KR101666488B1 - System and method for managing action block for autonomous movement of robot - Google Patents

Abstract

The present invention relates to a behavior block operating system and method for autonomous movement of a robot, and more particularly, to a developer terminal for generating a parameter value for a robot behavior as a behavior block and transmitting it to an operation server and a user terminal; An operation server for storing a block of action blocks, designating a use range of a behavior block for each user terminal according to a user experience value level, and adding a behavior block according to a new level or an optional function of the robot; A user terminal connected to the operation server through a dedicated application (App), downloading and combining the action blocks generated through the operation server, and transmitting the combined action block information to the robot; .

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a motion block management system for autonomous movement of a robot,

The present invention relates to a behavior block operating system and method for autonomous movement of a robot, wherein a developer terminal generates various intuitive action blocks applicable to an autonomous mobile robot and transmits the action blocks to an operation server and a user terminal The user can directly utilize the action block to the autonomous mobile robot by downloading and combining the action block, and the user terminal connected to the operation server directly creates the action block and uploads it to the operation server, The present invention relates to a system and a method for directly utilizing a desired behavior block.

Regarding the conventional mobile robot driving technology, there are a large number of registered and disclosed in addition to Korean Laid-Open Patent No. 10-2014-0040094 (hereinafter referred to as 'prior art').

The above prior art document is a telepresence robot as shown in Fig. 1, which comprises an upper portion; A lower portion rotatably coupled to the upper portion; A drive system configured to move the remote-acting robot in accordance with a drive command; A control system in communication with a drive system, the control system being configured to generate a drive command to cause the drive system to move the remote event robot; And a rotating system configured to rotate the robot in a second traveling direction from a first traveling direction by independently rotating the upper and lower portions, wherein the rotating system is configured to move the upper portion of the robot toward the second traveling direction Rotate; Detecting that the upper portion of the robot has reached a panning limit of the upper portion of the robot with respect to the lower portion of the robot; Starting to rotate the lower portion of the robot toward the second travel direction at the panning limit of the upper portion of the robot; Detecting that the top of the robot has reached a second travel direction; The robot is rotated in the second traveling direction by continuously rotating the lower portion of the robot toward the second traveling direction while simultaneously rotating the upper portion of the robot in the opposite direction so that the upper portion of the robot is maintained in the second traveling direction .

Recently, civil, military, and educational robots have been actively developed.

The existing LEGO NXT products are equipped with sensors and motors in the control unit to enhance scalability, but they are priced high. In addition, domestic Robotiz's olloid products have developed self-developed servo motors, and the quality of the equipment is good, but the price is similar to that of LEGO.

These conventional products are mostly expensive, and as shown in FIG. 2, the operation setting is input to the robot through a programming method requiring expert knowledge. As a result, the control algorithm can not be set and used personally, And it is very difficult for ordinary people or students who do not have specialized knowledge to handle it.

Therefore, it is possible to create a motion block having a more intuitive form of a parameter of a behavior mode that the robot can move, and to download and combine the generated motion block using a user terminal to directly use the parameter in an autonomous mobile robot There is a demand for a technology that can easily set the behavior of the robot with a few touches or clicks on the device at a low cost.

Korean Patent Publication No. 10-2014-0040094.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide an apparatus and method for generating a behavior block for a robot, And the like.

A second technical object of the present invention is to provide a method and apparatus for generating a behavior block for a robot in the form of an icon and providing the action block in the form of an app applicable to a user mobile terminal such as a smart phone, have.

The third technical problem of the present invention is that a user terminal connected to an operation server directly creates a behavior block and uploads it to an operation server to combine the behavior blocks generated by the developer terminal separately, So that the desired action block can be utilized directly.

According to an aspect of the present invention, there is provided a behavior block management system for autonomous movement of a robot, comprising: a developer terminal for generating a parameter value for a robot behavior as a behavior block and transmitting the same to an operation server and a user terminal; An operation server for storing a block of action blocks, designating a use range of a behavior block for each user terminal according to a user experience value level, and adding a behavior block according to a new level or an optional function of the robot; A user terminal connected to the operation server through a dedicated application (App), downloading and combining the action blocks generated through the operation server, and transmitting the combined action block information to the robot; .

In addition, the developer terminal classifies the steps according to the level of the user experience value, and determines a parameter value for at least one of the movement direction, the speed, the turn, the back turn, And generates an action block as an icon.

In addition, the user experience level is a level of experience with at least one of the direct control, the independent autonomous driving, the cooperative driving, and the support driving using the user terminal for the robot.

The operation server may further include: a storage unit storing developer blocks including the basic operation of the robot and action blocks uploaded through the user terminal; The use range of the behavior block is classified according to the user experience value level. The experience level of the robot according to the combination of the behavior blocks and the experiential level according to experience are checked, A use range specifying unit for specifying a use range specifying unit; And an adder for adding a new level according to the user experience value level and adding a behavior block according to a new level or a behavior block according to whether an optional function of the robot is performed; And a control unit.

The adder may further include a behavior block for performing a function of the option module when receiving the option module information for the robot from the user terminal.

The user terminal directly receives a behavior block by transmitting a behavior block transmission request signal to the developer terminal, judges and combines usable action blocks among the received behavior blocks, and transmits the combination to the robot. App), and uploads the generated action block to the operation server.

According to another aspect of the present invention, there is provided a method of operating a behavior block for autonomous movement of a robot, the method comprising the steps of: (a) identifying a step according to a user experience level; (b) the developer terminal sets a parameter value for at least one of robot's actions among a moving direction (angle), a speed, a turn, a back turn, and an obstacle detection distance for each step, icon) into a motion block; (c) identifying, by the operation server, a level of experiential experience according to whether or not the robot is traveling according to the combination of the motion blocks and the experience level of the robot according to the combination of the motion blocks, and designating the range of use of the motion blocks for each user terminal according to the level; (d) determining whether or not optional server information for the robot is received from the user terminal; (e) when the option module information is received as a result of the step (d), the operation server adds a behavior block for performing a function of the option module; (f) downloading and combining the action blocks generated by the user terminal through the operation server; And (g) transmitting the action block information combined by the user terminal to the robot; .

Further comprising: (h) after the step (c), transmitting, by the user terminal, a behavior block transmission request signal to the developer terminal; (i) the user terminal receives a behavior block according to a behavior block transmission request signal from the developer terminal, and determining whether or not there is an available behavior block; (j) combining the action blocks received from the developer terminal by the user terminal if there are available action blocks as a result of the determination in step (i); And (k) transmitting the action block information combined with the user terminal to the robot; And a control unit.

(A) before or after the step (a), (l) the user terminal directly generates a behavior block through a dedicated application and uploads the motion block to the operation server; And a control unit.

The present invention provides a method of generating a behavior block for a robot in an intuitive form and selecting and combining the behavior block, thereby implementing a behavior method of the user's individual robot, downloading and combining the generated behavior block using a user terminal And drives the autonomous mobile robot.

According to the present invention, unlike the conventional method in which a control algorithm can not be set and used by inputting an operation setting to a robot through a programming method requiring expert knowledge, a user directly moves the robot, There is an effect that more various operation patterns can be set.

In addition, according to the present invention, it is possible to generate a behavior block for a robot in the form of an icon and to provide it in the form of an app applicable to a mobile terminal such as a smart phone, thereby increasing the scalability of use.

According to another aspect of the present invention, there is also provided an effect that the robot can be easily operated in various forms of behavior based on the combined action block information by wirelessly transmitting the action block information combined through the user terminal to the robot.

According to the present invention, in addition to using a combination of behavior blocks generated by a developer terminal separately, the user terminal directly accesses an operation server, and the user terminal directly generates a behavior block and uploads the motion block to the operation server. It can be used directly, and it can be distributed to other users.

1 is a block diagram of a technique for setting an operation of a conventional autonomous mobile robot.
FIG. 2 is an example showing a conventional method of inputting an operation setting to a robot through a programming method; FIG.
3 is a general block diagram conceptually showing a behavior block operating system for autonomous movement of a robot according to the present invention.
FIG. 4 illustrates an example of a behavior block generated by creating a user experience level level and an icon separated into a basic step, a standard step, and an application step according to the present invention.
FIG. 5 is a diagram illustrating an example of direct control, independent autonomous driving, cooperative driving, and assisted driving using a user terminal for explaining experience levels according to the present invention.
7 is an overall flowchart of a method of operating a behavior block for autonomous movement of a robot according to the present invention.

Specific features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings. It is to be noted that the detailed description of known functions and constructions related to the present invention is omitted when it is determined that the gist of the present invention may be unnecessarily blurred.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings.

A behavior block operating system for autonomous movement of a robot according to the present invention will now be described with reference to FIGS. 3 to 5. FIG.

3 is a block diagram conceptually showing a behavior block operating system S for autonomous movement of a robot according to the present invention and includes a developer terminal 100, an operation server 200, and a user terminal 300 .

The developer terminal 100 generates parameter values for various actions of the robot 10 as action blocks and transmits them to the operation server 200. [

4, the developer terminal 100 classifies the steps according to the level of the user's experience level, such as a basic step, a standard step, and an application step, Various parameter values for robot behavior such as direction (angle), speed, turn, back turn, and obstacle detection distance are set variously and iconized as an action block.

For example, in the basic step, a motion block is generated as an iconized block at a speed of '30 m / s', 'turn' and 'back turn' And 'turn with obstacles' (turn).

At this time, the developer terminal 100 is a computer device including a personal computer, a smart phone, a tablet PC, and the like, which are connectable to various webs.

Meanwhile, the developer terminal 100 may directly transmit the generated action block to the user terminal 300 in addition to the operation server 200. [

The operation server 200 stores a block of action blocks, specifies a use range of a behavior block for each user terminal 300 according to a user experience level, performs an action function of the action block or the robot 10 according to a new level And includes a storage unit 210, a usage range designation unit 220, and an adder 230 as shown in FIG.

Specifically, the storage unit 210 stores the action blocks uploaded through the developer terminal 100 including the basic operation of the robot 10 and the user terminal 300.

The use range designation unit 220 classifies the use range of the behavior block according to the level of the user experience value and confirms the experiential level according to whether or not the user experiences the robot driving experience and experience according to the combination of the action blocks, And the usage range of the action block for each user terminal 300 according to the usage range.

5, the user experience value level is set to the level of the user experiential value, as shown in FIG. 5, by directly controlling the robot 10 using the user terminal (FIG. 5A), autonomous autonomous driving (FIG. 5B) The use range designation unit 220 may be included in the basic stage when the level belongs to the basic stage as the experiential level for the support driving (Fig. 5 (c) To be available.

The adding unit 230 may add a new level according to the user experience level, and add a behavior block according to a new level or a behavior block according to whether the robot 10 performs an optional function.

More specifically, when receiving the option module information for the robot 10 from the user terminal 300, the adding unit 230 may add a behavior block for performing the function of the corresponding option module.

That is, an optional module for performing optional functions such as a robot arm, an extension wheel, an LED, a camera, an infrared sensor and an ultrasonic sensor, an NFC, and an RFID tag may be applied to the robot 10. For example, In the case where a camera for confirming an obstacle, an infrared sensor and an ultrasonic sensor are applied, the adding unit 230 receives the corresponding option module information for the robot 10 from the user terminal 300, You can add action blocks.

The user terminal 300 accesses the operation server 200 through a dedicated application (App), downloads and combines the action blocks generated through the operation server 200, and outputs the combined action block information to the robot 300 send. At this time, the user terminal 300 is a computer device including a personal computer, a smart phone, a tablet PC, and the like which can access various webs.

Specifically, the user terminal 300 downloads and combines the generated plurality of action blocks according to the user selection signal. Accordingly, it is possible to easily set the behavior of the robot with a few touches or clicks on the device.

In addition, the user terminal 300 can directly combine the action blocks received directly from the developer terminal 100 and utilize them. That is, the user terminal 300 directly receives the action block by transmitting the action block transmission request signal to the developer terminal 100, judges the available action blocks among the received action blocks, combines them, and transmits the combined action blocks to the robot 10 .

The user terminal 300 may directly generate a behavior block through a dedicated application (App) and upload it to the operation server 200 so that the user terminal 300 can utilize the desired behavior block directly.

As described above, since the action block for the robot is generated in the form of an icon, it can be provided in the form of an app applicable to a mobile terminal such as a smart phone, and the use scalability can be enhanced.

Hereinafter, a method of operating a behavior block for autonomous movement of a robot using the above-described system will be described with reference to FIG.

7 is a flowchart illustrating a method of operating a behavior block for autonomous movement of a robot according to the present invention. As shown in the figure, the developer terminal 100 includes a basic step, a standard step, and an application step (S10), and various parameter values for the robot behavior such as a moving direction (angle), a speed, a turn, a back turn, and an obstacle detection distance are varied according to user experiential level (S20), and the icon is converted into an icon (S30).

Then, the use range designation unit 220 of the operation server 200 checks the experiential level according to whether or not the robot is traveling and the experiential level for each user terminal 300 according to the combination of the action blocks (S40) The use range of the action block for each action block 300 is designated (S50).

The adding unit 230 of the operation server 200 determines whether the option module information for the robot 10 is received from the user terminal 300 in operation S60.

If it is determined in operation S60 that the option module information is received, the adding unit 230 adds a behavior block for performing the function of the option module (S70).

Next, the user terminal 300 downloads and combines the action blocks generated through the operation server 200 (S80), and transmits the combined action block information to the robot 10 (S90).

Then, the user terminal 300 transmits a behavior block transmission request signal to the developer terminal 100 (S100), receives a behavior block corresponding to the behavior block transmission request signal from the developer terminal 100 (S110) It is determined whether a motion block exists (S120).

If it is determined in operation S120 that there is a usable action block, the user terminal 300 combines the action blocks received from the developer terminal 100 (S130) and transmits the combined action block information to the robot 10 (S140).

Then, the user terminal 300 directly generates a motion block through a dedicated application (App) and uploads it to the operation server 200 (S150).

On the other hand, if it is determined in operation S60 that the option module information is not received, the adding unit 230 of the operation server 200 performs the procedure in operation S80. In operation S 120, The user terminal 300 ends the process.

While the present invention has been particularly shown and described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It will be appreciated by those skilled in the art that numerous changes and modifications may be made without departing from the invention. Accordingly, all such appropriate modifications and changes, and equivalents thereof, should be regarded as within the scope of the present invention.

100: Developer terminal 200: Operation server
300: User terminal 210:
220: use range designation unit 230: supplementary unit
10: Robot

Claims (10)

A developer terminal for generating a parameter value for a robot behavior as a behavior block and transmitting the generated action block to an operation server and a user terminal;
A developer terminal including a basic operation of the robot and a storage unit storing the uploaded behavior blocks through the user terminal; The use range of the behavior block is classified according to the user experience value level. The experience level of the robot according to the combination of the behavior blocks and the experiential level according to experience are checked, A use range specifying unit for specifying a use range specifying unit; And an adder that adds a new level according to the user experience value level and adds a behavior block according to a new level or a behavior block according to whether an optional function of the robot is performed or not. And
A user terminal connected to the operation server through a dedicated application (App), downloading and combining the action blocks generated through the operation server, and transmitting the combined action block information to the robot;
A behavior block operating system for autonomous movement of a robot including a robot.
The method according to claim 1,
The developer terminal,
A parameter value is set for at least one of the robot direction, the movement direction, the speed, the turn, the back turn, and the obstacle detection distance for each step, icon) to generate a behavior block. The behavior block operation system for the autonomous movement of the robot.
The method according to claim 1,
The user experience value level is set to &
Wherein the robot is an experience level for at least one of driving, direct autonomous, cooperative, and assisted driving using a user terminal.
delete The method according to claim 1,
[0030]
And a behavior block for performing a function of the option module is added when the option module information for the robot is received from the user terminal.
The method according to claim 1,
The user terminal comprises:
Directly transmits a motion block transmission request signal to the developer terminal, receives a motion block directly, judges and combines usable motion blocks among the received motion blocks, and transmits the combined motion blocks to the robot, Block, and uploads the generated block to the operation server.
(a) the developer terminal classifying steps according to a user experience level;
(b) the developer terminal sets a parameter value for at least one of robot's actions among a moving direction (angle), a speed, a turn, a back turn, and an obstacle detection distance for each step, icon) into a motion block;
(c) identifying, by the operation server, a level of experiential experience according to whether or not the robot is traveling according to the combination of the motion blocks and the experience level of the robot according to the combination of the motion blocks, and designating the range of use of the motion blocks for each user terminal according to the level;
(d) determining whether or not optional server information for the robot is received from the user terminal;
(e) when the option module information is received as a result of the step (d), the operation server adds a behavior block for performing a function of the option module;
(f) downloading and combining the action blocks generated by the user terminal through the operation server; And
(g) transmitting the combined action block information to the user terminal; Wherein the robot comprises a plurality of robots.
8. The method of claim 7,
After the step (c)
(h) the user terminal transmitting a behavior block transmission request signal to the developer terminal;
(i) the user terminal receives a behavior block according to a behavior block transmission request signal from the developer terminal, and determining whether or not there is an available behavior block;
(j) combining the action blocks received from the developer terminal by the user terminal if there are available action blocks as a result of the determination in step (i); And
(k) transmitting, by the user terminal, the combined action block information to the robot; Wherein the robot comprises a plurality of robots.
8. The method of claim 7,
Before or after the step (a)
(1) the user terminal directly generates a behavior block through a dedicated application (App) and uploads it to the operation server; Wherein the robot comprises a plurality of robots.
8. The method of claim 7,
The user experience value level is set to &
Wherein the robot is an experiential level for at least one of the direct control, the independent autonomous driving, the cooperative driving, and the supporting driving using the user terminal.

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