Hybrid robot system for complex mission and it's control process

摘要

The present invention relates to a hybrid robot system in which a drone system flying in the sky and a robot system moving on the ground are fused. In particular, an unmanned aerial vehicle (drone) system, a ground robot system) and an integrated control system (portable controller) communicate with each other. It relates to a hybrid robot system for performing complex missions that is connected and transports a small ground robot to a designated place with a drone through a controller (portable controller) to cooperatively perform assigned tasks. Although the importance of using conventional drones and ground robots is increasing, the task performance of robots is not limited to a limited space, and in a situation where various new tasks that overcome the limitations of a single robot are required, the newly proposed present invention is a motor And an air drone system comprising an air drone equipped with an air drive unit equipped with a propeller and an air control unit (FC; Flight Control) for controlling the air drive unit according to a control signal of a portable controller; A ground robot system comprising: a robot driving unit comprising a moving means; and a ground robot having a robot control unit configured to control the robot driving unit according to a control signal from a portable controller; An integrated control system including a portable controller that controls the aerial drone and the ground robot is feedback controlled through mutual communication, and the small ground robot is transported to a designated place as an aerial drone through the portable controller, then undocked and landed on the ground We propose a hybrid robot system for performing complex missions, characterized in that the ground robot is docked with an aerial drone after performing a given ground mission and returned to a designated location again. Therefore, the hybrid robot system for performing a complex mission according to the present invention is a fusion of an aerial drone system and a ground robot system, and effectively copes with a short flight when moving a terrain with an obstacle or a height through a drone, Reconnaissance and exploration of narrow, closed spaces or dangerous areas through robots implements an intelligent robot system that adaptively responds to terrain, greatly expanding the limited use of drones or robots. In addition, the aerial drone system of the present invention opens the docking device so that the ground robot can enter upon landing, and automatically closes the docking device after docking to enable stable transport, and by utilizing marker recognition or sensors at a designated location. Implemented by an automatic docking device, and equipped with a docking sensor on the ground robot, there is an effect that the stability of docking coupling and undocking is improved. In addition, in the integrated control system of the present invention, the shape of the mission area photographed while the drone is flying in the sky, and the image photographed while the ground robot performs the mission in the concealed area, etc. Thus, there is an excellent effect in controlling each component.