KR101221016B1

KR101221016B1 - Exploration Robot

Info

Publication number: KR101221016B1
Application number: KR1020100123082A
Authority: KR
Inventors: 공영배; 손주용; 이규성; 이재식; 조상현; 박운진
Original assignee: 한국기술교육대학교 산학협력단
Priority date: 2010-12-03
Filing date: 2010-12-03
Publication date: 2013-02-07
Also published as: KR20120061695A

Abstract

The present invention relates to an exploration robot, in particular, the exploration robot according to the present invention is coupled to the bottom of the main body 100 via a drive shaft to move the four foot unit 200 and the main body through the soccer ball and the It is characterized in that it comprises a control unit 300 for wirelessly transmitting the input video signal of the camera module 400 disposed on the main body to an external terminal, and controls the driving of the foot unit 200.
According to the present invention, the four legs can be moved forward and backward using the rotation can be selected by the direction of rotation, equipped with a camera to check the vision of the robot can perform the exploration of a feature or a difficult place to go It has the effect of providing an exploration robot.

Description

Exploration Robot

The present invention relates to an exploration robot capable of quadruped walking.

Beginning with industrial robots, the area has recently been expanded in the form of intelligent robots that can operate in any environment. Intelligent robots can be applied to various fields such as service, military, security, and dangerous area exploration, and it is essential to secure autonomous driving technology of such robots. Among them, exploration technology that moves while acquiring information and generating a map by itself is a key element when the robot is located in a space where information about the surrounding environment is not available.

The exploration robot is based on the function of exploring the space or area that human cannot enter and extracting the desired information. For example, pipes used in manufacturing equipment such as semiconductor manufacturing equipment, petrochemical plants, etc. may cause many problems such as cracks occurring as the service life increases, so that continuous maintenance is required. It is necessary to ensure the stability of the facility by inspecting and diagnosing it from time to time, for example, a robot that can explore a narrow area of the pipe.

Referring to Figure 1, one example of the structure of a conventional exploration robot as follows.

The conventional exploration robot (9) has a rotating disk (2) that rotates on top of the propellant (1), a fixed case (6) fixed to the upper portion of the rotating disk (2), and the fixed case (6) The first arm 3a rotated by the first motor 3b and the second arm 4a hinged to the end of the first arm 3a and rotated by the second motor 4b. It consists of. Here, the camera 5 is mounted at the end of the second arm 4a so as to capture the surrounding situation. This structure is configured to photograph the surrounding situation of the front / rear / left / right / up / down through the two arms and the rotating disk. However, this structure is very slow because the first motor 3b coupled to the first arm 3a is loaded with various sizes according to the rotational state of the second arm 4a, and often the first motor 3b There is a problem that a failure occurs due to overload, and most of the driving of the exploration robot uses a wheel-type driving unit, and there have been limitations in implementing various operations such as avoiding obstacles and rotating and reversing.

In other words, if the exploration area is arranged on a horizontal plane, the conventional exploration robot can move along the path easily even if the path is complicated, so that stable exploration is possible, but the exploration area is in a vertical direction. In the case of branching, there are limitations in implementing various movements such as when an obstacle is present or when a self-rotation is necessary, and thus, a problem that is difficult to detect is generated.

The present invention has been made in order to solve the above problems, an object of the present invention is to move the front and back using the four legs can be rotated to select the direction, equipped with a camera to check the robot's vision Therefore, it is to provide an exploration robot that can perform exploration where a feature or a human is hard to go.

The configuration for solving the above problems is the four foot unit 200 is coupled to the bottom surface of the main body 100 via a drive shaft to move the main body through a soccer ball; and is disposed on the top of the main body And a control unit 300 for wirelessly transmitting the input image signal of the camera module 400 to an external terminal and controlling the driving of the foot unit 200.

In addition, the foot unit 200, the first servo motor 210 and the second servo motor coupled to the end of the first servo motor 210 to perform the axial coupling to the bottom surface of the main body (100) A first foot unit 230A comprising a 220; A second foot unit 230B axially coupled to the second servo motor 220 in a vertical direction and driven in a direction perpendicular to a moving direction of the first servo motor by driving of the second servo motor 220; It may be configured to include.

In addition, the control unit 300 controls the driving of the first foot unit 230A and the second foot unit 230B constituting the four foot units individually to change the forward, backward, and direction of the main body. Can be implemented.

In addition, the control unit 300 according to the present invention, it is preferable to include an RF transmitter for wirelessly transmitting the video signal input from the camera module 400 to the RF receiver of the external terminal.

According to the present invention, the four legs can be moved forward and backward using the rotation can be selected by the direction of rotation, equipped with a camera to check the vision of the robot can perform the exploration of a feature or a difficult place to go It has the effect of providing an exploration robot.

1 is an exemplary view implementing an example of a conventional exploration robot.
2 is a block diagram showing the configuration of an exploration robot according to the present invention.
3 shows an actual implementation image of the exploration robot according to the present invention.
4 is a conceptual view showing a configuration viewed from the bottom of the exploration robot according to the present invention.
FIG. 5 is a side conceptual view illustrating a coupling relationship of the foot unit of FIG. 4.
6 is an exemplary image embodying the actual image of the foot unit according to the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail the configuration and operation according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following description with reference to the accompanying drawings, the same reference numerals denote the same elements regardless of the reference numerals, and redundant description thereof will be omitted. Terms such as first and second 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.

2 is a block diagram showing the overall configuration of the exploration robot according to the present invention.

Referring to the drawings, the exploration robot according to the present invention is coupled to the main body 100 and the bottom of the main body 100 via a drive shaft four foot units for moving the main body through a soccer ball ( And a controller 300 for wirelessly transmitting the input image signal of the camera module 400 disposed on the main body to an external terminal, and controlling the driving of the foot unit 200. Can be.

The main body 100 is basically a foot unit of the exploration robot is coupled, any of the plate-shaped member that can be installed on the camera module and the control unit is possible, in the case of implementing a complex circuit printed circuit board It can also be implemented as a main body.

The foot unit 200 is one of the essential elements of the present invention that can move within the exploration area by moving the main body 100 loaded with the camera module and the control unit.

The foot unit 200 includes a first servo motor 210 coupled to a distal end of the first servo motor 210 and a first servo motor 210 which performs axial coupling to a bottom surface of the main body 100. It comprises a first foot unit 230A and a second servo motor 220 including a second foot unit 230B axially coupled in a vertical direction and driven in a direction perpendicular to the moving direction of the first servo motor. Can be. That is, the movement of the main body can be realized only by the coupling configuration of the servo motor constituting the foot unit 200, and it can be implemented as a quadruped robot capable of forward, backward, and rotation in place.

Referring to FIGS. 3 and 4, FIG. 3 is an image of a model embodying an exploration robot according to the present invention, and FIG. 4 schematically illustrates a result of viewing the exploration robot of FIG. 3 from the bottom (bottom). Conceptual diagram.

Referring to both drawings, an upper portion of the main body 100 is loaded with a circuit module for implementing a camera module (not shown) and a control unit, and four foot units 200 are respectively provided at the lower portion of the main body 100. It is mounted to the structure coupled to the outer portion of the body (100).

The foot unit 200 is coupled to the main body so that the foot unit 200 is spaced apart from the main body 100 by a portion as shown in Figure 3 and 4, but is formed in a horizontal direction A first foot unit 230A and a second foot unit 230B coupled to the end of the first foot unit in a vertical direction.

4 and 5, FIG. 5 illustrates a conceptual view of a foot unit and a main body according to the present invention in a side view.

As shown, the foot unit has a first servo motor 210 coupled to the shaft 211 on the bottom of the main body 100 and a second servo motor coupled to the end of the first servo motor 210 ( A first foot unit 230A including 220 is mounted in the horizontal direction of the main body. In particular, as shown in FIG. 4, the first foot unit 230A has a soccer ball X-X 'on the horizontal of the main body due to the driving of the first servo motor 210.

In addition, the second foot unit 230B, which is coupled to the end of the first foot unit and is formed in the vertical direction, is perpendicular to the moving direction of the first foot unit 230A by the driving of the second servo motor 220. The reciprocating motion (Y-Y ') is made on one side.

The exploration robot according to the present invention allows the left and right movements in a horizontal plane parallel to the surface of the main body 100 of the first foot unit and the reciprocating motion of the second foot unit formed in a direction perpendicular thereto. In accordance with the command of the control unit controlling the sequential combination of these drives or the individual drive combinations, forward, rearward, left and right movements are possible, and rotational movement in place is also possible.

FIG. 6 illustrates an image viewed from the bottom of the foot unit according to the present invention.

As shown, the first servo motor 210 and the second servo motor 220 on the bottom of the main body 100 can be horizontally moved from side to side around the combined point by the axis, the The second foot unit 230B is coupled to the drive shaft at the end of the second servo motor 220, and the second foot unit 230B reciprocates back and forth according to the driving of the drive shaft at the end of the second servo motor 220. Will be An auxiliary member 240 is provided at a lower end of the second foot unit 230B to maintain a constant friction force with the ground to smoothly perform forward and backward movements.

In the foregoing detailed description of the present invention, specific examples have been described. However, various modifications are possible within the scope of the present invention. The technical idea of the present invention should not be limited to the embodiments of the present invention but should be determined by the equivalents of the claims and the claims.

100: main body
200: foot unit
210: first servo motor
220: second servo motor
230A: first foot unit
230B: second foot unit
300: control unit (controller)
400: camera module

Claims

Four foot units 200 coupled to the bottom of the main body 100 via a drive shaft to move the main body through a soccer ball; And
The control unit 300 for wirelessly transmitting the input video signal of the camera module 400 disposed on the main body to an external terminal, and controls the driving of the foot unit 200.
Including,
The foot unit 200,
The second servo motor coupled to the end of the first servo motor 210 and the first servo motor 210 which is mounted in the horizontal direction of the main body to perform the axial coupling to the bottom surface of the main body 100 ( A first foot unit 230A including a 220 and a soccer ball X-X 'on a horizontal side of the main body;
Y-Y axially coupled to the end of the second servo motor 220 in the vertical direction, the front and rear in the plane perpendicular to the moving direction of the first servo motor by the drive of the second servo motor 220 (Y-Y) It is configured to include a second foot unit 230B is driven to
The control unit 300,
The main body is moved forward, backward, left and right by individually controlling the driving of the first foot unit 230A and the second foot unit 230B constituting the four foot units, and rotates in place. Exploration robot that implements the action.

delete

The method according to claim 1,
The control unit 300,
An exploration robot, comprising: an RF transmitter for wirelessly transmitting the video signal input from the camera module 400 to an RF receiver of an external terminal.