstacle detection/avoidance unit 140, and all other components that operate using power not shown. supply The battery unit 110 includes at least one battery.

The main wheel driving unit 120 is driven under the control of the main controller 150 to steer the driving wheel 101 and rotate the driving wheel 101 . And the auxiliary wheel driving unit 130 is driven under the control of the main controller 150 to steer the auxiliary wheel 102 and rotate the auxiliary wheel 102 .

The obstacle detection/avoidance unit 140 detects an object located in front, that is, an obstacle, and provides information for avoiding the detected obstacle (eg, distance to the obstacle, speed of the obstacle, etc.) to the main controller 150 .

The main controller 150 controls the overall operation of the traveling unit 100 . In particular, the main controller 150 controls the operation of the main wheel drive unit 120 and the auxiliary wheel drive unit 130 to drive according to a path set for autonomous driving, and the obstacle in front through the obstacle detection / avoidance unit 140. When found, it controls the operation of the main wheel driving unit 120 and the auxiliary wheel driving unit 130 to avoid the obstacle.

In addition, when the main controller 150 detects the fastening of the functional unit 200 and the driving unit 100 through the first communication terminal 100b1, it identifies the components mounted on the functional unit 200 and the first communication terminal 100b1. ) through which the function unit 200 is communicated with and the operation of the function unit 200 is controlled.

The first power terminal 100a1 is connected to the battery unit 110 through a power line, and when connected to the second power terminal 100a2 of the functional unit 200 through a power line, power supplied from the battery unit 100 is provided to the functional unit 200 through the second power terminal 100a2.

The first communication terminal 100b1 is connected to the main controller 150, and when electrically connected to the second communication terminal 100b2 of the functional unit 200, the main controller 150 together with the second communication terminal 100b2. ) and the functional unit 200 to form a communication line.

FIG. 4 is a block diagram of a driving unit in a prefabricated mobile robot according to a second embodiment of the present invention, and is an example of deformation of the prefabricated mobile robot according to the first embodiment of the present invention shown in FIG. 3 .

Referring to FIG. 4 , the driving unit 100 of the prefabricated mobile robot 1000 according to the second embodiment of the present invention may be configured to perform at least a sterilization function or a quarantine function in addition to an autonomous driving function. For example, the driving part 100 of the prefabricated mobile robot 1000 according to the second embodiment of the present invention is equipped with a liquid container 103 for accommodating liquid for sterilization or quarantine, in addition to the configuration according to the first embodiment. and may further include a spraying unit 160 spraying the liquid contained in the liquid container 103 under the control of the main controller 150 .

5 is a block configuration diagram of functional units in the prefabricated mobile robot according to the first embodiment of the present invention. Referring to FIG. 5 , the functional unit 200 of the prefabricated mobile robot 1000 according to the first embodiment of the present invention includes a peripheral sensing unit 210, a camera 220, an IMU 230, an input unit 240, It includes an air cleaning unit 250, a second power terminal 100a2 and a second communication terminal 100b2. Here, the peripheral sensing unit 210 , the camera 220 , and the IMU 230 may be omitted as the configuration of the functional unit 200 and may be mounted on the driving unit 100 .

The surrounding sensing unit 210 detects information around the mobile robot 1000, and the camera 220 captures the traveling direction of the mobile robot 1000 or the surroundings of the mobile robot 1000.

An inertial measurement unit (IMU) 230 measures inertia of the mobile robot 1000 . The IMU 230 may be described as an electronic device that uses a combination of an accelerometer, a tachometer, and sometimes a magnetometer to measure a specific force of the mobile robot 1000, an angular rate, and sometimes a magnetic field surrounding the mobile robot 1000. The IMU 230 may include at least one of an acceleration sensor, a gyro sensor, and a magnetic sensor.

The input unit 240 is for receiving information from a user and may operate in a voice input method or a touch input method. The air cleaning unit 250 includes various sensors and filters, sucks in ambient air, purifies it, and discharges clean air.

The second power terminal 100a2 is connected to the peripheral sensing unit 210, the camera 220, the IMU 230, the input unit 240, and the air cleaning unit 250 through a power line, and is connected to the driving unit 100 and When coupled, power supplied from the first power terminal 100a1 is provided to each component.

The second communication terminal 100b2 is electrically connected to the peripheral sensing unit 210, the camera 220, the IMU 230, the input unit 240, and the air cleaning unit 250, and is coupled to the driving unit 100. A signal provided from the first communication terminal 100b1 is provided to each component.

FIG. 6 is a block diagram of a functional unit in a prefabricated mobile robot according to a second embodiment of the present invention. In the prefabricated mobile robot 1000 according to the first embodiment described with reference to FIG. 5, a sterilization or quarantine function is provided. for added cases.

Referring to FIG. 6 , the prefabricated mobile robot 1000 according to the second embodiment of the present invention may further include a spraying unit 260 and a liquid container 270 in the configuration according to the first embodiment. Of course, the present invention may be configured by adding components for other functions in addition to the sterilization or quarantine function in the configuration according to the first embodiment.

Liquid for sterilization or disinfection is accommodated in the liquid container 270 , and the spraying unit 260 sprays the liquid for sterilization or disinfection contained in the liquid container 270 . At this time, the injection amount and injection speed are controlled by the main controller 150.

On the other hand, when a new injection unit 260 is configured in preparation for the first embodiment of the present invention, the second power terminal 100a2 is connected to the injection unit 260 and the power line, and the second communication terminal 100b2 ) is electrically connected to the injection unit 260, that is, a communication line is connected.

In the functional unit 200 of the prefabricated mobile robot 1000 according to the first and second embodiments of the present invention described above, each component electrically connected to the second communication terminal 100b2 is the main controller of the driving unit 100 ( 150) is an example configured to receive direct control.

An example in which each component of the functional unit 200 is indirectly controlled by the main controller 150 will be described with reference to FIGS. 7 and 8 .

7 is a block diagram of functional units in a prefabricated mobile robot according to a third embodiment of the present invention. Referring to FIG. 7 , the functional unit 200 of the prefabricated mobile robot 1000 according to the third embodiment of the present invention includes a peripheral sensing unit 210, a camera 220, an IMU 230, an input unit 240, It includes an air cleaning unit 250, a second power terminal 100a2, a second communication terminal 100b2, and an auxiliary controller 280.

Here, the peripheral sensing unit 210 , the camera 220 , and the IMU 230 may be omitted as the configuration of the functional unit 200 and may be mounted on the driving unit 100 .

In comparison with the functional unit 200 of the prefabricated mobile robot 1000 according to the first embodiment of the present invention, the functional unit 200 of the prefabricated mobile robot 1000 according to the third embodiment of the present invention is an auxiliary The controller 280 is added, and the second communication terminal 100b2 forms a communication line with the auxiliary controller 280 without forming a communication line with each component.

Therefore, when the functional unit 200 is coupled to the driving unit 100, the main controller 150 of the driving unit 100 communicates with the auxiliary controller 280 through the first and second communication terminals 100b1 and 100b2. It communicates with, and the auxiliary controller 280 controls the operation of each component 210 to 250 according to the control of the main controller 150.

8 is a block diagram of functional units in a prefabricated mobile robot according to a fourth embodiment of the present invention, showing a configuration in which a sterilization or quarantine function is added to a prefabricated mobile robot 1000 according to a third embodiment of the present invention. .

FIG. 9 is a flowchart of a method for recognizing a functional unit in a fastening process in a prefabricated mobile robot according to a first embodiment of the present invention, when the functional unit 200 does not have an auxiliary controller.

Referring to FIG. 9 , when the user connects the functional unit 200 to the traveling unit 100, the first power terminal 100a1 and the second power terminal 100a2 are electrically connected to the functional unit 200 and the traveling unit 100a2. A power line is formed between the units 100, and the first communication terminal 100b1 and the second communication terminal 100b2 are electrically connected to form a communication line between the driving unit 100 and the functional unit 200 (S901 ).

At the same time, the power provided by the battery unit 110 of the driving unit 100 is supplied to each component of the functional unit 200 through the first and second power terminals 100a1 and 100a2 (S902), and each component It transmits its own identification information through the communication line (S903).

Here, the identification information of each component may be identification information of a hardware device in which the corresponding component is mounted or identification information of software that performs an operation of the corresponding component.

The identification information of each component transmitted through the communication line is received by the main controller 150 (S904), and the main controller 150 identifies the function of each component through the received identification information, and each component Register identification information (S905).

Thereafter, the main controller 150 controls the operation of the corresponding component by executing a script corresponding to the identification information of each component when controlling the operation of the functional unit 200 .

FIG. 10 is a flowchart of a method for recognizing a functional unit in a fastening process in a prefabricated mobile robot according to a second embodiment of the present invention, when the functional unit 200 has an auxiliary controller.

Referring to FIG. 10 , when a user connects the functional unit 200 to the traveling unit 100, the first power terminal 100a1 and the second power terminal 100a2 are electrically connected to the functional unit 200 and the traveling unit 100a2. A power line is formed between the units 100, and the first communication terminal 100b1 and the second communication terminal 100b2 are electrically connected to form a communication line between the traveling unit 100 and the functional unit 200 (S1001 ).

At the same time, the power provided by the battery unit 110 of the traveling unit 100 is supplied to each component of the functional unit 200 through the first and second power terminals 100a1 and 100a2 (S1002), and the functional unit ( The auxiliary controller 280 confirming that each component of 200) operates normally transmits identification information for each component through a communication line (S1003).

The identification information of each component transmitted through the communication line is received by the main controller 150 (S904), and the main controller 150 identifies the function of each component through the received identification information, and each component Register identification information (S905).

Thereafter, the main controller 150 transmits a signal for controlling the operation of the corresponding component to the auxiliary controller 280 when controlling the operation of the functional unit 200, and the auxiliary controller 280 functions on behalf of the main controller 150. Operation control for each component of the unit 200 is performed.

The above descriptions are intended to provide exemplary configurations and operations for implementing the present invention. The technical idea of the present invention will include not only the above-described embodiments, but also implementations that can be obtained by simply changing or modifying the above embodiments. In addition, the technical idea of the present invention will also include implementations that can be achieved by easily changing or modifying the embodiments described above in the future.

1000: mobile robot 100: driving unit
200: functional part 10: driving part group
20: Functional group ` 100a1: 1st power terminal
100a2: 2nd power terminal 100b1: 1st communication terminal
100b2: second communication terminal 110: battery unit
120: main wheel drive unit 130: auxiliary wheel drive unit
140: obstacle detection / avoidance 150: main controller
160, 260: injection unit 210: peripheral sensing unit
220: camera` 230: IMU
240: input unit 250: air cleaning unit
280: auxiliary controller

Claims (4)

Any one driving unit selected by the user from among the plurality of driving units constituting the driving unit group: and
It is composed of an arbitrary function unit selected by the user from among a plurality of functional units constituting the group of functional units,
The selected any one driving unit and the selected any one functional unit are configured to be detachable and coupled to each other,
The structure, installation position, and fastening method of the first power terminal and the first communication terminal and the second power terminal and the second communication terminal, respectively, mounted on the selected one driving unit and the selected one functional unit are the same, ,
The selected arbitrary driving unit has a first driving unit designed to perform autonomous driving, a second driving unit designed to perform semi-autonomous driving according to the user's remote control operation, and the autonomous driving and the semi-autonomous driving selectively operate. It is any one of the third traveling parts to do,
Only the parts to which the plurality of driving parts and the plurality of functional parts are fastened are manufactured in a unified standard, and the shapes and functions of the plurality of driving parts and the plurality of functional parts are independently manufactured,
Among the plurality of driving units, the third driving unit automatically switches from the autonomous driving to the semi-autonomous driving and from the semi-autonomous driving to the autonomous driving. According to claim 1,
The selected arbitrary driving unit includes a main controller for controlling the overall operation, a power supply unit for supplying power, and a drive unit for driving and steering the mounted wheels,
When the first and second communication terminals are interconnected to form a communication line, the main controller grasps the identification information of the components mounted in the selected one function unit, identifies the function of each of the components, and determines the configuration control the operation of each
The power supply unit supplies power to each of the components mounted in the selected function unit when the first and second power terminals are connected to form a power line. According to claim 1 or 2,
The first power terminal and the first communication terminal mounted on the selected one arbitrary driving unit are prefabricated to the same standard as the second power terminal and the second communication terminal formed on the selected one functional unit, respectively. mobile robot. According to claim 3,
The prefabricated mobile robot having at least one function of a cleaning function, a disinfection function, and a disinfection function.

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