KR20210090852A - Mobile robot that can change driving mode - Google Patents

Abstract

The present invention relates to a mobile robot capable of changing a driving mode, and more particularly, to a mobile robot comprising: a body unit; a rotation unit installed to be spaced apart from one side of the lower part of the body unit; and a control unit installed inside the body unit to determine driving and walking according to terrain and obstacles. The rotation unit includes a first rotating part hingedly coupled to the body unit and having a built-in first motor rotated in the left and right direction, a second rotating part extending with the first rotating part and hinge-coupled with a built-in second motor to rotate in the vertical direction, and a third rotating part extending and hinged with the second rotating part and having a built-in third motor rotated in the vertical direction, wherein a fourth motor is built in one side of the third rotating part to rotate a moving wheel. If the terrain and obstacles cannot be overcome by walking, the mobile robot can overcome the terrain and obstacles by changing to a driving mode through the moving wheels installed on one side of the rotation unit.

Description

Mobile robot that can change driving mode

The present invention relates to a mobile robot capable of changing a driving mode, and more particularly, to overcome terrain and obstacles, it can walk in four legs using each rotating unit of a rotating unit, and rotates each rotating unit to obtain a moving wheel It relates to a mobile robot capable of changing the driving mode that can be driven by

In general, the mechanism that grants the robot's mobility is a driving mechanism with wheels installed to have the robot's mobility using the driving mechanism, and the driving robot has high payload, relatively simple system configuration and control, high movement speed, and relatively stability. high and widely used.

However, the traveling robot has a problem in that it is impossible to move to a desired position because the mobility performance is greatly reduced on the threshold, stairs, and uneven terrain outdoors.

In addition, walking robots employing legs to have robot mobility using a walking mechanism are widely used in landmine removal, space projects, and volcanic exploration even in foreign countries. It is known for its excellent adaptability.

Therefore, when the main use of the robot is extended to human life and work space, a bipedal walking mechanism with a structure closer to a human is effective.

Despite the advantages of the bipedal humanoid robot as described above, the payload is very small, the movement speed is slow, the amount of energy required is enlarged, the center of gravity of the robot is increased, and the support area is small, so the stability is also very significantly reduced. there was.

In addition, it is very complicated to configure and control the motion and control system of a bipedal humanoid robot, and the technology for parts necessary for accurate control and operation is weak. Therefore, theoretical approaches to bipedal walking are being attempted, but direct mass production However, the research and development of humanoid robots is being carried out so much that they can be accepted as a measure of national technological prowess, although the cost increases and the production of realistically feasible parts is limited to academic research.

Recently, in order to highlight the advantages of walking robots and running robots, a number of legs more than biped and wheels attached to the ends of each leg were formed. On very large ground, it was made to walk using multiple legs and then to move again using multiple wheels on flat ground.

However, the robot, which has more legs than bipeds, emphasizes only the convenience of movement, and there is a problem in that there are a lot of restrictions on movement in the living and work space of a human living an upright bipedal life.

The most similar example of solving this problem is a humanoid that can travel while bipedal walking with a humanoid robot and a car through manipulation that transforms the external shape, such as replacing related parts or twisting and bending the body. It can be transferred between the two, but it is a toy that is not applied to real life by changing its appearance in the imagination.

Republic of Korea Patent Publication No. 10-0572684

The present invention has been devised in view of the above problems, and an object of the present invention is to be able to walk using a rotation unit installed in a mobile robot to overcome terrain and obstacles, and to overcome terrain and obstacles by walking. When it cannot, it is to provide a mobile robot capable of changing the driving mode for overcoming terrain and obstacles by changing to a driving mode through a moving wheel installed on one side of the rotation unit.

The purpose of the embodiments of the present invention is not limited to the above-mentioned purpose, and other objects not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. .

According to a feature for achieving the object as described above, the mobile robot capable of changing the driving mode of the present invention includes a main body unit;

a rotation unit installed to be spaced apart from one side of the lower part of the body unit; and

A control unit installed inside the main body unit to determine driving and walking according to terrain and obstacles; including,

The rotation unit is

A first rotational part hingedly coupled to the main body unit and having a built-in first motor rotates in the left and right direction, a second rotational part extending with the first rotational part and hinge-coupled with a built-in second motor to rotate in the vertical direction and a third rotating part extending with the second rotating part and hinged and having a built-in third motor rotated in the vertical direction, and a fourth motor is built in one side of the third rotating part to rotate the moving wheel do it with

In addition, the body unit is divided into an upper cover and a lower cover, and the upper cover is characterized in that it is formed in a hemispherical shape.

In addition, the control unit is characterized in that it is divided into a recognition unit for recognizing an obstacle and a distance measuring unit for measuring the distance to the obstacle.

In addition, when the recognition unit is rotated by 360° to recognize a surrounding object, it is characterized in that the object recognition information is transmitted to the control unit.

In addition, the recognition unit is characterized in that the thermal imaging camera.

According to the mobile robot capable of changing the driving mode according to the present invention, it is possible to walk using the rotation unit installed in the mobile robot to overcome the terrain and obstacles, and when the terrain and obstacles cannot be overcome by walking, the rotation unit It has the effect of overcoming terrain and obstacles by changing to the driving mode through the moving wheels installed on one side.

1 is a view showing a walking mode state of a mobile robot capable of changing a driving mode according to an embodiment of the present invention;
2 is a view showing a driving mode state of a mobile robot capable of changing a driving mode according to an embodiment of the present invention;
3 is a front view of a mobile robot capable of changing a driving mode according to an embodiment of the present invention;
4 is a rear view of a mobile robot capable of changing a driving mode according to an embodiment of the present invention;
5 is a block diagram showing a control unit according to an embodiment of the present invention;
6 is a flow chart for changing a shape of a mobile robot capable of changing a driving mode according to an embodiment of the present invention;
7 is a driving flowchart of a mobile robot capable of changing a driving mode according to an embodiment of the present invention;
8 is a view showing a walking sequence of a mobile robot capable of changing a driving mode according to an embodiment of the present invention;
9 is a view showing a driving sequence of a mobile robot capable of changing a driving mode according to an embodiment of the present invention;
10 is a view showing angle calculation according to inverse kinematics of a mobile robot capable of changing a driving mode according to an embodiment of the present invention;
11 is a circuit diagram of a control unit of a mobile robot capable of changing a driving mode according to an embodiment of the present invention.

The following objects, other objects, features and advantages of the present invention will be readily understood through the following preferred embodiments in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms.

Rather, the embodiments introduced herein are provided so that the disclosed subject matter may be thorough and complete, and that the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

The embodiments described and illustrated herein also include complementary embodiments thereof.

As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, the terms 'comprise' and/or 'comprising' do not exclude the presence or addition of one or more other components.

Hereinafter, the present invention will be described in detail with reference to the drawings. In describing the specific embodiments below, various specific contents have been prepared to more specifically explain and help the understanding of the invention. However, a reader having enough knowledge in this field to understand the present invention may recognize that it may be used without these various specific details. In some cases, it is mentioned in advance that parts that are commonly known and not largely related to the invention in describing the invention are not described in order to avoid confusion in describing the invention.

1 is a view showing a walking mode state of a mobile robot capable of changing a driving mode according to an embodiment of the present invention, and FIG. 2 is a driving mode state of a mobile robot capable of changing a driving mode according to an embodiment of the present invention. 3 is a front view of a mobile robot capable of changing a driving mode according to an embodiment of the present invention, and FIG. 4 is a rear view of a mobile robot capable of changing a driving mode according to an embodiment of the present invention. , FIG. 5 is a block diagram illustrating a control unit according to an embodiment of the present invention, FIG. 6 is a flow chart for changing a shape of a mobile robot capable of changing a driving mode according to an embodiment of the present invention, and FIG. 7 is a diagram of the present invention is a driving flowchart of a mobile robot capable of changing a driving mode according to an embodiment of the present invention, FIG. 8 is a diagram illustrating a walking sequence of a mobile robot capable of changing a driving mode according to an embodiment of the present invention, and FIG. is a view showing a driving sequence of a mobile robot capable of changing a driving mode according to an embodiment of the present invention, and FIG. 10 is a diagram illustrating an angle calculation according to inverse kinematics of a mobile robot capable of changing a driving mode according to an embodiment of the present invention. 11 is a circuit diagram of a control unit of a mobile robot capable of changing a driving mode according to an embodiment of the present invention.

1 to 11, the mobile robot capable of changing the driving mode of the present invention recognizes an object based on a machine learning algorithm from an image of a lane and a pedestrian image taken with a black box disposed in a vehicle, It is possible to provide information to the driver by determining the distance between the lane and the pedestrian.

To this end, the present invention's mobile robot capable of changing the driving mode is largely configured to include a main body unit 100 , a rotation unit 200 , and a control unit 300 .

The body unit 100 is divided into an upper cover 110 and a lower cover 120, and the lower cover 120 is provided with a control unit 300 and a power supply unit (not shown) for transmitting power to be described below. , a groove for specifying the installation position of the control unit 300 and the power supply unit (not shown) is formed in the lower cover 120, and the control unit 300 and the power supply unit (not shown) can be installed in the groove there is.

In addition, the upper cover 110 is formed in a hemispherical shape to shape the heads of insects, animals, etc., thereby inducing curiosity and familiarity with the mobile robot, and the upper cover 110 is limited only to the hemispherical shape. Since it is not, it is revealed that changes can be implemented by those skilled in the art.

A control unit 300 is installed inside the main body unit 100 to determine driving and walking according to terrain and obstacles.

The control unit 300 is configured to include a recognition unit 310 and a distance measurement unit 320 .

The recognition unit 310 is interlocked with the control unit 300 on one side of the upper cover 110 and can detect and recognize obstacles around the mobile robot.

When the recognition unit 310 rotates 360° and an object around the mobile robot is recognized, it can transmit object recognition information to the control unit to notify the user that there is an obstacle, and the mobile robot recognizes the obstacle and removes the obstacle. You can avoid obstacles or change to walking or driving mode to avoid obstacles.

The recognition unit 310 may be installed by selecting either an infrared camera for night photography or a thermal imaging camera for detecting pedestrians.

The recognition unit 310 may receive the image of the obstacle and the terrain obtained from the camera and recognize the object of the obstacle and the terrain from the image.

Here, the object extracted by the recognition unit 310 may be a pedestrian, a terrain, an obstacle, etc., and the recognition unit 310 divides a specific object of the image into, for example, characteristic values such as a pedestrian, a terrain, and an obstacle, and the By extracting and analyzing the feature value, it is possible to recognize whether an object exists.

The distance measuring unit 320 may be interlocked with the control unit 300 on one side of the upper cover 110 and measure the distance between the mobile robot and the obstacle.

The distance measuring unit 320 may be installed by selecting any one of a proximity sensor or an infrared sensor, measuring a distance to an obstacle, transmitting a real-time data value to the control unit 300, and transmitting it to the control unit 300 By this calculation, each of the rotation units 210 , 220 , 230 , the moving wheel 240 , and each of the motors 211 , 221 , 231 and 241 of the rotation unit 200 can be controlled.

In addition, the control unit 300 has an HC-06 module installed so that it is linked with a mobile phone application using Bluetooth communication and can control the operation of the mobile robot through the mobile phone. The operation command is repeatedly transmitted while the button is pressed in the application. Since all commands are not in the void loop, the mobile robot can be automatically stopped when the button is released from the button of the mobile phone.

The control unit 300 transfers each operation to a code through Arduino coding and outputs it through Bluetooth communication. The first, second, and third motors 211, 221, 231 are 16-channel servo motor driver (PCA9685) and Adafruit_PWMServoDriver It is controlled by header file, and the fourth motor can be controlled with the most basic DC motor driver L293D and digital pin HIGH/LOW for the MA12-N20 motor (DC motor), and offset by measuring the assembly error of the servo motor with a protractor. It can be corrected by entering a value.

In addition, PCA9685 and HC-06 installed in the body unit 100 are prepared by soldering elements and pins, and PCA9685 solders the pins connected to the Arduino, the servo motor, and the power supply in opposite directions. , this is to configure the body internal circuit on a breadboard for reasons to be described later.

Two 18650 3.7V lithium-ion batteries are used for power, and at this time, it is supplied through UBEC-8A (3-2S). The voltage of UBEC-8A(3-2S)6V is applied to the servomotor driver, DC motor driver, and Arduino, and the Arduino 5V port and servomotor driver logic operation 5V pin, DC motor driver logic operation 5V pin, Bluetooth module 5V After connecting the pins, connect the GND of each device.

At this time, the circuit can be configured by soldering, but uploading the code to the Arduino board with various elements combined is highly likely to fail due to various interferences, and considering the narrow and complicated circuit, it is easy to modify instead of the solder board You can build the circuit using a quick breadboard and jumper wires.

Since the power applied to all devices goes through UBEC-8A(3-2S), a switch attached to UBEC-8A(3-2S) is used instead of a separate switch.

In addition, by installing an LED light on one side of the upper cover 110, obstacles and movement paths can be identified even at night, and a buzzer is installed on one side of the upper cover 110 to sound a buzzer in case of an emergency to notify the movement of the mobile robot. can

The rotation unit 200 is installed to be spaced apart from one side of the lower part of the body unit 100 .

The rotation unit 200 includes a first rotation unit 210 having a built-in first motor 211 , a second rotation unit 220 having a built-in second motor 221 , and a third motor 231 . It is divided into a third rotating part 230 having a built-in and a moving wheel 240 having a fourth motor 241 built-in.

First, when power is applied, the robot is transformed into a robot form for walking by the operation of each motor 211, 221, 231, 241. Each of the rotating parts 210, 220, 230, which will be described below, operates, and the control unit and You can operate the direction keys of the linked mobile phone application.

The first rotation unit 210 is hinge-coupled to the body unit 100 and is configured to rotate in the left and right direction by the rotation of the first motor 211 .

The first rotation unit 210 receives power from a separate power supply device, and when the control unit 300 commands an operation signal to the first motor 211, the first motor 211 At the same time as is rotated, the first rotating part 210 is rotated.

In this case, the first motor 211 may include a servo motor to precisely control the first rotation unit 210 .

The second rotation unit 220 is configured to extend and hinge-coupled to the first rotation unit 210 to rotate in the vertical direction by rotation of the second motor 221 .

The second rotating unit 220 receives power from a separate power supply device, and when the control unit 300 commands an operation signal to the second motor 221 , the second motor 221 . At the same time as is rotated, the second rotating part 220 is rotated.

In this case, the second motor 221 may include a servo motor to precisely control the second rotation unit 220 .

The third rotation part 230 is configured to extend and hinge-coupled to the second rotation part 220 so as to rotate in the vertical direction by rotation of the third motor 231 .

The third rotation unit 230 receives power from a separate power supply device, and when the control unit 300 commands an operation signal to the third motor 231 , the third motor 231 . At the same time as is rotated, the third rotating part 230 is rotated.

In this case, the third motor 231 may include a servo motor to precisely control the third rotation unit 230 .

The moving wheel 240 is used when changing to the driving mode, and a fourth motor 241 is built in one side of the third rotating part 230 and rotates by rotation of the fourth motor 241 . am.

The moving wheel 240 receives power from a separate power supply device, and when the control unit 300 commands the fourth motor 241 an operation signal, the fourth motor 241 rotates. At the same time, the moving wheel 240 is rotated.

In this case, the first motor 211 may include a servo motor to precisely control the first rotation unit 210 .

The rotation unit 200 may walk by rotating in the order of the first rotation unit 210, the second rotation unit 220, and the third rotation unit 230 in order to imitate the movement of the walking robot. The first rotation unit 210, the second rotation unit 220, and the third rotation unit 230 are rotated at a certain angle, the rotation angle is preferably rotated at an angle between about 40 to 50 °, more preferably It is desirable to maintain a 45° angle.

만큼 평행 이동을 나타내며, X축에 대한 회전 이동 및

,

에 대한 평행 이동을 나타낸다. 한편, 상기 각 회동부에 대한 변환들이 곱해지면 각 회동부에 최종 좌표변환 식을 통해 계산될 수 있다.The rotation angles of the first rotation unit 210 , the second rotation unit 220 , and the third rotation unit 230 are calculated using Equation 1 using a forward kinematic equation. and

represents a translation by as much as, a rotational movement about the X axis, and

,

represents a parallel movement with respect to On the other hand, when the transforms for each rotating unit are multiplied, each rotating unit may be calculated through a final coordinate transformation equation.

In addition, when the first rotation unit 210 , the second rotation unit 220 , and the third rotation unit 230 reach a terrain where walking is not possible, the driving mode should be changed, and the first rotation unit 210 . ), the second rotating part 220, and the third rotating part 230 are rotated in a drivable state, and then the third rotating part 230 is rotated by about 90° and changed to be level with the ground. The wheel 240 is brought into contact with the ground, and the mobile robot can be driven by the rotational power of the moving wheel 240 .

는 각 회동부(210, 220, 230)의 길이를 나타낸 것이다.The driving mode is calculated using Equation 3 based on Equation 2 using inverse kinematics to calculate the angles of (b) and (c) of FIG. 9 , where

is the length of each of the rotating parts 210, 220, 230.

At this time, since the moving wheel 240 is coupled through the first rotating part 210 , the second rotating part 220 , and the third rotating part 230 , it is not firmly coupled with the body unit 100 . Therefore, the third rotation part 230 is formed to be inclined inwardly by about 5°, and the angle of the moving wheel 240 can be adjusted according to the driving direction when turning left and right.

That is, when the rotation unit 200 commands the walking and driving signals of the control unit 300 , the first, second, and third motors 211 of the first, second, and third rotation units 210 , 220 , 230 , 211 , 221, 231) and the fourth motor 241 of the moving wheel 240 rotate, and the rotating unit 200 rotates to match the mode of the mobile robot so that it can walk in quadrupeds, and can be driven by the moving wheel. it can be

The embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention and do not represent all the technical spirit of the present invention, so various equivalents that can be substituted for them at the time of the present application It should be understood that there may be variations and examples.

100: body unit 110: upper cover
120: lower cover 200: rotation unit
210: first rotation unit 211: first motor
220: second rotation unit 221: second motor
230: third rotation 231: third motor
240: moving wheel 241: fourth motor
300: control unit 310: recognition unit
320: distance measuring unit

Claims (5)

body unit;
a rotation unit spaced apart from one side of the lower body unit; and
A control unit installed inside the main body unit to determine driving and walking according to terrain and obstacles; including,
The rotation unit is
A first rotational part hingedly coupled to the main body unit and having a built-in first motor rotates in the left and right direction, a second rotational part extending with the first rotational part and hinge-coupled with a built-in second motor to rotate in the vertical direction and a third rotational part extending with the second rotational part and hinge-coupled with a built-in third motor to rotate in the up-down direction, and a fourth motor is built-in at one side of the third rotational part to rotate the moving wheel A mobile robot that can change its driving mode.
The method according to claim 1,
The main body unit is divided into an upper cover and a lower cover, and the upper cover is formed in a hemispherical shape.
The method according to claim 1,
The control unit is a mobile robot capable of changing a driving mode, characterized in that it is divided into a recognition unit for recognizing an obstacle and a distance measurement unit for measuring a distance to the obstacle.
The method according to claim 1,
The mobile robot capable of changing a driving mode, characterized in that when the recognition unit is rotated by 360° and a surrounding object is recognized, object recognition information is transmitted to the control unit.
The method according to claim 1,
The mobile robot capable of changing the driving mode, characterized in that the recognition unit is a thermal imaging camera or an infrared camera.

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