KR101170485B1 - Caster wheel tilt adjusting apparatus and method thereof - Google Patents

Abstract

PURPOSE: A device and a method for regulating inclination of a caster wheel is provided to prevent damage to a caster unit because a caster wheel of the caster unit is return to an original state through a spring shock absorber of an inclination regulating unit. CONSTITUTION: A device for regulating inclination of a caster wheel comprises a fixing member(130), an inclination regulating unit, a locking unit(150), a caster unit, a distance measuring sensor(170), and a controlling unit. The inclination regulating unit is arranged in the fixing member. The caster unit is supported by the inclination regulating unit and comprises a caster wheel(141). The locking unit maintains the inclination regulating unit in a locking state or an unlock state. The distance measuring sensor is arranged in an lower frame(110) and measures a distance from the ground or an obstacle. When a slop way or the obstacle is existed, the controlling unit changes the locking unit from the locking state to the unlock state after reducing a moving speed of a service robot with a driving unit(180) below a pre-set speed. When the locking unit is in the locking state, the caster unit passes through the obstacle or the slope way according to the movement of the robot and maintains a folded state at a predetermined vertical angle.

Description

Caster wheel tilt adjusting apparatus and method

The present disclosure relates to a caster wheel tilt adjusting device and a method thereof, and more particularly, to detect an obstacle or an inclination of a floor through a distance measuring sensor, and when an obstacle or an inclination is detected, a caster unit provided at the bottom of the service robot is fixed. The present invention relates to a caster wheel inclination adjusting device and a method thereof, which interlock with a member, an inclination adjusting part, and the like, so as to be able to be folded at a predetermined angle so as to easily move a place having a vertical obstacle or an inclination.

In general, a service robot having two wheels in a lower frame (or cast) includes a plurality of caster wheels in a predetermined position of the lower frame for safe driving.

Such a lower frame provided with the caster wheel has difficulty in overcoming vertical obstacles or traveling on slopes while the service robot is running.

In order to overcome such a problem, a shock absorbing function or a vertical up / down function is applied to the upper end of the lower frame by using a tension device using a spring or a hydraulic / pneumatic device. Due to the pneumatic device, there is a problem in that the movement of the entire service robot (shaking in the front / rear or left / right directions) is increased.

In addition, when the service robot suddenly starts or stops, there is a problem that the spring or the hydraulic / pneumatic device is damaged.

Korean Patent Application No. 10-2002-7000703

An object of the present disclosure is to reduce the traveling speed of a service robot below a preset speed when a vertical obstacle or a slope is detected through a distance measuring sensor, and then, on the fixing member and the fixing member supported by the lower frame. The caster wheel inclination adjusting device for releasing the locking unit connecting the inclination control unit disposed, the caster wheel including the caster wheel can overcome the vertical obstacle or move the slope naturally through the linkage with the inclination control unit and its To provide a way.

Another object of the present specification, after the caster part including the caster wheel to overcome the vertical obstacle or naturally move the inclined road, the caster wheel included in the caster unit through the spring shobar included in the inclination control unit The present invention provides a caster wheel tilt adjusting device and a method thereof, which can be restored to an original state.

Caster wheel inclination adjustment apparatus according to an embodiment of the present specification, the caster wheel inclination adjustment apparatus is mounted to the service robot, including a lower frame, the fixing member disposed on the lower frame; An inclination controller disposed on the fixing member; A caster unit supported by the inclination control unit and including a caster wheel; A locking part disposed on the fixing member and configured to maintain the inclined control part in a locked state or in a unlocked state; A distance measuring sensor disposed on the lower frame and measuring a distance to a ground or an obstacle; And when there is an obstacle or a ramp based on the distance information measured by the distance measuring sensor, after decelerating the moving speed of the service robot to a predetermined speed or less through a driving unit, locking the operation state of the locking unit in the locked state. And a control unit for converting to a released state, wherein the caster unit may maintain a state of being folded at an arbitrary up and down angle while passing through an obstacle or a ramp according to the movement of the service robot when the lock unit is in the unlocked state.

As an example related to the present specification, the fixing member may include: a first fixing member disposed to be fixed on the lower frame; A second fixing member spaced apart from the first fixing member to be fixed on the lower frame; And a third fixing member supported by the first fixing member and the second fixing member, wherein the third fixing member is hollow so as to accommodate the supporting member included in the caster unit and a part of the locking unit. It can be formed in a frame structure.

As an example related to the present specification, the inclination adjustment unit may include a fixing part connected to the third fixing member through a bolt; A first connecting member formed of a hollow semi-circular shape and into which a part of the locking part is inserted; A second connecting member formed in a hollow semi-circular shape and partially connected to the first connecting member through a spring shobar through a fixing part; And the spring shovel disposed between the first connection member and the second connection member.

As an example associated with the present specification, the caster unit may include the caster wheel disposed on the lower frame; shaft; And a support member penetrating the caster wheel through the shaft, the hollow circular structure formed by the first connection member and the second connection member, and a support member penetrating the third fixing member. When the locking unit is in the unlocked state, the second connecting member may be pushed in the moving direction of the service robot by the movement of the service robot passing through the obstacle or the ramp.

As an example related to the present specification, the caster part may be restored to an initial state by the spring shobar after the caster wheel passes the obstacle or the ramp.

As an example related to the present specification, the control unit may convert the operating state of the locking unit from the unlocking state to the locked state after the first caster wheel passes the obstacle or the ramp.

Caster wheel inclination adjustment method according to an embodiment of the present specification, the caster wheel inclination adjustment method of the caster wheel inclination adjustment apparatus comprising a lower frame is mounted to the service robot, the distance sensor is disposed, the distance measuring sensor Measuring the distance to the ground or an obstacle; Determining whether an obstacle or a slope exists based on the measured distance information; As a result of the determination, when there is an obstacle or a ramp, decelerating a moving speed of the service robot to a speed below a preset speed through a driving unit; And converting an operating state of the locking unit disposed in the fixing member disposed in the lower frame from the locking state to the unlocking state, wherein the locking unit maintains the inclination adjusting unit disposed on the fixing member in the locked state. Or keep it in an unlocked state, the inclination adjustment unit supports a caster part including a caster wheel, and the caster part passes through an obstacle or a ramp according to the movement of the service robot when the lock part is in the unlocked state. The folded state can be maintained at any vertical angle.

As an example related to the present specification, after the first caster wheel passes the obstacle or the ramp, the operating state of the locking unit may be further changed from the unlocked state to the locked state.

As an example related to the present specification, the determining of the existence of the obstacle or the ramp includes: when the plurality of distance information continuously measured by the distance measuring sensor is equal to or less than a preset reference value or decreases at a predetermined rate, the obstacle or It can be determined that the ramp exists.

The caster wheel tilt adjusting device and the method according to an embodiment of the present disclosure, when the vertical obstacle or the slope is detected through the distance measuring sensor, after decelerating the traveling speed of the service robot to a predetermined speed or less, and then to the lower frame By unlocking the locking portion connecting the fixed member supported by the fixed member and the inclined control portion disposed on the fixed member, the caster wheel including the caster wheel to overcome the vertical obstacle or the slope by interlocking with the inclined control portion You can move naturally.

In addition, the caster wheel inclination adjustment device and method according to an embodiment of the present specification, after the caster portion including the caster wheel to overcome the vertical obstacle or naturally move the slope, spring shoba included in the inclination control unit Through the caster wheel included in the caster can be restored to its original state, it is possible to prevent the caster part including the caster wheel from being damaged and to prevent the driving wheel disposed on the lower frame from being lifted.

1 is a block diagram showing the configuration of the caster wheel inclination adjustment apparatus according to an embodiment of the present disclosure.
2 is a side view of the caster wheel tilt adjusting device according to an embodiment of the present disclosure.
Figure 3 is a view showing the configuration of the fixing member, caster portion, locking portion, inclination adjustment unit according to an embodiment of the present specification.
4 is a view showing the configuration of the inclination adjustment unit according to an embodiment of the present disclosure.
5 is a flowchart illustrating a caster wheel tilt adjusting method according to an exemplary embodiment of the present specification.
6A to 6E are views illustrating a change in the caster part, the lock part, and the inclination adjusting part according to the movement of an obstacle or an inclined road according to an exemplary embodiment of the present specification.

It is to be noted that the technical terms used herein are merely used to describe particular embodiments, and are not intended to limit the present invention. It is also to be understood that the technical terms used herein are to be interpreted in a sense generally understood by a person skilled in the art to which the present invention belongs, Should not be construed to mean, or be interpreted in an excessively reduced sense. In addition, when the technical terms used herein are incorrect technical terms that do not accurately express the spirit of the present invention, they should be replaced with technical terms that can be understood correctly by those skilled in the art. In addition, the general terms used in the present invention should be interpreted according to a predefined or prior context, and should not be construed as being excessively reduced.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In the present application, the term "comprising" or "comprising" or the like should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps.

In addition, terms including ordinal numbers, such as first and second, as used herein may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or similar components will be given the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. In addition, it should be noted that the accompanying drawings are only for easily understanding the spirit of the present invention and should not be construed as limiting the spirit of the present invention by the accompanying drawings.

1 is a block diagram showing the configuration of the caster wheel inclination adjustment apparatus according to an embodiment of the present disclosure.

As shown in FIG. 1, the caster wheel tilt adjusting device (or caster wheel tilt adjusting device) 100 includes a lower frame 110, a driving wheel 120, a fixing member 130, and a caster part 140. , A locking unit 150, an inclination adjusting unit 160, a distance measuring sensor 170, a driving unit 180, and a controller 190. Not all components of the caster wheel tilt adjusting device 100 shown in FIG. 1 are essential components, and the caster wheel tilt adjusting device 100 may be implemented by more components than those shown in FIG. 1. In addition, the caster wheel tilt adjusting device 100 may be implemented by fewer components.

The lower frame 110 is made of a variety of materials, such as wood, steel, aluminum, carbon, titanium.

In addition, the lower frame 110 constitutes a lower part of the service robot equipped with (or mounted) the caster wheel inclination adjusting device 100 equipped with a plurality of driving wheels 120.

In addition, as illustrated in FIG. 2, the lower frame 110 includes the plurality of driving wheels 120, the fixing member 130, the caster unit 140, the distance measuring sensor 170, and the The driver 180 and the controller 190 are disposed.

The driving wheel 120 is connected to the driving unit 180 and rotates in the front / rear direction by the driving of the driving unit 180 under the control of the controller 190.

In addition, the said drive wheel 120 is comprised in multiple numbers. That is, the driving wheel 120 is disposed at the left and right positions of the lower frame 110 based on the driving direction (or the moving direction), respectively. At this time, the driving wheel 120, the connecting shaft (or shaft) (not shown), the support member (or support shaft) (not shown), the support plate (not shown), the bracket (not shown) May be connected to the lower frame 110 through a).

The fixing member 130 is disposed on the lower frame 110.

In addition, as shown in FIGS. 2 and 3, the fixing member 130 includes a first fixing member (or side fixing member) 131 fixed to the lower frame 110, and the first fixing member. A second fixing member (or side fixing member) 132 spaced apart from the member 131, and a third fixing member supported by the first fixing member 131 and the second fixing member 132. (Or an upper fixing member) 133.

As shown in FIG. 3, the third fixing member 133 may include a part of the caster part 140 (for example, the support member 143) and a part of the locking part 150. It may be configured to have a hollow frame shape (eg, including a hollow cylindrical frame shape, a hollow rectangular frame shape, etc.) so as to be accommodated.

In addition, as shown in FIG. 3, the fixing part 161 included in the inclination adjusting part 160 is fixedly connected to the outer frame of the third fixing member 133 through the bolt 135. .

The caster unit 140 includes a caster wheel 141, a shaft 142, and a support member (support shaft) 143, and is supported by the inclination adjusting unit 160.

In addition, the caster unit 140 may be bent / folded at an up and down angle to the caster unit 140 (or the caster unit 140) when passing through an obstacle or passing the slope terrain from the flat to the slope terrain. It is to prevent damage to the caster wheel 141 included.

In addition, the caster unit 140 may be configured in one or a plurality according to the number of caster wheels. Here, as shown in FIG. 2, the caster unit 140 is disposed at a front position where the driving wheel 120 is disposed, and another caster wheel (at a rear position where the driving wheel 120 is disposed). 144). In this case, a caster ball may be used instead of the caster wheels 141 and 144. In addition, the caster wheels (or steering caster wheels) 141 and 144 may be connected to the lower frame 110 through a support plate (not shown), a bracket (not shown), or the like.

The caster wheel 141 is disposed behind the distance measuring sensor 170.

In addition, the caster wheel 141 is connected to the support member 143 by the shaft 142.

The support member 143 is configured to penetrate the hollow third fixing member 133 as shown in FIGS. 2 and 3.

The locking unit 150 operates under the control of the control unit 190.

In addition, the locking part 150 includes a solenoid part (or solenoid device), a magnetic lock device (or magnetic lock device), and the like.

In addition, the locking part 150 is configured to be inserted into the third fixing member 133 included in the fixing member 130.

In addition, the locking unit 150 may be configured in one or a plurality.

In addition, as shown in FIG. 2, the locking unit 150 maintains or releases the locking state of the inclination adjusting unit 160 under the control of the control unit 190. That is, when the lock unit 150 is converted from the unlocked state to the locked state under the control of the controller 190, a part of the components of the lock unit 150 disposed on the fixing member 130 ( For example, a rod (or plunger) 151 moving to the magnetic force is inserted into the first connection member 162 to maintain a locked state, and in the locked state under the control of the controller 190. When converted to the unlocked state, a part 151 of the component of the lock part 150 disposed on the fixing member 130 is spaced apart from the first connection member 162 to maintain the unlocked state.

The inclination adjustment unit 160, when the lock state of the lock unit 150 is released (or unlocked) by the operation of the lock unit 150, the caster wheel inclination adjustment device 100. Is configured to pass through the corresponding obstacles / inclined paths by tilting (or bending / folding) at a predetermined angle in a direction opposite to the driving direction as the service robot provided with the vehicle passes through an obstacle or passes an incline (or an inclined terrain). .

In addition, the inclination adjusting unit 160 is disposed on the fixing member 130 (for example, the third fixing member 133). In this case, some components of the inclination adjusting unit 160 may be configured to slide on the third fixing member 133 in a sliding manner.

In addition, the inclination adjustment unit 160 is composed of a fixing part 161, a first connection member 162, a second connection member 163, and a spring shobar 164.

As shown in FIGS. 3 and 4, the fixing unit 161 includes one or more via holes 166, and the fixing unit 161 may be fixed through the via holes 166 and the bolt 135. It is configured to be fixed to the third fixing member 133 included in the member 130. As such, the inclination adjustment unit 160 is supported by the fixing unit 161.

The first connection member 162 is connected to the spring showbar 164.

In addition, the first connection member 162 is configured to receive (or insert) a part of the components of the lock part 150, and through the configuration, the lock part (controlled by the control unit 190). When 150 is in the locked state, a part of the component of the lock part 150 (for example, a rod that moves to magnetic force) 151 is inserted into the first connection member 162 to maintain the locked state. When the lock unit 150 is in the unlocked state under the control of the controller 190, a part 151 of the component of the lock unit 150 is spaced apart from the first connection member 162 to maintain the unlock state. Will be maintained.

In addition, the first connection member 162, when the lock state with the locking unit 150 is released, when the caster unit 140 is folded up / down at an angle according to the movement of the service robot, the figure As shown in FIG. 4, the connected spring showbar 164 and the second connection member 163 move in a moving direction (the direction opposite to the direction in which the caster unit 140 is folded).

In addition, the first connection member 162 is formed in a hollow semicircle.

The second connection member 163 is connected to the spring shovel 164.

In addition, the second connection member 163 is formed in a hollow semicircle. Through such a configuration, as shown in FIGS. 3 and 4, the first connection member 162 and the second connection member 163 may form a hollow cylindrical structure. In addition, the support member 143 included in the caster part 140 penetrates (or is inserted into) the hollow cylindrical space formed by the first connection member 162 and the second connection member 163. Can be accommodated. In addition, when the operating state of the locking unit 150 is in the unlocked state, the second connection member 163 may move in a predetermined direction (for example, as the support member 143 is folded / folded in the vertical direction). Movement direction of the service robot).

In addition, as shown in FIGS. 3 and 4, the second connection member 163 is connected to the spring shovel 164, and a part of the second connection member 163 is fixed to the fixing part ( It penetrates 167 through 161 and is connected to the spring showbar 164.

In the above embodiment, the structure in which the first connection member 162 and the second connection member 163 are formed in a hollow semi-circular shape is described, but is not limited thereto. The first connection member 162 and the second connection member 163 may be configured in various shapes (or shapes) to form.

The spring showbar 164 is supported and connected by the first connection member 162 and the second connection member 163, respectively.

In addition, the spring showbar 164 may be configured in one or a plurality.

In addition, the spring showbar 164, the caster wheel 140 is bent (or folded) at an angle of up and down immediately after the service robot equipped with the caster wheel inclination adjusting device 100 passes through an obstacle or passes through an incline or the like. To restore the original state. That is, the spring showbar 164 maintains a constant elastic force when the operating state of the locking unit 150 is locked. In addition, when the operating state of the lock part 150 is in the unlocked state, the spring showbar 164 may be configured such that the first connection member 162 is fixed to the fixed part (1) according to the bending / folding of the caster part 140. Move toward 161, the elastic force of the spring shobar 164 located between the fixing portion 161 and the first connecting member 162 is increased, and the increase after passing through the obstacle / inclination of the service robot The first connecting member 162 is restored to its original position by the elastic force, and thus the caster part 140 is restored to its original state.

The distance measuring sensor 170 measures the distance between the distance measuring sensor 170 and an arbitrary object when the service robot equipped with the caster wheel tilt adjusting device 100 is moving. Here, the object may be a floor (or ground), an obstacle, or the like.

In addition, as shown in FIG. 2, the distance measuring sensor 170 is disposed to be fixed at an arbitrary position of the lower frame 110 located at the front of the direction in which the service robot travels. At this time, the position of the distance measuring sensor 170, as shown in FIG. 2, is disposed in front of the caster wheel 141 disposed in the lower frame 110.

The driving unit 180 is driven (or operated) under the control of the control unit 190.

In addition, the driving unit 180 includes a motor, a connecting shaft (not shown) connecting the motor and the driving wheel 120, and the like. Here, the driving wheel 120 is rotated in the front / rear / left / right direction by the driving of the drive unit 180. In this case, the driving unit 180 may control the movement (or movement speed) of the service robot equipped with the caster wheel tilt adjusting device 100 under the control of the controller 190.

In addition, the driving unit 180 is disposed on the lower frame 110.

The controller 190 performs an overall control function of the caster wheel inclination adjusting device 100.

In addition, the controller 190 is based on the distance (or distance information) measured by the distance measuring sensor 170, the presence or absence of the obstacle located in the moving direction (or driving / movement path) Determine whether or not.

That is, the controller 190 determines that an obstacle exists in the movement path of the service robot when the distance information measured by the distance measuring sensor 170 is equal to or less than a preset reference value. In this case, the controller 190 indicates that an obstacle exists in the movement path of the service robot when the plurality of distance information that is continuously measured by the distance measuring sensor 170 is equal to or less than a preset number. You can also judge.

In addition, the control unit 190, when the distance information (or the plurality of distance information continuously measured) cumulatively measured for a predetermined time through the distance measuring sensor 170, that is, the ratio is reduced, that is, If the accumulated distance information for a certain time has a predetermined value of the inclination value, it is determined that there is a slope in the movement path of the service robot.

In addition, the controller 190 determines the presence of an obstacle or a slope on the basis of the distance information measured by the distance measuring sensor 170, the operation of the motor included in the drive unit 180 By controlling, the moving speed of the moving service robot is decelerated below a preset speed. As such, by reducing the moving speed of the service robot below the preset speed, the moving speed of the service robot is so fast that the lower frame 110 hits a corresponding obstacle or the like, and the lower frame 110 is damaged, or The main body of the service robot equipped with the caster wheel inclination adjusting device 100 may be severely shaken forward / backward / left / right or the driving wheel 120 may be prevented from being lifted in the air.

The controller 190 may adjust the inclination when the moving speed of the moving service robot is decelerated below the preset speed (or when the moving speed of the moving service robot is below the preset speed). The operation state of the locking unit 150 for fixing the unit 160 is converted (or controlled) from the locked state to the unlocked state. That is, the controller 190, when the moving speed of the moving service robot is less than the predetermined speed, the third fixing member 133 and the inclination control unit 160 included in the fixing member 130 Releases the lock state of the lock unit 150 that fixes the first connection member 162 included in the lock unit 150. Accordingly, the caster unit 140 maintains a state (or an inclined state or a folded state) that is bent at an arbitrary up and down angle to pass through the obstacle or the inclined path according to the movement of the service robot. Pass through obstacles or ramps. At this time, the caster unit 140 is bent / folded in a direction opposite to the moving direction of the service robot.

In addition, after the caster unit 140 passes the obstacle or the inclined path, the controller 190 converts the operation state of the lock unit 150 from the unlock state to the lock state. That is, when the distance information measured by the distance measuring sensor 170 is equal to the preset reference value (or when the distance information exists within an error range of the preset reference value), In order to determine that the caster unit 140 has passed the obstacle or the inclined path, in order to maintain the lock unit 150 that fixes the inclination control unit 160 in a locked state, The operation state is changed from the unlock state to the lock state.

In addition, when the caster wheel tilt adjusting device 100 operates in conjunction with any service robot as in the embodiment, one or more components included in the caster wheel tilt adjusting device 100 (for example, For example, the driving wheel 120, the caster unit 140, the driving unit 180, the control unit 190, and the like may be configured to perform respective functions in corresponding components included in the service robot. It may be.

In addition, the caster wheel inclination adjusting apparatus 100 may further include a measuring unit (not shown) for measuring / detecting the speed of the service robot.

In addition, the caster wheel inclination adjustment device 100 may further include a storage unit (not shown) for storing various user interfaces (UI) and / or Graphical User Interfaces (GUI). .

In addition, the storage unit stores data and programs necessary for operating the caster wheel tilt adjusting device 100.

The storage unit may include a flash memory type, a hard disk type, a multimedia card micro type, and a card type memory (eg, SD or XD memory). , Magnetic Memory, Magnetic Disk, Optical Disk, Random Access Memory (RAM), Static Random Access Memory (SRAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EPPROM), Programmable PROM Read-Only Memory) may include at least one storage medium. In addition, the caster wheel tilt adjusting device 100 may operate a web storage that performs a storage function of a storage unit on the Internet, or may operate in connection with the web storage.

The storage unit may store distance information measured by the distance measuring sensor 170, movement speed information of the service robot measured by the sensor unit, the preset reference value, and the preset speed information.

As such, when a vertical obstacle or an incline is detected through the distance measuring sensor, the traveling speed of the service robot is reduced to a predetermined speed or less, and then the fixing member supported by the lower frame and the inclination disposed on the fixing member. By unlocking the locking part connecting the control part, the caster part including the caster wheel may overcome the vertical obstacle or move the ramp naturally by interlocking with the inclination control part.

In addition, as described above, after the caster part including the caster wheel overcomes the vertical obstacle or naturally moves the ramp, the caster wheel included in the caster part is returned to its original state through a spring shobar included in the tilt adjusting part. Can be restored.

Hereinafter, the caster wheel tilt adjustment method according to the present disclosure will be described in detail with reference to FIGS. 1 to 6.

5 is a flowchart illustrating a caster wheel tilt adjusting method according to an exemplary embodiment of the present specification.

First, the distance measuring sensor 170 measures the distance between the distance measuring sensor 170 and an arbitrary object when the service robot equipped with the caster wheel tilt adjusting device 100 is moving. Here, the object may be a floor (or ground), an obstacle (or an obstacle located on the floor), or the like.

For example, as shown in FIG. 2, the distance measuring sensor 170 measures the distance between the distance measuring sensor 170 and the ground (S510).

Thereafter, the controller 190 determines whether an obstacle or a slope exists in a moving direction (or a driving direction, a moving path, or a driving path) based on the distance information measured by the distance measuring sensor 170. Judge.

For example, as illustrated in FIG. 6A, when the distance information d measured by the distance measuring sensor 170 is equal to or less than a preset reference value, the controller 190 may include an obstacle (a) in the moving path of the service robot. 200) is determined to exist. In this case, the controller 190 may determine that the obstacle exists in the movement path of the service robot when the plurality of distance information continuously measured by the distance measuring sensor 170 is equal to or less than the preset reference value. have.

As another example, as shown in FIG. 6B, the controller 190 continuously measures distance information (or the distance measuring sensor 170) accumulated for a predetermined time through the distance measuring sensor 170. When the plurality of distance information to be measured decreases at a predetermined ratio (for example, a predetermined slope shape), it is determined that the slope 300 exists in the movement path of the service robot (S520).

Subsequently, when it is determined that there is an obstacle or a slope as a result of the determination, the controller 190 controls the driving unit 180 to reduce the moving speed of the moving service robot to a preset speed or less. Let's do it.

That is, when it is determined that the obstacle exists or the inclined path, the controller 190 determines the caster wheel inclination adjusting device 100 (for example, the lower frame 110) by the moving speed of the service robot. In order to prevent)) from being damaged / damaged or the service robot shaking violently before / after / left / right due to an impact, the moving speed of the service robot is reduced below the preset speed (S530).

Thereafter, the control unit 190, when the moving speed of the service robot is reduced to less than the predetermined speed, the operating state of the locking unit 150 connecting the fixing member 130 and the inclination control unit 160 Transition (or control) from the locked state to the unlocked state. Here, the inclination adjusting unit 160 is configured to be movable on the fixing member 130 (for example, to move in a sliding manner). In addition, the fixing member 130 is disposed to be fixed at an arbitrary position of the lower frame 110. In addition, the caster unit 140 maintains a folded / folded state at any vertical angle when passing through the obstacle / inclined path by the movement of the service robot.

For example, the controller 190 controls the lock state of the locking unit 150 that fixes the inclination control unit 160 to be released when the moving speed of the service robot is reduced to less than or equal to the preset speed. . In addition, as shown in FIG. 6C, the caster unit 140 is folded (or at any up and down angle) while passing through the obstacle 200 (or the ramp) as the service robot moves. By maintaining a state of being bent, it may pass through the obstacle 200 without damaging the caster part 140 and without lifting the driving wheel 120.

In addition, as the caster part 140 is folded at the predetermined vertical angle by the movement of the service robot passing through the obstacle or the inclined path after the locking state of the locking part 150 is released, as shown in FIG. 6D. As shown, the support member 143 included in the caster unit 140 pushes the second connection member 163 included in the inclination control unit 160 in the moving direction of the service robot. The second connecting member 163 and the first connecting member 162 are moved in the moving direction of the service robot, and thus positioned between the first connecting member 162 and the second connecting member 163. The spring force of the spring bar 164 increases (S540).

Thereafter, the caster unit 140 is restored to its original posture (or initial posture) by the spring shobar 164 included in the inclination adjusting unit 160 after passing through the obstacle or the ramp.

In addition, after the caster unit 140 passes the obstacle or the inclined path, the controller 190 converts the operation state of the lock unit 150 from the unlock state to the lock state. In this case, when the distance information measured in real time through the distance measuring sensor 170 is equal to the preset reference value (or when the distance information exists within an error range of the preset reference value). The caster 140 determines that the obstacle or the inclined path has passed, and converts the operation state of the lock unit 150 that fixes the inclination control unit 160 to the locked state.

For example, as shown in FIG. 6E, the caster unit 140 is restored to its original position by the spring shobar 164 included in the inclination adjusting unit 160 after passing through the obstacle 200. do. In addition, the controller 190 controls the operation state of the lock unit 150 to be locked by converting the operation state of the lock unit 150 from the unlock state to the lock state.

In addition, as the operation state of the locking unit 150 is converted to the locking state, as shown in FIG. 3, the first connection member 162 and the second connection member 163 are positioned between the first and second connection members. The spring showbar 164 maintains a constant elastic force (S550).

In the above embodiment, an example of a fixing member, a locking portion, an inclination adjusting portion, and the like, which is configured in the caster portion located in front of the driving direction of the service robot (located in front of the driving wheel), is not limited thereto. In the caster wheel inclination adjusting device 100 is provided with any of the caster wheels, the components (eg, including a fixing member, a locking portion, a tilt adjusting portion, etc.) to each of the one or more corresponding caster wheels The same can be applied.

As described above, when the vertical obstacle or the slope is detected through the distance measuring sensor as described above, the driving member of the service robot is decelerated below a preset speed, and then the fixing member is supported by the lower frame. By unlocking the locking part connecting the inclination control part disposed on the fixing member, the caster part including the caster wheel may overcome the vertical obstacle or move the inclined road naturally by interlocking with the inclination control part.

In addition, the embodiment of the present specification, as described above, after the caster part including the caster wheel overcomes the vertical obstacle or naturally moves the incline, the caster part is included through the spring shobar included in the inclination adjusting part. By restoring the caster wheel to its original state, it is possible to prevent damage to the caster part including the caster wheel and to prevent the driving wheel disposed on the lower frame from being lifted.

The present invention may be embodied in many other specific forms without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas falling within the scope of the same shall be construed as falling within the scope of the present invention.

100: caster wheel tilt adjusting device 110: lower frame
120: drive wheel 130: fixing member
140: caster portion 150: locking portion
160: inclination adjustment unit 170: distance measuring sensor
180: driving unit 190: control unit
131: first fixing member 132: second fixing member
133: third fixing member 141: caster wheel
142: shaft 143: support member (support shaft)
161: fixed portion 162: first connecting member
163: second connecting member 164: spring shobar

Claims (13)

In the caster wheel tilt adjusting device mounted on the service robot, including a lower frame,
A fixing member disposed on the lower frame;
An inclination controller disposed on the fixing member;
A caster unit supported by the inclination control unit and including a caster wheel;
A locking part disposed on the fixing member and configured to maintain the inclined control part in a locked state or in a unlocked state;
A distance measuring sensor disposed on the lower frame and measuring a distance to a ground or an obstacle; And
When there is an obstacle or a ramp based on the distance information measured by the distance measuring sensor, the moving speed of the service robot is reduced to a predetermined speed or less through a driving unit, and then the operation state of the locking unit is unlocked in the locked state. A control unit for converting to a state;
The caster unit,
When the locking unit is in the unlocked state, the caster wheel inclination adjusting device is maintained at a predetermined angle up and down while passing through an obstacle or a ramp according to the movement of the service robot.
The method according to claim 1,
Wherein:
A first fixing member disposed to be fixed on the lower frame;
A second fixing member spaced apart from the first fixing member to be fixed on the lower frame; And
And a third fixing member supported by the first fixing member and the second fixing member.
The third fixing member,
Caster wheel inclination control apparatus characterized in that it is formed in a hollow frame-like structure so that the support member and the lock portion included in the caster portion is accommodated.
The method according to claim 2,
The inclination adjustment unit,
A fixing part connected to the third fixing member through a bolt;
A first connecting member formed of a hollow semi-circular shape and into which a part of the locking part is inserted;
A second connecting member formed in a hollow semi-circular shape and partially connected to the first connecting member through a spring shobar through a fixing part; And
Caster wheel inclination control device, characterized in that it comprises; the spring shobar disposed between the first connecting member and the second connecting member.
The method according to claim 3,
The caster unit,
The caster wheel disposed on the lower frame;
shaft; And
And a hollow circular structure formed by the first connecting member and the second connecting member through the shaft and a support member penetrating the third fixing member.
The support member,
And the second connecting member pushes the second connection member in the movement direction of the service robot by the movement of the service robot passing through the obstacle or the ramp when the lock part is in the unlocked state.
The method of claim 4,
The caster unit,
After the caster wheel has passed through the obstacle or the ramp, the caster wheel inclination control device, characterized in that to be restored to the initial state by the spring shobar.
The method according to claim 5,
The control unit,
And after the first caster wheel passes the obstacle or the ramp, the operating state of the locking part is changed from the unlocked state to the locked state.
In the caster wheel inclination adjustment method of the caster wheel inclination adjustment device is mounted to the service robot, the lower frame including a distance sensor is disposed,
Measuring a distance to a ground or an obstacle through the distance measuring sensor;
Determining whether an obstacle or a slope exists based on the measured distance information;
As a result of the determination, when there is an obstacle or a ramp, decelerating a moving speed of the service robot to a speed below a preset speed through a driving unit; And
And converting an operating state of the locking unit disposed in the fixing member disposed in the lower frame from the locked state to the unlocked state.
The locking portion,
Keeping the inclination adjustment portion disposed on the fixing member in a locked state or unlocked state,
The inclination adjustment unit,
Support the caster part including the caster wheel,
The caster unit,
When the locking unit is in the unlocked state, the caster wheel tilt control method of maintaining a folded state at any vertical angle while passing through an obstacle or a ramp according to the movement of the service robot.
The method of claim 7,
Wherein:
A first fixing member disposed to be fixed on the lower frame;
A second fixing member spaced apart from the first fixing member to be fixed on the lower frame; And
And a third fixing member supported by the first fixing member and the second fixing member.
The third fixing member,
Caster wheel inclination adjustment method characterized in that it is formed in a hollow frame-like structure to accommodate the support member and the locking portion included in the caster.
The method according to claim 8,
The inclination adjustment unit,
A fixing part connected to the third fixing member through a bolt;
A first connecting member formed of a hollow semi-circular shape and into which a part of the locking part is inserted;
A second connecting member formed in a hollow semi-circular shape and partially connected to the first connecting member through a spring shobar through a fixing part; And
And a spring shovel disposed between the first connecting member and the second connecting member.
The method according to claim 9,
The caster unit,
The caster wheel disposed on the lower frame;
shaft; And
And a hollow circular structure formed by the first connecting member and the second connecting member through the shaft and a support member penetrating the third fixing member.
The support member,
And the second connecting member is pushed in the direction of movement of the service robot by the movement of the service robot passing through the obstacle or the ramp when the lock part is in the unlocked state.
The method of claim 10,
The caster unit,
And after the caster wheel passes through the obstacle or the ramp, the spring wheel is restored to an initial state.
The method of claim 11,
And after the first caster wheel passes the obstacle or the ramp, converting the operating state of the locking unit from the unlocked state to the locked state.
The method of claim 7,
Determining whether the obstacle or the slope is present,
When the plurality of distance information continuously measured by the distance measuring sensor is below a predetermined reference value or decreases by a predetermined ratio, it is determined that the obstacle or the slope exists.

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