KR101203602B1 - a robot mounting multiple function sensor block - Google Patents

Abstract

The present invention is to mount the ultrasonic satellite receiver to the block so as to transmit and receive satellite signals to several navigation transmitters installed in the ceiling of the building, such that the block can be detachably mounted on the robot,
Robot, in which the multifunction sensor block is replaced according to an embodiment of the present invention,
In the robot which can measure the position by the position measuring system,
A robot body that is movable with wheels,
A display unit mounted on the robot body to display an image or a video;
A block equipped with a satellite receiver to which an ultrasonic satellite receiver sensor is integrally fixed so as to transmit and receive satellite signals to a navigation transmitter;
It includes a receiving unit formed on the top of the robot body so that the block equipped with the satellite receiver is detachably mounted, and when the block equipped with the satellite receiver is replaced, the receiver is compatible with the receiver and the satellite receiver is formed to correspond to the housing. The mounted block is accommodated in the housing.

Description

Robot mounting multiple function sensor block

The present invention relates to a robot that is autonomously moved within a service area by an indoor positioning system.

More specifically, an ultrasonic satellite receiver is mounted on a block so that a satellite signal can be transmitted and received to several navigation transmitters installed on the ceiling of a building, and the block can be detachably mounted on a robot. It relates to a robot in which a sensor block is replaced.

A block equipped with a satellite receiver described below refers to a structure in which a sensor capable of receiving an ultrasonic satellite signal is integrally fixed.

Although there are many types of positioning systems for robots, ultrasonic satellites are mounted on the ceiling or wall, and ultrasonic receiver modules are mounted on the upper part of the robot, or artificial marks, etc. are mounted on the ceiling or wall, and infrared cameras are mounted on the upper part of the robot. Location is common.

In addition, depending on the environment where the robot is placed, it may be necessary to complement each other by applying different types of positioning sensors in combination. Therefore, it is essential to design a robot that can easily handle various methods in order to adapt to such various environments in terms of robot design.

General guide service robot shown in Figure 1,

A driving unit and a robot body 2 on which the wheels 1 are mounted so as to be movable inside the service area;

A display unit (LCD) 4 mounted on the robot body 2 and displaying an image or a video for the purpose of advertising and publicity;

A sensor unit 6 such as an ultrasonic sensor mounted on the robot body 2 to detect front and rear obstacles while driving,

In order to enable the robot to know the current position of the robot during autonomous driving in real time, the robot includes a position sensor module mounted by a bracket on an upper portion of the robot (for example, formed at the head of the robot) and a position sensor mounted on an indoor ceiling or a wall. do.

In the robot of the related art configured as described above, the ultrasonic satellite receiver to be mounted has a different size and shape for each company that manufactures the robot. Therefore, in order to replace the satellite receiver to supplement the function of the sensor, the bracket is separated from the robot body (2), and a new bracket is designed and manufactured to accommodate the satellite receiver of a new specification. (2) will be assembled.

As described above, the work time for the additional design and manufacture according to the replacement of the bracket fixed to accommodate the satellite receiver is increased, and the cost is incurred.

An embodiment of the present invention relates to a robot in which a multifunctional sensor block is replaced to shorten the working time required to replace a satellite receiver mounted on a supporter of the robot, thereby improving work efficiency.

An embodiment of the present invention relates to a robot in which a multifunctional sensor block is replaced so that the mounting part of the supporter can be detachably designed so that the mounting part of the supporter is compatible, thereby reducing the cost.

Robot, in which the multifunction sensor block is replaced according to an embodiment of the present invention,

In the robot which can measure the position by the position measuring system,

A robot body that is movable with wheels,

A display unit mounted on the robot body to display an image or a video;

A block equipped with a satellite receiver to which an ultrasonic satellite receiver sensor is integrally fixed so as to transmit and receive satellite signals to a navigation transmitter;

It includes a receiving unit formed on the upper end of the robot body so that the block equipped with the satellite receiver is detachably mounted, and when the block equipped with the satellite receiver is replaced, the receiving unit becomes compatible and the satellite receiver is formed to correspond to the housing. The mounted block is accommodated in the housing.

According to a preferred embodiment, the aforementioned accommodating portion is formed in the supporter extending upward of the robot body.

Grooves formed to face the inner surface of the above-mentioned housing,

A locking piece formed to correspond to the groove on the outer surface of the block on which the satellite receiver is mounted;

It includes a pressing unit which is formed to face the upper end of the locking piece so as to protrude from the housing when assembling the block equipped with the satellite receiver in the housing.

A locking groove formed at a right angle in the lower end of the above-described groove,

A locking jaw formed at the lower end of the locking piece so as to lock and unlock the locking groove, and prevent the separation of the block on which the satellite receiver is mounted from the housing;

The locking piece is formed to be spaced apart from the body of the block on which the satellite receiver is mounted so that the locking jaw is released from the locking groove when the pressing part is pressed.

The cross-sectional shape of the storage unit described above is formed of any one of a circle, an ellipse, and a polygon.

The robot in which the multifunctional sensor block according to the embodiment of the present invention configured as described above is replaced has the following advantages.

By improving the work efficiency by shortening the working time of the design and manufacturing of the block equipped with the satellite receiver mounted on the supporter of the robot, it is possible to secure the reliability from the user.

In addition, since the mounting portion of the supporter on which the block on which the satellite receiver is mounted is detachably mounted has compatibility, the cost is reduced by reducing the cost cost.

1 is a schematic diagram of a robot mounted with a block equipped with a satellite receiver according to the prior art,
2 is a schematic diagram of a robot in which a multifunctional sensor block is replaced according to an embodiment of the present invention;
Figure 3 is an excerpt of the main portion of the robot is replaced with a multi-function sensor block according to an embodiment of the present invention,
Figure 4 (a, b) is a state of use of the robot to replace the multi-function sensor block according to an embodiment of the present invention,
5 is a cross-sectional view of the robot to replace the multi-function sensor block according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, which are intended to explain in detail enough to enable those skilled in the art to easily carry out the invention, and thus It is not intended that the technical spirit and scope of the invention be limited.

The robot in which the multifunctional sensor block according to an embodiment of the present invention shown in FIGS. 2 to 5 is replaced,

In the robot which can measure the position by the position measuring system,

A robot body (2) mounted and movable with wheels (1),

A supporter 3 extending upwardly to the robot body 2 and having a display unit 4 mounted thereon to display an image or a video;

A block (5) equipped with a satellite receiver, in which an ultrasonic satellite receiver sensor (5a) is integrally fixed to transmit and receive a satellite signal to a navigation transmitter (not shown),

The receiver 5 includes an accommodating part 7 formed at an upper end of the supporter 3 to detachably mount the block 5 on which the satellite receiver is mounted, and when the block 5 on which the satellite receiver is mounted is replaced, the accommodating part 7 is provided. Has a compatibility, and a block 5 equipped with a satellite receiver formed corresponding to the housing 7 is accommodated in the housing 7.

Grooves (8) formed to face the inner surface of the above-mentioned housing portion 7,

A locking piece 9 formed on the outer surface of the block 5 on which the satellite receiver is mounted to correspond to the groove 8;

It includes a pressing portion (10) formed opposite the upper end of the locking piece (9) so as to protrude from the receiving portion 7 when assembling the block (5) equipped with a satellite receiver in the receiving portion (7).

And the locking groove 11 formed at the lower portion of the above-described groove 8 at right angles thereof;

A locking step 12 formed at the lower end of the locking piece 9 so as to lock and unlock the locking groove 11, and prevent the separation of the block 5 on which the satellite receiver is mounted from the housing 7;

The locking piece 9 is formed to be spaced apart from the body 13 of the block 5 on which the satellite receiver is mounted so that the locking jaw 12 is released from the locking groove 11 when the pressing part 10 is pressed. do.

The cross-sectional shape of the storage unit 7 described above is formed of any one of polygons such as a circle, an ellipse, and a rectangle.

At this time, the receiver 7 in which the above-described block 5 on which the satellite receiver is mounted is detachably accommodated, the supporter 3 in which the receiver 7 is formed, and the satellite receiver is provided with respect to the receiver 7. Except for the locking groove 11 and the locking step 12, etc. to prevent the separation of the mounted block 5, the configuration is substantially the same as the conventional robot shown in Figure 1, so the detailed description of their configuration and operation Omitted and duplicated reference numerals are the same.

Hereinafter, with reference to the accompanying drawings an example of the use of the robot to replace the multi-function sensor block according to an embodiment of the present invention will be described in detail.

A satellite receiver such as a satellite receiver for receiving an ultrasonic satellite signal to transmit and receive a navigation transmitter to track the position of the robot is integrally fixed to the block. At this time, since the technology for tracking the current position of the robot by the navigation transmitter belongs to the technology used in the art, a detailed description thereof will be omitted.

As shown in Fig. 4 (a), a block in which the satellite receiver is mounted with respect to the housing part 7 (for example, three are formed) formed in the supporter 3 extending upwardly on the robot body 2 described above. (5) is detachably accommodated.

That is, the locking piece 9 is made to match the groove 8 formed to face the inner side of the housing 7 to the outer side of the block 5 on which the satellite receiver is mounted. Pressing the pressing unit 10 formed at the top pushes the block 5 equipped with the satellite receiver into the housing 7.

At this time, the locking jaw 12 formed at the lower end of the locking piece 9 is fitted into the locking groove 11 formed at the lower end of the recess 8 to be coupled. This prevents the detachment of the block 5 on which the satellite receiver is mounted from the housing 7.

As shown in FIG. 4 (b), when the satellite receiver needs to be replaced due to a failure of the satellite receiver, or the function of the satellite receiver is to be upgraded, only the block 5 equipped with the satellite receiver is separated from the supporter 3. can do.

That is, the pressing part 10 protruding upward from the receiving part 7 is formed on the upper end of the locking piece 9 of the block 5 (for example, formed of ABS material) equipped with the satellite receiver accommodated in the receiving part 7. ) Is pressed in the direction of the arrow, the locking jaw 12 of the locking piece 9 having an elastic force is separated from the locking groove 11. This is because the locking piece 9 is formed so as to be spaced apart from the body 13 of the block 5 on which the satellite receiver is mounted, so that a gap is formed between the locking piece 9 and the body 13, so that the opposite pressing part 10 is provided. ), When the locking piece 9 is elastically deformed, the locking jaw 12 may be separated from the locking groove 11.

Therefore, as the gripping portion 10 formed on the upper end of the locking piece 9 is gripped and pulled upward, the block 5 on which the satellite receiver is mounted can be easily separated from the accommodating portion 7.

In this case, when the size or shape of the satellite receiver is different, the block 5 with the satellite receiver mounted integrally with the sensor for receiving a satellite signal to be replaced corresponds to the housing 7 having compatibility. It is formed to have a shape that becomes.

Therefore, the housing 7 formed in the supporter 3 is continuously used, and the block 5 on which the satellite receiver is replaced is formed to have a shape and size corresponding to the housing 7, and then the storage unit 7. (On the other hand, in the case of a conventional robot capable of positioning, when the satellite receiver is replaced, the specifications of the satellite receiver are different for each company that manufactures it, so that the supporter equipped with the satellite receiver is separated from the robot body. After that, the supporter equipped with the satellite receiver to be replaced was fixed to the robot body.).

As described above, the robot in which the multi-function sensor block is replaced according to an embodiment of the present invention is equipped with a satellite receiver different from each company in the block, so that the receiving unit in which the satellite receiver is mounted is detachably housed so as to have a compatibility therewith. Accordingly, since only the block on which the satellite receiver is replaced is formed so as to correspond to the storage unit, the block is detached, thereby reducing the work time required to replace the satellite receiver and reducing the cost.

One; wheel
2; Robot body
3; supporter
4; Display part
5; block
5a; Satellite signal sensor
7; A storage section
8; Groove
9; Locking
10; The pressing portion
11; Locking Home
12; Jaw
13; Body of Block for Satellite Receiver

Claims (5)

A robot body that is wheeled and movable, a display that is mounted on the robot body to display an image or a video, and a satellite receiver, in which an ultrasonic satellite receiver sensor is integrally fixed to transmit and receive satellite signals to a navigation transmitter. And a receiving unit formed at an upper end of the robot body to detachably mount the block on which the satellite receiver is mounted, and the receiving unit becomes compatible when the block on which the satellite receiver is mounted is replaced. In the robot to replace the multi-function sensor block accommodated in the housing is a block equipped with the satellite receiver is formed corresponding to the housing:
A groove formed to face the inner side of the housing;
A locking piece formed to correspond to the groove on an outer surface of the block on which the satellite receiver is mounted;
And a pressing unit which is formed to face the upper end of the locking piece so as to protrude from the receiving unit when assembling the block equipped with the satellite receiver in the receiving unit. The robot of claim 1, wherein the housing is formed in a supporter extending upwardly from the robot body. delete The locking groove of claim 1, wherein the locking groove is formed at a lower end of the groove in a right angle thereof;
A locking jaw formed at a lower end of the locking piece so as to lock and unlock the locking groove, and prevent the detachment of the block equipped with the satellite receiver from the accommodating part;
And the locking piece is spaced apart from the body of the block on which the satellite receiver is mounted so that the locking jaw is released from the locking groove when the pressing part is pressed. The robot of claim 2, wherein the display unit is mounted to the supporter.

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