Mobile robot

Abstract

A mobile robot according to one embodiment comprises: a mobile main body; a track unit which is connected to the mobile main body and moves the mobile main body; a quadrupedal locomotion unit which is connected to the mobile main body and moves the mobile main body; and a control unit which is installed in the mobile main body and controls the track unit and the quadrupedal locomotion unit to change to a track mode for traveling by means of the track unit and a quadrupedal locomotion mode for traveling by means of the quadrupedal locomotion unit.

Description

mobile robot

[0001] The present invention relates to a mobile robot, and more particularly, to a mobile robot capable of changing a quadruped walking mode and a track mode.

[0002] The mobile robot may include a quadruped walking part or a tracked part.

[0003] Mobile robots equipped with tracks can navigate efficiently on slippery surfaces and in areas with shallow obstacles. However, they struggle to navigate curved sections because the track angle must change. Furthermore, their limited degrees of freedom make it difficult to avoid obstacles.

[0004] Quadrupedal mobile robots possess a high degree of freedom, allowing them to navigate tall obstacles like stairs. Furthermore, they can be equipped with additional DOF modules, such as robotic arms, making them advantageous for research and exploration. However, because they utilize high-torque motors, their energy efficiency is low, resulting in a short operating time.

[0005] The present embodiment relates to a mobile robot that improves energy efficiency and can easily avoid obstacles.

[0006] According to one embodiment, a mobile robot includes: a mobile body; a track unit connected to the mobile body and configured to move the mobile body; a quadruped walking unit connected to the mobile body and configured to move the mobile body; and a control unit installed in the mobile body and configured to select and control either a track mode for driving using the track unit or a quadruped walking mode for driving using the quadruped walking unit.

[0007] The above track section may include a first driving caterpillar and a second driving caterpillar located on both sides based on the driving direction of the moving body, and a track lifting section for lifting the first driving caterpillar and the second driving caterpillar.

[0008] The above track portion may further include a track rotation portion that rotates the first driving caterpillar and the second driving caterpillar.

[0009] The track rotation part includes a driving motor installed in the moving body, a first connecting part and a second connecting part that respectively connect the driving motor and the first driving caterpillar and the second driving caterpillar, and the rotation angles of the first driving caterpillar and the second driving caterpillar can be changed simultaneously by the operation of the driving motor.

[0010] The above rotation angle may be an inclination angle that rotates based on a direction perpendicular to the driving direction of the track section.

[0011] The above quadruped walking part includes four leg parts installed on the moving body and a folding part for folding the leg parts, and the leg parts can be folded by the folding part in the track mode.

[0012] According to one embodiment, energy efficiency can be improved by easily passing over obstacles using a quadruped walking part and by passing over slippery places using a track part with little energy.

[0013] In addition, the track section includes a track rotation section that rotates the first driving caterpillar and the second driving caterpillar, thereby maximizing friction with the ground when moving on a curved pipe or the like, thereby preventing the first driving caterpillar and the second driving caterpillar from slipping.

[0014] FIG. 1 is a perspective view of a mobile robot according to one embodiment, and is a perspective view of the mobile robot in a quadruped walking mode.

[0015] Fig. 2 is an enlarged perspective view of the bottom surface of the track section of Fig. 1.

[0016] Fig. 3 is a perspective view showing a state in which the first driving caterpillar and the second driving caterpillar are rotated using the track rotation part in Fig. 2.

[0017] FIG. 4 is a perspective view of a mobile robot according to one embodiment, and is a perspective view of the mobile robot in track mode.

[0018] Hereinafter, various embodiments of the present invention will be described in detail with reference to the attached drawings so that those skilled in the art can easily implement the invention. The present invention may be implemented in various different forms and is not limited to the embodiments described herein.

[0019] In order to clearly explain the present invention, parts that are not related to the description are omitted, and the same reference numerals are used for identical or similar components throughout the specification.

[0020] In addition, the size and thickness of each component shown in the drawing are arbitrarily shown for convenience of explanation, so the present invention is not necessarily limited to what is shown.

[0021] FIG. 1 is a perspective view of a mobile robot according to one embodiment, FIG. 2 is an enlarged perspective view of the bottom surface of the track portion of FIG. 1, and FIG. 3 is a perspective view showing a state in which the first driving caterpillar and the second driving caterpillar are rotated using the track rotation portion of FIG. 2.

[0022] As illustrated in FIGS. 1 to 3, a mobile robot according to one embodiment includes a mobile body (100), a track part (200), a quadruped walking part (300), and a control part (400).

[0023] The moving body (100) supports the track section (200) and the quadruped walking section (300) and can be positioned at the center of the moving robot. In the present embodiment, the moving body (100) has a rectangular shape in plan view, but is not limited thereto and various shapes are possible.

[0024] The track section (200) is connected to the moving body (100) and can move the moving body (100).

[0025] The track section (200) may include a first driving caterpillar (210), a second driving caterpillar (220), a track lifting section (230), and a track rotating section (240).

[0026] The first driving caterpillar (210) and the second driving caterpillar (220) can be positioned facing each other on both sides based on the driving direction of the moving body (100).

[0027] The track lifting unit (230) can raise and lower the first driving caterpillar (210) and the second driving caterpillar (220). By using the track lifting unit (230), in the track mode, the first driving caterpillar (210) and the second driving caterpillar (220) are lowered so that the first driving caterpillar (210) and the second driving caterpillar (220) come into contact with the ground, and in the quadruped walking mode, the first driving caterpillar (210) and the second driving caterpillar (220) are raised so that the quadruped walking unit (300) comes into contact with the ground.

[0028] The track rotation part (240) can rotate the first driving caterpillar (210) and the second driving caterpillar (220).

[0029] The track rotation part (240) may include a driving motor (241), a first connecting part (242) and a second connecting part (243) that respectively connect the driving motor (241) to the first driving caterpillar (210) and the second driving caterpillar (220). Here, the driving motor has a waterproof function, and the first connecting part (242) and the second connecting part (243) may have a link structure. When the driving motor rotates in one direction, the first driving caterpillar (210) and the second driving caterpillar (220) connected to the first connecting part (242) and the second connecting part (243), respectively, may move in different directions.

[0030] The track rotation part (240) can simultaneously change the rotation angle (θ) of the first driving caterpillar (210) and the second driving caterpillar (220) by the operation of the driving motor (241).

[0031] Here, the rotation angle (θ) may be an inclination angle of rotation based on a direction perpendicular to the driving direction (RD) of the mobile robot.

[0032] In this way, by adjusting the rotation angle, the friction with the ground is maximized when moving on a curved pipe, etc., so that the first driving caterpillar (210) and the second driving caterpillar (220) can move without slipping.

[0033] The quadruped walking part (300) is connected to the moving body (100) and can move the moving body (100).

[0034] The quadruped walking unit (300) may include four leg units (310) installed on the moving body (100) and a folding unit (320) for folding the leg units (310).

[0035] In track mode, the leg portion (310) can be folded by the folding portion (320). This quadruped walking portion (300) can be installed so as to be detachable from the moving body (100).

[0036] The control unit (400) is installed in the mobile body (100) and can control the track unit (200) and the quadruped walking unit (300). The control unit (400) can select either a track mode for driving using the track unit (200) or a quadruped walking mode for driving using the quadruped walking unit (300).

[0037] In this way, by using the quadruped walking part (300), it is possible to easily pass over obstacles and by using the track part (200), it is possible to pass over slippery places with little energy, thereby improving energy efficiency.

[0038] FIG. 4 is a perspective view of a mobile robot according to one embodiment, and is a perspective view of the mobile robot in track mode.

[0039] As shown in Fig. 4, in track mode, the leg portion (310) is folded so as not to interfere with the operations of the first driving caterpillar (210) and the second driving caterpillar (220).

[0040] As shown in FIG. 1, in all four-legged walking, the leg portion (310) is unfolded, and the first driving caterpillar (210) and the second driving caterpillar (220) are raised by the track lifting portion (230) to enable driving with four leg portions (310).

[0041] Although the present disclosure has been described through preferred embodiments as described above, it will be readily understood by those skilled in the art that the present invention is not limited thereto and that various modifications and variations are possible without departing from the scope of the claims set forth below.

Claims

1. Moving body; A track part connected to the above moving body and moving the above moving body; A quadruped walking part connected to the above moving body and moving the above moving body; and A control unit installed in the above-mentioned moving body and controlling the movement by selecting one of the track mode in which the movement is performed using the track unit and the quadruped walking mode in which the movement is performed using the quadruped walking unit. A mobile robot including:

2. In paragraph 1, The above track section A first driving caterpillar and a second driving caterpillar located on both sides based on the driving direction of the above-mentioned moving body, and A track lifting unit that lifts and lowers the first driving caterpillar and the second driving caterpillar A mobile robot including 3. In paragraph 2, The above track section A mobile robot further comprising a track rotation part that rotates the first driving caterpillar and the second driving caterpillar.

4. In paragraph 3, The above track rotation part A driving motor installed in the above moving body, and A first connecting portion and a second connecting portion that connect the driving motor and the first driving caterpillar and the second driving caterpillar, respectively Including, A mobile robot that simultaneously changes the rotation angles of the first driving caterpillar and the second driving caterpillar by the operation of the driving motor.

5. In paragraph 4, The above rotation angle is an inclination angle that rotates based on a direction perpendicular to the driving direction of the track section.

6. In paragraph 2, The above quadruped walking part Four leg parts installed on the above moving body, and Folding part for folding the above leg part Including, A mobile robot in which the leg portion is folded by the folding portion in the above track mode.

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