KR20160133020A - Exploration robot for dangerous spot search - Google Patents

Abstract

The present invention relates to a compact response robot for exploring a disaster area capable of rapidly being inputted to the disaster area. According to the present invention, a response robot for exploring a disaster area comprises: a driving unit (1000) including at least one driving motor (100) forwardly/backwardly rotatable, a gear module (110) connected to the at least one driving motor (100) to transfer power, and two pair or more driving wheels (120) rotating in a state being coupled to the gear module (110); a main camera (200) which has a photographing direction matching a driving direction, acquiring an image in the driving direction; an ultrasonic sensor (300) which generates data on a distance measurement value from a surrounding obstacle using an ultrasonic wave; a transmission and reception device (400) which transmits data to the outside or receives a control signal; a control board (500) connected to the at least one driving motor (100), the main camera (200), the ultrasonic sensor (300), and the transmission and reception device (400), controls the at least one driving motor (100) in accordance with the control signal received by the transmission and reception device (400), and transmits data acquired by the main camera (200) and the ultrasonic sensor (300) to the transmission and reception device (400); a main memory (600) connected to the control board (500), storing the control signal and the data acquired by the main camera (200) and the ultrasonic sensor (300); and a battery (700) connected to the elements, supplying power thereto.

Description

{EXPLORATION ROBOT FOR DANGEROUS SPOT SEARCH}

The present invention relates to a building and civil engineering facility collapsing area detection robot for rapidly entering a catastrophic accident and disaster area of a building or civil engineering facility which is difficult for human beings to grasp the situation and data of a disaster area and sending it to an external control station.

Robots have been actively researched and developed as means for coping with manpower in various fields such as industry and home, and various types of robots have been developed and used in various fields due to the development of control technology.

Examples include housework helper robots, service robot for public places, robots for productivity improvement in the industrial field, and worker-assisted robots that can be used in conditions that workers can not access.

In recent years, unmanned mobile robots have been used to identify dangerous areas such as disaster areas and military areas, which are difficult for human beings to reach.

The mobile robot moves by the user's manipulation or actively moves using the provided sensor, and photographs the surrounding state of the inputted region and transmits it to the user.

[0003] Conventional dangerous area searching robots include Korean Patent No. 0770655 (Fire Fighting Robot for Fire Suppression), Korean Patent Publication No. 2006-0061579 (Fire Fighting Robot for Fire Suppression), Korean Patent No. 0690658 A fire evacuation apparatus and method using a robot cleaner), Japanese Patent Registration No. 4009130 (fire fighting robot), and the like are known.

However, in the case of the fire fighting robot of Korean Patent No. 0770655, it is possible to use the infinite orbit to enter the high-temperature fire scene without being disturbed by the obstacle, It is possible to suppress the fire effectively even in the hot fire scene. However, this is not only a large equipment for searching the fire, but also a means of running the robot, and it is a general infinite orbit system, but its structure is very complicated, There is a problem of a serious problem.

Korean Patent Laid-Open Publication No. 2006-0061579 discloses a fire extinguisher which can be easily put into a narrow area where a firefighter can not approach when the fire is extinguished, and can be adjusted to freely increase and decrease the hose freely However, there is a problem in that there is no means for extracting various kinds of information of the surrounding situation of the dangerous area.

In the case of the fire suppression device using the robot cleaner, when the occurrence of the fire in the room is detected, the fire detection and fire progress status is quickly transmitted to the fire department, and the fire source is tracked However, it is not only limited to the purpose of utilizing the vacuum cleaner in the event of a fire that may occur during the use of a vacuum cleaner, but also has a problem that it is difficult to freely move the dangerous area.

In addition, in the case of the Japanese Patent Registration No. 4009130, fire fighting robots can cope with fires in dangerous places where fire brigades can not enter quickly, and can fire fire in any place without being supplied with fire fighting water However, this is not a search function in case of fire, but it is not only for digestion but also can not guarantee free high efficiency driving, and there is a problem that it is impossible to obtain information on the field.

KR Patent Publication No. 10-2012-0001259 A KR Patent Registration No. 10-0820167 B1 KR Patent Registration No. 10-1289037 B1

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems of the prior art.

More specifically, it is an object of the present invention to provide a small-sized disaster-response-seeking robot that can be quickly put into a disaster area, which can increase productivity with a simple structure, reduce the risk of breakage and failure, And a sensor for collecting necessary data, and to provide a high-efficiency disaster-response-seeking robot.

According to an aspect of the present invention, there is provided a disaster-response-seeking robot comprising: at least one drive motor (100) capable of forward / reverse rotation according to an input signal; A gear module 110 connected to the driving motor 100 to transmit power; A driving unit 1000 including at least two pairs of driving wheels 120 coupled with the gear module 110 and rotating; A main camera (200) for acquiring an image in a running direction with a shooting direction coinciding with a running direction; An ultrasonic sensor (300) for generating distance measurement data with surrounding obstacles using ultrasonic waves; A transmission / reception device (400) for transmitting data to the outside or receiving a control signal; The driving motor 100 is connected to the driving motor 100, the main camera 200, the ultrasonic sensor 300 and the transceiver 400 and controls the driving motor 100 according to control signals received from the transceiver 400, (200), a control board (500) for transmitting data acquired by the ultrasonic sensor (300) to the transceiver (400); A main memory 600 connected to the control board 500 and storing control signals and data acquired by the main camera 200 and the ultrasonic sensor 300; And a battery 700 connected to each of the components to supply electric power.

As described above, the present invention can provide a highly efficient disaster response robot capable of enhancing productivity with a simple structure, lowering the risk of breakage and failure, and having a sensor for collecting site conditions and necessary data in a disaster area I have.

FIG. 1 is a perspective view of a disaster-area-locating robot according to an embodiment of the present invention; FIG.
2 is a perspective view of a disaster-area-locating robot equipped with a temperature sensor and a lighting module according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating a travel path calculation using an ultrasonic sensor according to an embodiment of the present invention; FIG.
FIG. 4 is a diagram illustrating an example of high-temperature avoidance start by a temperature sensor according to an embodiment of the present invention; FIG.
5 is a view illustrating an operation of the posture recovery module according to an embodiment of the present invention;

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings, but the present invention is not limited by the scope of the present invention.

Referring to FIG. 1, the disaster-area-locating robot according to the present invention includes at least one drive motor 100 capable of forward / reverse rotation according to an input signal; A gear module 110 connected to the driving motor 100 to transmit power; A driving unit 1000 including at least two pairs of driving wheels 120 coupled with the gear module 110 and rotating; A main camera (200) for acquiring an image in a running direction with a shooting direction coinciding with a running direction; An ultrasonic sensor (300) for generating distance measurement data with surrounding obstacles using ultrasonic waves; A transmission / reception device (400) for transmitting data to the outside or receiving a control signal; The driving motor 100 is connected to the driving motor 100, the main camera 200, the ultrasonic sensor 300 and the transceiver 400 and controls the driving motor 100 according to control signals received from the transceiver 400, (200), a control board (500) for transmitting data acquired by the ultrasonic sensor (300) to the transceiver (400); A main memory 600 connected to the control board 500 and storing control signals and data acquired by the main camera 200 and the ultrasonic sensor 300; And a battery 700 connected to each of the components to supply electric power.

Specifically, in the case of the control board 500, Raspberry Pi, which is a multi-purpose compact single board PC that is commercially available, is used. In the case of such a raspberry pie, USB, Ethernet, HDMI output, Output, and performs the role of the control board 500 of the present invention.

Therefore, it is possible to input the driving mode designated in the control board 500 and enable autonomous travel without an external control signal, and to process the data obtained from the main camera 200 and the ultrasonic sensor 300 It is easy.

In the case of the main camera 200, it is possible to use the Raspberry pie camera module (Camera for Raspberry Pi), which is easy to be compatible with the raspberry pie used as the control board 500 and is relatively inexpensive, It is desirable to increase the compatibility, and since the module can be easily attached and detached, it has an advantage that it is easy to repair and replace.

The main camera 200 further includes a camera driver 210 coupled to the main camera 200 to adjust the shooting direction of the main camera 200 up and down and left and right. This is to control the shooting direction in order to grasp other peripheral situations.

That is, it is preferable to constitute a drive module capable of vertically and horizontally driving as a two-axis structure.

In addition, as shown in FIG. 2, most of the area of the disaster area is explored in a region where the amount of light irradiation is small. Therefore, the main camera 200 includes LEDs The main camera 200 may further include a lighting module 220 to increase the illuminance in the photographing direction. In addition to this method, the main camera 200 may include a function of converting into infrared , It is preferable to solve the restriction of the photographing by the light.

The drive wheel 120 may be a generally wheel-shaped wheel so as to reduce the productivity and the possibility of failure. However, it is preferable that the drive wheels 120 include an orbital chain 121 for connecting the drive wheels 120, It is also possible to increase the maneuverability in the hull by adopting the type approach.

3, the ultrasonic sensor 300 emits ultrasonic waves to the front surface in the traveling direction and generates distance data to the surrounding obstacles using the returned ultrasonic waves, so that the control board 500 , It is possible to calculate an autonomous travel route using such data and to autonomously travel while avoiding an obstacle when it is difficult to receive an external control signal.

That is, in the case of a steel structure or a disaster area located in an underground, it is impossible to transmit / receive wirelessly. Therefore, the distance and position of the obstacle caused by the ultrasonic sensor 300 are determined to calculate an optimal travel route, By self-driving, the mission can continue to be carried out.

The main memory 600, which is connected to the control board 500 and stores control signals of the control board 500 and data acquired by the main camera 200 and the ultrasonic sensor 300, It is preferable that the driving information at the impossible place is recorded and recorded so that the user can later provide the traveling route and data during the autonomous driving at the time of collection.

The control board 500 may further include a temperature sensing sensor 310 for sensing the ambient temperature. This is because, due to the characteristic of the disaster area, a possibility of a fire is high, Transmits the ambient temperature data received from the temperature sensor 310 to the transceiver 400 and provides the data to the user.

As shown in FIG. 4, the temperature sensing sensor 310 is provided with a plurality of temperature sensing sensors 310 for sensing the front, rear, left, and right temperatures of the disaster area sensing robot, 500 senses a high temperature source and controls the drive motor 100 to detect a disaster area in a direction opposite to the temperature sensing sensor 310 of the detected orientation when the sensed temperature is determined to be a temperature at which the robot can be damaged It is preferable to perform the avoidance start for urgently avoiding the corresponding robot.

That is, in order to provide the temperature data to the user and to prevent the robot from being damaged, the temperature sensor 310 of each orientation senses the high temperature source and starts the avoidance to prevent the robot from approaching the high temperature circle direction, It is to prevent damage of the robot.

Next, due to the nature of the disaster area, the travel route is mostly uneven.

Therefore, as shown in Fig. 5, in order to lose the traveling function during the overturning, the robot corresponding to the disaster area exploration robot is moved up and down on the upper side of the disaster area exploration robot And further includes at least one bar-shaped posture restoration module 800 which is capable of restoring the attitude of the overturned disaster area locating robot as shown in FIG. 5 when rolled over, .

That is, by the posture recovery module 800 that is developed from the axis, the posture can be restored regardless of the overturned terrain, and after the posture restoration, the posture is restored to the original state so as not to obstruct the traveling.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.

100: drive motor
200: Main camera
300: Ultrasonic sensor
400: Transceiver
500: control board
600: main memory
700: Battery

Claims (7)

At least one drive motor (100) capable of forward / reverse rotation according to an input signal; A gear module 110 connected to the driving motor 100 to transmit power; A driving unit 1000 including at least two pairs of driving wheels 120 coupled with the gear module 110 and rotating;
A main camera (200) for acquiring an image in a running direction with a shooting direction coinciding with a running direction;
An ultrasonic sensor (300) for generating distance measurement data with surrounding obstacles using ultrasonic waves;
A transmission / reception device (400) for transmitting data to the outside or receiving a control signal;
The driving motor 100 is connected to the driving motor 100, the main camera 200, the ultrasonic sensor 300 and the transceiver 400 and controls the driving motor 100 according to control signals received from the transceiver 400, (200), a control board (500) for transmitting data acquired by the ultrasonic sensor (300) to the transceiver (400);
A main memory 600 connected to the control board 500 and storing control signals and data acquired by the main camera 200 and the ultrasonic sensor 300;
And a battery (700) connected to each of the components to supply electric power. The method according to claim 1,
Wherein the main camera (200) further includes a camera driver (210) coupled to the main camera (200) so that the photographing direction of the main camera (200) can be adjusted up and down and right and left. The method according to claim 1,
Wherein the main camera (200) further comprises a lighting module (220) for irradiating light on both sides of the light in accordance with the photographing direction. The method according to claim 1,
Wherein the main camera (200) includes a function of converting into infrared imaging in a region where the amount of light irradiation is small. The method according to claim 1,
The control board 500 further includes a temperature sensor 310 for sensing the ambient temperature and the control board 500 transmits ambient temperature data received from the temperature sensor 310 to the transceiver 400 Disaster Response Robots for Exploration. 6. The method of claim 5,
The temperature sensor 310 is provided with a plurality of temperature sensors 310 for detecting the temperature of the disaster area corresponding to the disaster area. The temperature of the control board 500 is detected by the robot Wherein the control unit controls the drive motor (100) to urgently avoid a disaster area detection robot in a direction opposite to the temperature detection sensor (310) of the detected direction when it is judged that the temperature can be damaged. robot. The method according to claim 1,
In order to overcome the overturn situation when the disaster area corresponding to the disaster area is overturned due to the topography of the disaster area, one or more bar-shaped attitude recovery modules (800). ≪ / RTI >

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