KR102171744B1 - The Mobile Unmanned Monitoring Robot Using CRA - Google Patents

Abstract

The present specification can provide a method of operating a trajectory traveling robot system. In this case, the operation method of the unmanned surveillance system includes the steps of the robot moving along the first trajectory, the bot acquiring input information for the first object in the first trajectory, and the robot wirelessly communicating the input information for the first object. It may include transmitting to the server through. At this time, the first trajectory is a trajectory set in consideration of the CRA, and the robot may operate based on the trajectory in consideration of the CRA. In addition, the robot may include a wireless communication antenna and a router, and perform wireless communication based on the CRA.

Description

The Mobile Unmanned Monitoring Robot Using CRA

The present specification may provide a tracked robot using a cable type WiFi radial antenna (CRA). In addition, it is possible to provide a method of operating a tracked robot using CRA.

Along with the industrial development, various facilities have been created, and requirements for maintenance and management of various facilities are increasing. For example, with industrial development, pipes that have been buried underground have already been buried underground for a long time, and problems such as buried pipes have arisen, and accidents are increasing. However, the above-described underground pipes have limitations in monitoring and maintaining the entire area by human access. In addition, as industrialization progresses, places where human access is difficult, such as inside buildings with complex designs, are increasing. However, there is no special method for management and maintenance of this area, and many problems based on this are occurring.

In addition, there is a risk of fire due to the accumulation of pipes and power outlets/electrical wiring in the above-described regions, and measures to prevent this are required.

There may be a need for an efficient method for management and maintenance of the above-described areas, and there is a need to newly apply devices for this.

The present invention relates to a robot using a CRA and a method of operation thereof, and can solve the above-described problem.

An object of the present specification is to provide an orbiting robot using a CRA and a method of operation thereof.

An object of the present specification is to provide data communication through an orbiting robot using a CRA.

According to an embodiment of the present invention, a method of operating a trajectory traveling robot system includes: a robot moving along a first trajectory, a robot acquiring input information for a first object in a first trajectory, and the robot first It may include transmitting input information about the object to the server through wireless communication. In this case, the first trajectory may be a CRA alone trajectory considering only a cable type WiFi radial antenna (CRA).

Further, according to an embodiment of the present invention, the robot performs wireless communication with the server only in the first area of the first trajectory, but the first area may be determined based on the CRA.

In addition, according to an embodiment of the present invention, when the robot acquires input information for a first object in an area other than the first area, the robot moves to the first area on the first trajectory, the input information through wireless communication. Can be sent to the server.

Further, according to an embodiment of the present invention, the first area may be periodically set on the first trajectory.

Further, according to an embodiment of the present invention, only when the load on the robot is less than the first value, the robot can operate based on the first trajectory considering only the CRA.

In addition, according to an embodiment of the present invention, the first trajectory may be set in consideration of the CRA and the support line.

In addition, according to an embodiment of the present invention, only when the load on the robot is greater than or equal to the first value and less than the second value, the robot may operate based on the first trajectory set based on the CRA and the support line.

In addition, according to an embodiment of the present invention, the first value may be 5 kg, and the second value may be 25 kg.

Further, according to an embodiment of the present invention, the first trajectory may be a trajectory set based on a profile into which a CRA is inserted.

In addition, according to an embodiment of the present invention, only when the load on the robot is greater than or equal to the second value, the robot may operate based on the first trajectory set based on the profile into which the CRA is inserted.

In addition, according to an embodiment of the present invention, the robot includes a router, and the robot may perform wireless communication with a server based on the router.

In addition, according to an embodiment of the present invention, the robot further includes a battery, and the battery of the robot may be charged in a charging station periodically set in the first trajectory based on a wired method or a wireless method.

Further, according to an embodiment of the present invention, the input information may include at least one or more of location information, time information, audio information, voltage information, real image information, thermal image sensor information, and current information.

In addition, according to an embodiment of the present invention, in the track traveling robot system, a robot traveling along a first track and a server performing wireless communication with the robot may be included. The robot acquires input information on the first object while moving along the first trajectory, and the robot transmits the input information on the first object to the server through wireless communication, but the first trajectory is CRA (Cable type WiFi). It may be a single CRA orbit considering only radial antenna).

In addition, according to an embodiment of the present invention, the robot may further include a router for performing wireless communication, an input unit for obtaining input information, and a controller for controlling the router and the input unit.

Further, according to an embodiment of the present invention, the server may further include a router performing wireless communication and a controller controlling the router.

According to an embodiment of the present specification, it is possible to provide a tracked robot using a CRA and a method of operation thereof.

According to an exemplary embodiment of the present specification, a method for monitoring and supervising an area that is difficult to access by humans may be provided.

According to an embodiment of the present specification, data communication may be provided through an orbiting robot using a CRA.

The effects obtainable in the present specification are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those of ordinary skill in the art from the following description. will be.

1 is a diagram showing the structure of a robot according to an embodiment of the present specification.
2 is a diagram conceptually showing the structure of a tracked traveling robot system according to an embodiment of the present specification.
3 is a diagram showing a CRA according to an embodiment of the present specification.
4 is a diagram illustrating a method of configuring a trajectory according to an embodiment of the present specification.
5 is a diagram illustrating a method of configuring a trajectory according to an embodiment of the present specification.
6 is a diagram illustrating an amplifier and a divider according to an embodiment of the present specification.
7 is a diagram showing the configuration of a tracked traveling robot system according to an embodiment of the present specification.
8 is a diagram showing the configuration of a tracked traveling robot system according to an embodiment of the present specification.
9 is a view showing the operation of the tracked traveling robot system according to an embodiment of the present specification.
10 is a flowchart illustrating a method of operating the tracked driving robot system according to an embodiment of the present specification.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The detailed description to be disclosed hereinafter together with the accompanying drawings is intended to describe exemplary embodiments of the present invention, and is not intended to represent the only embodiments in which the present invention may be practiced. The following detailed description includes specific details to provide a thorough understanding of the present invention. However, one of ordinary skill in the art appreciates that the invention may be practiced without these specific details.

The following embodiments are a combination of components and features of the present invention in a predetermined form. Each component or feature may be considered optional unless otherwise explicitly stated. Each component or feature may be implemented in a form that is not combined with other components or features. In addition, some components and/or features may be combined to constitute an embodiment of the present invention. The order of operations described in the embodiments of the present invention may be changed. Some configurations or features of one embodiment may be included in other embodiments, or may be replaced with corresponding configurations or features of other embodiments.

Specific terms used in the following description are provided to aid understanding of the present invention, and the use of these specific terms may be changed in other forms without departing from the technical spirit of the present invention.

In some cases, in order to avoid obscuring the concept of the present invention, well-known structures and devices are omitted, or are shown in block diagram form centering on core functions of each structure and device. In addition, the same components will be described with the same reference numerals throughout the present specification.

In addition, in the present specification, terms such as first and/or second may be used to describe various components, but the components should not be limited by the terms. The terms are only for the purpose of distinguishing one component from other components, for example, without departing from the scope of rights according to the concept of the present specification, the first component may be named as the second component, and similarly , The second component may also be referred to as a first component.

In addition, throughout the specification, when a part "includes" a certain component, it means that other components may be further included rather than excluding other components unless otherwise stated. And “… unit", "… A term such as “sub” refers to a unit that processes at least one function or operation, which may be implemented by a combination of hardware and/or software.

1 is a view showing an orbiting robot using a CRA according to an embodiment of the present specification.

The tracked driving robot 100 using CRA may include at least one of a router 110, a WiFi module 120, an input unit 130, a battery 140, a controller 150, and a motor 160. .

In this case, CRA may mean a cable-type WI-FI radial antenna. As an example, the CRA may be a cable equipped with an antenna through which radio waves are radiated to the outside to enable communication. As an example, a slot (or a home, an area) may exist in the CRA to enable communication. In this case, the slot may serve as an antenna, and a frequency for a radio wave emitted for communication may be differently selected based on the length or slope of the slot. For example, the frequency at which the orbiting robot 100 operates may be a frequency for a local area network, and a slot may be designed to use the above-described frequency band. That is, the slot for the CRA may be set in the cable in consideration of the frequency, and may serve as an antenna. In more detail, CRA may mean a transmission line used to transmit high frequency power by connecting a transmitter and a transmitting antenna or a receiving antenna and a receiver. In this case, the cable may transmit the radio signal obtained from the CRA to a server or other device through a transmission line. Alternatively, the cable can carry a signal generated from a server or other device through a transmission line and emit it as radio waves in the CRA. As an example, the CRA may be a leaky coaxial cable, but is not limited thereto.

Based on the above, the present invention can provide a method for the tracked robot 100 to perform wireless communication. For example, cables and CRAs may be provided in underground tunnels or in areas where transmission and reception is difficult. At this time, the tracked driving robot 100 may move along the provided cable. For example, the weight (or load) of the tracked driving robot 100 may be designed to be movable in a cable. That is, without installing a separate track, the tracked robot 100 can move through a general track. On the other hand, the orbital running robot 100 may move a cable, which is a general orbit, through the motor 160. At this time, the orbital driving robot 100 may perform wireless communication through the CRA in a general orbit, as described above.

As another example, the tracked robot 100 may drive a CRA and a support line (or a steel line) on a track in consideration of equipment or devices included in the tracked robot 100. At this time, the tracked driving robot 100 may be connected to a certain steel wire such as a cable car to be driven. As another example, when a device with a large load is mounted on the tracked running robot 100, the tracked running robot 100 may be driven using a profile (eg aluminum or steel) on which CRA is mounted (or inserted) as a track. I can. That is, the tracked robot 100 may be driven through a track capable of withstanding a large load as a CRA insertion type track.

That is, the track design of the orbital running robot 100 may be different based on the load of the tracked running robot 100, and is not limited thereto. However, as an example, it may be possible to limit the load to the tracked robot 100 by including only equipment capable of using an already equipped track as a general track.

That is, a trajectory for the orbiting robot 100 may be designed first, and a different trajectory may be designed for each target or region. At this time, for example, since different tracks are installed for each target or area, the load of the tracked robot 100 may be determined according to the track, and the load is not limited to the above-described embodiment.

In addition, as an example, the tracked robot 100 may include an input unit 130. In this case, the input unit may include a high definition (HD) camera and a thermal imaging camera. In addition, as an example, the tracked robot 100 may further include at least one of a position sensor, a microphone, a voltage meter, a current meter, and a thermal image sensor as an input unit. For example, the orbital driving robot 100 may acquire shape information of the object as image information of the object through the HD camera. In addition, the orbiting robot 100 may acquire temperature information as image information of a target through a thermal imaging camera. In addition, the tracked running robot 100 may acquire location information of the tracked running robot 100 through a position sensor. In addition, the tracked driving robot 100 may acquire power-related information by using at least one of a voltage meter and a current meter. In addition, as an example, the tracked robot 100 may acquire audio information using a microphone unit. That is, the input unit may mean a part that performs sensing to obtain information, and is not limited to the above-described embodiment.

In this case, as an example, the tracked robot 100 may detect an abnormality in the target through the input unit while moving the cable. At this time, the target may be an underground tunnel, a specific device, or the like, and may be a target that the tracked robot 100 monitors while moving the cable. The tracked driving robot 100 may periodically detect whether an object is abnormal while moving along a cable, and is not limited to the above-described embodiment.

At this time, the tracked driving robot 100 needs to transmit the information acquired through the input unit 130 to a server (or CMS (Central Monitoring System)). In the past, the orbital driving robot 100 could be able to transmit data by contacting wires and communication lines. However, the tracked driving robot 100 may be driven in an underground facility or an environment such as high temperature or high pressure in an area where human access is difficult. At this time, when the orbiting robot 100 transmits data through a contact-type track as in the past, there is a limitation in implementing the orbiting robot 100 in consideration of the above-described environment. In consideration of this point, the tracked robot 100 may be designed to transmit information acquired from the input unit 130 to a server (or CMS) through wireless communication through a CRA. For example, the tracked robot 100 may perform wireless communication based on radio waves emitted from the CRA area. At this time, the tracked robot 100 may transmit information acquired in an area where wireless communication is not possible through wireless communication. That is, the tracked robot 100 may transmit the acquired information through the CRA. Through this, the implementation of the orbital driving robot 100 can be set differently depending on the target. For example, since the tracked robot can transmit information through wireless communication, it can be implemented to be completely waterproof/dustproof. In addition, since the tracked robot 100 does not require a contact surface, construction can be simple and cost can be reduced. That is, it is possible to increase the convenience of implementation.

In addition, as an example, the tracked driving robot 100 may include a router 110. In this case, the router 110 may be a configuration for transmitting and receiving information between different networks. That is, the router can be used for communication between networks. For example, the router 110 may designate a path for transmitting generated data or receiving data generated in another network. In addition, as an example, when the tracked robot 100 moves through a cable, the tracked robot 100 cannot perform communication in a cable (or a general track), and a WI-FI module in the CRA area (or slot) Wireless communication may be performed through 120.

More specifically, as described above, the tracked robot 100 may be capable of wireless communication only in the CRA area (or slot) as described above. That is, the tracked robot 100 may collect only information through an input unit in a general track, and transmit data through wireless communication when it reaches a point corresponding to the CRA area.

On the other hand, as another example, in connection with wireless communication of the tracked driving robot 100, WiFi may be used as short-range communication. At this time, as an example, the orbital driving robot 100 may perform wireless communication through a relatively low frequency band such as 1GHz, 2.4GHz, or 5Ghz as WiFi. In addition, as an example, the tracked robot 100 may use a short-range communication network such as Bluetooth, NFC, Zigbee, and beacon. That is, the tracked driving robot 100 may perform wireless communication using a local area communication network. In this case, as an example, a frequency domain for wireless communication of the orbiting robot 100 may be determined, and for this, the length or angle of the CRA area (or slot) may be considered. As another example, even if wireless communication is performed based on the CRA, the strength of the radio wave or the signal strength may be weak. In this case, a distributor or amplifier may be further used to increase the strength of the signal. In this case, as an example, the divider may efficiently perform power distribution through impedance matching in order to transmit the maximum output, and based on this, may emit radio waves without loss in a frequency band. In addition, the amplifier may increase the signal strength through power supply, and thus smooth wireless communication may be performed.

Meanwhile, for example, the tracked robot 100 may be a device that moves along a cable. At this time, there is a need to consider the frequency fluctuation according to the movement of the orbital driving robot 100. For example, there may be fluctuations in frequency according to the movement of an object, such as a Doppler effect, and this change may affect wireless communication. As another example, since the speed of the object may affect the frequency band used, there is a need to perform wireless communication in consideration of the moving speed of the orbiting robot 100. That is, a wireless communication environment may be set in consideration of the traveling of the tracked robot 100 and an area (slot) of the CRA, and a distributor or an amplifier may be designed based on this.

As another example, the tracked robot 100 may include a plurality of communication modules. In this case, the tracked robot 100 may perform wireless communication at the first point based on the first communication module, and at the second point perform wireless communication based on the second communication module. As an example, an environment unsuitable for using a specific wireless communication may occur in consideration of the driving of the tracked robot 100 and the surrounding environment of the target. In consideration of this point, it is possible to perform wireless communication through different communication modules at each point. For example, the CRA may exist at each specific point, and the communication module used at the specific point may be different. As an example, it may be possible to perform wireless communication through WiFi at a specific point and through NFC at another point, and is not limited to the above-described embodiment.

As another example, the tracked robot 100 may include a battery. At this time, since the tracked driving robot 100 runs in an area where human access is difficult, charging and exchanging batteries may not be easy. In consideration of this point, the tracked robot 100 may perform charging for power/power supply at a certain point. In other words, there may be a charging station for the orbiting robot 100. For example, the charging stations may exist at regular intervals. As another example, the tracked robot 100 may stop driving at the charging station in consideration of the driving time to perform charging, and through this, the tracked robot 100 may be continuously operated. In addition, as an example, the tracked robot 100 may perform charging at a charging station based on a wired method or a wireless method. That is, the tracked robot 100 may reach the charging station as a certain point and perform charging through a wired method.

On the other hand, taking into account that the orbital driving robot 100 operates in an area where human access is difficult, charging may be performed in a charging station based on a wireless method, and the charging is not limited to the above-described embodiment.

Meanwhile, the above-described operations may be controlled through the controller 150 of the tracked driving robot 100, and are not limited to the above-described embodiment.

As another example, the tracked robot 100 may include other devices such as a robot arm or a fire extinguisher in consideration of the load. For example, the tracked robot 100 may determine an emergency situation based on the input information, and perform an emergency action through another device. As another example, the tracked robot 100 may control another device based on a command received through wireless communication. That is, other devices of the orbital running robot 100 may be controlled through commands received through wireless communication.

As another example, the driving of the tracked robot 100 may also be periodically controlled through wireless communication. For example, the tracked robot 100 may transmit information obtained from the input unit 130 based on the CRA area to a server or a CMS. At this time, the server or the CMS may determine the state of the object based on the input information received from the tracked robot 100 and provide a command based thereon to the tracked robot 100. For example, when a detailed review of a target is required, the server may transmit a command to control the moving speed of the orbited robot 100 through wireless communication. As another example, the server may increase the amount of information acquired by the tracked robot 100 through the input unit 130, but is not limited to the above-described embodiment.

2 is a diagram illustrating a method of exchanging data between a robot and a server or a CMS.

For example, the robot (or the orbital driving robot 210 of FIG. 1) may include a transceiver 211 and a controller 212. As an example, the transceiver 211 may correspond to the WiFi module described above in FIG. 1. Further, as an example, the server (or CMS, 220) may include a transceiver 221 and a controller 2220. At this time, as an example, the transceiver 221 may be a configuration for transmitting and receiving data through wireless communication as a WiFi module or WiFi adapter. Further, in addition, it may further include a memory or equipment necessary for data collection, and is not limited to the above-described embodiment. In addition, the robot 210 is only one name and is not limited to the name. In more detail, the robot 210 may be a device capable of moving along a rail (or track). In this case, the robot 210 may have various sizes and loads based on the area to be monitored. For example, a robot 210 equipped with a micro camera for a narrow area may also be possible. Alternatively, a robot 210 equipped with a camera having excellent performance in consideration of a wide area may also be possible. In this case, as described above in FIG. 1, in consideration of the load of the robot 210, an existing track may be used as a general track, or may be operated through a separate rail such as a support line, but is not limited to the above-described embodiment.

In addition, the controller 212 of the robot 210 may transmit the acquired information to the server 220. At this time, the robot 210 may transmit data to the server 220 through wireless communication as described above in FIG. 1. For example, as described above, wireless communication may be possible through a CRA.

In more detail, the robot 210 may move through an orbit in which a CRA is combined with a general orbit, and may perform wireless communication based on the CRA. As another example, the robot 210 may be a robot that travels using a CRA and a support line trajectory. At this time, the CRA may be used in combination with the support line, and when the robot 210 moves through the CRA, the robot 210 may perform wireless communication. For example, when the weight of the robot 210 is less than 5 kg, the robot 210 may travel based on the above-described CRA. In addition, as an example, when the robot 210 is 5 kg or more and less than 25 kg, the CRA and the support line may be combined and used. As another example, when a device having a large load is mounted, the robot 210 may travel using a profile on which a CRA is mounted as a track. At this time, the robot 210 may perform wireless communication with respect to the trajectory in which the CRA is inserted, and transmit data to the server 220 through this. For example, when the weight of the robot 210 is 25 kg or more, a profile into which a CRA is inserted may be used as a track. However, the above-described value is only an example and is not limited to the above-described embodiment.

Meanwhile, for example, in consideration of battery consumption or radio wave strength of the robot 210, wireless communication may be performed only for a certain area. In more detail, when the robot 210 is continuously capable of wireless communication, the robot 210 may continuously detect radio waves, and power consumption may be fast due to radio wave detection. In addition, as an example, the reliability of wireless communication can be increased when the radio waves are emitted at a specific point in consideration of the emission intensity of radio waves. In consideration of the above points, the robot 210 may perform wireless communication only in a specific area as a CRA area. Meanwhile, as an example, the controller 222 of the server 220 may transmit the data to the robot 210 by propagating a signal for data in the transmission/reception unit 221 in the CRA area. Through this, the robot 210 and the server 220 may perform communication. In addition, as an example, the controller 222 of the server 220 may include a machine learning function. In this case, as an example, the controller 222 may perform monitoring on the target by analyzing the input information by itself through a machine learning function to check whether the target is abnormal. The server 220 may analyze the input information received from the robot 210, and based on this, may perform an analysis on an object through machine learning. Thereafter, the server 220 may transmit a command for driving and monitoring to the robot 210 through wireless communication based on the analyzed information, and is not limited to the above-described embodiment.

In addition, as an example, FIG. 3 is a diagram showing a CRA. However, FIG. 3 is only an example and is not limited to the above-described embodiment. That is, the CRA may be a cable equipped with an antenna that emits radio waves, and is not limited to the above-described embodiment. In this case, as an example, the CRA may include a slot as shown in FIG. 3, and the slot may be a predetermined area or groove for emitting radio waves. In this case, the emission frequency may be different based on the length or slope of the slot. For example, in FIGS. 1 and 2, the CRA area may mean a slot. That is, there may be a region in the CRA that allows radio waves to be emitted, and is not limited to the above-described embodiment.

In addition, Figures 4 and 5 are views showing the orbiting robot. For example, referring to FIG. 4, the tracked robot may move through an aluminum rail into which a CRA is inserted in consideration of a load. At this time, the tracked robot may perform wireless communication through radio waves emitted based on the CRA area, as described above. In addition, as an example, referring to FIG. 5, the tracked robot may be driven based on a rail and a CRA. That is, a separate rail may be required for the tracked robot. However, FIGS. 4 and 5 are only one example, and are not limited to the above-described embodiment. 6 is a diagram showing an amplifier and a divider. Referring to FIG. 6, as described above, an amplifier and a divider may be used to efficiently transmit radio waves. For example, an amplifier may be used to amplify radio waves. In addition, as an example, the distribution may efficiently perform radio wave transmission at a specific point through impedance matching.

7 and 8 are diagrams showing a server (or CMS) and a robot.

Referring to FIG. 7, the server and the robot may perform communication. At this time, as an example, the robot may perform wireless communication with the server through the WiFi module, as described above. Further, as an example, the server 710 may include at least one of an application server (Application Server, 711), a WiFi adapter (WiFi adapter) 712, and a line amplifier (Line Amp) 713. In this case, the application server 711 may be an application-related server using information acquired from the robot 720 as an application for the server 710. In addition, the WiFi adapter 712 may receive a signal transmitted by the robot 720 through the WiFi module 722. In addition, the line amplifier 713 may increase a data transmission rate by amplifying a transmitted signal. In addition, radio waves may be emitted through the above-described CRA, and wireless communication with the robot 720 may be performed through this.

As another example, referring to FIG. 8, the server may further include a distributor 814. At this time, as an example, it is necessary to consider power and signal strength for wireless communication. That is, the reliability of wireless communication can be improved only when a signal with low noise is emitted with high power. In this case, the divider 814 improves signal transmission efficiency through impedance matching, thereby increasing reliability of wireless communication. As another example, the robot 820 may further include a booster 822. For example, the booster 822 may also be used for signal amplification, thereby increasing reliability of wireless communication.

9 is a diagram showing a specific example to which the present invention is applied.

Referring to FIG. 9, the robot 910 may be a device that moves along an orbit. In this case, as an example, the robot 910 may move along a trajectory in which a CRA is coupled to a general trajectory, as described above. In this case, the robot 910 may perform wireless communication at a point corresponding to the CRA. In addition, as an example, the robot 910 may travel through a track in which the CRA and the support line are combined. As another example, the robot 910 may travel in a track on a profile in which a CRA is inserted, as described above.

In this case, as an example, referring to FIG. 9A, the robot 910 may detect whether an object is abnormal through an input unit. For example, the robot 910 may acquire information on an object in real time. As another example, the robot 910 may acquire information on an object based on a predetermined period. As another example, the robot 910 may obtain information on a target when an event is triggered, and the present invention is not limited to the above-described embodiment.

In this case, the robot 910 may transmit information on the target to the server through wireless communication. In this case, the robot 910 may omit information on the object that does not detect an abnormality, and transmits only the information on which the abnormality is detected to the server through wireless communication. As another example, the robot 910 may perform communication only at a predetermined point. In more detail, the robot 910 may transmit data to the server through wireless communication only at a point where wireless communication can be performed through an antenna based on the CRA.

For example, referring to FIG. 9B, when the robot 910 acquires information on an object, wireless communication may not be possible. The robot 910 may store information on an object until a point in time when wireless communication is possible. When the robot 910 reaches the points 920-1 and 920-2 where wireless communication is possible, the stored information may be transmitted to the server through wireless communication.

Meanwhile, as an example, the robot 910 may execute a command for driving (or operation) from a server at a point where wireless communication is possible. As an example, as described above, the server may process input information based on machine learning, and control driving of the robot 910 based on this.

In addition, as an example, when a trajectory is set as a CRA and a support line, or a trajectory in which a CRA is inserted is set, the robot 910 may transmit the information to the server through wireless communication as soon as the information on the target is acquired. At this time, since the robot 910 communicates with the server in real time, it can quickly detect whether there is an abnormality.

However, since power consumption for the robot 910 may be fast, communication may be performed in consideration of each situation.

In addition, as described above, when the robot 910 travels on an orbit and transmits data through wireless communication, the robot 910 does not need a track and a contact surface, so a waterproof/dustproof design may be possible, and construction The degree of freedom can be increased, and is not limited to the above-described embodiment.

10 is a diagram illustrating an operation method for a tracked traveling robot according to an embodiment of the present invention.

As described above, the robot 1010 and the server 1020 may exchange data based on wireless communication. At this time, the robot 1010 may move along the first trajectory. For example, as described above in FIGS. 1 to 9, the first trajectory may be designed based on a general trajectory and a CRA. That is, the robot 1010 may move along a general trajectory equipped with a CRA without installing a separate trajectory. In this case, the robot 1010 may obtain input information on the first object on the first trajectory. In this case, as an example, the first object may be an object to be monitored. As an example, the first object may be a pipe in an underground tunnel. In addition, as an example, the first object may be a turbine or the like that maintains a high temperature, and is not limited to the above-described embodiment.

In this case, the robot 1010 may transmit information on the first object to the server 1020 through wireless communication in the first area. In this case, the first area may be an area based on the CRA. That is, the first area may be an area in which radio waves are emitted based on the antenna of the CRA and wireless communication is possible. In this case, as an example, the first area may be set only to a specific point based on the CRA in a cable equipped with a general track and a CRA. That is, a specific point among the cables may be the first area at a certain period. In addition, as an example, the first area may be designed as an entire cable area based on a track based on a CRA and a support line or a track into which a CRA is inserted. At this time, when the robot 1010 acquires the input information, it may immediately transmit data to the server 1020 through wireless communication, as described above.

11 is a flow chart showing an operation method for a tracked driving robot according to an embodiment of the present invention.

In the tracked robot system, the robot can move along the first track. (S1110) At this time, as an example, as described above in FIGS. 1 to 9, the first orbit may be designed based on a general orbit and a CRA. That is, the robot can move along a general orbit equipped with a CRA without installing a separate orbit. In this case, the robot may obtain input information for the first object on the first trajectory. (S1120) At this time, the first object may be an object to be monitored, as described above. Next, the robot may transmit information on the first object to the server through wireless communication in the first area. (S1130) In this case, as described above, the first region may be a region based on the CRA. That is, the first area may be an area in which radio waves are emitted based on the antenna of the CRA and wireless communication is possible. In this case, as an example, the first area may be set only to a specific point based on the CRA in a cable equipped with a general track and a CRA. That is, a specific point among the cables may be the first area at a certain period. In addition, as an example, the first area may be designed as an entire cable area based on a track based on a CRA and a support line or a track into which a CRA is inserted. At this time, when the robot acquires the input information, it can immediately transmit the data to the server through wireless communication, as described above.

The embodiments of the present invention described above can be implemented through various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

In the case of hardware implementation, the method according to embodiments of the present invention includes one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), and Programmable Logic Devices (PLDs). , Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and the like.

In the case of implementation by firmware or software, the method according to the embodiments of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above. The software code may be stored in a memory unit and driven by a processor. The memory unit may be located inside or outside the processor, and may exchange data with the processor through various known means.

Detailed descriptions of the preferred embodiments of the present invention disclosed as described above are provided to enable those skilled in the art to implement and implement the present invention. Although the above has been described with reference to a preferred embodiment of the present invention, those skilled in the art will variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the following claims. You will understand that you can do it. Thus, the invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. In addition, although the preferred embodiments of the present specification have been illustrated and described above, the present specification is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present specification claimed in the claims. In addition, various modifications may be possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or prospect of the present specification.

In addition, in this specification, both the product invention and the method invention are described, and the description of both inventions may be supplementally applied if necessary.

100: robot
110: the robot's router
120: WiFi module of the robot
130: input part of the robot
140: robot battery
150: controller of the robot
160: the motor of the robot

Claims (16)

In the operating method of the tracked traveling robot system,
Moving the robot along the first trajectory;
Obtaining, by the robot, input information for a first object in a first trajectory; And
Transmitting, by the robot, the input information on the first object to a server through wireless communication; including,
The first orbit is a CRA orbit in consideration of a cable type WiFi radial antenna (CRA),
The robot performs wireless communication with the server only in a first area of the first trajectory, and the first area is determined based on the CRA,
When the robot acquires the input information for the first object in an area other than the first area, the robot transmits the input information through the wireless communication when moving to the first area on the first trajectory. To the server,
The first trajectory is a trajectory set in consideration of the CRA and a support line further.
delete delete The method of claim 1,
The first area is set periodically on the first track.
delete delete The method of claim 1,
The method of operating a tracked robot system, wherein the robot operates based on the first trajectory set based on the CRA and the support line only when the load on the robot is greater than or equal to a first value and less than a second value.
The method of claim 7,
The first value is 5 kg, and the second value is 25 kg.
The method of claim 1,
The first trajectory is a trajectory set based on a profile into which the CRA is inserted.
The method of claim 9,
The method of operating a track traveling robot system, wherein the robot operates based on the first trajectory set based on the profile into which the CRA is inserted only when the load on the robot is greater than or equal to a second value.
The method of claim 1,
The robot includes a router,
The robot performs the wireless communication with the server based on the router, a method of operating a trajectory traveling robot system.
The method of claim 1,
The robot further includes a battery,
The battery of the robot is charged in a charging station periodically set in the first track based on a wired method or a wireless method.
The method of claim 1,
The input information includes at least one or more of location information, time information, audio information, voltage information, real image information, thermal image sensor information, and current information.
In the tracked driving robot system,
A robot traveling along the first trajectory; And
Including; a server for performing wireless communication with the robot,
The robot acquires input information for a first object while moving along the first trajectory,
The robot transmits the input information on the first object to the server through wireless communication,
The first orbit is a CRA orbit in consideration of a cable type WiFi radial antenna (CRA),
The robot performs wireless communication with the server only in a first area of the first trajectory, and the first area is determined based on the CRA,
When the robot acquires the input information for the first object in an area other than the first area, the robot transmits the input information through the wireless communication when moving to the first area on the first trajectory. To the server,
The first trajectory is a trajectory set in consideration of the CRA and a support line further.
The method of claim 14,
The robot,
A router that performs wireless communication;
An input unit for obtaining input information; And
Further comprising a controller for controlling the router and the input unit, orbit driving robot system.
The method of claim 14,
The server,
A router that performs wireless communication; And
A tracked driving robot system further comprising a controller for controlling the router.

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