This is our literature Review.
Autonomous robot that can be moving on the wall.
The basic concept of existing autonomous mobile robots is to travel on flat surfaces, that is, horizontal flat surfaces, using self-generated information. In particular, one core element of such conventional autonomous mobile robots is a drive mechanism, and the drive mechanism includes chain, wheel, and multilegged- type drive mechanisms.
Meanwhile, attachment robots are robots which overcome the limitations of the flat- surface mobile robots and travel on ceilings or vertical surfaces. The conventional ceiling- surface/vertical- surface mobile robots cannot travel autonomously, as compared with general flat-surface mobile robot, and are semi- autonomous mobile robots which must ride on fixed rails or be remotely controlled by a person. In particular, such equipment using rails has limitations on the travelling range or operational area, and cannot be used in practice in an unsuitable installation space or a place where frames, such as rails, cannot be easily attached.
Further, since the conventional surface attachment mobile robot 1 has a bidirectional wheel structure, it has a disadvantage in that it cannot freely travel on the inside surface of a cargo hold. Furthermore, there are no ceiling surface/vertical surface-dedicated autonomous mobile robots which recognize their own positions and reach destinations.
The external encoder for measuring total travelling speed feeds back the total travelling speed of the robot to a central processing unit through a sensor signal processor. The load cell or the potentiometer is mounted on a steering system, and is used to detect the magnitude of attachment force and input the detected magnitude of the attachment force to the central processing unit through the sensor signal processor.
An input/output unit, a motion control unit, a drive control unit, a sensor signal processing unit, an emergency processing unit, an alarm generator, memory, and a module connection unit in an electronic circuit manner which will be divided according to the function and role in this embodiment.
The central processing unit performs functions involved in the operation and control of all elements mounted on the robot according to the present invention. The central processing unit uses a main board which is small and supplies almost all computer control interfaces and is thus appropriate for robot engineering. The central processing unit includes standard interfaces for a Video Graphics Array (VGA), a wired/wireless Local Area Network (LAN), a serial port, small- sized flash memory, a Universal Serial Bus (USB) and the performance of various types of input/output, control, processing, and a generation function. Further, the central processing unit is capable of being connected to a keyboard and a mouse.
The input/output unit includes a digital input/output module and an analog input/output module. When the central processing unit transmits digital signals to the outside, the digital input/output module has a function of receiving instructions from the central processing unit and outputting the instructions to the outside through a bus. Further, when the central processing unit receives digital signals from the outside, the digital input/output module has a function of receiving the digital signals from the outside and transmitting the digital signals to the central processing unit through the bus.
In the same way, when the central processing unit transmits analog signals to the outside, the analog input/output module has a function of receiving the instructions of the central processing unit and outputting the instructions to the outside through the bus. Further, when the central processing unit receives analog signals from the outside, the analog input/output module has a function of receiving the analog signals from the outside and transmitting the analog signals to the central processing unit through the PC bus.
The motion control unit receives instructions, transmitted from the central processing unit through the input/output unit, from an application program for performing the travelling motion of the wall climbing robot, analyses and recognizes the instructions, and generates and outputs respective motor control signals for a first drive motor for steering the robot and a second drive motor for generating driving force. The motion control unit occupies a small space and can prevent vibration using a bus structure, which is widely employed for an industrial central processing system.
The motor output signals of the drive control unit may be defined so as to be matched with any one of a motor control algorithm for a differential steering method used for conditions, such as off -road travel or high-speed travel, and a motor control algorithm for a holonomic control method of realizing omnidirectional drive.
The navigation control unit plans paths for performing autonomous travelling or motion from the determined current position to a target position, or resets the paths so as to perform an operation of avoiding an obstacle. The sensor signal processing unit can receive corresponding detection signals from the attitude control sensor, which corresponds to any one of a tilt sensor, and an proximity sensor, the omnidirectional obstacle- recognizing sensors, the distance measuring sensor, the external encoder for measuring total travelling speed, the motor encoder, the load cell, and the potentiometer.
The sensor signal processing unit converts the signals detected by the respective sensors into an internal digital signal form that the central processing unit can recognize, and inputs the resulting signals to the central processing unit. The emergency processing unit includes a specific artificial intelligent algorithm for recognizing obstacles or predicting that the robot will fall by comparing the detection signals of the respective sensors with preliminarily determined indexes and checking the comparison results in real time, in association with the central processing unit and the sensor signal processing unit.
A well-known device, such as a ball screw structure or a linear actuator, is used as means for generating moving force in the marking pen-carrying linear driver. Further, the marking pen-carrying linear driver has any one of liner, curved, circular, and rectangular arrangement structures based on the structural characteristics thereof. The marking pen-carrying linear driver is connected to the marking controller so as to mutually transmit control signals and feedback signals for checking the operation thereof. The marking controller is a well-known electronic circuit controller realized using a technique of planning and controlling paths formed by lines, circles, and dots, and is provided around the mobile controller. Through the marking controller and the module connection unit, and is configured to associate the travelling motion with the marking operation of the robot. the marking controller is connected to a marking control driver provided in the operating system of the central processing unit of the mobile controller using software, and is configured to perform a marking operation based on the instructions of an application program for a series of marking operations.
The grinder module is connected to the mobile controller through the grinder controller (not shown) and a module connection unit in the same way as the above-described marking module or the stud bolt welding module. The grinder module generates turning force for performing preliminary grinding with respect to the stud bolt welding module, and is electrically connected to the mobile controller so as to perform automation works using the mobile controller according to the present invention or using general robot control technology, thereby receiving power for a grinding motor of the grinder module and operating.
The depth measuring module includes a measurement unit configured to support any distance measurement method selected from among a stroke motion method, a laser method, and an ultrasonic method, in the same way as the above- described marking module, stud bolt welding module, and grinder module; and a depth measurement controller mounted in the measurement unit and configured to perform the operation of measuring depth. The depth measurement controller is connected to the mobile controller through the module connection unit.
The depth measurement operation is the operation in which the depth measuring module determines a reference point of a flat portion and measures relative depth based on the reference point.
robuROC6 Multifunction Robot.
The robuROC6 is Robosoft’s latest programmable mobile platform for military and civil safety applications, whose mechanical part has been developed in partnership with the “Laboratoire de Robotique de Paris”. Offering high programming and mobility performances, this robot is mainly intended for integrators of military and civil safety applications. Featuring optimized mobility and crossing capacities, the robuROC6 will soon integrate the robuBOX™ technology, which brings a great adaptation flexibility to its environment.
With exceptional obstacle-crossing capacities compared to its size, the robuROC6 offers a real solution for reconnaissance, monitoring and safety operations while minimizing human risks. The very innovative concept of customized loads allowing adaptation of the load to the context opens multiple application fields. Thus equipment such as video cameras, transmission systems and sensors can be very easily installed on the robot to customize it to the type of missions it will have to carry out.
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