WO2010013935A4 - 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇 - Google Patents
지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇 Download PDFInfo
- Publication number
- WO2010013935A4 WO2010013935A4 PCT/KR2009/004214 KR2009004214W WO2010013935A4 WO 2010013935 A4 WO2010013935 A4 WO 2010013935A4 KR 2009004214 W KR2009004214 W KR 2009004214W WO 2010013935 A4 WO2010013935 A4 WO 2010013935A4
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- WO
- WIPO (PCT)
- Prior art keywords
- mobile robot
- wheel
- auxiliary
- wheels
- main body
- Prior art date
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Classifications
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
Definitions
- the present invention relates to a small-sized mobile robot for providing a variety of high-dimensional services to human beings unlike current industrial robots, and can be utilized as a low-end device for USN (Ubiquitous Sensor Network) or URC (Ubiquitous Robotic Companion)
- USN Ubiquitous Sensor Network
- URC Ubiquitous Robotic Companion
- the auxiliary wheels are hidden inside the main body, and in the stepped terrain, the auxiliary wheels are lowered to the ground so as to be in contact with the ground to serve as supports, the auxiliary wheels can be rotated only in the advancing direction,
- the present invention relates to a small-sized mobile robot having a built-in auxiliary wheel for overcoming the terrain so as to easily overcome the terrain.
- intelligent service robots In recent years, intelligent service robots, intelligent robots, industrial robots, and intelligent robots have been developed for the purpose of applying various kinds of services to robots and robots. In the United States. In particular, robots developed for the purpose of exploration, observation, boundary, etc. Have added sensing system construction and communication technology, network technology, various motion functions, obstacle and overcoming terrestrial functions It is necessary to create robots with high functions such as obtaining reliable information and expanding the scope of activities.
- a two-wheeled mobile robot has a simple mechanism of motion and a great advantage in terms of speed and economy compared to a bipedal robot and a special type of mobile robot.
- a two-legged robot and a multi- And a robot with a special type of driving device can be manufactured at a low cost compared with existing humoidoids and various mobile robots, and has a good mobility as compared with a simple mechanism.
- Such a two-wheeled mobile robot 1 is a two-wheeled small-sized intelligent robot capable of moving and communicating unlike a conventional USN sensor node and capable of transmitting various kinds of information at a desired position in real time.
- the two-wheeled small-sized intelligent robot 1 includes two wheels 20a and 20b on both sides of the main body 10.
- the two-wheeled small intelligent robot 1 includes a PDA 30 and a PDA 30, You can check and adjust the movement (forward, backward, rotation, etc.) / stop of the robot, camera image information monitoring, etc. in the control window of the screen.
- Information may be detected.
- a control function using the remote controller (40) can be added.
- buttons forward, backward, rotation, etc.
- the obstacles that are a factor to be able to easily avoid.
- the small two-wheeled mobile robot (1) detects the generated torque due to tilting and inertia by using a gyro sensor, an acceleration sensor and an encoder for smooth movement and motion control of the system, Balance is maintained.
- a sensor for detecting obstacles and objects is built in, enabling detection of front and rear situations in real time and providing information for avoidance.
- an integrated module for video and communication is built in. It communicates with the robot and communicates with the server, and it is also possible to exchange position information while moving the robot.
- a two-wheeled small-sized intelligent robot (1) having such a superior function has a problem in that, in the case of a terrain having a threshold such as a threshold, there is a phenomenon in which two wheels are pushed backward. Therefore, in the stepped terrain, the obstacle can not be overcome and it is pushed backward, and it is not able to advance to the target point.
- the present invention has been made to solve the above-mentioned problems of the prior art, and it is an object of the present invention to provide a basic technology of a conventional intelligent robot research, reverse engineering, high-level personal service, And to provide a small mobile robot having a built-in auxiliary wheel for overcoming a high-performance terrain that can be utilized in the USN and URC industries.
- Another object of the present invention is that auxiliary wheels are hidden in a normal state, and when a topography with a step is displayed, the auxiliary wheels are lowered to overcome the steps, so that they can be easily moved in a narrow and narrow terrain, And a small mobile robot with a built-in wheel.
- the present invention provides a movable two-wheel small mobile robot capable of moving while communicating and transmitting various kinds of information at a desired position in real time
- a servomotor mounted on the main body and capable of rotating the rotation shaft in normal and reverse directions;
- a subsidiary wheel connected to a rotary shaft of the servo motor through a link portion
- auxiliary wheels are built in the main body, Wherein the auxiliary motor is configured to move in a reverse direction as a supporting member while contacting the ground surface while acting as a supporting member in a reverse direction and acting as a rotation auxiliary wheel in a forward direction so as to move beyond the step. .
- the link portion includes a first link connected at one end thereof to the rotation axis of the servomotor and a second link connected at one end thereof to the other end portion of the first link so as to be rotatable,
- the second link is rotatably connected to a hinge shaft provided on the main body, wherein the second link is rotatably attached to the main body, and the second link is rotatably connected to the hinge shaft provided on the main body.
- the present invention is preferably such that the second link is connected to the hinge shaft by forming an elongated hole in the middle, and the hinge shaft is movable along the long hole, and the small mobile robot .
- the link portion rotates the auxiliary wheel to the upper side space of the main body upward when the servo motor rotates in the first direction, and incorporates the auxiliary wheel into the main body in a second direction opposite to the first direction And the auxiliary wheel is rotated downward from the space on the upper side of the main body during rotation to closely contact the ground surface.
- the auxiliary wheel is provided with a wheel rotatably mounted on an end of a link portion, and one side rotating means is mounted on one side of the wheel.
- a small mobile robot is provided.
- the auxiliary wheel is provided with a plurality of wheels mounted on the end of the link portion so as to be rotatable, and one side rotating means is mounted on one side of the auxiliary wheel.
- a small mobile robot is provided.
- the one-direction rotating means includes a toothed member fixed to one side of the wheel, and a braking bar having an end portion engaged with the toothed member, wherein the end position of the braking bar, which is engaged with the toothed member, And the reverse rotation is prevented by allowing the forward rotation of the auxiliary wheels and preventing the reverse rotation of the auxiliary wheels.
- the present invention provides a small mobile robot with a built-in auxiliary wheel for topography.
- the one-direction rotating means includes a protrusion formed on an upper side of an end of the link portion, and the brake bar is rotatably mounted, and the protrusion protrudes to the outside of the wheel. It provides a built-in small mobile robot.
- the present invention provides a small mobile robot with a built-in auxiliary wheel for topographical features, characterized in that the wheel has a serrated rough surface on its outer circumference.
- the present invention has the following advantages.
- a complicated structure design or an auxiliary device is additionally required in order to overcome a step and a terrain.
- the auxiliary wheel is usually hidden inside the main body, The auxiliary wheels can be lowered to easily overcome the step difference, so that the mobile robot can smoothly move even in the stepped terrain through a slight structural change. Accordingly, a small and intelligent mobile robot can be constructed through a simple structure, It can be an advantage.
- auxiliary wheels can be attached so that a suitable auxiliary wheel can be selected according to the terrain, thereby enabling movement to various moving areas.
- FIG. 1 is a perspective view showing the entire structure of a two-wheel small mobile robot according to a conventional technique
- FIG. 2 is a perspective view illustrating a small mobile robot having a built-in auxiliary wheel for overcoming the terrain according to the present invention
- FIG. 3 is a detailed view of a small mobile robot having a built-in auxiliary wheel for overcoming the terrain according to the present invention, which is an exploded perspective view of the main body and the auxiliary wheel, and FIG.
- FIG. 4 is a side view of a small mobile robot having a built-in auxiliary wheel for overcoming the terrain according to the present invention, which is a) a rear side view, and b) a right side view;
- FIG. 5 is a perspective view showing a structure in which a sawtooth structure wheel is mounted on a small mobile robot having auxiliary wheels for overcoming the topography of the present invention
- FIG. 6 is an explanatory view showing a process of moving a small mobile robot having auxiliary wheels for overcoming the terrain of the present invention over the stepped terrain.
- the small mobile robot 100 with the auxiliary wheels for overcoming the terrain according to the present invention has the auxiliary wheels 120 to easily overcome the stepped terrain.
- the basic operation principle of the small mobile robot 100 having the auxiliary wheels for overcoming the terrain according to the present invention will be described.
- the small mobile robot 100 with the auxiliary wheels for overcoming the terrain moves various sensors and image devices mounted on the robot platform and senses environmental information at a desired position, It is a system to transmit information.
- the main body 110 has two main wheels 112a and 112b for movement.
- the auxiliary wheels 120 are provided at the rear of the main body 110 so as to overcome the topography formed by the steps.
- the auxiliary wheel 120 is connected to the rotary shaft 122a of the servo motor 122 disposed at the rear of the main body 110 so that the auxiliary wheel 120 is lowered from the top of the top of the main body 110, .
- the auxiliary wheel 120 rotates only in the advancing direction and rotates in the reverse direction.
- the auxiliary wheel 120 is mounted on a rear surface of the main body 110 and is operated by a servo motor 122 mounted on the main body 110.
- the servo motor 122 is rotatable about its rotation axis 122a and the auxiliary wheel 120 is connected to the rotation axis 122a of the servo motor 122 through a link unit 130.
- the link unit 130 includes a first link 132 having one end connected to the rotation axis 122a of the servo motor 122 and a second link 132 connected to the other end of the first link 132 And a second link 135, which is rotatably mounted on the other end of the auxiliary wheel 120,
- the second link 135 is longer than the first link 132 and is connected to the hinge shaft 140 provided on the main body 110 so as to be rotatable.
- the link portion 130 rotates the first rotation link 132 and rotates the second link 135 through the second link 135 when the rotary shaft 122a of the servo motor 122 rotates in the first direction, 120 are upwardly turned to the space on the upper side of the main body 110 and are embedded in the main body 110 as shown by the dotted lines in FIG.
- the first link 132 is rotated in the opposite direction and the auxiliary wheel 120 is rotated through the second link 135 in the opposite direction to the first direction, And downwardly rotated from the space on the upper side of the main body 110 to be in close contact with the ground as shown by the solid line in Fig.
- the second link 135 is formed with an elongated hole 142 in the middle and is connected to the hinge shaft 140 through which the hinge shaft 140 extends along the long hole 142 So as to be movable. 3B, even though the rotary shaft 122a of the servomotor 122 and the hinge shaft 140 are positioned on the same axis, the servo motor 122 is operated The rotation of the second link 135 becomes possible.
- the hinge shaft 140 is positioned on the side adjacent to the auxiliary wheel 120 at the long hole 142 at the solid line position of FIG. 2 and the solid line position of FIG.
- the hinge shafts (not shown) are provided on one side far from the auxiliary wheels 120 in the long holes 142 140 are positioned.
- the small mobile robot 1 with the auxiliary wheels for overcoming the terrain has the wheel 151 mounted on the end of the link part 130 so that the auxiliary wheel 120 can rotate, And the one-direction rotating means 160 is mounted on one side of the rotating shaft 151.
- the wheel 151 may have a circular disk structure, and may have a plurality of wheels 151 as shown in FIG. 2 and FIGS. 4A and 4B.
- the auxiliary wheel 120 may be rotated only in the advancing direction of the main body 110 and may be rotated in the reverse direction, that is, in the backward direction of the main body 110, When the auxiliary wheels 120 are lowered by the one-direction rotating means 160 to come into contact with the ground, they act as a support in the reverse direction and serve as rotation assist wheels in the forward direction.
- the one-direction rotating means 160 includes a toothed member 162 fixed to one side of the wheel 151, a brake bar 164 having an end engaged with the toothed member 162, .
- the end of the braking bar 164 which is engaged with the toothed member 162 is located in front of the center axis of the wheel 151 to allow forward rotation of the auxiliary wheel 120 and prevent reverse rotation.
- the one-direction rotating means 160 may form a protrusion 170 on the upper side of the end of the link portion 130 and may be installed to rotate the braking bar 164,
- the protrusion 170 protrudes to the outside of the wheel 151 '.
- the diameter of the wheel 151 'constituting the auxiliary wheel 120 may be small, and a serrated rough surface may be formed on the outer circumferential surface of the wheel 151'.
- the servomotor 122 is connected to the main microcontroller (not shown) in a form that can be remotely controlled and connected externally so as to be controllable. It comes down to the floor and is usually built in.
- the small mobile robot 100 having the auxiliary wheels 120 for overcoming the terrain according to the present invention has two main wheels 112a and 112b provided in the main body 110, ) To move to the target point.
- the user can confirm and adjust the movement (forward, backward, rotation, etc.) / stop of the robot, camera image information monitoring, and the like in the control window of the PDA screen by the wireless communication method between the PDA and the robot using Bluetooth,
- buttons forward, backward, rotation, etc. related to the movement of the robot, stoppage and additionally a speed control button, so that obstacles such as narrow space movement and movement can be easily avoided .
- the user can easily recognize the stepped terrain on the remote PDA through the camera (not shown) built in the main body 110. That is, the user removes the auxiliary wheel 120 when an image with a stepped landform K is detected in advance in the direction of the camera through the camera image.
- the auxiliary wheel 120 is inserted into the main body 110, The operator moves slightly to the downward direction. At this time, since the camera direction is slightly downward, the operator can sense the stepped terrain K well. Based on this, the operator can remotely control the servo via the PDA or the remote controller
- the motor 122 is operated to lower the auxiliary wheels 120 to the ground. Needless to say, the operator can arbitrarily lower the auxiliary wheels by using a controller or the like.
- the servo motor 122 operates to move the auxiliary wheels 120 built in the rear end of the main body 110 to the rear floor in advance Then, the auxiliary wheel 120 approaches the stepped terrain in a state of being lowered.
- the auxiliary wheel 120 which is designed to be rotatable only in the advancing direction by the one-direction rotating means 160, is configured such that when the two main wheels 112a, 112b are pushed backward by the vertical stepped top K, And serves as a support in the rear.
- the auxiliary wheel 120 when the two main wheels 112a and 112b approach the vertical step surface, the auxiliary wheel 120 finally acts as a support for supporting the reaction force of the two main wheels 112a and 112b pushed rearward Whereby the two main wheels 112a and 112b are raised on the stepped vertical surface.
- the brake bar 164 is caught by the toothed member 162 and the reverse of the auxiliary wheel 120 Prevent rotation. Therefore, the main body 110 is not pushed rearward, but is brought into close contact with the step, and falls over the step by the rotation of the main wheels 112a and 112b.
- a reaction force is generated in the opposite direction by a force in the advancing direction of the two main wheels 112a and 112b, and a force relationship is formed between the auxiliary wheel 120 and the ground by the reaction force component. That is, the reaction force component is formed in the opposite direction by the component of the force acting on the ground in the auxiliary wheel 120, which acts as a propelling force by acting on the direction in which the main body 110 advances. Therefore, the auxiliary wheel 120 functions to push the robot from the rear side of the small mobile robot, thereby assisting the force required to overcome the step difference.
- the complex structure design or the auxiliary devices are additionally required in order to overcome the step and the terrain, but in the present invention, the auxiliary wheel 120 is hidden in the main body 110 When the stepped terrain (K) appears, the auxiliary wheels are lowered to easily overcome the steps. Therefore, the present invention can smoothly move even in the stepped terrain K through a slight change in a simple form with the auxiliary wheels 120 attached thereto, and thus can be manufactured in a compact structure, thereby providing a great advantage in terms of economy .
- the present invention can attach various types of auxiliary wheels 120 such as saw teeth, so that it is possible to select suitable auxiliary wheels 120 according to the terrain, and to move to various areas through this.
- the present invention not only smoothly moves in steps and special terrain as described above, but also provides environmental information and obstacle information through communication during movement to a target position, and thus can be applied to various fields of mobile robots. According to the present invention, it is possible to overcome the disadvantages of the existing two-wheeled intelligent mobile robot and easily overcome the stepped topography K, thereby providing a new and highly functional small-sized mobile robot with a built-in auxiliary wheel 120.
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Abstract
Description
Claims (8)
- 이동하면서 통신이 가능하고 원하는 위치에서의 각종 정보를 실시간으로 전달할 수 있는 이동 가능한 2바퀴 소형 모바일 로봇에 있어서,2개의 주 바퀴가 양측에 배치된 본체;상기 본체에 탑재되어 그 회전축이 정역회전가능한 서보 모터;상기 서보 모터의 회전축에 링크 부를 통하여 연결된 보조 바퀴; 및상기 보조 바퀴에 부착되어 보조 바퀴의 진행 순방향으로만 회전이 가능하고, 역방향으로의 회전을 방지하는 일 방향 회전수단;을 포함하여 평상시에는 본체 내에 보조바퀴가 내장되어 있다가, 단차 지형에서는 보조바퀴가 내려져 지면에 접촉을 하면서 역방향으로는 지지대의 역할을 하고, 순방향으로는 회전 보조바퀴로 작용하여 단차를 넘어 이동하도록 구성된 것임을 특징으로 하는 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇.
- 제1항에 있어서, 상기 링크 부는 상기 서보 모터의 회전축에 일측 단부가 연결된 제1 링크와, 상기 제1 링크의 타측 단부에 그 일측 단부가 회전가능하도록 연결되고, 타측 단부에는 상기 보조 바퀴가 회전가능하도록 장착된 제2 링크를 포함하며, 상기 제2 링크는 상기 본체에 마련된 힌지 축에 회전가능하도록 연결된 것임을 특징으로 하는 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇.
- 제2항에 있어서, 상기 제2 링크는 중간에 긴 구멍을 형성하여 힌지 축에 연결되며, 상기 힌지 축은 긴 구멍을 따라서 이동가능한 것임을 특징으로 하는 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇.
- 제2항에 있어서, 상기 링크 부는 서보 모터의 제1 방향 회전시, 보조 바퀴를 본체의 상부측 공간으로 상향 회전시켜 본체의 내부에 내장시키고, 상기 제1 방향과는 반대 방향인 제2 방향 회전시 보조 바퀴를 본체의 상부측 공간으로부터 하향 회전시켜 지면에 밀착시키는 것임을 특징으로 하는 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇.
- 제1항에 있어서, 상기 보조 바퀴는 링크 부의 끝단에 회전가능하도록 장착된 휠을 갖추고, 그 휠의 일 측면에 일 방향 회전수단이 장착된 것임을 특징으로 하는 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇.
- 제1항에 있어서, 상기 보조 바퀴는 링크 부의 끝단에 회전가능하도록 장착된 복수의 휠을 갖추고, 그 일 측면에 일 방향 회전수단이 장착된 것임을 특징으로 하는 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇.
- 제5항 또는 제6항에 있어서, 상기 일 방향 회전수단은 휠의 일측면에 고정된 톱니 부재와, 상기 톱니 부재에 단부가 걸리는 제동 바를 포함하고, 상기 제동 바는 톱니 부재에 걸리는 그 끝단 위치가 상기 휠의 중심축 전방에 위치됨으로써 보조 바퀴의 순방향 회전을 허용하고 역방향 회전을 방지하는 것임을 특징으로 하는 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇.
- 제8항에 있어서, 상기 휠은 그 외주 면에 톱니 형의 거친 면이 형성된 것임을 특징으로 하는 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇.
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 |
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KR1020080075647A KR101017924B1 (ko) | 2008-08-01 | 2008-08-01 | 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇 |
KR10-2008-0075647 | 2008-08-01 |
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WO2010013935A2 WO2010013935A2 (ko) | 2010-02-04 |
WO2010013935A3 WO2010013935A3 (ko) | 2010-06-10 |
WO2010013935A4 true WO2010013935A4 (ko) | 2010-07-29 |
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PCT/KR2009/004214 WO2010013935A2 (ko) | 2008-08-01 | 2009-07-29 | 지형극복을 위한 보조 바퀴가 내장된 소형 모바일로봇 |
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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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-
2008
- 2008-08-01 KR KR1020080075647A patent/KR101017924B1/ko not_active IP Right Cessation
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2009
- 2009-07-29 EP EP09803140.4A patent/EP2319663A4/en not_active Withdrawn
- 2009-07-29 CN CN2009801282534A patent/CN102099157B/zh not_active Expired - Fee Related
- 2009-07-29 WO PCT/KR2009/004214 patent/WO2010013935A2/ko active Application Filing
- 2009-07-29 JP JP2011521021A patent/JP4819982B1/ja not_active Expired - Fee Related
- 2009-07-29 US US13/057,129 patent/US8162351B2/en not_active Expired - Fee Related
- 2009-07-31 TW TW098125772A patent/TWI377144B/zh not_active IP Right Cessation
Also Published As
Publication number | Publication date |
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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 |
WO2010013935A2 (ko) | 2010-02-04 |
WO2010013935A3 (ko) | 2010-06-10 |
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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