Hybrid driving device for mobile robot

Abstract

The present invention relates to a hybrid driving device for a mobile robot. A balance maintaining device comprises: a body frame; multiple wheel-type driving wheels mounted to the lower portion of the body frame; multiple caterpillar-type track wheels disposed on opposite sides of the wheel-type driving wheels; a lifting module to which the multiple track wheels are mounted and which is attached to the lower portion of the body frame in such manner as to be movable up and down; a linear motor for lifting and lowering the lifting module; a driving motor for selectively driving the wheel-type driving wheels and the track wheels; a driving switching motor for mechanically switching power between the linear motor and the driving motor; a LiDAR sensor mounted on the body frame to detect the front ground; and a control unit for receiving ground information from the LiDAR sensor to determine whether the front ground is rough according to a predetermined criterion and controlling the driving switching motor for each of the flat-ground traveling mode and the rough-ground traveling mode.

Description

Mobile robot hybrid drive unit

[0001] The present invention relates to a mobile robot hybrid drive device that can automatically switch wheels according to flat and rough terrain movement modes and maintain the balance of a robot loader in various driving environments.

[0002] Problems with prior art related to agricultural mobile robots are as follows.

[0003] 1. Limitations in drive wheel selection: Existing agricultural mobile robots primarily use wheeled or tracked wheels for movement. However, while wheeled drives offer smooth travel on flat surfaces, they lack traction in rough terrain, making them difficult to drive on. Tracked drives, on the other hand, offer excellent off-road capabilities but have high driving resistance, which reduces battery life.

[0004] 2. Problems due to changes in road slope: Existing agricultural mobile robots have difficulty adapting to sudden changes in road slope during driving, leading to the risk of loads falling. This can compromise the stability of the robot and the protection of the load.

[0005] 3. Vulnerability to Environmental Factors: Vision camera-based driving systems are vulnerable to external environmental factors such as sunlight, fog, and rain. Under these conditions, vision cameras may not be able to accurately perceive the environment and their ability to detect obstacles may be limited.

[0006] These issues limit the driving capabilities of existing agricultural mobile robots and impose constraints on their usability. Therefore, it is necessary to develop a driving system that improves their ability to drive in rough terrain, adapts to changes in road slope, and is robust to environmental factors.

[0007] [Prior Art Literature]

[0008] [Patent Document]

[0009] (Patent Document 1) Patent Publication No. 10-2009-0002417 (Published on January 9, 2009)

[0010] The purpose of the present invention is to provide optimal driving performance by switching wheels according to the driving environment, and to enable a mobile robot to stably transport goods in various driving environments such as flat and rough terrain.

[0011] The present invention, which aims to solve the above-described problem, relates to a mobile robot hybrid driving device. The balancing device may include: a main body frame; a plurality of wheel-type driving wheels mounted on the lower portion of the main body frame; a plurality of track wheels in the form of caterpillars arranged on both sides of the wheel-type driving wheels; an elevation module on which the plurality of track wheels are mounted and which is movably attached to the lower portion of the main body frame; a linear motor for driving the elevation module up and down; a driving motor for selectively driving the wheel-type driving wheels and the track wheels; a drive conversion motor for mechanically converting the power of the linear motor and the drive motor; a lidar sensor mounted on the main body frame for detecting the front ground; and a control unit for receiving ground information from the lidar sensor, determining whether the front ground is rough based on set criteria, and controlling the drive conversion motor by dividing the driving mode into a flat-ground driving mode and a rough-ground driving mode.

[0012] According to an embodiment of the present invention, in the flat-road driving mode, the drive switching motor extends the linear motor to lower the plurality of drive wheels to form a state in which the drive wheels are in contact with the ground and the track wheels are floating above the ground, and in the rough-road driving mode, the drive switching motor contracts the linear motor to raise the plurality of drive wheels to form a state in which the drive wheels are in contact with the ground and the track wheels are floating above the ground.

[0013] According to an embodiment of the present invention, there is provided a loading box mounted on the main body frame and configured to load goods; a gyro sensor configured to detect an inclination of the loading box; and a loading box leveling motor configured to change an angle between the loading box and the main body frame. The control unit receives an inclination angle from the gyro sensor and adjusts the angle of the loading box, thereby driving the loading box leveling motor to maintain the loading box horizontal.

[0014] According to the present invention, the robot can automatically switch between flat and rough terrain driving modes, selectively using wheeled drive wheels and tracked wheels depending on the ground condition, thereby achieving optimal driving performance. On flat terrain, wheeled drive wheels are used to increase speed and efficiency, while on rough terrain, tracked wheels are used to ensure stable driving.

[0015] Additionally, the inclination of the loading box is adjusted in real time using a gyro sensor and a horizontal maintenance motor, ensuring that items are loaded stably even when the robot is driving on a slope.

[0016] Additionally, the robot can maintain its own balance and switch driving modes without user intervention by automatically switching the operation of the drive motor and linear motor through the control unit and adjusting the inclination of the loading box in real time.

[0017] FIG. 1 is a perspective view illustrating a mobile robot hybrid drive device according to the present invention.

[0018] Figures 2 (a) and (b) are drawings showing the state in which the orbital wheel is raised and the state in which the orbital wheel is lowered in the human-following robot of Figure 1.

[0019] Figures 3 (a) and (b) are drawings showing that the horizontal maintenance motor is driven to keep the loading box horizontal when the human-following robot of Figure 1 drives on a slope.

[0020] Figure 4 is a schematic drawing showing a side view of the human-following robot of Figure 1.

[0021] Hereinafter, specific details for implementing the present invention will be described with reference to the attached drawings. In describing the present invention, detailed descriptions of related known functions that are obvious to those skilled in the art and that may unnecessarily obscure the gist of the present invention will be omitted.

[0022] Fig. 1 is a perspective view illustrating a mobile robot hybrid drive device according to the present invention. Fig. 2 (a) and (b) are drawings showing the human-following robot of Fig. 1 in a state where the track wheel is raised and a state where the track wheel is lowered.

[0023] Referring to FIGS. 1 and 2, the mobile robot hybrid drive device according to the present invention includes a main body frame (10), a wheel-type drive wheel (20), a track wheel (30), an elevation module (41), a drive conversion motor (50), a lidar sensor (60), a gyro sensor (70), a loading box horizontal maintenance motor (80), and a control unit (not shown).

[0024] The main body frame (10) forms the main body of the robot, and a wheel-type driving wheel (20) and a track wheel (30) are combined at the lower part, and a loading box (11) on which a box (1) containing goods (see Fig. 3) is loaded is combined at the upper part. The loading box (11) is connected to the main body frame (10) so that the angle can be adjusted by a loading box horizontal maintenance motor (80). A load cell (12) for measuring the weight of the loading box (11) is arranged below the loading box (11).

[0025] A display (13) that displays driving information and vehicle status is installed on the front of the main body frame (10). A lidar sensor (60) is installed on one side of the upper surface of the main body frame (10), and a UWB / GPS sensor (14) is installed on the other side. A gyro sensor (70) that detects the inclination of the loading box (11) is installed on the side of the loading box horizontal maintenance motor (80).

[0026] The lidar sensor (60) is mounted on the main body frame (10) and detects the front ground. The control unit receives ground information from the lidar sensor (60), determines whether the front ground is rough based on set criteria, and controls the drive switching motor (50) accordingly. A detailed description thereof will be provided later.

[0027] The UWB / GPS sensor (14) utilizes the IEEE 802.15.3a standard WPAN (Wireless Personal Area Network) wireless communication. The robot follows the path of a worker carrying a remote control, maintaining a constant interval. It can recognize the target regardless of obstacles. Furthermore, it prevents confusion with other users regarding the target through RFID verification, and has an obstacle avoidance function during the tracking path using a 360° lidar sensor (60).

[0028] A plurality of wheel-type driving wheels (20) are mounted on both sides of the lower portion of the main body frame (10). The wheel-type driving wheels (20) have a general circular wheel shape. When the track wheel (30) is raised by the drive conversion motor (50), the wheel-type driving wheels (20) are lowered relatively and touch the ground, and when the track wheel (30) is lowered by the drive conversion motor (50), the wheel-type driving wheels (20) are raised relatively and are lifted off the ground.

[0029] The track wheel (30) is arranged on both outer sides of the wheel-type driving wheel (20) and has a caterpillar shape. The track wheel (30) is driven by a plurality of track wheel driving wheels (31) that are engaged with the inside of the track wheel (30). The track wheel (30) is arranged on both lower sides of the main body frame (10) with the wheel-type driving wheels (20) interposed therebetween. The track wheel (30) is a special type of track driving device having a wide surface that comes into contact with the track surface, and has functions of improved grip, efficient rough terrain driving, and stable and smooth driving.

[0030] A lifting module (41) and a plurality of drive wheel drive shafts (42) are coupled to a main body frame (10). A track wheel drive wheel (31) is mounted on both sides of each drive wheel drive shaft (42). The track wheel drive wheel (31) and the drive wheel drive shaft (42) are driven by a drive motor (51). The power of the drive motor (51) can be selectively distributed to the track wheel drive wheel (31) or the drive wheel drive shaft (42) by a clutch. Alternatively, the track wheel drive wheel (31) and the drive wheel drive shaft (42) may each be driven by separate motors.

[0031] The lifting module (41) is connected to the main body frame (10) by a linear motor (52). The lifting module (41) is connected to the main body frame (10) so as to be able to move up and down by the linear motor (52). When the linear motor (52) extends downward, the lifting module (41) descends, and when the linear motor (52) contracts upward, the lifting module (41) rises.

[0032] The driving of the drive motor (51) and the linear motor (52) can be switched by the drive switching motor (50). The detailed configuration of the drive switching motor (50) will be described later.

[0033] A space is formed between or on both sides of a plurality of drive wheel drive shafts (42) into which a wheel-type drive wheel (20) can be inserted. Accordingly, the wheel-type drive wheel (20) can be driven without interference with the drive wheel drive shaft (42).

[0034] The lifting module (41) is equipped with a plurality of wheel-type driving wheels (20) arranged on both sides of the main body frame (10) and a front driving wheel (21) arranged at the front of the main body frame (10) to lift and lower together.

[0035] The drive switching motor (50) mechanically switches the power between the drive motor (51) and the linear motor (52). The drive switching motor (50) controls the power transmission between the drive motor (51) and the linear motor (52) and switches the operation between the two motors as needed. This allows the robot to adapt to various driving situations, and is used to switch between rough terrain driving mode and flat terrain driving mode.

[0036] The drive conversion motor (50) processes the signal received from the control unit and selectively transmits commands to the drive motor (51) and the linear motor (52). The drive conversion motor (50) includes a gearbox (not shown) to convert power between the drive motor (51) and the linear motor (52). For example, the drive conversion motor (50) may be formed by a gearbox and a clutch system.

[0037] The drive conversion motor (50) includes a control circuit, interprets commands received from the control unit, and transmits them to the appropriate motor. The control circuit includes a microcontroller and is responsible for signal processing. When a signal is transmitted from the control unit to the drive conversion motor (50), the control circuit interprets it and determines whether to operate the drive motor (51) or the linear motor (52). Depending on the determined motor, the gearbox and clutch system operate to transmit power to the appropriate motor.

[0038] The lidar sensor (60) is mounted on the main body frame (10) and detects the front ground. The control unit receives ground information from the lidar sensor (60), determines whether the front ground is rough based on set criteria, and controls the drive switching motor (50) accordingly. The drive switching motor (50) operates integrated with the control unit. The control unit detects ground conditions or obstacles through sensors and algorithms, and generates an ascending or descending command for the track wheel (30) accordingly to control the drive switching motor (50). Through this, the robot automatically switches to a mode suitable for the terrain, enabling safe and efficient driving.

[0039] The operation of the control unit is as follows. When the control unit determines that the front ground is rough terrain (rough terrain driving mode), the control unit drives the linear motor (52) via the drive switching motor (50) to raise the lifting module (41). Then, the drive motor (51) and the clutch are driven via the drive switching motor (50) to drive the track wheel drive wheel (31). Accordingly, the drive wheel (20) engaged with the track wheel drive wheel (31) is driven. At this time, the wheel-type drive wheel (20) is raised and is not in contact with the ground.

[0040] When the control unit determines that the front ground is not rough (flat driving mode), the control unit drives the linear motor (52) via the drive switching motor (50) to lower the lifting module (41). Then, the drive motor (51) and the clutch are driven via the drive switching motor (50) to drive the wheel-type drive wheel (20). At this time, the track wheel (30) is relatively raised by the lowering of the wheel-type drive wheel (20) and is not in contact with the ground.

[0041] Figures 3 (a) and (b) are drawings showing how the horizontal maintenance motor is driven to keep the loading container horizontal when the human-following robot of Figure 1 drives on a slope. Figure 4 is a design drawing showing a side view of the human-following robot of Figure 1.

[0042] Referring to FIGS. 3 and 4, the gyro sensor (70) detects the inclination of the loading box (11) in the mobile robot hybrid drive device according to the present invention. The gyro sensor (70) is attached to the side of the loading box (11) and directly detects the inclination of the loading box (11). For example, the gyro sensor (70) may be attached to the lower central portion of the loading box (11). When attached to the lower central portion of the loading box (11), it is easy to detect the inclination of the entire loading box (11).

[0043] The gyro sensor (70) detects the rotational speed and inclination changes of the loading box (11) relative to the robot, based on MEMS (Microelectromechanical Systems) technology. This detects the rotation and inclination of the loading box (11) in real time by measuring changes in the vibrator.

[0044] The tilt data of the detected loading box (11) is processed in real time through the built-in microcontroller of the gyro sensor (70). This data is transmitted to the control unit that controls the loading box horizontal maintenance motor (80). The gyro sensor (70) communicates with the control unit to transmit and receive data in real time. The control unit analyzes the tilt data received from the gyro sensor (70) and generates a command to maintain the horizontal state of the loading box (11).

[0045] The control unit controls the loading box leveling motor (80) based on the inclination data received from the gyro sensor. The loading box leveling motor (80) is composed of a linear motor (81) and adjusts the angle of the loading box (11) according to the command of the control unit so that the loading box (11) remains horizontal.

[0046] In detail, the loading box horizontal maintenance motor (80) is connected to the lower side of one side of the loading box (11) and can adjust the inclination of the loading box (11) according to the extension or contraction of the linear motor (81). The loading box (11) can rotate around the axis (11a). The linear motor (81) can be located forward of the robot movement path relative to the axis (11a) (in the drawing of Fig. 4, the rear is defined as the forward of the robot movement path).

[0047] In this case, for example, when the linear motor (81) is extended, the slope of the loading compartment (11) at the front of the robot's movement path becomes higher than that at the rear. This is advantageous when going downhill. When the linear motor (81) is retracted, the slope of the loading compartment (11) at the rear of the robot's movement path becomes higher than that at the front. This is advantageous when going uphill.

[0048] A home return sensor (71) is installed on the gyro sensor (70). The home return sensor (71) detects the initial position of the loading box and transmits this to the control unit. The control unit can use this information to control the horizontal maintenance motor (80) so that the loading box (11) returns to the initial position.

[0049] The scope of protection in this field is not limited to the description and expression of the embodiments explicitly described above. Furthermore, it should be noted that obvious modifications or substitutions within the technical field to which the present invention pertains may not limit the scope of protection of the present invention.

Claims

1. Body frame; A plurality of wheel-type driving wheels mounted on the lower part of the above body frame; A plurality of track wheels in the form of caterpillars arranged on both sides of the above wheel-type driving wheels; An elevator module equipped with the above plurality of orbital wheels and attached to the lower part of the main body frame so as to be able to be lifted; A linear motor that drives the above-mentioned lifting module up and down; A drive motor that selectively drives the wheel-type drive wheel and the track wheel; A drive conversion motor that mechanically converts the power of the linear motor and the drive motor; A lidar sensor mounted on the main body frame and detecting the front ground; and A mobile robot hybrid drive device characterized by including a control unit that receives ground information from the lidar sensor, determines whether the front ground is rough according to set criteria, and controls the drive switching motor by dividing it into a flat ground driving mode and a rough ground driving mode.

2. In paragraph 1, In the above-mentioned flat-road driving mode, the drive conversion motor extends the linear motor to lower the plurality of drive wheels to form a state in which the drive wheels contact the ground and the track wheels float above the ground. A mobile robot hybrid drive device characterized in that, in the above-mentioned rough terrain driving mode, the drive conversion motor contracts the linear motor to raise the plurality of drive wheels, thereby forming a state in which the drive wheels float above the ground and the track wheels contact the ground.

3. In paragraph 1, A loading box mounted on the above main body frame and used to load goods; A gyro sensor that detects the inclination of the above loading box; and It includes a loading box horizontal maintenance motor that can change the angle between the loading box and the main body frame, A mobile robot hybrid drive device characterized in that the control unit receives an inclination angle from the gyro sensor and adjusts the angle of the loading box, thereby driving the loading box horizontal maintenance motor to maintain the loading box horizontal.

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