KR101021694B1 - Mobile terminal based mobile robot control system and mobile terminal based mobile robot control method - Google Patents

Abstract

The mobile terminal based mobile robot control system according to the present invention includes a connection confirmation unit within a portable terminal for checking whether a mobile robot is connected to a serial port, and, when it is determined to be connected, the first control based on an output value of the terminal sensor module. According to the terminal control unit in the portable terminal for generating information, the serial interface in the mobile robot receiving the generated first control information based on serial communication through the serial port, and the first control information, the movement And a robot controller in the mobile robot to control the robot.

Mobile terminal, mobile robot, serial communication

Description

MOBILE TERMINAL BASED MOBILE ROBOT CONTROL SYSTEM AND MOBILE TERMINAL BASED MOBILE ROBOT CONTROL METHOD

The present invention implements a mobile device that acts as a robot brain and a mechanical device of a mobile robot that functions as a human body in a docking technology, and serializes a mobile robot using various technologies fused to the mobile terminal. The present invention relates to a mobile terminal-based mobile robot control system and method for controlling based on the present invention.

With the development of communication technology, portable terminals such as mobile communication terminals and personal digital assistants (PDAs) are widely used, and related technologies using portable terminals are rapidly developing. As mobile terminals move beyond simple voice communication functions and integrate with various convergence / composite technologies such as wireless internet technology, digital camera technology, music reproduction technology, and satellite / terrestrial broadcasting technology, various services and contents are mass-produced.

In particular, many related technologies for controlling a mobile robot device using such a mobile terminal have been proposed. That is, the technology to perform the remote control function for the robot device in the short or long distance based on the mobile phone, or to attach and detach the mobile communication terminal to the computing component corresponding to the brain of the personal robot so that it can be used as the robot's brain. Therefore, a mobile pet brain system and method using a mobile communication terminal (hereinafter, referred to as Patent Application Publication No. 10-2007-0101704) for implementing a variety of additional services based on a mobile means have been proposed as an integrated mobile phone-based robot technology. .

However, in the Patent Publication No. 10-2007-0101704, a specific technique for connecting the robot pet mobile device and the mobile communication terminal is not presented, and thus a data communication method or a power supply method between the two objects is not clearly revealed. In 2007-0101704, it is possible to control the movement of the robot pet by simply detecting the reception of a phone / text or a voice reception to the mobile communication terminal, and analyzing the information detected through a separate sensor module provided in the mobile communication terminal. By generating a control command for the robot pet, the robot pet could not move according to the control command to perform the required task. That is, in the related art of a mobile robot device using a portable terminal, based on the information collected through various sensor modules such as a camera module and a vibration module fused to the portable terminal, thinking and judging by itself are used to control behavior of the robot pet. There was a difficulty.

Therefore, according to the present invention, a mobile terminal serving as a robot brain and a mechanical device of a mobile robot serving as a human body are implemented in a docking technology, and the mobile robot is controlled using various technologies fused to the portable terminal. Suggest a technique.

The present invention has been made to solve the above problems, and implements the docking (docking) technology of the mobile device that acts as the robot brain and the mobile device that serves as the human body, and converged to the portable terminal It is an object of the present invention to provide a mobile terminal-based mobile robot control system and method for controlling a mobile robot based on serial communication using various techniques.

In addition, the present invention provides a variety of additional services by controlling a mobile robot connected in a docking form based on serial communication, using a variety of convergence technologies such as cameras, sensors, high-performance computing capabilities that are connected to the portable terminal. An object of the present invention is to provide a mobile terminal-based mobile robot control system and method.

In order to achieve the object of the present invention as described above, a mobile terminal based mobile robot control system according to an embodiment of the present invention is connected with a connection confirmation unit in the mobile terminal to confirm whether the connection to the mobile robot to the serial port, When it is confirmed that the terminal control unit in the portable terminal to generate the first control information based on the output value of the terminal sensor module, the movement receiving the generated first control information based on the serial communication through the serial port And a robot controller in the mobile robot to control the mobile robot according to the serial interface in the robot and the first control information.

In addition, the mobile terminal-based mobile robot control method according to an embodiment of the present invention in the connection confirmation unit in the mobile terminal, the step of confirming whether the connection to the mobile robot to the serial port, if it is confirmed that the connection, the portable Generating, by the terminal control unit in the terminal, first control information based on an output value of the terminal sensor module; and generating the first control information in the serial interface in the mobile robot based on serial communication through the serial port. Receiving the input, and in the robot control unit in the mobile robot, according to the first control information, characterized in that it comprises the step of controlling the mobile robot.

According to the present invention, a mechanical device of a mobile terminal serving as a robot brain and a mobile robot serving as a human body may be implemented using a docking technology, and the connected mobile robot using various technologies fused to the portable terminal. Can be controlled based on serial communication.

In addition, according to the present invention, by using a variety of convergence technologies such as cameras, sensors, high-performance computing capabilities that are connected to the mobile terminal, by controlling the mobile robot connected to the portable terminal in the docking form based on serial communication, various additional services Can be provided.

Hereinafter, a mobile terminal based mobile robot control system and method according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram illustrating a mobile terminal and a mobile robot connected through a serial cable in a mobile terminal based mobile robot control system according to an embodiment of the present invention.

Mobile terminal control system based on a mobile terminal according to an embodiment of the present invention, as shown in Figure 1, a mobile terminal 110 having a serial port, a mobile robot 120 having a serial interface, and The serial cable 130 may be configured to physically connect the serial port of the mobile terminal 110 and the serial interface of the mobile robot 120.

In addition to the function module for voice call or text / email transmission / reception, the mobile terminal 110 includes various convergence technologies such as a camera device for photographing surrounding images and outputting images, and a sensor for measuring temperature or detecting infrared rays. It may be included in the mobile terminal 110 as a module.

In addition, the portable terminal 110 includes a 'master cradle control SW module' that performs a high-performance calculation processing function like a CPU device of a computer, and the master cradle control SW module inputs an output value from the terminal sensor module. The result of the processing (ie, the first control information) is transmitted to the mobile robot 120 connected to the mobile terminal 110 and the serial cable 130 so that the mobile robot 120 according to the first control information. The mobile terminal 110 and the mobile robot 120 connected via the serial cable 130 may operate as one device through serial communication.

To this end, the mobile terminal 110 checks whether the mobile terminal 120 is connected to the mobile robot 120 through the serial cable 130 to the serial port, and when it is confirmed that the mobile terminal 110 is connected to the mobile robot 120, the mobile terminal 110. ) Generates first control information for controlling the mobile robot 120 based on an output value of the terminal sensor module included in the mobile terminal 110, and based on serial communication through the serial port, the mobile robot 120 The first control information can be transmitted.

The mobile robot 120 includes a robot power module, a robot mobile module, a robot sensor module, or the like provided in the mobile robot 120 according to the first control information received from the mobile terminal 110 through a serial interface. Control over the device can be performed easily. The mobile robot 120 includes a 'microprocessor' and a 'slave cradle control SW module' performing a minimum information processing function, and the slave cradle control SW module is a first control transmitted from the portable terminal 110. By parsing information, each device such as a robot power module, a robot moving module, or a robot sensor module can be controlled through a 'control driver'.

That is, the mobile terminal 110 connects the first control information generated based on an input value by the portable terminal user or an output value from the terminal sensor module through the serial cable 130 connected to the serial port. By transmitting based on serial communication, power may be supplied to the mobile robot 120, the mobile robot 120 may be moved to a desired position, or the mobile robot 120 may be controlled to perform an operation.

In other words, according to the present invention, a mobile terminal serving as a robot brain and a mechanical device of a mobile robot serving as a human body are implemented using a docking technology, and a camera, a sensor, and a high-performance calculation applied to the portable terminal. By using various convergence technologies such as capabilities, a mobile robot connected to a portable terminal in a docking form can be controlled based on serial communication, thereby providing various additional services to a user.

2 is a diagram illustrating a configuration of a mobile terminal based mobile robot control system according to an embodiment of the present invention.

The mobile terminal based mobile robot control system 200 according to an exemplary embodiment of the present invention includes a connection confirmation unit 201 in a portable terminal, a serial port 202 in a portable terminal, a terminal controller 203 in a portable terminal, and a portable terminal. My terminal sensor module 204, mobile interface serial interface 205, mobile robot robot control unit 206, mobile robot robot power supply module 207, mobile robot robot moving module 208, mobile robot robot It may be configured to include a sensor module 209 and the wireless interface 210 in the mobile robot.

The connection confirmation unit 201 in the portable terminal functions to check whether the mobile port is connected to the serial port 202 provided in the portable terminal.

When the necessity of serial communication for transmitting the first control information occurs to control the mobile robot in the mobile terminal, the connection confirmation unit 201 is connected to the serial port 202 to determine whether the mobile robot is connected to the mobile robot. You can check it.

When it is confirmed that the portable terminal is connected to the mobile robot, the terminal controller 203 functions to generate first control information based on an output value of the terminal sensor module 204.

The terminal sensor module 204 may be associated with various convergence technologies provided in the portable terminal. For example, the terminal sensor module 204 may include a camera module for outputting a predetermined area of a space where the mobile terminal is located as image data or a vibration module for detecting vibration generated in the mobile terminal. In addition, FIG. Although not yet, a module that performs an infrared detection function or a temperature sensing function may be included in the portable terminal as the terminal sensor module 204.

The terminal controller 203 may be implemented in a portable terminal, such as a "master cradle control SW module" that performs high performance calculation processing functions such as a CPU device of a computer, and the terminal controller 203 may be implemented in the terminal sensor module 204. Processing that takes an output value as an input may be performed to generate first control information for controlling the mobile robot.

For example, when the terminal sensor module 204 is a camera module provided in the portable terminal, the terminal controller 203 may generate first control information based on an image related output value of the camera module. That is, the terminal controller 203 may rotate the angle, the moving distance, the moving speed (acceleration), etc. so that the moving robot may move or move the obstacle recognized in the image data generated in real time by the camera module. It may generate a first control information comprising a.

In addition, when the terminal sensor module 204 is a vibration module provided in the portable terminal, the terminal controller 203 may generate first control information based on the shaking-related output value of the vibration module. That is, the terminal controller 203 determines where the moving robot moves to 'living room, bedroom, bathroom, or current location' in consideration of the vibration interval (vibration period) of the mobile terminal generated by the vibration module. First control information including a rotation angle, a movement distance, a movement speed (acceleration), etc. for moving to the determined position may be generated.

Alternatively, the terminal controller 203 may generate first control information for controlling the mobile robot based on an output value from the terminal sensor module 204 or a command of the portable terminal user.

The user of the portable terminal sends a coordinate value corresponding to a position to which the mobile robot is to be moved, and a command regarding a task to be performed by the mobile robot that has reached the position (for example, sensing temperature, fire / light emitting / sound when a fire occurs, etc.). The terminal control unit 203 may be configured to include a first position including information about a position to which the mobile robot moves and a job to be operated by the mobile robot based on the set command or an output value from the terminal sensor module 204. Control information can be generated.

The terminal controller 203 may transmit the generated first control information to the connected mobile robot based on serial communication through the serial port 202, and the mobile robot may receive the first control information through serial communication. The control information may be input through the serial interface 205 provided in the mobile robot.

Here, the serial port 202 and the serial interface 205 are standard input / output connection terminal interfaces provided in the mobile terminal and the mobile robot, respectively, and the mobile terminal is a serial interface of the mobile robot connected through a serial cable connected to the serial port 202. In step 205, serial communication for data transmission and reception or power supply may be performed. In this case, the portable terminal may transmit the generated first control information to the mobile robot using a data transmission / reception pin of the serial cable (eg, pins 13 and 14 in the case of the TTA standard 24pin serial cable). Herein, the pin information used in the present invention may indicate the content of the data transmission / reception pin.

The robot controller 206 functions to control the mobile robot according to the first control information input through the serial interface 205.

The mobile robot includes a microprocessor capable of performing minimal information processing, a slave cradle control SW module for receiving and parsing control information generated by a mobile terminal, and parsing first control information from the slave cradle control SW module. According to the processing result, a control driver (digital signal converter) for actually controlling various device modules mounted on the mobile robot may be included.

The device module mounted on the mobile robot may include a robot power module 207, a robot moving module 208, and a robot sensor module 209. The robot power module 207 may be a space for storing power required for moving a mobile robot to perform a requested task from a portable terminal, and the robot moving module 208 may include wheels, chains, or the like for moving the mobile robot. Equipment such as a mobile device or an actuator, such as walking, may be included, and the robot sensor module 209 includes a sensor for collecting information about the surrounding environment such as a temperature sensor or an infrared sensor, or various operations for performing a request from a portable terminal. Function modules may be included.

The robot controller 206 may be implemented as a microprocessor mounted to a mobile robot, a slave cradle control SW module, and a control driver, and the robot controller 206 may be a first received from a portable terminal through the serial interface 205. The control information can be processed to control each device module mounted on the mobile robot.

For example, the robot controller 206 analyzes the first control information generated based on an image related output value of the 'camera module', which is one of the terminal sensor modules 204 included in the portable terminal, and determines a moving line for the mobile robot to proceed. And, the robot movement module 208 for the movement to the determined copper wire can be controlled. That is, the robot controller 206 analyzes the first control information and rotates the mobile robot so that the mobile robot can move or operate an obstacle that is recognized in the image data generated in real time by the camera module. And, to avoid obstacles, information about the moving distance to be moved and the moving speed (acceleration) can be identified, and the robot moving module 208 can be controlled accordingly.

In addition, the robot controller 206 analyzes the first control information generated based on the shaking-related output value of the vibration module, which is one of the terminal sensor modules 204 included in the portable terminal, and moves the mobile robot associated with the output value. This position can be determined and the robot movement module 208 can be controlled for movement to the determined position. That is, the robot controller 206 analyzes the first control information so as to move the position in consideration of the vibration interval (vibration period) of the mobile terminal generated by the vibration module (for example, 'living room, bedroom, toilet'). , Or the current position '), the rotation angle, the movement distance, and the movement speed (acceleration) can be identified, and the robot movement module 208 can be controlled accordingly.

In addition, when the first control information received from the portable terminal is related to power supply, the robot controller 206 connects the robot power module 207 in the mobile robot to the serial interface 205, and the portable terminal through serial communication. Power supplied from the controller may be controlled to be accumulated in the robot power module 207. In this case, the terminal controller 203 in the portable terminal may supply power to the robot power module 207 through the serial interface 205 using the charging-related pin of the serial cable.

In addition, the robot controller 206 parses the first control information received from the mobile terminal to identify a position to which the mobile robot is to move, information about a job to be operated by the mobile robot, and to move to the position. The robot movement module 208 and the robot sensor module 209 for the operation of the task may be controlled. That is, the robot controller 206 identifies the coordinate value corresponding to the position to move the mobile robot through the portable terminal from the first control information to control and move the robot movement module 208 to reach the position. For example, it may be controlled to perform operations related to temperature sensing and fire / light emission / sound generation when a fire occurs.

In the present invention, before the mobile terminal is connected to the mobile robot through a serial cable, the mobile terminal may generate second control information for calling the mobile terminal and transmit the second control information to the mobile robot through a wireless communication network. Here, the second control information may include location information of the portable terminal.

The mobile robot may receive the second control information transmitted from the portable terminal through the wireless interface 210 provided in the mobile robot and transmit the second control information to the robot controller 206.

The robot controller 206 analyzes the second control information received from the mobile terminal through the wireless interface 210 to identify the current position of the mobile terminal calling the mobile robot, and to move the robot to the identified position. The movement module 208 can be controlled.

As the mobile robot moves to the location of the mobile terminal using the second control information received with the call of the mobile terminal, when the mobile terminal is connected to the mobile terminal through a serial cable, the robot controller 206 is provided in the mobile robot. Generating status information about at least one of the robot movement module 208, the robot sensor module 209, and the robot power module 207, and based on serial communication via the serial interface 205, the portable terminal. Can be sent to.

The robot controller 206 is a robot movement module 208 or a robot sensor provided in the mobile robot, in response to a request of a mobile terminal connected to the mobile robot or in connection with the connection between the mobile robot and the mobile terminal being confirmed through a serial cable. Status information indicating the type or current status of various device modules such as the module 209 or the robot power supply module 207 can be generated.

For example, the robot controller 206 may generate state information regarding the robot movement module 208 including a type of a mobile device (wheel, chain, walk, etc.) and an actuator included in the mobile robot. In addition, the robot controller 206 may generate state information regarding the robot sensor module 209 including the type of sensor included in the mobile robot. In addition, the robot controller 206 may generate state information regarding the robot sensor module 209 including battery capacity stored in the mobile robot.

The robot controller 206 is provided to the mobile robot by the terminal controller 203 in the mobile terminal by transmitting state information of each device module included in the mobile robot to the portable terminal based on serial communication through the serial interface 205. It is possible to easily recognize the state of each device module. Accordingly, the terminal controller 203 in the portable terminal may generate first control information for controlling the mobile robot in response to the state information received from the mobile robot.

For example, the terminal control unit 203 in the portable terminal can check the battery capacity accumulated in the mobile robot through the state information, and when the accumulated battery capacity is relatively small, the first controller for supplying power of the portable terminal to the mobile robot The control information can be generated and transmitted to the mobile robot through serial communication. That is, the terminal controller 203 in the portable terminal connects the battery unit to the serial port 202 in the portable terminal to supply power to the mobile robot through serial communication, and the robot controller 206 in the mobile robot is the robot power module 207. ) May be connected to the serial interface 205, and the power supplied from the portable terminal may be accumulated in the robot power module 207 through the serial communication. In this case, the terminal controller 203 in the portable terminal may supply power to the robot power module 207 through the serial interface 205 using the charging-related pin of the serial cable.

3 is a flowchart illustrating a procedure of a mobile terminal based mobile robot control method according to an embodiment of the present invention.

The mobile terminal based mobile robot control method may be implemented by a mobile terminal based mobile robot control system of the present invention. In addition, in the following description of FIG. 3, FIG. 3 will be described with reference to FIG. 2.

In step S310, the mobile terminal based mobile robot control system checks whether the mobile robot is called from the mobile terminal.

As a result of the check, when the mobile robot is called from the mobile terminal, the mobile terminal based mobile robot control system performs control for moving the mobile robot to the position of the mobile terminal in step S320.

In the present invention, before the mobile terminal is connected to the mobile robot through a serial cable, the mobile terminal may generate second control information for calling the mobile terminal and transmit the second control information to the mobile robot through a wireless communication network. Here, the second control information may include location information of the portable terminal.

The mobile robot may receive the second control information transmitted from the portable terminal through the wireless interface 210 provided in the mobile robot and transmit the second control information to the robot controller 206.

The robot controller 206 analyzes the second control information received from the mobile terminal through the wireless interface 210 to identify the current position of the mobile terminal calling the mobile robot, and to move the robot to the identified position. The movement module 208 can be controlled.

In step S330, the mobile terminal based mobile robot control system checks whether the mobile terminal is connected to the serial port from the mobile terminal.

Using the second control information received with the call of the mobile terminal, as the mobile robot moves to the location of the mobile terminal, the connection confirmation unit 201 in the mobile terminal can confirm whether the connection is via the serial terminal and the portable terminal. have.

As a result of the check, when the mobile terminal is connected to the mobile robot through the serial port, the mobile terminal based mobile robot control system generates first control information based on the output value of the terminal sensor module 204 in step S340.

The terminal sensor module 204 may be associated with various convergence technologies provided in the portable terminal. For example, the terminal sensor module 204 may include a camera module for outputting a predetermined area of a space where the portable terminal is located as image data, or a vibration module for detecting vibration generated in the portable terminal, and is not shown in FIG. 2. Although not shown, a module that performs an infrared detection function or a temperature sensing function may be included in the portable terminal as the terminal sensor module 204.

The terminal controller 203 may be implemented in a portable terminal, such as a "master cradle control SW module" that performs high performance calculation processing functions such as a CPU device of a computer, and the terminal controller 203 may be implemented in the terminal sensor module 204. Processing that takes an output value as an input may be performed to generate first control information for controlling the mobile robot.

For example, when the terminal sensor module 204 is a camera module provided in the portable terminal, the terminal controller 203 may generate first control information based on an image related output value of the camera module. That is, the terminal controller 203 may rotate the angle, the moving distance, the moving speed (acceleration), etc. so that the moving robot may move or move the obstacle recognized in the image data generated in real time by the camera module. It may generate a first control information comprising a.

In addition, when the terminal sensor module 204 is a vibration module provided in the portable terminal, the terminal controller 203 may generate first control information based on the shaking-related output value of the vibration module. That is, the terminal controller 203 determines where the moving robot moves to 'living room, bedroom, bathroom, or current location' in consideration of the vibration interval (vibration period) of the mobile terminal generated by the vibration module. First control information including a rotation angle, a movement distance, a movement speed (acceleration), etc. for moving to the determined position may be generated.

Alternatively, the terminal controller 203 may generate first control information for controlling the mobile robot based on an output value from the terminal sensor module 204 or a command of the portable terminal user.

The user of the portable terminal sends a coordinate value corresponding to a position to which the mobile robot is to be moved, and a command regarding a task to be performed by the mobile robot that has reached the position (for example, sensing temperature, fire / light emitting / sound when a fire occurs, etc.). The terminal control unit 203 may be configured to include a first position including information about a position to which the mobile robot moves and a job to be operated by the mobile robot based on the set command or an output value from the terminal sensor module 204. Control information can be generated.

In step S350, the mobile terminal based mobile robot control system receives first control information received from the mobile terminal through serial communication through the serial interface 205 provided in the mobile robot.

The terminal control unit 203 in the portable terminal may transmit the generated first control information to the connected mobile robot based on serial communication through the serial port 202, and the mobile robot may communicate through serial communication. The received first control information may be input through the serial interface 205 provided in the mobile robot.

Here, the serial port 202 and the serial interface 205 are standard input / output connection terminal interfaces provided in the mobile terminal and the mobile robot, respectively, and the mobile terminal is a serial interface of the mobile robot connected through a serial cable connected to the serial port 202. In step 205, serial communication for data transmission and reception or power supply may be performed. In this case, the portable terminal may transmit the generated first control information to the mobile robot using a data transmission / reception pin of the serial cable (eg, pins 13 and 14 in the case of the TTA standard 24pin serial cable). Herein, the pin information used in the present invention may indicate the content of the data transmission / reception pin.

In step S360, the mobile terminal based mobile robot control system performs control on the mobile robot according to the first control information input through the serial interface 205.

The mobile robot includes a microprocessor capable of performing minimal information processing, a slave cradle control SW module for receiving and parsing control information generated by a mobile terminal, and parsing first control information from the slave cradle control SW module. According to the processing result, a control driver (digital signal converter) for actually controlling various device modules mounted on the mobile robot may be included.

The device module mounted on the mobile robot may include a robot power module 207, a robot moving module 208, and a robot sensor module 209. The robot power module 207 may be a space for storing power required for moving a mobile robot to perform a requested task from a portable terminal, and the robot moving module 208 may include wheels, chains, or the like for moving the mobile robot. Equipment such as a mobile device or an actuator, such as walking, may be included, and the robot sensor module 209 includes a sensor for collecting information about the surrounding environment such as a temperature sensor or an infrared sensor, or various operations for performing a request from a portable terminal. Function modules may be included.

The robot controller 206 may be implemented as a microprocessor mounted to a mobile robot, a slave cradle control SW module, and a control driver, and the robot controller 206 may be a first received from a portable terminal through the serial interface 205. The control information can be processed to control each device module mounted on the mobile robot.

For example, the robot controller 206 analyzes the first control information generated based on an image related output value of the 'camera module', which is one of the terminal sensor modules 204 included in the portable terminal, and determines a moving line for the mobile robot to proceed. And, the robot movement module 208 for the movement to the determined copper wire can be controlled. That is, the robot controller 206 analyzes the first control information and rotates the mobile robot so that the mobile robot can move or operate an obstacle that is recognized in the image data generated in real time by the camera module. And, to avoid obstacles, information about the moving distance to be moved and the moving speed (acceleration) can be identified, and the robot moving module 208 can be controlled accordingly.

In addition, the robot controller 206 analyzes the first control information generated based on the shaking-related output value of the vibration module, which is one of the terminal sensor modules 204 included in the portable terminal, and moves the mobile robot associated with the output value. This position can be determined and the robot movement module 208 can be controlled for movement to the determined position. That is, the robot controller 206 analyzes the first control information so as to move the position in consideration of the vibration interval (vibration period) of the mobile terminal generated by the vibration module (for example, 'living room, bedroom, toilet'). , Or the current position '), the rotation angle, the movement distance, and the movement speed (acceleration) can be identified, and the robot movement module 208 can be controlled accordingly.

In addition, when the first control information received from the portable terminal is related to power supply, the robot controller 206 connects the robot power module 207 in the mobile robot to the serial interface 205, and the portable terminal through serial communication. Power supplied from the controller may be controlled to be accumulated in the robot power module 207. In this case, the terminal controller 203 in the portable terminal may supply power to the robot power module 207 through the serial interface 205 using the charging-related pin of the serial cable.

In addition, the robot controller 206 parses the first control information received from the mobile terminal to identify a position to which the mobile robot is to move, information about a job to be operated by the mobile robot, and to move to the position. The robot movement module 208 and the robot sensor module 209 for the operation of the task may be controlled. That is, the robot controller 206 identifies the coordinate value corresponding to the position to move the mobile robot through the portable terminal from the first control information to control and move the robot movement module 208 to reach the position. For example, it may be controlled to perform operations related to temperature sensing and fire / light emission / sound generation when a fire occurs.

In addition, the robot control unit 206 is a robot moving module 208 provided in the mobile robot, in response to the request of the mobile terminal connected to the mobile robot, or in connection with the connection through the serial cable between the mobile robot and the mobile terminal is confirmed, The state information indicating the type or current state of various device modules such as the robot sensor module 209 or the robot power supply module 207 can be generated.

For example, the robot controller 206 may generate state information regarding the robot movement module 208 including a type of a mobile device (wheel, chain, walk, etc.) and an actuator included in the mobile robot. In addition, the robot controller 206 may generate state information regarding the robot sensor module 209 including the type of sensor included in the mobile robot. In addition, the robot controller 206 may generate state information regarding the robot sensor module 209 including battery capacity stored in the mobile robot.

The robot controller 206 transmits state information of each device module included in the mobile robot to the mobile terminal based on serial communication through the serial interface 205, thereby providing the mobile robot in the mobile terminal control unit 203. It makes it possible to easily recognize the state of each device module. Accordingly, the terminal controller 203 in the portable terminal may generate first control information for controlling the mobile robot in response to the state information received from the mobile robot.

For example, the terminal control unit 203 in the portable terminal can check the battery capacity accumulated in the mobile robot through the state information, and when the accumulated battery capacity is relatively small, the first controller for supplying power of the portable terminal to the mobile robot The control information can be generated and transmitted to the mobile robot through serial communication. That is, the terminal controller 203 in the portable terminal connects the battery unit to the serial port 202 in the portable terminal to supply power to the mobile robot through serial communication, and the robot controller 206 in the mobile robot is the robot power module 207. ) May be connected to the serial interface 205, and the power supplied from the portable terminal may be accumulated in the robot power module 207 through the serial communication. In this case, the terminal controller 203 in the portable terminal may supply power to the robot power module 207 through the serial interface 205 using the charging-related pin of the serial cable.

4 is a diagram showing a detailed configuration of a mobile terminal based mobile robot control system according to an embodiment of the present invention.

A mobile terminal based mobile robot control system according to an embodiment of the present invention docks a cradle-type mobile robot and a mobile terminal using a standard input / output terminal serial interface (standard 24pin, standard 20pin, etc.) of the mobile terminal. (docking)

Referring to FIG. 4, the mobile terminal transmits the first control information generated by the cradle control SW module to the mobile robot through a serial cable, and the mobile robot parses the received first control information to the mobile robot. Control of mobile devices such as wheels, chains or walking, or equipment such as sensors and actuators can be performed.

In this case, the portable terminal may be equipped with a master cradle control SW module that performs a server role in a SW architecture such as a server and a client structure.

The mobile robot may also include a microprocessor capable of performing minimal information processing, a slave cradle control SW module receiving and parsing and processing control information generated by a mobile terminal, and a second cradle control SW module. 1 A control driver (digital signal converter) for controlling various modules mounted on the actual mobile robot may be mounted.

In the mobile terminal-based mobile robot control system, the mobile terminal prepares and initializes serial communication between the mobile terminal and the docked mobile robot, and then, the master cradle control SW module in the mobile terminal is portable. By using technologies that are fused / composite in the terminal, that is, the terminal sensor module such as a camera module or a vibration module, the environmental recognition of the mobile robot, the autonomous driving of the mobile robot, and the position recognition of the mobile robot are performed. Based on the output information, the first control information may be generated.

The mobile terminal may transmit the generated first control information to the mobile robot using a data transmission / reception pin of the serial cable (eg, pins 13 and 14 in the case of the TTA standard 24pin serial cable). Herein, the pin information used in the present invention may indicate the content of the data transmission / reception pin.

The cradle control SW module in the mobile robot may parse the received first control information to control the robot devices mounted on the mobile robot according to the protocol.

In addition, when docking (i.e., connecting) the mobile terminal and the mobile robot, the status information of each device module included in the mobile robot is also transmitted / receive pin of the serial cable (for example, in case of TTA standard 24pin serial cable, number 13, Pin 14) can be sent to the mobile phone. Accordingly, the portable terminal can recognize which sensor, which actuator and mobile device are included in the mobile robot. The mobile robot may transmit the status information of each device module to the portable terminal through a serial cable 'at the request of the mobile terminal' or serialize the status information of each device module 'immediately when the mobile robot is connected to the portable terminal'. The cable can be transmitted to the mobile terminal.

In addition, the mobile robot may be supplied with the power of the battery unit of the mobile terminal by using the charging-related pin of the serial cable.

In this case, when the connection between the portable terminal and the mobile robot is disconnected, the mobile robot control module may terminate both the mobile terminal and the mobile robot and perform serial communication disconnection.

Further, embodiments of the present invention include a computer readable medium having program instructions for performing various computer implemented operations. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. The media may be program instructions that are specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs, DVDs, and magnetic disks, such as floppy disks. Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.

While specific embodiments of the present invention have been described so far, various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims and the claims.

1 is a diagram illustrating a mobile terminal and a mobile robot connected through a serial cable in a mobile terminal based mobile robot control system according to an embodiment of the present invention.

2 is a diagram illustrating a configuration of a mobile terminal based mobile robot control system according to an embodiment of the present invention.

3 is a flowchart illustrating a procedure of a mobile terminal based mobile robot control method according to an embodiment of the present invention.

4 is a diagram showing a detailed configuration of a mobile terminal based mobile robot control system according to an embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

200: mobile terminal based mobile robot control system

201: connection confirmation unit

202: serial port

203: terminal control unit

204: terminal sensor module

205: serial interface

206: robot control unit

207: robot power module, 208: robot movement module, 209: robot sensor module

210: wireless interface

Claims (15)

A connection confirmation unit within the portable terminal for confirming whether the mobile robot is connected to the serial port; A terminal control unit within the portable terminal that generates first control information based on an output value of the terminal sensor module when it is determined that the connection is made; A serial interface in the mobile robot that receives the generated first control information based on serial communication through the serial port; And According to the first control information, the robot control unit in the mobile robot for controlling the mobile robot Including, When the terminal sensor module is a vibration module provided in the portable terminal, The robot control unit, The first control information generated based on the shaking-related output value of the vibration module is analyzed to determine a location to which the mobile robot moves, and the mobile device may be configured to control a robot moving module for moving to the determined location. Terminal based mobile robot control system. The method of claim 1, The first control information includes information about a task to be operated by the mobile robot at the determined position, The robot control unit, A mobile terminal based mobile robot control system, characterized in that for controlling the robot sensor module for the operation of the job. The method of claim 1, When the first control information is generated based on an image related output value of the camera module provided in the portable terminal, The robot control unit, And analyzing the first control information to determine a moving line to be moved by the mobile robot, and controlling a robot moving module for moving to the determined moving line. delete The method of claim 1, When the first control information is generated in connection with the power supply, The robot control unit, And a robot power module connected to the serial interface and controlling power supplied from the portable terminal to be accumulated in the connected robot power module through the serial communication. The method of claim 1, The wireless interface in the mobile robot that receives the second control information for calling the mobile robot from the portable terminal. More, The robot control unit, The mobile terminal based mobile robot control system, characterized in that for identifying the position of the portable terminal from the second control information received through the air interface, and to control the robot moving module for moving to the identified position. The method of claim 1, The robot control unit, When the connection with the portable terminal is confirmed, status information regarding at least one of a robot moving module, a robot sensor module, and a robot power module provided in the mobile robot is based on the serial communication through the serial interface. Transmit to the mobile terminal, The terminal control unit, And a first control information for controlling the mobile robot according to the state information received from the mobile robot. Checking, by the connection confirmation unit in the portable terminal, whether the mobile robot is connected to the serial port; Generating, by the terminal controller in the portable terminal, first control information based on an output value of the terminal sensor module when it is determined that the connection is made; Receiving the generated first control information at a serial interface in the mobile robot based on serial communication through the serial port; And In the robot controller of the mobile robot, controlling the mobile robot according to the first control information; Including, When the terminal sensor module is a vibration module provided in the portable terminal, The controlling of the mobile robot according to the first control information may include: Analyzing the first control information generated based on the shaking-related output value of the vibration module, determining a position to which the mobile robot moves, and controlling a robot moving module for moving to the determined position Mobile terminal based mobile robot control method comprising a. The method of claim 8, The first control information includes information about a task to be operated by the mobile robot at the determined position, The controlling of the mobile robot according to the first control information may include: Controlling a robot sensor module for operation of the operation A mobile terminal based mobile robot control method further comprising. The method of claim 8, When the first control information is generated based on an image related output value of the camera module provided in the portable terminal, The controlling of the mobile robot according to the first control information may include: Analyzing the first control information, determining a moving line to be moved by the mobile robot, and controlling a robot moving module for moving to the determined moving line A mobile terminal based mobile robot control method further comprising. delete The method of claim 8, When the first control information is generated in connection with the power supply, The controlling of the mobile robot according to the first control information may include: Connecting a robot power module to the serial interface, and controlling the power supplied from the portable terminal to be accumulated in the connected robot power module through the serial communication; A mobile terminal based mobile robot control method further comprising. The method of claim 8, The mobile terminal based mobile robot control method, Receiving, from the portable terminal, second control information for calling the mobile robot in a wireless interface in the mobile robot. More, The controlling of the mobile robot according to the first control information may include: Identifying the position of the portable terminal from the second control information received through the air interface, and controlling the robot movement module for movement to the identified position A mobile terminal based mobile robot control method further comprising. The method of claim 8, The mobile terminal based mobile robot control method, In the robot controller of the mobile robot, when the connection with the portable terminal is confirmed, the serial information is provided with status information about at least one module of the robot mobile module, the robot sensor module, or the robot power module provided in the mobile robot. Transmitting to the portable terminal based on the serial communication through an interface More, Generating first control information based on an output value of the terminal sensor module, Generating first control information for controlling the mobile robot according to the state information received from the mobile robot; Mobile terminal based mobile robot control method comprising a. A computer-readable recording medium having recorded thereon a program for performing the method of any one of claims 8 to 10 and 12 to 14.

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