KR20070073437A - The combine of stair climbing robot - Google Patents

Abstract

A combined obstacle overcoming robot system is provided to combine two robots to allow the two robots to overcome an obstacle when one of them faces the obstacle and then to separate them from each other. A combined obstacle overcoming robot system includes a first robot(1) and a second robot(2). The first robot includes right and left endless orbit sections, a rear surface plate(104a), an insertion section(104), a combination unit(105), and a camera(106). The second robot includes right and left endless orbit sections, a rear surface plate(204a), an introduction section(204), a first target(205), and a second target(206). The combination section is installed in the insertion section. The insertion section of the first robot is engaged with the introduction section of the second robot so that the combined first and second robots can overcome an obstacle.

Description

Combined obstacle driving robot {THE combine of STAIR CLIMBING ROBOT}

Figure 1a, b is a perspective view of the separated state of the present invention.

Figure 2 is a perspective view of the combined state of the present invention.

3 is a side view of the present invention.

Figure 4 is a perspective view of the caterpillar of the present invention.

5 and a plan view of the present invention.

6 is a flow chart illustrating the coalescing, obstacle frequency and separation steps of the present invention.

7 is a plan view of the main portion excerpts showing the coalescence process of the present invention.

8 is a flow chart for explaining the traveling method of the present invention.

9 is a flow chart of the merge process of the first and second robot of the present invention.

10 is a flowchart illustrating a step climbing of only the first robot wheel assembly of the present invention.

Figure 11 is a flow chart of both steps of the first and second robot wheel assembly of the present invention.

12 is a flow chart for climbing the stairs of the second robot wheel assembly of the present invention.

Figure 13 is a flow chart of the steps down the first robot wheel assembly of the present invention

14 is a flowchart of descending all the steps of the first and second robot wheel assemblies of the present invention.

15 is a flowchart of stepping down the second robot wheel assembly of the present invention.

16 is a flow chart of the separation process of the first and second robots of the present invention.

17 is a flowchart of a state in which the first robot wheel assembly of the present invention climbs the stairs;

18 is a flowchart of a state in which the second robot wheel assembly of the present invention climbs the stairs.

19 and 20 are perspective views showing a conventional obstacle driving robot.

* Description of main parts of drawing *

1: first robot

100: vehicle body 104: inserting portion 104a: back plate

104b: inclined plate 105: coalescing means 105a: electromagnet

105b: electric cylinder 105c: rod 106: camera

110: wheel assembly 111: left support leg 112; Right support bridge

113: axle

130: wheel turning mechanism 131: driven sprocket 132: chain

133: drive sprocket 134: motor

160a and 160b: endless track portion 161: support plate 162: a pair of axes

163: pair of wheels 164: track belt 165a: drive motor

165b: drive pulley 165c: driven pulley 165d: timing belt

166a: encoder 166b: first pulley 166c: second pulley

166d: timing belt

170: sensing means 171: long-range detection sensor 172: front detection sensor

173: floor sensor

2: second robot

200: body 204: inlet 204a: back plate

204b: inclined plate 204c: coupling hole 205: first target

206: second target

210: wheel assembly 211: left support leg 212; Right support bridge

213: axle

230: wheel turning mechanism 231: driven sprocket 232: chain

233: drive sprocket 234: motor

260a, 260b: caterpillar 261: support plate 262: a pair of axes

263: pair of wheels 264: track belt 265a: drive motor

265b: drive pulley 265c: driven pulley 265d: timing belt

266a: encoder 266b: first pulley 266c: second pulley

266d: timing belt

270: sensing means 271: long range detection sensor 272: front detection sensor

273: floor sensor

The present invention relates to an integrated obstacle driving robot, in particular, when a pair of robots individually performing reconnaissance and exploration missions must overcome obstacles that cannot be overcome by themselves, they merge with each other to overcome obstacles, and are separated from each other individually. An integrated obstacle driving robot for reconnaissance and exploration missions.

In general, a variety of robots have been proposed, including surveillance sensors and surveillance cameras, which are equipped with a caterpillar while surveillance and exploration are performed.

Among them, look at the domestic patent registration No. 10-0477044 (stair running robot and its driving method) as an example.

19 and 20, the configuration of the conventional obstacle driving robot, the front wheel assembly 110, which is installed in front of the vehicle body and has a front left and right endless tracks (160a, 160b), The front wheel rotation mechanism 130 for pivoting the front left and right endless tracks, the rear wheel assembly 120 installed at the rear of the vehicle body and having rear left and endless tracks 160c and 169d, and the rear left and right endless tracks The rear wheel rotating mechanism 140 for rotating the shaft, the inter-axial distance adjusting mechanism 150 for moving the rear wheel assembly relatively far or close to the front wheel assembly, and the sensing means 200 for detecting various obstacles and the like during driving.

The conventional robot configured as described above drives four endless tracks to drive a general road surface in order to perform a mission such as exploration and reconnaissance. They will continue to drive their original exploration and reconnaissance missions.

However, the conventional robot has to drive four endless tracks separately even when driving on a general road surface, and thus, the structure of the conventional robot is more complicated than a general exploration robot having a pair of endless tracks, and it is not fast during movement, maintenance and management. Uneconomical problems arise in operation.

Accordingly, the present invention has been made to solve the above problems, a plurality of robots having a pair of crawlers usually performs the reconnaissance and exploration missions individually, when one encounters an obstacle, the two robots merge with each other to solve the obstacle. After overcoming and re-separating to perform reconnaissance and exploration missions, it is to provide an economical combined obstacle driving robot with rapid mobility, manufacturing and operation.

Features of the present invention for achieving the above object is a left and right endless track portion provided on both sides of the vehicle body, a back plate formed to protrude in the center of the rear side of the vehicle body, and formed on both sides of the rear plate to be inclined inside the vehicle body Insertion portion consisting of the inclined plate, the insertion portion is installed in the insertion portion of the second robot which will be described later, the coalescing means to be combined with each other so as to frequency the obstacle, and a camera provided on the upper side of the vehicle body A first robot to make; The left and right endless track portion provided on both sides of the vehicle body, the rear side of the vehicle body is formed to be introduced into the center in a shape corresponding to the insertion portion, and the rear plate is formed to be inclined to the outside of the vehicle body, Coalesced obstacle frequency consisting of; an inlet portion consisting of an inclined plate having a plurality of coupling holes; a second robot including a cylindrical first target provided on the upper side of the vehicle body; and a second target provided outside the rear plate. It's on the robot.

Hereinafter, the configuration and operation of the present invention will be described in detail with reference to the accompanying drawings.

First, Figures 1a, b is a perspective view of the state before the coalescence of the present invention, Figure 2 is a perspective view of the coalesced state of the present invention, Figure 3 is a side view of the present invention, Figure 4 is a perspective view showing the endless track of the present invention. 5 is a plan view of the present invention, Figure 6 is a flow chart showing the coalescing, obstacle frequency and separation step of the present invention, Figure 7 is an excerpt of the main part showing the coalescence process of the present invention, Figure 8 is a view of the present invention 9 is a flowchart illustrating a driving method, FIG. 9 is a flowchart illustrating a process of incorporating the first and second robots of the present invention, FIG. 10 is a flowchart of the stairs climbing of the first robot wheel assembly of the present invention, and FIG. Steps of the first and second robot wheel assembly of the present invention is a step-up flow chart, Figure 12 is a step-up flow chart of only the second robot wheel assembly of the present invention, Figure 13 is a first robot wheel assembly of the present invention only Down the stairs Fig. 14 is a flowchart for descending all the steps of the first and second robot wheel assemblies of the present invention, and Fig. 15 is a flowchart for descending the steps of only the second robot wheel assembly of the present invention. 17 is a flow chart of the separation process of the first and second robots of the present invention, and FIG. 17 is a flowchart of a state in which the first robot wheel assembly of the present invention is climbing a step, and FIG. 18 is a second robot wheel assembly of the present invention. It is a flowchart of a rising state.

First, the configuration of the integrated obstacle driving robot of the present invention is largely provided on both sides of the vehicle body 100 so as to drive an individual driving and obstacles below a certain height, and the left and right endless tracks 160a and 160b and the vehicle body 100. The insertion part 104 is formed on the back side of the second robot 2, which will be described later, and is unevenly coupled to the inlet part 204 of the second robot 2, and installed in the insertion part 104 and merged with the second robot 2. A first robot 1 comprising a coalescing means 105;

Left and right endless track parts (260a, 260b) provided on both sides of the vehicle body 200 to drive individual driving and obstacles of a predetermined height, and formed on the rear side of the vehicle body 200, the insertion portion of the first robot And a second robot 2 including an inlet 204 to which the 104 is inserted and coupled to the protrusions and recesses.

In particular, the vehicle body 100 of the first robot 1 is made of a housing shape, the insertion portion 104 forming the rear side of the vehicle body 100 and the rear plate 104a protruding in the center of the rear side and The inclined plate 104b is formed to be inclined inside the vehicle body at both sides of the rear plate 104a.

In addition, the coalescing means 105 is installed inside the first robot back plate 104a to be electromagnetically coupled to the second robot back plate 104b and to the outer surface of the first robot inclined plate. The cylinder rod 105c is mounted and consists of a plurality of electric cylinders 105b installed inside the first robot inclined plate so as to be inserted and supported in the coupling hole 204c of the second robot inclined plate.

In addition, a camera 106 for recognizing the second robot 2 is installed above the vehicle body 100.

The vehicle body 200 of the second robot 2 is formed in a housing shape, the inlet portion 204 forming the back side of the vehicle body 200 has a shape corresponding to the insertion portion 104 in the center thereof The rear plate 204a is formed to be inclined, and the rear plate is formed to be inclined to the outside of the vehicle body, and is formed of an inclined plate 204b having a plurality of coupling holes 204c.

In addition, the vehicle body 200 is provided at an upper side thereof so that the camera 206 of the first robot 1 may recognize the second robot 2 at a distance and approach the first target 205 and the second. The insertion part 104 of the first robot approaching the robot has a second target 206 installed outside the rear plate 204a so as to find and face the inlet part 204 of the second robot.

Here, the back plates 104a and 204a of the first and second robots are preferably made of a metal material. The first robot back plate 204a is formed by the magnetic force of the first robot electromagnet 105a when the insertion part 104 and the insertion part 204 of the first and second robots are unevenly coupled to each other. To stick to 104a.

Again, the infinite track portion and the surrounding configuration of the first and second robots will be described in more detail as follows.

The first robot includes left and right wheel support legs 111 and 112 fixed to both front left and right sides of the front portion of the vehicle body 100, and an axle 113 on which both sides are axially supported by the left and right wheel support legs. And a wheel assembly 110 including left and right endless track parts 160a and 160b arranged on both sides of the axle, driven sprocket 131 fixed to the axle, and driven by the driven sprocket and the chain 132. A wheel turning mechanism 130 comprising a sprocket 133 and a motor 134 fixed to the vehicle body by axially coupling the driving sprocket, a long distance detection sensor 141 attached to the front of the vehicle body, and left and right endless track parts ( Sensing means 140, including a front sensor 142 attached to the 160a, 160b, and a floor sensor 143 provided in the wheel assembly 110, respectively.

Here, the endless track portion (160a, 160b) of the first robot is a pair of support plates 161, a pair of shafts 162 coupled to both sides of the support plate and coupled to the pair of shafts A pair of wheels 163, a track belt 164 wound around the pair of wheels and connected to each other, a drive motor 165a fixed to the support plate, and a drive axially coupled to the drive motor A pulley 165b, a driven pulley 165c axially coupled to one of the shafts, a timing belt 165d connecting the drive and driven pulleys, and fixed to the support plate to sense the rotational speed of the wheel A lower encoder 166a, a first pulley 166b coupled to the encoder, a second pulley 166c axially coupled to the other shaft, and a timing belt 166d connecting the first and second pulleys. It consists of a single drive is possible.

In addition, the second robot includes left and right wheel support legs 211 and 212 fixed to both left and right sides of the front portion of the vehicle body, and an axle 213 supported by both sides to the left and right wheel support legs; A wheel assembly 210 consisting of left and right endless track parts 260c and 260d arranged on both sides of the axle, a driven sprocket 231 fixed to the axle, and a driven sprocket connected to the driven sprocket and the chain 232; 233, a wheel turning mechanism 230 formed of a motor 234 fixed to the vehicle body by axially coupling the drive sprocket, a long-range detection sensor 271 attached to the front of the vehicle body, and left and right endless track parts 260a. And a sensing means 270 including a front sensing sensor 272 attached to the 260b and a bottom sensing sensor 273 provided in the wheel assembly 210.

In particular, the endless track portion (260a, 260b) of the second robot is a pair of support plates 261, a pair of shafts 262 coupled to both sides of the support plate, coupled to the pair of shafts A pair of wheels 263, a track belt 264 wound around the pair of wheels and connected to each other, a drive motor 265a fixed to the support plate, and a drive axially coupled to the drive motor A pulley 265b, a driven pulley 265c axially coupled to the shaft, a timing belt 265d connecting the drive and driven pulleys, and an encoder fixed to the support plate to sense the rotational speed of the wheel ( 266a, a first pulley 266b coupled to the encoder, a second pulley 266c axially coupled to the shaft, and a timing belt 266d connecting the first and second pulleys. It is possible.

Hereinafter will be described the operating state of the present invention.

First, the operation process of the first robot and the second robot before the coalescing, the coalescing process of the first and second robots, and the obstacle driving process of the coalescing the first and second robots with reference to FIG. 2, the robot will be described in detail with the separation process.

First, the individual driving of the first robot and the second robot,

The left endless tracker 160a and the right endless tracker 160b of the first robot, and the left endless tracker 260a and the right endless tracker 260b of the second robot are independently driven. . That is, when the first robot left endless track portion 160a is described as an example, when the driving motor 165a installed between the two support plates 161 is driven with power, the driving pulley 165b condensed on the shaft is provided. ) Rotates, and the driven pulley 165b and the driven pulley 165c connected by the timing belt 165d rotate, and any wheel 163 affixed to any one shaft 162 like the driven pulley rotates. In addition, the wheel 163 and the other wheel 163 connected by the track belt 164 rotate together, and the track belt 164 at this time can move the vehicle body because it is literally an endless track. At this time, the axle 113 does not rotate.

As described above, the first robot 1 moves straight when the left and right endless tracks are driven simultaneously in one direction, and turns in place when driven in opposite directions, and moves backward when driven in the other direction.

The second robot also travels in the same manner as the first robot.

That is, the individual driving of the first and second robots is to drive while turning the direction and go straight back as described above as the drive of the crawler.

Here, the second robot 2 senses an obstacle located on the driving path while sensing by the sensing means 170 to determine whether the height of the obstacle is higher than or equal to a certain height that can be independently driven, and if it is less than or equal to a certain height, When the obstacle is determined to be higher than the predetermined height, the obstacle may be combined with the first robot in the individual driving and the frequency will be processed in the obstacle frequency process to be described later.

Hereinafter, the merging, obstacle frequency, and separation process of the first robot and the second robot will be described with reference to the flowchart of FIG. 6 and the coupling flowchart of FIG. 7.

First of all, the first robot search unit and the second robot search unit perform the exploration and reconnaissance mission in different locations, respectively, in the first target search step and the second target search step. , Access, and coalescing.

Here, the first target search step is a step in which the camera 106 of the first robot searches from a distance and recognizes the first target 205, which is a cylindrical shape of the second robot, and moves it to the second robot side.

The reason why the first target is cylindrical is that the target shape can be recognized as a two-dimensional quadrangle even when the camera 106 searches in any direction of the second robot.

Next, the second target search step pivots about the second robot so that the first robot 1 moved to near the second robot 2 recognizes the inlet 204 of the second robot, thereby inserting the first robot. The first robot 1 is moved so that the part 104 and the inlet part 204 of the second robot face each other.

The next approach step is for the first robot 1 to approach the second robot 2.

That is, the first robot inserting part 104 approaches the second robot rear part 204. At this time, since the first robot inserting part 104 may move out of its position according to the road surface environment, the first robot continues to move the second robot inserting part 204. If you approach and move away from the expected engagement position, approach again while correcting to the expected engagement position.

In the next coalescing step, the first and second robot insertions and insertions 104 and 204 are unevenly coupled to each other. As shown in FIG. 7, when the current is supplied to the electromagnet 105a to form a magnetic force, the second robot is backed by the magnetic force. The plate 204a adheres to the first robot back plate 104a, and at the same time, the rod 105c protrudes from the electric cylinder 105b to be inserted into the coupling hole 204c of the second robot inclined plate 204b. . Since both of the inclined plates 104b and 204b are coupled to each other by the rod 105c even when the magnetic force is cut off by cutting the current through the electromagnet 105a, the first robot 1 and the second robot 2 are firmly integrated with each other. .

The obstacle frequency step of the combined first and second robots will be described in detail in the obstacle driving process to be described later.

And, in the separation step, as shown in Figure 16, the electric cylinder rod 105c inserted into the coupling hole 204c is contracted to be separated from the coupling hole 204c to insert the 104 of the first and second robots. By separating the inlet 204, the first and second robots are individually traveling.

Hereinafter, the driving method and the obstacle driving of the present invention in the coalesced state will be described according to the flowchart as shown in FIG. 8.

First, when the motor 133 is driven with power, the first robot wheel turning mechanism 130 rotates the driven sprocket 132 and is driven by the driven sprocket 132 and the chain 134. 131 rotates, and thus the left endless tracker 160a and the right endless tracker 160b are lifted up / down by the amount of rotation of the axle 113 on which the driven sprocket 131 is constricted. Can be

When the motor 233 is driven with power, the second robot wheel turning mechanism 230 also rotates the motive sprocket 232 and is driven by the motive sprocket 232 and the chain 234 driven sprocket 231. ) Rotates, and thus the left endless track portion 260a and the right endless track portion 260b of the second robot are lifted up / down by the amount of rotation of the axle 213 on which the driven sprocket 231 is constricted. / Down).

In the traveling method of the combined state of the present invention, when the front obstacle does not appear in the sensing means 200, the endless track portion of the wheel assembly 110 of the first robot and the wheel assembly 210 of the second robot There is a flat run step of driving (160a, 160b, 260a, 260b) to move.

In this flat driving stage, forward, backward, and turning are possible, and when turning, the left and right endless tracks of the first robot wheel assembly 110 and the second robot wheel assembly 210 are driven in different directions to turn left. And can turn right.

When the vehicle encounters an obstacle while driving in the flat driving stage, the sensing means detects the obstacle. That is, the long-range detection sensor installed in front of the first robot body 100 toward the front detects this, and immediately determine whether it can be overcome or impossible to overcome, which is the first obstacle determination step.

In the first obstacle determination step, when the value of the obstacle overcoming is obtained, the process proceeds to the second obstacle determination step of measuring the height by the front monitoring sensors 172 and 272 of the sensing means, and the first obstacle determination step and the If the value of impossibility of overcoming obstacles is shown in the second obstacle determination step, a detour driving step of driving around the obstacle is performed.

On the contrary, when the obstacle overcoming value is obtained in the second obstacle determination step, the obstacle overcoming step is performed.

When performing the obstacle overcoming step, but the obstacle is to climb the stairs, the climbing process of the obstacle climbing process of the first robot wheel assembly 110 and the obstacle climbing process of the second robot wheel assembly 210 is repeated When the obstacle is a staircase to go down, the obstacle descending process of the first robot wheel assembly 110 and the obstacle descending process of the second robot wheel assembly 210 are repeated.

Explain the process of climbing stairs, one of the obstacle avoidance steps.

The stair climbing process includes the obstacle climbing process of the first robot wheel assembly 110, the simultaneous climbing process of the obstacles of the first robot wheel assembly 110 and the second robot wheel assembly 210, and the second robot wheel assembly ( The obstacle climbing process of 210 is made.

First, the obstacle climbing process of the first robot wheel assembly 110 secures the potentiometers before and after the first as the sensing means 170, as shown in FIG. 10, and then the first robot wheel assembly and the second robot wheel. Start by driving all of the tracks in Assembly to the front of the obstacle.

When the vehicle reaches the obstacle through the advance step, both the first robot wheel assembly and the second robot vehicle assembly endless track portion are stopped, and the first robot wheel turning mechanism 130 is driven to lift the first robot wheel assembly upward. To be lifted up.

When the endless track portion of the first robot wheel assembly 110 is higher than the edge of the stairs through the lifting up step, the first robot wheel turning mechanism 130 is stopped, and the first robot wheel assembly 110 and The first robot wheel assembly 110 is driven through all of the endless track portions of the second robot wheel assembly 210 so that the first robot wheel assembly 110 extends over the stair corners.

When the first robot wheel assembly 110 extends over the stair edge through the first climbing step, the first robot wheel assembly 130 is driven to downwardly lift the first robot wheel assembly. A lifting down step is performed until the potentiometer values of the robot wheel assembly and the second robot wheel assembly are equal.

When the first robot wheel assembly 110 is horizontal through the lifting down step, the first robot wheel turning mechanism 130 is stopped and the endless tracks of the first robot wheel assembly and the second robot wheel assembly are removed. It goes through the second step forward step of driving all the parts forward.

This process is the process of FIG.

Next, when the obstacle climbing process of the first robot wheel assembly and the second robot wheel assembly is simultaneously viewed, as shown in FIG. 11, after the second climbing advance step of the obstacle climbing process of the first robot wheel assembly, When the step of the next step appears, all the endless track portion of the first robot wheel assembly 110 and the second robot wheel assembly 210 is stopped, and the first robot wheel rotation mechanism 130 is driven to drive the first robot wheel. A first robot wheel lifting up step of lifting the assembly is performed.

In addition, a second robot wheel lifting up step of lifting the second robot wheel assembly by driving the second robot wheel turning mechanism 230 simultaneously with the first robot wheel lifting up step of the first robot wheel assembly is performed.

After the first robot wheel lifting up step and the second robot wheel lifting up step, when the endless track portion of the first robot wheel assembly 110 is higher than the edge of the stairs, the first robot wheel turning mechanism 130 After stopping and stopping the second robot wheel turning mechanism 230 when the endless track portion of the second robot wheel assembly 210 is higher than the edge of the stairs, the first robot wheel assembly 110 and the second robot are stopped. By driving all the tracked portions of the wheel assembly 210, the first robot wheel assembly 110 and the second robot wheel assembly 210 undergo a first step of advancing so as to span the edges of the stairs.

After the first climbing forward step, when the first robot wheel assembly 110 spans the stair edge, the first robot wheel assembly 130 is driven to downwardly lift the first robot wheel assembly, While downlifting until the potentiometer values of the first robot wheel assembly and the second robot wheel assembly become equal, the second robot wheel assembly is driven downward by driving the second robot wheel turning mechanism 230 at the same time, There is a lifting down step of lifting down until the potentiometer values of the first robot wheel assembly and the second robot wheel assembly are equal.

Subsequently, when both the first robot wheel assembly 110 and the second robot wheel assembly 210 are horizontal through the lifting down step, the first robot wheel turning mechanism 130 and the second robot wheel turning mechanism ( 230 is stopped, and the second climbing step of advancing by driving the endless track parts of the first robot wheel assembly and the second robot wheel assembly is sequentially performed.

Next, the obstacle climbing process of the second robot wheel assembly of the obstacle overcoming step is as shown in FIG. 12, and the obstacle climbing process of the first robot wheel assembly and the second robot wheel assembly is performed simultaneously. to be.

That is, if the next step does not appear through the second climbing forward step, the endless track portions of the first robot wheel assembly 110 and the second robot wheel assembly 210 are stopped, and the second robot wheel rotation is performed. A second robot wheel lifting up step is initiated by driving the mechanism 230 to lift only the second robot wheel assembly 210 up.

After the second robot wheel lifting up step, when the endless track portion of the second robot wheel assembly 210 is higher than the edge of the stairs, the second robot wheel turning mechanism 230 is stopped, and then the first robot wheel is stopped. By driving both of the endless track portion of the assembly 110 and the second robot wheel assembly 210, the second robot wheel assembly 210 undergoes a first climbing step of advancing over the stair corners.

After the first climbing step, when the second robot wheel assembly 210 extends over the edge of the stairway, the second robot wheel assembly 230 is driven to downwardly lift the second robot wheel assembly. Then, the first robot wheel assembly and the second robot wheel assembly undergo a lifting down step of lifting down until the potential potentiometer value becomes equal.

When both the first robot wheel assembly 110 and the second robot wheel assembly 210 are horizontal through the lifting down step, the second robot wheel turning mechanism 230 is stopped and the first robot wheel assembly is stopped. And obstacles are sequentially climbed through a second climbing forward step of driving all of the endless track parts of the second robot wheel assembly.

This is the process of FIG. 18.

The following describes the process of descending the stairs, which is one of the obstacle avoidance steps.

The step down process includes the obstacle lowering process of the first robot wheel assembly 110, the simultaneous obstacle lowering process of the first robot wheel assembly 110 and the second robot wheel assembly 210, and the second robot wheel assembly. It proceeds through the obstacle descending process of (210).

First, when the obstacle descending process of the first robot wheel assembly reaches the stairs to descend by the sensing means 170 as shown in FIG. 13, the endless track parts of the first robot wheel assembly and the second robot wheel assembly are shown. Driving both the front and the front of the obstacle, and driving both the endless track portions of the first robot wheel assembly and the second robot wheel assembly to advance to the obstacle, but the bottom of the first robot wheel assembly 110 After the preliminary falling preliminary step and the preliminary falling preliminary step, the first robot wheel rotation mechanism 130 is driven to lift the first robot wheel assembly downward, and then the first robot wheel. The assembly 110 undergoes a lifting down step of lifting down until it reaches the floor.

After the lifting down step, the driving wheels of both the first robot wheel assembly and the second robot wheel assembly are driven to the front of the obstacle, but when the bottom sensor of the second robot wheel assembly 210 is turned on. It goes through the descending step of advancing.

After the descending forward step, driving the first robot wheel rotation mechanism 130 to lift the first robot wheel assembly up, the first lifting up until the first robot wheel assembly 110 reaches the floor After the 1st robot wheel lifting up step and the 1st robot wheel lifting up step, the 2nd descent which drives both the endless track parts of the 1st robot wheel assembly and the 2nd robot wheel assembly to advance to the next step It is a step forward.

Subsequently, the obstacle lowering process of the first robot wheel assembly and the second robot wheel assembly are the next steps after the obstacle lowering process of the first robot wheel assembly as shown in FIG. 14.

That is, when the next step is passed through the second descending forward step, all the track parts of the first robot wheel assembly 110 and the second robot wheel assembly 210 are stopped, and the second robot wheel turning mechanism Beginning with a second robot wheel lifting down step of driving 230 to lift the second robot wheel assembly downward.

After the second robot wheel lifting down step, both of the endless track portions of the first robot wheel assembly and the second robot wheel assembly are driven to move forward, but the bottom sensor of the first robot wheel assembly 110 After going through the 2nd preliminary preliminary advance step until the OFF, and after the 2nd preliminary preliminary preliminary step, all the track parts of the first robot wheel assembly 110 and the second robot wheel assembly 210 are stopped. And a first robot wheel lifting down step of driving the first robot wheel turning mechanism 130 to lift the first robot wheel assembly downward.

After the first robot wheel lifting down step, all of the endless track portions of the first robot wheel assembly and the second robot wheel assembly are driven to move forward, but the bottom sensing sensor of the second robot wheel assembly 210 is moved forward. After the third falling preliminary advance step and the third falling preliminary advance step until the vehicle is OFF, the first robot wheel assembly 130 is driven to lift the first robot wheel assembly upward, but the first robot wheel The assembly 110 is lifted upward until it reaches the floor, and the second robot wheel assembly 230 is lifted upward by driving the second robot wheel turning mechanism 230, but the second robot wheel assembly 210 is placed on the floor. The first robot wheel / second robot wheel lifting up step is performed to lift up until it reaches.

In addition, the obstacle lowering process of the second robot wheel assembly is after the obstacle lowering process of the first robot wheel assembly and the second robot wheel assembly as shown in Figure 15, the step of the next step in this state If it does not appear, all the track parts of the first robot wheel assembly 110 and the second robot wheel assembly 210 are stopped, and the second robot wheel turning mechanism 230 is driven to lower the second robot wheel assembly. After the second robot wheel lifting down step of lifting and the second robot wheel lifting down step, both the first and second robot wheel assemblies and the endless track portions of the second robot wheel assembly are driven to move forward. It goes through a preliminary falling preliminary step of advancing until the bottom sensor of the wheel assembly 110 is turned off.

Subsequently, after the descending preliminary advance step, the second robot wheel assembly 230 is driven to lift the second robot wheel assembly upward, and then lifts up until the second robot wheel assembly 210 reaches the floor. The second robot wheel lifting step is performed.

In this manner, when the stairs are lowered, all of the endless track parts of the first robot wheel assembly 110 and the second robot wheel assembly 210 are driven to the normal forward step.

As described above, in the present invention, a plurality of robots having a pair of tracked tracks normally perform reconnaissance and exploration missions individually. If any one encounters an obstacle, the two robots merge with each other to overcome the obstacle, and then separate and reconnaissance. And exploration missions enable economical and rapid mobility and production and operation.

Claims (2)

Left and right endless track parts (106a, 106b) provided on both sides of the vehicle body 100, the back plate 104a formed to protrude in the center of the rear side of the vehicle body, and the inclined plate formed to be inclined in the vehicle body on both sides of the rear plate An insertion part 104 made of a 104b and an insertion part 104 are installed in the insertion part 104 so that the insertion part 104 is combined with each other by being unevenly coupled to the inlet part 204 of the second robot, which will be described later. A first robot 1 comprising a coalescing means 105 and a camera 106 provided above the vehicle body; Left and right endless track parts (206a, 206b) provided on both sides of the vehicle body 200, and the rear surface side of the vehicle body is formed in the shape corresponding to the inserting portion 104 to be inserted in the center thereof. And, both sides of the rear plate is formed to be inclined to the outside of the vehicle body, the inlet portion 204 consisting of the inclined plate 204b having a plurality of coupling holes (204c), and the cylindrical first target 205 provided on the upper side of the vehicle body And a second robot (2) including a second target (206) installed outside the rear plate. The method of claim 1, The coalescing means 105 is installed inside the first robot back plate 104a to electromagnetly engage the second robot back plate 104b and a cylinder rod to the outer surface of the first robot inclined plate. An integrated obstacle frequency robot (105c) is composed of a plurality of electric cylinders (105b) which is installed inside the first robot inclined plate so that it is inserted and supported in the coupling hole (204c) of the second robot inclined plate.

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