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1. WO2021029484 - SYSTEM AND METHOD FOR CONTROLLING DISASTER RESCUE ROBOT

Publication Number WO/2021/029484
Publication Date 18.02.2021
International Application No. PCT/KR2019/013882
International Filing Date 22.10.2019
IPC
B25J 9/16 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 9/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
B25J 9/10 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
B25J 9/12 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
10characterised by positioning means for manipulator elements
12electric
B25J 11/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
Applicants
  • 한국로봇융합연구원 KOREA INSTITUTE OF ROBOT & CONVERGENCE [KR]/[KR]
Inventors
  • 박상현 PARK, Sang Hyun
  • 김무림 JIN, Maolin
  • 이준영 LEE, Jun Young
  • 서갑호 SEO, Kap Ho
  • 서진호 SUH, Jin Ho
Agents
  • 특허법인 웰 WELL PATENT LAW FIRM
Priority Data
10-2019-009797312.08.2019KR
Publication Language Korean (KO)
Filing Language Korean (KO)
Designated States
Title
(EN) SYSTEM AND METHOD FOR CONTROLLING DISASTER RESCUE ROBOT
(FR) SYSTÈME ET PROCÉDÉ PERMETTANT DE COMMANDER UN ROBOT DE SAUVETAGE EN CAS DE CATASTROPHE
(KO) 재난 구조 로봇 제어시스템 및 방법
Abstract
(EN)
The present invention relates to a system and method for controlling a disaster rescue robot, the system comprising: a multi-DOF slave arm which is mounted to a disaster rescue robot and performs recovery and rescue operations in a disaster environment; a master arm which receives an operation instruction from an operator; a control unit for controlling the operation of the slave arm in association with the operation of the master arm; and an operation limiting unit which limits the operation of the master arm with respect to an operation zone of the slave arm so that the instruction of the master arm is generated within the operation zone of the slave arm, wherein the slave arm is operated on the basis of the operation applied to the master arm so as to perform the recovery and rescue operations in the disaster environment, and the instruction of the master arm can be limited so as not to be generated outside the operation zone of the slave arm even when the operation zone of the slave arm is inconsistent with an instruction zone of the master arm.
(FR)
La présente invention concerne un système et un procédé permettant de commander un robot de sauvetage en cas de catastrophe, le système comprenant : un bras esclave à multiples degrés de liberté, qui est monté sur un robot de sauvetage en cas de catastrophe et qui effectue des opérations de récupération et de sauvetage dans un environnement de catastrophe ; un bras maître, qui reçoit une instruction d'opération provenant d'un opérateur ; une unité de commande permettant de commander l'opération du bras esclave en association avec l'opération du bras maître ; et une unité de limitation d'opération, qui limite l'opération du bras maître par rapport à une zone d'opération du bras esclave, de telle sorte que l'instruction du bras maître est générée dans la zone d'opération du bras esclave, le bras esclave étant actionné sur la base de l'opération appliquée au bras maître de façon à effectuer les opérations de récupération et de sauvetage dans l'environnement de catastrophe, et l'instruction du bras maître pouvant être limitée de manière à ne pas être générée à l'extérieur de la zone d'opération du bras esclave, même lorsque la zone d'opération du bras esclave est incompatible avec une zone d'instruction du bras maître.
(KO)
재난 구조 로봇 제어시스템 및 방법에 관한 것으로, 재난 구조 로봇에 설치되고, 재난 환경에서 복구 및 구조 동작을 수행하는 다자유도의 슬레이브암, 작업자의 조작명령을 입력받는 마스터암, 상기 마스터암의 동작에 연동해서 상기 슬레이브암의 동작을 제어하는 제어부 및 상기 마스터암의 지령이 상기 슬레이브암의 동작영역 내부에서 발생하도록, 상기 슬레이브암의 동작영역을 기준으로 상기 마스터암의 동작을 제한하는 동작 제한부를 포함하는 구성을 마련하여, 마스터암에 가해지는 조작에 기초해서 슬레이브암을 동작시켜 재난 환경에서 복구 및 구조 동작을 수행하고, 슬레이브암의 동작영역과 마스터암의 지령영역이 서로 불일치하더라도 마스터암의 지령이 슬레이브암의 동작영역 외부에 생성되지 않도록 제한할 수 있다.
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