KR101668390B1 - Mobile platform apparatus of robot having balancing member - Google Patents

Abstract

The present invention relates to a rescue robot technology, and more particularly, to a rescue robot that includes a balancing member capable of maintaining a dynamic balance according to a load state or an operation mode on a moving platform of a rescue robot, The robot platform of the rescue robot.

Description

[0001] The present invention relates to a mobile platform apparatus for a robot having a balancing member,

The present invention relates to a rescue robot technology, and more particularly, to a rescue robot that includes a balancing member capable of maintaining a dynamic balance according to a load state or an operation mode on a moving platform of a rescue robot, The robot platform of the rescue robot.

Rescue robots are robots that rescue human lives in disaster or disaster areas. They employ a mobile platform structure that allows for flexible movement of obstacles or hurricanes, as they perform tasks in rough terrain such as hills, ovals, stairways and / or slopes There is a need.

FIG. 1 schematically shows a moving platform structure of a rescue robot capable of a general variable shape control. Referring to FIG. 1, a moving platform of a conventional recovery robot includes two left and right leg assemblies coupled to a base, and the left and right leg assemblies include upper leg tracks 110 and lower leg tracks 120 ).

The upper leg track and the lower leg track are coupled with the pivot shaft at their ends so that flexible control according to the shape of the ground can be performed. This enables flexible movement of obstacles such as stairs, The shape control can safely lift and transport the surface of the ground.

However, since the moving platform of the rescue robot operates not only in a no-load state but also in a lifting mode and a lifting mode in the lifting process, the center of gravity of the rescue robot continuously moves according to the operation mode Change. Therefore, if the center of gravity is out of balance, there is a danger that the rescue robot will overturn, so dynamic balancing control is very important for safe mission.

Particularly, in the case of moving to a stand-by mode while holding a human being as shown in FIG. 2, the load can be overturned in the future as the load is shifted forward as shown in FIG. 3 in the process of overcoming the change of the terrain or the obstacle. In this case, the person and the robot may suffer secondary damage. In addition, there is a problem that the robot can be overturned by the load even in the process of leaning the upper body to raise the human body during the process of holding the human body.

1. Korean Patent No. 10-1451786

1. Kim, Tae-Woon et al., "Estimation of marginal speed of rescue robot using acceleration DB"

The present invention relates to a balancing member for balancing a dynamic platform according to a load state or an operation mode on a moving platform of a rescue robot, The present invention provides a mobile platform device for a rescue robot capable of securing a robot.

In order to achieve the above-mentioned object, the present invention provides a rescue robot including a balancing member capable of maintaining a dynamic balance according to a load state or an operation mode on a moving platform of a rescue robot, Thereby providing a moving platform device of the rescue robot.

The mobile platform device comprising:

A moving platform apparatus for a rescue robot capable of variable shape change control having a base, an upper leg coupled to both ends of the base, and a lower leg connected to an end of the upper leg,

And a balancing member that is rotated at a lower portion of the base according to a change in the center of gravity of the rescue robot to perform dynamic balancing.

The balancing member may include a balancer that is pivotably hinged to the mounting portion of the base and is of a weightless member; And a balancer control unit for controlling rotation of the balancer.

The balancer control unit may further include: a first motor for providing driving force for rotating the balancer; A first gear that rotates the balancer in accordance with driving of the first motor; And a first controller for monitoring the center of gravity of the recovery robot according to the operation mode to determine a rotation range of the balancer and driving the first motor to control dynamic balancing.

At this time, the controller receives the center of gravity information of the robot retrieved from the main controller of the rescue robot in real time, calculates the position and direction of the balancer for dynamic balancing according to the center of gravity of the rescue robot, and rotates the balancer to the calculated position And a control unit for controlling the control unit.

The balancer may be formed to be capable of extending and contracting in length.

In this case, the balancer may include: a hinge portion rotatably coupled to the mounting portion; An extensible pipe connected to the hinge portion and capable of expanding and contracting in length; And a balancing weight formed at an end of the expansion and contraction pipe.

The upper leg may include a right upper leg assembly connected to the right side with respect to the base, and a left upper leg assembly connected to the left side of the base.

The lower leg may include a right lower leg assembly connected to an end of the right leg assembly and a left lower leg assembly connected to an end of the left upper leg assembly.

Also, the variable shape change control may be a crawler mode in which the upper leg and the lower leg are perpendicular to each other or the upper leg and the lower leg are parallel to each other.

The mobile platform device may further include a pipe control unit for controlling an extension and contraction length of the telescopic pipe.

At this time, the pipe control unit may include a second motor that provides a driving force for adjusting the extension / contraction length of the expansion pipe; A second gear for rotating the extensible pipe in accordance with driving of the second motor; And a second controller for controlling the stretch length range of the stretchable pipe by driving the second motor when the pivot range of the balancer is determined.

According to the present invention, by including a balancing member under the base of the moving platform of the rescue robot, the dynamic instability due to the variable center of gravity change according to the operation mode and / or the load state of the rescue robot is solved.

Another advantage of the present invention is that dynamic balancing is maintained to ensure stability of the rescue robot and human life.

FIG. 1 schematically shows a moving platform structure of a rescue robot capable of variable shape control formed by general tracks.
FIG. 2 and FIG. 3 illustrate the risk of rollover in the process of lifting and rescue of a moving platform structure of a general rescue robot.
FIG. 4 is a schematic view of a moving platform apparatus of a rescue robot having a balancing member according to an embodiment of the present invention.
5 illustrates various modes of operation of a moving platform of a rescue robot according to an embodiment of the present invention.
6 is a block diagram schematically illustrating a balancing member according to one embodiment of the present invention.
7 schematically shows a balancer structure capable of stretching in length according to an embodiment of the present invention.
8 is a control block diagram for controlling the stretchable extensible pipe 720 shown in Fig.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Like reference numerals are used for similar elements in describing each drawing.

The terms first, second, etc. 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. The term "and / or" includes any combination of a plurality of related listed items or any of a plurality of related listed items.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Should not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a moving platform device of a robot having a balancing member according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

4 schematically shows a moving platform device 400 of a rescue robot having a balancing member according to an embodiment of the present invention. 4, the mobile platform device 400 includes an upper leg 410 coupled to both ends of a base 430 and a lower leg 420 connected to opposite ends of the upper leg 410. The left leg assembly 410- 1 and a balancing member 450 that performs balancing of the upper leg 410 and / or the lower leg 420, and the like.

The upper leg 410 includes a right upper leg assembly 410-1 connected to the right side with respect to the base 430 and a left upper leg assembly 410-2 connected to the left side of the base 430. [

The lower leg 420 includes a right lower leg assembly 420-1 connected to an end of the right leg assembly 410-1 and a left lower leg assembly 420 connected to an end of the left leg assembly 410-2. -2).

These right upper leg assemblies 410-1, left upper leg assemblies 410-2, right lower leg assemblies 420-1 and left lower leg assemblies 420-2 are moved by a track unit (not shown) . The track unit (not shown) includes a track belt (not shown) formed along the outer peripheral surface, a motor (not shown) driven to rotate the track belt (not shown), a part of the track belt And a pulley (not shown) for rotating the track belt in accordance with the driving of the motor. Since such a track unit is widely known, a further description thereof will be omitted.

The base 430 is connected to a torso (i.e., a robot body), and a balancing member 450 for performing dynamic balancing of the robot is formed below the base 430. Of course, a mounting portion 431 is formed at the lower portion of the base 430 to mount the balancing member 450 to the base 430. [

Accordingly, the balancing member 450 is connected to the hinge shaft 451 and is rotated back and forth according to the change of the center of gravity of the robot.

5 illustrates various modes of operation of a moving platform of a rescue robot according to an embodiment of the present invention. 5, an operation mode of the rescue robot includes an idle standby mode 510, an emergency mode 520 for performing an emergency stop 521, an indicated rescue mode 531, an Explosive Ordnance Disposal (EOD) mode 532) and other modes 533, a standing mode 540 for performing a standing posture 541, a basic traveling mode 551, a stepped traveling mode 552, A mode 553 for performing an obstacle avoidance mode 554, and the like.

As shown in FIG. 5, the mobile platform device 400 may be configured to move from a standing mode in which the upper leg and the lower leg are perpendicular to each other, to a crawler mode in which the upper leg and the lower leg are parallel to each other, Performs the mission of the rescue robot through change control.

Here, it is very important for the rescue robot to maintain the dynamic balancing because the operation modes of the various shapes as described above must overcome obstacles such as hills or stairs in a state where the load is applied to the human being rather than the no-load state.

Accordingly, the balancing member 400 shown in Fig. 4 provides dynamic balancing of the rescue robot operating in various modes of operation, even in a no-load state as well as in a live load state.

6 is a block diagram schematically illustrating a balancing member according to one embodiment of the present invention. 6, the balancing member 450 includes a balancer 640 rotatably coupled to a mounting portion 431 formed at a lower portion of the base 430 (see FIG. 4), and a balancer 640 for controlling the rotation of the balancer 640 A balancer control unit 650, and the like.

 The balancer 640 is hinged to the hinge shaft 451 of the mounting portion 431. A part of the balancer 640 is hinge-coupled to the hinge shaft 451 in a mounting portion 431, which is an inner groove of the base 640, in such a manner that the balancer 640 is rotatably fixed. Accordingly, the balancer 640 is rotatable.

The balancer plays a role of maintaining the dynamic balancing by moving the angle along the center of gravity of the robot in the absence of weight.

The balancer control unit 650 includes a first motor 652 for providing a driving force for rotating the balancer 640, a first gear 652 for rotating the balancer 640 in accordance with the driving of the first motor 652, A first controller 651 for controlling the dynamic balancing by driving the first motor 652 by determining the rotation range of the balancer by monitoring the center of gravity of the recovering robot according to the operation mode, .

The controller 651 can receive the gravity center information according to the operation mode and / or the load state of the rescue robot in real time through communication with the main controller 610 of the rescue robot. In addition, the controller 640 controls the balancer 640 to maintain the dynamic balance by rotating the balancer to the extracted position by extracting the position and direction of the balancer 640 to maintain the dynamic balancing according to the center of gravity information.

That is, the center of gravity of the whole robot due to the sum of the center of gravity of the rescue robot and the balancer weight excluding the balancer 640 is controlled so that the robot can come into the surface supported on the ground.

The supporting surface of the robot is called the supporting polygon. Therefore, when the center of gravity of the whole robot comes into the supporting polygon when the robot looks vertically on the ground, the robot is not rolled over.

7 schematically shows a balancer structure capable of stretching in length according to an embodiment of the present invention. 7, the balancer 640 includes a hinge portion 710 rotatably hinged to a mounting portion 431 of the base 430, a telescopic pipe 720 coupled to the hinge portion 710, A balancing weight 730 formed at the end of the stretching pipe 720, and the like.

The stretch pipe 720 may be configured such that a plurality of pipes having different thicknesses are continuously connected and expanded and contracted in a manner similar to a normal antenna stretching method. A diagram showing a configuration for controlling such a stretch pipe 720 is shown in Fig. This will be described later.

6, since the balancer 640 is configured to protrude as a member of a weight for dynamic balancing, it can act as a space limitation in an operation mode in which dynamic balancing control is not required. Therefore, in the mode in which the balancer is not needed through the stretchable configuration as described above, it is possible to maintain the state where the length is minimized.

Of course, by balancing the length of the balancer only in the necessary mode of the balancer 640, the dynamic balancing control can be smoothly performed without restriction on the space.

8 is a control block diagram for controlling the stretchable extensible pipe 720 shown in Fig. 8, the pipe member 810 is connected to a balancing weight (730 of FIG. 7) and includes a telescopic pipe 720 that can be expanded and contracted, a pipe control unit 850 that controls the telescopic length of the telescopic pipe 720, and the like As shown in FIG.

 The pipe control unit 850 includes a second motor 852 for providing driving force for adjusting the extension and contraction length of the expansion pipe 720 and a second motor 852 for driving the expansion pipe 720 according to the driving of the second motor 852. [ And a second controller 851 for controlling the extension and contraction length range of the extension pipe 720 by driving the second motor 852 when the rotation range of the balancer is determined Lt; / RTI >

The two controller 851 extracts the position and direction of the balancer 640 for maintaining dynamic balancing according to the center of gravity information transmitted through communication with the main controller 610 of the rescue robot. In order to move the balancer 640 in the extracted position and / or direction, a stretch length range of the stretch shrink pipe 720 is calculated, and the second motor 852 is controlled according to the stretch length range thus calculated.

Of course, the main controller 610 feeds back the movement information 801 according to the movement of the expansion and contraction pipe 720 to the second controller 851.

110, 410: upper leg
120, 420: Lower leg
400: mobile platform device
410-1: Right upper leg assembly
410-2: upper left leg assembly
420-1: right lower leg assembly
420-2: left lower leg assembly
430: Base 431:
450: balancing member
451: Hinge axis
610: Main controller
640: balancer
650: balancer control unit
651: first controller 652: first motor
653: First gear
710: Hinge section
720: Extension pipe
730: Balancing Chu
810:
851: second controller 852: second motor
853: Second gear

Claims (9)

A movable platform apparatus for a rescue robot capable of variable shape change control having a base, an upper leg coupled to both ends of the base, and a lower leg connected to an end of the upper leg,
And a balancing member that is rotated at a lower portion of the base according to a change in the center of gravity of the rescue robot to perform dynamic balancing,
Wherein the balancing member comprises: a balancer that is pivotably hinged to the mounting portion of the base and is weightless; And a balancer control unit for controlling rotation of the balancer,
The balancer is formed so as to be capable of extending and contracting in length,
Wherein the balancer comprises: a hinge portion rotatably coupled to the mounting portion; An extensible pipe connected to the hinge portion and capable of expanding and contracting in length; And a balancing weight formed at an end of the expansion and contraction pipe.
delete The method according to claim 1,
The balancer control unit includes:
A first motor for providing a driving force for rotating the balancer;
A first gear that rotates the balancer in accordance with driving of the first motor;
And a first controller for monitoring the center of gravity of the recovery robot according to the operation mode to determine the rotation range of the balancer and driving the first motor to control the dynamic balancing. Platform device.
The method of claim 3,
The first controller receives the center of gravity information of the robot retrieved from the main controller of the rescue robot in real time and calculates the position and direction of the balancer for dynamic balancing according to the center of gravity of the rescue robot and rotates the balancer to the calculated position And a control unit for controlling the movement of the robot.
delete delete The method according to claim 1,
The upper leg includes a right upper leg assembly connected to the right side with respect to the base, and a left upper leg assembly connected to the left side of the base,
Wherein the lower leg comprises a right lower leg assembly connected to an end of the right upper leg assembly and a left lower leg assembly connected to an end of the left upper leg assembly.
The method according to claim 1,
Wherein the variable shape change control is a crawler mode in which the upper leg and the lower leg are perpendicular to each other or the upper leg and the lower leg are parallel to each other.
The method according to claim 1,
And a pipe control unit for controlling an extension and contraction length of the expansion pipe,
The pipe control unit includes:
A second motor for providing a driving force for adjusting an extension / contraction length of the expansion pipe;
A second gear for rotating the extensible pipe in accordance with driving of the second motor; And
And a second controller for driving the second motor to control an extension / contraction length range of the extension / contraction pipe when the rotation range of the balancer is determined.

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