KR20160094104A - combinED ROBOT CONTROL APPARATUS - Google Patents

combinED ROBOT CONTROL APPARATUS Download PDF

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Publication number
KR20160094104A
KR20160094104A KR1020150015250A KR20150015250A KR20160094104A KR 20160094104 A KR20160094104 A KR 20160094104A KR 1020150015250 A KR1020150015250 A KR 1020150015250A KR 20150015250 A KR20150015250 A KR 20150015250A KR 20160094104 A KR20160094104 A KR 20160094104A
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KR
South Korea
Prior art keywords
robot
control
control device
mode
control unit
Prior art date
Application number
KR1020150015250A
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Korean (ko)
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KR102008688B1 (en
Inventor
황정훈
임선
김영욱
Original Assignee
전자부품연구원
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Priority to KR1020150015250A priority Critical patent/KR102008688B1/en
Publication of KR20160094104A publication Critical patent/KR20160094104A/en
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Publication of KR102008688B1 publication Critical patent/KR102008688B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation

Abstract

The hybrid type robot control apparatus includes a multi-degree-of-freedom robot arm control unit which is spaced apart from each other and controls each of the robot arms, a navigation control panel including a socket module that is positioned between the robot arm control units and inserts the robot- And a robot manipulation control unit for detecting whether or not the robot manipulation manipulation apparatus is detachable through the socket module and detecting a change in the robot manipulation mode through the robot manipulation manipulation apparatus. Therefore, the mobile machine or the robot can be controlled at a remote place.

Description

[0001] Combined ROBOT CONTROL APPARATUS [0002]

BACKGROUND OF THE INVENTION Field of the Invention [0002] The present invention relates to a hybrid type robot control technology, and more particularly, to a hybrid type robot control device capable of controlling a mobile machine or a robot at a remote place.

Robots are becoming increasingly popular in automated processing systems and perform tasks with the precision and efficiency that can not be achieved using human labor force. The robot can also be used when it is not desirable to use the human labor force in a sensitive or dangerous environment.

Conventional techniques use a master device of a high degree of freedom and a low-degree-of-freedom handle or a joystick for manipulating a moving object in parallel to manipulate a manipulator. This is complicated and troublesome to replace space occupation and in use among them.

Korean Patent Registration No. 10-1142762 discloses a steering controller, a steering control method, and a mobile robot system using the same for a mobile robot capable of intuitively controlling a mobile robot. This technique can convert the input signal intuitively input by the user of the mobile robot into a driving signal that rotates the driving motor of the mobile robot to increase the usability of the mobile robot, It is possible to easily control the mobile robot while observing the mobile robot.

Korean Patent Laid-Open Publication No. 10-1997-0058858 discloses a three-dimensional position and attitude control for a machining center and a robot manipulator in which each position control module includes three position control modules composed of a linear position driving unit and a sliding post connected thereto Device. This technique can reduce the manufacturing cost of the device by modular design and mass production.

Korean Patent No. 10-1142762 Korean Patent Publication No. 10-1997-0058858

An embodiment of the present invention is to provide a hybrid type robot control apparatus capable of controlling a mobile machine or a robot in a remote place.

An embodiment of the present invention is to provide a hybrid type robot control device capable of maximizing the efficiency and usability of remote control by performing a control with a high degree of freedom and a control with a low degree of freedom in a single device.

An embodiment of the present invention is to provide a hybrid type robot control apparatus capable of minimizing a control space required for remote control and thereby increasing the utilization of a control system for a machine or a robot.

Among the embodiments, the hybrid type robot control device includes multi-degree-of-freedom robot arm control units which are spaced apart from each other and control each of the two robot arms, and a socket module which is positioned between the robot arm control units and inserts the robot- And a robot control unit for detecting whether or not the robot running control apparatus is detachable through the socket module and detecting a change in the robot control mode through the robot running control apparatus.

In one embodiment, the robot navigation device may correspond to an automobile control device, a helicopter control device, an airplane control device, or a tank control device.

In one embodiment, the travel steering panel includes a push button, and when the push button is pushed, it can support removal of the robot driving control device.

In one embodiment, the robot manipulation control unit changes the robot manipulation mode to the robot manipulation mode when the robot manipulation control apparatus is inserted into the socket module, and when the robot manipulation control apparatus is removed, Mode.

The robot manipulation control unit may control the robot arm manipulation units and the robot driving manipulation apparatus based on at least one of a manipulation button, a user voice, a pedal, a user's gaze, and a user's head direction disposed in the robot arm manipulation units.

Among the embodiments, the hybrid type robot control device includes multi-degree-of-freedom robot arm control units which are spaced apart from each other and control each of the two robot arms, and a socket module which is positioned between the robot arm control units and inserts the robot- And a controller for detecting whether or not the robot running control device is detachable through the socket module and changing the robot control mode to the robot running mode when the robot running control device is inserted and when the robot running control device is removed, Mode to a robot arm control mode.

The hybrid type robot control apparatus according to an embodiment of the present invention can control a mobile machine or a robot at a remote location.

The hybrid type robot control apparatus according to an embodiment of the present invention can maximize the efficiency and usability of the remote control by performing a control with a high degree of freedom and a control with a low degree of freedom in one device.

The hybrid type robot control apparatus according to an embodiment of the present invention can minimize the maneuvering space required for remote control and increase the utilization of the control for a machine or a robot.

1 is a view for explaining a hybrid robot control apparatus according to an embodiment of the present invention.
FIG. 2 is a view for explaining the robot arm control units of the hybrid type robot control apparatus shown in FIG. 1. FIG.
Fig. 3 is a view illustrating the robot driving control apparatus shown in Fig. 1. Fig.
Fig. 4 is a view for explaining a driving control panel of the hybrid type robot control apparatus shown in Fig. 1. Fig.
5 is a block diagram illustrating the hybrid type robot control apparatus shown in FIG.

The description of the present invention is merely an example for structural or functional explanation, and the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas. Also, the purpose or effect of the present invention should not be construed as limiting the scope of the present invention, since it does not mean that a specific embodiment should include all or only such effect.

Meanwhile, the meaning of the terms described in the present application should be understood as follows.

The terms "first "," second ", and the like are intended to distinguish one element from another, and the scope of the right should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected to the other element, but there may be other elements in between. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that there are no other elements in between. On the other hand, other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

It is to be understood that the singular " include " or "have" are to be construed as including the stated feature, number, step, operation, It is to be understood that the combination is intended to specify that it does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used predefined terms should be interpreted to be consistent with the meanings in the context of the related art and can not be interpreted as having ideal or overly formal meaning unless explicitly defined in the present application.

1 is a view for explaining a hybrid robot control apparatus according to an embodiment of the present invention.

Referring to FIG. 1, the hybrid type robot control apparatus 100 includes robot arm control units 110, a navigation control panel 120, and a robot control unit 130.

The robot arm control units 110 are spaced apart from each other to control both robot arms. The robot arm manipulation units 110 are capable of manipulating left and right detachable manipulators having a high degree of freedom, for example, 7 degrees of freedom (7 degrees of freedom enables position and direction control of the robot in a three-dimensional space). The robot arm control units 110 are arranged symmetrically with respect to a specific axis (e.g., the Y axis) to control both robotic arms by a user's operation. Both robot arms are connected remotely to the robot arm manipulation units 110 and can be controlled by the robot arm manipulation units 110. Rotary motors are mainly used in the joints of the robot, and the rotation axis of the motor has one degree of freedom.

When the robot driving control unit 10 is inserted into the traveling control panel 120 disposed between the robot arm control units 110, the robot control mode is changed to the left and right detachable control units having low degrees of freedom, 10, the direction of travel of the robot can be controlled. The robot arm control unit 130 can convert the robot control mode into the robot arm control units 110. [ When the robot driving control unit 10 corresponds to an automobile control unit, corresponds to a helicopter control unit, corresponds to an airplane control unit, or corresponds to a tank control unit, the robot arm control units 110, It is possible to control the running direction of the vehicle. In one embodiment, the robot arm control units 110 can control the traveling direction of the robot to the left or right when the robot driving control apparatus 10 corresponds to the handle-type motor control apparatus.

The robot navigation controller 10 may be disposed on the navigation control panel 120 between the robot arm control units 110 to control the traveling direction of the robot. The robot running control device 10 may be a control device having a low degree of freedom, for example, an automobile control device, a helicopter control device, an airplane control device, or a tank control device. The robot driving control device 10 may be disposed at a certain distance from the robot arm control parts 110 at both ends thereof. The robot driving control apparatus 10 may be internally connected to the robot arm control units 110.

The navigation control panel 120 includes a socket module 121 positioned between the robot arm control units 110 and for inserting the robot navigation control apparatus 10 therein. The socket module 121 may be recessed with respect to a certain axis at the center of the travel steering panel 120 so as to accommodate all of the robot driving controls 10 having various forms. The socket module 121 can fix the robot driving control device 10 when the robot driving control device 10 is inserted.

In one embodiment, the navigation steering panel 120 includes a push button 122 and may assist removal of the robot navigation device 10 when the push button 122 is pushed. For example, the push button 122 is partially protruded when the robot driving control apparatus 10 is inserted into the driving control panel 120, and when the push button 122 is pushed by the user, the robot driving control apparatus 10 is detached from the socket module 121 .

The robot control unit 130 detects whether the robot driving control unit 10 is detached or not via the socket module 121. [ The robot control unit 130 detects a change in the robot control mode through the robot control unit 10. [

The robot control unit 130 changes the robot control mode to the robot running mode when the robot control unit 10 is inserted into the socket module 121. When the robot control unit 10 is removed from the socket module 121 The robot control mode can be changed to the robot arm control mode. That is, the robot control unit 130 controls the robot through the robot driving control unit 10 in the robot control mode, and controls the robot through the robot control unit 110 in the robot arm control mode.

The robot control unit 130 controls the robot arm control units 110 and the robot driving control unit 110 based on at least one of a control button, a user voice, a pedal, a user's gaze, 10).

In one embodiment, the hybrid robot controller 100 may include a monitoring unit at the top of the navigation control panel 120. The monitoring unit may be connected to a plurality of cameras installed on the robot and may display an acquired view obtained through a plurality of cameras. The plurality of cameras are disposed in the front, back, and left and right rooms of the robot, respectively, so that the surroundings of the robot can be imaged. Here, the number and position of the plurality of cameras are not limited thereto, and may be changed according to the embodiment. The surround view may correspond to a single image generated based on the similarity and the spatial similarity between the viewpoints.

In one embodiment, the hybrid robot controller 100 may receive voice commands from a user to control at least one of the robot's running direction and both robot arms. The hybrid type robot control apparatus 100 can control the robot using the robot arm control units 110 through the robot control unit based on the voice command of the user.

In one embodiment, the hybrid type robot control apparatus 100 can receive a button operation of a user and control the robot. The buttons may be disposed on at least one of the robot arm control units 110 and the driving control panel 120, and may be implemented as a push button, for example.

In one embodiment, the hybrid type robot control apparatus 100 can control the traveling speed of the robot through the pedal operation by the user's foot. The hybrid type robot control apparatus 100 can control the stop, advance, reverse, and speed of the robot based on the operation of the pedal. The pedal may be connected to the lower end of the travel steering panel 120.

In one embodiment, the hybrid robot controller 100 may scan the user's line of sight and control the robot along the user's line of sight. The hybrid type robot controller 100 can determine the moving direction of the robot by changing the viewpoint of the robot on the basis of the time when the user looks around.

In one embodiment, the hybrid robot controller 100 may determine the direction of the plurality of cameras by sensing the head direction of the user. The hybrid type robot control apparatus 100 includes a sensor capable of recognizing a change in the head direction of the user and detects the change in the head direction of the user through the sensor and determines the imaging directions of the plurality of cameras based on the change in the head direction . The plurality of cameras can capture the periphery of the determined direction and transmit them to the monitoring unit.

In one embodiment, the hybrid type robot control apparatus 100 recognizes the surroundings of the robot on the basis of at least one of an image sensor, a laser distance sensor, and a three dimensional depth sensor without a direct command from a user, can do.

FIG. 2 is a view for explaining the robot arm control units of the hybrid type robot control apparatus shown in FIG. 1. FIG.

Referring to FIG. 2, the robot arm control units 110 may be disposed symmetrically with respect to the Y axis and may include a user grip. The user grip portion can be grasped by the user and can be manipulated in multiple angles.

In one embodiment, the robot arm manipulation units 110 may be disposed through both ends of the travel steering panel 120. For example, the robot arm control units 110 can control the operation of the robot arm based on the 7-DOF degrees of freedom when the robot driving control apparatus 10 is not inserted. When the robot driving control apparatus 10 is inserted, The running of the robot can be controlled based on the degree of freedom of the axis.

Fig. 3 is a view illustrating the robot driving control apparatus shown in Fig. 1. Fig.

3, the robot driving control apparatus 10 may correspond to an automobile control apparatus (a), a helicopter control apparatus (b), an airplane control apparatus (c), or a tank control apparatus (d). The robot driving control unit 10 may be inserted into the traveling control panel 120 according to the type of the robot and interlocked with the robot arm control units 110. The robot cruise control device 10 can control the traveling of the robot in accordance with the change of the robot control mode by the robot control controller 130. [

Fig. 4 is a view for explaining a driving control panel of the hybrid type robot control apparatus shown in Fig. 1. Fig.

Referring to FIG. 4, the navigation control panel 120 may include a push button 122 at an upper end or a lower end. When the push button 122 is pushed and a pressure equal to or greater than a predetermined value is applied, the travel control panel 120 can release the fixation of the robot driving control device 10 inserted into the socket module 121.

5 is a block diagram illustrating the hybrid type robot control apparatus shown in FIG.

5, the hybrid type robot control apparatus 100 includes robot arm control units 110, a navigation control panel 120, a robot control unit 130, and a control unit 510.

The robot arm control units 110, the driving control panel 120, and the robot control unit 130 are the same as those described above.

The control unit 510 controls the overall operation of the hybrid type robot control apparatus 100 and controls the operation and data flow between the robot arm control units 110, the navigation control panel 120 and the robot control control unit 130 have.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the present invention as defined by the following claims It can be understood that

100: Combined robot control device
110: Robot arm control parts
120: Navigation control panel
121: Socket module
122: Push button
130: Robot control unit
510:
10: Robot travel control device

Claims (6)

A multi-degree-of-freedom robot arm control unit for controlling each of the two robot arms separated from each other;
A navigation control panel positioned between the robot arm control portions and including a socket module for inserting the robot navigation control device; And
And a robot control unit for detecting whether or not the robot driving control unit is detachable through the socket module and detecting a change in the robot control mode through the robot driving control unit.
2. The robot driving control apparatus according to claim 1,
Wherein the robot control device is an automobile control device, a helicopter control device, an airplane control device, or a tank control device.
5. The steering control panel according to claim 4,
And a push button, and when the push button is pushed, supports removal of the robot driving control device.
The robot control apparatus according to claim 1,
Wherein when the robot driving control apparatus is inserted into the socket module, the robot control mode is changed to the robot running mode, and when the robot running control apparatus is removed, the robot control mode is changed to the robot arm control mode. Robot control device.
The robot control apparatus according to claim 1,
Wherein the control unit controls the robot arm manipulation units and the robot driving manipulation apparatus based on at least one of a manipulation button, a user voice, a pedal, a user's gaze, and a user's head direction disposed in the robot arm manipulation units Device.
A multi-degree-of-freedom robot arm control unit for controlling each of the two robot arms separated from each other;
A navigation control panel positioned between the robot arm control portions and including a socket module for inserting the robot navigation control device; And
Wherein the controller is configured to change the robot control mode to a robot running mode when the robot running control device is inserted and detect the detachment of the robot running control device through the socket module and if the robot running control device is removed, Mode is changed to the mode of the hybrid type robot control device.

KR1020150015250A 2015-01-30 2015-01-30 combinED ROBOT CONTROL APPARATUS KR102008688B1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR970058858A (en) 1996-01-26 1997-08-12 김종원 Three-dimensional position and orientation control system for machining center and robot manipulator
JP2002046088A (en) * 2000-08-03 2002-02-12 Matsushita Electric Ind Co Ltd Robot device
JP2005066752A (en) * 2003-08-25 2005-03-17 Kawasaki Heavy Ind Ltd Apparatus for controlling robot having super multidegree of freedom
KR101142762B1 (en) 2009-09-30 2012-05-21 한양대학교 산학협력단 Operating controller of movable robot, operating control method thereof and movable robot system using the same
WO2012167043A2 (en) * 2011-06-02 2012-12-06 Medrobotics Corporation Robotic systems, robotic system user interfaces, human interface devices for controlling robotic systems and methods of controlling robotic systems

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR970058858A (en) 1996-01-26 1997-08-12 김종원 Three-dimensional position and orientation control system for machining center and robot manipulator
JP2002046088A (en) * 2000-08-03 2002-02-12 Matsushita Electric Ind Co Ltd Robot device
JP2005066752A (en) * 2003-08-25 2005-03-17 Kawasaki Heavy Ind Ltd Apparatus for controlling robot having super multidegree of freedom
KR101142762B1 (en) 2009-09-30 2012-05-21 한양대학교 산학협력단 Operating controller of movable robot, operating control method thereof and movable robot system using the same
WO2012167043A2 (en) * 2011-06-02 2012-12-06 Medrobotics Corporation Robotic systems, robotic system user interfaces, human interface devices for controlling robotic systems and methods of controlling robotic systems
KR20140037108A (en) * 2011-06-02 2014-03-26 메드로보틱스 코포레이션 Robotic systems, robotic system user interfaces, human interface devices for controlling robotic systems and methods of controlling robotic systems

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