KR20230112286A - A mode-changing robot to overcome various terrain and move - Google Patents

Abstract

The present invention relates to a variable robot capable of moving by overcoming various terrain features and comprises: a frame open at the top so that various members can be mounted; four driving units formed on both front and rear sides of the frame to move the frame between a driving mode and walking mode using wheels and links; a sensing unit formed on the frame and configured to recognize obstacles or terrain features in front and control the operation of the driving unit; and a control unit formed in the frame and operating the driving unit according to information detected by the sensor unit or a control signal transmitted through wireless communication with an external terminal.

Description

A mode-changing robot to overcome various terrain and move}

The present invention relates to a transformable robot that can move by overcoming various terrain features, and more particularly, to a transformable robot that can move by overcoming various terrain features formed to be able to move on wheels and overcome obstacles through quadrupedal walking when an obstacle is detected.

Currently, there are various robots around us. There are robots with the most basic round wheels, robots with two, four or more legs, and the terrain that these robots can overcome is limited, and many motions are required to overcome rough terrain such as stairs. As control becomes more complex, there is a possibility that the system may become unstable.

In particular, small robots have the advantage of being able to pass through small gaps that are difficult for humans to enter, such as collapsed piles of buildings, and many small robots can effectively perform missions such as rescue, exploration, and reconnaissance in such places.

However, as the size of the robot decreases, the relative flatness of the surrounding environment decreases and the roughness increases, causing a problem called “size grain hypothesis”.

In general, small robots using circular wheels maintain a stable contact between the wheels and the ground on flat ground and show high driving performance, but have a fundamental problem in that they cannot overcome obstacles higher than the radius of the wheels.

A legged wheel, proposed as an alternative to a circular wheel, can overcome an obstacle higher than that of a circular wheel of the same diameter with only the shape of the wheel without any additional structure.

However, since the distance from the center of the wheel to the circumference of the wheel is not constant in all types of foot robots, the center of gravity of the robot continues to change in a direction perpendicular to the ground when driving on a flat surface.

Therefore, when accelerating beyond a certain speed, stable contact with the ground is impossible, resulting in poor level driving performance compared to circular wheels.

On the other hand, the deformable wheel is a wheel that uses both the ability to drive on a flat surface of a circular wheel and the ability to overcome obstacles of a foot type wheel.

That is, when driving on flat ground, the deformable wheel maintains a circular shape and stably contacts the ground to improve driving performance, and when it encounters an obstacle, it is transformed into a foot-type wheel to overcome an obstacle higher than the radius of the circular shape.

A robot using a deformable wheel has a problem in that the design and control method of the robot are very complicated because the deformable wheel is used to change the shape of the wheel using a micro servo motor.

In addition, there is a problem that it is difficult to overcome obstacles higher than the robot only by transforming the wheels, and there is a problem that shock is generated when the robot shakes when a ramp is formed or travels along a bumpy road.

In particular, in the case of a quadrupedal robot, it is easy to overcome obstacles, but there is a problem that it is relatively slow because the running speed is made at a low speed compared to a wheeled robot.

Korean Patent Publication No. 10-2020-0057429

An object of the present invention to solve the above problems is to provide a deformable robot capable of moving quickly through high-speed driving and overcoming various terrain features capable of overcoming obstacles in military training, disaster sites, industrial sites, etc.

Another object of the present invention is to provide a deformable robot that can move by moving in a horizontal state regardless of terrain features, can transport various items, and can prevent accidents by securing sight and data in a stable posture.

Another object of the present invention is to provide a deformable robot capable of moving by overcoming various terrain features, which can be operated and manually controlled using an external terminal, and which can be automatically controlled to overcome an obstacle when an obstacle is detected in a moving direction.

In order to solve the above problems, the transformable robot capable of moving over various terrain features of the present invention has a frame having an open top so that various members can be mounted thereto, four drive units formed on both front and rear surfaces of the frame to move the frame in a driving mode and a walking mode using wheels and links, a sensing unit formed on the frame and configured to recognize an obstacle or a feature in front and controlling the operation of the driving unit, and information formed on the frame and sensed by the sensing unit. or a control unit for operating the driving unit according to a control signal transmitted through wireless communication with an external terminal.

In addition, the drive unit of the variable robot capable of moving over various terrain features of the present invention includes a first rotational link having one end shaft coupled to a side surface of the frame and formed to be rotated by a first rotational motor formed inside the frame, a second rotational link formed so as to rotate by being shaft-coupled to the inside of the other end of the first rotational link, and a second rotational motor formed inside the other end of the first rotational link and formed to rotate the second rotational link. And, it is formed on the inside of the other side of the second pivoting link, characterized in that consisting of a driving motor formed to rotate the wheel by coupling the wheels on both sides.

In addition, a stopper protruding outward from both sides of the upper portion of the frame of the deformable robot capable of moving by overcoming various terrain features of the present invention to limit an angle at which the first rotational link is rotated by the first rotational motor It is characterized by further comprising a stopper.

In addition, in the deformable robot capable of moving over various terrain features of the present invention, in the driving mode, the first pivoting link and the second pivoting link are overlapped with each other or separated from each other by pivoting to adjust the height of the frame. In the walking mode, the four driving units are sequentially moved to the top of the obstacle by the rotation of the first pivoting link and the second pivoting link, so that the four driving units can move over the obstacle in sequence.

In addition, the control unit of the deformable robot capable of moving over various terrain features according to the present invention is characterized in that when one of the drive units formed on the front side is rotated over the obstacle to overcome the obstacle through the walking mode, the drive unit formed on the rear side of the corresponding drive unit is moved in the front direction according to the movement amount of the center of gravity to maintain balance and prevent falling.

In addition, the sensing unit of the variable type robot capable of overcoming and moving over various terrain features of the present invention includes a camera formed to photograph an obstacle or a feature formed on the front of the frame, a laser sensor formed on the front and bottom surfaces of the frame to measure the distance to the obstacle and the height of the obstacle, and providing data for the drive unit to overcome the obstacle, and an IMU sensor formed inside the frame to measure an inclination or angle change generated while the frame is moved and providing data through the drive unit to maintain the frame in a horizontal state. It is characterized in that it includes.

As described above, according to the deformable robot capable of moving by overcoming various terrain features according to the present invention, it is possible to move quickly through high-speed driving and overcome obstacles in military training, disaster sites, industrial sites, and the like.

In addition, according to the transformable robot capable of moving by overcoming various terrain features according to the present invention, it can move while maintaining a horizontal state regardless of the terrain features, so it can transport various items and secure sight and data in a stable posture. There is an effect of preventing accidents.

In addition, according to the variable robot capable of moving by overcoming various terrain features according to the present invention, an operating state and manual control are possible using an external terminal, and when an obstacle is detected in the moving direction, it can be automatically controlled to overcome the obstacle.

1 is a perspective view illustrating a driving mode of a deformable robot capable of moving by overcoming various terrain features according to the present invention;
2 is a perspective view illustrating a walking mode of a deformable robot capable of moving by overcoming various terrain features according to the present invention;
3 is a perspective view showing the structure of a drive unit of a deformable robot capable of moving by overcoming various terrain features according to the present invention;
4 is a side view illustrating a state in which a driving unit of a deformable robot capable of moving by overcoming various terrain features is deformed according to an obstacle according to the present invention;
5 is an exemplary view showing a state in which a driving unit of a deformable robot capable of moving by overcoming various terrain features overcomes obstacles according to the present invention;
6 is an exemplary diagram showing a state in which a deformable robot capable of moving by overcoming various terrain features is controlled by an external terminal according to the present invention.
7 is an exemplary view showing a state in which a deformable robot capable of moving by overcoming various terrain features is maintained in a horizontal state along an inclined surface according to the present invention;

Specific features and advantages of the present invention will be described in detail below with reference to the accompanying drawings. Prior to this, if it is determined that the detailed description of functions and configurations related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

The present invention relates to a transformable robot that can move by overcoming various terrain features, and more particularly, to a transformable robot that can move by overcoming various terrain features formed to be able to move on wheels and overcome obstacles through quadrupedal walking when an obstacle is detected.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a driving mode of a deformable robot capable of moving by overcoming various geographical features according to the present invention, FIG. 2 is a perspective view showing a walking mode of a deformable robot capable of moving by overcoming various geographical features according to the present invention, and FIG.

As shown in FIGS. 1 to 3 , the variable type robot capable of moving over various terrain features according to the present invention has a frame 100 having an open top so that various members can be mounted thereto, four drive units 200 formed on the front and rear surfaces of both sides of the frame 100 to move the frame 100 in driving mode and walking mode using wheels 260 and links, and formed on the frame 100 to the front. It is characterized in that it includes a sensing unit 300 formed to recognize an existing obstacle or feature and to control the operation of the driving unit 200, and a control unit 400 formed on the frame 100 and operating the driving unit 200 according to information sensed by the sensing unit 300 or a control signal transmitted through wireless communication with the external terminal 500.

The frame 100 has a rectangular shape and has an open top so that various members can be mounted or stored therein, and a control unit 400 for controlling the operation of each member and supplying power is provided at the open top.

The frame 100 is a part corresponding to the body of the robot, and the open top of the frame 100 is formed in a retractable manner to prevent foreign substances from entering the inside or the inside of the frame 100 from being damaged by external impact. It is preferable to prevent.

In addition, when the upper part of the frame 100 is formed to be opened and closed, a loading space for loading and transporting goods may be provided on the upper part of the frame 100, and through the loading space, materials necessary for performing various missions may be transported or food and beverages necessary for refugees at a disaster site may be transported.

Four drive units 200 are independently formed on both front and rear sides of the frame 100, and the frame 100 is moved or changed by rotation of wheels 260 formed on the drive unit 200. It is possible to change.

At this time, the drive unit 200 is formed to be able to be converted into a driving mode and a walking mode. The driving mode means a state of moving at high speed by the rotation of the wheel 260, and the walking mode is an obstacle or stairs.

The sensing unit 300 determines the size, shape, and type of an obstacle or feature in the direction in which the frame 100 moves, and changes the mode of the driving unit 200 based on the determined information. It is used to utilize data for individually controlling the four driving units 200.

The control unit 400 determines the operation of the four driving units 200 using the data measured by the sensing unit 300, and controls the state or posture in which the frame 100 can move according to obstacles or landmarks. Used to control.

At this time, the control unit 400 has a communication module 410 formed therein so that it can communicate with the external terminal 500 using Bluetooth, Wi-Fi, and 4G and 5G communication networks, and the information measured by the sensing unit 300 or the current position of the frame 100 can be transmitted to the external terminal 500 in real time.

In addition, the driving unit 200 can be controlled so that the moving direction or posture of the frame 100 is changed based on a control signal transmitted from the external terminal 500 .

In addition, the drive unit 200 has one end shaft coupled to the side of the frame 100 and a first rotational link 210 formed to be rotated by a first rotational motor 230 formed inside the frame 100, and one side is shaft-coupled to the other end of the first rotational link 210 to the inside to be rotated. It is formed inside the second rotational link 220 and the other end of the first rotational link 210, The second rotational motor 240 formed to rotate the second rotational link 220, and formed inside the other side of the second rotational link 220, and wheels 260 are coupled to each side to rotate the wheel 260. Characterized in that it consists of a drive motor 250 formed to rotate.

The driving unit 200 is formed to change its posture or shape depending on the rotational angle, so that it can adjust the height of the frame 100 or cross obstacles by walking on four legs.

The first rotational link 210 is formed on the side surface of the frame 100, and one end is shaft-coupled with the first rotational motor 230 formed inside the frame 100 according to the rotational force of the first rotational motor 230. It is formed to be rotated clockwise or counterclockwise.

The second rotational link 220 has one side axially coupled by the second rotational motor 240 formed at the other end of the first rotational link 210 and rotated in a clockwise or counterclockwise direction by the first rotational motor 230. It is formed to be.

That is, the first rotational link 210 and the second rotational link 220 are formed so as to be rotated in different directions by shaft coupling, and the angle is adjusted by the first rotational motor 230 and the second rotational motor 240, enabling quadrupedal walking.

In addition, the first rotational link 210 and the second rotational link 220 are formed in a shape in which two plates are spaced apart from each other and a support connecting therebetween is provided, and the support formed on the first rotational link 210 has a second The rotation motor 240 is coupled, and the drive motor 250 is coupled to the support formed on the second rotation link 220 .

That is, the second rotational motor 240 is located between the two plates of the first rotational link 210 and is prevented from being exposed to the outside, and the driving motor 250 is located between the two plates of the second rotational link 220 and is not exposed to the outside.

In addition, the width of the two plates formed on the first pivoting link 210 is wider than the width of the two plates formed on the second pivoting link 220, and the first pivoting link 210 and the second pivoting link 220 are mutually overlapping. When rotated in the direction, the second pivoting link 220 can be inserted into the first pivoting link 210.

Through this, when the first pivoting link 210 and the second pivoting link 220 are formed in a state of being overlapped with each other, the height of the frame 100 is positioned close to the ground, so that even when driving at high speed in the driving mode, it can be moved in a stable posture.

In addition, the first rotational link 210 and the second rotational link 220 have both ends bent in the same direction rather than a straight link, and through this, the frame 100 overcomes an obstacle or a feature. Various postures can be implemented.

As shown in FIG. 3-A, when the first rotational link 210 and the second rotational link 220 are rotated to be spaced apart from each other, the bent directions are positioned in different directions, and through this, when overcoming a feature or obstacle, the position of the wheel 260 can be varied in various ways.

In addition, as shown in FIG. 3-B, when the first pivoting link 210 and the second pivoting link 220 are rotated in the overlapping direction, the bent directions are formed in the same way, so that the second pivoting link 220 is partially inserted into the first pivoting link 210 and maintained in a stable form.

The driving motor 250 is coupled to and fixed to the support formed on the second pivoting link 220, and wheels 260 positioned on the outer surface of the second pivoting link 220 are formed on both sides. The wheels 260 can be rotated.

At this time, the drive motor 250 may be configured such that a differential gear is formed therein so that the rotational speed of the wheels 260 formed on both sides rotate at different rotational speeds according to resistance generated while contacting the ground.

Through this, the four driving units 200 formed on both front and rear sides of the frame 100 are each driving unit 200 according to the position of the driving unit 200 according to the position of the driving unit 200 when the frame 100 changes direction, the frame 100 can be driven along the set direction while the rotational speed of the wheels 260 formed on 200 is varied, and damage to the wheel 260 due to friction with the ground can be minimized.

In addition, the driving motor 250 may have a brake function that prevents the wheels 260 from rotating when moving in walking mode, and through this, when climbing to the top of an obstacle or overcoming a terrain feature such as stairs, the wheels 260 are not rotated, so it is possible to move in a quadrupedal walking mode.

Of course, when a flat section exists in the walking mode, the driving motor 250 may be controlled to rotate the wheel 260 so that the vehicle can move on the wheel 260 .

In addition, it is characterized by further comprising a stopper 110 protruding outward from both sides of the upper portion of the frame 100 to limit an angle at which the first rotational link 210 is rotated by the first rotational motor 230.

The stopper 110 is composed of a rectangular plate-like structure protruding outward from the upper portions of both sides of the frame 100, and the four driving units 200 respectively formed on both front and rear surfaces of the frame 100 are rotated. It is used to limit the angle.

More precisely, the stopper 110 is formed on the top of each drive unit 200 to block foreign substances, snow, and rain falling from the top, and the first rotational link 210 is rotated by the first rotation motor 230. It blocks the angle.

Through this, since the movement of the first pivoting link 210 is restricted, unnecessary movement of the first pivoting link 210 or the second pivoting link 220 due to a driving error or malfunction is prevented from occurring and safety accidents can be prevented.

That is, when the first pivoting link 210 and the second pivoting link 220 move using the stopper 110, the operating range is limited so that they can be operated only within the designed range, so that they can be stably operated in the walking mode.

In addition, the sensing unit 300 includes a camera 310 formed on the front surface of the frame 100 to capture an obstacle or a feature, a laser sensor 320 formed on the front and lower surfaces of the frame 100 to measure the distance from the obstacle and the height of the obstacle to provide data for the driving unit 200 to overcome the obstacle, and a laser sensor 320 formed inside the frame 100 to measure the tilt or angle change generated as the frame 100 moves to drive the driving unit. It is characterized in that it includes an IMU sensor 330 (see FIG. 6) that provides data so that the frame 100 is maintained in a horizontal state through 200.

The camera 310 is located in front of the frame 100, and is used to provide visual information so that the external terminal 500 can check it by taking pictures of various obstacles or landmarks existing in front of the frame 100.

In addition, the camera 310 may be formed on the front, rear, and both sides of the frame 100, respectively, and if necessary, the camera 310 is formed on the upper part of the frame 100, and takes 360-degree images to view surrounding images at once.

The laser sensors 320 are formed on the front and lower surfaces of the frame 100, respectively, and are used to measure the distance to the obstacle and the height of the obstacle, and through this, it is possible to determine the presence or absence of the obstacle and the possibility of overcoming the obstacle.

First, the laser sensor 320 formed on the front of the frame 100 detects an obstacle in front while the frame 100 is driving and measures the distance to prevent the frame 100 from colliding with the obstacle.

When there is an obstacle in front, the first pivoting link 210 and the second pivoting link 220 of the driving unit 200 change the height of the frame 100 while unfolding. The laser sensor 320 formed in the front is located in the upper direction than the obstacle according to the height change of the frame 100, so that the laser sensor 320 formed at the lower part of the frame 100 measures the distance between the ground and the frame 100 in a state where no obstacle is detected It becomes.

That is, the frame 100 is raised to a position where an obstacle formed in front is not detected, and the height of the obstacle can be measured by measuring the distance between the frame 100 and the ground at a position where the obstacle is not detected.

Through this, it is possible to determine whether the obstacle can be overcome in the driving mode, and if it is difficult to overcome the obstacle in the driving mode, it is switched to the walking mode, and each driving unit 200 is sequentially moved to the top of the obstacle to overcome the obstacle.

The IMU sensor 330 is formed inside the frame 100 and measures the inclination state of the frame 100 so that the frame 100 is kept in a horizontal state when the frame 100 overcomes various terrain features or obstacles. It is used to control.

At this time, the control unit 400 can control in real time so that the frame 100 is maintained in a horizontal state through the driving unit 200 using the three-dimensional inclination measured through the IMU sensor 330, and the frame 100 It is possible to prevent the items loaded on the top from being damaged by falling or shaking.

In addition, since the frame 100 can be maintained in a horizontal state, it is possible to reduce the occurrence of errors when measuring the distance and height of a feature or obstacle ahead, and when checking the situation in front of the frame 100 with the camera 310 through the external terminal 500, the image is provided in a constant posture, so the user's fatigue can be reduced.

In addition, since the GPS is built-in, the current position of the frame 100 can be determined in detail, and through this, it is possible to automatically drive to the target point.

4 is a side view showing how the driving unit 200 of the deformable robot capable of moving by overcoming various geographical features according to the present invention is deformed according to an obstacle, and FIG.

As shown in FIGS. 4 and 5, the variable robot capable of moving over various terrain features according to the present invention is formed so that the height of the frame 100 can be adjusted by the first rotational link 210 and the second rotational link 220 being overlapped or spaced apart from each other by rotation in the driving mode, and in the walking mode, the first rotational link 210 and the second rotational link 220 are rotated. 200) is characterized in that each of them is sequentially moved to the top of the obstacle and can cross the obstacle.

The control unit 400 moves the driving unit 200 formed on the rear side of the corresponding driving unit 200 in the front direction according to the amount of movement of the center of gravity when one of the driving units 200 formed on the front side is rotated over the obstacle to cross the obstacle through the walking mode.

The driving unit 200 is formed to move the frame 100 by switching between a driving mode and a walking mode. The driving mode is for moving at high speed using the wheels 260, and the height of the frame 100 is maintained close to the ground.

In the driving mode, when it is difficult to move in a low posture due to the shape of a terrain feature or stones or gravel, the frame 100 is lifted from the ground using the driving unit 200 so that it can be moved at high speed in various terrains.

At this time, if there is an obstacle in front of the movement of the frame 100, the laser sensor 320 detects it, and the control unit 400 stops the wheels 260 of the driving unit 200 from rotating to prevent a collision.

In a state of separation from the obstacle, the control unit 400 independently rotates the first rotational link 210 and the second rotational link 220 formed in the driving unit 200 so that the frame 100 is higher than the obstacle.

In addition, the controller 400 stops the driving unit 200 when the obstacle is not detected by the laser sensor 320 formed in front of the frame 100, and measures the height of the current frame 100 from the ground to the lower surface of the frame 100 through the laser sensor 320 formed below the frame 100 to measure the height of the obstacle.

When the height of the obstacle is low enough for the wheel 260 to pass in the driving mode, the obstacle is passed by the rotational force of the wheel 260 in a state in which the height of the frame 100 is raised using the drive unit 200.

If the height of the obstacle is high enough that the wheel 260 cannot pass through, the control unit 400 switches to the walking mode, raises the frame 100 to a position higher than the obstacle, and then controls the four driving units 200 to sequentially move to the top of the obstacle.

For example, by rotating the front left drive unit 200 to position the wheel 260 at a higher position than the upper surface of the obstacle, the wheel 260 rotates again to the lower front surface so that the wheel 260 adheres to the upper surface of the obstacle.

Thereafter, the driving unit 200 that has risen above the obstacle remains stationary so that the wheel 260 does not rotate, and rotates the right driving unit 200 so that the wheel 260 is positioned higher than the upper surface of the obstacle.

When all the drive units 200 formed on both sides of the front side of the frame 100 are moved to the top of the obstacle, the wheels 260 of the four drive units 200 are rotated, and the drive units 200 formed on both sides of the front side of the frame 100 are moved forward along the top of the obstacle, and the drive units 200 formed on both sides of the rear side of the frame 100 move toward the front side of the obstacle and stand by.

Thereafter, the driving units 200 formed on the left and right sides of the rear surface of the frame 100 sequentially move to the top of the obstacle in the same manner as described above.

In addition, when any one of the four driving units 200 is rotated to move to the top of the obstacle, the frame 100 is supported by the three driving units 200 in contact with the ground. As the frame 100 collapses or tilts due to the movement of the center of gravity, the posture is deformed, resulting in a problem that the driving unit 200 does not stably settle on the top of the obstacle.

To this end, when one of the driving units 200 formed on both sides of the front side rotates toward the top of the obstacle, the slope is measured through the IMU sensor 330, and the driving unit 200 formed at the rear of the rotated driving unit 200 is moved forward to form a support polygon.

The support polygon is a necessary condition for maintaining balance, and means a polygon created by connecting the contact points between the drive unit 200 and the ground, and when the center of gravity of the frame 100 is located inside the support polygon, balance can be maintained.

For example, when the front left driving unit 200 is rotated toward the front upper part, the center of gravity is also changed forward, and as a result, the center of gravity moves out of position inside the support polygon, and the frame 100 collapses or tilts.

At this time, the control unit 400 controls the rear left driving unit 200 to move in the front direction when the front left driving unit 200 is rotated so that the center of gravity is located inside the support polygon to prevent the frame 100 from collapsing, and the front left driving unit 200 can be supported so as to be positioned above the obstacle in a stable posture.

6 is an exemplary diagram showing how a deformable robot capable of moving by overcoming various geographical features according to the present invention is controlled by an external terminal 500, and FIG.

As shown in FIGS. 6 and 7 , the control unit 400 of the deformable robot capable of moving over various terrain features according to the present invention can transmit and receive data to and from the external terminal 500 through the communication module 410, and the user wirelessly transmits a control signal to the control unit 400 through the external terminal 500, enabling manual operation.

At this time, the external terminal 500 and the controller 400 can communicate wirelessly using Bluetooth, and in addition, data transmitted from the controller 400 through Wi-Fi, 4G, and 5G can be viewed or manually controlled.

In addition, when the user manually controls the control unit 400, the external terminal 500 can check the position of the current frame 100 and the front situation through the camera 310 formed in front of the frame 100, and can manually operate the drive unit 200 using the operation buttons formed on the external terminal.

In addition, the control unit 400 may output information on the current rotation state of the driving unit 200 to the external terminal 500, and the user can easily control the frame 100 and the driving unit 200 by visually checking the posture and operating state displayed in three dimensions on the external terminal 500.

When an obstacle exists in front of the frame 100, the user can manually control it, but when the autopilot function for overcoming the obstacle is activated in the external terminal 500, the operation is performed automatically only up to the operation to overcome the obstacle. It can also be formed.

Of course, the autopilot function can also be used to automatically navigate to a designated route or destination.

In addition, the control unit 400 measures the tilt of the frame 100 in real time through the IMU sensor 330 and controls the driving unit 200 so that the frame 100 is maintained in a horizontal state.

The control unit 400 is formed to independently control the four driving units 200, and the tilt state of the frame 100 is three-dimensionally confirmed using the IMU sensor 330 located in the center of the frame 100. It is possible to check.

When the frame 100 moves at high speed in the driving mode by the driving unit 200, the frame 100 can be shaken by the terrain features formed on the ground, such as uneven surfaces, low ridges, stones, and gravel.

At this time, the control unit 400 rotates the driving unit 200 at the part where the tilt is generated based on the tilt measured through the IMU sensor 330 so that the frame 100 can be moved while maintaining it in a horizontal state.

In addition, even when one of the driving units 200 is caught on a chin or moves along a low slope, the control unit 400 controls the driving unit 200 to rotate in accordance with the feature, thereby keeping the frame 100 in a horizontal state.

Through this, even in the presence of various inclined surfaces, the frame 100 can maintain a horizontal state to prevent materials from falling when transporting various materials, and as it is maintained in a horizontal state, the image taken through the camera 310 can be taken at a certain angle, thereby reducing the fatigue of the user watching with the external terminal 500.

As described above, according to a variable robot that can overcome and move various features according to the present invention, it is possible to move through high speeds through high -speed driving in military training, disaster site, industrial site, etc. It is possible to prevent accidents, and the external terminal can be used to operate and manual control, and when the obstacle is detected in the direction of movement, there is an effect that can be controlled to overcome the obstacle automatically.

As described above, the present invention has been described with a focus on preferred embodiments, but those skilled in the art to which the present invention pertains do not deviate from the technical spirit and scope described in the claims of the present invention. Various modifications or variations of the present invention can be implemented. Accordingly, the scope of the present invention should be construed by the claims which are written to include examples of these many variations.

100: frame
110: stopper
200: driving unit
210: 1st rotation link
220: 2nd rotation link
230: 1st rotation motor
240: 2nd rotation motor
250: drive motor
260: wheel
300: sensing unit
310: camera
320: laser sensor
330: IMU sensor
400: control unit
410: communication module
500: external terminal

Claims (6)

A frame having an open upper portion to which various members can be mounted;
four driving units formed on both front and rear surfaces of the frame to move the frame in a driving mode and a walking mode using wheels and links;
a sensing unit formed on the frame and configured to recognize an obstacle or a feature in front and to control an operation of the driving unit;
and a control unit formed in the frame and configured to operate the driving unit according to information detected by the sensing unit or a control signal transmitted through wireless communication with an external terminal.
A transformable robot that can move by overcoming various terrain features.
According to claim 1,
the drive unit
a first rotational link having one end coupled to a side surface of the frame so as to be rotated by a first rotational motor formed inside the frame;
a second pivoting link, one side of which is formed to be axially coupled to the inside of the other end of the first pivoting link and rotated;
a second rotational motor formed inside the other end of the first rotational link and configured to rotate the second rotational link;
It is formed on the inside of the other side of the second rotation link and a drive motor formed to rotate the wheel by coupling wheels to both sides; characterized in that it consists of
A transformable robot that can move by overcoming various terrain features.
According to claim 2,
And a stopper protruding outward from both sides of the upper portion of the frame to limit an angle at which the first rotational link is rotated by the first rotational motor.
A transformable robot that can move by overcoming various terrain features.
According to claim 2,
In the driving mode, the first pivot link and the second pivot link are overlapped with each other or separated from each other by rotation to adjust the height of the frame,
In the walking mode, the four driving parts are sequentially moved to the upper part of the obstacle by the rotation of the first pivoting link and the second pivoting link, so that the obstacle can be crossed.
A transformable robot that can move by overcoming various terrain features.
According to claim 1,
The control unit
When one of the drive units formed on the front side to cross the obstacle through the walking mode is rotated over the obstacle, the drive unit formed on the rear side of the corresponding drive unit is moved in the front direction according to the amount of movement of the center of gravity to maintain balance and prevent falling down. Characterized in that
A transformable robot that can move by overcoming various terrain features.
According to claim 1,
the sensing unit
a camera configured to capture obstacles or landmarks formed on the front surface of the frame;
laser sensors formed on the front and lower surfaces of the frame to measure distances and heights of the obstacles and to provide data for the drive unit to overcome the obstacles;
An IMU sensor formed inside the frame to measure an inclination or angle change generated while the frame is moved and to provide data so that the frame is maintained in a horizontal state through the driving unit.
A transformable robot that can move by overcoming various terrain features.