WO2010013935A3 - 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇 - Google Patents

지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇 Download PDF

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Publication number
WO2010013935A3
WO2010013935A3 PCT/KR2009/004214 KR2009004214W WO2010013935A3 WO 2010013935 A3 WO2010013935 A3 WO 2010013935A3 KR 2009004214 W KR2009004214 W KR 2009004214W WO 2010013935 A3 WO2010013935 A3 WO 2010013935A3
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WO
WIPO (PCT)
Prior art keywords
mobile robot
small mobile
robot
wheels
present
Prior art date
Application number
PCT/KR2009/004214
Other languages
English (en)
French (fr)
Other versions
WO2010013935A4 (ko
WO2010013935A2 (ko
Inventor
이소영
강정호
김민규
Original Assignee
호야로봇(주)
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 호야로봇(주) filed Critical 호야로봇(주)
Priority to CN2009801282534A priority Critical patent/CN102099157B/zh
Priority to US13/057,129 priority patent/US8162351B2/en
Priority to JP2011521021A priority patent/JP4819982B1/ja
Priority to EP09803140.4A priority patent/EP2319663A4/en
Publication of WO2010013935A2 publication Critical patent/WO2010013935A2/ko
Publication of WO2010013935A3 publication Critical patent/WO2010013935A3/ko
Publication of WO2010013935A4 publication Critical patent/WO2010013935A4/ko

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Toys (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

본 발명은 두 개의 바퀴로 자세를 유지하면서 전후좌우 움직임을 갖는 소형 모바일로봇으로서, 내부에 보조바퀴를 두어 지형적 단차를 극복하도록 구성한 소형 모바일로봇 시스템이다. 본 발명의 소형 모바일로봇에 구비된 보조바퀴는 서보모터에 부착된 형태로 원격조정에 의해서 서보모터를 구동하고 바퀴가 필요한 위치로 이동하는 형태로, 평상 시 주행 때는 로봇 내부에 숨겨져 있다가, 단차가 있는 지형이 나타나면 보조바퀴는 바닥과 접촉이 되도록 내려진 후, 주 바퀴가 높은 지형을 오를 때 뒤쪽에서 받치는 지지대 역할을 수행하게 된다. 또한, 본 발명의 소형 모바일로봇은 장애물 감지를 위한 센서와 제어모듈을 구축하여 목표 지점까지 이동하는데, 장애물을 회피하여 이동 가능한 특징을 가지고 있으며, 이동 중 로봇 간의 무선 통신을 통하여 위치를 파악할 수 있는 기능과, 카메라를 통한 환경정보를 전달하는 기능을 포함하고 있다. 본 발명의 소형 모바일로봇은 보조바퀴를 부착한 형태로 약간의 변화를 통하여 단차 지형에서도 이동을 원활하게 할 수 있으며, 그에 따라서 간단한 구조를 통하여 경제적인 측면에서 큰 장점이 될 수 있다.
PCT/KR2009/004214 2008-08-01 2009-07-29 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇 WO2010013935A2 (ko)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN2009801282534A CN102099157B (zh) 2008-08-01 2009-07-29 内置有用于克服地形的辅助轮的小型移动机器人
US13/057,129 US8162351B2 (en) 2008-08-01 2009-07-29 Small mobile robot with built-in auxiliary wheel for overcoming topography
JP2011521021A JP4819982B1 (ja) 2008-08-01 2009-07-29 地形克服用補助車輪が内蔵された小型モバイルロボット
EP09803140.4A EP2319663A4 (en) 2008-08-01 2009-07-29 SMALL MOBILE ROBOT WITH INTEGRATED AUXILIARY WHEEL TO CROSS TOPOGRAPHIC BARRIERS

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020080075647A KR101017924B1 (ko) 2008-08-01 2008-08-01 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇
KR10-2008-0075647 2008-08-01

Publications (3)

Publication Number Publication Date
WO2010013935A2 WO2010013935A2 (ko) 2010-02-04
WO2010013935A3 true WO2010013935A3 (ko) 2010-06-10
WO2010013935A4 WO2010013935A4 (ko) 2010-07-29

Family

ID=41610843

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2009/004214 WO2010013935A2 (ko) 2008-08-01 2009-07-29 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇

Country Status (7)

Country Link
US (1) US8162351B2 (ko)
EP (1) EP2319663A4 (ko)
JP (1) JP4819982B1 (ko)
KR (1) KR101017924B1 (ko)
CN (1) CN102099157B (ko)
TW (1) TWI377144B (ko)
WO (1) WO2010013935A2 (ko)

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Publication number Publication date
KR20100013905A (ko) 2010-02-10
TW201006715A (en) 2010-02-16
CN102099157A (zh) 2011-06-15
KR101017924B1 (ko) 2011-03-04
EP2319663A2 (en) 2011-05-11
WO2010013935A4 (ko) 2010-07-29
WO2010013935A2 (ko) 2010-02-04
EP2319663A4 (en) 2014-01-22
US20110132671A1 (en) 2011-06-09
TWI377144B (en) 2012-11-21
US8162351B2 (en) 2012-04-24
CN102099157B (zh) 2013-02-13
JP2011529799A (ja) 2011-12-15
JP4819982B1 (ja) 2011-11-24

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