KR102444332B1 - Monitoring robot for driving on metal surfaces with wheels equipped with magnets - Google Patents

Abstract

A monitoring robot for traveling on a metal surface having a wheel equipped with a magnet according to the present invention comprises: a main body; a camera and a lighting unit mounted on the front of the body; A motor mounted in the main body, two shafts rotated by the driving of the motor, and a left wheel and a right wheel respectively mounted on the left and right sides of the main body are connected to the shaft in a state including a magnet and seated on a metal surface including a magnetic material. a drive assembly including a wheel made of; a sub-wheel assembly including a supporter extending rotatably from the rear surface of the main body through a joint, and a sub-wheel mounted on an end of the supporter to be seated on a metal surface in a state including a magnet; and a controller mounted in the main body to control driving of the motor, the camera, and the lighting unit.
According to the monitoring robot for traveling on a metal surface having a wheel equipped with a magnet according to the present invention, it has the advantage of securing an image while driving stably even when the surface of the metal structure is inclined, standing, or curved, and has two wheels. With a simple and slim structure of the base, it provides the effect of strengthening the stability by the sub wheel while ensuring sufficient driving performance.

Description

MONITORING ROBOT FOR DRIVING ON METAL SURFACES WITH WHEELS EQUIPPED WITH MAGNETS

The present invention is a monitoring robot for traveling on a metal surface having a wheel equipped with a magnet, and more specifically, an image or video of a metal structure or its surroundings while stably driving the surface of a metal structure that is inclined or difficult for an operator to access. It relates to a monitoring robot that can monitor by photographing.

When managing observation objects such as inner and outer walls of buildings or various structures at industrial sites, there are many cases in which the operator checks the appearance of the object to be observed with the naked eye and inspects it.

Inspection of such an observation object is, for example, whether a crack has occurred on the inner wall of a building or the outer surface of an industrial tank, etc., how much dust has accumulated in the facility, whether the holding is bent, etc. There are indeed various objects.

However, although the observation object installed at a height corresponding to the height of the operator or located in a position where entry is easy, the operator can confirm it with the naked eye, but in reality, there are many observation objects that are not.

For example, if the object to be observed is located at a high position, between complex facilities, or if it is dangerous due to an incline, there is a problem that the operator cannot easily observe the object to be observed with the naked eye.

Therefore, a technology for monitoring an observation object by capturing an image of the object to be observed while a robot equipped with a camera, rather than a person, moves the object to be observed is being actively developed.

A number of prior art for a monitoring robot equipped with a camera has been disclosed, among which, in the domestic Patent Publication No. 10-2020-0101760, 'mobile robot system including a mobile robot and a charging station', the charging station is the mobile robot. a camera formed to take a picture; a communication unit for communicating with the mobile robot; a charging contact for charging the mobile robot; and a controller configured to control the camera to receive a preview image of the mobile robot on the basis of separation of the mobile robot in contact with the charging contact, wherein the controller includes: It is characterized in that the mobile robot performs different controls based on whether information that the mobile robot is separated from the charging contact unit is received through the communication unit before being separated from the .

The above technology is about including a charging station that recharges and returns while moving the observation object. have.

As such, the mobile robot can move the object to be observed while the mobile robot is equipped with a moving means. According to the above technology, if the object to be observed is not a flat surface but has a steep slope, or if there is a curved or standing surface, how can the mobile robot move the object to be observed? There is a problem that does not offer any other means of solving whether or not it can be done.

Therefore, there is a need to develop a new and advanced monitoring robot capable of taking images while stably traveling on a flat surface as well as an inclined or standing surface of an observation object that is difficult for an operator to access.

The present invention has been devised to overcome the problems of the above technology, and is equipped with a magnet on a wheel to observe while stably driving without falling by gravity along a flat surface as well as an inclined surface of a metal surface of a metal structure made of a magnetic material in particular. Alternatively, a main purpose of the present invention is to provide a monitoring robot capable of capturing an image around an object to be observed.

Another object of the present invention is to provide convenience of driving with a simple two-wheel structure, but to secure a stable driving state by additionally providing a sub wheel.

Another object of the present invention is to form a spike block having a protruding structure on the surface of a wheel to improve anti-skid and fatigue of driving means.

It is a further object of the present invention to provide an additional composition or means to the spike block to control the operation of the robot more stably and precisely.

In order to achieve the above object, a monitoring robot for traveling on a metal surface having a wheel equipped with a magnet according to the present invention includes a main body; a camera and a lighting unit mounted on the front of the body; A motor mounted in the main body, two shafts rotated by the driving of the motor, and a left wheel and a right wheel respectively mounted on the left and right sides of the main body are connected to the shaft in a state including a magnet and seated on a metal surface including a magnetic material. a drive assembly including a wheel made of; a sub-wheel assembly including a supporter extending rotatably from the rear surface of the main body through a joint, and a sub-wheel mounted on an end of the supporter to be seated on a metal surface in a state including a magnet; and a controller mounted in the main body to control driving of the motor, the camera, and the lighting unit.

In addition, it is characterized in that a plurality of spike blocks protruding at regular intervals are formed on the surfaces of the left and right wheels.

In addition, the spike block, 30 to 50 parts by weight of an elastic material made of any one of silicone and rubber, 30 to 50 parts by weight of trimethylsiloxysilicic acid, 5 to 15 parts by weight of propionic acid, an ethylene vinyl acetate copolymer (EVA) containing enhancer It is characterized in that it consists of a mixture of 5 to 15 parts by weight.

According to the monitoring robot for traveling on a metal surface having a wheel equipped with a magnet according to the present invention,

1) It has the advantage of securing images while driving stably even when the surface of the metal structure is inclined, standing, or curved,

2) With a simple and slim structure based on two wheels, the stability is strengthened by the sub wheel while sufficiently securing the driving performance.

3) By the spike block formed on the surface of the wheel, it is possible not only to prevent slipping, but also to secure the convenience of driving the motor,

4) By improving the spike block into a tube structure through which air can be drawn in or out, it provides the effect of variably controlling the ground state of the spike block according to the condition of the metal surface.

1 is a perspective view showing the overall appearance of the robot of the present invention.
Figure 2 is a front view of the robot of the present invention.
Figure 3 is a side view of the robot of the present invention.
4 is a conceptual diagram showing a first embodiment in which the robot of the present invention travels on a metal surface.
5 is a conceptual diagram illustrating a second embodiment in which the robot of the present invention travels on a metal surface.
6 is a conceptual diagram showing a third embodiment in which the robot of the present invention travels on a metal surface.
7 is a conceptual diagram showing a modified embodiment of the spike block mounted on the wheel of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The accompanying drawings are not drawn to scale, and like reference numbers in each figure refer to like components.

Figure 1 is a perspective view showing the overall appearance of the robot of the present invention, Figure 2 is a front view of the robot of the present invention, Figure 3 is a side view of the robot of the present invention.

The robot of the present invention travels at a constant speed on the surface of a metal structure (hereinafter referred to as a 'metal surface' (1)) and uses the camera 110 to view the metal surface 1 and its surrounding photos (images) or videos. Its main feature is to provide a function for monitoring and processing in such a way as to capture an image.

The robot basically includes a main body 100 , a camera 110 , a lighting unit 120 , a driving assembly, a sub wheel, and a controller 200 , which will be described in detail with reference to the accompanying drawings.

As can be seen from FIGS. 1 to 3 , the main body 100 is a wheel composed of a left wheel 130 and a right wheel 140 , which will be described later, a sub wheel 150 , and a driving assembly for driving the wheel. The configuration is mounted and serves as a case or housing that provides space and volume necessary for driving the wheel. In the drawings, the rectangular parallelepiped shape is exemplified, but it is not limited thereto and may be formed in various three-dimensional shapes.

However, this body 100 serves as a stable body for the robot of the present invention and at the same time has a structure in which the bottom surface does not protrude in the direction toward the metal surface 1 in order to properly respond to a non-flat metal surface, for example, It is preferable to have a flat structure.

A camera 110 and a lighting unit 120 are mounted on one side, preferably the front side of the main body 100 .

The camera 110 performs a function of taking an image (photo or video) around the metal surface 1 in a state in which the lens is mounted, and since the specific structure is the same as that of a known camera, a separate description will be omitted. In this case, the lens of the camera 110 may be provided with a means for adjusting the shooting angle.

This camera 110 provides a basis for the manager to monitor the main function of the robot of the present invention, that is, the metal surface 1 and the surrounding situation or environment by taking an image of the metal surface 1 and its surroundings. do.

The lighting unit 120 emits light by turning on the light in a state including at least one light, for example, when the view of the camera 110 is not secured at night, by irradiating the illumination light through the lighting to the camera 110 It serves to ensure the visibility of the image captured by the camera 110 by securing the field of view.

Such a lighting unit 120 may include, for example, lighting made of a plurality of LEDs, and may be mounted on the upper or lower side (eg, the lower side in FIG. 2 ) of the camera 110 in the front of the main body 100 . do.

In addition, in order to ensure the autonomous driving of the robot of the present invention, an optical sensor (not shown) is mounted on the front side of the main body 100 so that the lighting unit ( 120) may be turned on.

The driving assembly of the present invention performs a function of driving the left wheel 130 and the right wheel 140. Referring to FIGS. 1 to 3 , the driving assembly is the main body 100 in a state where a two-wheel drive structure is basically provided. It can be seen that the sub wheel 150 is mounted on the rear side of the . In other words, the robot of the present invention is based on a two-wheel drive structure for the left wheel 130 and the right wheel 140 in order to secure driving efficiency and also to ensure a slim structure of the main body 100 .

Specifically, the driving assembly includes a motor (not shown), a shaft (not shown), and a wheel including a left wheel 130 and a right wheel 140 .

The motor is mounted on the inside of the main body 100 to provide rotational force to the shaft connected thereto. In this case, the motor consists of a single unit that transmits driving force to each of the shaft connected to the left wheel 130 and the shaft connected to the right wheel 140 . Otherwise, the left wheel 130 and the right wheel 140 may be composed of two units, respectively.

In a structure in which the motor is configured as one unit, the shaft on the left wheel 130 and the shaft on the right wheel 140 are simultaneously connected to the left and right sides of the motor.

This motor may be driven by receiving power through a power supply unit (not shown), and the power supply unit provides a function of supplying power not only to the motor but also to the camera 110 and the lighting unit 120 as well as the above-described optical sensor. . It is preferable that the power supply unit secures power in a rechargeable manner by embedding a rechargeable battery rather than receiving external power in a wired manner in order to secure the freedom of driving of the robot of the present invention.

In addition, the power supply unit may be configured as a single unit in a state embedded in the main body 100, but as will be described later, an auxiliary power supply unit for driving the air input/output device 162 mounted on the wheel may be separately built into the wheel, and in this case It is also possible to be respectively mounted on the body 100 and the wheel.

As described above, the wheel of the present invention has a two-wheel structure, that is, a left wheel 130 located on the left side of the main body 100 and a right wheel 140 located on the right side of the main body 100 . The wheel is connected to the above-described motor via each shaft and rotates with the rotation of the shaft by driving the motor to provide a function of moving/driving the main body 100 .

In particular, if the metal surface 1 is made of an inclined structure instead of horizontal, there is a risk that the robot of the present invention may fall due to gravity. To prevent this, the left wheel 130 and the right wheel 140 are magnetic, specifically magnets ( permanent magnets).

Correspondingly, the metal surface 1 mentioned in the present invention also contains a magnetic material such as iron or is made of a magnetic material itself, so that the left wheel 130 and the right wheel 140 including the above-described magnet are magnetically coupled to each other.

At this time, the magnet may form the surface of the left wheel 130 and the right wheel 140 itself, or include a magnet in a known material such as rubber. In addition, the permanent magnet is made of neodymium, which is a ferromagnetic substance, and thus a strong magnetic coupling relationship that is not easily slid or separated from the metal surface 1 can be implemented.

Due to the rotation of the left wheel 130 and the right wheel 140 including these magnets, even if the metal surface 1 made of a magnetic material is inclined, curved, or even standing vertically, it does not fall or break off by gravity. While it is rotated by receiving the driving force of the motor in the firmly attached state, the body 100 is attached to the metal surface 1 to secure a base that can be driven stably.

As described above, the sub wheel 150 of the present invention prevents the body 100 from being unnecessarily biased or tilted toward the front or rear side when the wheel has a two-wheel (left wheel and right wheel) structure as described above. It is mounted on the end of the supporter 151 extending outward from the rear of the main body 100 via the joint 152 on the rear surface, which is the opposite side to the front direction on which the 100) travels.

That is, the sub-wheel 150 of the present invention basically includes a supporter 151 and a sub-wheel 152 , wherein the supporter 151 can be rotated in a certain angular range through the joint 152 . Preferably, the joint 152 is made of a universal joint to ensure free rotation in the left and right directions as well as forward and backward, so that the supporter 151 and the sub wheel 150 connected thereto are connected to the metal surface 1 . Various structures, ie, a flat structure, a protruding structure, a round structure, etc. can be appropriately supported while stably supporting the main body 100 as well as providing a gripping force to the metal surface 1 .

The supporter 151 may have a straight bar structure, or may have a bent structure as shown in the drawings.

The sub wheel 150 includes a magnet to secure adhesion to the metal surface 1 like the above-mentioned wheel, and the structure or method of including the magnet is the same as or similar to the above-described wheel magnet.

These sub-wheels 150 are not connected to the motor, so they are subordinated to the driving of the wheels, so that the main body 100 rotates naturally while driving. That is, the sub wheel 150 is passively rotated without connection with a special driving means while preventing the problem of the two-wheel structure, i.e., tilting or tilting the body 100 in the front-rear direction, while stably rotating the metal surface 1 ), it plays an auxiliary role to drive in a grounded state.

The controller 200 of the present invention is mounted in the main body 100 and serves to control the driving of the above-described motor, the camera 110 and the lighting unit 120 as well as the air input/output device 162 to be described later.

For example, the controller 200 controls the forward/reverse rotation driving of the motor to determine whether the main body 100 moves forward or backward or stops, and on/off and brightness control functions of the lighting unit 120 . , a function for determining whether the camera 110 shoots an image or a video, and additional detailed functions of the camera (photographing angle, depth, etc.) may be provided.

At this time, as in the known manipulation method of the drone, the controller 200 is provided with a wireless communication means, through which an operation signal of the remote control device possessed by the administrator can be received to implement the above-described functions, or can be remotely operated in a wired manner. It is of course also possible to be connected to a control device.

In addition, the controller 200 stores the image captured by the camera 110 in a storage means such as a hard disk separately provided in the controller 200, or a server (the present invention) possessed by the administrator in real time by providing a wired/wireless communication means. This is called the 'manager server', and it is also possible to transmit it to a smartphone or a separate management server).

Furthermore, by providing an image sensor (not shown) separate from the camera 110 , the image sensor may include a function of observing the metal surface 1 itself, through which the roughness or foreign substances of the metal surface 1 are provided. It is possible to determine the surface state such as presence or not, and in response to this, the controller 200 may adjust whether or not the robot of the present invention is traveling and the traveling speed by differentially adjusting whether the motor rotates or the rotation speed.

The operation of the robot of the present invention according to the above-described configuration will be described with reference to the accompanying drawings.

4 is a conceptual diagram illustrating a first embodiment in which the robot of the present invention travels on a metal surface, FIG. 5 is a conceptual diagram illustrating a second embodiment in which the robot of the present invention travels on a metal surface, and FIG. It is a conceptual diagram showing a third embodiment in which the robot of the invention travels on a metal surface.

As can be seen from FIG. 4 , the robot of the present invention has a state magnetically coupled to the surface of the metal structure having an inclined surface, that is, the metal surface 1, and thus secures a stable running state without falling due to gravity. As described above, in a state where the robot of the present invention is attached to the metal surface 1, the robot of the present invention rotates the left wheel 130 and the right wheel 140 by driving the motor forward/reversely by the user's manipulation or autonomous driving method, and the robot of the present invention operates on the metal surface. You can drive while moving forward or backward according to (1).

In the driving process of the robot, the camera 110 is operated to take an image of the metal surface 1 or its surroundings according to the shooting angle of the camera 110 . In this case, when the shooting situation is night or dark, it is possible to secure the shooting light necessary for shooting by turning on the lighting of the lighting unit 120 . As mentioned above, the lighting of the lighting unit 120 may be implemented by interlocking with the optical sensor to provide an automatic blinking method or by an operator's operation.

The image captured by the camera 110 is stored in a separate storage means, such as a hard disk mounted on the controller 200, or transmitted in real time to the manager server while the wired/wireless communication means mounted on the controller 200 is mounted. can be

In this way, it is possible for the administrator to perform various monitoring of the metal structure according to the purpose and use while observing the situation of the metal surface 1 and its surroundings, which is difficult to detect directly or is difficult to observe with the naked eye.

Referring to FIG. 5 , it can be seen that the robot of the present invention can move in the standing direction of the metal surface 1 without using magnetic force even on the vertically bent metal surface 1, at this time the controller 200 In order to resist gravity, it is possible to increase the number of rotations of the motor than on the metal surface 1 made of a flat surface to control the body 100 to stably advance in the standing state of the metal surface 1 .

In addition, since the sub wheel 150 is connected to the extended supporter 151 via a rotatable joint 152 like a universal joint, the supporter 151 is rotated at a certain angle depending on the moving position and direction of the main body 100 . By securing a stable grounding state on the metal surface 1 in the rotated state, it is possible to prevent the main body 100 from being pushed backwards.

In addition, as can be seen from FIG. 6 , if the metal surface 1 is formed of a curved surface, the supporter 151 rotates along the curved surface in a predetermined angular range to secure the grounding state of the sub-wheel 150, thereby improving the convenience of wheel driving as well as The running state of the robot of the present invention can be stably secured.

In summary, the robot of the present invention can be driven while rotating the wheel while magnetically coupled to the metal surface 1 made of a magnetic material through the magnet mounted on the wheel/sub wheel, so that the metal surface 1 is inclined. Even if it is made, it is possible to ensure a stable driving environment of the robot and to secure an image through the camera 110 while driving, so that it is difficult for a person to directly photograph the metal surface (1). And it provides a characteristic for checking or motoring the surrounding state.

Furthermore, referring to FIGS. 1 to 6 , it can be seen that a plurality of spike blocks 160 are protruded while taking a pattern of a predetermined interval or matrix structure on the surface of each of the wheels, that is, the left wheel 130 and the right wheel 140 . can

The spike block 160 has a structure like a tread of a tire mounted on a wheel of a car, and serves to prevent slipping of the main body 100 and ensure stable grounding and efficiency of motor driving.

That is, since the wheel of the present invention is basically magnetically coupled with the metal surface 1 by a magnet, the magnetic coupling is maintained even when the wheel is rotated, and there is little possibility that the wheel is separated from the metal surface 1, but the motor When inertia acts due to sudden braking or sudden acceleration of the motor, the inertia force overcomes the magnetic force, so that the main body 100 may be tilted in a specific direction or may be separated from the metal surface 1 . In addition, if the magnet of the wheel is made of a ferromagnetic material such as neodymium, the rotational force of the motor must be fast enough to overcome this magnetic force to rotate the wheel, so that a lot of energy required for driving the motor may be consumed.

In order to prevent this problem, the spike block 160 is made of a non-magnetic material, in particular, an elastic material such as rubber, silicone, etc. It is possible to provide a characteristic that can reduce the fatigue for driving the motor by relaxing the magnetic force while physically separating the magnets of the motor by a certain distance.

It is possible to apply a pattern of various shapes to the spike block 160, such as a tread pattern of a known tire.

Furthermore, the spike block 160 may include an additional functional material in a state including an elastic material such as rubber or silicone to enhance durability.

Specifically, the spike block 160 includes 30 to 50 parts by weight of an elastic material made of any one of silicone and rubber, 30 to 50 parts by weight of trimethylsiloxysilicic acid, 5 to 15 parts by weight of propionic acid, and an ethylene vinyl acetate copolymer (EVA). It may consist of a mixture of 5 to 15 parts by weight of the enhancer including.

Here, the elastic material is the same as described above, and trimethylsiloxy silicate has resistance to moisture, so that it is possible to add waterproof performance to the spike block 160 as well as the wheel.

In addition, propionic acid is an antifungal agent that can inhibit the growth of aerobic spore-forming bacteria. The phenomenon in which mold grows unnecessarily on a wheel with the property of adhering to it according to the temperature difference and climate of the metal surface. It can provide a function to suppress

The enhancer basically includes an ethylene vinyl acetate copolymer (EVA), which is a thermoplastic material and is used as a main raw material for a hot melt adhesive. It serves to provide an anti-slip function to prevent slipping.

In summary, it is possible to strengthen the above-described function of the spike block 160 by such an additional composition.

In addition, the above-described enhancer is an ethylene-vinyl acetate copolymer by adding an additional composition to the surface of the wheel when the spike block 160 is attached to the surface of the wheel when the spike block 160 is attached to the surface of the wheel. You can strengthen your back.

Specifically, the composition added to the ethylene vinyl acetate copolymer is possible to prepare an enhancer with the following process.

That is, the enhancer of the present invention may be prepared through the first mixture preparation step (S300), the secondary mixture preparation step (S310), and the enhancer completion step (S320).

First, in the first mixture preparation step (S300), 75 to 90 parts by weight of an ethylene vinyl acetate copolymer (EVA) and 10 to 25 parts by weight of a polyvinyl acetate emulsion are added, and 15 to 30 to 60° C. As a process of preparing a first mixture by stirring for 35 minutes, through this step, the ethylene vinyl acetate copolymer and the polyvinyl acetate emulsion form a homogeneous mixture to prepare a first mixture.

At this time, in order to increase the convenience and mixability of the first mixture, ethylene vinyl acetate copolymer (EVA) is first put into the reactor before the preparation of the first mixture, and a pretreatment process of stirring at 20 to 40° C. for 10 to 30 minutes is performed. may be

Ethylene vinyl acetate copolymer (EVA) provides an anti-slip function as described above, and polyvinyl acetate has a softening point of 97 to 105 ° C. The softening point of the tea mixture is lowered and, as a result, curing proceeds less even at a low temperature, providing a basis for the spike block 160 to be stably and firmly adhered to the wheel when the spike block 160 is attached to the wheel.

Then, in the secondary mixture preparation step (S310), 60 to 80 parts by weight of the primary mixture and 20 to 40 parts by weight of the acrylic emulsion resin are added, based on the weight of the total secondary mixture, and stirred at 20 to 50° C. for 30 to 50 minutes. This is the process of preparing a secondary mixture.

In this step, the acrylic emulsion resin is at least one of normal butyl methacrylate, isobutyl methacrylate, lauryl methacrylate, stearyl methacrylate, and beta-hydroxybutyl methacrylate, at a temperature of 30 to 40 ° C. It will be more preferable to mix for 30 to 40 minutes in an amount of 25 to 35 parts by weight relative to the total secondary mixture within the range.

By supplementing the low mechanical strength of the ethylene vinyl acetate copolymer and polyvinyl acetate through the addition of the acrylic emulsion resin, it provides a function of improving the mechanical strength of the spike block 160 as a result.

Finally, in the enhancer completion step (S320), 80 to 95 parts by weight of the secondary mixture and 5 to 20 parts by weight of the powder resin powder are added relative to the total weight of the enhancer and stirred at 30 to 50° C. for 30 to 200 minutes to complete the enhancer It is a process.

Polytetrafluoroethylene may be used as the powder resin powder added in this step, and it is preferably an ethylene-based resin having water and oil repellency, and provides strength improvement and heat resistance, water repellency, and oil repellency properties.

As a result, the enhancer prepared by this process provides a function of improving adhesion, physical strength, and heat resistance of the spike block 160 .

7 is a conceptual diagram illustrating a modified embodiment of the spike block and the controller mounted on the wheel of the present invention.

As described above, the spike block 160 serves to prevent the wheel from slipping and to secure the driving efficiency of the motor in response to magnetic force and the number of rotations of the motor. Depending on the specific state of the metal surface 1 , the spike block 160 is variable for the traction force. There is a need to provide a function that is

That is, if the temperature on the metal surface 1 is high and low, the metal may be stretched or contracted as well as a sliding phenomenon may occur due to moisture. Since it is not practically easy to precisely control , the above-described problem is solved by giving the spike block 160 variability.

Specifically, the spike block 160 may be made of a tube made of any one of rubber and silicone with a space 161 into which air is injected. That is, it means that the spike block 161 may have a structure in which the volume is changed while the air is filled.

Correspondingly, an air flow path 163 is formed inside the wheel, that is, the portion where the spike block 160 is mounted in the left wheel 130 and the right wheel 140 . The air passage 163 is an air passage extending through a branch passage connected to each of the air inlets (not shown), which can be called the introduction part of the space 161 in the spike block 160 , and in this case, the branch passages are all spikes. It may be formed for each block 160 . Alternatively, it is possible to be connected to a specific spike block 160 , for example, any one of five spike blocks 160 formed within a unit area. That is, not all spike blocks 160 have a tube structure, but only a specific spike block 160 may have a tube structure.

In addition, by adding up the volume of each space 161 of the spike block 160 made of a tube structure, information on the volume of the entire space 161 is preset or stored in the controller 200 to calculate the air pressure to be described later. You can lay a foundation for

The air flow path 163 communicating with the space 161 of the spike block 160 is connected to the air input/exit device 162 .

The air input/exit device 162 provides a function of injecting or sucking air into the space 161 of the spike block 160 via the air flow path 163 , and each of the inside of the left wheel 130 and the right wheel 140 . It is possible to be provided in Alternatively, it is also possible to take a structure in which the air flow passage 163 is formed along the inside of the shaft connected to the motor. There is no need and it may be mounted on the main body 100 as a single unit.

In addition, the cable connected to the controller 200 for controlling the air input/output device 162 may also extend along the inner space of the shaft, similarly to the air channel 163 .

Correspondingly, the controller 200 may include an air control unit 210 that controls the driving of the injection and discharge of air in the air input/output device 162 .

The air control unit 210 is the total volume of the space 161 for the spike block 160 (the total volume that is the sum of the volumes of each space formed in the spike block of the tube structure. Since the unit is in liters, it can be understood as a volume) , calculates the air pressure injected into the space 161 based on the rotation time of the wheel, and provides a function of controlling the driving of the injection and discharge of air in the air input/output device 162 based on the air pressure.

That is, the longer the rotation time of the wheel in a state based on controlling the air pressure in consideration of the entire volume of the space 161, the stable grounding state of the wheel on the metal surface 1 and the fatigue for driving the motor should be reduced. It can be said that the control standard is set so that a lot of air is injected into the space 161 by determining that the

In summary, according to the above-described configuration, the air pressure injected into the space 161 (ie, directly related to the amount of air) is differentially adjusted according to the total volume of the space 161 and the high and low of the rotation time of the wheel, so as to be agile and quick. While it is possible to stably secure the variability with respect to the air injection of the spike block (160).

Additionally, the body 100 may include a humidity sensor 170 .

The humidity sensor 170 measures the humidity around the metal surface 1 or the metal surface 1 close to the body 100 and serves to generate humidity information, one side of the body 100, for example For example, it may be located on the bottom surface of the main body 100, and a known humidity sensor such as an electric resistance type humidity sensor and a capacitive type humidity sensor may be mounted.

In general, an increase in humidity around a metal surface (1) or a metal surface (1) means that there is a lot of moisture on the metal surface (1), and since a magnetic metal such as iron does not have the property of absorbing moisture, the metal surface (1) ), which can be understood as having more slippery properties.

Therefore, the amount of air injected into the space 161 of the spike block 160 is measured in advance through the humidity sensor 170 to counter slip by generating humidity information by measuring the humidity of the metal surface 1 or its surroundings. Variable control is possible.

Correspondingly, the air control unit 210 may include the correction pressure index calculation part 211 .

The corrected pressure index calculation part 211 performs a function of differentially controlling the driving of air injection and discharge in the space 161 of the spike block 160 according to the height of the corrected pressure index. In this case, the corrected pressure index is an index calculated based on the total volume of the space 161, the rotation time of the wheel, and the humidity information, and the humidity information is additionally reflected in the volume of the entire space 161 and the rotation time of the wheel as described above. It can be considered as the calculated index.

That is, the air injection state of the spike block 160 can be more precisely controlled by differentially controlling the amount of air injected into the spike block 160 according to the high and low humidity information.

Such a correction pressure index may be calculated according to various calculation criteria based on the above-described three variables, but it is preferable to be calculated through Equation 1 below to ensure precision.

Equation 1.

는 보정 압력 지수,

는 상기 휠의 회전 시간(min),

는 상기 스페이스 전체의 체적(mL),

는 에어의 비열비,

는 상기 습도 정보(g/m³),

는 상기 금속 표면의 평균 포화 수증기량(g/m³)을 의미한다.here,

is the corrected pressure exponent,

is the rotation time of the wheel (min),

is the volume of the entire space (mL),

is the specific heat ratio of air,

is the humidity information (g/m ³ ),

denotes an average amount of saturated water vapor (g/m ³ ) on the surface of the metal.

At this time, the average amount of saturated water vapor on the metal surface 1 is an average value for the amount of saturated water vapor measured on or around the metal surface 1 based on a predetermined time, and is calculated in advance in the correction pressure index calculation part 211 together with the thermometer. Since the value can be stored and there may be various ones depending on the monitoring environment instead of one metal structure, the average amount of saturated water vapor on the metal surface 1 of each metal structure is measured in advance, and then stored separately in the correction pressure index calculation part 211 It is also possible to

Equation 1 is a formula for calculating the corrected pressure index by adding humidity information to the total volume of the space 161 and the rotation time of the wheel. As the corrected pressure index is calculated higher, the amount of air in the space 161 is differentially increased can be injected.

In particular, referring to Equation 1, the corrected pressure index is proportional to each variable, that is, the total volume of the space 161, the rotation time of the wheel, and humidity information. In addition to impairing the durability of the space 161 of the spike block 160, if an excessively high amount of air is injected into the space 161, the wheel may rather slide on the metal surface. have characteristics.

In this case, the specific heat ratio of air means the ratio of the static pressure specific heat to the static specific heat of gas molecules, and the specific heat ratio of air is 1.41. In addition, the amount of saturated water vapor is the maximum amount of water vapor that 1 m ³ of air can contain, and it means the average amount of saturated water vapor set based on the vicinity of the metal surface 1, and the humidity information is the amount of water vapor in the current state of the metal surface as described above. (1) As the surrounding humidity, the higher the humidity, the higher the correction pressure index is calculated, and by additionally injecting the amount of air, it provides a tuning base that can precisely secure the gripping force of the spike block 160 and the stability of the motor driving at the same time. .

For example, the volume of the entire space 161 is 100 mL, the shopping time is 30 minutes, the specific heat ratio of air is 1.41, and the average temperature of the metal surface is 20 degrees. As a result, the average amount of saturated water vapor on the metal surface is 17.3 g/m ³ , and when the humidity information around the metal surface 1 is 12.0 g/m ³ , it is substituted into Equation 1 to calculate the corrected pressure index as follows.

As a result of calculating the corrected pressure index by substituting the above-described example into Equation 1, it can be seen that a value (relative value) of 42.0293 was calculated.

When the corrected pressure index higher than the average corrected pressure index is derived by comparing the corrected pressure index calculated in this way with the average corrected pressure index calculated as an average value for a plurality of corrected pressure indices calculated in advance under various other conditions, the spike block 160 More air may be injected into the space 161 of the , and in the opposite case, air may be discharged (sucked) from the space 161 of the spike block 160 .

As another example, a value obtained by multiplying the calculated corrected pressure index by a specific control variable (for example, it may be 0.001 or 0.01) is added to the existing pressure for the entire space 161 of the spike block 160. You can also adjust the value.

Furthermore, the wheel, that is, the left wheel 130 and the right wheel 140 is provided with a temperature sensor 180 for generating temperature information by measuring the temperature inside the space 161 of the spike block 160 provided in each can do. Such a temperature sensor 180 may be installed on one side of the air flow path 163 or on one specific spike block 160 (assuming that the temperatures of several spaces are the same), thermocouples, thermistors, resistance temperature detectors, etc. This can be applied.

Correspondingly, the air controller 210 may include the supplementary pressure index calculation part 212 to differentially control the driving of air injection and discharge according to the high and low of the supplementary pressure index.

The supplementary pressure index calculation part 212 serves to calculate the supplementary pressure index by adding temperature information to the total volume of the space 161, the rotation time of the wheel, and the humidity information.

In this case, it is preferable that the supplementary pressure index is calculated through the following Equation 2 as a reason related to Equation 1 described above.

Equation 2.

는 보완 압력 지수,

는 휠의 회전 시간(min),

는 상기 스페이스의 부피(mL),

은 기체상수(L*atm/K),

는 온도 정보(K),

는 에어의 비열비,

는 상기 습도 정보(g/m³),

는 금속 표면 주변의 평균 포화 수증기량(g/m³)을 의미한다.here,

is the complementary pressure index,

is the rotation time of the wheel (min),

is the volume of the space (mL),

is the gas constant (L*atm/K),

is the temperature information (K),

is the specific heat ratio of air,

is the humidity information (g/m ³ ),

is the average amount of saturated water vapor (g/m ³ ) around the metal surface.

Equation 2 is an equation for calculating a supplementary pressure index by adding a variable called temperature information to Equation 1, and the supplementary pressure index increases as the rotation time of the wheel, the total volume of the space 161, and the humidity in the space 1610 are higher. Although it is calculated high, it can have a certain maximum limit by the exp function.

In Equation 2, the higher the temperature in the space 161, the more the metal surface 1 is stretched, as well as the elastic tube itself can have expandability. It can be understood as including the purpose to secure.

At this time, based on the example of Equation 1, the supplementary pressure index of Equation 2 is calculated as follows.

As a result of calculating the supplementary pressure index by substituting the above-described example into Equation 2, 42.0601 is calculated, that is, it can be seen that the correction pressure index measured in Equation 1 is slightly increased. In this way, it is possible to more precisely calculate an index value for determining the amount of air by additionally reflecting the temperature.

The calculated supplementary pressure index may precisely inject or discharge air into the space 161 according to the ratio of the numerical value increased or decreased from the previously calculated corrected pressure index.

In addition, it is of course also possible to adjust the pressure value by adding a value obtained by multiplying the supplementary pressure index by a specific control variable (for example, it may be 0.001 or 0.01) from the existing pressure of the space 161 .

As described so far, the configuration and operation of the monitoring robot for traveling on a metal surface having a wheel equipped with a magnet according to the present invention is expressed in the above description and drawings, but this is only an example and the idea of the present invention is not It is not limited to the description and drawings, and various changes and modifications are possible without departing from the technical spirit of the present invention.

1: metal surface 100: body
110: camera 120: lighting unit
130: left wheel 140: right wheel
150: sub wheel 151: supporter
152: joint 160: spike block
161: space 162: air input and output device
163: air flow path 170: humidity sensor
180: temperature sensor 200: controller
210: air control unit 211: corrected pressure index calculation part
212: Complementary pressure index calculation part

Claims (8)

A monitoring robot for traveling on a metal surface having a wheel equipped with a magnet, comprising:
main body;
a camera and a lighting unit mounted on the front of the body;
A motor mounted in the main body, two shafts rotated by the driving of the motor, and a left wheel and a right wheel respectively mounted on the left and right sides of the main body are connected to the shaft in a state including a magnet and seated on a metal surface including a magnetic material. a drive assembly including a wheel made of;
a plurality of spike blocks protruding from the surfaces of the left and right wheels at regular intervals and made of a tube made of any one of rubber and silicon in a state where air is injected therein;
a sub-wheel assembly including a supporter extending rotatably from the rear surface of the main body through a joint, and a sub-wheel mounted on an end of the supporter to be seated on a metal surface in a state including a magnet;
A controller mounted in the main body and controlling the driving of the motor, the camera, and the lighting unit;
The left and right wheels are
An air input/exit device for injecting air into the space through an air flow path,
The controller is
An air control unit for calculating the air pressure injected into the space based on the total volume of the space and the rotation time of the wheel, and controlling the driving of the injection and discharge of air in the air input/exit device based on the air pressure A monitoring robot, characterized in that. The method of claim 1,
The body is
and a humidity sensor for generating humidity information by measuring the humidity around the metal surface,
The air control unit,
Including a corrected pressure index calculation part for calculating a corrected pressure index based on the total volume of the space, the rotation time of the wheel, and the humidity information,
A monitoring robot, characterized in that differential control of driving of air injection and discharge of the air in/out device according to the high and low levels of the corrected pressure index. 3. The method of claim 2,
The left and right wheels are
and a temperature sensor for generating temperature information by measuring the temperature of the space,
The air control unit,
Including a supplementary pressure index calculation part for calculating supplementary pressure based on the total volume of the space, the rotation time of the wheel, the humidity information, and the temperature information,
The monitoring robot, characterized in that it controls the driving of the air injection and discharge of the air input and output device according to the high and low of the supplementary pressure index. delete delete delete delete delete

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