KR20180108144A - Robot apparatus for climbing stairs - Google Patents

Abstract

A robot apparatus having a stair climbing function comprises: a front wheel; a rear wheel; and a climbing assistance member diagonally protruding to a front side of the robot apparatus. A lower surface of the climbing assistance member comes in contact with a stair earlier than the front wheel to lift the front wheel when the robot apparatus moves frontward.

Description

[0001] ROBOT APPARATUS FOR CLIMBING STAIRS [0002]

The present invention relates to a robot apparatus. More specifically, the present invention relates to a robot apparatus for stair climbing.

For a robot that travels in the city or indoors, stair climbing is a must. Recently, various types of robots capable of traveling on rough terrain have been developed.

Several types of robots are categorized into two categories: caterpillar and wheel-based.

The caterpillar structure is characterized by no direct contact between the wheel and the ground. The caterpillar is effective in driving discontinuous road surfaces (e.g., holes and steps) because it alleviates surface effects on uneven road surfaces. However, the caterpillar structure causes unnecessary noise due to excessive contact area with the road surface, and may damage the floor as it travels.

The wheel-based structure employs a linkage mechanism and has the advantage that it is stable in that the wheels are always in contact with the ground during travel. However, the wheel-based structure is not suitable for stair climbing and is not suitable for indoor use because it requires an additional caterpillar for stair climbing.

The robot apparatus according to an embodiment of the present invention aims to mount a step without additional driving equipment such as a motor or the like.

In addition, the robot apparatus according to an embodiment of the present invention aims to stably mount stairs having various dimensions.

A robot apparatus having a stair climbing function, comprising: a front wheel; Rear wheel; And a lower surface of the backing plate assistant member is brought into contact with the step prior to the front wheel so that the front wheel is raised when the robot apparatus moves forward .

The robot apparatus includes a front frame connected to the front wheel and extending in an upward direction; A rear frame connected to the rear wheel and extending in an upward direction; And a connection frame connecting the front frame and the rear frame.

The backing assisting member may be connected to the front frame or the front wheel.

Wherein the robot apparatus comprises: a measuring unit for measuring at least one of a width and a height of the step; And a first driver for adjusting the length of the connection frame based on at least one of the measured width and height.

Wherein the robot apparatus comprises: a measuring unit for measuring at least one of a width and a height of the step; And a second driving unit that adjusts an angle between the backing assisting member and the front frame based on at least one of the measured width and height.

The lower surface of the backing assisting member may be a horizontal surface or a curved surface.

The length of the connecting frame is determined by the maximum length of the connecting frame when the rear wheel is located on the first step and the front wheel is located on the second step higher than the first step, And a minimum length of the connecting frame when the front wheel is located on the second step.

The angle between the backboarding assistant member and the front frame may have a value determined based on a minimum angle when the backboarding auxiliary member first contacts the step before the front wheel contacts the vertical surface of the step.

The lower surface of the backing assisting member may be a horizontal surface, and the lower surface of the backing up assistance member may be tangential to the front wheel in the lateral direction of the robot apparatus.

In the robot apparatus, the length between the end portion of the backboard assisting member and the center point of the front wheel and the angle between the top surface of the backboard assisting member and the front frame are derived based on the width and the length of the step having a certain numerical range .

The front wheel includes a first sub front wheel; And a second sub front wheel connected to the first sub front wheel through a sub connection frame, wherein the sub connection frame is hinged to the front frame.

The robot apparatus includes a first sub front frame connected to the first sub front wheel and extending in an upward direction; And a second sub front frame connected to the second sub front wheel and extending in an upper direction, wherein an angle between the backboard assisting member and the first sub front wheel is set such that the first sub front wheel is located on a vertical plane of the step And may have a value determined based on the minimum angle when the climbing assistant member first touches the stair before touching.

Wherein the length of the connection frame is set such that the length of the connection frame is the maximum length of the connection frame when the rear wheel is located on the first step and the first sub front wheel and the second sub front wheel are located on the second step higher than the first step And a minimum length of the connecting frame when the first sub front wheel and the second sub front wheel are located at the second step without the rear wheel contacting the vertical plane of the first step.

The robot apparatus according to an embodiment of the present invention can stair a step by passive members without a separate driving equipment such as a motor or the like.

In addition, the robot apparatus according to an embodiment of the present invention can mount various types of stairs through passive members having various structures.

However, the effects that can be achieved by the robot apparatus according to the embodiment of the present invention are not limited to those mentioned above, and other effects not mentioned can be obtained from the following description, It will be clear to those who have.

1 is a view showing a step of a robot apparatus according to an embodiment of the present invention.
2 is a side view of a robot apparatus according to an embodiment of the present invention.
3 is a view showing a backing up aiding member applicable to a robot apparatus according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating a process in which a robot apparatus according to an embodiment of the present invention performs a stair climbing process.
5A to 5C are diagrams for explaining a method of deriving design values of a robot apparatus according to an embodiment of the present invention.
FIG. 6 is a view showing a process in which a robot apparatus manufactured according to an embodiment of the present invention makes a step up.
7 is a side view of a robot apparatus according to another embodiment of the present invention.
8 is a view showing a backing up aiding member applicable to a robot apparatus according to another embodiment of the present invention.
9 is a side view of a robot apparatus according to another embodiment of the present invention.
FIG. 10 is a view showing a process in which a robot apparatus according to another embodiment of the present invention performs a stair climbing process.
11A to 11C are diagrams for explaining a method of deriving design values of a robot apparatus according to another embodiment of the present invention.
FIG. 12 is a view showing a process in which a robot apparatus manufactured according to another embodiment of the present invention makes a step up.
13 is a side view of a robot apparatus according to another embodiment of the present invention.
14A to 14C are diagrams for explaining a method of deriving design values of a robot apparatus according to another embodiment of the present invention.
Figs. 15 (a) and 15 (b) are graphs showing the minimum values of 1 derived based on Figs. 14 (a) to 14 (c).

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. It is to be understood, however, that the intention is not to limit the invention to the specific embodiments, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In addition, numerals (e.g., first, second, etc.) used in the description of the present invention are merely an identifier for distinguishing one component from another.

Also, in this specification, when an element is referred to as being " connected " or " connected " with another element, the element may be directly connected or directly connected to the other element, It should be understood that, unless an opposite description is present, it may be connected or connected via another element in the middle.

In the present specification, a component represented by 'unit', 'module', or the like refers to a case where two or more components are combined into one component, or one component is divided into two or more ≪ / RTI > In addition, each of the components to be described below may additionally perform some or all of the functions of the other components in addition to the main functions of the component itself, and some of the main functions And may be performed entirely by components.

Hereinafter, exemplary embodiments according to the technical idea of the present invention will be described with reference to the drawings.

1 is a view showing a step of a robot apparatus according to an embodiment of the present invention.

In the present specification, one vertical plane and one horizontal plane constitute one step. 1, the first step S1 includes a first vertical surface 10a and a first horizontal surface 10b, and the second step S2 includes a second vertical surface 20a and a second horizontal surface 10b. And the third step S3 includes a third vertical surface 30a and a third horizontal surface 30b. The second step S2 is located one step higher than the first step S1 and the third step S3 is two steps higher than the first step S1 and one step higher than the second step S2 .

In the present specification, the term vertical surface does not mean that the surface is perpendicular (90 degrees) to the ground surface, and the surface extending in the upward direction with respect to the ground surface may correspond to a vertical surface have. Likewise, the term horizontal surface in this specification does not mean that the surface is parallel (180 degrees) to the ground surface, and the surface extending in the lateral direction connected to the vertical surface may correspond to a horizontal surface.

2 is a side view of a robot apparatus 200 according to an embodiment of the present invention.

Referring to FIG. 2, a robot apparatus 200 according to an embodiment of the present invention may include a front wheel 210, a rear wheel 220, and a backboard aiding member 260.

A front frame 230 extending in the upward direction is connected to the front wheel 210 and a rear frame 240 extending in the upward direction may be connected to the rear wheel 220. [ Further, the front frame 230 and the rear frame 240 may be connected to each other through the connection frame 250. The robot apparatus 200 according to an embodiment of the present invention may be symmetrical with respect to the center point of the connection frame 250 and the front frame 230 and the rear frame 240 may be parallel.

In one embodiment of the present invention, each of the front wheel 210 and the rear wheel 220 may include one or more wheels. For example, if the front wheel 210 includes one wheel and the rear wheel 220 includes two wheels, or the front wheel 210 includes two wheels and the rear wheel 220 includes one wheel Wheels. Alternatively, both the front wheel 210 and the rear wheel 220 may include two wheels (see FIG. 6).

The backing assisting member 260 is led to the forward oblique line of the robot apparatus 200. Specifically, when the robot apparatus 200 moves forward, the lower surface contacts the stairs before the front wheels 210, so that the front wheels 210 are raised . In other words, the backing assisting member 260 serves to form an angle-of-attack, which is an angle between the front wheel 210 and the step, when the robot apparatus 200 moves to the step.

The backing assisting members 260 may be coupled to the robot apparatus 200 as one or more. For example, when the front wheel 210 is made up of two wheels, each of the two backboard assisting members 260 can be coupled to the robot apparatus 200 corresponding to each wheel.

In an embodiment of the present invention, the stair climbing plate 260 can be efficiently operated only by the back plate auxiliary member 260 fixed to the robot apparatus 200 without including an active device such as a caterpillar or a motor.

Although not shown in FIG. 2, the robot apparatus 200 according to an embodiment of the present invention may include a propelling device (e.g., a motor, etc.) that induces rotation of the wheel, i.e., allows the robot apparatus 200 to move forward , A battery, etc.).

2, the angle between the straight line connecting the center point of the front wheel 210 and the lower surface of the backboard assisting member 260 and the angle between the front frame 230 is referred to as?, And the length of the front frame 230 is a, The length of the rear frame 240 is referred to as c. The radius of the front wheel 210 and the rear wheel 220 is r, and the length of the connection frame 250 is referred to as b. a, b, c, r, and? are design values of the robot apparatus 200, some of them may be determined arbitrarily, and others may be determined according to the dimension of the stairs.

3 is a view showing a backing up assistant member 260 applicable to the robot apparatus 200 according to an embodiment of the present invention.

3 shows the backing plate auxiliary member 200 in which the lower surface 263 is a horizontal plane. In FIG. 3, reference numeral 261 denotes a coupling portion, and the backing plate auxiliary member 260 is connected to the robot device 200, the front frame 230, the front wheel 210, and the like.

FIG. 4 is a diagram illustrating a process in which a robot apparatus 200 according to an embodiment of the present invention makes a step up.

In step (2), step (3), and step (5) and step (6) of FIG. 4, the backing assisting member 260 lifts the front wheel 210 so as to mount the step.

4 is derived in consideration of a condition that the front wheel 210 and the rear wheel 220 are not located on the same step. It is possible to determine the design of the robot apparatus 200 Values can be determined.

5A to 5C are diagrams for explaining a method of deriving design values of the robot apparatus 200 according to an embodiment of the present invention.

5A, the lower surface of the backing up assistant member 260 is in contact with the first step S1 before the robot apparatus 200 enters the vertical surface of the first step S1, (S1). Theta] ₀ that satisfies the condition that the lower surface of the backing assisting member 260 first contacts the first step S1 before the front wheel 210 touches the first step S1 is determined as the minimum value of [theta].

The following equations (1) to (3) are derived based on the drawing of FIG. 5A.

[Equation 1]

&Quot; (2) "

&Quot; (3) "

Equation (3) is established by dividing Equation (2) by Equation (1). In one embodiment of the present invention, a margin (Sc) of a predetermined value may be considered for the minimum value [theta] ₀ to derive the angle [theta]. Considering the margin (Sc), Equation (3) is corrected to Equation (4) below.

&Quot; (4) "

Fig. 5B is a situation of step (5) of Fig. 4 when the front wheel 210 is located on the second step S2 and the rear wheel 220 is located on the first step S1.

The following equations (5) to (7) can be derived using the geometric relationship of FIG. 5B.

&Quot; (5) "

&Quot; (6) "

&Quot; (7) "

In Equation (5), bmax is the maximum value of the length b of the connection frame 250 derived in consideration of the situation of FIG. 5B, and bmax is calculated later. 5A,? ₀ is the minimum angle between the backing assisting member 260 and the front frame 230, which is the angle when the front frame 230 is positioned in the vertical direction of the front wheel 210, When θ ₁ is subtracted, it becomes equal to θ ₀ .

Equation (8) below is derived by Equation (4) and Equation (7).

&Quot; (8) "

는 상수 값으로 계산될 수 있고, θ1 역시 bmax를 고려하여 계산되는 값이므로, 설계자는 상기 수학식 8을 만족하는 각도 θ를 임의로 선정할 수 있다.In Equation (8), h is a predetermined value as the height of the step, r is the radius of the front wheel 210 and the rear wheel 220, and Sc is a value that can be determined by the designer as the above- Equation 8

Can be calculated as a constant value, and since? 1 is also a value calculated in consideration of bmax, the designer can arbitrarily select an angle? Satisfying Equation (8).

5B is a maximum length condition of the connecting frame 250. Specifically, the center point of the rear wheel 220 is located on the end of the first step S1, and the front wheel 210 is located on the second step S2 , The backing assisting member 260 is in contact with the third step S3.

By the geometric relationship in Fig. 5B, the following equations (9) and (10) are derived.

&Quot; (9) "

&Quot; (10) "

The length b of the connection frame 250 should be equal to or less than bmax, and the following equation (11) is derived in consideration of the margin (Sc) of bmax.

&Quot; (11) "

5C is a minimum length condition of the connecting frame 250. Specifically, the rear wheel 220 is in contact with the vertical surface of the first step S1 and the center point of the front wheel 210 is on the end surface of the second step S2 . The length b of the connection frame 250 should be equal to or greater than the minimum length bmin of the connection frame 250 according to the situation of FIG.

Considering the geometric relationship of FIG. 5C, the following equations (12) and (13) can be derived. In Equation (13), the redundancy (Sc) is further considered.

&Quot; (12) "

&Quot; (13) "

Considering Equation (11) and Equation (13), the length b of the connection frame has a value between bmax and bmax. In Equation 11 and Equation 13 w is the width of the stairs, r are the front wheels 210 and the radius, h is the height of the step of the rear wheel (220), Sc is a margin, θ-θ ₁ has a value selected from the expression (8) The designer can arbitrarily select b within the range satisfying the equations (11) and (13).

In FIG. 2, the length a of the front frame 230 and the length c of the rear frame 240 do not greatly influence the step back plate, so that the designer can arbitrarily determine the length.

FIG. 6 is a view showing a process in which a robot apparatus manufactured according to an embodiment of the present invention performs a step-up process. Comparing each step of FIG. 6 and each step of FIG. 4, It can be seen that the stair climbing is smooth.

7 is a side view of a robot apparatus 700 according to another embodiment of the present invention.

7, a robot apparatus 700 according to another embodiment of the present invention includes a front wheel 210, a rear wheel 220, and a backboard aiding member 360, similar to the robot apparatus 200 shown in FIG. . A front frame 230 extending in the upward direction is connected to the front wheel 210 and a rear frame 240 extending in the upward direction may be connected to the rear wheel 220. [ Further, the front frame 230 and the rear frame 240 may be connected to each other through the connection frame 250. The robot apparatus 700 according to another embodiment of the present invention may be symmetrical with respect to the center point of the connection frame 250 and the front frame 230 and the rear frame 240 may be parallel to each other.

Compared with the robot apparatus 200 shown in FIG. 2, it can be seen that the lower surface of the backing up assistant member 360 of the robot apparatus 700 according to another embodiment of the present invention is curved. As described above, the backing assisting member 360 is led to the forward oblique line of the robot apparatus 700, and when the robot apparatus 700 moves to the step, the angle between the front wheel 210 and the step, of-attack.

8 is a view showing a backing up assistant member 360 applicable to the robot apparatus 700 according to another embodiment of the present invention. 8, reference numeral 361 denotes a coupling portion, and the backing assisting member 360 can be coupled to the front frame 230, the front wheel 210, or the like of the robot apparatus 700 through the coupling portion 361. [

In the robot apparatus 700 according to another embodiment of the present invention, since the lower surface of the backing assisting member 360 is curved, the approaching angle can be formed by contacting the steps of various heights. In other words, it is effective to mount various types of stairs.

9 is a side view of a robot apparatus 1000 according to another embodiment of the present invention.

The robot apparatus 1000 according to another embodiment of the present invention may be implemented in a rocker-bogie structure. 9, a robot apparatus 1000 according to another embodiment of the present invention includes a front wheel 1010, a rear wheel 1020, a front frame 1030, a rear frame 1040, and a connection frame 1050, The front wheel 1010 may include a first sub front wheel 1011 and a second sub front wheel 1012. A first sub forward frame 1031 extending in the upward direction is connected to the first sub front wheel 1011 and a second sub forward frame 1032 extending in the upward direction is connected to the second sub front wheel 1012, And the first sub-front frame 1031 and the second sub-front frame 1032 may be connected to each other by a sub-connection frame 1033. The front frame 1030 is connected to the sub connection frame 1033 and the sub connection frame 1033 can be hinged to be rotatable with respect to the front frame 1030. [ The length of the rear frame 1040 is the sum of the length of the front frame 1030 and the length of the first sub forward frame 1031 or the sum of the length of the front frame 1030 and the length of the second sub forward frame 1032 . ≪ / RTI >

Each of the first sub front wheel 1011, the second sub front wheel 1012, and the rear wheel 1020 may include one or more wheels.

The backing assisting member 1060 is led to the forward oblique line of the robot apparatus 1000. Specifically, when the robot apparatus 1000 moves forward, the lower surface contacts the stairs in advance of the first sub-front wheel 1011, so that the first sub- The front wheel 1011 can be raised. In other words, the backing assisting member 1060 serves to form an angle-of-attack, which is an angle between the first sub front wheel 1011 and the stairs when the robot apparatus 1000 moves to the step.

FIG. 10 is a diagram showing a process in which a robot apparatus 1000 according to another embodiment of the present invention performs a stair climbing process.

In step (2), step (3), and step (5) and step (6) of FIG. 10, the first auxiliary front wheel 1011 is raised to allow the stepping assisting member 1060 to step up.

10 is proposed in consideration of a condition in which two of the first sub front wheel 1011, the second sub front wheel 1012 and the rear wheel 1020 are not in contact with the vertical surfaces of the steps at the same time .

11A to 11C are diagrams for explaining a method of deriving the design values of the robot apparatus 1000 according to another embodiment of the present invention.

The lower surface of the backing up assistant member 1060 as shown in FIG. 11A is formed before the first sub-front wheel 1011 contacts the first step S1 when the robot apparatus 1000 enters the vertical plane of the first step S1. The user must first touch the first step S1.

Based on the diagram of Fig. 11A, the following equations (14) to (16) are derived.

&Quot; (14) "

&Quot; (15) "

&Quot; (16) "

In Equation (16), r is the radius of the first sub front wheel 1011, the second sub front wheel 1012, and the rear wheel 1020, and h is a predetermined value as the height of the step. The designer can arbitrarily select? That satisfies the above expression (16).

11B shows a situation for deriving the minimum value of the length b of the connecting frame 1050. Since the two wheels must not contact the vertical surface of the step at the same time, The second sub front wheel 1012 must be positioned on the second step S2 before contacting the vertical surface. Specifically, both the first sub front wheel 1011 and the second sub front wheel 1012 must be positioned on the second step S2 before the rear wheel 1020 contacts the first step S1. At this time, a line connecting the center point of the second sub front wheel 1012 and the end of the second step S2 has an angle of 45 degrees with respect to the horizontal plane.

The coordinates of the center point of the rear wheel 1020, the coordinates of the center point of the second sub front wheel 1012 and the coordinates of the center point of the sub connection frame 1033 (1033) when the coordinates of the lower end point of the vertical surface of the first step S1 are (0,0) ) And the front frame 1030 are shown in Fig. 11B. 11B, the length d of the second sub front frame 1032 is equal to the length between the center of the second sub front wheel 1012 and the center of the second sub front frame 1012, .

The following equations (17) to (20) can be derived according to the geometric relationship of FIG. 11B.

&Quot; (17) "

&Quot; (18) "

&Quot; (19) "

&Quot; (20) "

The minimum value of b in Equation (20) can be determined. In Equation (20), a is a distance between a point tangent to the second sub forward frame 1032 in the sub connection frame 1033 and a point A tangent to the front frame 1030 D is the length of the second sub front frame 1032, r is the radius of each wheel, w is the width of the stairs, a, d and r are preset by the designer, and h And w is a predetermined value as a demension of the step. Therefore, when Expression (20) is summarized, b is a constant value.

11C is a situation for deriving the maximum value of the length b of the connecting frame 1050. Since the two wheels do not contact the vertical surface of the step at the same time, the first sub front wheel 1011 moves to the third step S3 The rear wheel 1020 must be positioned on the first step S1 before contact. At this time, the lower surface of the backing assisting member 1060 is in contact with the third step S3, and a line segment connecting the center point of the rear wheel 1020 and the end of the first step S1 forms an angle of 45 degrees with respect to the horizontal surface.

The coordinates of the center point of the rear wheel 1020, the coordinates of the center point of the first sub front wheel 1011, and the coordinates of the sub connection frame 1033 when the coordinates of the lower point on the vertical plane of the second step S2 are (0,0) And the coordinates of the point A where the front frame 1030 and the front frame 1030 contact with each other are shown in Fig.

Considering the geometric relationship of FIG. 11C, the following equations (21) to (23) can be derived.

&Quot; (21) "

&Quot; (22) "

&Quot; (23) "

The maximum value of b in Equation (23) can be determined, where w is the width of the step, l is the distance between the center point of the first sub front wheel 1011 and the point of the backing aiding member 1060 in contact with the step , c is a distance between a point tangent to the first sub forward frame 1031 of the sub connection frame 1033 and a point tangential to the front frame 1030 , D is the length of the second sub front frame 1032, and h is the height of the step, which are the values that can be predetermined or calculated. Therefore, by summarizing Equation 23, b < is a constant value.

The designer can select any one of the b values satisfying the equations (20) and (23) to select the length of the connection frame (1050).

12 is a diagram showing a process in which a robot apparatus manufactured according to another embodiment of the present invention performs a stair climbing process. When each step of Fig. 12 is compared with each step of Fig. 10, It can be seen that the stair climbing is smooth.

13 is a side view of a robot apparatus 1300 according to another embodiment of the present invention.

The robot apparatus 1300 shown in Fig. 13 is similar to the robot apparatus 200 shown in Fig. 2 except that the upper surface of the backing aiding member 1360 extends from the center point of the front wheel 1310 in the lateral direction And the lower surface is a horizontal plane and forms a tangent line of the front wheel 1310. [ 2, when the lower surface of the backing assisting member 260 extends from the center point of the front wheel 210, a space between the lower surface of the backing up assistant member 260 and the front wheel 210 is caught by the end of the step, May not be easy.

The main design values of the robot apparatus 1300 shown in Fig. 13 are the length b of the connecting frame 1350, the length l between the center point of the front wheel 1310 and the end of the backboard aiding member 1360, And the upper surface of the backing up aiding member 1360. A method of deriving these design values will be described with reference to Figs. 14A to 14C.

14A to 14C are diagrams for explaining a method of deriving the design values of the robot apparatus 1300 according to another embodiment of the present invention.

14A is a maximum length condition of the connecting frame 1350. Specifically, the center point of the rear wheel 1320 is located on the end of the first step S1 and the front wheel 1310 is located on the second step S2 , The backing assisting member 1360 is in contact with the third step S3.

14B shows a minimum length condition of the connecting frame 1350. Specifically, the rear wheel 1320 is in contact with the vertical surface of the first step S1 and the center point of the front wheel 1310 is in contact with the second step S2 It is located on the edge of the foot.

The length b of the connection frame 1350 should satisfy the length range according to the situation of FIGS. 14A and 14B, that is, Equation 24 below.

&Quot; (24) &quot;

The minimum length bmin and the maximum length bmax of the connection frame 1350 can be derived from Equation (24) as follows.

&Quot; (25) &quot;

In Equation 24 and Equation 25, w denotes the width of the step, h denotes the height of the step, and r denotes the radius of the front wheel 1310 and the rear wheel 1320. The designer can set the value between bmin and bmax in Equation 25 derived by using the height, width, and radius of the front wheel 1310 and the rear wheel 1320, which the robot apparatus 1300 wants to follow, Can be selected.

In order to determine the angle θ, the lower surface of the backing plate auxiliary member 1360 in FIG. 14A must satisfy the following equation (26).

&Quot; (26) &quot;

는 로봇 장치(1300)가 회전한 각도를 나타낸다.In Equation 26,

Represents the angle at which the robot apparatus 1300 is rotated.

In the embodiment of the present invention, the width of the stairs and the height of the stairs are selected in a certain range as shown in Equation (27) below in order to determine the angle θ allowing the robot apparatus 1300 to mount various types of stairs. The width and height ranges below are derived by considering the width of the stairs and the height of the stairs selected in the regulations on housing construction standards and others.

&Quot; (27) &quot;

의 최대 값보다 커야 하며,

의 최대 값은 수학식 26에서 b가 가장 작고, h가 가장 클 때를 의미하며 이는 아래의 수학식 28로 표현될 수 있다.To enter the various stairs,

Lt; / RTI &gt;

The maximum value of Equation (26) means that b is the smallest and h is the largest, which can be expressed by Equation (28) below.

&Quot; (28) &quot;

보다 큰 값을 θ로 선정할 수 있다.In Equation 28, hmax denotes the maximum value of h in Equation (27), and bmin (min) denotes a minimum value of bmin values obtained when the w values and h values in Equation 27 are substituted into the left- . Lt; RTI ID = 0.0 &gt; (28) &lt; / RTI &gt;

A larger value can be selected as &amp;thetas;

Next, referring to Fig. 14C, the design value of the length 1 between the center point of the front wheel 1310 and the end of the backboard aiding member 1360 is derived.

14C shows a state in which the lower surface of the backing up assistant 1360 is in contact with the step. In order for the lower surface of the backing up aiding member 1360 to contact the step, point A must be higher than point I, (29) and (30) can be derived.

&Quot; (29) &quot;

&Quot; (30) &quot;

를 유도할 수 있으며,

는 계단과 접하기 위해서 아래의 수학식 31과 같이, 90도보다 작아야 한다. 또한, 도 14c에서 아래의 수학식 32가 도출될 수 있다.In equation (30)

Lt; / RTI &gt;

Must be less than 90 degrees, as shown in Equation 31 below, to contact the stairs. Further, in Fig. 14C, the following equation 32 can be derived.

&Quot; (31) &quot;

(32)

Using Equations (30), (31) and (32), the following Equation (33) can be derived.

&Quot; (33) &quot;

Further, the equation (33) can be derived by the following equation (34).

&Quot; (34) &quot;

의 최소 값을 이용하여 l의 최소 값(lmin,1)을 수학식 34로부터 아래의 수학식 36과 같이 유도할 수 있다.(35) &lt; RTI ID = 0.0 &gt;

The minimum value of l (lmin, 1) can be derived from Equation (34) as Equation (36) below.

&Quot; (35) &quot;

&Quot; (36) &quot;

In Equation (35), bmax denotes bmax values obtained when the w values and h values of Equation (27) are inputted to the right side of Equation (25).

는 0(즉, 로봇 장치(1300)가 회전하지 않은 상태)이므로, 이를 이용하면 l의 최소 값(lmin,2)이 아래의 수학식 37과 같이 유도될 수 있다.Further, in Equation (29), when the robot apparatus 1300 starts to start the first step,

The minimum value of l, lmin, 2 can be derived as shown in the following equation (37) by using 0 (i.e., the robot apparatus 1300 is not rotating).

&Quot; (37) &quot;

Lmin, 1 and lmin, 2 derived by substituting the w values and h values of Equation (27) into Equation (36) and Equation (37) are shown in Figs. 15 (a) and 15 (b). 15 (a) is a graph showing three-dimensional representation of lmin, 1 and lmin, 2 according to the values of w and h, and Fig. 15 (b) is a two-dimensional representation of the graph of Fig.

15 (a) and 15 (b), case 1 represents lmin, 1 values, and case 2 represents lmin, 2 values.

The designer designes l to be able to perform various kinds of stairs by selecting l that is larger than the maximum value among the minimum values of l derived from equations (36 and 37) (i.e., lmin, 1 values and lmin, 2 values) can do.

In the robot apparatuses 200, 700 and 1000 described above, the lengths 250 and 1050 of the connecting frame and the angle between the backboarding auxiliary members 260, 360 and 1060 and the front frames 230 and 1030 are important factors .

The robot apparatuses 200, 700, and 1000 may include a measuring unit that measures a dimension of a stairway to be grounded (for example, at least one of a width and a height of a stairway) 1050 and adjusts the angle between the backing assisting members 260, 360, 1060 and the front frames 230,

For example, the driving part may adjust the length of the connection frames 250 and 1050, and may include a back plate auxiliary members 260, 360 and 1060 A motor and a gear for rotating the motor.

According to the dimension of the step measured by the measuring unit, the driving unit enlarges or reduces the length of the connection frames 250 and 1050 or rotates the angles of the backing up support members 260, 360, and 1060, , &Lt; / RTI &gt; 1000) can efficiently mount various types of stairs.

In the case of the robot apparatus 1300 shown in FIG. 13, l and &amp;thetas; are values derived by considering the widths and heights of various steps, b is derived by considering the width and height of the step to be taken up by the robot apparatus 1300, and thus can be said to be a value suitable for a specific step. Therefore, in the case of the robot apparatus 1300 shown in Fig. 13, a measuring unit for measuring a dimension (for example, at least one of the width and height of the stairs) of a step to be stood, And a driving unit for adjusting the length of the driving unit.

The measuring unit may include, for example, a camera, an infrared sensor, a laser sensor, and the like. The driving unit may include, for example, a motor and gear for adjusting the length of the connecting frame. According to the dimension of the step measured by the measuring unit, the driving unit enlarges or reduces the length of the connecting frame 1350, so that the robot apparatus 1300 can effectively mount various kinds of stairs.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims. You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

200, 700, 1000, 1300: robot apparatus
210, 1010, 1310: front wheel
220, 1020, 1320: rear wheel
230, 1030, 1330: front frame
240, 1040, 1340: rear frame
250, 1050, 1350: connection frame
260, 360, 1060, 1360:
261, 361:
1011: first sub front wheel
1012: second sub front wheel
1031: first sub-front frame
1032: second sub front frame
1033: Sub-connection frame

Claims (13)

1. A robot apparatus having a stair climbing function,
Front wheel;
Rear wheel; And
And a backing assisting member protruding from a forward oblique line of the robot apparatus,
Wherein the lower surface of the backing assisting member is brought into contact with the step prior to the front wheel so that the front wheel is raised when the robot apparatus moves forward.
The method according to claim 1,
The robot apparatus includes:
A front frame connected to the front wheel and extending in an upward direction;
A rear frame connected to the rear wheel and extending in an upward direction; And
And a connection frame connecting the front frame and the rear frame to each other.
3. The method of claim 2,
The backing plate-
Wherein the front wheel is connected to the front frame or the front wheel.
3. The method of claim 2,
The robot apparatus includes:
A measuring unit measuring at least one of a width and a height of the step; And
And a first driving unit for adjusting the length of the connection frame based on at least one of the measured width and height.
3. The method of claim 2,
The robot apparatus includes:
A measuring unit measuring at least one of a width and a height of the step; And
Further comprising a second driving unit for adjusting an angle between the backing plate assist member and the front frame based on at least one of the measured width and height.
3. The method of claim 2,
The lower surface of the backing plate-
A horizontal surface or a curved surface.
The method according to claim 6,
The length of the connection frame,
The maximum length of the connecting frame when the rear wheel is located on the first step and the front wheel is located on the second step higher than the first step and the maximum length of the connecting frame when the rear wheel is in contact with the vertical surface of the first step, And a minimum length of the connecting frame when the front wheel is located on the second step.
The method according to claim 6,
Wherein an angle between the backboarding auxiliary member and the front frame
And a value determined based on a minimum angle when the backing assisting member first contacts the step before the front wheel contacts the vertical surface of the step.
The method according to claim 6,
The lower surface of the backing assisting member is a horizontal surface,
Wherein the lower surface of the backing assisting member is tangential to the front wheel in the lateral direction of the robot apparatus.
10. The method of claim 9,
In the robot apparatus, the length between the end portion of the backboard assisting member and the center point of the front wheel, and the angle between the top surface of the backboard assisting member and the front frame,
Wherein the robot apparatus is derived based on a width and a length of a step having a predetermined numerical range.
3. The method of claim 2,
The front wheel,
A first sub front wheel; And
And a second sub front wheel connected to the first sub front wheel through a sub connection frame,
And the sub connection frame is hinged to the front frame.
12. The method of claim 11,
The robot apparatus includes:
A first sub front frame connected to the first sub front wheel and extending in an upward direction; And
And a second sub front frame connected to the second sub front wheel and extending in an upper direction,
Wherein an angle between the backing assisting member and the first sub front wheel has a value determined based on a minimum angle when the backing assisting member contacts the step first before the first sub front wheel contacts the vertical face of the step .
12. The method of claim 11,
The length of the connection frame,
The maximum length of the connecting frame when the rear wheel is located on the first step and the first sub front wheel and the second sub front wheel are located on a second step higher than the first step, And a minimum length of the connection frame when the first sub front wheel and the second sub front wheel are located at the second step without touching the vertical plane of the step 1.

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