KR101059829B1 - Module replaceable robotic system - Google Patents

Abstract

A robotic system capable of module replacement is disclosed. A robotic system according to an embodiment of the present invention includes a robot and a docking station. The robot is equipped with one or more functional modules of the plurality of functional modules. The docking station stores the plurality of functional modules, and mounts the one or more functional modules to the robot after the robot is docked in the docking area. Robot system according to an embodiment of the present invention has the advantage that can be performed in a variety of functions according to a variety of modules without space constraints by replacing the module mounted on the robot docked to the docking station.

Description

Robot system having changable module

The present invention relates to a robot system, and more particularly, to a robot system capable of performing various functions according to various modules by allowing docking stations to replace modules.

As the technology related to robots is developed, robots, which have been mainly used for dangerous and simple tasks in the industry in the past, have been used in various ways in everyday life including education, medical care, and the like. Especially in the ubiquitous environment including home network system (hereinafter referred to as 'home network system'), robots are expected to be used in various ways to replace human tasks or to perform routine tasks at home. .

A typical example of using a robot in daily life is a robot cleaner. Currently used robot cleaners move on the floor of a certain area and perform the function of sucking and cleaning foreign substances such as dust through the suction pipe. That is, such a robot cleaner may perform only a limited function (cleaning function) in a limited space for a preset time. However, robot devices used in daily life have a problem in that they cannot be efficiently used in home network systems due to limitations in space and function.

On the other hand, in order to be used efficiently in a home network system, it is preferable that the robot can perform various functions according to various conditions. For example, in a home network system, it is necessary to perform a cleaning function, a humidification function, a dehumidification function, etc. according to the conditions inside the home. In this case, it is efficient to equip each space separated with a humidifier and a dehumidifier. Is not Therefore, there is a need to propose a robot capable of performing various functions according to various conditions without space limitations.

The technical problem to be achieved by the present invention is to provide a robot system that can perform a variety of functions according to various modules by allowing the module to be replaced by docking to the docking station.

The robot system according to the embodiment of the present invention for achieving the above technical problem includes a robot, and a docking station. The robot is equipped with one or more functional modules of the plurality of functional modules. The docking station stores the plurality of functional modules, and mounts the one or more functional modules to the robot after the robot is docked in the docking area.

The robot also includes a module mounting area in which the at least one module is mounted, and the docking station includes a docking unit in which the robot is docked and mounts the functional module to the docked robot, and the docking unit Up and down device for moving the functional module to be mounted among the plurality of functional modules up and down and disposed in the docking area, and a first transfer unit for transferring the arranged functional module to the module mounting area to be mounted in the module mounting area Include.

In addition, each of the functional modules includes coupling grooves formed on both sides and extending in a longitudinal direction, and the module mounting area includes coupling protrusions formed corresponding to the coupling grooves, and the first conveying portion is provided with the function. The function module is mounted in the module mounting area by sliding the module in the longitudinal direction so that the coupling groove and the coupling protrusion are coupled to each other.

At this time, the first transfer unit is preferably implemented using any one of a piston, a motor.

The docking station may further include a module maintenance unit configured to service the function module, and the docking unit may further include a second transfer unit configured to transfer the serviced function module to the module maintenance unit, and the module maintenance unit may include the second transfer unit. And a moving plate on which the function module to be transported is located, and a moving unit for moving the moving plate to the module maintenance box.

Meanwhile, the plurality of functional modules preferably include a cleaning module, a humidification module, and a dehumidification module.

As described above, the robot system according to the exemplary embodiment of the present invention has an advantage of performing various functions according to various modules without space limitation by replacing the module mounted on the robot by docking the docking station.

In addition, the robot system according to an embodiment of the present invention can perform various functions without any spatial constraints, and thus may be variously used in a home network system.

In addition, the robot system according to an embodiment of the present invention can extend the life of the robot by reducing the size and power consumption of the robot compared to implementing a variety of functions in the form of a functional module, integrally implemented in one robot. There is an advantage.

In addition, the robot system according to an embodiment of the present invention has an advantage that can be applied directly to the existing robot system by implementing various functions in the form of functional modules.

DETAILED DESCRIPTION In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings which illustrate preferred embodiments of the present invention and the contents described in the drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference numerals in the drawings denote like elements.

1 is a front view of a robot included in a robot system according to an embodiment of the present invention, and FIG. 2 is a view for explaining the structure of the robot of FIG. 1. The robot 100 includes a function module mounting area 110, a humidity sensor 120, a human body sensor 130, a microphone sensor 140, an image sensor 150, a speaker 160, a display unit 170, a driving device. 180, an auxiliary driving device 182, an infrared receiver 190, and a charging terminal 195.

2 (a) to 2 (f) are a front view, a right side view, a left side view, a top view, a bottom view and a rear view of the robot 100, respectively. Referring to FIG. 2, the shape of the robot 100 is cylindrical, but the present invention is not limited to this shape.

The functional module mounting area 110 is equipped with a functional module to be described later, that is, a cleaning module, a humidification module, a dehumidification module, and the like. The humidity sensor 120, the human body sensor 130, the microphone sensor 140, and the image sensor 150 detect humidity around a robot, whether a person exists, voice, and image.

The display unit 170 displays a current operation state of the robot, information of the robot attention, a work currently being performed, and the like. The driving device 180 is a means for moving the robot. In the exemplary embodiment of the present invention, the image sensor 150 is a camera, and the driving device 180 and the auxiliary driving device 182 are preferably implemented as wheels, but the present invention is not limited thereto.

Meanwhile, the infrared receiver 190 receives an infrared signal transmitted from an infrared transmitter of a docking station, which will be described later, and the robot 100 performs an operation in response to the received infrared signal. In the embodiment of the present invention, the infrared signal has been described as being transmitted and received, but the present invention is not limited to this kind of signal.

Meanwhile, the charging of the robot 100 is performed using the charging terminal 195. In this case, the charging may be performed using a separate charging device corresponding to the charging terminal 195. However, in the embodiment of the present invention, the charging device is provided in a docking station, which will be described later, and the robot 100 docks at the docking station. The charging terminal 195 is preferably connected to the charging device of the docking station so that charging can be made.

3 is a block diagram of a robot included in a robot system according to an embodiment of the present invention. The robot 100 may include a power control unit 125, a key input sensor 165, and an image database 175 (hereinafter referred to as an “image DB”) for the operation of the robot, in addition to the externally visible parts as shown in FIGS. 1 and 2. The control unit may include an RF transceiver 135, a driver 145, a docking module controller 155, and a controller 115 for controlling the RF transceiver 135.

The controller 115 controls the overall operation of the robot 100. The power control unit 125 controls the power under the control of the control unit 115. The key input sensor detects content input through a key (not shown). The image database 155 stores a pre-input image and at the same time an image sensed by the image sensor 150.

The RF transceiver 135 performs wireless communication with other external devices other than the robot system according to an exemplary embodiment of the present invention. For example, the RF transceiver 135 may perform wireless communication with a home network system. The driving unit 145 drives the driving device 180. The docking module controller 155 controls the operation of the docked function module.

The controller 115 may perform an operation specific to a user by using the image sensor 150 and the image DB 175. For example, when the image detected and input from the image sensor 150 is a face image of a person, the controller 115 compares the input face image with a face image stored in the image DB 175 to correspond to the input face image. Search for the person's name. When the name of the corresponding person is searched, the controller 115 may output a sentence including the searched name to the speaker so that a user-specific operation may be performed.

For example, “Welcome. Assuming the sentence ○○○. "Is set as a default, if the name acquired by searching for the face image input through the image sensor 150 is" Kim Young-eun ", the controller 115" Welcome. The sentence “Kim Young Eun” is output through the speaker so that a specialized operation can be performed for the searched user “Kim Young Eun”.

4 is a view for explaining the structure of the functional module included in the robot system according to an embodiment of the present invention, Figure 3 (a) to (e) is a front view, a right side view, a left side view, Top view and bottom view. As shown in FIG. 3, the functional module is preferably a cylindrical shape having a cross section having a shape such as (d) or (d), but the present invention is not limited thereto. In addition, in the embodiment of the present invention, a plurality of function modules are used, and the plurality of function modules preferably include a cleaning module, a humidification module, and a dehumidification module.

On the other hand, the functional module includes a coupling groove 310 formed on both sides, and the functional module is a robot by the coupling of the coupling groove 310 and the coupling protrusion (not shown) formed in the functional module mounting area 110 of the robot. 100 is mounted. A detailed operation of mounting the function module will be described later.

5 is a view for explaining the structure of the docking station included in the robot system according to an embodiment of the present invention, Figure 5 (a) to (e) is a front view, a right side view, respectively, of the docking station 500, It is a left side view, a top view, and a bottom view. The docking station includes a docking unit 510 and a module maintenance unit 530.

The plurality of function modules 300 are stored in the docking unit 510, the robot 100 docks in the docking unit 510, and the docking unit 510 commands a function module replacement after the robot 100 is docked. In response, the function module 300 is mounted or replaced in the robot 100. A detailed operation of replacing the functional module will be described later.

Meanwhile, the module maintenance unit 530 maintains the function module 300, which may be maintained before the function module 300 is mounted on the robot 100, and the function module 300 is separated from the robot 100. It can be serviced after, or both before and after being mounted. For example, the humidification module must be kept clean, so after removing it, discard the remaining water and clean the inside of the humidification module and fill it with fresh water before mounting. The humidification module is therefore preferably serviced both before and after being removed. On the other hand, the cleaning module or dehumidification module may be maintained at any time before or after being removed.

Meanwhile, an infrared transmitter 550 corresponding to the infrared receiver 190 of the robot 100 is positioned in the docking area 511 of the docking unit 510 that the robot 100 docks. The infrared transmitter 550 transmits an infrared signal for docking to the robot 100.

When the robot 100 approaches the docking area 511 of the docking station 500, a collision may occur between the robot 100 and the docking station 500 if control between the robot 100 and the docking station 500 is not smoothly performed. In an embodiment of the present invention, the docking operation is smoothly performed through infrared communication between the infrared transmitter 550 of the docking station 500 and the infrared receiver 190 of the robot 100.

For example, an entry attitude, an entry direction, an entry speed, a distance from the docking station 500 of the robot 100, and the like may be controlled through infrared communication. Since the configuration for controlling the docking operation between the robot and the docking station may be implemented using various methods used in the art to which the present invention belongs, a detailed description thereof will be omitted.

Meanwhile, in addition to infrared communication between the robot 100 and the docking station 500, RF communication using the RF transceiver 135 and 525 may also be performed. In the embodiment of the present invention, RF communication is preferably used for communication between the server, such as robot 100, docking station 500, home network system, the operation between them using RF communication will be described later.

6 is a configuration diagram of a docking station included in the robot system according to an embodiment of the present invention. The docking station 500 may include a docking power control unit 540, an RF transceiver 525, a docking display unit 545, a speaker output unit 565, and a top and bottom for operation of the robot in addition to the externally visible parts as shown in FIG. 5. The driving unit 585, the piston driving unit 580, the docking module control unit 560, and a docking control unit 5205 for controlling them may be included.

The docking power control unit 540 controls the power of the docking station 500. The docking display unit 545 displays a current state of the docking station 500, an operation currently being performed, and the like. The speaker output unit 565 outputs an operation, a warning, and the like, which are performed in the docking station, by voice. The docking module controller 560 controls the operation of the function modules 310 to 330 in the docking station 500.

7 to 10, the overall operation of the robot 100 until the robot 100 is docked to the docking station to mount the function module 300 to perform a function corresponding to the mounted function module will be described. 7 is a view for explaining the operation performed before the robot docked to the docking station in the embodiment of the present invention, Figure 8 is a view for explaining the operation performed after the robot docked to the docking station in the embodiment of the present invention 9 is a view for explaining the operation of the maintenance of the functional module, Figure 10 is a view for explaining the operation of mounting the functional module after the robot docked to the docking station.

On the other hand, the robot system according to an embodiment of the present invention may be operated by a user's manual operation, but as part of constituting a home network system, etc., it is preferable to operate as a subject performing a function corresponding to a function module.

If it is determined that a function corresponding to a function module needs to be performed, the home network system or the like performs control for performing the function. For example, in a home network system or the like, a command for control may be transmitted to both the robot 100 and the docking station 500, and may be transmitted to either one to communicate between the robot 100 and the docking station 500. This may be done and control may be performed. As described above, RF communication using the RF transceivers 135 and 525 is used for communication between them. Hereinafter, an embodiment in which communication is performed between the robot 100 and the docking station 500 and control is performed, but the present invention is not limited to this embodiment.

A command to mount a function module for performing a specific function according to a command in a home network system or a user's operation will be sent to the robot 100 and / or the docking station 500. In this case, the robot 100 first checks whether the robot 100 is equipped with a function module for performing the corresponding function. If the module is mounted, there is no need to replace the module, and thus the robot 100 performs a function corresponding to the currently mounted function module.

If the corresponding function module is not mounted, the robot 100 transmits a command to empty the docking area 511 to the docking station 500 (see FIG. 7). In this case, the command will be transmitted through RF communication using the RF transceiver 135 and 525. In addition, the robot 100 also transmits a command for arranging a function module that needs to be mounted in the docking area 511.

Meanwhile, the docking control unit 520 of the docking station 500 empties the docking area 511 so that the robot 100 can dock in response to a command received from the robot 100, and the function module to be mounted is a docking area ( 511 is arranged. In the following description, a case in which the humidification module 330 is mounted among the cleaning module 310, the dehumidification module 320, and the humidification module 330 illustrated in FIG. 7 will be described. Meanwhile, the vertical movement of the functional modules is performed by the vertical drive unit 585 driving the vertical drive device (not shown).

The docking control unit 520 maintains the module to be mounted if necessary, that is, the humidification module 330, before the function module is mounted, and then arranges the serviced function module in the docking area 511. Hereinafter, an operation in which the function module is maintained will be described with reference to FIG. 9.

For maintenance of the functional module, the docking unit 510 includes a first transfer unit 512, the module maintenance unit 530 is a water supply tank 531, waste water container 533, water supply pipe 535, waste water pipe ( 537, a module maintenance box 539, and the module maintenance box 539 includes a moving plate 514 and a moving unit 516.

First, the vertical driving unit 585 moves the functional module up and down so that a module requiring maintenance among the plurality of functional modules goes to a position corresponding to the first transfer unit 512. Meanwhile, the moving part 516 moves the moving plate 514 toward the docking part 510 so that the moving plate 514 can receive the module to be maintained.

After the module to be serviced moves to the corresponding position and the moving plate 514 moves, the first transfer unit 512 moves the module to be serviced onto the moving plate 514. In the embodiment of the present invention, the first transfer part 512 is implemented as a piston to move the module to be maintained in the direction of the module maintenance box 539, that is, above the moving plate 514. That is, the docking control unit 520 controls the piston drive unit 580 to move the module to be maintained in the piston constituting the first transfer unit 512 on the moving plate 514.

On the other hand, in the embodiment of the present invention has been described that the first conveying unit 512 is implemented as a piston, if any means that can be conveyed by pushing or sliding the module to be maintained by any means to implement the first conveying unit 512 It can be used as a means. For example, the first transfer unit 512 may be implemented using a motor.

The moving part 516 then moves the moving plate 514 toward the module service box 539 to move the module to be serviced to the module service box 530.

After the module to be serviced is moved to the module service box 539, the module maintenance unit 530 maintains the corresponding function module. For example, in the case of maintaining the humidification module 330, the water contained in the humidification module 300 is discarded into the waste water container 533 through the waste water pipe 537, and clean water stored in the water supply tank 531. The water supply pipe 535 is supplied to the humidification module 330. In the case of the dehumidification module 320, the dehumidified water will be disposed of in the waste water container 533 through the waste water pipe 537.

After the maintenance of the functional module is completed, the functional module is moved back to the docking unit 510 through the reverse process of the process of moving from the docking unit 510 to the module maintenance box 539. Thereafter, the docking control unit 520 places the functional module maintained in the docking area 511 by driving the vertical driving unit 585.

While the docking station 500 emptyes the docking area 511 and places the functional module to be mounted in the docking area 511, the robot 100 moves to the docking area 511 and docks at the docking station 500. After the robot 100 docks, the docking station 500 mounts a functional module disposed in the docking area 511 to the robot 100.

8 and 10, the docking unit 510 includes a second transfer unit 518 to mount the functional module. The second transfer unit 518 allows the coupling groove 310 of the function module to be coupled to a coupling protrusion (not shown) formed in the module mounting area 110 of the robot 100. As shown in FIG. 4, in the embodiment of the present invention, the engaging groove 310 and the engaging protrusion are formed to extend in the longitudinal direction (that is, the direction parallel to the ground when mounted on the robot 100) to extend the function module. It is preferable to configure the coupling groove 310 and the coupling protrusion by sliding in the direction, but the present invention is not limited by this coupling form.

In order to perform the above-described coupling, the second transfer unit 518 is preferably implemented in a form that can slide the arranged functional module in the longitudinal direction. In the embodiment of the present invention, the second conveying portion slides the module arranged and implemented in the longitudinal direction in the longitudinal direction. That is, the docking control unit 520 controls the piston drive unit 580 to move the functional module in which the piston constituting the second transfer unit 518 is disposed to the module mounting area 110 of the robot 100, thereby causing the robot 100 to move. Mount the functional module on it (see Figure 8).

On the other hand, in the embodiment of the present invention has been described as the second conveying unit 518 is implemented as a piston, if any means that can be conveyed by pushing or sliding the module to be maintained by any means to implement the second conveying unit 518 It can be used as a means. For example, the second transfer unit 518 may be implemented using a motor.

Meanwhile, when the robot 100 function module is mounted, the docking station 500 should separate the installed function module from the robot 100 before mounting the function module. Since the method of detaching the function module is performed in a reverse process of mounting the function module, a detailed description thereof will be omitted.

When the mounting of the functional module is completed, the control unit 115 of the robot 100 transmits information indicating that the docking end of the docking control unit 520 of the docking station 500 exits from the docking area 511 and is mounted. Perform the function corresponding to the function module.

As described above, the robot system according to the embodiment of the present invention can be efficiently used in conjunction with a home network system. In this case, a server such as a home network system transmits a command to perform a function corresponding to a predetermined operation or a generated condition to a robot or a docking station through RF communication at a predetermined time or when a predetermined condition occurs.

For example, if it is determined that the humidity in the house (or the humidity in a specific room) is low, the server sends a command to perform the humidification function. On the contrary, if it is determined that the humidity is high, the server transmits a command for the dehumidification function to be performed. On the other hand, if it is determined that there is a lot of dust in the house or toilet paper on the floor, the server transmits a command to perform the cleaning function.

The robot analyzes the received command and performs the corresponding function if the currently installed module is the module corresponding to the transmitted command. If the currently installed module does not correspond to the transmitted command, the robot transmits a command for replacing the module to the docking station through RF communication, and then docks the docking station to replace the module to replace the command transmitted from the server. Perform the corresponding function.

As described above, optimal embodiments have been disclosed in the drawings and the specification. Although specific terms have been used herein, they are used only for the purpose of describing the present invention and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS In order to better understand the drawings cited in the detailed description of the invention, a brief description of each drawing is provided.

1 is a front view of a robot included in a robot system according to an embodiment of the present invention.

2 is a view for explaining the structure of the robot of FIG.

3 is a block diagram of a robot included in a robot system according to an embodiment of the present invention.

4 is a view for explaining the structure of the functional module included in the robot system according to an embodiment of the present invention.

5 is a view for explaining the structure of the docking station included in the robot system according to an embodiment of the present invention.

6 is a configuration diagram of a docking station included in the robot system according to an embodiment of the present invention.

7 is a view for explaining an operation performed before the robot docks in the docking station in the embodiment of the present invention.

8 is a view for explaining the operation performed after the robot docked to the docking station in the embodiment of the present invention.

9 is a view for explaining the operation of the maintenance of the functional module.

10 is a view for explaining the operation of mounting the functional module after the robot docked to the docking station.

Claims (6)

A robot on which one or more function modules of the plurality of function modules are mounted; And The plurality of functional modules are stored, and includes a docking station for mounting the one or more functional modules to the robot after the robot is docked in a docking area, The robot includes a module mounting area in which the one or more modules are mounted, The docking station includes a docking unit to which the robot is docked and mounts the functional module to the docked robot. The docking unit, A vertical movement device configured to move the functional module to be mounted among the plurality of stored functional modules up and down to be disposed in the docking area; And And a first transfer part configured to transfer the arranged functional module to the module mounting area and to mount the module in the module mounting area. delete The method of claim 1, Each of the functional modules includes coupling grooves formed on both sides and extending in a longitudinal direction, The module mounting area includes a coupling protrusion formed corresponding to the coupling groove, And the first transfer unit slides the functional module in the longitudinal direction to engage the coupling groove and the coupling protrusion to mount the functional module in the module mounting area. The method according to claim 1 or 3, The first transfer unit robot system, characterized in that implemented using any one of a piston, a motor. The method of claim 1, The docking station further includes a module maintenance unit for servicing the function module, The docking unit further includes a second transfer unit for transferring the serviced function module to the module maintenance unit, The module maintenance unit, A moving plate on which a function module conveyed by the second conveying unit is located; And And a moving part for moving the moving plate to the module maintenance box. The method of claim 5, The plurality of functional modules includes a cleaning module, a humidification module, a dehumidification module.

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