Robot for diagnosing safety

Abstract

The present invention relates to a safety inspection robot. A safety inspection robot according to one embodiment of the present invention comprises: a main body including a configuration for performing a safety inspection of a metal pipe; and a plurality of wheels rotatably provided on the main body. The main body comprises an inspection unit for performing a safety inspection of the metal pipe; and a drive control unit for controlling the driving of the plurality of wheels. Each of the plurality of wheels may be provided with a magnetic force so as to be attached to the metal pipe.

Description

Technology Field

[0001] The present invention relates to a safety diagnosis robot, and more specifically, to a safety diagnosis robot for diagnosing conditions such as breakage or cracking of a metal pipe in a metal pipe. Background Technology

[0002] Large structures may deteriorate or develop defects such as cracks, spalling, and efflorescence due to vibration, impact, or natural or environmental factors. These structural defects can weaken structural strength, raising concerns about potential collapse or safety accidents. Accordingly, it is necessary to perform continuous and efficient safety inspections and maintenance work frequently or on a regular basis to maintain the functionality of aging large structures and extend their lifespan.

[0003] In particular, metal pipes are used in various fields, such as water and sewage pipes, city gas pipes, plant pipes in petrochemical factories, and military gun barrels. Therefore, it is necessary to conduct frequent safety inspections on these metal pipes.

[0004] Conventionally, equipment for performing safety inspections on such metal pipes includes safety diagnostic devices configured to move the metal surface by external force applied by a worker. However, since conventional safety diagnostic devices are difficult to use when the user does not apply external force, there is a problem in that the user must continuously maintain the position while performing the safety inspection.

[0005] In addition, conventionally, there is a problem of reduced efficiency because users must inspect the entire surface of the metal pipe using a safety inspection device to perform a safety inspection on the entire metal pipe. Prior art literature

[0006] Republic of Korea Published Patent No. 10-2017-0026065 (March 8, 2017) Republic of Korea Published Patent No. 10-2016-0034453 A (March 30, 2016) The problem to be solved

[0007] The problem that the present invention aims to solve is to provide a safety diagnosis robot that can perform a safety diagnosis on a metal pipe without the user having to continuously stay at the site while performing the safety diagnosis. means of solving the problem

[0008] A safety inspection robot according to one embodiment of the present invention comprises: a main body including a configuration for performing a safety inspection of a metal pipe; and a plurality of wheels rotatably provided on the main body, wherein the main body includes an inspection unit for performing a safety inspection of the metal pipe; and a drive control unit for controlling the driving of the plurality of wheels, and the plurality of wheels may each be provided with a magnetic force so as to be attached to the metal pipe.

[0009] The main body may further include a driving management unit for managing the direction and speed at which a plurality of wheels are driven by the driving control unit; and a communication unit that communicates with a user terminal.

[0010] The above driving management unit may include a LiDAR sensor for detecting surrounding obstacles.

[0011] It further includes one or more auxiliary wheel parts that are coupled to the main body and are inserted into the main body or protrude outside the main body, and the one or more auxiliary wheel parts may be provided with a magnetic force that can be attached to the metal tube.

[0012] It further includes a plurality of additional wheels each coupled to the plurality of wheels, and the plurality of additional wheels may be provided with a magnetic force capable of being attached to the metal tube.

[0013] The magnetic force provided by the plurality of wheels above can be provided by a plurality of magnetic bodies placed on each wheel. Effects of the invention

[0014] According to the present invention, a robot can move while in close contact with the surface of a metal pipe using a magnetic wheel, thereby diagnosing defects at each location of the metal pipe.

[0015] Furthermore, if magnetic force is insufficient while the robot is moving, auxiliary wheels can be used as needed to increase the adhesion force to the surface of the robot's metal tube.

[0016] In addition, additional magnetic wheels can be mounted on the magnetic wheels, which has the effect of increasing adhesion to the surface of the metal pipe while the robot moves through the metal pipe. Brief explanation of the drawing

[0017] FIG. 1 is a drawing illustrating a safety diagnosis robot according to a first embodiment of the present invention. FIG. 2 is a block diagram illustrating a safety diagnosis robot according to a first embodiment of the present invention. FIG. 3 is a drawing for explaining a magnet mounted on the wheel of a safety diagnosis robot according to the first embodiment of the present invention. FIG. 4 is a drawing for explaining the auxiliary wheel of a safety diagnosis robot according to a second embodiment of the present invention. FIG. 5 is a drawing for explaining the operation of an auxiliary wheel of a safety diagnosis robot according to a second embodiment of the present invention. FIG. 6 is a drawing illustrating the state in which additional wheels are mounted on a safety diagnostic robot according to the third embodiment of the present invention. Specific details for implementing the invention

[0018] This research was supported by the Ministry of SMEs and Startups' Startup Growth Technology Development Program in 2023 [Project No.: RS-2023-00256811]

[0019] This work was supported by the Technology development Program(RS-2023-00256811) funded by the Ministry of SMEs and Startups(MSS, Korea)

[0020] Hereinafter, specific embodiments for implementing the present invention will be described in detail with reference to the drawings.

[0021] In addition, in describing the present invention, if it is determined that a detailed description of related known components or functions may obscure the essence of the invention, such detailed description is omitted.

[0022] Furthermore, when it is stated that one component is 'connected,' 'supported,' 'connected,' 'supplied,' 'transmitted,' or 'contacted' with another component, it should be understood that while the connection, support, connection, supply, transmission, or contact may be direct to that other component, there may also be other components present in between.

[0023] The terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0024] Furthermore, it should be noted in advance that expressions such as "upper side," "lower side," and "side" in this specification are described based on the drawings, and may be expressed differently if the orientation of the object changes. For the same reason, some components in the attached drawings may be exaggerated, omitted, or schematically depicted, and the size of each component does not entirely reflect its actual size.

[0025] Additionally, terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but such components are not limited by such terms. These terms are used solely for the purpose of distinguishing one component from another.

[0026] The meaning of "comprising" as used in the specification is to specify certain characteristics, regions, integers, steps, actions, elements, and / or components, and does not exclude the existence or addition of other specific characteristics, regions, integers, steps, actions, elements, components, and / or groups.

[0027] FIG. 1 is a drawing illustrating a safety diagnostic robot according to a first embodiment of the present invention, and FIG. 2 is a block diagram illustrating a safety diagnostic robot according to a first embodiment of the present invention. FIG. 3 is a drawing for explaining a magnet mounted on a wheel of a safety diagnostic robot according to a first embodiment of the present invention.

[0028] With reference to the drawings illustrated in FIGS. 1 to 3, a safety diagnostic robot (100) according to the first embodiment of the present invention will be described. The safety diagnostic robot (100) according to the first embodiment of the present invention includes a main body (110), a first wheel (121), a second wheel (122), a third wheel (123), and a fourth wheel (124).

[0029] The main body (110) is equipped with various components for driving the safety diagnosis robot (100) and includes a configuration for performing a safety diagnosis on a metal pipe. This main body (110) includes an inspection unit (111), a driving management unit (113), a communication unit (115), and a driving control unit (117).

[0030] The inspection unit (111) is a device for the safety inspection robot (100) to perform a safety inspection on a metal pipe, and, for example, the inspection unit (111) may be an ultrasonic inspection device. The ultrasonic speed and frequency of such an ultrasonic inspection device may be adjusted according to the characteristics of the inspection target. The reason the ultrasonic inspection device adjusts the ultrasonic speed and frequency is that the material and thickness of the inspection target vary, such as pipes, bridges, structures, wind turbine blades, etc., so it is necessary to adjust the ultrasonic speed and frequency accordingly.

[0031] The ultrasonic speed and frequency of the ultrasonic inspection device can be adjusted by the user, and the user can manually adjust the ultrasonic inspection device, but is not limited thereto, and the user can also adjust the speed and frequency by connecting to the ultrasonic inspection device through communication using a user terminal (200).

[0032] The driving management unit (113) manages the driving of the safety diagnosis robot (100). That is, the driving management unit (113) manages the driving of the safety diagnosis robot (100) when the safety diagnosis robot (100) moves while attached to the surface of the metal pipe. That is, in this embodiment, the safety diagnosis robot (100) can move on the surface of the metal pipe through autonomous driving. At this time, the driving management unit (113) can manage the driving path when the safety diagnosis robot (100) moves on the surface of the metal pipe through autonomous driving, and can set and manage a path to avoid obstacles in the direction of movement.

[0033] To this end, the driving management unit (113) may include a LiDAR sensor. The LiDAR sensor can detect surrounding obstacles while the safety diagnosis robot (100) is driving. The LiDAR sensor uses laser pulses in the same way that radio waves are used in RADAR, and the laser is emitted from the transmitter and the laser reflected from the object is detected by the receiver. Accordingly, the LiDAR sensor can detect the position of the object, etc., by using the flight time of the laser.

[0034] A communication unit (115) is provided for communication with a user terminal (200), and such a communication unit (115) can communicate with the user terminal (200) via wireless communication. At this time, the communication unit (115) can use a local area network or a mobile communication network with the user terminal (200), and Wi-Fi communication can be performed. In addition, the communication unit (115) can communicate with the user terminal (200) via satellite communication as needed.

[0035] When a control command is included in a signal received from a user terminal (200), the communication unit (115) can transmit the received control command to the inspection unit (111), the driving management unit (113), and the driving control unit (117) so that the safety diagnosis robot (100) can operate according to the control command. In addition, a signal regarding the operation controlled by the inspection unit (111), the driving management unit (113), and the driving control unit (117), that is, a signal regarding the operating status of the safety diagnosis robot (100), can be transmitted to the user terminal (200).

[0036] The drive control unit (117) can control the drive, that is, the movement, of the safety inspection robot (100). This drive control unit (117) can control the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124) to rotate. Accordingly, the drive control unit (117) can control the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124) to operate simultaneously, and can control them to operate independently of each other as needed.

[0037] For example, the drive control unit (117) can control the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124) to rotate simultaneously in the same direction so that the safety inspection robot (100) moves in one direction. Additionally, the drive control unit (117) can change the direction of movement of the safety inspection robot (100) by controlling the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124) to operate in different directions. That is, the rotational speed of the first wheel (121) can be controlled to be slower than the rotational speed of the second wheel (122) so that the safety inspection robot (100) rotates toward the first wheel (121).

[0038] Additionally, the drive control unit (117) can control the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124) to rotate in different directions so that the safety diagnosis robot (100) rotates in place.

[0039] In other words, the drive control unit (117) can control the direction and rotational speed of rotation of the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124), respectively, thereby controlling the direction and speed of movement of the safety inspection robot (100).

[0040] And the drive control unit (117) receives information regarding the direction and speed of movement from the driving management unit (113) and can control the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124) respectively accordingly. Thus, the drive control unit (117) operates under control from the driving management unit (113), and the safety diagnosis robot (100) can drive autonomously on the surface of the metal pipe.

[0041] In this way, the safety diagnosis robot (100) can autonomously move along the surface of the metal pipe and diagnose defects in the metal pipe.

[0042] The first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124) are each coupled to the main body (110) and can be operated under the control of the drive control unit (117). In this embodiment, the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124) may each include a magnet, and the magnet may be a permanent magnet as shown in FIG. 3. Referring to FIG. 3, the magnets included in the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124) may consist of a plurality of magnetic bodies having a constant magnetization direction arranged radially.

[0043] Multiple magnetic bodies are arranged radially, and the magnetization direction of the radial magnetic bodies may, for example, have an inner side as the S pole and an outer side as the N pole. However, this is not limited thereto, and the inner side may be the N pole and the outer side as the S pole. Alternatively, if necessary, in the radial shape of the illustrated drawing, one side may have an S pole and the other side may have an N pole.

[0044] As multiple magnetic materials are arranged in the same direction in this way, the magnetic force can be concentrated in one direction to increase the magnetic flux density.

[0045] In addition, in this embodiment, a permanent magnet composed of a plurality of magnetic bodies is described, but is not limited thereto, and an electromagnet may be used as needed.

[0046] Since electromagnets are used in the first wheel (121), second wheel (122), third wheel (123) and fourth wheel (124), magnetic force can be activated only when power is supplied, so the safety inspection robot (100) can be freely operated when attaching to or detaching from the metal tube.

[0047] FIG. 4 is a drawing for explaining the auxiliary wheel of a safety diagnostic robot according to a second embodiment of the present invention, and FIG. 5 is a drawing for explaining the operation of the auxiliary wheel of a safety diagnostic robot according to a second embodiment of the present invention.

[0048] A safety diagnostic robot (100) according to a second embodiment of the present invention will be described with reference to FIGS. 4 and 5. While describing the safety diagnostic robot (100) according to the second embodiment of the present invention, descriptions identical to those in the first embodiment will be omitted.

[0049] The safety diagnosis robot (100) according to the present embodiment includes a main body (110), a first wheel (121), a second wheel (122), a third wheel (123), a fourth wheel (124), a first auxiliary wheel section (130), and a second auxiliary wheel section (140).

[0050] The configuration of the main body (110), the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124) is the same as that of the first embodiment, so a description thereof is omitted.

[0051] The first auxiliary wheel section (130) and the second auxiliary wheel are coupled to the main body (110) and each include an auxiliary wheel and a shaft (133), and the first auxiliary wheel section (130) is used for explanation.

[0052] The first auxiliary wheel unit (130) and the second auxiliary wheel unit (140) can be controlled and operated by the drive control unit (117), and can be controlled to be driven simultaneously, but can be controlled independently as needed. That is, as needed, only one of the first auxiliary wheel unit (130) and the second auxiliary wheel unit (140) can be controlled to be operated by the drive control unit (117).

[0053] The auxiliary wheel (131) may have a relatively small size compared to the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124), and may include a magnet like the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124).

[0054] The shaft (133) is coupled to the auxiliary wheel (131), and the auxiliary wheel (131) can be operated to be inserted into the main body (110) or protrude outside the main body (110). That is, the auxiliary wheel (131) is coupled to one end of the shaft (133) so as to be rotatable, and the other end of the shaft (133) is coupled to the main body (110) so as to be rotatable.

[0055] Accordingly, the shaft (133) rotates with the other end of the shaft (133) as the axis of rotation, so that the auxiliary wheel (131) can be inserted into the main body (110) or protrude outside the main body (110). Here, the degree to which the auxiliary wheel (131) protrudes outside the main body (110) can be adjusted, and the degree to which the auxiliary wheel (131) protrudes outside the main body (110) can be adjusted so that it can come into contact with the surface of the ground or a metal pipe.

[0056] For example, if the diameter of the metal tube is relatively large, the safety inspection robot (100) may be positioned so as to face a transverse direction perpendicular to the length direction of the metal tube, and the outer surface of the metal tube may be flat enough to resemble a flat ground. In this case, the auxiliary wheel (131) may protrude relatively far from the main body (110).

[0057] Alternatively, if the diameter of the metal tube is relatively small, and the safety inspection robot (100) is positioned so as to face a transverse direction perpendicular to the longitudinal direction of the metal tube, the distance between the outer surface of the metal tube and the center of the main body (110) may be relatively short. In this case, the auxiliary wheel (131) may protrude relatively little from the main body (110).

[0058] As described above, as the auxiliary wheel (131) protrudes outward from the main body (110), the magnetic force when the safety diagnostic robot (100) is attached to the surface of the metal pipe is reinforced by the magnet included in the auxiliary wheel (131), so that the safety diagnostic robot (100) can move while attached to the metal pipe more stably.

[0059] Here, the auxiliary wheel (131) may be equipped with power so that it can be driven by being controlled by a separate drive control unit (117) as needed, but is not limited thereto, and may not be provided with separate power.

[0060] If no separate power is provided to the auxiliary wheel (131), the auxiliary wheel (131) can only serve to provide additional magnetic force to attach the safety inspection robot (100) to the metal tube.

[0061] In addition, in this embodiment, the first auxiliary wheel section (130) and the second auxiliary wheel section (140) are described as being provided, but additional auxiliary wheel sections may be provided as needed, and only one auxiliary wheel section may be provided.

[0062] FIG. 6 is a drawing illustrating the state in which additional wheels are mounted on a safety diagnostic robot according to the third embodiment of the present invention.

[0063] A safety diagnostic robot (100) according to a third embodiment of the present invention will be described with reference to FIG. 6. While describing the safety diagnostic robot (100) according to the third embodiment of the present invention, descriptions identical to those in the first embodiment will be omitted.

[0064] The safety diagnosis robot (100) according to the present embodiment includes a main body (110), a first wheel (121), a second wheel (122), a third wheel (123), a fourth wheel (124), a first additional wheel (151), a second additional wheel (152), a third additional wheel (153), and a fourth additional wheel (154).

[0065] The configuration of the main body (110), the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124) is the same as that of the first embodiment, so a description thereof is omitted.

[0066] The first additional wheel (151), the second additional wheel (152), the third additional wheel (153), and the fourth additional wheel (154) can be connected to the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124), respectively.

[0067] And the first additional wheel (151), the second additional wheel (152), the third additional wheel (153) and the fourth additional wheel (154) may include a magnet, just like the first wheel (121), the second wheel (122), the third wheel (123) and the fourth wheel (124), and the magnet may be composed of a plurality of magnetic materials.

[0068] Of course, the magnets included in the first additional wheel (151), the second additional wheel (152), the third additional wheel (153), and the fourth additional wheel (154) may be electromagnets, just as in the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124). Thus, as electromagnets are included in the first additional wheel (151), the second additional wheel (152), the third additional wheel (153), and the fourth additional wheel (154), the magnetic force of the first additional wheel (151), the second additional wheel (152), the third additional wheel (153), and the fourth additional wheel (154) can be controlled independently.

[0069] In this embodiment, regarding the structure in which the first additional wheel (151), the second additional wheel (152), the third additional wheel (153), and the fourth additional wheel (154) are coupled to the first wheel (121), the second wheel (122), the third wheel (123), and the fourth wheel (124), the second additional wheel (152) is coupled to the second wheel (122) and the other additional wheels can be coupled to each wheel in the same way.

[0070] The second wheel (122) may be provided with a mounting portion (122a) in the center. The mounting portion (122a) may be positioned to protrude outward from the center of the second wheel (122) so that the second additional wheel (152) can be coupled to the second wheel (122). Accordingly, the second additional wheel (152) can be coupled to the mounting portion (122a) of the second wheel (122). Accordingly, the second wheel (122) and the second additional wheel (152) may be positioned spaced apart from each other by the mounting portion (122a).

[0071] The second additional wheel (152) can be attached to the mounting portion (122a) by one or more bolts, and can be attached to the mounting portion (122a) in various ways other than bolts.

[0072] Accordingly, when the second wheel (122) is controlled and operated by the drive control unit (117), the second additional wheel (152) can also be operated in the same way.

[0073] And as the second additional wheel (152) is coupled to the second wheel (122), the safety inspection robot (100) can be maintained more stably attached to the surface of the metal tube due to the magnetic force of the second additional wheel (152).

[0074] As explained above, the specific description of the present invention has been made through embodiments with reference to the attached drawings, but since the above-described embodiments are merely preferred examples of the present invention, the present invention should not be understood as being limited only to the above-described embodiments, and the scope of the rights of the present invention should be understood as the claims set forth below and equivalent concepts. Explanation of the symbols

[0075] 100: Safety Inspection Robot 110: Main unit 111: Inspection Department 113: Driving Management Department 115: Communications Department 117: Drive control unit 121: The first wheel 122: Second Wheel 122a: Mounting part 123: The Third Wheel 124: The Fourth Wheel 130: 1st auxiliary wheel section 131: Training wheels 133: Shaft 140: Second auxiliary wheel section 151: 1st Additional Wheel 152: 2nd additional wheel 153: 3rd additional wheel 154: 4th additional wheel 200: User terminal

Claims

Claim 1 A safety diagnosis robot comprising: a main body including a configuration for performing a safety diagnosis on a metal pipe; and a plurality of wheels rotatably provided on the main body, wherein the main body includes an inspection unit for performing a safety diagnosis on the metal pipe; and a drive control unit for controlling the drive of the plurality of wheels, wherein each of the plurality of wheels is provided with magnetic force so as to be attached to the metal pipe, and further includes one or more auxiliary wheel units coupled to the main body and inserted into the main body or protruding outside the main body, wherein the one or more auxiliary wheel units are provided with magnetic force so as to be attached to the metal pipe, wherein the auxiliary wheel unit includes a shaft and an auxiliary wheel, wherein one end of the shaft is coupled so as to be rotatable and the other end of the shaft is coupled to the main body so as to be rotatable, so as to be operated so that the auxiliary wheel is inserted into the main body or protrudes outside the main body, and further includes a plurality of additional wheels each coupled to the plurality of wheels, wherein the plurality of additional wheels are provided with magnetic force so as to be attached to the metal pipe. Claim 2 The safety diagnosis robot according to claim 1, wherein the main body further comprises: a driving management unit for managing the direction and speed at which a plurality of wheels are driven by the driving control unit; and a communication unit for communicating with a user terminal. Claim 3 In claim 2, the driving management unit includes a LiDAR sensor for detecting surrounding obstacles, a safety diagnostic robot. Claim 4 delete Claim 5 A safety diagnostic robot according to claim 1, wherein the magnetic force provided by the plurality of wheels is provided by a plurality of magnetic bodies disposed on each wheel.

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