KR20210098257A - Robot moving on inclined surface in various angles - Google Patents

Abstract

Various embodiments relate to a robot capable of moving on an inclined surface at various angles. The robot comprises: a thrust unit generating thrust by discharging air, in which the angle of the thrust is variable; a wheel part including four wheels disposed on a diagonal line with respect to the thrust unit and four motors independently driving the four wheels; a control unit for controlling the angle of the thrust and the driving of the wheel; and a support unit supporting the thrust unit and the control unit, and connected to the wheel part. Various other embodiments are possible.

Description

A robot capable of moving on an inclined surface at multiple angles {ROBOT MOVING ON INCLINED SURFACE IN VARIOUS ANGLES}

Various embodiments to be described below relate to a robot capable of moving on a surface inclined at various angles, and more particularly, it relates to a robot capable of moving on a surface inclined at various angles between 0 and 360 degrees with respect to the ground surface using thrust. .

In general, when cleaning the glass window of the exterior wall of a building, the glass window is removed and cleaned, or a worker rides up and down a gondola suspended from a parapet on the roof of the building and cleans it manually. Recently, most of the buildings in the city center are being constructed as high-rise buildings, and most of the exterior walls of the buildings are made of smooth surfaces made of glass. A worker who cleans the exterior wall is not only difficult to access the exterior wall, but is inevitably exposed to considerable risks.

In particular, as the length of the rope supporting the worker on the roof increases during the cleaning operation, the worker's risk increases due to obstacles such as wind. Due to the risk of the work itself, there was a problem in that the productivity was inevitably reduced because considerable attention was required.

In order to solve this conventional problem, a wall cleaning robot has been developed that replaces a human task with a robot. The conventional wall cleaning robot can be classified into a towing type and a walking type.

In the case of a towed cleaning robot, it supports the load of the robot and cleans it using a crane and a cable at the top of the building. There is a disadvantage in that it is difficult to apply an appropriate force necessary for cleaning because there is no close contact between the robot and the glass window, so that uniform cleaning is not achieved.

In the case of a walking robot, it cleans while walking directly on the window using a plurality of legs or a similar mechanism, and has a structure that can be adsorbed to the window by applying vacuum pressure to the suction pad. When using a vacuum generator with a large flow rate when climbing over formations such as irregularities on the attached wall, it is difficult to maintain the vacuum pressure inside the vacuum suction pad due to leakage. Due to the decrease, driving itself is impossible or there is a problem that additional safety devices such as a fall-prevention winch are required to prevent a fall due to vacuum breaking.

Various embodiments disclosed in this document may provide a robot that can stably move on an exterior wall or glass window of a building inclined at various angles using thrust.

In addition, various embodiments may provide a robot that can move without falling by being in close contact with the surface of the outer wall or glass window of the building even when the angle of the outer wall or glass window with respect to the ground of the building changes.

In addition, various embodiments may provide a robot movable on a surface inclined at various angles to clean an exterior wall or glass window of a building having a surface of various angles including a rotating brush and a sprayable detergent.

The technical problems to be achieved in this document are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. There will be.

A robot movable on a surface inclined at various angles according to various embodiments may include, for example, a thrust unit in which air is emitted to generate a thrust, the angle of the thrust is variable; a wheel part including four wheels disposed on a diagonal line with respect to the thrust part and four motors independently driving the four wheels; a control unit for controlling the angle of the thrust and driving of the wheel part; and a support part that supports the thrust part and the control part, and is connected to the wheel part.

In various embodiments, a power supply unit for supplying power may be further included, and the power supply unit may be disposed at a rear side of the thrust unit.

In various embodiments, further comprising a sensor for detecting an angle with respect to the direction of gravity of the robot, wherein the control unit receives the angle information sensed by the sensor and determines the air release angle of the thrust unit based on the angle information By variable, the angle of the thrust can be controlled.

In various embodiments, the thrust unit may include an electric ducted fan (EDF) and a servo motor for varying the angle of the EDF axis.

In various embodiments, it may further include a suspension for attaching the four wheels to the surface.

In various embodiments, the four wheels may include a Mecanum wheel, and the robot may be capable of holonomic motion.

In one embodiment, it further includes a cleaning unit including a cleaning brush and a detergent tank having a detergent spray port, the robot can clean the exterior wall or glass window of the building.

A robot capable of moving on a surface inclined at various angles according to various embodiments detects the angle of the surface through a sensor and adjusts the magnitude and angle of thrust so that it can move stably without falling from the exterior wall and glass window of the building having various angles. .

A robot capable of moving on a surface inclined at various angles according to various embodiments may maintain a stable posture when moving the surface inclined at various angles through proper arrangement of component parts.

A robot capable of moving on a surface inclined at various angles according to various embodiments is capable of holonomic movement without rotation of the robot body by controlling the rotation direction of the wheel, and through the introduction of a suspension, even on an uneven wall made of bricks All wheels can be contacted and can be moved forward, backward, left, right, or diagonally.

Effects obtainable in the present disclosure are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art to which the present disclosure belongs from the description below. will be.

1 is a perspective view of a robot movable on a surface inclined at various angles according to various embodiments of the present disclosure;
2 is a top view of a robot movable on a surface inclined at various angles according to various embodiments of the present disclosure;
3 is a side view of a robot movable on a surface inclined at various angles moving on a vertical wall according to various embodiments of the present disclosure;
4 is a block diagram of a robot movable on a surface inclined at various angles according to various embodiments of the present disclosure;
5 is a view for explaining a supporting principle of a robot movable on a surface inclined at various angles according to various embodiments of the present disclosure;
6 is a side view of a robot movable on a surface inclined at various angles moving on a surface of 100 degrees or more with respect to the ground according to various embodiments of the present disclosure;
7 is a side view of a wheel part and a suspension part of a robot movable on a surface inclined at various angles according to various embodiments of the present disclosure;

Hereinafter, various embodiments of the present document will be described with reference to the accompanying drawings.

The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of the embodiments. In connection with the description of the drawings, like reference numerals may be used for similar or related components. The singular form of the noun corresponding to the item may include one or more of the item, unless the relevant context clearly dictates otherwise. As used herein, "A or B", "at least one of A and B", "at least one of A or B," "A, B or C," "at least one of A, B and C," and "A , B, or C" each may include any one of, or all possible combinations of, items listed together in the corresponding one of the phrases. Terms such as “first”, “second”, or “first” or “second” may simply be used to distinguish the component from other such components, and refer to those components in other aspects (e.g., importance or order) is not limited.

1 is a perspective view of a robot movable on a surface inclined at various angles according to various embodiments, FIG. 2 is a top view of a robot movable on a surface inclined at various angles according to various embodiments, and FIG. 3 is various embodiments A side view of a robot movable on a surface inclined at multiple angles along a vertical wall, and FIG. 4 is a block diagram of a robot movable on a surface inclined at multiple angles according to various embodiments of the present disclosure.

1 to 4 , the robot 100 movable on a surface inclined at various angles according to various embodiments is a thrust unit 110 , a wheel unit 120 , a control unit 130 , a support unit 140 , and a power supply unit. 150 and sensors (not shown). The robot 100 can stably move a surface inclined at multiple angles, for example, a wall or glass window of a building, while changing the direction of the thrust with thrust, which is a reaction force generated by releasing air. In addition, the robot 100 may perform a suitable function by cleaning the surface while moving the inclined surface at various angles or by providing other equipment.

In various embodiments, the thrust unit 110 may be disposed in the central portion of the robot 100, and the thrust may be applied to the robot by emitting air in any one direction. The thrust unit 110 may be formed so that the speed and direction of the air emitted to adjust the magnitude and direction of the thrust is variable. The thrust unit 110 may include an electric ducted fan (EDF), a servo motor for varying the angle of the EDF shaft, and an electric speed controller (ESC) 112 for varying the rotation speed of the EDF. In this case, the EDF releases air in the axial direction by rotating the fan, and servo motors disposed on the left and right sides of the EDF can change the angle of the EDF axis to an angle calculated from the angle of the surface with respect to the ground, and the EDF and The electrically connected ESC can control the rotation speed of the fan of the EDF.

In various embodiments, the wheel unit 120 includes four wheels 120a, 120b, 120c, 120d and four wheels 120a, 120b, 120c, and 120d disposed on a diagonal line around the thrust unit 110. It may include four motors 121a, 121b, 121c, and 121d for independently rotatingly driven. The four wheels are a first left wheel 120a and a first right wheel 120b disposed on the front side of the robot 100 and a second left wheel 120c disposed on the rear side of the robot 100 . and a second right wheel 120d. The four motors 121a, 121b, 121c, and 121d may independently rotate each of the corresponding four wheels 120a, 120b, 120c, and 120d forward or backward. The four wheels 120a, 120b, 120c, and 120d may be formed as Mecanum wheels, and the combination of the rotations of the wheels 120a, 120b, 120c, and 120d causes the robot 100 to move forward and backward without rotation of the body, It can move left and right, diagonal directions, and can perform holonomic (when a robot moving in a plane can move in 3 degrees of freedom). The four wheels 120a , 120b , 120c , and 120d may be in close contact with a plane made of multiple angles by the thrust caused by the action of the thrust unit 110 .

In various embodiments, the control unit 130 may be set to control the thrust unit 110 and the wheel unit 120 . The control unit 130 is set to adjust the air release speed and release direction of the thrust unit 110 according to the weight (gravity) of the robot 100 and the angle with respect to the gravity direction of the surface on which the robot 100 moves. can For example, the control unit 130 adjusts the angle of the EDF axis by using a servo motor according to the angle (or the angle of the surface with respect to the ground) with respect to the direction of gravity of the surface on which the robot 100 moves, and using the ESC Thus, it may be set to adjust the rotation speed of the fan of the EDF according to the weight (gravity) of the robot 100 . Also, the controller 130 may be set to independently control the rotation of each of the four motors 121a, 121b, 121c, and 121d of the wheel unit 120 . The control unit 130 controls the rotation of each of the four motors 121a, 121b, 121c, and 121d so that the robot moves forward, backward, left and right, and diagonally by a combination of the rotations of the four wheels 120a, 120b, 120c, and 120d. It can be controlled to move or rotate in place.

Robot movement direction first left wheel
(120a) first right wheel
(120b) 2nd left wheel
(120c) 2nd right wheel
(120d) ↑ F F F F ↓ B B B B ← B F F B → F B B F ↖ - F F - ↗ F - - F ↙ B - - B ↘ - B B - CW F B F B CCW B F B F

Table 1 shows the movement direction of the robot due to the combination of forward or backward rotation of the four wheels 120a, 120b, 120c, and 120d. In Table 1, F denotes forward rotation of the wheel, B denotes backward rotation of the wheel, CW denotes a clockwise rotational motion at the fixed position of the robot, and CCW denotes a counterclockwise rotational motion in the fixed position of the robot.

2 and Table 1, the control unit 130 according to various embodiments controls the rotation of each of the four motors 121a, 121b, 121c, and 121d as a forward rotation, a backward rotation, and a stop operation to control the four wheels. With the combination according to Table 1 of (120a, 120b, 120c, 120d), the robot 100 moves in the forward, rearward, left, right, diagonal (front-left, front-right, rear-left, rear-right) direction, or clockwise from its place. (CW) or counterclockwise (CCW) can be rotated.

In various embodiments, the power supply unit 150 may supply power to the thrust unit 110 . For example, if the thrust unit includes an electric ducted fan (EDF), the power supply unit 150 may supply the EDF with rotational power of the fan, and may be a Li-po battery that supplies a current of 2800mA per hour at 22.2V. there is. Since the power unit 150 has a greater weight than other components, it may be disposed on the rear side of the thrust unit 110 , and the control unit 130 may be formed of a printed circuit board on which electronic components are mounted, and other components. Since the weight is small compared to the elements, it can be arranged on the front side of the thrust part. With the thrust unit 110 as the center, heavy components are arranged on the rear side and light components are arranged on the front side, so that the robot 100 can move while maintaining a stable posture on a surface inclined at various angles.

In various embodiments, the support unit 140 supports the thrust unit 110 , the control unit 130 , the power unit 150 , and the like, and may be connected to the wheel unit 120 . The support part 140 includes a first support plate 141 for supporting the control unit 130 and a second support plate 142 for supporting the power supply unit 150 , and the first support plate 141 and the second support plate 142 . ) is connected to the support members 143a and 143b provided on both left and right sides of the thrust unit 110, and the thrust unit 110 may have a structure in which the lower side is perforated. In addition, the support unit 140 may further include a connecting member 144 and four connecting rods 145 connected to the wheel unit 120 at the lower side of the supporting members 143a and 143b. The support members 143a and 143b may be a cover for protecting a servo motor capable of varying an air release angle of the thrust unit. The support 140 includes a first support plate 141, a second support plate 142, support members 143a and 143b, a connection member 144 and four connecting rods 145, and supports the components of the robot and By connecting to each other, the robot 100 can move as a structure in which each component is organically gathered.

The robot 100 movable on a surface inclined at various angles according to various embodiments may include various types of sensors, and among them, may include an acceleration sensor and a gyro sensor. In this case, the acceleration sensor and the gyro sensor may detect an angle with respect to the direction of gravity of the robot 100 . The sensors may be electrically connected to the controller 130 to transmit sensed information, that is, angle information about the direction of gravity of the robot 100 to the controller 130 .

In an embodiment, the robot 100 may include a cleaning unit including a detergent tank 161 and a rotating brush 160 . The detergent tank 161 may have at least one or more detergent injection ports, and the injection of the detergent may be controlled by the controller 130 , and may be disposed at the rear of the thrust unit 110 as a generally heavy component. The rotating brush 160 includes a motor, a brush, and a member connecting the motor and the brush, and the rotation of the motor can be controlled by the control unit 130 , and is generally a light component disposed in front of the thrust unit 110 . can be The robot 100 movable on a surface inclined at various angles according to an embodiment may be capable of cleaning an exterior wall or a window of a building.

5 is a view for explaining a supporting principle of a robot movable on a surface inclined at various angles according to various embodiments of the present disclosure;

5, in order for the robot to stop on the vertical wall, the resultant force of gravity (Fmg), frictional force, and thrust (Ft) acting on the robot must be '0', and the minimum The thrust Ft may be calculated by Equation (1).

Equation 1

Here, m is the mass of the robot, μ is the static friction coefficient of the wall surface, g is the gravitational acceleration, and θt is the angle between the wall and the thrust.

In one embodiment, when the mass of the robot is 1.1 kg, if μ is assumed to be 0.2 and the angle between the wall and the thrust is set to 30 degrees to calculate the thrust, the robot movable on the surface inclined at various angles according to an embodiment (100) The minimum thrust required to remain stationary on this vertical wall without falling is 10.112N.

The robot 100, which is movable on a surface inclined at various angles according to various embodiments, is based on the magnitude and angle of the calculated thrust to maintain a stationary state on the vertical wall, the robot 100 is inclined at various angles. It is possible to adjust the intensity and angle of the thrust (Ft) that must be applied to move in close contact with the surface without falling on the surface. The robot 100 may adjust the intensity and angle of the thrust Ft through the control unit 130 . The control unit 130 may be set to receive angle information about the direction of gravity of the robot 100 , and to adjust the angle of thrust by varying the air release angle of the thruster 110 based on the angle information. At this time, the control unit 130 receives the angle information about the direction of gravity of the robot 100 in real time and adjusts the air release angle of the thrust unit 110 to a predetermined angle of thrust corresponding to the received angle information. can be set.

6 is a side view of a robot movable on a surface inclined at various angles moving on a surface of 100 degrees or more with respect to the ground according to various embodiments of the present disclosure;

Referring to FIG. 6 , the robot 100 movable on a surface inclined at various angles according to various embodiments changes the strength and angle of the thrust Ft as well as an acute or vertical wall surface with respect to the ground to form an obtuse angle with respect to the ground. It can be moved without falling even on a wall.

7 is a side view of a wheel part and a suspension part of a robot movable on a surface inclined at various angles according to various embodiments of the present disclosure;

Referring to FIG. 7 , the robot 100 movable on a surface inclined at various angles according to various embodiments connects the wheel part 120 and the support part 140 and includes four wheels 120a, 120b, 120c, 120d. It may further include suspension portions (122a, 122b, 122c, 122d) that sufficiently closely contact the surface even when moving the uneven surface. When the four wheels 120a, 120b, 120c, and 120d are Mecanum wheels, all four wheels must be in close contact with the surface for accurate robot movement, which will be realized through the suspension parts 122a, 122b, 122c, 122d. can

Claims (7)

Doedoe generating thrust by discharging air, a thrust unit in which the angle of the thrust is variable;
a wheel part including four wheels disposed on a diagonal line with respect to the thrust part and four motors independently driving the four wheels;
a control unit for controlling the angle of the thrust and driving of the wheel part; and
Supporting the thrust part and the control part, and a support part connected to the wheel part; Containing, a robot movable on a surface inclined at various angles.
The method according to claim 1,
Further comprising a power supply for supplying power,
The power unit is disposed on the rear side of the thrust unit, the robot movable on a surface inclined at various angles.
The method according to claim 1,
Further comprising a sensor for detecting an angle with respect to the direction of gravity of the robot,
The control unit receives the angle information sensed by the sensor and controls the angle of the thrust by varying the air release angle of the thrust unit based on the angle information, a robot movable on a multi-angle inclined surface.
The method according to claim 1,
The thrust unit comprising an electric ducted fan (EDF) and a servo motor for varying the angle of the EDF axis, a robot movable on a multi-angle inclined surface.
The method according to claim 1,
A robot capable of moving on a surface inclined at various angles, further comprising a suspension for attaching the four wheels to the surface.
The method according to claim 1,
The four wheels include a Mecanum wheel,
The robot is a holonomic (holonomic) movement is possible, a robot capable of moving on an inclined surface at various angles.
The method according to claim 1,
Further comprising a cleaning unit comprising a detergent tank with a detergent nozzle and a rotating brush,
The robot is a robot capable of moving on an inclined surface at various angles to clean an exterior wall or glass window of a building.

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