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KR-20260063176-A - High-rise exterior wall autonomous driving multi-purpose robot-platform

KR20260063176AKR 20260063176 AKR20260063176 AKR 20260063176AKR-20260063176-A

Abstract

The present invention relates to a multi-purpose robot platform for autonomous driving on a high-rise exterior wall, wherein the thrust force and direction by a jet thruster mounted on the upper surface of a robot platform body equipped with crawler wheels and the contact force and direction by a plurality of contact fans mounted on both the left and right sides of the robot platform body are automatically controlled to autonomously drive the robot platform body along the vertical exterior wall of a high-rise building (e.g., a high-rise building, a factory, a dam, a bridge, etc.), and robots manufactured for multi-purpose work can be selectively mounted and used on a robot mounting plate mounted on the upper surface of the robot platform body. According to the present invention, autonomous driving of the robot platform body is possible regardless of the material (e.g., concrete, wood, glass, steel, plastic, etc.) or curvature of the vertical exterior wall of a high-rise building, and multi-purpose tasks on the high-rise building (e.g., maintenance work such as cleaning, painting, printing of text or patterns on the exterior wall, non-destructive testing and surface inspection, fire suppression and evacuation of victims in high-rise buildings, surveillance work using thermal imaging cameras or vision cameras, etc.) can be performed safely in place of a person, reducing work time and improving work productivity, and the risk of falling accidents for a person working suspended from the vertical exterior wall can be completely eliminated.

Inventors

  • 이병채
  • 송수준
  • 최종원
  • 유규제

Assignees

  • (주)에스엔

Dates

Publication Date
20260507
Application Date
20241030

Claims (10)

  1. A robot platform body (110) that is supported to be drivable by crawler wheels (110a) on both the left and right sides or a plurality of elastic rubber wheels, and automatically controls the propulsion force and direction by at least one jet thruster (110b) mounted on the upper surface and the adhesion force and direction by at least one pair of adhesion fans (110c) mounted on both the left and right sides, and allows robots manufactured for multi-purpose work to be selectively mounted and used on a robot mounting plate (110d) mounted on the upper surface; A load cell (111) installed in the suspension system of the above-mentioned crawler wheel (110a) to measure the weight of the robot platform body (110) or the sum of the weight of the robot platform body (110) and the weight of the robot mounted on the robot mounting plate (110d); A camera (112) installed on the front of the robot platform body (110) to photograph the condition of the floor in front or the presence or absence of obstacles in real time while autonomously driving along a vertical outer wall; An acceleration sensor (113) installed inside the robot platform body (110) to measure speed and vibration during autonomous driving of the robot platform body (110); A gyroscope sensor (114) installed inside the robot platform body (110) to measure an angular velocity indicating a change in direction or attitude during autonomous driving of the robot platform body (110); A rotational speed sensor (115) installed on the above-mentioned close-contact fan (110c) to measure the rotational speed of the above-mentioned close-contact fan (110c); and A control unit (116) installed inside or outside the robot platform body (110) and communicating with the load cell (111), the camera (112), the accelerometer (113), the gyroscope sensor (114), and the rotational speed sensor (115) via a wired or wireless method to obtain the measured value of the load cell (111), the captured image of the camera (112), the measured value of the accelerometer (113), the measured value of the gyroscope sensor (114), and the measured value of the rotational speed sensor (115), and performing automatic steering control of the crawler wheel (110a) to set the autonomous driving direction of the robot platform body (110), and automatically controlling the thrust force and direction of the jet thruster (110b) and the contact force and direction of the contact fan (110c) during the autonomous driving of the robot platform body (110); A multi-purpose robot platform for autonomous driving on high-rise exterior walls, characterized by being composed of
  2. A multi-purpose robot platform for autonomous driving on a high-rise exterior wall according to claim 1, characterized in that the robot platform body (110) further includes a jet thruster direction controller (110b1) that supports the jet thruster (110b) and is controlled by the control unit (116) to adjust the direction of the thrust of the jet thruster (110b).
  3. A multi-purpose robot platform for autonomous driving on a high-rise exterior wall according to claim 1, characterized in that the robot platform body (110) further includes a contact fan direction controller (110c1) that supports the contact fan (110c) and is controlled by the control unit (116) to adjust the direction of the contact force of the contact fan (110c).
  4. A multi-purpose robot platform for autonomous driving on a high-rise exterior wall, characterized in that, in claim 1, the control unit (116) calculates the driving force (F) required for autonomous driving on the vertical exterior wall of the robot platform body (110) according to the inclination of the vertical exterior wall surface and the total weight of the robot platform body (110) using the following mathematical formula, and automatically controls the thrust force and direction of the jet thruster (110b) and the contact force and direction of the contact fan (110c). [Here, F L is the levitation component of the thrust force by the jet thruster (110b) that acts in a direction horizontal to the vertical outer wall surface to drive the robot platform body (110), F g is gravity, F mf is the frictional force between the crawler wheel (110a) and the vertical outer wall surface, m is the weight of the robot platform body (110) or the mass obtained by adding the mass of the robot platform body (110) and the mass of the robot mounted on the robot mounting plate (110d), F T is the thrust force by the jet thruster (110b) or the reaction force thereof, θ T is the angle formed by the direction of the thrust force (F T ) of the jet thruster (110b) and the contact component (F J ) that acts in a direction perpendicular to the vertical outer wall surface after the force generated by the reaction force of the thrust force (F T ) by the jet thruster (110b) is separated.]
  5. A multi-purpose robot platform for autonomous driving on a high-rise exterior wall, characterized in that, in claim 4, the control unit (116) calculates the maximum static friction force (F mf ) between the crawler wheel (110a) and the vertical exterior wall surface using the following mathematical formula. [Here, F w is the coefficient of friction between the crawler wheel (110a) and the vertical outer wall surface, and F ad is the contact force of the robot platform body (110) on the vertical outer wall, representing the normal force (N) required for autonomous driving of the robot platform body (110) on the vertical outer wall.]
  6. A multi-purpose robot platform for autonomous driving on a high-rise exterior wall, characterized in that, in claim 5, the control unit (116) calculates the adhesion force (F ad ) of the robot platform body (110) on the vertical exterior wall using the following mathematical formula. [Here, F J is the contact component of the thrust force by the jet thruster (110b), and F F is the contact force by the contact fan (110c)]
  7. A multi-purpose robot platform for autonomous driving on a high-rise exterior wall, characterized in that, in claim 5, the control unit (116) calculates a contact component force (F J ) acting in a direction perpendicular to the vertical exterior wall surface by separating the force generated as a reaction force of the thrust force (F T ) by the jet thruster (110b) using the following mathematical formula. [Here, F T is the reaction force of the thrust force produced by the jet thruster (110b), and θ T is the angle formed by the direction of the thrust force of the jet thruster (110b) and the contact component force (F J )]
  8. A multi-purpose robot platform for autonomous driving on a high-rise exterior wall according to claim 1, further comprising a parachute (117) installed inside the robot platform body (110) and controlled by the control unit (116) to release when a sudden fall of the robot platform body (110) occurs, thereby reducing the fall speed and minimizing the fall impact.
  9. In claim 8, the control unit (116) is installed inside the robot platform body (110) and determines whether the sudden fall situation occurs based on the measurement value of a gyroscope sensor (114) that measures an angular velocity indicating a change in direction or attitude during autonomous driving of the robot platform body (110), and when the sudden fall situation occurs and the parachute (117) is released, the thrust direction of the jet thruster (110b) mounted on the robot platform body (110) and the contact force direction of the contact fan (110c) mounted on the robot platform body (110) are switched toward the ground to reduce the fall speed and minimize the fall impact, characterized by a high-rise exterior wall autonomous driving multi-purpose robot platform.
  10. A multi-purpose robot platform for autonomous driving on a high-rise exterior wall according to claim 1, characterized by comprising a communication unit (118) installed inside or outside the robot platform body (110) to transmit the operation control status of the robot platform body (110) of the control unit (116) to a remote user terminal or remote control server to remotely monitor the robot platform body (110), or to transmit remote control instructions from the user terminal or remote control server to the control unit (116) to remotely control the operation of the robot platform body (110).

Description

High-rise exterior wall autonomous driving multi-purpose robot-platform The present invention relates to an autonomous driving robot platform, and more specifically, to an autonomous driving multi-purpose robot platform for high-rise exterior walls. To efficiently perform tasks such as exterior wall cleaning, inspection, and maintenance, vertical exterior wall climbing robots must maintain sufficient adhesion or suction force to prevent falling off the surface during operation, and in addition, require maneuverability to maintain an appropriate driving speed. However, there is a trade-off between adhesion or suction force and drivability. Low adhesion reduces frictional resistance, allowing the robot to move even with low power output; however, in the case of wheeled robots, for instance, this can increase the risk of falling due to wheel slip. To address this, existing vertical exterior wall climbing robots were designed to be suitable only for exterior walls made of specific materials, such as glass or steel plates. Meanwhile, commonly used vertical exterior wall climbing robots maintain adhesion or suction force using magnetic or vacuum suction methods, which has the disadvantage of depending on the wall material and is difficult to use in various environments; in particular, their efficiency is reduced in complex buildings composed of various materials. On the other hand, most vertical exterior climbing robots are designed to be compact in order to reduce weight, which imposes many limitations on their application in actual work environments. As such, existing vertical exterior wall climbing robots are utilized only for limited purposes due to reasons such as reliance on specific wall materials or the pursuit of lightweight design. FIG. 1 is a perspective view showing the configuration of a multi-purpose robot platform for autonomous driving on a high-rise exterior wall according to the present invention. Fig. 2 is a rear view of Fig. 1. Fig. 3 is a side view of Fig. 1. Fig. 4 is a plan view of Fig. 1. FIG. 5 is a conceptual diagram illustrating the correlation of forces for the high-rise exterior wall autonomous driving multi-purpose robot platform according to the present invention to make contact and move on the vertical exterior wall of a building. Hereinafter, embodiments of the present invention will be described in more detail with reference to the attached drawings. The multi-purpose robot platform for autonomous driving on high-rise exterior walls according to the present invention described below is not limited to the embodiments described below, and its technical spirit extends to the scope in which any person with ordinary knowledge in the relevant technical field can modify and implement it without departing from the gist of the technology claimed in the claims. Referring to FIGS. 1 to 5, the high-rise exterior wall autonomous driving multi-purpose robot platform (100) according to the present invention comprises a robot platform body (110), a load cell (111), a camera (112), an accelerometer (113), a gyroscope sensor (114), a rotational speed sensor (115), a parachute (117), a control unit (17), and a communication unit (118). The above robot platform body (110) is supported to be drivable by crawler wheels (110a) on both the left and right sides or by a plurality of elastic rubber wheels (not shown) for overcoming protrusions, and automatically controls the propulsion force and direction by at least one jet thruster (110b) mounted on the upper surface and the adhesion force and direction by at least one pair of adhesion fans (110c) mounted on both the left and right sides so as to be autonomously driven along the vertical outer wall of a high-rise building (e.g., a high-rise building, a factory, a dam, a bridge, etc.), and allows robots manufactured for multi-purpose work to be selectively mounted and used on a robot mounting plate (110d) mounted on the upper surface. The above robots can be mounted by means of bolts or the like on a robot mounting plate (110d) that rotates from a horizontal state to a vertical state (see dotted arrow) as shown in FIG. 3. The robot platform body (110) further includes a jet thruster direction controller (110b1) that supports the jet thruster (110b) and is controlled by the control unit (116) to adjust the thrust direction of the jet thruster (110b) (refer to the rotation indicator arrow or up/down indicator arrow shown in FIGS. 2 and 3). The robot platform body (110) further includes a contact fan direction controller (110c1) that supports the contact fan (110c) and is controlled by the control unit (116) to adjust the direction of the contact force of the contact fan (110c) (see rotation indicator arrow shown in FIG. 2). As illustrated in FIG. 4, the load cell (111) is installed in the suspension system of the crawler wheel (110a) to measure the weight of the robot platform body (110) or the sum of the weight of the robot platform body (110) and the weig