KR102190695B1 - Snake robot that can run on the basis of the outer shell to generate different frictional forces - Google Patents

Abstract

The present invention relates to a snake robot drivable based on an outer skin for generating different frictional forces. According to one aspect of the present invention, in the snake robot having a body part in which a plurality of modules are connected, at least one of the length and shape of the body part is changed based on a change in at least one of a connection point and a separation distance between the modules. The snake robot is movable by using at least one of the changed length and shape of the body part. Also, the body part is inserted and disposed in an outer skin including a plurality of frictional force generating members in at least a part of a surface thereof. In addition, the frictional force generating members generate at least partially different frictional forces, and the snake robot can be moved by additionally using a plurality of differently generated frictional forces.

Description

{Snake robot that can run on the basis of the outer shell to generate different frictional forces}

The present invention relates to a snake robot capable of running on the basis of the skins that generate different frictional forces.

The robot hand refers to the hand of a machine that constrains or moves an object by a plurality of fingers, and while the robot arm determines a general position within a wide working area, the robot hand is a limited area. It is used for subtle manipulation and grasping of objects within.

In addition, such artificial intelligence and robot technologies are being used in various fields, and can be used as core technologies for breakthrough of handling technologies for gripping and assembling parts in a manufacturing environment.

The robot hand can be used in conjunction with a robot that extends the golden time by entering a narrow space when a building collapses in various disaster situations (earthquake, heavy snow, fire, heavy rain, landslide, etc.) to determine the location and condition of the investigator.

In the past, there is a case where a vine-type robot was developed, but only forward and backward is not possible, and reusability after one injection is not good, so use of detection and rescue missions that require repetitive injection in several places There was a problem that it was inappropriate.

In addition, the existing previously developed technologies have a problem that robots are being developed by focusing only on the movement/reconnaissance function of a narrow space.

Therefore, in order to extend the golden time of the survivor, in addition to the function of moving by mounting various sensors to find the investigator, there is a growing need for a robot equipped with a function capable of supplying emergency drugs and nutrient juice to solve the above problems. .

(1) Korean Intellectual Property Office Application No. 10-2016-0007854 (2) Korean Intellectual Property Office Application No. 10-2016-0037824

In order to solve the above-described problem, the present invention proposes to a user a snake robot capable of running based on an outer shell that generates different frictional forces.

Specifically, the present invention is based on a change in at least one of a connection point and a separation distance between a plurality of modules, at least one of the length and shape of the body portion is changed, and by using at least one of the changed length and shape of the body portion. The snake robot is movable, and the body portion is inserted into a shell including a plurality of friction force generating members on at least a portion of the surface, and the plurality of friction force generating members generate at least some different friction forces, and the plurality of differently generated It is intended to propose to a user a snake robot capable of driving based on an outer skin that generates different frictional forces, characterized in that the snake robot moves by additionally using frictional force.

Meanwhile, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clearly to those of ordinary skill in the technical field to which the present invention belongs from the following description. It will be understandable.

A snake robot configured with a body portion connecting a plurality of modules, which is an aspect of the present invention for achieving the above technical problem, is based on a change in at least one of a connection point and a separation distance between the plurality of modules, and the length of the body portion And at least one of a shape is changed, and the snake robot is movable by using at least one of a length and a shape of the body portion that is changed, and the body portion is attached to a shell including a plurality of frictional force generating members in at least a portion of the surface. Inserted and arranged, the plurality of frictional force generating members generate at least some different frictional forces, and the snake robot can move by additionally using the plurality of differently generated frictional forces.

In addition, a pattern pattern for generating the friction force is applied to the plurality of friction force generating members, and the plurality of pattern patterns may generate different friction forces.

In addition, the movement direction of the snake robot is determined in advance, and among the frictional forces generated in correspondence with the movement and movement direction of the snake robot, the first region of the shell where the maximum friction force is generated and the second area of the shell where the minimum friction force is generated. When the region is predetermined, the first friction force generating member corresponding to the first region among the plurality of friction force generating members may be provided to generate a greater friction force than the second friction force generating member corresponding to the second region. .

Further, the first region, the first friction force generating member, the second region, and the second friction force generating member may be plural.

In addition, a plurality of circular structures that additionally generate frictional force through contact with the bottom of the snake robot; further comprising, the plurality of circular structures, the outer shell corresponding to the first module having the same axis of rotation among the plurality of modules It may be provided on the surface of.

In addition, one circular structure may be disposed per a predetermined number of modules among the first modules.

In addition, the outer shell may be made of a waterproof and dustproof material.

On the other hand, another aspect of the present invention for achieving the above technical problem, a method of performing a rescue operation using a snake robot composed of a body portion connecting a plurality of modules, includes a first step of moving the snake robot; A second step of detecting a rescue requester based on the movement of the snake robot; A third step in which the snake robot moves around the requestor; And a fourth step of performing a task related to the structure of the structure requestor; wherein the first step and the third step include at least one of a connection point and a separation distance between the plurality of modules. step; Changing at least one of the length and shape of the body portion; And moving the snake robot using at least one of the length and shape of the changed body part, wherein the body part is inserted into a shell including a plurality of friction force generating members on at least a portion of the surface, In the first step and the third step, the plurality of friction force generating members generate at least some different friction forces, and the snake robot may move by additionally using the plurality of differently generated friction forces.

In addition, the snake robot further includes a supply unit connected to one end of the body, and the second step includes: a camera connected to at least a portion of the supply unit, for photographing a peripheral area of the snake robot; A temperature sensor measuring the temperature of the surrounding area of the snake robot; A gas sensor for measuring the presence or absence of gas and an amount of gas in a peripheral area of the snake robot; A microphone for receiving the voice of the rescue requester and the sound of the surrounding area of the snake robot; A speaker for outputting information input from the outside; And at least one of a projector that outputs an image to the surrounding area of the snake robot using light, and in the fourth step, a robot hand connected to at least a part of the supply unit grips or releases an object to perform a task ( task); Connecting a tube inserted into the other end of the body portion and discharged through at least a portion of the supply portion to the mouth of the requestor; And supplying the first substance related to the survival of the rescue requestor to the rescue requestor through the connected mouth.

The present invention can provide a user with a snake robot capable of running on the basis of outer skins that generate different frictional forces.

Specifically, the present invention is based on a change in at least one of a connection point and a separation distance between a plurality of modules, at least one of the length and shape of the body portion is changed, and by using at least one of the changed length and shape of the body portion. The snake robot is movable, and the body portion is inserted into a shell including a plurality of friction force generating members on at least a portion of the surface, and the plurality of friction force generating members generate at least some different friction forces, and the plurality of differently generated By additionally using the frictional force, the snake robot may provide a user with a snake robot that can travel based on outer skins that generate different frictional forces, characterized in that the snake robot moves.

In addition, the present invention is a gripper (e.g., 3G and 10 degrees of freedom, 4G and 8 degrees of freedom, 3 grippers and 1 degree of freedom) for prolonging the golden time of a person who needs various types of sensors and structures for identification of life and danger. A snake robot consisting of a single snake robot head module including a gripper combined with a camera) and a tube capable of supplying drugs or nutritional juice, and a control method thereof can be provided to the user.

In addition, according to the present invention, since the requestor who is covered in debris is often unable to move his or her arms/legs, the golden time can be extended by supplying nutrient juice to the survivors.

In addition, according to the present invention, it is possible to provide a driving control assistance function that automatically controls the actual driving of the robot according to the surrounding environment by simply manipulating the movement direction through the image and sensor information sent from the robot.

In addition, according to the present invention, it has a shape in which two degrees of freedom modules having drive shafts orthogonal to each other of a universal joint method similar to the vertebrae of a snake are joined together. By using the modular body, it becomes possible to shorten or lengthen the overall body length to suit the purpose of the robot.

In addition, according to the present invention, the modularized main body has an aspect of being easy to mass-produce, and it is possible to effectively respond to the detection of humans at the disaster site and the extension of golden time by replacing and operating sensor modules suitable for the purpose.

In addition, according to the present invention, an information-oriented control screen is constructed from signals of a plurality of sensors mounted on a snake's head to provide an efficient method for detecting a buried person.

In addition, according to the present invention, it is possible to work in a narrow and dangerous industrial site and a disaster environment, so that it is possible to save time and cost for safety inspection, search for a narrow area, and work.

In addition, the present invention can be used in various fields such as a terrorist social safety robot and a military robot for detecting dangerous substances.

On the other hand, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. I will be able to.

1 is a block diagram illustrating the configuration of a snake robot proposed by the present invention.
2 shows an example of a snake robot proposed by the present invention.
Figure 3 shows a specific configuration of the structure connected to the tail of the snake robot according to the present invention.
4 is a block diagram illustrating the configuration of a nutrition supply unit of the snake robot according to the present invention.
Figure 5 shows an example of the nutrition supply unit of the snake robot according to the present invention.
6 shows an example of extending the golden time of the requestor through the nutrient juice supply tube structure of the snake robot according to the present invention.
7A to 7C show an example of the configuration of the driving unit (joint) of the snake robot body according to the present invention.
8 is a flow chart illustrating a method of performing a structure using a snake robot in connection with the present invention.
9 is a flowchart illustrating a method of moving a snake robot using an outer skin in relation to the present invention.
10 shows a specific example of the shell applied to the snake robot in connection with the present invention.
11 is a flow chart illustrating a method of using an outer skin in which a minimum friction force portion and a maximum friction force portion are applied differently in relation to the present invention.
12 shows an example of using a shell in which a minimum friction force portion and a maximum friction force portion are applied differently in relation to the present invention.
13 shows a specific example of a friction surface differential method using a circular structure in relation to the present invention.
14 shows an experiment result of applying a friction surface differential method using a circular structure with reference to FIG. 13.
15 is a flowchart illustrating a specific method of detecting a rescue requestor based on the movement of a snake robot in connection with the present invention.
16 is a flowchart illustrating a method of performing a task related to a structure of a requestor in connection with the present invention.

Snake robot

Prior to the detailed description of the present invention, a configuration of a snake robot applied to the present invention will be described with reference to the drawings.

1 is a block diagram illustrating the configuration of a snake robot proposed by the present invention.

Referring to FIG. 1, the snake robot 100 includes a wireless communication unit 110, an audio/video (A/V) input unit 120, a user input unit 130, a sensing unit 140, an output unit 150, and a memory. 160, an interface unit 170, a controller 180, a power supply unit 190, a robot hand 200, and the like.

However, since the components shown in FIG. 1 are not essential, a snake robot having more components or fewer components may be implemented.

Hereinafter, the components will be described in order.

The wireless communication unit 110 may include one or more modules that enable wireless communication between a snake robot and a wireless communication system or between a device and a network in which the device is located.

For example, the wireless communication unit 110 may include a mobile communication module 112, a wireless Internet module 113, a short-range communication module 114, a location information module 115, and the like.

The mobile communication module 112 transmits and receives a radio signal with at least one of a base station, an external device, and a server on a mobile communication network.

It may contain various types of data according to transmission/reception of text/multimedia messages.

The wireless Internet module 113 refers to a module for wireless Internet access, and may be embedded or external to the snake robot. As a wireless Internet technology, WLAN (Wireless LAN) (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), and the like may be used.

The short-range communication module 114 refers to a module for short-range communication. Short-range communication technologies include Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), ZigBee, and Wi-Fi (Wireless Fidelity, Wi-Fi). Can be used.

The location information module 115 is a module for obtaining the position of the snake robot, and a representative example thereof is a GPS (Global Position System) module.

Referring to FIG. 1, an audio/video (A/V) input unit 120 is for inputting an audio signal or a video signal, and may include a camera 121 and a microphone 122. The camera 121 processes image frames such as still images or moving pictures obtained by the image sensor in the photographing mode. The processed image frame may be displayed on the display unit 151.

The image frame processed by the camera 121 may be stored in the memory 160 or transmitted to the outside through the wireless communication unit 110.

Two or more cameras 121 may be provided depending on the use environment.

The camera 121 according to the present invention may be a thermal imaging camera.

The thermal imaging camera is also referred to as a far infrared camera, and is a camera that photographs at least one object using far infrared (Far Infrared, LongWave Infrared, FIR).

Far-infrared rays generally mean infrared rays having a wavelength of 8 μm or more, and because they are longer than visible rays, they are invisible, heat action is large, and penetration is strong.

The characteristics of the far infrared camera according to the present invention will be described.

Since a camera using a general CCD or CMOS device detects and projects light in the visible light region, it is possible to acquire an image similar to that of a human eye.

On the other hand, the far infrared camera 122 projects light in an infrared band that humans cannot see.

Infrared refers to light in the band of 750nm to 1mm among the wavelengths of light. Among these infrared bands, the light of NIR (Near Infra-Red) refers to the wavelength of 700nm to 1400nm, and the light in the NIR band is not visible to the human eye. It can be detected with a CCD or CMOS device, and if a filter is used, only light in the NIR band can be detected.

In contrast, FIR light is also known as LWIR (Long Wavelength Infra-Red), and infrared rays represent a band of 8 μm to 15 μm of the wavelength of light.

In particular, since the wavelength of the FIR band changes according to temperature, there is an advantage of distinguishing the temperature.

The body temperature of a person (pedestrian), the target of a far-infrared ray camera, has a wavelength of 10 μm.

In particular, the information obtained through the far-infrared camera is converted into a digital image signal, the converted image signal is analyzed, corrected and supplemented through a specific algorithm, and the processed image signal is transmitted through the display unit 151. It can be controlled to be output.

The controller 180 may be implemented in a recording medium that can be read by a computer or a similar device using software, hardware, or a combination thereof.

In addition, a radar may be provided as a kind of camera 121 according to the present invention.

Radar is an abbreviation for Radio Detecting And Ranging. It emits electromagnetic waves of microwaves (microwaves, 10cm to 100cm wavelengths) to an object and receives the electromagnetic waves reflected from the object, such as distance, direction, and altitude from the object. It is a wireless monitoring device to find out.

In addition, a rider may be provided as a kind of camera 121 according to the present invention.

Rider is short for light detection and ranging, and is like laser radar.

It can be seen as a radar developed using a laser beam with properties close to radio waves. Although the laser was initially developed for communication, it has the characteristics of both light and radio waves due to its strong monochromaticity.

In other words, it is a device that emits pulsed laser light into the atmosphere and measures the distance and atmospheric phenomena using the reflector or scattering agent.

The Rider calculates the time measurement of the reflected light with a clock pulse, and can have a resolution of 5m at 30MHz and 1m at 150MHz, and generate a strong infrared pulse with a small beam width of about 30 seconds at an angle.

In addition, the microphone 122 receives an external sound signal by a microphone in a recording mode, a voice recognition mode, and the like and processes it as electrical voice data. The processed voice data may be converted into a format transmittable to a mobile communication base station through the mobile communication module 112 and then output. Various noise removal algorithms may be implemented in the microphone 122 to remove noise generated in the process of receiving an external sound signal.

The user input unit 130 generates input data for the user to control the operation of the snake robot. The user input unit 130 may include a key pad, a dome switch, a touch pad (positive pressure/power failure), a jog wheel, a jog switch, and the like.

The sensing unit 140 detects the current state of the snake robot, such as the open/closed state of the snake robot, the position of the snake robot, the presence of user contact, the orientation of the snake robot, and acceleration/deceleration of the snake robot to control the operation of the snake robot. It generates a sensing signal.

The sensing unit 140 may sense whether the power supply unit 190 supplies power, whether the interface unit 170 is coupled to an external device, or the like.

Meanwhile, the sensing unit 140 may include a proximity sensor (not shown).

The output unit 150 is for generating output related to visual, auditory, or tactile sense, and includes a display unit 151, an audio output module 152, an alarm unit 153, a haptic module 154, and a projector module ( 155) and the like may be included.

The display unit 151 displays (outputs) information processed by the snake robot.

The display unit 151 includes a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. display) and a 3D display.

Some of these displays may be configured as a transparent type or a light-transmitting type so that the outside can be seen through them. This may be referred to as a transparent display, and a representative example of the transparent display is TOLED (Transparant OLED). The rear structure of the display unit 151 may also be configured as a light transmission type structure.

Two or more display units 151 may exist depending on the implementation form of the snake robot. For example, in the snake robot, a plurality of display units may be spaced apart or integrally disposed on one surface, or may be disposed on different surfaces, respectively.

When the display unit 151 and a sensor (hereinafter referred to as'touch sensor') for detecting a touch motion form a mutual layer structure (hereinafter, referred to as a'touch screen'), the display unit 151 It can also be used as an input device. The touch sensor may have, for example, a touch film, a touch sheet, a touch pad, or the like.

The touch sensor may be configured to convert a change in pressure applied to a specific portion of the display unit 151 or a capacitance generated at a specific portion of the display unit 151 into an electrical input signal. The touch sensor may be configured to detect not only a touched position and area, but also a pressure at the time of touch.

When there is a touch input to the touch sensor, a signal(s) corresponding thereto is transmitted to the touch controller. The touch controller processes the signal(s) and then transmits the corresponding data to the controller 180. As a result, the controller 180 can know whether an area of the display unit 151 is touched.

The proximity sensor (not shown) may be disposed in an inner area of the snake robot surrounded by the touch screen or near the touch screen. The proximity sensor refers to a sensor that detects the presence or absence of an object approaching a predetermined detection surface or an object existing in the vicinity using the force of an electromagnetic field or infrared rays without mechanical contact. Proximity sensors have a longer lifespan and higher utilization than contact sensors.

Examples of the proximity sensor include a transmission type photoelectric sensor, a direct reflection type photoelectric sensor, a mirror reflection type photoelectric sensor, a high frequency oscillation type proximity sensor, a capacitive type proximity sensor, a magnetic type proximity sensor, an infrared proximity sensor, and the like. When the touch screen is capacitive, it is configured to detect the proximity of the pointer by a change in an electric field according to the proximity of the pointer. In this case, the touch screen (touch sensor) may be classified as a proximity sensor.

Hereinafter, for convenience of explanation, an action of allowing the pointer to be recognized as being positioned on the touch screen by approaching the touch screen without contacting the pointer is referred to as "proximity touch", and the touch The act of actually touching the pointer on the screen is referred to as "contact touch". A position at which a proximity touch is performed by a pointer on the touch screen means a position at which the pointer corresponds vertically to the touch screen when the pointer is touched.

The proximity sensor detects a proximity touch and a proximity touch pattern (eg, a proximity touch distance, a proximity touch direction, a proximity touch speed, a proximity touch time, a proximity touch position, a proximity touch movement state, etc.). Information corresponding to the sensed proximity touch operation and proximity touch pattern may be output on the touch screen.

In addition, the snake robot 100 according to the present invention may include a gyro sensor 141.

The gyro sensor 141 is a sensor that measures the change in orientation of an object by using the property of always maintaining a predetermined direction initially set with high accuracy regardless of the rotation of the earth, and the gyroscope uses a mechanical method and an optical method using light. have.

In addition, the snake robot 100 according to the present invention may include an acceleration sensor 142.

The acceleration sensor 142 processes the output signal to measure dynamic forces such as acceleration, vibration, and impact of an object.

Accelerometer 142 may be classified as a detection method into an inertial type, a gyro type, and a silicon semiconductor type, and can be regarded as a type of acceleration sensor such as a seismometer or an inclinometer.

In addition, the snake robot 100 according to the present invention may include a pressure sensor 143.

The pressure sensor 143 refers to a device and element that detects the pressure of a liquid or gas, converts it into an electric signal that is easy to use for measurement or control, and transmits it.

There are many types of measurement principles, including displacement and deformation, as well as using the thermal conductivity of molecular density. Recently, a strain gauge-type pressure sensor made of silicon has been developed and is used for precise pressure measurement. Integrated pressure sensors have also been developed that make up an integrated circuit on the same substrate to process signals.

In addition, the snake robot 100 according to the present invention may include a tactile sensor 144.

Tactile sensor (144, Tactile Sensor) is a pressure sensor that aims to artificially realize human tactile sensation in robots. It is largely divided into contact sensors, pressure sensors, slip sensors, and temperature sensors.It is necessary to implement an advanced human tactile system. It's technology.

The tactile sensor array is a sensor for obtaining two-dimensional information by arranging several to tens of contact angle sensors 144 or pressure sensors in a planar shape, and can be used to detect shape or motion.

Many of these sensors constitute array-type sensors by dividing either one of electrodes on both sides of conductive rubber, piezoelectric polymer, and pressure-sensitive polymer, and the two-dimensional pressure distribution is detected from the change in resistance or voltage output between the mating electrodes.

In particular, the tactile sensor 144 according to the present invention may detect at least one of a normal force, a shear force, and a conductive force of an object that the robot hand 200 contacts.

Meanwhile, the sound output module 152 may output audio data received from the wireless communication unit 110 or stored in the memory 160 in a recording mode, a voice recognition mode, and a broadcast reception mode. The sound output module 152 also outputs sound signals related to functions performed by the snake robot. The sound output module 152 may include a receiver, a speaker, a buzzer, and the like.

The alarm unit 153 outputs a signal for notifying the occurrence of an event of the snake robot.

The alarm unit 153 may output a signal for notifying the occurrence of an event in a form other than a video signal or an audio signal, for example, by vibration.

The video signal or audio signal may also be output through the display unit 151 or the audio output module 152, so that they 151 and 152 may be classified as part of the alarm unit 153.

The haptic module 154 generates various tactile effects that a user can feel. A typical example of the tactile effect generated by the haptic module 154 is vibration. The intensity and pattern of the vibration generated by the haptic module 154 can be controlled.

For example, different vibrations may be synthesized and output or may be sequentially output.

In addition to vibration, the haptic module 154 is used for stimulation such as an arrangement of pins that move vertically with respect to the contact skin surface, a blowing force or suction force of air through a jet or inlet, a grazing on the skin surface, contact of an electrode, electrostatic force, etc. It can generate various tactile effects, such as the effect by the effect and the effect by reproducing the feeling of cooling and warming using an endothermic or heat generating element.

The haptic module 154 may not only transmit a tactile effect through direct contact, but may also be implemented so that a user can feel the tactile effect through muscle sensations such as a finger or an arm. Two or more haptic modules 154 may be provided depending on the configuration aspect of the snake robot.

The projector module 155 is a component for performing an image project function using a snake robot, and is the same as or at least a part of an image displayed on the display unit 151 according to a control signal from the controller 180 Different images can be displayed on an external screen or wall.

Specifically, the projector module 155 generates an image to be output to the outside by using a light source (not shown) that generates light (for example, laser light) for outputting an image to the outside, and light generated by the light source. It may include an image generating means (not shown) for performing and a lens (not shown) for expanding the image to the outside at a predetermined focal length. In addition, the projector module 155 may include a device (not shown) capable of adjusting an image projection direction by mechanically moving a lens or the entire module.

The projector module 155 may be divided into a cathode ray tube (CRT) module, a liquid crystal display (LCD) module, a digital light processing (DLP) module, and the like according to the device type of the display means. In particular, the DLP module may be advantageous for miniaturization of the projector module 151 by expanding and projecting an image generated by reflecting light generated from a light source onto a digital micromirror device (DMD) chip.

Preferably, the projector module 155 may be provided on the side, front or rear of the snake robot in the longitudinal direction. Of course, it is natural that the projector module 155 may be provided at any position of the snake robot as needed.

Meanwhile, the memory unit 160 may store a program for processing and control of the controller 180, and temporarily store input/output data (eg, messages, audio, still images, moving pictures, etc.). It can also perform a function for. The memory unit 160 may also store a frequency of use of each of the data. In addition, the memory unit 160 may store data on vibrations and sounds of various patterns output when a touch input on the touch screen is performed.

The memory 160 is a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory), and RAM. (Random Access Memory, RAM), SRAM (Static Random Access Memory), ROM (Read-Only Memory, ROM), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic It may include at least one type of storage medium among a disk and an optical disk. The snake robot may operate in connection with a web storage that performs a storage function of the memory 160 on the Internet.

The interface unit 170 serves as a passage for all external devices connected to the snake robot. The interface unit 170 receives data from an external device or receives power and transmits it to each component inside the snake robot, or transmits data inside the snake robot to an external device. For example, a wired/wireless headset port, an external charger port, a wired/wireless data port, a memory card port, a port for connecting a device equipped with an identification module, an audio input/output (I/O) port, A video input/output (I/O) port, an earphone port, etc. may be included in the interface unit 170.

The identification module is a chip that stores various types of information for authenticating the use rights of the snake robot, and includes a user identification module (UIM), a subscriber identification module (SIM), and a universal subscriber identity module. Module, USIM), and the like. A device equipped with an identification module (hereinafter,'identification device') may be manufactured in the form of a smart card. Thus, the identification device can be connected to the snake robot through the port.

The interface unit becomes a path through which power from the cradle is supplied to the snake robot when the snake robot is connected to an external cradle, or a path through which various command signals input from the cradle by a user are transmitted to the mobile device. Can be. Various command signals or the power input from the cradle may be operated as signals for recognizing that the mobile device is correctly mounted on the cradle.

The controller 180 typically controls the overall operation of the snake robot.

The power supply unit 190 receives external power and internal power under the control of the controller 180 to supply power necessary for the operation of each component.

Various embodiments described herein may be implemented in a recording medium that can be read by a computer or a similar device using, for example, software, hardware, or a combination thereof.

According to hardware implementation, the embodiments described herein include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), It may be implemented using at least one of processors, controllers, micro-controllers, microprocessors, and electrical units for performing other functions, in some cases herein. The described embodiments may be implemented by the controller 180 itself.

According to software implementation, embodiments such as procedures and functions described in the present specification may be implemented as separate software modules. Each of the software modules may perform one or more functions and operations described herein. The software code can be implemented as a software application written in an appropriate programming language. The software code may be stored in the memory 160 and executed by the controller 180.

Further, the system 100 according to the present invention may include a robot hand 200.

The robot hand 200 largely includes a palm part 210 and a finger part 220.

The finger unit 220 may be configured in a structure having at least one node, and may move at the same speed with respect to the object through a distance sensor (not shown).

On the other hand, the robot hand 200 may be provided in the system 100 in plural, and it is also possible to perform a task having a specific sequence and direction as well as a simple gripping operation through the plurality of robot hands 200 It is possible.

In addition, the system 100 according to the present invention may include a nutrition supply unit 300.

The nutritional supply unit 310 may extend the golden time of the requestor by supplying the nutritional juice through the supply tube 310.

The structure of the snake robot

In the past, there is a case where a vine-type robot was developed, but only forward and backward is not possible, and reusability after one injection is not good, so use of detection and rescue missions that require repetitive injection in several places There was a problem that it was inappropriate.

In addition, the existing previously developed technologies have a problem that robots are being developed by focusing only on the movement/reconnaissance function of a narrow space.

Therefore, in order to extend the golden time of the survivor, in addition to the function of moving by mounting various sensors to find the investigator, there is a growing need for a robot equipped with a function capable of supplying emergency drugs and nutrient juice to solve the above problems. .

An object of the present invention is to provide a user with a snake robot capable of extending the golden time of a requestor through a nutrient juice supply tube structure and a control method thereof in order to solve the conventional problem.

Specifically, the present invention relates to a snake robot for checking life and danger at a site in which a disaster situation such as a collapse of a building occurs. In the driving movement of the snake robot, forward/reverse rotation in horizontal and vertical directions is performed based on the module rotation axis. With a structure that can be implemented, a snake robot that implements movement of the body similar to the actual snake movement and its control method are provided to the user.

In addition, the present invention is a gripper (e.g., 3G and 10 degrees of freedom, 4G and 8 degrees of freedom, 3 grippers and 1 degree of freedom) for prolonging the golden time of a person who needs various types of sensors and structures for identification of life and danger. It is intended to provide users with a snake robot consisting of a single snake robot head module with a gripper combined with a camera) and a tube that can supply drugs or nutrient juice and a control method thereof.

2 shows an example of a snake robot proposed by the present invention.

2, the robot hand 200 of the snake robot 100 is shown.

Referring to FIG. 2, the robot hand 200 largely includes a palm part 210 and a finger part 220.

The finger unit 220 may be configured in a structure having at least one node, and may move at the same speed with respect to the object through a distance sensor (not shown).

In addition, the finger unit 220 may be rotated based on a certain point and completely removed from the back or bent at a certain angle.

In addition, the robot hand 200 may be provided in the snake robot 100 in plural, and through the plurality of robot hands 200, not only a simple gripping operation, but also a task having a specific order and coupling direction is performed. It is also possible.

Further, referring to FIG. 2, the system 100 according to the present invention includes a nutrition supply unit 300.

The nutritional supply unit 310 may extend the golden time of the requestor by supplying the nutritional juice through the supply tube 310.

In addition, referring to FIG. 2, the body portion 410 of the snake robot 100 is shown, and through the inside of the body portion 410, a power line, a supply tube 310, a communication line, etc. may be disposed. .

In addition, referring to FIG. 2, a tail portion 420 of the snake robot 100 is shown, and a connection structure 411 connecting the tail portion 420 and the body portion 410 is also shown.

On the other hand, the body part 410, the tail part 420, etc. of the snake robot 100 according to the present invention are wrapped in a soft tube such as waterproof and dustproof rubber material to be used in flat, non-flat, and narrow spaces. Can be implemented as

In addition, the snake robot 100 according to the present invention may be implemented by being integrated with lighting, a camera, various detection sensors and grippers, and a nutrient juice supply tube.

The snake robot 100 according to the present invention may compactly mount a plurality of sensors on at least a portion of the head region, the body portion 410 and the tail portion 420, and may be used for detection and rescue of buried persons.

Figure 3 shows a specific configuration of the structure connected to the tail of the snake robot according to the present invention.

3, the connection structure 411 connects the tail part 420 and the body part 410 of the snake robot 100, and the power line 191, the supply tube 310, and the communication line 111 are inside. ), etc. can be placed.

As shown in FIG. 3, the snake robot 100 has a shape in which two degrees of freedom modules having drive shafts that are orthogonal to each other in a universal joint method similar to the vertebrae of a snake are joined together.

Therefore, it is possible to shorten or lengthen the entire body length according to the purpose of the robot by using the modular body.

In addition, if the user simply manipulates only the moving direction through the image and sensor information sent from the snake robot 100, the actual driving of the robot can be automatically controlled according to the surrounding environment.

In addition, it is possible to provide an efficient method for detecting a buried person by configuring an information-oriented control screen from signals of a plurality of sensors 140 mounted on the snake robot 100.

As a result, the present invention implements the snake robot 100 in a structure capable of implementing the horizontal and vertical forward/reverse rotation based on the module rotation axis in the driving movement of the snake robot, so that the body is similar to the actual snake operation. Move can be implemented.

In addition, the present invention is a robot hand (gripper, for example, 3G 10 degrees of freedom, 4G 8 degrees of freedom) for prolonging the golden time of people requiring rescue and various types of sensors 140 for checking life and danger. Etc.) can be used, but a typical set of three robot hands and one camera can be applied.

In addition, the present invention is to be a snake robot 100 comprising a tube capable of supplying drugs or nutrient juice as a single snake robot head module.

Nutrient supply unit applied to snake robot

4 is a block diagram illustrating the configuration of a nutrition supply unit of the snake robot according to the present invention.

Referring to FIG. 4, the nutrition supply unit 300 of the snake robot 100 according to the present invention includes a supply tube 310, a camera 320, a temperature sensor 330, a gas sensor 340, and a pattern projector 350. And the like.

In addition, although not shown, the nutrition supply unit 300 may additionally include a microphone.

As described above, the supply tube 310 is inserted into the body 410 of the snake robot 100 to supply nutrient juice, thereby extending the golden time of the requestor.

That is, the supply tube 310 is used in the snake robot body as a hose for supplying drugs and nutrient juice in response to the need to supply food, water, etc. to extend the golden time of the requestor.

In addition, two or more cameras 320 may be provided depending on the use environment.

The camera 320 according to the present invention may be a thermal imaging camera.

The thermal imaging camera is also referred to as a far infrared camera, and is a camera that photographs at least one object using far infrared (Far Infrared, LongWave Infrared, FIR).

Far-infrared rays generally mean infrared rays having a wavelength of 8 μm or more, and because they are longer than visible rays, they are invisible, heat action is large, and penetration is strong.

The characteristics of the far infrared camera according to the present invention will be described.

Since a camera using a general CCD or CMOS device detects and projects light in the visible light region, it is possible to acquire an image similar to that of a human eye.

On the other hand, the far infrared camera 122 projects light in an infrared band that humans cannot see.

Infrared refers to light in the band of 750nm to 1mm among the wavelengths of light. Among these infrared bands, the light of NIR (Near Infra-Red) refers to the wavelength of 700nm to 1400nm, and the light in the NIR band is not visible to the human eye. It can be detected with a CCD or CMOS device, and if a filter is used, only light in the NIR band can be detected.

In contrast, FIR light is also known as LWIR (Long Wavelength Infra-Red), and infrared rays represent a band of 8 μm to 15 μm of the wavelength of light.

In particular, since the wavelength of the FIR band changes according to temperature, there is an advantage of distinguishing the temperature.

The body temperature of a person (pedestrian), the target of a far-infrared ray camera, has a wavelength of 10 μm.

In particular, the information obtained through the far-infrared camera is converted into a digital image signal, the converted image signal is analyzed, corrected and supplemented through a specific algorithm, and the processed image signal is transmitted through the display unit 151. It can be controlled to be output.

In addition, a radar may be provided as a kind of camera 320 according to the present invention.

Radar is an abbreviation for Radio Detecting And Ranging. It emits electromagnetic waves of microwaves (microwaves, 10cm to 100cm wavelengths) to an object and receives the electromagnetic waves reflected from the object, such as distance, direction, and altitude from the object. It is a wireless monitoring device to find out.

In addition, a rider may be provided as a kind of camera 320 according to the present invention.

Rider is short for light detection and ranging, and is like laser radar.

It can be seen as a radar developed using a laser beam with properties close to radio waves. Although the laser was initially developed for communication, it has the characteristics of both light and radio waves due to its strong monochromaticity.

In other words, it is a device that emits pulsed laser light into the atmosphere and measures the distance and atmospheric phenomena using the reflector or scattering agent.

The Rider calculates the time measurement of the reflected light with a clock pulse, and can have a resolution of 5m at 30MHz and 1m at 150MHz, and generate a strong infrared pulse with a small beam width of about 30 seconds at an angle.

In addition, the temperature sensor 330 is a sensor that responds to changes in temperature and is used to automate temperature management by detecting temperature changes.

The temperature sensor 330 is a sensor that senses heat and generates an electric signal, and is generally divided into a contact type and a non-contact type. The contact type measures a temperature value by directly contacting an object to be measured, and the non-contact type measures a heat ray radiated from an object. This is how to measure.

The temperature sensor is a device for electronic circuits having a characteristic of a negative resistance temperature coefficient that decreases the resistance value when the temperature increases, and is widely used as a temperature control sensor because the heat capacity is small and a rapid resistance change occurs even with a small temperature change.

In addition, the gas sensor 340 is a generic term for a sensor that detects gas, and is one of the sensors that has increased in demand not only in the industrial field but also for home use as various gases have begun to be used as energy sources.

After measuring a gas component, a gas sensor 340 that transmits a signal according to an amount of a specific gas component contained in the gas is used to control the device or transmit an alarm according to the result.

The detection method of gas sensors varies depending on the type and concentration of gas, so there are many types of gas sensors. Examples of combustible gas sensors include catalytic combustion sensors, semiconductor sensors, and ceramic gas sensors.

In addition, it is known that ZrO2, TiO2, CoO, and LaAlO3 materials are used for the oxygen sensor.

In addition, if classified by detection method, electrochemical method (solution conduction method, electrostatic potential electrolysis method, diaphragm electrode method), optical method (infrared absorption method, visible part absorption method, optical interference method), electrical method (hydrogen ionization method, thermal conduction method) , A catalytic combustion method, a semiconductor method), and the like, such as a gas chromatography method.

In addition, the pattern projector 350 is a device that illuminates a slide or a moving image on a screen using light, and in the present invention, it may be possible to display information by applying a pattern.

Figure 5 shows an example of the nutrition supply unit of the snake robot according to the present invention.

Referring to FIG. 5, an example of an actual implementation of the nutrition supply unit 300 is shown.

5, the nutrition supply unit 300 is a supply tube 310 is shown, a nutrient juice can be supplied through a corresponding region, two cameras 320 are provided, a temperature sensor 330, a gas sensor 340 and a pattern projector 350, etc. are included.

In addition, the robot hand 200 is connected to a partial region of the nutrition supply unit 300, and the plurality of finger portions 220 of the robot hand 200 are implemented in a form that is completely reclined in FIG. 5.

In addition, Figure 6 shows an example of extending the golden time of the requestor through the nutrient juice supply tube structure of the snake robot according to the present invention.

Joints that make up the body of the snake robot (driving part)

7A to 7C show an example of the configuration of the driving unit (joint) of the snake robot body according to the present invention.

First, referring to FIG. 7A, an example of any one of a plurality of modules constituting the body portion 410 is shown.

Referring to FIG. 7A, the driving unit (joint) of the snake robot body module 410 is applied with a hinge method 415 capable of rotating 416 by 90°.

In addition, the driving parts 413, 414, etc. of the snake robot body module 410 are connected to each other by 90 degrees to form the snake robot body part 410.

The joint driving method of the trunk module is configured as a motor-gear-output shaft method, and two methods as shown in FIGS. 7B and 7C may be considered.

First, referring to FIG. 7B, a BLDC motor 431 and a spur gear module 432 are applied in a power transmission method.

In addition, referring to FIG. 7C, a BLDC motor 431, a timing belt 433 and a harmonic reducer 434 are applied as a power transmission method.

Rescue method using snake robot

8 is a flow chart illustrating a method of performing a structure using a snake robot in connection with the present invention.

Referring to FIG. 8, first, a step (S10) of moving the snake robot 100 comprising a body portion connecting a plurality of modules is performed.

Thereafter, a step (S20) of detecting a rescue requester based on the movement of the snake robot 100 proceeds.

In addition, a step (S30) of moving the snake robot 100 to the vicinity of the rescue requestor is performed.

Finally, a step (S40) in which the snake robot 100 performs a task related to the rescue of the rescue requestor proceeds.

Hereinafter, each process of steps S10 to S40 will be described in detail with reference to the drawings.

How to move the snake robot using the skin

In the step (S10) of moving the snake robot 100 composed of a body portion connecting a plurality of modules and the step (S30) of moving the snake robot 100 around the requestor, the snake robot 100 moves, In the present invention, it is proposed a method of using an outer skin for the movement of the snake robot 100.

Basically, the snake robot 100 consisting of a body portion 410 connecting a plurality of modules, based on a change in at least one of a connection point and a separation distance between a plurality of modules, at least one of the length and shape of the body portion Is changed, and is moved using at least one of the changed length and shape of the body part.

In this case, in the present invention, a shell 500 including a plurality of friction force generating members on at least a portion of the surface is used.

Specifically, the body portion 410 of the present invention is inserted and disposed in the shell 500 including a plurality of friction force generating members on at least a portion of the surface, and the plurality of friction force generating members generate at least some different friction forces, and the By additionally using a plurality of differently generated friction forces, the snake robot 100 can move more efficiently and quickly.

Specifically, a pattern pattern for generating a friction force may be applied to a plurality of friction force generating members applied to the outer skin 500 of the present invention.

That is, the plurality of pattern patterns generate different frictional forces from each other, and the snake robot 100 may move by additionally using a plurality of differently generated frictional forces.

9 is a flow chart illustrating a method of moving the snake robot using the skin in relation to the present invention, and is described by grafting the above-described skin 500 to the step S10 of moving the snake robot 100.

Referring to FIG. 9, first, a step (S11) in which the body portion 410 is inserted and disposed in the shell 500 including a plurality of friction force generating members in at least a portion of the surface is performed.

Thereafter, the step (S12) of changing at least one of the connection point and the separation distance between the plurality of modules and the step (S13) of changing at least one of the length and shape of the body portion proceeds, and at least one of the changed length and shape of the body portion The step (S14) of moving the snake robot using one is performed.

In particular, after step S14, the plurality of friction force generating members generate at least some different friction forces, and the snake robot 100 may move by additionally using a plurality of differently generated friction forces (S15).

Meanwhile, in FIG. 9, an example of applying the outer skin 500 is described assuming step S10, but the same may be applied to the step S30 of moving the snake robot 100 to the vicinity of the requestor.

In addition, Figure 10 shows a specific example of the outer shell applied to the snake robot in relation to the present invention.

Referring to (a) of FIG. 10, in the present invention, a shell 500 including a plurality of friction force generating members on at least a portion of the surface is utilized.

In addition, the body portion 410 of the present invention is inserted into the shell 500 including a plurality of friction force generating members on at least a portion of the surface, and the plurality of friction force generating members generate at least some different friction forces, and the The snake robot 100 may move by additionally using a plurality of differently generated frictional forces.

In addition, referring to (b) of FIG. 10, a pattern pattern for generating a friction force may be applied to a plurality of friction force generating members applied to the outer shell 500 of the present invention, and the plurality of pattern patterns generate different friction forces. And, the snake robot 100 can move by additionally using a plurality of differently generated frictional forces.

In addition, the shell 500 according to the present invention may be made of a waterproof and dustproof material.

On the other hand, in the present invention, it is possible to utilize a shell in which the minimum friction force portion and the maximum friction force portion are applied differently.

11 is a flow chart illustrating a method of using a skin in which a minimum friction force portion and a maximum friction force portion are applied differently in relation to the present invention.

Referring to FIG. 11, a process after step S15 described in FIG. 9 is shown.

Specifically, after step S15, the movement direction of the snake robot is determined in advance, and among the frictional forces generated corresponding to the movement and movement direction of the snake robot, the first region of the outer skin where the maximum frictional force is generated and the outer skin where the minimum frictional force occurs The second area of may be determined in advance (S16).

At this time, the first friction force generating member corresponding to the first region among the plurality of friction force generating members generates a greater friction force than the second friction force generating member corresponding to the second region (S17).

Accordingly, in the present invention, a larger frictional force is generated, and a difference in frictional force generated between the first region and the second region is maximized, so that the snake robot 100 can move more easily.

Further, the first region, the first friction force generating member, the second region, and the second friction force generating member may be plural.

12 shows an example of using a shell in which a minimum friction force portion and a maximum friction force portion are applied differently in relation to the present invention.

Referring to FIG. 12, a movement direction of the snake robot is determined in advance, and a first region 611 of the outer skin where a maximum friction force is generated among friction forces generated corresponding to the movement and movement direction of the snake robot and a minimum friction force occurs. The second area 612 of the skin is predetermined.

At this time, among the plurality of friction force generating members, the first friction force generating member corresponding to the first region 611 generates a greater friction force than the second friction force generating member corresponding to the second region 612.

Furthermore, in the present invention, in order to maximize the generation of frictional force of the snake robot, a friction surface differential method using a circular structure may be applied.

13 shows a specific example of a friction surface differential method using a circular structure in relation to the present invention.

Referring to FIG. 13, a plurality of circular structures 711 and 712 that additionally generate frictional force through contact with the bottom of the snake robot 100 may be further included.

In this case, the plurality of circular structures according to the present invention may be provided on the surface of the shell corresponding to the first module having the same rotation axis among the plurality of modules.

In addition, in the present invention, one circular structure may be disposed per a predetermined number of modules among the first modules.

13A, a circular structure is mounted in units of one of two modules, and the first circular structure 711 and the second circular structure 712 are used, but in the section between them, the circular structure This is not applied (713).

In addition, referring to (b) of FIG. 13, a plurality of circular structures according to the present invention are provided on a surface of a shell corresponding to a first module having the same rotation axis among the plurality of modules, and a predetermined one of the first modules One circular structure may be disposed per number of modules, and nine circular structures 711, 712, 713, 714, 715, 716, 717, 718, 719 are disposed.

Meanwhile, FIG. 14 shows an experiment result of applying a friction surface differential method using a circular structure with reference to FIG. 13.

As shown in (a) to (d) of Fig. 14, when a circular structure is applied, the frictional force between the ground and the shell is further maximized, so that the snake robot 100 can move more easily in a desired direction. .

How to detect rescue requestor using snake robot

In addition, the step (S20) of detecting a rescue requester based on the movement of the snake robot described in FIG. 8 will be described in detail.

15 is a flowchart illustrating a specific method of detecting a rescue requestor based on the movement of a snake robot in connection with the present invention.

Referring to FIG. 15, first, a step S21 of photographing a peripheral area of the snake robot by the camera 320 connected to at least a portion of the supply unit is performed.

In addition, the temperature sensor 330 measures the temperature of the surrounding area of the snake robot (S22).

After step S22, the gas sensor 340 measures the presence of gas and the amount of gas in the surrounding area of the snake robot (S23), and the microphone 122 receives the voice of the rescue requester and the sound of the surrounding area of the snake robot ( S24) proceeds.

Thereafter, the speaker 150 outputs information input from the outside (S25), and the projector 350 outputs an image to the surrounding area of the snake robot 100 using light (S26).

How to perform tasks related to rescue requestor's rescue based on snake robot

In addition, the step (S40) of performing the task (TASK) related to the structure of the rescue requestor described in FIG. 8 will be described in detail.

16 is a flowchart illustrating a method of performing a task related to a structure of a requestor in connection with the present invention.

Referring to FIG. 16, a step S41 of performing a task by grasping or releasing an object by a robot hand connected to at least a portion of the supply unit is performed first.

Thereafter, a step (S42) in which a tube inserted into the other end of the body portion and discharged through at least a portion of the supply portion is connected to the mouth of the rescue requestor is performed.

In addition, a step (S43) of supplying the first substance related to the survival of the rescue requestor to the rescue requestor through the connected mouth is performed.

Effect of snake robot

The present invention can provide a user with a snake robot capable of running on the basis of outer skins that generate different frictional forces.

Specifically, the present invention is based on a change in at least one of a connection point and a separation distance between a plurality of modules, at least one of the length and shape of the body portion is changed, and by using at least one of the changed length and shape of the body portion. The snake robot is movable, and the body portion is inserted into a shell including a plurality of friction force generating members on at least a portion of the surface, and the plurality of friction force generating members generate at least some different friction forces, and the plurality of differently generated By additionally using the frictional force, the snake robot may provide a user with a snake robot that can travel based on outer skins that generate different frictional forces, characterized in that the snake robot moves.

The present invention relates to a snake robot and a control method thereof, and the present invention can provide a snake robot and a control method thereof capable of extending the golden time of a requestor through a nutrient juice supply tube structure.

The present invention relates to a snake robot capable of removing obstacles through a gripper and a control method thereof.The present invention relates to a snake robot equipped with a gripper function capable of manipulation such as locking a gas valve or removing obstacles around a burial person, and the same. Control methods can be provided to users.

The present invention relates to a snake robot and a control method thereof for detecting a buried person in a collapsed terrain, and the present invention provides a snake robot and a control method thereof for detecting a buried person in a flat narrow space and securing and prolonging the lifesaving golden time. I can.

The present invention relates to a snake robot having a tube-shaped outer shell and a control method thereof.The present invention relates to a part that can inflate the body like a balloon is located at the body or tail, so that it is possible to spread between debris with pneumatic supplied from the outside. As an additional function, a snake robot having a tube-shaped shell that can increase the ability to secure the safety of an investor and a control method thereof can be provided to the user.

Specifically, the present invention relates to a snake robot for checking life and danger at a site where a disaster such as a collapse of a building occurs, and in the driving movement of the snake robot, forward/reverse rotation in horizontal and vertical directions is performed based on the module rotation axis. With a structure that can be implemented, it is possible to provide the user with a snake robot that implements movement of the body similar to the actual snake movement and a control method thereof.

In addition, the present invention is a gripper (e.g., 3G and 10 degrees of freedom, 4G and 8 degrees of freedom, 3 grippers and 1 degree of freedom) for prolonging the golden time of a person who needs various types of sensors and structures for identification of life and danger. A snake robot consisting of a single snake robot head module including a gripper combined with a camera) and a tube capable of supplying drugs or nutritional juice, and a control method thereof can be provided to the user.

In addition, according to the present invention, since the requestor who is covered in debris is often unable to move his or her arms/legs, the golden time can be extended by supplying nutrient juice to the survivors.

In addition, according to the present invention, it is possible to provide a driving control assistance function that automatically controls the actual driving of the robot according to the surrounding environment by simply manipulating the movement direction through the image and sensor information sent from the robot.

In addition, according to the present invention, it has a shape in which two degrees of freedom modules having drive shafts that are orthogonal to each other in a universal joint method similar to the vertebrae of a snake are joined together, and the entire body length can be easily reduced to suit the purpose of the robot using a modular body. It becomes possible to stretch me.

In addition, according to the present invention, the modularized main body has an aspect of being easy to mass-produce, and it is possible to effectively respond to the detection of humans at the disaster site and the extension of golden time by replacing and operating sensor modules suitable for the purpose.

In addition, according to the present invention, an information-oriented control screen is constructed from signals of a plurality of sensors mounted on a snake's head to provide an efficient method for detecting a buried person.

In addition, according to the present invention, it is possible to work in a narrow and dangerous industrial site and a disaster environment, so that it is possible to save time and cost for safety inspection, search for a narrow area, and work.

In addition, the present invention can be used in various fields such as a terrorist social safety robot and a military robot for detecting dangerous substances.

On the other hand, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. I will be able to.

In addition, the above-described embodiments of the present invention may 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 description of the preferred embodiments of the present invention disclosed as described above has been provided to enable those skilled in the art to implement and implement the present invention. Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will appreciate that various modifications and changes can be made to the present invention without departing from the scope of the present invention. For example, a person skilled in the art may use the components described in the above-described embodiments in a manner that combines with each other. 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.

The present invention may be embodied in other specific forms without departing from the spirit and essential features of the present invention. Therefore, the detailed description above should not be construed as restrictive in all respects and should be considered as illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention. 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, the embodiments may be configured by combining claims that do not have an explicit citation relationship in the claims, or may be included as new claims by amendment after filing.

Claims (9)

In the snake robot consisting of a body portion connecting a plurality of modules,

Based on a change in at least one of a connection point and a separation distance between the plurality of modules, at least one of the length and shape of the body portion is changed,

The snake robot is movable using at least one of the changing length and shape of the body part,

The body portion is disposed to be inserted into the shell including a plurality of frictional force generating members on at least a portion of the surface,

The plurality of friction force generating members generate at least some different friction forces, and the snake robot moves by additionally using the plurality of differently generated friction forces.
The method of claim 1,
A pattern pattern for generating the friction force is applied to the plurality of friction force generating members,
Snake robot, characterized in that the plurality of pattern patterns generate different frictional forces.
The method of claim 1,
The movement direction of the snake robot is determined in advance, and among the frictional forces generated in correspondence with the movement and movement direction of the snake robot, a first region of the shell where a maximum friction force occurs and a second region of the shell where a minimum friction force occurs If determined in advance,

A snake robot, characterized in that the first friction force generating member corresponding to the first region among the plurality of friction force generating members is provided to generate a greater friction force than the second friction force generating member corresponding to the second region.
The method of claim 3,
The first region, the first friction force generating member, the second region, and the snake robot, characterized in that a plurality of the second friction force generating member.
The method of claim 3,
A plurality of circular structures that additionally generate frictional force through contact with the bottom of the snake robot; further comprising,
The plurality of circular structures, characterized in that provided on the surface of the outer shell corresponding to the first module having the same axis of rotation among the plurality of modules.
The method of claim 5,
A snake robot, characterized in that one circular structure is disposed per a predetermined number of modules among the first modules.
The method of claim 1,
The outer skin is a snake robot, characterized in that provided with a waterproof and dustproof material.
In the method of performing a rescue operation using a snake robot consisting of a body portion connecting a plurality of modules,

A first step in which the snake robot moves;
A second step of detecting a rescue requester based on the movement of the snake robot;
A third step in which the snake robot moves around the requestor; And
Including, a fourth step of performing a task related to the structure of the requestor

The first step and the third step,
Changing at least one of a connection point and a separation distance between the plurality of modules;
Changing at least one of the length and shape of the body portion; And
Including; the step of moving the snake robot using at least one of the length and shape of the body portion to be changed; and

The body portion is disposed to be inserted into the shell including a plurality of frictional force generating members on at least a portion of the surface,

In the first step and the third step,
The plurality of friction force generating members generate at least some different friction forces, and the snake robot moves by additionally using the plurality of differently generated friction forces.
The method of claim 8,
The snake robot further includes a supply part connected to one end of the body part,

The second step,
Connected to at least a portion of the supply,
A camera for photographing a peripheral area of the snake robot; A temperature sensor measuring the temperature of the surrounding area of the snake robot; A gas sensor for measuring the presence or absence of gas and an amount of gas in a peripheral area of the snake robot; A microphone for receiving the voice of the rescue requester and the sound of the surrounding area of the snake robot; A speaker for outputting information input from the outside; And at least one of a projector that outputs an image to a peripheral area of the snake robot using light,

The fourth step,
Performing a task by a robot hand connected to at least a portion of the supply unit gripping or releasing an object;
Connecting a tube inserted into the other end of the body portion and discharged through at least a portion of the supply portion to the mouth of the requestor; And
And supplying a first substance related to the survival of the rescue requestor to the rescue requestor through the connected mouth.

Images