KR101681310B1 - Worm Type Mobile Robot, Operating Method Thereof, and Monitoring System Having the Same - Google Patents

Abstract

A worm-type mobile robot, a method of operating the same, and a monitoring system including the same are disclosed. A worm-type mobile robot (100) according to an embodiment of the present invention comprises: at least two body portions (110); a moving plate (120) of a plate-like structure; a rotary plate (130) of a plate-like structure; a rotational driving force supply device (140); a shape-changing member (150) of a flexible structure; and a connecting portion (160), thereby the worm-type robot can move easily in a tubular passage and a cramped space.

Description

Technical Field [0001] The present invention relates to a worm type mobile robot, a method of operating the worm type mobile robot, and a monitoring system including the worm type mobile robot,

 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot capable of easily moving in a narrow and narrow space, a method of operating the same, and a monitoring system including the same. More particularly, the present invention relates to a worm-type mobile robot, will be.

1 is a photograph showing a mobile robot according to the prior art.

As shown in FIG. 1, a large number of robots capable of moving in a narrow space have been developed so far.

Figure 1 (a) shows Robobee developed by Harvard University's SEAS team. (B) Star developed by UC Berkeley University. (C) Paroys developed by Yonsei University. (D) Asterisk, (e) Meshworm developed by MIT, and (f) ACM-R5H developed by Hibot, Japan.

FIG. 1 (a) shows a robot flying on a small wing, (b) a robot traveling on a rough terrain by using a sawtooth type rotary blade, (c) a robot traveling in a pipe by using an infinite orbit, (d) is a multifunctional robot having a plurality of joints, (e) is a robot that wriggles using a mesh structure, and (f) is a robot that travels like a snake using a body formed with a plurality of joints.

These robots have different transport mechanisms to drive narrow and rough terrain.

However, the above-mentioned robots have problems. Specifically, Robobee in (a) has a problem that it is difficult to fly in a very narrow space. In case of (b) Star, it is difficult to downsize because it uses many motors and uses a saw blade type rotating blade. (C) has a problem that it is difficult to downsize because it uses an infinite orbit, and (d) the Asterisk requires a lot of driving motors to support and move the body, (E), there is a problem that the support is required to support the body in the case of the meshhworm having a very weak force, and (f) In this paper, we propose a new control algorithm for the driving motors. "He said.

Accordingly, there is a need for a technique capable of solving the problems of the conventional mobile robot.

Korean Published Patent Application No. 10-2012-0014379 (published on Feb. 17, 2012)

An object of the present invention is to provide a mobile robot capable of easily moving in a tubular passage or a narrow space and an operation method for operating the same.

It is a further object of the present invention to provide a monitoring system that can easily move and monitor tubular passageways or cramped spaces.

According to an aspect of the present invention, there is provided a worm-type mobile robot comprising: a connection body having a polygonal columnar or cylindrical structure; a first fixing plate having a plate-like structure mounted on one side of the connection body; At least two body portions having a second fixing plate of a plate-like structure to be mounted; A moving plate mounted on the connecting body so as to be slidable in the longitudinal direction of the connecting body, one side of the moving plate coupled to the rotating plate through the wire, and the other side engaged with the second fixing plate through an elastic member; A rotary plate mounted on one side of the first fixing plate so as to be rotatable and configured to change the position of the moving plate by pulling or releasing the wire by rotational driving; A rotational driving force supply device mounted inside the connecting body and providing rotational driving force to the rotating plate; A deformable member of a flexible structure having both ends connected to the outer circumferential surface of the first fixing plate and the moving plate and changing the shape according to the positional change of the moving plate to change the entire diameter of the worm-type mobile robot; And a connection portion mounted between the main body portions, the length of which is variable to change the interval between the main body portions.

In addition, the outer surface of the connection body may be sealed for water resistance to prevent fluid from entering the interior from the outside.

The first fixing plate may have a through hole through which the wire can move.

In one embodiment of the present invention, the first fixing plate, the second fixing plate, and the moving plate may have a plate-like structure having a circular planar shape.

Further, the moving plate is engaged with the rotating plate through two or more wires, and the wires can be disposed apart from each other at the same angle or at an interval in the plane of the moving plate, and can be bound to the moving plate.

In one embodiment of the present invention, the moving plate is engaged with the second fixing plate through two or more elastic members, and the elastic members are disposed apart from each other at equal angles or intervals in the plane of the moving plate, .

At this time, the elastic member may be a coil spring.

In one embodiment of the present invention, a pulley having the same rotation center as the rotation plate is mounted on the other side of the rotation plate, and the pulleys may be rotated together with the rotation of the rotation plate to wind or unwind the wire.

In one embodiment of the present invention, the shape-deformable member may be mounted to the first fixing plate and the moving plate at three or more angles or intervals along the outer circumferential surface.

At this time, the deformable member may be formed of a flexible material, and a frictional portion having a frictional force of a predetermined size may be formed on the outer surface.

In one embodiment of the present invention, the connection unit may be one selected from the group consisting of a linear actuator, a hydraulic cylinder, a pneumatic cylinder, and a linear motor.

In one embodiment of the present invention, a connection joint made of a flexible material which can be bent in all directions of up and down and left and right can be mounted at both ends of a connection part connected to the main body part.

In one embodiment of the present invention, a ball joint or a universal joint may be mounted on both ends of the connecting portion connected to the main body.

The present invention also provides a method of operating the worm-type mobile robot, wherein a method of operating the worm-type mobile robot according to an aspect of the present invention includes the steps of: a) A step of inputting a mobile robot; b) a head fixing step of varying a deformable member mounted on a body portion located at a head portion so that the body located at the head portion is fixed to the tubular passage; c) changing the length of the connecting portion to a shorter length to narrow the interval between the body portions; d) a rear fixing step of varying the deformable member mounted on the body portion located at the rear portion so that the body located at the rear portion is fixed to the tubular passage; e) a head releasing step for releasing the fixation of the main body portion located at the head portion by varying the deformable member mounted on the main body portion located at the head portion; And f) changing a length of the connecting portion so as to change the interval between the main body portions to be wide.

The present invention can also provide a monitoring system including the worm-type mobile robot, wherein the monitoring system according to an aspect of the present invention is installed in the main body and photographs the state of the surroundings of the worm- A photographing unit for transmitting photographing data to the photographing unit; A power supply unit mounted inside the connection body and receiving a control signal from the control unit to supply power to the rotation driving force supply device and the photographing unit; A wireless communication module which is mounted inside the connection body and receives a drive command signal from the external control device and transmits the drive command signal to the control part or transmits the image pickup data received from the image pickup part to the external control device; A control unit mounted inside the connection body and controlling driving of a photographing unit, a power supply unit, and a rotation driving force supply device based on a driving command signal received through a wireless communication module; And an external control unit including an output unit for outputting the image pickup data received from the wireless communication module of the worm-type mobile robot to a user, and an input unit for receiving a user's drive command.

As described above, according to the worm-type mobile robot and the method for operating the mobile robot of the present invention, by providing the shape-changing member of the flexible structure for changing the size of the whole diameter of the worm-type mobile robot, It is possible to provide a mobile robot that can be easily moved.

Further, according to the monitoring system of the present invention, the tubular passage or the cramped space can be easily moved and monitored by providing the mobile robot capable of easily moving in the tubular passage or the cramped space.

1 is a photograph showing a mobile robot according to the prior art.
2 is a perspective view illustrating a worm-type mobile robot according to an embodiment of the present invention.
FIG. 3 is a perspective view showing only the remaining components of the worm-type mobile robot shown in FIG.
4 is a front perspective view showing one main body and the structures mounted thereon;
Fig. 5 is a front perspective view showing a state in which the shape of the shape-deformed portion is changed by changing the position of the moving plate shown in Fig. 4. Fig.
6 is a perspective view showing a state in which the shape of the shape-deformed portion is changed by changing the position of the moving plate.
7 is a flowchart showing a worm-type mobile robot operating method.
Figs. 8 and 9 are schematic diagrams showing how the worm-type mobile robot moves inside the tubular passage.
10 is a schematic diagram showing a monitoring system including a worm-type mobile robot according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. Prior to the description, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and should be construed in accordance with the technical concept of the present invention.

Throughout this specification, when a member is "on " another member, it includes the case where there is another member between the two members as well as when the member is in contact with the other member.

Throughout this specification, when an element is referred to as "including" an element, it is understood that it may include other elements as well, without departing from the other elements unless specifically stated otherwise.

FIG. 2 is a perspective view of a worm-type mobile robot according to an embodiment of the present invention. FIG. 3 is a perspective view of a worm-type mobile robot shown in FIG. 2, And FIG. 4 shows a front perspective view showing one main body and the structures mounted thereon.

Referring to these drawings, the worm-type mobile robot 100 according to the present embodiment includes at least two body portions 110, a moving plate 120, a rotating plate 130, a rotational driving force supplying device 140, 150, and a connecting portion 160. [

2 to 4, the main body 110 includes a connection body 113 having a polygonal columnar or cylindrical structure, a first fixing plate 110 having a plate-like structure and mounted on one side of the connection body 113, (111), and a second fixing plate (112) having a plate-like structure and mounted on the other side of the connection body (113).

The moving plate 120 is mounted on the connecting body 113 so as to be slidable in the longitudinal direction of the connecting body 113 and one side is bound to the rotating plate 130 via the wire 121, May be a plate-like structure that is bound to the second fixing plate 112 through the elastic member 122. [

The rotary plate 130 is mounted on one side of the first fixing plate 111 so as to be rotatable and may be a plate-like structure for pulling or releasing the wire 121 by rotation driving to change the position of the moving plate 120 have.

The rotational driving force supply device 140 is mounted inside the connecting body 113 and can provide rotational driving force to the rotating plate 130. [

The shape changing member 150 is configured such that both end portions of the shape changing member 150 are coupled to the outer circumferential surfaces of the first holding plate 111 and the moving plate 120 and the shape is changed in accordance with the positional change of the moving plate 120, The size of the total diameter of the first and second electrodes may be changed.

The connection portion 160 is mounted between the main body portions 110 and may be varied in length to change the distance between the main body portions 110. [

Meanwhile, the worm-type mobile robot 100 according to the present invention can easily move a narrow, high-humidity or high-humidity tubular terrain. In this case, it is preferable that the outer surface of the connection body 113 is sealed for water resistance to prevent the inflow of fluid from the outside to the inside.

Furthermore, when the size of the waterproof sealed worm-type mobile robot 100 according to the present embodiment is reduced to a microscale, it can be put into an organ or an organ of a human body for medical use.

Hereinafter, the operation principle of the worm-type mobile robot 100 according to the present embodiment will be described in detail.

Fig. 5 is a front perspective view showing a state in which the shape of the shape-deformed portion is changed by changing the position of the moving plate shown in Fig.

Referring to FIG. 5 together with FIGS. 2 to 4, the main body 110 according to the present embodiment includes a connecting body 113 having a cylindrical structure, a first fixing plate 111 mounted on both end faces of the connecting body 113, And a second fixing plate 112, as shown in FIG.

As shown in FIG. 4, the moving plate 120 can be mounted so as to be able to slide on the connecting body 133 and be displaced. At this time, the outer circumferential surface of the moving plate 120 may be connected to the outer circumferential surface of the first fixing plate 111 through the shape-changing member 150.

The shape-changing member 150 is a flexible structure, and its shape can be deformed as shown in Fig. 5 in accordance with the change of the position of the moving plate 120. Fig. More specifically, it can be seen that the deformable member 150 is deformed and the overall diameter D1 of the worm-type mobile robot 100 is changed to the longer diameter D2 as shown in Fig.

On the other hand, one side of the moving plate 120 can be bound to the rotating plate 130 through the wire 121. At this time, if the wire 121 is pulled by the rotation of the rotation plate 130, the movement plate 120 can be moved toward the rotation plate 130. On the other hand, when the rotary plate 130 is rotated in the opposite direction, the wire 121 is disengaged and the movable plate 120 returns to its original position. At this time, the other side of the moving plate 120 may be engaged with the second fixing plate 112 through the elastic member 122 so that the moving plate 120 can be returned. Specifically, the elastic member 122 is not particularly limited as long as it is a member capable of providing a driving force for returning and driving to the moving plate 120, but it may preferably be a coil spring.

A pulley 131 having the same rotation center as the rotation plate 130 is mounted on the other side of the rotation plate 130 and rotated together with the rotation of the rotation plate 130 to wind or unwind the wire 121 .

At this time, a through hole 114 through which the wire 121 can move may be formed in the first fixing plate 111 so that the wire can be pulled or unstably pulled. The inner diameter of the through hole 114 corresponds to the diameter of the wire 121 and is not particularly limited as long as it does not interfere with the movement of the wire 121 and can prevent the wire 121 from coming off. For example, the directivity of the through-hole 114 may be 101 to 150% of the diameter of the wire 121.

More specifically, the moving plate 120 can be engaged with the rotating plate 130 via two or more wires 121. [ At this time, the wires 121 may be spaced apart from each other at the same angle or interval as the plane of the moving plate 120, and may be bound to the moving plate 120. In addition, the moving plate 120 may be coupled to the second fixing plate 112 through at least two elastic members 122. At this time, the elastic members 122 may be spaced apart from each other at the same angle or interval as the plane of the moving plate 120, and may be bound to the moving plate 120. This structure is a structure for preventing the shifting plate 120 from being biased in one position.

4 and 5, in the worm-type mobile robot 100 according to the present embodiment, when the position of the moving plate 120 is changed, the position of the worm-type mobile robot 100 The size of the entire diameter can be changed.

Fig. 6 is a perspective view showing a state in which the shape of the shape-deformed portion is changed by changing the position of the moving plate.

Referring to FIG. 6 together with FIGS. 2 through 5, the first fixing plate 111, the second fixing plate 112, and the moving plate 120 according to the present embodiment may have a plate-like structure having a circular planar shape.

In addition, the shape-changing member 150 can be mounted to the first fixing plate 111 and the moving plate 120 at three or more angles or intervals along the outer circumferential surface.

As described above, the rotary plate 130 rotates by receiving the rotational driving force from the rotary driving force supply device 140, and can twist the shape-changing member 150 by a predetermined angle.

6, the deformable member 150 wound in a helical shape on the outer circumferential surface of the body 110 is loosened, and the size of the entire diameter of the worm-type mobile robot 100 can be changed.

Hereinafter, a method of operating the worm-type mobile robot 100 will be described in detail.

Fig. 7 is a flowchart showing a method for operating the worm-type mobile robot, and Figs. 8 and 9 are schematic views showing how the worm-type mobile robot moves inside the tubular-shaped passage.

2 to 4, the worm-type mobile robot 100 according to the present embodiment may include a structure including two or more body portions 110. [

At this time, a connecting portion 160 having a variable length may be mounted between the two or more body portions 110 to change the interval between the body portions 110.

More specifically, the connecting portion 160 may be one selected from the group consisting of, for example, a linear actuator, a hydraulic cylinder, a pneumatic cylinder, and a linear motor, as long as the connecting portion 160 is a device capable of changing the length.

A connection joint 161 made of a flexible material that can be bent in all directions of up and down and left and right can be mounted at both ends of the connection part 160 connected to the main body part 110. Furthermore, a ball joint or a universal joint may be mounted on both ends of the connection portion 160 connected to the main body 110.

In this case, the worm-type mobile robot 100 can flexibly move easily even in a narrow space with many bends.

The method for operating the worm-type mobile robot 100 according to the present embodiment includes the steps of inputting the mobile robot S110, fixing the head portion S120, moving the tail portion S130, fixing the tail portion S140, , A head part releasing step (S150), and a head part moving step (S160).

Specifically, the step of inputting the mobile robot (S110) is a step of inputting the warm-time mobile robot 100 into the tubular passage.

In the head fixing step S120, the shape deforming member 150 mounted on the body portion 110 located at the head portion is varied to fix the body portion 110 located at the head portion to the tubular passage .

The rear stage moving step S130 is a step of shortening the length of the connecting portion 160 and narrowing the interval between the main body portions 110. [

In the tail fixing step S140, the shape deforming member 150 mounted on the body portion 110 located at the tail portion is varied to fix the body portion 110 located at the tail portion to the tubular path .

The head releasing step S150 is a step of releasing the fixation of the main body 110 located at the head portion by varying the shape changing member 150 mounted on the main body 110 located at the head portion.

In the head moving step S160, the length of the connecting portion 160 is changed so that the interval between the main body portions 110 is changed widely.

At this time, a frictional portion 151 having a predetermined frictional force may be formed on the outer surface of the shape-changing member 150 so that the worm-type mobile robot 100 can be more stably fixed to the tubular passage.

8 and 9, the method (S100) for operating the worm-type mobile robot 100 according to the present embodiment can easily move the worm-type mobile robot 100 even in a narrow space such as a tubular passage And can operate it.

FIG. 10 is a schematic diagram showing a monitoring system including a worm-type mobile robot according to an embodiment of the present invention.

Referring to FIG. 10 with reference to FIG. 2 through FIG. 9, the monitoring system 200 according to the present embodiment is a monitoring system 200 including the above-described worm-type mobile robot 100, A power supply unit 220, a wireless communication module 230, a control unit 240, and an external control device 250.

Specifically, the photographing unit 210 can be mounted on the main body 110 and can take photographs of the surroundings of the worm-type mobile robot 100 and transmit the photographing data to the control unit 240. [

The power supply unit 220 may be installed inside the connection body 113 and may supply power to the rotation driving force supply device 140 and the photographing unit 210 in response to a control signal from the control unit 240.

The wireless communication module 230 is mounted inside the connection body 113 and receives the driving command signal from the external control device 250 and transmits the driving command signal to the control unit 240 or the photographing unit 210 Can be transmitted to the external control device 250.

The control unit 240 is mounted inside the connection body 113 and drives the photographing unit 210, the power supply unit 220, and the rotational driving force supply unit 140 Can be controlled.

The external control device 250 includes an output unit 251 for outputting image pickup data received from the wireless communication module 230 of the worm-type mobile robot 100 to a user, an input unit 252 for receiving a user's drive command, As shown in FIG.

As described above, according to the monitoring system of the present invention, the tubular passage or the cramped space can be easily moved and monitored by providing the mobile robot that can easily move in the tubular passage or the cramped space.

In the above description of the present invention, only specific embodiments thereof are described. It is to be understood, however, that the invention is not to be limited to the specific forms thereof, which are to be considered as being limited to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. .

That is, the present invention is not limited to the above-described specific embodiment and description, and various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims. And such variations are within the scope of protection of the present invention.

10: Wall of tubular passage
100: Warm type mobile robot
110:
111: first fixing plate
112: second fixing plate
113: Connecting body
114: Through hole
120: moving plate
121: wire
122: elastic member
130:
131: Pulley
140: Rotary driving force supply device
141:
150: Shape variable member
151:
160: Connection
161: connection joint
200: Monitoring system
210:
220: Power supply
230: Wireless communication module
240:
250: External adjustment device
251: Output section
252:
S100: How to operate worm type mobile robot
S110: Step of inputting mobile robot
Step S120:
S130:
Step S140:
S150: Head part release step
S160:

Claims (15)

A first fixing plate 111 of a plate-like structure mounted on one side of the connecting body 113, and a second fixing plate 111 of a plate-like structure mounted on the other side of the connecting body 113. [ At least two body portions (110) having a fixing plate (112);
The other end of the elastic body 122 is connected to the rotation body 130 through a wire 121 and the other side of the elastic body 122 is connected to the connection body 113, A moving plate 120 of a plate-like structure which is coupled to the second fixing plate 112 through the second fixing plate 112;
A rotary plate 130 mounted on one side of the first fixing plate 111 so as to be rotatable and configured to change the position of the moving plate 120 by pulling or releasing the wire 121 by rotational driving;
A rotation driving force supply device 140 installed inside the connection body 113 and providing rotation driving force to the rotation plate 130;
Both ends of the first fixed plate 111 and the moving plate 120 are coupled to the outer circumferential surface of the moving plate 120 and the shape of the movable plate 120 is changed according to the position of the moving plate 120, A shape-changing member 150 having a flexible structure; And
A connecting portion 160 mounted between the main body portions 110 and varying in length to change the interval between the main body portions 110;
(100). ≪ / RTI >
The method according to claim 1,
Wherein the outer surface of the connecting body (113) is sealed for water resistance to prevent fluid from flowing from the outside to the inside.
The method according to claim 1,
And a through hole (114) through which the wire (121) can move is formed in the first fixing plate (111).
The method according to claim 1,
Wherein the first fixing plate (111), the second fixing plate (112), and the moving plate (120) are plate-like structures having a circular planar shape.
The method according to claim 1,
The moving plate 120 is coupled to the rotating plate 130 via two or more wires 121,
Wherein the wires (121) are spaced apart from each other at the same angle or at an interval on a plane of the moving plate (120) and are bound to the moving plate (120).
The method according to claim 1,
The moving plate 120 is coupled to the second fixing plate 112 through at least two elastic members 122,
Wherein the elastic members (122) are spaced apart from each other at the same angle or at an interval on the plane of the moving plate (120) and are bound to the moving plate (120).
The method according to claim 1,
Wherein the elastic member (122) is a coil spring.
The method according to claim 1,
A pulley 131 having the same rotation center as the rotation plate 130 is mounted on the other side surface of the rotation plate 130,
Wherein the pulley (131) rotates together with the rotation of the rotary plate (130) to wind or unwind the wire (121).
The method according to claim 1,
Wherein the shape changing member (150) is mounted at least three or more at equal angles or intervals along the outer circumferential surface of the first fixing plate (111) and the moving plate (120).
10. The method of claim 9,
Wherein the shape-changing member (150) is made of a flexible material, and a friction portion (151) having a frictional force of a predetermined size is formed on an outer surface thereof.
The method according to claim 1,
Wherein the connection unit (160) is selected from the group consisting of a linear actuator, a hydraulic cylinder, a pneumatic cylinder, and a linear motor.
The method according to claim 1,
Wherein a connection joint (161) composed of a flexible material capable of bending in all directions of up and down and left and right is mounted on both ends of a connection part (160) connected to the main body part (110).
The method according to claim 1,
Wherein a ball joint or a universal joint is mounted at both ends of a connection part (160) connected to the main body part (110).
An operation method (S100) for operating the worm-type mobile robot (100) according to any one of claims 1 to 13,
a) a step S110 of inputting a wartime-moving robot 100 into a tubular passage;
(b) a head fixing step (S120) for changing the deformable member (150) mounted on the body part (110) located at the head part and fixing the body part (110) positioned at the head part to the tubular path, ;
c) a trailing part moving step (S130) of changing the length of the connecting part (160) to narrow the intervals between the main parts (110);
d) a rear fixing step S140 for changing the deformable member 150 mounted on the body portion 110 located at the rear portion so that the body portion 110 positioned at the rear portion is fixed to the tubular passage; ;
e) a head releasing step (S150) of varying the deformable member (150) mounted on the main body part (110) positioned at the head part and releasing the fixation of the main body part (110) positioned at the head part; And
f) a head moving step (S160) for changing the length of the connecting portion (160) to change the interval between the main body portions (110) to be wide;
Wherein the worm-type mobile robot is a worm-type mobile robot.
A monitoring system (200) comprising the worm-type mobile robot (100) according to any one of claims 1 to 13,
A photographing unit 210 mounted on the main body 110 and photographing the surroundings of the worm-type mobile robot and transmitting photographing data to the control unit 240;
A power supply unit 220 mounted in the connection body 113 and receiving power from the control unit 240 to supply power to the rotation driving force supply unit 140 and the photographing unit 210;
The control unit 240 receives the drive command signal from the external control device 250 and transmits the image pickup data received from the image pickup unit 210 to the external control device 250 A wireless communication module (230);
And controls driving of the photographing unit 210, the power supply unit 220, and the rotational driving force supplying apparatus 140 based on the driving command signal received through the wireless communication module 230 A control unit 240; And
An external controller 250 having an output unit 251 for outputting photographing data received from the wireless communication module 230 of the worm-type mobile robot 100 to a user and an input unit 252 for receiving a user's driving command, );
The monitoring system comprising:

Images