KR-102963749-B1 - MULTI-LEGGED WALKING ROBOT CAPABLE OF SURFACE ATTACHMENT

KR102963749B1KR 102963749 B1KR102963749 B1KR 102963749B1KR-102963749-B1

Abstract

An embodiment of the present invention discloses a control method for a multi-legged walking robot that performs a predetermined task on a metal structure, comprising: (a) a step of recognizing a task target position; (b) a step of turning on a magnetic foot part present in at least one of a plurality of leg modules in a magnetic foot assembly; (c) a step of controlling at least one leg module so that the main body descends to minimize the distance between the main body and a steel surface; (d) a step of turning on a body magnet part provided inside the main body so that at least one surface of the main body is attached to the steel surface; and (e) a step of repositioning at least one leg module.

Inventors

엄용
신영하
김준하
권순표

Assignees

주식회사 디든로보틱스

Dates

Publication Date: 20260512
Application Date: 20250822

Claims (16)

In a control method for a multi-legged walking robot that performs a predetermined task, (a) A step of recognizing the location of the work target; (b) a step of turning on a magnetic foot portion present in at least one of the plurality of leg modules, in a magnetic foot assembly; (c) A step of controlling the entire main body to descend by bending the joints of at least one leg module while the magnetic foot is in an ON control state to minimize the distance between the main body and the iron surface; (d) a step of controlling the body magnet part provided inside the main body close to the iron surface by the above lowering to be turned on so that at least one side of the main body is attached to the iron surface; and (e) a step of repositioning a first leg module adjacent to a work target location so as to move it away from the work target location, while at least one of the plurality of leg modules maintains a state in which the magnetic foot is attached to the iron surface, in order to prevent interference with the work target location; After the relocation in step (e) above, the distance between the work target position and the magnetic foot assembly of the first leg module is greater than the distance between the work target position and the magnetic foot assembly of the first leg module before the relocation, Control method for a multi-legged walking robot.
In Article 1, The above step (c) is, A step comprising controlling at least one of the first leg module, second leg module, third leg module, and fourth leg module to a bending motion and rotating it in the pitch direction. Control method for a multi-legged walking robot.
In Article 1, In step (c) above, The distance between the above-mentioned work target location and the magnetic foot assembly of the first leg module is spaced apart by a first distance, Control method for a multi-legged walking robot.
In Article 1, In step (c) above, The angle formed by the first link of the main body and the first leg module forms a first angle, Control method for a multi-legged walking robot.
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In Paragraph 4, The above step (e) is, A step comprising repositioning the first leg module such that the angle formed by the main body and the first link of the first leg module becomes larger than the first angle. Control method for a multi-legged walking robot.
In Article 1, The above step (e) is, A step comprising controlling a second joint of at least one leg module positioned relatively close to the above-mentioned work target position in a direction away from the work target position. Control method for a multi-legged walking robot.
In a multi-legged walking robot that performs a predetermined task, It includes at least one processor, The above processor (a) Recognize the location of the work target, and (b) On control of a magnetic foot portion present in at least one of a plurality of leg modules, and (c) To minimize the distance between the main body and the iron surface, the magnetic foot unit controls the bending of the joints of at least one leg module in the ON state so that the entire main body descends, and (d) By controlling the body magnet part provided inside the main body close to the iron surface by the above lowering, the main body is controlled to be turned on so that at least one side of the main body is attached to the iron surface, and (e) To prevent interference with the above-mentioned work target location, the magnetic foot portion of at least one of the plurality of leg modules is maintained attached to the iron surface, and the first leg module adjacent to the work target location is controlled to be repositioned away from the work target location. The distance between the work target location and the magnetic foot assembly of the first leg module after the above relocation is greater than the distance between the work target location and the magnetic foot assembly of the first leg module before the above relocation, Multi-legged walking robot.
In Article 9, The above processor is, Controlling at least one second joint assembly among the first leg module, second leg module, third leg module, and fourth leg module by bending motion to rotate in the pitch direction, Multi-legged walking robot.
In Article 9, In the above (c), The distance between the above-mentioned work target location and the magnetic foot assembly of the first leg module is spaced apart by a first distance, Multi-legged walking robot.
In Article 9, In the above (c), The angle formed by the first link of the main body and the first leg module forms a first angle, Multi-legged walking robot.
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In Paragraph 12, In the above (e), The above processor is, Controlling the first leg module such that the angle formed by the main body and the first link of the first leg module becomes larger than the first angle. Multi-legged walking robot.
In Article 9, In the above (e), The above processor is, Controlling the second joint of at least one leg module positioned relatively close to the above-mentioned work target position in a direction away from the work target position, Multi-legged walking robot.

Description

Multi-legged walking robot capable of surface attachment The present invention relates to a multi-legged walking robot capable of being attached to a steel surface on the back. Conventional multi-legged walking robots have been developed with a focus on walking on the ground or horizontal planes, and have had limitations in movement and anchoring on non-traditional surfaces such as vertical walls or ceilings. To overcome these limitations, some research has been conducted on attachment methods using vacuum suction pads. However, when the metal or iron surface was uneven or had irregularities, the adhesion of the vacuum suction pad was reduced, making it difficult to secure sufficient suction force. In addition, the vacuum suction method requires the continuous operation of a vacuum pump, resulting in high energy consumption and increased maintenance burden during prolonged operation. Furthermore, when fixed for a long time on a vertical or rear surface, the maintenance of suction force was unstable, posing a risk of the robot detaching. In contrast, magnetic attachment methods are relatively less sensitive to the uniformity of the iron surface, and when using electromagnetics, they offer the advantage of easy switching of attachment force through on/off control. Therefore, magnet-based multi-legged walking robot technology is required for stable back-mounting and vertical movement specifically tailored to iron surfaces. FIG. 1 is a perspective view of a multi-legged walking robot according to an embodiment of the present invention. FIG. 2 is a schematic diagram of systems for a multi-legged walking robot according to an embodiment of the present invention. FIG. 3 shows the main body and the first joint assembly of a multi-legged walking robot according to an embodiment of the present invention. FIG. 4 shows a second joint assembly of a multi-legged walking robot according to an embodiment of the present invention. FIG. 5 shows a magnetic foot assembly according to one embodiment of the present invention. FIG. 6 shows a magnetic foot assembly according to another embodiment of the present invention. FIG. 7 is a flowchart illustrating the back attachment process of a multi-legged walking robot according to one embodiment of the present invention. FIG. 8 is a diagram illustrating the process of attaching a multi-legged walking robot according to one embodiment of the present invention to a steel surface. FIG. 9 is a diagram illustrating the process of attaching a multi-legged walking robot according to one embodiment of the present invention to a steel surface. FIG. 10 is a drawing illustrating the process of attaching a multi-legged walking robot according to one embodiment of the present invention to a steel surface. Figures 11 to 13 illustrate the process of performing a rear attachment operation based on a bipedal robot. Specific structural or functional descriptions regarding embodiments according to the concept of the present invention disclosed herein are provided merely for the purpose of explaining embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be implemented in various forms and are not limited to the embodiments described herein. Embodiments according to the concept of the present invention may be subject to various modifications and may take various forms; therefore, embodiments are illustrated in the drawings and described in detail in this specification. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes all modifications, equivalents, or substitutions that fall within the spirit and scope of the present invention. Terms such as "first" or "second" may be used to describe various components, but said components should not be limited by said terms. For the sole purpose of distinguishing one component from another, for example, without departing from the scope of rights according to the concept of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The terms used herein 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. In this specification, terms such as “comprising” or “having” are intended to indicate the existence of the described features, numbers, steps, actions, components, parts, or combinations thereof, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. Additionally, the term “and/or” as used herein should be understood to refer to and include all possible combinations of one or more of the enumerated related items. Furthermore, the term “or” is intended to mean a