Separable module type snake robot for providing seamless communication and operation method of the same

{
  "publication_number": "US9307345B2",
  "country": "US",
  "kind": "B2",
  "title": "Separable module type snake robot for providing seamless communication and operation method of the same",
  "abstract": "Disclosed is a snake robot for exploration and disclosed is a separable module type snake robot that configures an ad-hoc mesh network by separating a body part into multiple mobile relay modules according to a propagation situation to seamlessly transmit image information to a remote control center.",
  "claims": [
    "1. A module type snake robot, comprising: a plurality of robot modules separably connected, wherein the robot modules are independently separated according to a propagation situation for wireless communication with a control center, wherein the robot modules are initially connected to each other and separated sequentially.",
    "2. The module type snake robot of claim 1, wherein the robot modules are separated sequentially from a robot module connected to the rearmost portion.",
    "3. The module type snake robot of claim 1, wherein the robot modules include: a first robot module; and at least one second robot module connected to the first robot module to relay wireless communication between the first robot module and the control center and selectively separated from the first robot module according to the propagation situation with the control center.",
    "4. The module type snake robot of claim 3, wherein when a received signal strength indication (RSSI) and a link quality indicator (LQI) with the control center are analyzed and the propagation situation is degraded to a predetermined level, the second robot module is selectively separated from the first robot module.",
    "5. The module type snake robot of claim 4, wherein each of the second robot modules includes: a first communication device which performs the wireless communication with a neighboring robot module or the control center; a first driving device which moves the second robot module; and a first recognition device which controls the position of the second robot module by analyzing the propagation situation with the neighboring robot module or the control center.",
    "6. The module type snake robot of claim 5, wherein the first recognition device moves the second robot module to a place where the propagation situation is better by controlling the first driving device after the second robot module is separated.",
    "7. The module type snake robot of claim 3, wherein the second robot modules are sequentially separated from the robot module connected to the rearmost portion when the plurality of robot modules are connected in series.",
    "8. The module type snake robot of claim 3, wherein the first robot module includes: an imaging device which generates an image signal by photographing an exploration area; a second communication device which wirelessly transmits the image signal to the second robot module; a second driving device which moves the first robot module; and a second recognition device which controls the position of the first robot module by analyzing a propagation situation with the second robot module.",
    "9. An operation method of a module type snake robot in which a plurality of robot modules are connected, the method comprising: analyzing a propagation situation with a control center while the snake robot advances according to control by the control center; and separating a first robot module connected to the rearmost portion among the plurality of robot modules when the propagation situation with the control center is degraded to a predetermined level, wherein the robot modules are initially connected to each other and separated sequentially.",
    "10. The method of claim 9, wherein in the analyzing of the propagation situation, a received signal strength indication (RSSI) and a link quality indicator (LQI) with the control center are analyzed.",
    "11. The method of claim 10, further comprising: analyzing a propagation situation with the first robot module while the snake robot advances according to control by the control center; and separating a second robot module connected to the rearmost portion when the propagation situation with the first robot module is degraded to a predetermined level.",
    "12. The method of claim 9, further comprising: moving the separated first robot module to a place where the propagation situation with the control center is better.",
    "13. The method of any one of claim 12, further comprising: analyzing a propagation situation with the first robot module while the snake robot advances according to control by the control center; and separating a second robot module connected to the rearmost portion when the propagation situation with the first robot module is degraded to a predetermined level.",
    "14. The method of claim 9, further comprising: analyzing a propagation situation with the first robot module while the snake robot advances according to control by the control center; and separating a second robot module connected to the rearmost portion when the propagation situation with the first robot module is degraded to a predetermined level."
  ],
  "description_excerpt": "The present invention relates to a snake robot, and more particularly, to a separable module type snake robot that configures an ad-hoc mesh network by separating a body part into multiple mobile relay modules according to a propagation situation to seamlessly transmit image information to a remote control center, and an operation method of the same.\n\nA robot represents a machine having a shape and a function similar to human or a machine having a capability to work something for itself. A robot that uses artificial power may work instead of human or together with human. In general, the robot is designed to perform a work planned by a manufacturer and substitutes a lot of works which have been performed by humans.\n\nIn recent years, a snake type robot for performing life detection and environmental exploration missions has been developed under an atypical environment (a building collapse site, a water supply and drainage pipe, a cave, a biochemistry contamination area, and the like) which human cannot geographically explore by himself/herself.\n\nThe snake robot for exploration is mounted with a communication device for transmitting an image signal acquired by photographing an exploration area and positional information.\n\nHowever, since the snake robot performs a mission primarily in shadow areas that easily deviate from a valid communication range, such as a tunnel, a drain pipe, an underground facility, and the like, there is a problem in that the snake robot may easily deviate from a control zone.",
  "cpc": [
    "H04W 4/70",
    "B25J 13/006",
    "B25J 9/065",
    "B25J 9/08",
    "B25J 9/1689",
    "G05B 2219/33192",
    "G05B 2219/40161",
    "G05B 2219/40234",
    "G05B 2219/40304",
    "H04W 4/005",
    "Y10S 901/01",
    "Y10S 901/28"
  ],
  "ipc": [
    "B25J 13/00",
    "B25J 9/00",
    "B25J 9/06",
    "B25J 9/08",
    "H04W 4/70"
  ],
  "assignees": [
    "Electronics and Telecommunications Research Institute ETRI"
  ],
  "inventors": [
    "Chang Eun Lee",
    "Sung Hoon Kim",
    "Jong Hyun Park"
  ],
  "filing_date": "2014-08-05",
  "publication_date": "2016-04-05",
  "grant_date": "2016-04-05",
  "priority_date": "2014-01-13",
  "application_number": "US-201414451714-A",
  "family_id": "53520556",
  "cited_by_count": 0,
  "citations": [
    "US5947213A",
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    "US20070008918A1",
    "US8571711B2",
    "US8935014B2",
    "KR20130031093A",
    "KR20130037056A",
    "US20130123981A1"
  ]
}