KR102210452B9 - 협소공간에서의 인명탐지 및 구호용 로봇 - Google Patents

협소공간에서의 인명탐지 및 구호용 로봇

Info

Publication number
KR102210452B9
KR102210452B9 KR20180147459A KR20180147459A KR102210452B9 KR 102210452 B9 KR102210452 B9 KR 102210452B9 KR 20180147459 A KR20180147459 A KR 20180147459A KR 20180147459 A KR20180147459 A KR 20180147459A KR 102210452 B9 KR102210452 B9 KR 102210452B9
Authority
KR
South Korea
Prior art keywords
robots
rescue
persons
detection
narrow spaces
Prior art date
Application number
KR20180147459A
Other languages
English (en)
Other versions
KR20200061772A (ko
KR102210452B1 (ko
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to KR1020180147459A priority Critical patent/KR102210452B1/ko
Priority to US17/295,436 priority patent/US20220001552A1/en
Priority to PCT/KR2019/016343 priority patent/WO2020111716A1/ko
Publication of KR20200061772A publication Critical patent/KR20200061772A/ko
Application granted granted Critical
Publication of KR102210452B1 publication Critical patent/KR102210452B1/ko
Publication of KR102210452B9 publication Critical patent/KR102210452B9/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C27/00—Fire-fighting land vehicles
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C99/00—Subject matter not provided for in other groups of this subclass
    • A62C99/0009—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames
    • A62C99/0072—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames using sprayed or atomised water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/026—Acoustical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
    • A62B3/00—Devices or single parts for facilitating escape from buildings or the like, e.g. protection shields, protection screens; Portable devices for preventing smoke penetrating into distinct parts of buildings
KR1020180147459A 2018-11-26 2018-11-26 협소공간에서의 인명탐지 및 구호용 로봇 KR102210452B1 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1020180147459A KR102210452B1 (ko) 2018-11-26 2018-11-26 협소공간에서의 인명탐지 및 구호용 로봇
US17/295,436 US20220001552A1 (en) 2018-11-26 2019-11-26 Robot for detecting and saving life in small space
PCT/KR2019/016343 WO2020111716A1 (ko) 2018-11-26 2019-11-26 협소공간에서의 인명탐지 및 구호용 로봇

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020180147459A KR102210452B1 (ko) 2018-11-26 2018-11-26 협소공간에서의 인명탐지 및 구호용 로봇

Publications (3)

Publication Number Publication Date
KR20200061772A KR20200061772A (ko) 2020-06-03
KR102210452B1 KR102210452B1 (ko) 2021-02-02
KR102210452B9 true KR102210452B9 (ko) 2021-10-27

Family

ID=70853053

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020180147459A KR102210452B1 (ko) 2018-11-26 2018-11-26 협소공간에서의 인명탐지 및 구호용 로봇

Country Status (3)

Country Link
US (1) US20220001552A1 (ko)
KR (1) KR102210452B1 (ko)
WO (1) WO2020111716A1 (ko)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102391825B1 (ko) * 2020-08-26 2022-04-28 한국로봇융합연구원 재난환경의 협소공간에서 활용 가능한 다중센서 모듈을 탑재한 뱀형 로봇
CN112550505B (zh) * 2020-12-18 2022-04-22 航天恒星科技有限公司 一种适用于狭小空间操作的模块化机器人
CN112677142B (zh) * 2021-01-14 2022-08-02 中铁工程装备集团有限公司 蛇形臂连接结构及蛇形臂机器人
CN113021323A (zh) * 2021-02-07 2021-06-25 嘉鲁达创业投资管理有限公司 蛇形机器人及其控制方法
CN113772057B (zh) * 2021-09-24 2022-06-03 广州大学 一种柔性水下机器人、控制方法及设备
EP4201610A1 (en) * 2021-12-21 2023-06-28 Rolls-Royce plc Continuum robot stiffening
KR102479775B1 (ko) * 2022-11-18 2022-12-21 주식회사 라스테크 탐지 기능을 구비한 뱀형 로봇

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4845341B2 (ja) * 2004-01-08 2011-12-28 独立行政法人 宇宙航空研究開発機構 関節ロボットの制御方法
CN104688281B (zh) * 2006-06-13 2017-04-19 直观外科手术操作公司 微创手术系统
KR20130121301A (ko) * 2012-04-27 2013-11-06 재단법인대구경북과학기술원 로봇말단장치
US9616580B2 (en) * 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
US20160107013A1 (en) * 2013-05-13 2016-04-21 Israel Aerospace Industries Ltd. A robotic supply system
KR101709233B1 (ko) 2015-06-16 2017-03-08 한국기계연구원 기어박스의 충격 내구성 시험장치
KR20170123732A (ko) * 2016-04-29 2017-11-09 임질순 수중 인명 감지 및 구조 로봇
US20180207456A1 (en) * 2017-01-26 2018-07-26 Lihai Katz Fluid supply conduit

Also Published As

Publication number Publication date
KR20200061772A (ko) 2020-06-03
US20220001552A1 (en) 2022-01-06
WO2020111716A1 (ko) 2020-06-04
KR102210452B1 (ko) 2021-02-02

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E701 Decision to grant or registration of patent right
GRNT Written decision to grant
G170 Re-publication after modification of scope of protection [patent]