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WO2019074276A1 - Robot mobile et robot de chariot le comprenant - Google Patents

Robot mobile et robot de chariot le comprenant Download PDF

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Publication number
WO2019074276A1
WO2019074276A1 PCT/KR2018/011920 KR2018011920W WO2019074276A1 WO 2019074276 A1 WO2019074276 A1 WO 2019074276A1 KR 2018011920 W KR2018011920 W KR 2018011920W WO 2019074276 A1 WO2019074276 A1 WO 2019074276A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving
disposed
unit
mobile robot
robot
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/KR2018/011920
Other languages
English (en)
Korean (ko)
Inventor
김민수
박창우
유동훈
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Naver Labs Corp
Original Assignee
Naver Labs Corp
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 Naver Labs Corp filed Critical Naver Labs Corp
Publication of WO2019074276A1 publication Critical patent/WO2019074276A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • 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
    • B25J19/0091—Shock absorbers
    • 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
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway

Definitions

  • the present invention relates to a robot, and more particularly, to a mobile robot and a transportation robot capable of automatically transporting objects after they are loaded.
  • a movable cart can be used when loading objects.
  • the cart can stack objects, and the cart with the objects stacked thereon can be controlled by the user or moved by the force of the user. At this time, the cart can not measure the degree of lamination of the objects, and the user must visually confirm.
  • the conventional mobile robot and the carrying robot are merely movable, they are used to move only one object.
  • the conventional mobile robot and the carrying robot have to directly operate the user, it may take a long time.
  • an object of the present invention is to provide a mobile robot and a carrying robot capable of carrying objects at the same time.
  • these problems are exemplary and do not limit the scope of the present invention.
  • a portable robot comprising: a housing part in which objects are stacked; and a mobile robot disposed in the housing part and linearly moving along the housing part, wherein the mobile robot includes a body part, And a driving unit disposed in the body unit and contacting the inner surface of the receiving unit to move the body unit along the inner surface of the receiving unit.
  • Embodiments of the present invention can automatically determine whether or not a product is loaded, and temporarily store a plurality of products. Further, the embodiments of the present invention can autonomously travel in a space corresponding to the position of the object.
  • FIG. 1 is a front view showing a carrying robot according to an embodiment of the present invention.
  • FIG. 2 is a perspective view showing the mobile robot of the carrying robot shown in FIG. 1.
  • FIG. 2 is a perspective view showing the mobile robot of the carrying robot shown in FIG. 1.
  • FIG. 3 is a perspective view showing a part of the mobile robot shown in FIG.
  • FIG. 4 is a perspective view showing the first engaging part shown in FIG. 2.
  • FIG. 4 is a perspective view showing the first engaging part shown in FIG. 2.
  • FIG. 5 is a block diagram showing the control flow of the transportation robot shown in FIG. 1.
  • FIG. 5 is a block diagram showing the control flow of the transportation robot shown in FIG. 1.
  • a portable robot comprising: a housing part in which objects are stacked; and a mobile robot disposed in the housing part and linearly moving along the housing part, wherein the mobile robot includes a body part, And a driving unit disposed in the body unit and contacting the inner surface of the receiving unit to move the body unit along the inner surface of the receiving unit.
  • the plurality of driving units may be arranged such that the angles between adjacent driving units measured with respect to the center of the body are equal to each other.
  • the driving unit may include a driving force generating unit disposed in the body unit and a driving roller connected to the driving force generating unit and rotating according to the operation of the driving force generating unit.
  • a plurality of driving rollers may be provided, and at least two of the plurality of driving rollers may be arranged to be symmetrical with respect to the driving force generating portion.
  • the mobile robot may further include a guide roller disposed on the body portion and contacting the inner surface of the storage portion.
  • a plurality of the guide rollers may be provided, and at least two of the plurality of guide rollers may be arranged to be symmetrical with respect to the body portion.
  • a plurality of the guide rollers may be provided, and the plurality of guide rollers may be arranged in a straight line in the traveling direction of the mobile robot.
  • the plurality of guide rollers may be arranged so that the angle between the guide rollers adjacent to each other measured with respect to the center of the body is equal to each other.
  • the mobile robot may further include a support disposed on the body and on which the object is seated.
  • the mobile robot may further include a force unit which is disposed on the body and is connected to the driving unit to apply the driving force to the inner surface of the receiving unit.
  • the pressing portion may include an elastic portion disposed between the body portion and the driving portion and an adjusting portion disposed to be rotatable with respect to the body portion or the driving portion to adjust an elastic force of the elastic portion.
  • the mobile robot may further include a damper part disposed in the body part and absorbing impact applied to the body part when the body part moves.
  • the apparatus may further include a first sensing unit disposed on a bottom surface of the storage unit for sensing a position of the body unit.
  • the apparatus may further include a second sensing unit disposed at an opened portion of the storage unit and sensing whether the object is loaded or the position of the body.
  • the second sensing unit may include a first sub sensing unit disposed at an opened portion of the storage unit and a second sensing unit disposed at the receiving unit to be spaced apart from the first sub sensing unit.
  • the mobile robot may further include an autonomous mobile robot on which the storage unit is mounted.
  • a portable electronic device comprising: a body; at least two driving parts disposed in the body part and contacting the structure to linearly move the body part along the inner surface of the structure; And a guide roller which is disposed on the body and contacts the inner surface of the body to prevent tilting of the body when the body is moved.
  • FIG. 1 The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
  • FIG. 1 is a front view showing a carrying robot according to an embodiment of the present invention.
  • the carrying robot 10 includes a receiving unit 100, a mobile robot 200, a traveling robot 300, a first sensing unit 400, a second sensing unit 500, and a transmitting unit 600 ).
  • a space is formed in the storage part 100 so that an object can be stored.
  • the mobile robot 200 is arranged to be inserted into a structure having an internal space, and can linearly move inside the structure.
  • the mobile robot 200 is disposed inside the storage unit 100 and can linearly move along the inner surface of the storage unit 100.
  • the mobile robot 200 may be arranged on the inner surface of a chimney, a duct in a building, or the like and linearly moved.
  • the mobile robot 200 is not limited to the above, but may include a case where the mobile robot 200 is arranged in a building, a structure, or the like in which an internal space is formed and performs linear motion.
  • the mobile robot 200 will be described in detail with reference to a case where the robot 200 is disposed inside the storage unit 100.
  • FIG. 1 For convenience of explanation, the mobile robot 200 will be described in detail with reference to a case where the robot 200 is disposed inside the storage unit 100.
  • the traveling robot 300 can seat the receiving part 100 and can perform autonomous traveling.
  • the traveling robot 300 includes a case 310 forming an outer appearance, a wheel 320 rotatably arranged in the case 310, a case 310 disposed inside the case 310 and connected to the wheel 320, And a wheel driving unit (not shown) that rotates the driving wheels 320.
  • the traveling robot 300 is disposed in the case 310 and detects an external environment.
  • the traveling robot 300 includes a traveling robot electric supply unit (not shown) disposed inside the case 310 and supplying electric energy to the wheel driving unit Time).
  • the traveling robot 300 is disposed inside the case 310 and includes a traveling robot controller (not shown) for controlling at least one of the wheel driving unit and the traveling robot electric supply unit, a traveling robot controller And a traveling robot communication module (not shown) connected to the outside and communicating with the outside.
  • the traveling robot 300 is not limited to the above-described configuration, and may further include a configuration such as a separate sensor necessary for autonomous travel.
  • the receiving portion 100 may include a receiving body portion 110 and a receiving portion 120.
  • the storage body 110 may have a space formed therein. At this time, a part of the housing body 110 may be formed to be open.
  • the receiving portion 120 may be disposed on the bottom surface of the receiving body portion 110. At this time, the receiving portion 120 may be disposed to be spaced apart from the bottom surface of the receiving body 110.
  • the first sensing unit 400 may be disposed on the bottom surface of the storage unit 100. At this time, the first sensing unit 400 may be disposed in the receiving unit 120 to sense the position of the mobile robot (not shown).
  • the first sensing unit 400 may include various types of sensors.
  • the first sensing unit 400 may include a photosensor, a laser sensor, an ultrasonic sensor, or the like for measuring the position of the mobile robot or the distance from the receiving unit 120 to the mobile robot. At this time, the first sensing unit 400 can sense the position of the mobile robot in a non-contact manner.
  • the first sensing unit 400 may include a contact sensor such as a limit switch or the like for generating a signal when the first sensing unit 400 contacts the mobile robot.
  • the first sensing unit 400 includes a limit switch for convenience of explanation.
  • the first sensing unit 400 may generate a signal when the storage unit 100 is full of objects. Specifically, when the storage unit 100 is full of objects, the mobile robot can contact the first sensing unit 400, and the first sensing unit 400 can generate a signal when the sensing unit 400 contacts the mobile robot have.
  • the second sensing unit 500 may be disposed in the storage unit 100 to sense the position of the mobile robot or whether the object is loaded. At this time, the second sensing unit 500 may be disposed at the opened portion of the storage unit 100.
  • the second sensing unit 500 may include a photosensor, a laser sensor, an ultrasonic sensor, and the like. Hereinafter, the second sensing unit 500 includes a photosensor for convenience of explanation.
  • the second sensing unit 500 may include a light emitting unit that emits light to the outside and a light receiving unit that receives light that is emitted from the light emitting unit and is reflected by an external object. In another embodiment, the light receiving unit may sense light emitted from the light emitting unit. At this time, the light emitting portion and the light receiving portion may be arranged to face each other.
  • At least one second sensing unit 500 may be provided.
  • the plurality of second sensing units 500 may be disposed in the receiving unit 100 to be spaced apart from each other.
  • the plurality of second sensing portions 500 may be spaced apart from the bottom surface of the receiving portion 100 toward the opening direction of the receiving portion 100.
  • the two second sensing portions 500 may be spaced apart from each other in an opened portion of the storage portion 100.
  • the plurality of second sensing units 500 may include a first sub sensing unit 510 and a second sub sensing unit 520 spaced apart from the first sub sensing unit 510.
  • the first sub sensing unit 510 may be disposed farther from the bottom surface of the receiving unit 100 than the second sub sensing unit 520.
  • the second sensing unit 500 may sense the position of the object and the position of the mobile robot. For example, light emitted from the light emitting unit of the second sensing unit 500 may not be detected or detected by the light receiving unit. At this time, the light receiving unit may generate a signal when the light is not detected or when the light is detected.
  • the first sensing unit 400 and the second sensing unit 500 may be connected to a power source (not shown) for supplying a separate electric energy.
  • the power source may be coupled to the storage unit 100 through a separate case.
  • the power source may include a secondary battery, a primary battery, and the like.
  • the first sensing unit 400 and the second sensing unit 500 may be connected to a transmitting unit 600 for transmitting a signal to the outside.
  • the sending unit 600 may transmit signals generated in at least one of the first sensing unit 400 and the second sensing unit 500 to the outside.
  • the transmitting unit 600 may be connected to the outside in a wired or wireless manner.
  • the traveling robot 300 can autonomously travel while sensing the surrounding environment.
  • the user can store the object inside the storage unit 100.
  • the mobile robot 200 can linearly move along the inner surface of the storage unit 100 according to the storage of objects.
  • the user can stack a plurality of objects on the mobile robot 200 and store the objects in the storage unit 100.
  • the traveling robot 300 can move to a preset target point along the predetermined route. At this time, the traveling robot 300 can sense the surrounding environment by itself, determine the traveling path and the traveling direction, and can autonomously run.
  • the carrying robot 10 can transfer the object to a desired position through self-running after the object is housed. Further, the carrying robot 10 is capable of temporarily storing and transporting a plurality of objects.
  • the carrying robot 10 is capable of storing or carrying objects without the user's involvement.
  • FIG. 2 is a perspective view showing the mobile robot of the carrying robot shown in FIG. 1.
  • FIG. 3 is a perspective view showing a part of the mobile robot shown in FIG.
  • FIG. 4 is a perspective view showing the first engaging part shown in FIG. 2.
  • the mobile robot 200 includes a body part 210, a driving part 220, a guide roller 230, a support part 240, a force part 250 and a damper part 260 can do.
  • the body 210 may include a driving unit 220, a guide roller 230, a support unit 240, a force unit 250, and a damper unit 260. At this time, a space may be formed in the body 210.
  • the body 210 may be formed in various shapes.
  • the body 210 may be polygonal, such as a square pillar.
  • the body 210 may be in the form of a cylinder or an elliptical column.
  • the shape of the body part 210 is not limited to the above, and the rim of the body part 210 may be formed to be the same as or similar to the shape of the inner surface of the storage part (not shown).
  • the body 210 may have a plurality of frames coupled together.
  • the body 210 may have a plurality of plates coupled together.
  • the driving part 220 may be disposed on the body part 210 and may move the body part 210 along the inner surface of the receiving part. At this time, the driving unit 220 is in close contact with the inner surface of the storage unit, so that the driving unit 220 can support the body unit 210 through the frictional force with the inner surface of the storage unit.
  • At least one driving unit 220 may be provided in the body 210.
  • a plurality of driving units 220 are disposed on the body 210 will be described in detail.
  • the plurality of driving units 220 may be disposed on the outer surface of the body 210 so as to be spaced apart from each other and may contact the inner surface of the receiving unit. At this time, the plurality of driving units 220 may be disposed at the same angle with respect to the center of the body 210. Particularly, the angles of the driving units 220 adjacent to each other among the plurality of driving units 220 based on the center of the body 210 and the reference may be the same in the plurality of the driving units 220. In this case, the plurality of driving units 220 may be spaced apart from each other along the rim of the body 210.
  • the plurality of driving units 220 may include a first driving unit 221, a second driving unit 222, a third driving unit 223, and a fourth driving unit 224.
  • each of the first to fourth driving units 221 to 224 may be disposed at each side of the body 210.
  • each of the first to fourth driving units 221 to 224 may be disposed at the center of each side of the body 210. Since the first to fourth driving units 221 to 224 are the same or similar to each other, the first driving unit 221 will be described in detail below for convenience of explanation.
  • the first driving unit 221 may be disposed to be linearly movable with respect to the body 210.
  • the first driving unit 221 may include a first driving force generating unit 221a, a first driving roller 221b, and a first fixed housing 221c.
  • the first driving force generation unit 221a may include a motor that generates a rotational force.
  • the first driving force generation unit 221a may include a speed reducer connected to the motor in addition to the motor.
  • the first driving roller 221b may be connected to the first driving force generating portion 221a and rotated when the first driving force generating portion 221a operates.
  • the first driving roller 221b has a first driving roller body part 221b-1 connected to the first driving force generating part 221a and a second driving roller body part 221b-1 disposed on the surface of the first driving roller body part 221b- And a first driving roller friction portion 221b-2.
  • the first driving roller body portion 221b-1 may be shaped like a wheel.
  • the first driving roller friction portion 221b-2 may include a material which does not slip due to friction with the inner surface of the receiving portion such as urethane, silicone rubber, synthetic resin, or the like.
  • the first driving roller friction portion 221b-2 may be disposed so as to surround the outer surface of the first driving roller body portion 221b-1.
  • a plurality of first driving roller friction parts 221b-2 may be provided, and a plurality of first driving roller friction parts 221b-2 may include a first driving roller body part 221b-1, It is also possible to arrange them so as to be spaced apart from each other on the outer surface.
  • the first driving roller friction portion 221b-2 is disposed to surround the outer surface of the first driving roller body portion 221b-1 .
  • a plurality of first driving rollers 221b may be provided. At this time, at least two of the plurality of first driving rollers 221b may be arranged to be symmetrical with respect to the first driving force generating portion 221a.
  • one of the two first driving rollers 221b may be disposed on one side of the first driving force generating portion 221a, The other one of the first driving rollers 221b may be arranged to face one of the two first driving rollers 221b with respect to the first driving force generating portion 221a.
  • one of the plurality of first driving rollers 221b may be disposed at the same position as the first driving force generating portion 221a, The other one of the driving rollers 221b is disposed on one side of the first driving force generating portion 221a and the other one of the plurality of first driving rollers 221b is disposed on the basis of the first driving force generating portion 221a And may face the other one of the plurality of first driving rollers 221b.
  • the plurality of first driving rollers 221b may be arranged on the same plane, and may be connected to the first driving force generating portion 221a to rotate at the same speed.
  • the first drive roller 221b will be described in detail with two drives.
  • the first driving force generating portion 221a may be inserted into the first fixed housing 221c.
  • the first fixed housing 221c may be coupled with the body 210 to fix the first driving force generating portion 221a to the body 210.
  • the first fixed housing 221c can linearly move along the body 210 according to the position of the first driving roller 221b.
  • the position of the first driving roller 221b may vary depending on the external force, and the position of the first driving roller 221b may vary depending on the curvature of the inner wall of the receiving portion 100.
  • a guide hole 211 is formed in the body 210, and a bolt, a screw, and a pin are inserted into the guide hole 211 so that the first fixing housing 221c can linearly move. You can connect.
  • the guide hole 211 may be formed in a long hole shape.
  • the guide roller 230 may be disposed on the body 210 and may contact the inner surface of the storage portion. At this time, the guide roller 230 can rotate according to the operation of the driving unit 220.
  • a plurality of guide rollers 230 may be provided.
  • the plurality of guide rollers 230 may be disposed on the rim of the body 210, and the plurality of guide rollers 230 may be spaced apart from each other.
  • the angle between the adjacent guide rollers 230 among the plurality of guide rollers 230 with respect to the center of the body 210 may be the same in the plurality of guide rollers 230. That is, the plurality of guide rollers 230 may be spaced apart from each other by the same distance.
  • the plurality of guide rollers 230 may include a first guide roller 231, a second guide roller 232, a third guide roller 233, and a fourth guide roller 234 which are spaced apart from each other.
  • the first guide roller 231, the second guide roller 232, the third guide roller 233, and the fourth guide roller 234 may be disposed at the corner portions of the body portion 210, respectively. Since the first guide roller 231 to the fourth guide roller 234 are the same or similar to each other, the first guide roller 231 will be described in detail.
  • the first guide roller 231 may be disposed between the first driving unit 221 and the second driving unit 222. At this time, a plurality of first guide rollers 231 may be provided. The plurality of first guide rollers 231 may be arranged in a line with respect to the running direction of the body 210. At least two of the plurality of first guide rollers 231 may be disposed symmetrically with respect to the body 210. For example, when there are two first guide rollers 231, one of the two first guide rollers 231 may be disposed on the upper surface of the body 210, and two first guide rollers 231 May be disposed on the lower surface of the body 210.
  • one of the three first guide rollers 231 may be disposed on the same plane as the body 210, (231) may be disposed on the upper and lower surfaces of the body 210, respectively.
  • the direction in which the plurality of first guide rollers 231 are arranged and the direction in which the plurality of first driving rollers 221b are arranged can form a certain angle with each other.
  • the direction in which the plurality of first guide rollers 231 are arranged may be perpendicular to the direction in which the plurality of first driving rollers 221b are arranged.
  • the first driving roller 221b and the first guide roller 231 are disposed to prevent the body 210 from rotating or shaking.
  • the support portion 240 may be connected to the body portion 210.
  • the support part 240 may be formed in a plate shape, and may be disposed apart from one surface of the body part 210 to support the object by seating the object.
  • the surface of the support part 240 may be formed with a request to prevent the object from slipping, or may be coated with a material having a large frictional force such as rubber, silicon, or the like.
  • a groove may be formed on one side of the support portion 240 on which the article is placed to insert the article.
  • the engaging part 250 may be disposed between the body part 210 and the driving part 220.
  • a plurality of the engaging portions 250 may be provided.
  • the plurality of engaging portions 250 may include a first engaging portion 251 disposed between the body portion 210 and the first driving portion 221, a second engaging portion 251 disposed between the body portion 210 and the second driving portion 222, (Not shown) arranged between the body part 210 and the third driving part 223 and a third pressing part (not shown) disposed between the body part 210 and the fourth driving part 224 And a fourth engaging portion 254 disposed therein.
  • the first to fourth engaging portions 251 to 254 are the same or similar to each other, and therefore, the first engaging portion 251 will be described in detail below for convenience of explanation.
  • the first engaging part 251 can move the first driving part 221 in a direction away from the body part 210.
  • the first pressing part 251 includes a first elastic part 251b disposed between the body part 210 and the first driving part 221 and a first adjusting part 251b adjusting the elastic force of the first elastic part 251b.
  • Lt; RTI ID 0.0 > 251a. ≪ / RTI >
  • the first driving unit 221 provides an elastic force to the first driving unit 221 to prevent the first driving unit 221 from being disengaged from the receiving unit 100 can do.
  • the first elastic portion 251b may be formed in various shapes.
  • the first elastic portion 251b may include a coil spring.
  • the first elastic portion 251b may be in the form of a bar formed of an elastic material such as urethane, rubber, or silicone.
  • the first elastic portion 251b includes a coil spring for convenience of explanation.
  • the first adjuster 251a may be rotatably disposed on one of the body 210 and the first driver 221. [ Hereinafter, the first adjuster 251a is rotatably coupled to the body 210 for convenience of explanation.
  • the first adjuster 251a may be partially inserted into the body 210 and the length of the first adjuster 251 protruding from the body 210 may vary.
  • the length of the first adjustment portion 251a inserted into the body portion 210 and inserted into the body portion 210 may be variable.
  • the first adjusting unit 251a will be described in detail with respect to a case where the length of the first adjusting unit 251 protruding from the body 210 is varied by rotation.
  • the length of the first elastic part 251b can be adjusted by adjusting the length of the first adjustment part 251a protruding from the body part 210.
  • the elastic force of the first elastic portion 251b can be varied by varying the length of the first elastic portion 251b.
  • the elasticity of the first elastic portion 251b varies so that the first driving portion 221 can be moved to the inner surface of the receiving portion 251b by the first elastic portion 251b, It is possible to control the force to apply the force.
  • the first adjusting portion 251a may have a portion protruding from the first elastic portion 251b.
  • the first adjusting portion 251a may have a portion protruding in the circumferential direction to support one end of the first elastic portion 251b.
  • the first pressing portion 251 may further include a first protrusion 251c disposed to face the first adjusting portion 251a and into which the first elastic portion 251b is inserted. At this time, the first protrusion 251c can guide the movement of the first elastic part 251b when the length of the first elastic part 251b is variable, and the displacement of the first elastic part 251b can be prevented have.
  • the first protrusion 251c may be disposed in the first driving unit 221 when the first adjusting unit 251a is coupled to the body 210.
  • the first protrusion 251c may be integrally formed with the first fixing housing 221c and protrude from the first fixing housing 221c toward the first adjusting portion 251a.
  • the first protrusion 251c may be disposed on the body 210 when the first adjuster 251a is coupled to the first driver 221.
  • the first protrusion 251c may protrude from the portion of the body 210 toward the first adjuster 251a.
  • the damper part 260 is disposed on the body part 210 to prevent the body part 210 from colliding with the bottom surface of the storage part when the body part 210 moves to the bottom surface of the storage part, It is possible to absorb the impact applied on the bottom surface.
  • a plurality of damper portions 260 may be provided, and a plurality of damper portions 260 may be disposed on the body portion 210 to be spaced apart from each other.
  • the damper portion 260 may be in various forms.
  • the damper portion 260 may include a hydraulic damper, a pneumatic damper, a spring, and the like.
  • the mobile robot 200 may include a mobile robot power unit (not shown), a mobile robot controller (not shown), a mobile robot communication module (not shown), and the like, which are disposed inside the body 210 in addition to the above- .
  • the mobile robot power unit may include a secondary battery
  • the mobile robot controller may include a circuit board, a terminal, and the like.
  • the mobile robot communication module can be connected to the transmitting unit (not shown) by wire or wireless, and can receive signals, and can receive signals from outside or transmit signals to the outside.
  • the mobile robot 200 can linearly move inside the storage unit when the objects are automatically loaded and objects are loaded. Specifically, when the object is loaded, the first to fourth driving units 221 to 224 are operated and the moving robot 200 can be lowered inside the receiving unit. At this time, the mobile robot 200 can be lowered by a certain amount according to the thickness of the object.
  • the plurality of first driving rollers 221b prevent the mobile robot 200 from being shaken and increase the contact force with the inner surface of the storage unit, ) Can be improved.
  • the first driving roller 221b to the fourth driving roller 224b are disposed at different portions of the body 210 to prevent the body 210 from tilting or twisting, It is possible to prevent a sudden descent or movement of itself.
  • the first guide roller 231 can also prevent the body part 210 from rotating. Specifically, one of the plurality of first guide rollers 231 is disposed on the upper surface of the body 210, and the other of the plurality of first guide rollers 231 is disposed on the lower surface of the body 210, It is possible to prevent the first housing 210 from rotating inside the housing. In addition, the plurality of first guide rollers 231 can prevent the movement path of the body part 210 from being changed when the body part 210 is moved.
  • the mobile robot 200 can stably move inside the storage unit in a state where the object is loaded without a separate rail or a fixed structure.
  • the mobile robot 200 can prevent rotation, tilting, and jamming of the body 210 due to the load of the object or unevenness of the object even when the object is loaded.
  • FIG. 5 is a block diagram showing the control flow of the transportation robot shown in FIG. 1.
  • FIG. 5 is a block diagram showing the control flow of the transportation robot shown in FIG. 1.
  • the carrying robot 10 can perform autonomous traveling. Specifically, the user can operate the carrying robot 10.
  • the method of operating the transportation robot 10 may be various.
  • the user can input a driving signal to the carrying robot 10 through a separate switch (not shown) provided in the carrying robot 10.
  • a driving signal it is possible for a user to input a driving signal through an external controller 1 disposed outside the transportation robot 10 such as a remote controller, a portable terminal, a mobile phone, a notebook computer, a personal computer,
  • an external controller 1 disposed outside the transportation robot 10 such as a remote controller, a portable terminal, a mobile phone, a notebook computer, a personal computer,
  • the driving robot 10 receives a driving signal through the external controller 1 will be described in detail.
  • the external controller 1 can input a control signal for controlling the carrier robot 10 in addition to the case of inputting the drive signal as described above.
  • the control signal may include a signal related to the operation of the carrying robot 10, such as setting the path of the carrying robot 10, controlling the operation of the carrying robot 10, and the like.
  • the external controller 1 can confirm the information of the carrying robot 10 in addition to inputting the above signals.
  • the information of the carrying robot 10 includes information on the running of the carrying robot 10 such as the traveling distance and the traveling path of the carrying robot 10, the weight of the object loaded on the carrying robot 10, Such as the number of objects loaded on the door 10).
  • the external controller 1 can recognize the information of the carrier robot 10 as described above by the user's operation or automatically by voice, image, or the like to the user.
  • the carrying robot 10 can start the operation.
  • the driving signal may be transmitted to at least one of the traveling robot 300 and the mobile robot 200.
  • the traveling robot communication module 360 may transmit the driving signal to the traveling robot controller 350.
  • the traveling robot control unit 350 can drive the wheel driving unit 330 by controlling the traveling robot electric supply unit 370 in accordance with the driving signal.
  • the wheel driving unit 330 operates to drive the wheel (not shown), and the carrying robot 10 can start running.
  • the traveling robot control unit 350 can control the wheel driving unit 330 to move the traveling robot 300 along a predetermined path.
  • the traveling robot control unit 350 controls the wheel driving unit 330 according to the external environment based on the signal measured in the LR 340 so that the carrying robot 10 can be prevented from colliding with the external obstacle have.
  • the traveling robot controller 350 may determine the path based on the external environment measured in the LAD 340 in addition to the predetermined path. At this time, the traveling robot controller 350 may set the path based on the data stored in the external environment measured by the LR 340 and then operated again.
  • the storage unit (not shown) and the mobile robot 200 can move together with the traveling robot 300 when the traveling robot 300 moves as described above. At this time, the mobile robot 200 is located at the bottom of the storage unit, and can move to the opened part of the storage unit when the drive signal is input. In another embodiment, the mobile robot 200 may be disposed at the open portion of the storage unit when the drive signal is input.
  • the mobile robot 200 is disposed at the opening portion of the storage unit will be described in detail.
  • the traveling robot 300 moves as described above, the user can store the goods in the storage unit.
  • the mobile robot 200 may be disposed below the second sub-sensing unit 520.
  • the object can be placed on one side of the mobile robot 200.
  • the object is overlapped with the storage portion where the first sub sensing portion 510 is disposed or overlapped with the storage portion where the first sub sensing portion 510 and the second sub sensing portion 520 are disposed Respectively.
  • the object may be disposed so as to overlap with the storage portion where the second sub sensing portion 520 is disposed.
  • the case where the object is disposed so as to overlap with the storage portion where the first sub sensing portion 510 and the second sub sensing portion 520 are disposed will be described in detail.
  • the light emitted from the light emitting unit of the first sub sensing unit 510 and the light emitting unit of the second sub sensing unit 520 is reflected on the object, And can be detected by the light receiving unit of the sensing unit 510 and the light receiving unit of the second sub sensing unit 520.
  • the first sub-sensing unit 510 and the second sub-sensing unit 520 can transmit the sensed result to the outside through the transmitting unit 600.
  • the mobile robot communication module 280 can receive the signal transmitted from the sending unit 600.
  • the mobile robot controller 270 may determine that the mobile robot 200 is loaded with the object based on the above signals.
  • the mobile robot controller 270 includes a first driving force generating unit 221a, a second driving force generating unit 222a, a third driving force generating unit 223a, and a fourth driving force generating unit 224a, So that the mobile robot 200 can be moved to the bottom surface of the storage unit. At this time, the mobile robot controller 270 can simultaneously maintain the equilibrium of the mobile robot 200 by controlling the first driving force generating unit 221a to the fourth driving force generating unit 224a at the same time.
  • the first guide roller (not shown) to the fourth guide roller (not shown) prevent the mobile robot 200 from rotating due to the load of the object when the mobile robot 200 moves inside the storage unit, can do.
  • the mobile robot control unit 270 can continuously move the mobile robot 200 within the storage unit by controlling the first driving force generation unit 221a to the fourth driving force generation unit 224a .
  • the mobile robot controller 270 may determine that the loading of the object has been completed and stop the position of the mobile robot 200. [ At this time, the mobile robot controller 270 may stop the operation of the first driving force generating unit 221a to the fourth driving force generating unit 224a, thereby fixing the mobile robot 200 in the receiving unit.
  • the above operation can be continuously performed when the object is loaded on the mobile robot 200.
  • the mobile robot 200 can continuously move to the bottom of the storage unit, and the storage unit can store and store a plurality of objects.
  • the mobile robot 200 can reach the bottom of the storage unit. In this case, the mobile robot 200 may contact the first sensing unit 400. When the first sensing unit 400 and the mobile robot 200 are in contact with each other, a signal may be generated in the first sensing unit 400 have. The signal generated by the first sensing unit 400 may be transmitted to the traveling robot controller 350 through the transmitting unit 600 and the traveling robot communication module 360.
  • the traveling robot controller 350 may determine that the receiver is full of objects when the first sensing unit 400 detects a signal.
  • the traveling robot control unit 350 can control the wheel driving unit 330 to move the traveling robot 300.
  • the traveling robot control unit 350 may control the wheel driving unit 330 to move the traveling robot 300 to a preset point.
  • the traveling robot control unit 350 may transmit the information that the object is full to the storage unit by the external controller 1 and move the traveling robot 300 to the position input from the external controller 1 It is possible.
  • the traveling robot control unit 350 controls the wheel driving unit 330 to move the traveling robot 300 to a predetermined position.
  • the traveling robot 300 arrives at a predetermined point, the user can take out the article stored in the storage unit to the outside. At this time, the user can stop the operation of the carrying robot 10 through the external controller 1 or stop the operation of the carrying robot 10 through the switch provided separately to the carrying robot 10.
  • the mobile robot control unit 270 can move the mobile robot 200 to the entrance side of the opening portion of the storage unit 100.
  • the mobile robot controller 270 may control the first driving force generating unit 221a to the fourth driving force generating unit 224a to separate the mobile robot 200 from the bottom surface of the storage unit.
  • the mobile robot 200 can linearly move along the inner surface of the storage unit.
  • the mobile robot 200 may stop.
  • the mobile robot controller 270 can adjust the position of the mobile robot 200 so that the support part (not shown) of the mobile robot 200 is disposed below the storage part where the second sub sensing part 520 is disposed have.
  • the traveling robot control unit 350 can control the traveling robot 300 to autonomously travel as described above.
  • the carrying robot 10 can repeat the above-described operation.
  • the carrying robot 10 can store a plurality of objects, temporarily store them, and transfer them to a desired position.
  • the carrying robot 10 can transfer the object to a desired place without an operation of the user through the autonomous running.
  • the carrying robot 10 can move a large number of objects at the same time by moving the inside of the storage unit by the operation of the mobile robot 200 according to the loading of the objects.
  • the carrying robot 10 can prevent the mobile robot 200 from rotating, tilting, or jamming when the object is loaded, thereby ensuring the use stability.
  • a mobile robot capable of moving within a space, a space for moving the mobile robot, and a carrying robot for storing articles.
  • the mobile robot is capable of moving objects in a bookstore, a library,
  • the embodiments of the present invention can be applied to a robot for storing or moving the robot.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot mobile et un robot de chariot. La présente invention comprend : une partie de réception sur laquelle un objet est chargé ; et un robot mobile disposé dans la partie de réception et se déplaçant linéairement le long de la partie de réception, le robot mobile comprenant : une partie corps ; et une partie d'entraînement disposée sur la partie corps et entrant en contact avec une surface interne de la partie de réception pour déplacer la partie corps le long de la surface interne de la partie de réception.
PCT/KR2018/011920 2017-10-11 2018-10-11 Robot mobile et robot de chariot le comprenant Ceased WO2019074276A1 (fr)

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KR10-2017-0131651 2017-10-11
KR1020170131651A KR102023622B1 (ko) 2017-10-11 2017-10-11 이동 로봇

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KR20210047126A (ko) * 2019-10-21 2021-04-29 네이버랩스 주식회사 이동 로봇 및 이를 포함한 운반 로봇
KR102740627B1 (ko) * 2022-01-10 2024-12-10 사회복지법인 삼성생명공익재단 스마트 카트

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KR20090115316A (ko) * 2008-05-02 2009-11-05 이윤희 자율복귀 기능을 갖는 쇼핑카트
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