KR20190004959A - Guidance robot - Google Patents

Abstract

According to an embodiment of the present invention, a guide robot comprises: an upper module including a main PC and a display part for displaying information; and a lower module detachably connected to the upper module, wherein the lower module includes: a battery; a motor rotating in connection with the battery; a main wheel connected to the motor; an auxiliary wheel being manually rotated; and a suspension for guiding the main wheel up and down. The suspension is capable of lifting and lowering the main wheel by inflow or outflow of compressed air such that and stable steering and movement can be accomplished when the guide robot is automatically moved, thereby being capable of preventing break-down and being able to conveniently move when the guide robot is manually moved.

Description

Guide Robot {GUIDANCE ROBOT}

The present invention relates to a guidance robot.

The application fields of robots are generally classified into industrial, medical, space, and submarine applications. For example, in the mechanical processing industry such as automobile production, robots can perform repetitive tasks. In other words, if you teach the work of the human arm only once, many industrial robots that repeat the same operation for a few hours are already in operation.

In addition, a technique in which a camera is mounted on a robot has already been widely implemented. The robot can recognize the position or recognize the obstacle by using the camera. In addition, displaying the photographed image on the display unit is sufficiently implemented.

Meanwhile, with the recent explosive increase in airport users and efforts to make a leap to smart airports, plans have been developed to provide services through robots in airports. When an artificial intelligent robot is introduced to the airport, it can be expected that the robots can perform the unique role of the person who could not replace the existing computer system, thereby contributing to the quantitative and qualitative improvement of the provided services.

Robots capable of providing convenience to users or replacing the role of human beings have been rapidly increasing in demand not only at the airport but also throughout social facilities such as hotels, hospitals, schools, large shopping facilities, cultural facilities, and public facilities.

However, since the conventional guide robot is developed and designed to be suitable for use only in a specific service environment, there is a problem that a robot needs to be newly developed or redesigned in order to use the robot in a new service environment. In other words, conventionally, there is a problem that it is difficult to catch up with the rapidly increasing demand for robots capable of performing various roles according to various service environments. In addition, robots equipped with high-end advanced equipments are difficult to redevelop and redesign because they are expensive to develop.

On the other hand, as a moving method of the robot that can move, wheels, legs, flying, air / magnetic levitation, etc. can be used. One of the most common and efficient methods of movement is wheels.

The robot using the wheel is provided with a motor, a speed reducer, a wheel, Then, as the motor rotates, a wheel that is in friction with the ground rotates, whereby the robot is moved.

Conventionally, the guide robot can be manually pushed and moved in a state in which the power of the motor is turned off in the case of non-movement for service provision, that is, repair or simple movement.

In this way, in the case of the manual movement in which the operator manually pushes and moves the guide robot, since the wheel and the ground are in contact with each other, the speed reducer and the motor connected to the wheel are forcibly rotated in the reverse direction. At this time, the forced reverse rotation may increase the mechanical load on the reducer. There is a problem that the load easily breaks a component such as a worm gear or the like. In addition, the forcible reverse rotation may generate a counter electromotive force in the DC motor, thereby causing damage to the motor circuit and the driver circuit for driving the motor.

In addition, the manual movement of the conventional guide robot has a relatively large force because it must be pushed by a force exceeding the frictional force of the wheel and the speed reducer and the counter electromotive force of the motor.

In addition, the conventional guide robot has a disadvantage that the cover or the like must be dismantled in order to raise or lower the wheel. In addition, there is a difficulty in lifting the wheel by the force that overwhelms the force of the spring or the like provided on the suspension.

In this regard, the preceding literature information is as follows.

1. Registration number: 10-1193610 (Registration date: October 16, 2012)

   Title of the invention: Pedestrian traffic guidance intelligent robot system

SUMMARY OF THE INVENTION It is an object of the present invention to provide a guide robot capable of solving the problem of low utilization for a common configuration of a conventional guide robot.

Another object of the present invention is to provide a guide robot capable of solving the risk of breakage of parts such as a motor, a speed reducer, and the like during manual movement.

It is still another object of the present invention to provide a guide robot which can secure safety by collision.

It is still another object of the present invention to provide a guide robot that stably and easily raises and lowers a wheel.

It is still another object of the present invention to provide a guide robot which can solve the problem of relatively large force when manually moving the guide robot.

It is still another object of the present invention to provide a guide robot that can solve the problem of low accessibility for the management of the conventional guide robot.

The guide robot according to an embodiment of the present invention includes an upper module provided with a main PC and a display unit to provide a user interface (UI), and a lower module detachably coupled to the upper module, A main wheel connected to the motor assembly, and a suspension for guiding up / down movement of the main wheel. The suspension can elevate the main wheel by inflow of compressed air The upper module to which the user interface (UI) is applied and the lower module having various application ranges can be designed to be independently separated, and the main wheel can be easily raised and lowered.

In addition, the lower module may further include a contact ring forming an outer frame, a lower case coupled to the contact ring, and a load sensor connected to the contact ring to sense a moment.

In addition, the lower module may further include a control unit for controlling travel, and the control unit may detect a collision based on sensing information of the load sensor.

The guide robot according to an embodiment of the present invention includes a suspension, wherein the suspension includes an air cylinder into which compressed air is introduced or discharged, and a piston rod connected to the air cylinder and moving up and down according to the compressed air, The wheel is raised or lowered according to the upward / downward movement of the piston rod, so that the main wheel can be easily raised or lowered. Therefore, it is possible to prevent damage to components such as a motor connected to the main wheel.

The air cylinder may further include a first port through which the compressed air is introduced or discharged and a second port located above the first port, wherein the air cylinder is located at a position higher than the first port, .

Further, the second port is always opened.

The lower module may further include a pneumatic piping connected to the first port and a coupler plug connected to the pneumatic piping, wherein the coupler plug includes an inner valve for preventing the outflow of compressed air, And the valve is opened by a coupler socket detachably connected to the coupler plug.

The lower module may further include a hand valve connected to the pneumatic piping and opened and closed to discharge the compressed air to the outside.

The upper module may include an upper case forming an outer appearance and an auxiliary case rotatably connected to one side of the upper case. The auxiliary case may be rotated by pressing so that the coupler plug and the hand valve And exposed to the outside.

In another aspect, a guide robot according to an embodiment of the present invention includes an upper module including a main PC and a display unit for displaying information, and a lower module detachably connected to the upper module, A main wheel coupled to the motor, a passive rotating auxiliary wheel, and a suspension for guiding the main wheel up and down, wherein the suspension includes at least one of: The main wheel can be elevated and lowered, so that stable steering and running can be achieved when the guide robot is automatically moved, and the trouble can be prevented and moved conveniently when the guide robot is manually moved.

According to another aspect of the present invention, there is provided a method of lifting and lowering a wheel of a guide robot, the method comprising: pressing a sub-case rotatably connected to an upper case to open a sub- A coupler connecting step of connecting a coupler socket to the coupler plug, connecting an air injecting device to the coupler socket, and an air injecting step of injecting air into the air cylinder connected to the coupler plug, And the main wheel is raised by the air to be injected.

According to the present invention, it is possible to provide a guide robot adapted to various environments, such as an airport, a department store, etc., in which a guide robot is required through modularization of the configuration, thereby improving the usability of the guide robot.

According to the present invention, the upper module can be partially changed, optimized, or replaced according to various service environments, and the lower module can be shared. As a result, the versatility of the guide robot can be improved by combining various upper modules in one lower module.

According to the present invention, since the main wheel to which the motor, the reduction gear, etc. are connected can be moved away from the ground and moved to the auxiliary wheel during manual movement of the guide robot, the risk of damage to the components such as the motor and the reducer can be prevented. Therefore, the reliability and durability of the guide robot can be improved.

According to the present invention, since the manual movement of the guide robot can be performed by the auxiliary wheel that is not connected to the motor, the guide robot can be moved with a relatively small force. That is, when the guide robot is manually moved, the convenience of the operation can be improved.

According to the present invention, there is an advantage that the main wheel can be raised or lowered stably and easily using a pneumatic suspension without a disassembling process such as a cover.

According to the present invention, since the collision can be detected by the load sensor and the running can be stopped, the safety of the guide robot can be improved.

According to the present invention, when maintenance is required such as replacement of internal parts, disconnection for separating an upper module and a lower module, the operator can access the inner space without disassembling the guide robot through a sub- The above-described management operation can be easily performed. That is, there is an effect that the inside accessibility and the manageability of the guide robot are improved.

1 is a perspective view showing an appearance of a guide robot according to an embodiment of the present invention;
FIG. 2 is a view showing a state in which the upper module and the lower module of FIG. 1 are separated; FIG.
3 is a side view showing the appearance of the guide robot according to the embodiment of the present invention
4 is an enlarged view showing a part of the configuration of the guide robot according to the embodiment of the present invention.
5 is a view showing the inside of the upper module of the guide robot according to the embodiment of the present invention
6 is a view showing the inside of the lower module of the guide robot according to the embodiment of the present invention
7 is a bottom view
8 is an enlarged view showing a partial configuration of Fig. 6
9 is a view showing a connection of a pneumatic piping of a guide robot according to an embodiment of the present invention;
Fig. 10 is a side view of Fig.
11 is a sectional view showing the air cylinder structure of the guide robot according to the embodiment of the present invention
12 is a flowchart showing a method of raising a main wheel of a guide robot according to an embodiment of the present invention
13 is a view showing the elevation of the main wheel of the guide robot according to the embodiment of the present invention
14 is a view showing a state in which a main wheel of a guide robot descends according to an embodiment of the present invention;

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

Hereinafter, a guide robot according to an embodiment of the present invention will be described in detail with reference to the drawings.

The guide robot according to the embodiment of the present invention can provide various information such as route guidance, product guide, and airport information to a user using a guide robot such as an airport or a department store.

FIG. 1 is a perspective view showing an appearance of a guide robot according to an embodiment of the present invention, and FIG. 2 is a view showing an upper module and a lower module of FIG. 1 separated from each other.

1 and 2, the guide robot 1 according to the embodiment of the present invention may include an upper module 10 and a lower module 20. [ The upper module 10 and the lower module 20 may be detachably mounted to each other.

In the guide robot 1 according to the embodiment of the present invention, the upper module 10 can provide a user interface (UI) that can be changed according to the service environment. The lower module 20 may provide a traveling function for movement.

The upper module 10 may include a body part 100, a head part 180, and a display part 170 that form a body.

The body 100 may include an upper case 15 forming an outer appearance, a first camera 16 and a second camera 17 provided on one side of the upper case 15.

The upper case 15 may have a cylindrical shape with a larger diameter toward the lower side. The first camera 16 may be installed on the front surface of the upper case 15 so as to be directed forward. The second camera (17) may be provided on the side surface of the upper case (15).

The first camera 16 may include a 3D stereo camera. The 3D stereo camera can perform obstacle detection, user face recognition, stereo image acquisition, and the like. By using this, the guide robot 1 can detect an obstacle according to its moving direction, avoid it, grasp the current position, recognize the user, and perform various control operations.

The second camera 17 may include a simultaneous localization and mapping (SAM) camera. The slam camera tracks the current location of the camera through feature point matching and creates a three-dimensional map based on the current position. By using this, the guide robot 1 can grasp its current position.

The body 100 may further include an RGBD sensor (not shown) and a speaker (not shown) provided on one side of the upper case 15. The RGBD sensor may perform a function of detecting collision between obstacles while the guidance robot 1 is running. For this purpose, the RGBD sensor may be positioned in front of the traveling direction of the guide robot 1, that is, with the first camera 16.

The loudspeaker can perform a function of informing a user of airport related information by voice. The speaker may be formed on an outer circumferential surface of the upper case (15).

The internal structure of the body part 100 will be described later.

The display unit 170 may be positioned in one direction of the body 100. For example, the display unit 170 may be installed behind the guide robot 1. [ In addition, the display unit 170 may include a curved surface display extending in the vertical direction. The display may display a screen for providing visual information.

1, the direction in which the first camera 16 is installed is defined as the forward direction with respect to the central axis of the guide robot 1, and the direction in which the display unit 170 is installed is defined as the rear direction.

The display unit 170 may be coupled to the movement guide unit 140 of the body 100 to be described later. The display unit 170 may open or block the inside of the body 100 by the guide of the movement guide unit 140. Of course, the display unit 170 may be fixed to the body 100 using a fixing member.

The display unit 170 may be provided for the guide robot 1 to perform guidance functions and the like to the user. Accordingly, the display unit 170 is located in a direction opposite to the moving direction of the guide robot 1, and can visually provide guidance information to a user following the display unit 170. [

That is, the display unit 170 may display the time information (e.g., airport gate inquiry information, route guidance service information, etc.) related to the currently provided service. For example, the guide robot 1 may first move along a path set to guide the user to the path. The user can see the display unit 170 installed behind the guide robot 1 while moving along the guide robot 1. [ That is, even if the guide robot 1 is traveling for guiding the route, the service information displayed on the display unit 170 can be easily viewed while following the guide robot 1.

The head part 180 may be located above the body part 100. In detail, the head part 180 may be connected to the upper end of the body part 100 to form the upper part of the guide robot 1. [

The head unit 180 may include a head case 185 for protecting an internal configuration of an operation unit 183 for receiving a command from a user.

The operation unit 183 may include a touch monitor for receiving a touch input from a user. The operation unit 183 may further include a subject recognition sensor.

 The object recognition sensor may include a 2D camera and an RGBD sensor. The 2D camera may be a sensor for recognizing a person or an object based on a two-dimensional image. Also, the RGBD sensor (Red, Green, Blue, Distance) may be a sensor for acquiring a person's position or a face image.

The head case 185 may be connected to the upper case 15. In addition, the head case 185 may be integrally formed so that the upper case 15 extends upward and has a dome shape. Further, the head case 185 may be configured to be rotatable 360 degrees.

In addition, the head unit 180 may further include a microphone (not shown). The microphone performs a function of receiving a command of an audio signal from a user.

Meanwhile, the lower module 20 may include a lower case 25 and an illumination unit 280, which form an outer appearance.

The lower case 25 may have a cylindrical shape with a larger diameter toward the lower side. The illumination unit 280 may be installed at a lower portion of the lower case 25 to be integrated with the lower case 25. In this case, the lower module 20 may have a jar-like appearance.

The upper case 15 and the lower case 25 may be formed to have a continuous shape in the vertical direction. For example, the upper case 15 may have a cylindrical shape with a larger diameter downward, and the lower case 25 may have a cylindrical shape having a larger diameter downward at the same rate of increase in the diameter of the upper case 15 Lt; / RTI > Therefore, the diameter of the upper end of the lower case 25 may be greater than or equal to the diameter of the lower end of the upper case 15. According to this, when the upper module 10 and the lower module 20 are coupled, the lower case 25 and the upper case 15 can form a continuous outer appearance in the vertical direction.

The illuminating unit 280 may provide various illuminations provided according to the functions of the guide robot 1. This will be described later.

The lower module 20 may further include an ultrasonic sensor (not shown) having a plurality of spaced apart portions on one side of the lower case 25. For example, the plurality of ultrasonic sensors may be spaced apart from each other around the lower end of the lower case 25 by a predetermined distance.

The ultrasonic sensor can perform a function of determining the distance between the obstacle and the guide robot 1 by using the ultrasonic signal. In addition, the ultrasonic sensor may perform a function of detecting an obstacle close to the guide robot 1.

Since the upper module 10 and the lower module 20 are structurally independent from each other, they can be separated or combined with each other. Therefore, the lower end of the upper module 10 and the upper end of the lower module 20 may be provided with a configuration for hardware and software connection with each other. For example, the main power switch 271, the input assembly 270, the connection guide 262 and the like, which will be described later, may be positioned at the lower end of the upper module 10 and the upper end of the lower module 20.

That is, since the lower end of the upper module 10 and the upper end of the upper module 10 are provided with a plurality of parts for detaching or coupling the guide robot 1, There is a need to improve the accessibility of the operator.

FIG. 3 is a side view showing the appearance of the guide robot according to the embodiment of the present invention, and FIG. 4 is an enlarged view showing a part of the configuration of the guide robot according to the embodiment of the present invention. 4 is an enlarged view of a rear portion of the upper module 10 from which the display unit 170 is removed.

Referring to FIGS. 3 and 4, the upper module 10 may include a sub-case 18 rotatably connected to the upper case 15. The main power switch 271 and the power plug 272 may be exposed to the outside according to the rotation of the sub case 15. [

The upper case 15 may be provided with an opening for opening a part of the lower end to improve the accessibility to the main power switch 271 provided in the lower module 20 and the power plug 272 for charging the battery have. A main power switch 271 and a power plug 272 may be located inside the opening.

The opening portion may be formed at the rear of the upper case 15 and may be located below the connection opening which is opened or closed depending on whether the display portion 170 is connected or not. Further, the opening may be formed by extending the connection opening downward.

Here, the connection opening may include an opening formed in the upper case 15 so that the operator can easily access the internal structure of the upper module 10 through opening / closing or disassembly of the display unit 170 it means. For example, the operator pulls the display part 170 connected to the body part 100 backward by the movement guide part 140 and moves the display part 170 inside the upper module 10 through the connection opening of the upper case 15 Configuration can be managed.

The sub case 18 may be rotatably connected to the upper case 15 so as to open and close the opening of the upper case 15. [ For example, the sub-case 18 may be connected to the upper case 15 by a rotary hinge. The rotary hinge may be provided at the center of both side edges of the sub-case 18 to engage with the upper case 15.

By the rotation hinge, the sub-case 18 can rotate at the center of both ends of the upper case 15 forming the opening by the fulcrum.

A spring is provided on the rotary hinge to provide an elastic force. Accordingly, the rotation of the sub-case 18 can be restrained within the range of the set angle, and return to the original position is possible when the pressurization is released. For example, the operator can press the upper portion of the sub-case 18 in the inner direction of the upper module 10. The upper end of the sub-case 18 rotates and moves inward of the upper module 10 by the pressure of the operator and the lower end of the sub-case 18 rotates in the outer direction of the upper module 10 .

That is, the main power switch 271 or the power plug 272 may be exposed to the outside by moving the lower end of the sub case 18 to the outside. At this time, the operator can turn on / off the main power switch 271 or connect the power plug 272. When the pressurization of the worker is completed, the sub-case 18 is returned to the original position by the elastic force, so that the opening portion can be shielded again.

That is, the connection opening can be opened and closed by the display portion 170, and the opening portion can be opened by the sub-case 18.

The operator for connecting the main power switch 271 and the power plug 272 does not need to separate or draw the display unit 170 from the body 100, 18) can be opened to perform an operation. That is, there is an advantage that the access for the job becomes simple and easy, and the management becomes convenient. In addition, at the time of operating the guide robot 1, the sub-case 18 can be hidden from the view of the user by the display unit 170 and have a cosmetic advantage.

Meanwhile, the lower case 25 may include a first cutout 31 and a second cutout 32.

The first incision part 31 may be formed on the front surface of the lower case 25. Specifically, the first cutout portion 31 may be formed such that the upper end of the lower case 25 and the lower end of the upper case 15 are spaced apart from each other. That is, the first incision portion 31 can be understood as a portion cut between the upper case 15 and the lower case 25 so that the front rider 233 can operate.

The first cutout portion 31 may function as a handle capable of supporting the upper module 10 at the lower end when the upper module 10 and the lower module 20 are joined or separated.

The front rider 233 is located inside the lower case 25. The first incision part 31 may be formed along the periphery of the lower case 25 at a position corresponding to the position of the front rider 233. Therefore, the front rider 233 can be exposed to the outside by the first cutout portion 31. [

The second cut portion 32 may be formed on a rear surface of the lower case 25. [ The second incision portion 32 is a portion incised in the lower case 25 so that a rear rider 234 to be described later can operate. Specifically, the second incision part 32 may be incised at a predetermined length in the radial direction from the rear surface of the lower case 25. Here, the rear rider 234 is located inside the rear case 25.

The second incision part 32 may be formed along the circumference of the lower case 25 at a position corresponding to the position of the rear rider 234. [ Accordingly, the rear rider 234 may be exposed to the outside by the second cut portion 32. [

The first incision part 31 may be spaced apart from the second incision part 32 in the vertical direction. For example, the first incision portion 31 may be located above the second incision portion 32.

5 is a view showing the inside of the upper module of the guide robot according to the embodiment of the present invention. With reference to FIG. 5, the internal structure of the upper module 10 will be described in detail.

 5, the body 100 includes a base plate 110 for providing a bottom surface of the upper module 10, a middle plate 120 positioned above the base plate 110, And a top plate 130 positioned above the top plate 130. The body 100 includes a subframe 105 connecting the base plate 110 and the middle plate 120 and a main frame connecting the middle plate 120 and the top plate 130 125).

The base plate 110 may provide a base surface of the upper module 10. The base plate 110 may include an insertion opening 112 having a central opening. The insertion port 112 may be formed so that an input assembly 270 of a lower module 20 to be described later is inserted from below. Therefore, the operator can easily connect the cord for communication, control, etc. between the upper module 10 and the lower module 20 through the input assembly 270 positioned higher than the base plate 110.

The base plate 110 may be formed in a disc shape. In addition, the base plate 110 may have a larger outer circumference than the middle plate 120. The middle plate 120 may have a larger outer circumference than the top plate 130. Accordingly, when the upper case 15 is engaged with the base plate 110, the middle plate 120, and the top plate 130, the diameter of the upper case 15 may be increased toward the lower side.

The base plate 110 may be seated on the lower module 20 and coupled or separated. Accordingly, the base plate 110 may be provided with a structure for engaging or disengaging the lower module 20. For example, the body 100 may further include a fastening member for fastening the base plate 110 and the lower module 20. The fastening member may engage the connection plate 261 of the base plate 110 and a lower module 20 to be described later.

The subframe 105 may be positioned perpendicular to the upper surface of the base plate 110. That is, the subframe 105 may be coupled to the upper surface of the base plate 110 to extend upwardly.

The plurality of sub-frames 105 may be provided. For example, the subframe 105 may include a first subframe 105a, a second subframe 105b, a third subframe 105c, and a fourth subframe 105d.

  The first to fourth sub-frames 105a, 105b, 105c, and 105d may be spaced apart from each other to be symmetrical on the upper surface of the base plate 110. [ The upper side of the first to fourth subframes may be coupled to the middle plate 120 and the lower side of the first to fourth subframes may be coupled to the base plate 110. For example, the first sub-frame 105a and the fourth sub-frame 105d may be disposed in front of the second sub-frame 105c and the third sub-frame 105c.

The lower surface of the middle plate 120 is coupled to the upper end of the sub frame 105 and the upper surface of the middle plate 120 is coupled to the main frame 125. That is, the main frame 120 may be positioned perpendicular to the upper surface of the middle plate 120.

A plurality of main frames 125 may be provided. For example, the main frame 125 may include a first main frame 125a and a second main frame 125b. The first main frame 125a and the second main frame 125b may be spaced apart from each other by a predetermined distance to be symmetrical with respect to each other.

The PC supporter 126 may be coupled to the front surfaces of the first main frame 125a and the second main frame 125b. The PC supporter 126 functions to fix and support a main PC (PC) 127 described later.

The body part 100 further includes a movement guide part 140 coupled to the display part 170 at one side of the first main frame 125a to guide sliding movement of the display part 170 forward and backward .

The movement guide unit 140 may include a support plate coupled to the second main frame 125a and a moving plate connected to the support plate so as to be slidable forward and backward. The display unit 170 may be coupled to the moving plate so as to perform forward and backward sliding movement.

As described above, in order to repair or replace the internal structure of the upper module 10, the operator pulls the display portion 170 backward to open the connection opening, and performs a repair and replacement operation through the connection opening can do.

The top plate 130 may be coupled to an upper end of the main plane 125.

The body 110 may further include a cliff detection sensor 101 interlocked with a lower module 20 to be described later to complement a traveling function of the guide robot 1. [

The cliff-detecting sensor 101 may sense a step on a traveling surface on which the guide robot 1 moves. In conjunction with this, the guide robot 1 can perform stopping or avoiding driving in the case of detecting a cliff or sensing an obstacle while driving.

The body unit 100 may further include a main PC 127 capable of providing a user interface according to various service environments.

The main PC 127 may be positioned above the middle plate 120. And may be fixedly coupled to the PC supporter 126. That is, the main PC 127 may be positioned on the front side of the PC supporter 126.

The main PC 127 can set a UI (user interface) according to various service environments in which the guide robot 1 is provided. That is, the main PC 127 can provide the guide robot 1 service suitable for the individual service environment by changing the infant setting according to the service environment.

The main PC 127 provides a visual screen such as the display unit 170 and / or the operation unit 183 when the infant setting is changed according to the operating service environment in which the guide robot 1 operates in various service environments The configuration may provide a visual screen to the user according to the changed infant settings. Here, a configuration for providing a visual screen such as the display unit 170 and the operation unit 183 may be referred to as a display unit of the guide robot 1. [

In addition, the main PC 127 can continuously perform program upgrading, and thus the service adapted to the operation service environment of the guide robot 1 can be continuously developed and provided.

The guide robot 1 according to the embodiment of the present invention can change the UI set according to the service environment in which the guide robot 1 is utilized. However, the guide robot 1 may need to be structurally changed depending on the utilized service environment. For example, if an airport or department store provides a user with a route guidance service, a change of UI suitable for an airport or department store environment is required. However, even the guide robot 1 used in the airport needs to be structurally changed to a guide robot that provides a route guidance service and a guide robot that provides a baggage delivery service.

Particularly, a structural change is frequently caused in the upper part of the guide robot in which a command of a user is input and an incidental communication is performed. In addition, when the above-described structural change is required, there is a problem in that the conventional guidance robot needs to redesign the navigation-related configurations commonly used in two service environments.

The guide robot 1 according to the embodiment of the present invention may independently provide the upper module 10 and the lower module 20 with their respective constitutions independently by reflecting the functional characteristics of the guide robot. That is, the guide robot 1 according to the embodiment of the present invention is provided with a traveling function that can be commonly used in the lower module 20, and the upper module 10 having frequent structural changes is coupled to the lower module 10 Or detachably.

Accordingly, it is possible to provide a guide robot suitable for an operation service environment by minimizing the changed portion of the guide robot 1 according to various service environments, and to utilize the lower module 20 in common, The module 10 can be joined or separated, thereby improving the versatility and usability.

Unlike the upper module 10 performing the infant function, the independent structure of the lower module 20 performing the traveling function and the structure for coupling or separating the upper module 10 and the lower module 20 Will be described later.

Meanwhile, the heat generated by the main PC 127 can be escaped to the outside by the first cooler 103a and the second cooler 103b provided in the base plate 110. That is, the first cooler 103a and the second cooler 103b can perform the heat dissipation function of the upper module 10.

The body 100 may include various boards for controlling the operation of the guide robot 1. [ The body 100 may further include a main board 121, a user interface board, and a stereo board

The main board 121 may be positioned above the middle plate 120. The main board 121 is connected to the main PCB 127 to perform stable driving of the main PCB 127 and exchange data input / output between various control devices.

The user interface board may be connected to the main PC 127 to control the operation of a configuration for taking charge of input and output of a user.

The stereo board processes and processes sensing data collected from various sensors and cameras to manage data for recognizing the position of the guide robot 1 and recognizing obstacles.

The body 110 may further include a communication device 122 capable of performing communication between the upper module 10 and an external device or between the upper module 10 and the lower module 20. The communication device 122 may be located above the middle plate 120. The coexistence device 122 may include an IP sharer.

The head unit 180 may further include a reader 181. The reader 181 may be positioned above the top plate 130.

The reader 181 may scan or recognize the user's passport, ticket, mobile barcode, and the like. Therefore, the information required by the user can be displayed on the display unit 170 based on the information acquired through the reader 181. [ For example, when the user inserts the mobile device into the reader 181 and recognizes the barcode of the mobile boarding pass, the display unit 170 displays the boarding gate to which the user should move based on the information obtained through the mobile boarding pass .

The head unit 180 may further include a rotating member 182 and a rotating motor. The rotating motor may be located at the center of the top plate 130. And the rotating member 182 may be connected to the rotating motor in an upward direction.

The head case 185 may be coupled to an edge of the rotating member 182. Therefore, the rotation of the rotating member 182 can rotate the head case 185 together. The rotating motor can provide power for rotating the rotating member 182. [

The base plate 110 supports the structure of the upper module 10 at the lowest level and is seated on the lower module 20 so as to stably engage or disengage the upper module 10 and the lower module 20. [ Can be achieved.

The base plate 110 may have a disc shape. Since the cliff surveillance sensor 101 senses the traveling floor of the guide robot 101, the direction of the detection signal may be inclined downward.

A detection signal of the cliff detection sensor 101 installed along the uppermost front of the upper surface of the base plate 110 may cause an interference problem due to reflection of the base plate 110. Therefore, the cliff groove may be formed in the base plate 110 to avoid interference of a sensing signal. That is, the base plate 110 may be spaced a predetermined distance along the front semicircle to form a plurality of cliff grooves. In detail, the cliff groove may be formed as an outwardly inclined groove corresponding to the position where the cliff-sensing sensor 101 is installed and directed downward.

FIG. 6 is a view showing the inside of a lower module of the guide robot according to the embodiment of the present invention, FIG. 7 is a bottom view of FIG. 6, and FIG. 8 is an enlarged view showing a partial configuration of FIG. The internal structure of the lower module 20 will be described in detail with reference to FIG. 6, and the traveling part 300 of the lower module 20 will be described in detail with reference to FIGS.

Referring to FIG. 6, the lower module 20 may further include a driving unit 200, a traveling unit 300, and a connection unit 260.

As described above, the upper module 10 performs a UI function that can be changed according to various service environments of the guide robot 1. The lower module 20 can be changed in various service environments Carries out a small driving function.

The lower module 20 includes a traveling unit 300 having a wheel, a wheel, and a motor, a battery 300 capable of supplying power to the traveling unit 300, And a connection unit 260 for making a stable and firm connection with the upper module 10. [

Of course, the functions that the guide robot can commonly use in various service environments are not limited to the traveling functions as in the embodiment of the present invention. However, in the embodiment of the present invention, the common functions of the guide robot 1 will be described in detail from the viewpoint of running.

The driving unit 200 includes a row plate 203 forming a base surface of the lower module 20, a battery 201 seated on the row plate 203, an upper plate 203 positioned above the battery 201, And a lower frame 204 connecting the upper plate 205 and the lower plate 203 to each other.

The lower plate (203) may form a bottom surface of the lower module (20). The lower plate 203 may be connected to the traveling unit 300. The shape of the row plate 203 may vary. For example, the row plate 203 may be formed as a rectangular plate.

The lower frame 204 may extend upwardly from the end of the lower plate 203. For example, the lower frame 204 may be provided at a plurality of positions corresponding to the vertexes of the row plate 203.

The lower frame 204 may include a first lower frame 204a, a second lower frame 204b, a third lower frame 204c, and a fourth lower frame 204d. The first to fourth lower frames 204 may be provided at respective ends of the rectangular plate 203 having four vertexes. Therefore, the upper plate 205 connected to the upper side of the first to fourth lower frames 204 can be stably supported.

The lower frame 204 may be vertically connected to the lower plate 203 and the upper plate 206. In detail, the lower frame 204 can engage with the upper surface of the lower plate 203 and the lower surface of the upper plate 205. The lower frame 204 may have a hexagonal column shape extending in one direction.

The center of the upper plate 205 may form a hole. A plurality of electronic equipments may be installed in the holes of the upper plate 205 by providing electric plates 243 to be described later.

The upper plate 205 may have various shapes. For example, the upper plate 205 may be formed as a rectangular plate. At this time, the size of the upper plate 205 may be the same as the size of the row plate 203. Therefore, the position where the lower frame 204 is engaged with the lower plate 203 may correspond to a position where the lower frame 204 is engaged with the upper plate 205 of the lower frame 204. However, the size of the upper plate 206 is not limited to the size of the lower plate 203.

The lower surface of the upper plate 205 is connected to the lower frame 204 and the upper surface of the upper plate 205 may be connected to an upper frame 245 to be described later.

The lower plate 203, the lower frame 204, and the upper plate 205 may form a rectangular parallelepiped shape with an empty interior. The inner space between the lower plate 203 and the upper plate 205 is called an installation space 206. The installation space 206 can be understood as a space where the battery 201 having a relatively heavy weight is located.

The battery 201 may include a Li-Ion battery. However, the present invention is not limited thereto, and the battery 201 may include a battery other than a lithium-ion battery.

The battery 201 may supply power for driving the guide robot 1. [ The battery 201 may be located in the installation space 206. Since the battery 201 occupies the largest weight of the entire weight of the guide robot 1, it is preferable that the battery 201 be seated on the upper surface of the row plate 203 in terms of the center of gravity.

The driving unit 200 may further include an upper frame 245 for supporting the connection unit 260 and an electric plate 243 positioned at the center of the upper plate 205.

The full length plate 243 may be located at the center of the upper plate 205. The electric plate 243 may include a plurality of vertically extending layers. The plurality of electric plates 243 are arranged in a vertical direction to form a plurality of layers, and the plurality of layers are called an electric field space 246.

A number of electronic devices may be located in the electrical space 246. The plurality of electronic devices may be coupled to the electric plate 243. For example, the electric field space 246 may include a plurality of boards.

The plurality of boards may include an AP (Application Processor), an MCU (Micro Controller Unit), a power board, and a PCB board.

The AP board can function as a device for managing the hardware module system of the guide robot 1, that is, a control unit. For example, the control unit may control operation of the lower module 20, such as running and stopping.

The MCU board can control the overall driving of the guide robot 1 and may include a memory in which data supporting various functions of the guide robot 1 are stored.

The power supply board can control that the power of the battery 201 is supplied to each component included in the guide robot 1. [

The upper frame 245 may be connected to the upper plate 205. The upper frame 245 may be positioned between the outer periphery of the upper plate 205 and the inner periphery of the center hole. More specifically, the upper frame 245 may be positioned such that an imaginary triangle is drawn from the upper surface of the upper plate 205 to the outside of the electric plate 243. And the upper frame 235 may be positioned at each of the virtual triangular vertices.

That is, a plurality of the upper frames 245 may be provided to support the connection portion 260 at three points. For example, the upper frame 245 includes a first upper frame 245a positioned in front of the electric plate 243, a second upper frame 245b positioned on both sides of the electric plate 243, 3 upper frame 245c. The connection plate 261 of the connection unit 260 may be coupled to the upper side of the first to third upper frames 245.

The upper frame 245 may be vertically coupled to the upper surface of the upper plate 205. The upper frame 245 may have a hexahedral shape extending in one direction. The length of the upper frame 245 in the vertical direction is fixed to the connecting portion 260 for coupling with or separation from the upper module 10 so that a stable balance The length of the lower frame 204 may be smaller than the length of the lower frame 204 in the vertical direction.

The driving unit 200 includes a block 240 located on the upper side of the upper plate 205, a load sensor 241 located on the upper side of the block 240, Ring 242 as shown in FIG.

The block 240 may be positioned to extend upward at a position corresponding to a vertex of the upper plate 205. That is, the block 240 may be located outside the upper frame 245.

A load sensor 241 may be provided on the upper side of the block 240. That is, the block 240 may serve to support the load sensor 241 and the contact ring 242 in a fixed manner.

The load sensor 241 is connected to the contact ring 242 and senses a load due to a force transmitted from the contact ring 242. A plurality of the load sensors 241 may be provided. At this time, the block 240 may correspond to the number of the load sensors 241.

The load sensor 241 includes a first load sensor 241a, a second load sensor 241b, a third load sensor 241c and a fourth load sensor 241d so as to correspond to the vertex of the upper plate 205 .

The block 240 includes a first block 240a connected to the inner end of the first load sensor 241a downwardly, a second block 240b connected to the inner end of the second load sensor 241b downwardly, A third block 240c connected to the inner end of the third load sensor 241c downwardly and a fourth block 240d connected downward to the inner end of the fourth load sensor 241d, . ≪ / RTI >

The first to fourth load sensors 241 may be located outside the upper plate 205. The contact ring 242 may be positioned along the outer ends of the first to fourth load sensors 241.

The contact ring 242 may be seated on the outer upper end of the first to fourth load sensors 241. In addition, the contact ring 242 may be spaced outwardly from the block 240.

The contact ring 242 may be formed into a ring shape having an inner space. The outer diameter of the contact ring 242 may be formed such that the upper plate 205 and the lower plate 203 are located inside the contact ring 242 when the lower module 20 is viewed from above. That is, the contact ring 242 is arranged to surround the outermost portion of the lower module 20, so that the contact ring 242 can detect the impact first when the lower module 20 collides.

The contact ring 242 may be connected to the lower case 25. Accordingly, when a collision of the lower module 20 occurs, the impact to the lower case 25 can be transmitted to the contact ring 242 connected to the lower case 25.

The load sensor 241 and the contact ring 242 detect the collision of the lower module 20 and control the traveling operation. In detail, when the lower module 20 is collided, the contact ring 242 may be twisted due to an impact transmitted by the lower case 25. That is, a moment is generated in the contact ring 242, and the load sensor 241 senses the moment and can transmit a signal. The controller may detect a collision based on the sensing information.

At this time, the control unit for controlling the running of the lower module 20 can receive the signal of the load sensor 241 and control the rolling movement of the driving unit 210 to stop. According to this, there is an effect that the safety by the traveling of the guide robot (1) can be improved. Here, the control unit can be understood as an AP board and / or an MCU board provided in the electric space 246.

Meanwhile, the lower module 20 may further include a front rider 233 and a rear rider 234. The front rider 233 and the rear rider 234 are laser radar sensors that perform position recognition by irradiating a laser beam and collecting and analyzing back scattered light among light absorbed or scattered by the aerosol.

The front rider 233 may be positioned on the upper surface of the upper plate 205 so as to face the front side of the guide robot 1. [ For example, the front rider 233 may be located at the center of the front end of the upper plate 205. Therefore, the front rider 233 can be exposed to the outside through the first cutout portion 31. [

The rear rider 234 may be positioned on the upper surface of the row plate 203 so as to face the rear of the guide robot 1. [ For example, the rear rider 234 may be located at the rear end center of the row plate 203. Accordingly, the rear rider 234 may be exposed to the outside through the second cutout portion 32. [ Also, the front rider 233 may be positioned above the rear rider 234.

The connection unit 260 includes a connection plate 261 located on the upper side of the upper frame 245, an input assembly 270 located on the connection plate 261, a main power switch 271, A plug 272, a pressurizing link, and a connection guide 262.

The connection plate 261 may be formed on the upper side of the upper frame 245 and may have a predetermined area to accommodate the base plate 110 of the upper module 10. The upper surface of the connection plate 261 and the lower surface of the base plate 110 may be positioned so as to be in contact with each other when the upper module 10 and the lower module 20 are engaged.

At this time, the size of the connection plate 261 may be smaller than the size of the base plate 110. The base plate 110 protrudes outward of the connection plate 261 when the upper module 10 and the lower module 20 are coupled to each other so that the contact ring 242 can be positioned to correspond to the base plate 110. [ Therefore, the lower end of the upper module 10 and the upper end of the lower module 20 can be designed to be smoothly connected in the vertical direction. That is, the lower case 25 coupled to the contact ring 242 and the upper case 15 coupled with the base plate 110 have a continuous shape, so that a design sense of unity of the guide robot 1 can be formed There is an advantage.

Of course, the shape and size of the connecting plate 261 may vary. For example, the connection plate 261 may be smaller than the upper plate 205, and may have a flat disk shape in the vertical direction.

The input assembly 270 may be located at the center of the connecting plate 261. The input assembly 270 may protrude upward from the center of the connection plate 261. According to this, when the upper module 10 is coupled with the input module 270, the input assembly 270 can be positioned above the base plate 110 by inserting the center portion of the base plate 110.

As a result, the operator can connect a connection connector (e.g., USB, cord, etc.) provided in any one configuration of the upper module 10 to the input assembly (not shown) for electrical and signal connection between the upper module 10 and the lower module 20 270). Here, the connection connector can be understood as an apparatus for maintaining an electrical connection between a power source and a device, between a device and a device or between units inside the device.

The input assembly 270 may include a power terminal for transmitting the power of the battery 201 to the upper module 10, a universal serial bus (USB) terminal for signal transmission, a LAN (Local Area Network) . ≪ / RTI >

   A connection connector having a configuration may be connected to the power supply terminal. For example, when the connection connector and the power terminal are connected, the power of the battery 201 may be provided to a configuration of the upper module 10 connected to the connection connector.

The USB terminal can be used for various purposes. For example, the USB terminal can establish a communication connection between the main PCB 127 of the upper module 10 and the board of the lower module 10, so that the lower module 10, based on commands sensed or input by the upper module 10, The running of the vehicle 10 can be controlled. The USB terminal may also function as an interlocking function between the upper module 10 and / or the lower module 20 and the illumination unit 280.

The LAN connection terminal may be provided for transmitting signals of the front rider 233 and the rear rider 234. And the LAN connection terminal may include an RJ45 terminal.

The main power switch 271 and the power plug 272 may be located behind the input assembly 270. The main power switch 271 and the power plug 272 may protrude upward from the connection plate 261 in the same manner as the input assembly 270. Therefore, the main power switch 271 and the power plug 272 may be located above the base plate 110 when coupled with the upper module 10.

The main power switch 271 may turn on / off the power supplied from the battery 201 to the upper module 10 and the lower module 20. The power plug 272 may be regarded as a connection terminal for charging the battery 201.

The connection guide 262 can guide the upper module 10 to stably mount and fix the upper module 10 on the connection plate 262. In detail, the connection guide 262 may be provided on the connection plate 262 to provide a fixing force to the upper module 10 by inserting or penetrating the base plate 110.

The connection guide 262 may be located at an end of the connection plate 261 in the outward direction. The connection guide 262 may be formed to protrude upward from the upper surface of the connection plate 261. The connection guide 262 may have a cylindrical shape. The connection guide 262 may extend upward from the upper surface of the connection plate 261 so as to have a predetermined diameter.

The lower module 20 includes a coupler plug 210 connected to the air cylinders 370 and 380 to be described later, a coupler socket 211 detachably connected to the coupler plug 210, And a hand valve 220 for discharging the internal air pressure.

The coupler plug 210 and the hand valve 220 may be provided on the lower module 20 so that the coupler plug 210 and the hand valve 220 can be used without detaching or disassembling the lower case 25.

The coupler plug 210 may provide air pressure to the air cylinders 370 and 380, which will be described later. The coupler plug 210 may include an internal valve, and the internal valve may perform opening and closing operations to maintain the compressed air supplied to the air cylinders 370 and 380. That is, the coupler plug 210 can prevent the compressed air from flowing out through the internal valve.

The coupler socket 211 (see FIG. 10) may be detachably attached to the coupler plug 210. One end of the coupler socket 211 is inserted into the coupler plug 210 and communicated with the coupler socket 210. The other end of the coupler socket 211 is connected to an air pressure supply device such as a pump to allow air to flow through the coupler plug 210.

The coupler socket 211 opens the inner valve of the coupler plug 210 to prevent leakage of air pressure when the coupler plug 210 is connected to the coupler plug 210. More specifically, when the coupler socket 211 connected to the pump is connected to the coupler plug 210, the inner valve of the coupler plug 210 is opened so that air introduced from the pump flows into the air cylinders 370 and 380 . When the connection between the coupler socket 211 and the coupler plug 210 is released, the inner valve of the coupler plug 210 is closed so that air introduced into the air cylinders 370 and 380 can not escape to the outside . That is, the coupler socket 211 serves as a key for opening and closing the inner valve of the coupler plug 210.

The positions of the coupler plug 210 and the hand valve 220 are not limited. For example, the coupler plug 210 and the hand valve 220 may be positioned to be connected to each other by forming a hole in the lower case 25. Alternatively, the coupler plug 210 and the hand valve 220 may be located at the connection plate 261 of the connection portion 260. Alternatively, the coupler plug 210 and the hand valve 220 may be located above the power plug 272.

In the embodiment of the present invention, the coupler plug 210 and the hand valve 220 are provided on the upper side of the power plug 272. The connection relation and function of the coupler plug 210 and the hand valve 220 will be described later in detail.

Meanwhile, the lower plate 203 may be connected to a traveling unit 300 that performs a moving function of the guide robot 1. [ That is, the travel unit 300 can provide the guide robot 1 with movement capability.

6 to 8, the traveling unit 300 includes motor assemblies 310 and 320, main wheels 301 and 302, auxiliary wheel plates 331 and 332, (333), auxiliary wheels (305, 306, 307, 308), and suspensions (350, 360).

The motor assemblies 310 and 320 may be positioned below the row plate 203. The motor assemblies 310 and 320 may include a motor 311 and a speed reducer (not shown).

The motor 311 may generate rotation by receiving power from the battery 201. Since the motor 311 is connected to the main wheels 301 and 302, the main wheels 301 and 302 can perform rolling motion in accordance with the rotation of the motor 311.

The plurality of motor assemblies 310 and 320 may be provided. In an embodiment of the present invention, the motor assemblies 310 and 320 may include a first motor assembly 310 and a second motor assembly 320.

The motor assemblies 310 and 320 may be extended to expose both sides of the lower plate 203 from below. The first motor assembly 310 may extend from the lower side of the row plate 203 to one side and the second motor assembly 320 may extend from one side to the other side And may extend from the lower side of the plate 203 to the other side.

A rotating shaft of the motor 331 is exposed to the outside at an end of the first motor assembly 310 and a first main wheel 301 may be connected to a rotating shaft of the motor 331. Likewise, the end of the second motor assembly 320 may also be connected to the second main wheel 302 by exposing the rotational axis of the motor to the outside.

The main wheels 301 and 302 can perform a steering function of the guide robot 1. [ As described above, the main wheels 301 and 302 may be connected to the motor assemblies 320 and 310 and may be located on both sides of the row plate 203.

The main wheels 301 and 302 may include a speed reducer connected to the motor 311, a wheel connected to the speed reducer, a wheel cover coupled to the wheel, and a tire surrounding the wheel and the wheel cover.

The main wheels 301 and 302 can receive the rotation of the motor 311 and perform rolling motion. More specifically, the motor 311 may be coupled with the wheel to transmit rotational force, whereby the main wheels 301 and 302 can perform rolling motion. That is, the main wheels 301 and 302 can receive power from the motor and rotate.

The lower module 20 can be driven by the rolling motion of the main wheels 301 and 302 and the upper module 10 connected to the lower module 20 can move along with it. As a result, based on the detection information of the first camera, the second camera, the cliff detection sensor and the like of the upper module 10, the front and rear riders provided on the lower module 20, and the ultrasonic sensor, It is possible to carry out driving.

The main wheels 301 and 302 may be provided in a number corresponding to the number of the motor assemblies 310 and 320. In the embodiment of the present invention, the main wheels 301 and 302 may include a first main wheel 301 and a second main wheel 302.

The auxiliary wheel plates 331 and 332 serve to fix and support a later-described auxiliary wheel. The auxiliary wheel plates 331 and 332 may be positioned below the low plate 203. More specifically, the auxiliary wheel plates 331 and 332 may be coupled by a plurality of connection supporters 333 coupled to the lower side of the row plate 203. The connection supporter 333 connects the auxiliary wheel plates 331 and 332 and the lower plate 203 to each other.

The width of the auxiliary wheel plates 331 and 332 may be equal to or smaller than the width of the row plate 203, that is, the distance to both ends of the row plate 203. The length of the auxiliary wheel plates 331 and 332 may be smaller than the front and rear lengths of the row plate 203.

In the embodiment of the present invention, the auxiliary wheel plates 331 and 332 may include a first auxiliary wheel plate 331 and a second auxiliary wheel plate 332. The first auxiliary wheel plate 331 may be positioned on the lower front side of the row plate 203. The second auxiliary wheel plate 332 may be located at a lower rear side of the row plate 203.

The connection supporter 333 can couple the first and second auxiliary wheel plates 331 and 332 to the lower plate 203 at two points on both sides.

The auxiliary wheels 305, 306, 307 and 308 may be positioned below the auxiliary wheel plates 331 and 332. In detail, the auxiliary wheels 305, 306, 307, and 308 may be coupled to the auxiliary wheel plates 331 and 332, respectively, connected to the front and rear ends of the row plate 203 downwardly.

The plurality of auxiliary wheels 305, 306, 307, and 308 may be provided. For example, the auxiliary wheels 305, 306, 307, and 308 may include a first auxiliary wheel 305, a second auxiliary wheel 306, a third auxiliary wheel 307, and a fourth auxiliary wheel 308. Of course, the number of the auxiliary wheels 305, 306, 307, 308 is not limited thereto.

A first auxiliary wheel 305 and a second auxiliary wheel 306 may be coupled to a lower side of the first auxiliary wheel plate 331. A third auxiliary wheel 307 and a fourth auxiliary wheel 308 may be coupled to the lower side of the second auxiliary wheel plate 332. The first auxiliary wheel 305 and the second auxiliary wheel 306 guide the guide robot 1 from the lower front side of the row plate 203 to the third auxiliary wheel 307 and the third auxiliary wheel 306, 4 auxiliary wheels 308 guide the traveling of the guide robot 1 stably from the lower rear side of the lower plate 203. [

The auxiliary wheels 305, 306, 307, and 308 may include casters.

The auxiliary wheels 305, 306, 307 and 308 may be provided for stable running of the guide robot 1. [ The auxiliary wheels 305, 306, 307, and 308 perform passive rolling motion without being connected to the motor. That is, the auxiliary wheels 305, 306, 307, and 308 assist the main wheels 301 and 302 during traveling to secure stability of the traveling of the guide robot 1.

The auxiliary wheels 305, 306, 307 and 308 enable the guide robot 1 to move while the power of the motor 331 connected to the main wheels 301 and 302 is turned off when the guide robot 1 stops. For example, the guide robot 1 can be moved by the external force of the operator in a state where the motor connected to the main wheels 301 and 302 is turned off due to repair, inspection, and simple movement of the guide robot 1. [

Herein, it is defined that the automatic operation of the guide robot 1 is such that the guide wheels 1 and the main wheels 301 and 302 connected to the motors 331 for providing a service to the user perform self-running by rolling motion, It is defined as the manual operation of the guide robot 1 that the power of the motor 331 is shifted by an external force in a state that the power of the motor 331 is turned OFF for repair,

The conventional guide robot 1 has a problem in that the main wheel is forcibly rotated in the reverse direction in the manual operation so that the force of the worker is relatively inconvenient and the parts of the motor assembly connected to the main wheel are damaged. On the other hand, the guide robot 1 according to the embodiment of the present invention can solve the conventional problem by manipulating and controlling the main wheel to rise or fall by a suspension to be described later.

The auxiliary wheels 305, 306, 307 and 308 can be moved depending on the rolling motion of the main wheels 301 and 302 in the automatic movement of the guide robot 1 and can be moved by the external force of the operator in the manual movement of the guide robot 1. [

The auxiliary wheels 305, 306, 307, and 308 may be installed to be rotatable below the base 260. The auxiliary wheels 305, 306, 307, and 308 may include a fixed shaft provided to rotate 360 degrees when rolling, and an auxiliary wheel connected to the fixed shaft. Therefore, the auxiliary wheel can freely rotate according to the direction of the applied force and move the guide robot 1.

The auxiliary wheels 305, 306, 307, and 308 can provide convenience so that the guide robot 1 can be easily moved during manual movement.

The suspensions 350 and 360 perform a function of absorbing an impact such that the impact of the road surface is not transmitted to the internal structure of the guide robot 1. [ For example, the suspen dogs 350 and 360 may be provided so that the guide robot 1 can stably travel on a traveling surface having a step. The suspensions 350 and 360 may be provided corresponding to the main wheels 301 and 302. In an embodiment of the present invention, the suspension 350, 360 may include a first suspension 350 and a second suspension 360.

The first suspension 350 may be connected to the first motor assembly 310 and the first main wheel 301 and the second suspension 360 may be connected to the second motor assembly 320 and the second main wheel 301. [ (Not shown). The configurations of the first suspension 350 and the second suspension 360 are the same. Therefore, the following explanation of the first suspension 350 is used for the description of the second suspension 360. [

Since the suspensions 350 and 360 are provided corresponding to the main wheels 301 and 302, the suspensions 350 and 360 may be positioned on both sides of the row plate 203. In detail, the suspensions 350 and 360 can be coupled to both ends of the row plate 203, respectively. The suspensions 350 and 360 may connect the main wheels 301 and 302 to the outside. That is, the suspensions 350 and 360 and the main wheels 301 and 302 may be disposed in order on the side of the row plate 203.

The suspensions 350 and 360 may include wheel frames 351, 352, 353 and 354, a shaft 355, a slide guide 356, a fixing bracket 357 and a motor bracket 358.

The wheel frames 351, 352, 353, and 354 may have a rectangular shape so that the interior of the wheel frames 351, 352, In detail, the wheel frames 351, 352, 353, and 354 include a lower wheel frame 351, an upper wheel frame 354 spaced above the lower wheel frame 351, And side wheel frames 352 and 353 connecting the two side frames 354 on both sides.

The side wheel frames 352 and 353 are protruded in one direction and can be coupled to the low plate 203 and the auxiliary wheel plates 331 and 332 through the protrusions.

A shaft 355 may be positioned between the lower wheel frame 351 and the upper wheel frame 354. The shaft 355 extends from the upper side to connect the lower side of the upper wheel frame 354 to the lower wheel frame 351.

A plurality of the shafts 355 may be provided. In one example, the shaft 355 may include a first shaft and a second shaft spaced apart from the first shaft. And the first shaft and the second shaft may be positioned to face upward in parallel with each other.

The shaft 355 may further include a damper device (not shown) that can alleviate an impact on the up and down movements of the main wheels 310 and 320. For example, the damper device may include a spring or a bearing that is inserted in the vertical direction of the shaft 355.

The motor assemblies 310 and 320 may be positioned in the space between the shafts 355. For example, the motor assemblies 310 and 320 may be located in the space between the first and second shafts. The shaft 255 may be connected to the shaft 355 by a motor bracket 358 and a fixing bracket 257.

 The slide guide 356 may be vertically movable through the shaft 355. That is, the slide guide 256 may be formed to surround the outer side of the shaft 355. The slide guide 356 can be moved up and down along the shaft 355. For example, a ball bearing may be provided inside the slide guide 356 to move up and down with a friction with the shaft 355.

The slide guides 356 may be provided to correspond to the number of the shafts 355. For example, the slide guide 356 may include a first slide guide for inserting the first shaft and a second slide guide for inserting the second shaft.

The fixing bracket 357 may be coupled to the slide guide 356. The fixing bracket 357 may have a convex shape. At this time, the projecting portion of the fixing bracket 357 may be engaged with the motor bracket 358.

The fixing bracket 356 may be provided in a number corresponding to the slide guide 356. For example, the fixing bracket 357 may be provided to the first slide guide and the second slide guide in the direction in which the first slide guide and the second slide guide face each other.

The motor bracket 358 may be coupled to the fixing bracket 257 on both sides. The motor bracket 358 may be coupled to the motor 331 to fix the motor assemblies 310 and 320 inward. The rotary shaft of the general-purpose motor 331 is exposed to the outside of the motor bracket 358 and the main wheels 301 and 302 can be coupled to the rotary shaft of the motor 331.

A holding block 377 to be described later may be coupled to the upper surface of the motor bracket 358 and the fixing bracket 357. That is, the holding block 377 may be coupled to both the motor bracket 358 and the fixing bracket 357 connected to the motor bracket 348. The holding block 377 may be formed as one frame that connects the upper portions of the mating surfaces of the motor bracket 358 and the fixing bracket 357 located on both sides of the motor 311 have.

The slide guides 356 may be connected to both sides of the motor bracket 358 by fixing brackets 357. Therefore, the slide guide 356 slides up and down the shaft 355, and at this time, the motor bracket 358 can also move up and down together. As a result, the motor assemblies 310 and 320 and the main wheels 301 and 302 connected to the motor bracket 358 can also be moved up and down. Accordingly, the impact of the guide robot (1) on the road surface during traveling can be absorbed by the up and down movements of the main wheels (301, 302).

That is, the suspensions 350 and 360 can guide the up and down movement of the main wheels 301 and 302.

In order to solve the problems caused by the manual operation of the conventional guide robot, in the embodiment of the present invention, the suspensions 350 and 360 are controlled by the air cylinders 370 and 380 to move up or down the main wheels 301 and 302, . That is, the suspensions 350 and 360 can guide and maintain the rising or falling of the main wheel by using injection or discharge of compressed air.

Hereinafter, the suspension using compressed air will be described in detail.

The suspensions 350 and 360 may further include air cylinders 370 and 380, a cylinder frame 379, a piston rod 375, a rod stopper 376, and a holding block 377.

The air cylinders 370 and 380 are vertically connected to the motor assemblies 310 and 320 vertically connected to the main wheels 301 and 302 to guide the motor assemblies 310 and 320 forcibly moving up and down.

That is, the air cylinders 370 and 380 may be positioned at one side of the wheel frames 351, 352, 353, and 354 so that the main wheels 301 and 302 are forcibly moved upward and downward.

The air cylinders 370 and 380 may be positioned above the wheel frame 354. In detail, the air cylinders 370 and 380 may be located at the upper center of the upper wheel frame 354.

The air cylinders 370 and 380 may be provided in a number corresponding to the main wheels 301 and 302. That is, a plurality of the air cylinders 370 and 380 may be provided. For example, the air cylinder 370 may include a first air cylinder 370 provided in the first suspension 350 and a second air cylinder 280 provided in the second suspension 360 . The first air cylinder 370 may be connected to the first motor assembly 310 and the first main wheel 301 and the second air cylinder 380 may be connected to the second motor assembly 320 and the second And may be connected to the main wheel 302.

The air cylinder 370 forms an internal space, and the internal space can be divided into two spaces whose volume varies depending on the upward and downward movement of the piston rod 375.

The piston rod 375 may be connected to the air cylinder 370 so as to move up and down inside the air cylinder 370. In detail, the head of the piston rod 375 is formed in correspondence with the inner end surface of the air cylinder 370 so as to move up and down the inner space of the air cylinder 370, The shaft may extend downward from the air cylinder 370 to be exposed to the outside. The lower end of the shaft of the piston rod 375 may be engaged with the holding block 377. Therefore, the main wheels 301 and 302 can move up and down also by the vertical movement of the piston rod 375.

That is, one end of the piston rod 375 may be connected to the main wheels 301 and 302, and the other end may be connected to the inside of the air cylinders 370 and 380.

The air cylinders 370 and 380 may include a first port 371 (see FIG. 9) and a second port 372 and 382 (see FIG. 9). The first port 371 may be located below the second ports 372 and 382. The first port 371 may be connected to the pneumatic pipes 215 and 216 to be described later.

The piston rod 375 is positioned above the first port 371 and below the second ports 372 and 382. That is, since the piston rod 375 is moved upward or downward by the compressed air introduced into or discharged from the first port 371 and the second ports 372 and 382, (371) and lower than the second ports (372, 382).

In the embodiment of the present invention, the second ports 372 and 382 are always kept open. The first port 371 can maintain the open state when the guide robot 1 is automatically moved. Therefore, when the main wheels 301 and 302 move up and down together with the slide guide 356 due to the impact of the road surface, the compressed air circulation of the first port 371 and the second ports 372 and 382 becomes free, The piston rod 375 can also move up and down depending on the movement of the main wheels 301 and 302. On the other hand, when the guide robot 1 is manually moved, it can be held in the open or closed state by the operation of the hand valve 220. A detailed description thereof will be described later.

When the compressed air is sucked into the air cylinders 370 and 380 through the first port 371, the piston rod 375 moves upward, and the upper air can be discharged through the second port 372 have. When the compressed air in the air cylinders 370 and 380 is discharged through the first port 371, the piston rod 375 moves downward. At this time, the air is discharged through the second port 372 . In this process, a cylinder stroke of the piston rod 375 is generated.

The air cylinders 370 and 380 may be coupled to a cylinder frame 379 coupled to the upper side of the upper wheel frame 354. [

The holding block 377 may be coupled to the end of the piston rod 375 at an upper center portion and may be coupled to the motor bracket 358 and / or the fixing bracket 358 at both lower ends thereof. That is, the holding block 377 may connect the motor assemblies 310 and 320 to the piston rod 375.

The holding block 377 may be coupled to both the motor bracket 358 and the fixing bracket 357 connected to the motor bracket 348. The holding block 377 may be formed as one frame that connects the upper portions of the mating surfaces of the motor bracket 358 and the fixing bracket 357 located on both sides of the motor 311 have.

The rod stopper 376 may be provided along the outer circumference at one point of the piston rod 375 so that the upward and downward movement of the piston rod 375 is limited to a predetermined position. The diameter of the rod stopper 376 may be larger than the diameter of the shaft of the piston rod 375. Accordingly, when the piston rod 375 is lifted up to the maximum lift distance, the rod stopper 376 can contact the upper wheel frame 354 to limit further lift of the piston rod 375.

FIG. 9 is a side view of FIG. 9, and FIG. 11 is a sectional view showing the structure of an air cylinder of the guide robot according to the embodiment of the present invention. FIG. 9 is a view showing a connection of a pneumatic piping of a guide robot according to an embodiment of the present invention, to be.

9 to 11, the lower module 20 may further include pneumatic pipes 215 and 216, a branch pipe 214 connected to the pneumatic pipes 215 and 116, and a pipe 213.

As described above, the lower module 20 includes a coupler plug 210 for injecting compressed air into the air cylinders 370 and 380, and a coupler plug 210 installed to exhaust compressed air from the air cylinders 370 and 380 Hand valve < / RTI >

In addition, the coupler plug 210 may include an internal valve, and the internal valve may perform opening and closing operations to maintain the air pressure supplied to the air cylinders 370 and 380. The inner valve of the coupler plug 210 is opened by engagement of the coupler socket 211 and can be closed by separation.

The manifold pipe 213 may include two inlet ports and one outlet port. The flow path extending from the coupler plug 210 and the hand valve 220 may be connected to the inlet pipe 213 at two inlet ports, respectively. Accordingly, the extension channel of the cuff plug 210 and the extension channel of the hand valve 220 may be joined together in the synthetic tube 213.

The branch tube 214 may include one inlet port and two outlet ports. The discharge port of the manifold pipe 213 is connected in series with the inlet port of the branch pipe 214. The discharge port of the branch pipe 214 may be connected to the first pneumatic piping 215 and the second pneumatic piping 216 to branch the flow path.

The first pneumatic piping 215 may be connected to the first port 371 of the first air cylinder 370. And the second pneumatic piping 216 may be connected to the first port of the second air cylinder 380.

First, when the guide robot 1 is manually moved, the principle of raising the main wheels 301 and 302 will be described. At this time, the hand valve 220 maintains a CLOSE state.

One end of the coupler socket 211 is connected to a pump for supplying compressed air and the other end is connected to the coupler plug 210. And the compressed air is supplied to the coupler plug 210 by the operation of the pump.

The compressed air flowing through the coupler plug 210 is branched from the branch pipe 214 to the first pneumatic pipe 215 and the second pneumatic pipe 215 via the pipe 213, .

The compressed air flowing through the first pneumatic piping 215 may be introduced into the first air cylinder 370 through the first port 371 of the first air cylinder 370. The compressed air flowing through the second pneumatic piping 216 may be introduced into the second air cylinder 380 through the first port of the second air cylinder 380.

At this time, in the internal space of the first air cylinder 370, the head portion of the piston rod 375 is raised by the compressed air flowing into the first port 371, and the second port 371 is opened The air in the space above the head portion of the piston rod 375 can be discharged to the outside through the second port 371. As the piston rod 375 rises, the first main wheel 301 also ascends. This process is also the same in the second air cylinder 380.

When the piston rod is lifted, the main wheels 301 and 302 are lifted. When the maximum lifting distance is reached, the reaching stopper 376 is brought into contact with the upper wheel frame 354. In this case, the main wheels 301 and 302 do not rise any more. It is understood that the maximum rising distance is equal to or less than the distance from the first port 381 to the second port 372, 382 of the air cylinders 370, 380.

When the main wheels 301 and 302 reach the maximum rising distance, the coupler socket 211 coupled to the coupler plug 210 is separated from the coupler plug 210. When the coupler socket 211 is separated from the coupler plug 210, the inner valve of the coupler plug 210 is switched to the closed state. Accordingly, the compressed air in the internal space of the air cylinders 370 and 380 is maintained, and the height of the main wheels 301 and 302, which have risen to the maximum, can be maintained.

As a result, the guide robot 1 can be moved only by the auxiliary wheels 305, 306, 307, and 308, so that the manual robot 301 can perform the manual movement with a relatively small external force as compared with the conventional case in which the ground wheels are in contact with the main wheels 301 and 302. In addition, since the main wheels 301 and 302 are not forcibly rotated in the reverse direction, the motor assemblies 310 and 320 can be prevented from being damaged and the circuit can be protected.

After the manual movement of the guide robot 1 is completed, when the automatic movement is required again, the hand valve 220 can be switched to the OPEN state.

When the hand valve 220 is opened and the flow path is opened, compressed air for supporting the position of the head of the piston rod 375 in the air cylinders 370 and 380 flows through the first port Can be introduced into the pneumatic piping 215 and the second pneumatic piping 216. The compressed air can be discharged to the outside through the flow path of the hand valve 220 opened through the branch pipe 214 and the synthetic pipe 213.

At this time, the second ports 371 and 381 of the air cylinders 370 and 380 are kept open, so that the compressed air flowing through the second ports 371 and 381 can push the piston rod 375 downward. Accordingly, the main wheels 301 and 302 also move downward and come into contact with the ground.

Since the automatic operation of the guide robot 1 is performed through the operation of the motor 331 in the open state of the hand valve 220 and the second ports 371 and 381 of the air cylinder, The air cylinders 370 and 380 can freely move up and down so as to absorb impact on the road surface without any air resistance inside the air cylinders 370 and 380.

According to this, since the operation of raising or lowering the main wheels 301 and 302 is easy and convenient, the ease and convenience of the operator's work for automatic or manual movement of the guide robot 1 is improved. When the guide robot (1) is transported, it is moved to a transportation means such as a truck or the like through manual movement. When the transportation to the service providing site is completed, the main wheel is rapidly lowered through the opening of the hand valve And provide a guidance service.

12 is a flowchart showing a method of raising a main wheel of a guide robot according to an embodiment of the present invention. FIG. 13 is a view showing the elevation of the main wheel of the guide robot according to the embodiment of the present invention, and FIG. 14 is a view showing the descent of the main wheel of the guide robot according to the embodiment of the present invention.

The upward and downward movement of the main wheels 301 and 302 of the guide robot 1 is defined as a method of lifting and lowering the wheels of the guide robot.

12, the main wheel raising and lowering method of the guide robot 1 can be started in a state where automatic movement of the guide robot 1 is interrupted.

The operator can expose the main power switch 271, the hand valve 220 and the coupler plug 210 to the outside by pressing and rotating the upper portion of the sub-case 18 of the stationary guide robot 1. [ That is, it is possible to open the opening of the upper case 15 by pressing the sub-case.

The operator can turn off the power supplied to the motor 331 by switching the main power switch 271 from ON to OFF. (S1)

The hand valve 220 exposed by the rotation of the sub case 18 can be switched from the OPEN state to the CLOSE state. When the hand valve 220 is locked, the air that has been discharged to the outside through the hand valve 220 is stopped from further discharging and exists in the flow path communicated with the air cylinders 370 and 380.

Then, the coupler socket 211 is connected to the coupler plug 210 exposed by the rotation of the sub-case 18. The coupler socket 211 may open the inner valve of the coupler plug 210 to inject air. (S2)

The coupler plug 210 normally closes the internal valve to block the discharge of compressed air in the air cylinders 370 and 380 and opens the flow path only when the coupler socket 211 is connected so that the compressed air is supplied to the air cylinders 370 and 380 ). ≪ / RTI > That is, the coupler plug 210 may serve to deliver the compressed air only toward the air cylinders 370 and 380.

One end of the coupler socket 211 may be connected to the air cylinders 370 and 380, and the other end may be connected to the air injector. (S3)

The air injection device may include a pump, a pneumatic system, and the like. The compressed air supplied from the air injecting device can flow to the coupler plug 210 through the coupler sockets 211. The compressed air can be injected into the air cylinders 370 and 380 along the pneumatic piping 215 and 216 through the coupler plug 210. (S4)

Compressed air injected into the first port of the air cylinders 370 and 380 can push the upper air out through the second port which is always open. That is, the compressed air injected into the air cylinders 370 and 380 can raise the head of the piston rod 375.

The piston rod 375 is lifted and the motor assemblies 310 and 320 are lifted by the holding block 377 connected to the end of the piston rod 375. As a result, the main wheels 301 and 302 connected to the motor 331 can be lifted together with the piston rod 375. At this time, the compressed air injected into the air cylinders 370 and 380 may be supplied at 4 atm.

The rise of the main wheels 301 and 302 can be stopped when the maximum rising distance of the piston rod 375 is reached. When the maximum rising distance of the piston rod 375 is reached, the rod stopper 376 comes into contact with the wheel frame 354 to limit further rise.

The worker can remove the coupler socket 211 from the coupler plug 210 when the elevation of the main wheels 301 and 302 is stopped by the rod stopper 376. [ (S5)

Due to the removal of the coupler socket 211, the inner valve of the coupler plug 210 can be switched to the closed state. Accordingly, the compressed air in the air cylinders 370 and 380 is maintained, and the main wheels 301 and 302 are maintained at a raised height.

 In the guide robot 1, the main wheels 301 and 302 are spaced apart from the ground, and only the auxiliary wheels 305, 306, 307 and 308 make contact with the ground. Therefore, the operator can manually move the guide robot 1 with relatively less effort. In addition, since the forcible reverse rotation of the main wheels 301 and 302 is eliminated, damage problems of the motor assemblies 310 and 320 can be solved.

After the manual movement of the guide robot 1 is completed, the main wheels 301 and 302 can be returned for automatic movement again.

At this time, the operator can press the sub case 18 to rotate, thereby exposing the hand valve 220 to the outside, thereby switching the hand valve 220 from the closed state to the open state.

According to this, the compressed air in the air cylinders 370 and 380 can be discharged to the outside through the open hand valve 220, and the head of the piston rod 375 can move downward. As a result, the main wheels 301 and 302 can come into contact with the ground again through downward movement of the piston rod 375.

Since the first and second ports of the air cylinders 370 and 380 communicate with the outside when the main wheels 301 and 302 come into contact with the ground, the road surface shock absorbing function in the suspension of the lower module 20 There is an advantage that it is performed in the same manner as the existing one.

13 and 14, the guide robot 1 according to the embodiment of the present invention may raise the main wheels 301 and 302 to allow the auxiliary wheels 305, 306, 307 and 308 to contact the ground during manual movement.

In addition, when the guide robot 1 is automatically moved, the main wheels 301 and 302 may be lowered so that the main wheels 301 and 302 and the auxiliary wheels 305, 306, 307 and 308 are brought into contact with the ground.

That is, when the guide robot 1 is manually moved, the main wheels 301 and 302 can be separated from the ground, thereby avoiding damage to parts such as a motor and a speed reducer. Therefore, the reliability and durability of the guide robot can be improved.

In addition, since the guide robot can be moved only by the auxiliary wheels not connected to the motor, the guide robot can be moved with a relatively small force. That is, when the guide robot is manually moved, the convenience of the operation can be improved.

Further, there is an advantage that stable and easy lifting and lowering of the main wheel can be achieved while maintaining the function of suspension by using a suspension and an air cylinder without a disassembling process such as a cover.

In addition, since the main wheels 301 and 302 can be returned to their original positions easily through the opening and closing operation of the hand valve 220, the operation speed is increased and the efficiency of the operation is improved.

1: guide robot 10: upper module
20: Lower module

Claims (21)

An upper module provided with a main PC and a display unit to provide a user interface (UI); And
And a lower module detachably coupled to the upper module,
The sub-
A motor assembly having a motor and a speed reducer;
A main wheel coupled to the motor assembly; And
And a suspension for guiding the up and down movement of the main wheel,
Wherein the suspension is capable of raising the main wheel by inflow of compressed air.
The method according to claim 1,
The sub-
An outer ring;
A lower case coupled to the contact ring; And
And a load sensor connected to the contact ring and sensing a moment.
3. The method of claim 2,
The sub-
Further comprising a control unit for controlling the running,
Wherein the controller detects a collision based on sensing information of the load sensor.
The method according to claim 1,
The suspension includes:
An air cylinder into which compressed air is introduced or discharged; And
And a piston rod connected to the air cylinder and moving up and down according to the compressed air,
Wherein the main wheel is raised or lowered in accordance with the upward / downward movement of the piston rod.
5. The method of claim 4,
In the air cylinder,
A first port through which the compressed air is introduced or discharged; And
And a second port located above the first port.
The method of claim 5,
The piston rod
Wherein the guide robot moves up and down at a position higher than the first port and lower than the second port.
6. The method of claim 5,
And the second port is always open.
6. The method of claim 5,
The sub-
A pneumatic piping connected to the first port; And
And a coupler plug connected to the pneumatic piping.
9. The method of claim 8,
Wherein the coupler plug includes an inner valve for preventing the outflow of compressed air,
Wherein the inner valve is opened by a coupler socket detachably connected to the coupler plug.
9. The method of claim 8,
The sub-
And a hand valve connected to the pneumatic piping and being opened and closed to discharge the compressed air to the outside.
11. The method of claim 10,
The upper module includes:
An upper case forming an outer appearance; And
And an auxiliary case rotatably connected to one side of the upper case,
Wherein the auxiliary case is rotated by pressing to expose the coupler plug and the hand valve to the outside.
An upper module including a main PC and a display unit for displaying information; And
And a lower module detachably connected to the upper module,
The sub-
battery;
A motor connected to the battery and rotating;
A main wheel connected to the motor;
An auxiliary wheel spaced apart from the main wheel and being manually rotated; And
And a suspension for guiding the lifting and lowering of the main wheel,
Wherein the suspension is capable of lifting and lowering the main wheel by inflow or outflow of compressed air.
13. The method of claim 12,
The suspension includes:
Air cylinders;
A piston rod connected to the air cylinder and moving up and down according to inflow or outflow of compressed air; And
And a holding block connecting the piston rod and the main wheel.
14. The method of claim 13,
The suspension
And a rod stopper for restricting up-and-down movement of the piston rod.
14. The method of claim 13,
The suspension includes:
A motor bracket for fixing the motor;
A slide guide connected to the motor bracket and moving up and down;
And a shaft inserted into the slide guide to guide the up and down movement.
16. The method of claim 15,
And the holding block is coupled to the upper side of the motor bracket.
A sub case opening step of pressing a sub case rotatably connected to the upper case to expose the main power switch, the hand valve and the coupler plug to the outside;
A coupler coupling step of coupling a coupler socket to the coupler plug;
Connecting an air injection device to the coupler socket; And
And an air injection step of injecting air into an air cylinder connected to the coupler plug,
Wherein the main wheel is raised by air injected into the air cylinder.
18. The method of claim 17,
In the sub-case opening step,
Turning off the main power switch; And
And switching the hand valve for discharging compressed air to lock.
19. The method of claim 18,
Wherein when the hand valve is opened, the compressed air is discharged to the outside, and the main wheel descends.
18. The method of claim 17,
Wherein when the main wheel rises, the coupler socket is separated from the coupler plug to maintain compressed air inside the air cylinder.
The method of claim 17,
And the inner valve of the coupler plug is opened when the coupler socket is connected to the coupler plug.

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