JP4616034B2 - Drawing robot, control method therefor, and control program - Google Patents

Description

  The present invention relates to a drawing robot that draws characters, figures, and the like, and more particularly, to a drawing robot that can make each locus of written characters smooth and natural, a control method thereof, and a control program.

  FIG. 1 is a diagram showing a conventional drawing robot disclosed in Japanese Patent Laid-Open No. 2003-182289.

  This conventional drawing robot is a robot that self-runs and draws character information input in advance on a paper surface, and as shown in FIG. 1, a traveling machine body 1 made of an aluminum plate in a square box shape, A writing instrument 8 such as a magic pen capable of writing on the drawing surface 20, a writing tool holding mechanism 2 for holding the writing tool 8, a writing tool moving mechanism 3 for moving the writing tool 8 with respect to the drawing surface 20, and a traveling machine body 1. Is a drawing robot comprising a travel movement mechanism 4 that travels and moves, and a writing device movement mechanism 3 and a control device 5 that controls the travel movement mechanism 4. The substrate 9 has a start switch 10, a control one-chip microcomputer 5a, The control motor drivers 5b and 5c and the remote control connection terminal 11 are attached. A slide rail fixing part 3b for the writing instrument moving mechanism 3 and a slide rail movable part 3c attached to the fixed part are attached to the traveling body 1, and a writing tool holding clip 2a is attached to the slide rail movable part 3c. Fix it. A pulse motor 3a, which is a writing instrument movement control motor, and a rotating part 18, which moves the slide rail movable portion 3c up and down, are attached to the rotating shaft 21 of the pulse motor 3a, and a pulse motor 4a, which is a traveling movement control motor, Mount the wheel 6a. An anti-slip uneven rubber 12 is affixed to the traveling wheel 6a. A DC power source 22 and a suction mechanism 7 including a suction device 7a and a suction device 7b are stored in the traveling device body 1.

FIG. 2 shows a state in which a conventional drawing robot draws a character. According to such a drawing robot, a program is written in a control one-chip microcomputer mounted on a traveling body, and characters and figures are automatically drawn. Various characters and figures can be drawn by switching the switches on the board and changing the microcomputer chip.
JP 2003-182289 A

  However, with conventional drawing robots, characters and figures can only be drawn almost linearly using horizontal lines, vertical lines, and diagonal lines, and natural letters and the like drawn by humans cannot be drawn. . That is, the writing tool moving mechanism 3 to which the writing tool of the conventional drawing robot is attached moves only up and down, and in order to draw a line, the robot body must move greatly. Since the movement of the robot is front, rear, left, and right, if characters and figures are expressed by the combination, it must be linear.

  This is just that you can draw unnatural characters with unnatural movement, no entertainment is recognized, something that appeals to the emotion of the robot owner or those who are watching the character drawing robot There is no.

  On the other hand, in order to realize an operation for drawing a natural character, there is a problem that there is a high possibility that the robot becomes complicated and has a large circuit scale.

  The present invention has been made in view of the above problems, and provides a drawing robot capable of drawing natural characters and figures with a simpler structure and more natural movement, a control method thereof, and a control program. Objective.

In order to solve the above problems, rendering the robot according to the present invention is a drawing robot to draw a character or graphics, and the like of a predetermined locus on a drawing medium, the mounting position given that the drawing member is attached A turning arm for turning the tip of the attached drawing member substantially parallel to the drawing medium with a point separated by a distance as a turning center, and a first driving means for turning the turning arm If, comprising a moving means for moving the drawing robot, and a second driving means for driving the moving means, and control means for controlling said first driving means and second driving means , said control means from said first coordinate point on the drawing medium per to draw up a second coordinate point, and the information about the pivot angle the pivot arm should pivot the pivot arm said first Acquires the information about the correction amount for correcting an error between the second coordinate point on the drawing medium caused by turning the coordinate point by the rotation angle information and the correction amount related to said pivot angle and controlling said first drive means and second drive means by using the information and related to.
Furthermore, an arm elevation driving means for elevating the rotary arm, said control means, said a drawing that is attached to the pivot arm by controlling the arm elevation driving means in the start point position of the predetermined trajectory The tip of the member is brought into contact with the drawing medium.

Further, the control means is characterized by separating the distal end portion of the drawing member from the drawing medium by controlling the arm elevation driving means at the end coordinates of the predetermined path.
Further, the moving means is a wheel for enabling moving the drawing robot at least in longitudinal direction, said second drive means, said the said wheel is a wheel rotational drive means Ru is rotated To do.

The control means controls the wheel rotation driving means by converting information on the correction amount into a rotation angle of the wheel.

Wherein, each time on the basis of the turning angle and the rotation angle of the wheels of the swivel arm of each coordinate point, the control starts the first driving means and the wheel rotation drive means, for predetermined time elapses In addition, the process shifts to the processing of the next coordinate point.

Drawing robot according to the present invention is a drawing robot for drawing characters or graphics, etc. by moving the upper drawing medium, a turning center a point from the mounting position at which the drawing member is mounted a predetermined distance, the tip of the attached drawing member, a pivot arm to be substantially parallel to pivot relative to the drawing medium, a first driving means for pivoting the pivot arm, for moving the drawing robot Trajectory data representing each trajectory constituting the character or figure, etc. , drawn by the moving means, the second driving means for driving the moving means, and the drawing member drawing a drawn line is stored. and storage means and said current and first point of the coordinate is located, a second point of coordinates to the drawing member is drawn drawn lines then moved to the said trajectory of the drawing member Calculated using the said a turning arm information about the pivoting angle to be turning, the swivel arm is the pivot angle only the coordinates of the position coordinates indicating the second point of the drawing member when pivoted acquires the information about the correction amount for correcting the error between, for controlling said first drive means and said second drive means by using the information about the information and the correction amount related to said pivot angle and a controlling unit.

The method of drawing a robot according to the present invention is a control method for controlling the drawing robot to be drawn in on the drawing medium characters or graphics, and the like of a predetermined trajectory, the drawing robot, attached to the drawing member is attached A turning arm for turning the tip of the attached drawing member substantially parallel to the drawing medium with a point separated from the position by a predetermined distance as a turning center, and a turning arm for turning the turning arm comprising a first driving means, and moving means for moving the drawing robot, and a second driving means for driving said moving means, said control method, first coordinates on the drawing medium per to draw from a point to a second coordinate point, and the information about the pivot angle the pivot arm should pivot, said pivot arm pivots by the pivot angle from the first coordinate point Acquires the information about the correction amount for correcting an error between the second coordinate point on the drawing medium more occurs, the first by using the information about the information and the correction amount related to said pivot angle A control step of controlling the driving means and the second driving means.

The drawing robot further includes arm lifting / lowering driving means for moving the swinging arm up and down, and the control step is attached to the swinging arm by controlling the arm lifting / lowering driving means at the start point coordinates of the predetermined locus. The leading end of the drawing member is brought into contact with the drawing medium.

Further, the control step is characterized in that the leading end portion of the drawing member is separated from the drawing medium by controlling the arm raising / lowering driving means at the end point coordinates of the predetermined locus.
Further, the moving means is a wheel for enabling the drawing robot to move at least in the front-rear direction, and the second driving means is a wheel rotation driving means for rotationally driving the wheel.

The control step is characterized in that the wheel rotation driving means is controlled by converting information on the correction amount into a rotation angle of the wheel.

Each said control step, based on said rotation angle and the rotation angle of the wheels of the swivel arm of each coordinate point, the control starts the first driving means and the wheel rotation drive means, for predetermined time elapses In addition, the process shifts to the processing of the next coordinate point.

Control program according to the present invention is a control program for controlling the drawing robot to draw a character or graphics, and the like of a predetermined locus on a drawing medium, the drawing robot mounting position where the drawing member is attached A turning arm for turning the tip of the attached drawing member substantially parallel to the drawing medium with a point separated from the drawing medium by a predetermined distance as a turning center, and a first for turning the turning arm comprising a drive means, a moving means for moving the drawing robot, and a second driving means for driving the moving means, wherein the control program, a first coordinate point on the drawing medium from around to draw up a second coordinate point, the information pivot arm about the pivot angle to be turning, the swivel arm is only the pivot angle from the first coordinate point And program code for implementing the steps of acquiring, and information about the correction amount for correcting an error between the second coordinate point on the drawing medium caused by times, the information on the turning angle characterized in that it comprises a program code for implementing the steps of controlling the first drive means and second drive means by using the information about the correction amount.
The drawing robot further comprises an arm elevation driving means for elevating the pivot arm, a program code for realizing the control program controls the arm elevation driving means at the beginning coordinates of the predetermined path characterized in that it comprises a code that would be in contact with the drawing medium the leading end of the drawing member which is attached to the pivot arm by.

The control program is characterized in that the leading end portion of the drawing member is separated from the drawing medium by controlling the arm raising / lowering driving means at the end point coordinates of the predetermined locus.

The moving means is a wheel for enabling the drawing robot to move at least in the front-rear direction, and the second driving means is a wheel rotation driving means for rotating the wheel.

The control program controls the wheel rotation driving unit by converting information on the correction amount into a rotation angle of the wheel.

Each said control program, based on said rotation angle and the rotation angle of the wheels of the swivel arm of each coordinate point, the control starts the first driving means and the wheel rotation drive means, for predetermined time elapses In addition, the process shifts to the processing of the next coordinate point.

  Further features of the present invention will become apparent from the following description of the best mode for carrying out the invention and the accompanying drawings.

  According to the present invention having the above-described configuration, it is possible to provide a drawing robot that can draw natural characters and figures with a simpler configuration and more natural movement, a control method thereof, and a control program. It becomes like this.

  The best mode for carrying out the present invention will be described below in detail with reference to the drawings.

<About the appearance of the drawing robot>
FIG. 3 is a diagram illustrating an appearance of the drawing robot 100 according to the present embodiment.

  Reference numeral 101 denotes an exterior of the drawing robot 100. When this is removed, the internal configuration of the robot shown in FIGS. 4 and 5 appears. Reference numeral 102 denotes an arm part of the drawing robot 100, and 103 denotes a pen holding part (hand part) for holding a pen (writing tool) 104 as a drawing member. The pen (writing instrument) 104 is held, for example, by screwing the pen holding unit 103. Reference numeral 105 denotes a torso, and the center of gravity is located at a lower position in the torso for the stability of the entire robot. Reference numerals 106a and 106b denote leg portions, which can move the robot on the paper surface P by driving a motor as will be described later.

  FIG. 4 is an external view showing a state where the robot exterior is removed. When the exterior of the leg portions 103a and b shown in FIG. 3 is removed, the wheels 201a (and b) constituting the leg portions appear. An auxiliary wheel 202 is also provided in order to further ensure the stability of the entire robot. Further, the arm frame 203 appears when the arm 102 is removed. As will be described later, a trajectory of a character is drawn with the pen 104, and the arm frame 203 is moved up and down (lifted) when moving to the next trajectory (image line). It should be noted that the body portion 105 includes a motor and the like described later in order to maintain the stability of the entire robot.

  FIG. 5 is a diagram for explaining the drive mechanism of the drawing robot 100.

  The wheel driving motor 301 transmits power to the wheel driving gear 302 and rotates the wheels 201 a and b via the wheel shaft 303. The drawing robot 100 can move back and forth by the rotation of the wheels 201a and b.

  The turntable drive motor 304 transmits power to the turntable drive gear 305 to turn the turntable 307 clockwise and counterclockwise on the XY plane via the turning shaft 306. By turning the turntable 307, the arm frame 203 can be swung left and right.

  The arm elevating motor 308 transmits power to the arm elevating gear 309 and can move the arm frame 203 up and down via the arm shaft 310. As a result, the pen 104 can be moved up and down.

  The drawing robot 100 can move between characters constituting a sentence and a character string by having a wheel drive mechanism. Further, the combination of the turning operation of the swivel board, the front-rear movement of the wheel 201, and the raising / lowering operation of the pen can move the pen 104 to the starting point of each locus of the characters, and the pen 104 contacts the paper surface P. You can draw a horizontal line by moving the arm left and right, and a vertical line by moving the wheel back and forth. Although a horizontal line can be drawn by turning the arm frame 203, the turning operation draws an arc, and in order to make it more linear, the wheel 201 is rotated to draw the horizontal line while moving the robot 100. . Detailed operation will be described later.

  In each motor, for example, a servo motor can be used for the wheel driving motor 301 and the turning board driving motor 304, and a stepping motor can be used for the arm frame lifting motor 308.

<About basic building blocks>
FIG. 6 is a block diagram showing a basic hardware configuration for controlling the drawing robot 100 according to the present embodiment.

  In FIG. 6, reference numeral 401 denotes a CPU that performs all control over each operation unit of the drawing robot 100. Reference numeral 402 denotes a ROM (Read Only Memory), which is a storage (storage) means for storing a control program for each operation unit, preset parameters, pre-input character data, and the like. Specifically, the character data or the like is trajectory data representing a trajectory constituting the character or the like, and the trajectory data is stored (stored). Reference numeral 403 denotes a RAM (Random Access Memory), which temporarily stores various data during the drawing or writing operation by the drawing robot 100, for example, data such as the calculated movement amount.

  Reference numeral 404 denotes an operation unit. When an instruction for starting a drawing operation is input from the operation unit 404, the CPU 401 starts control. The operation unit 404 may be a numeric keypad, a touch panel, or simply an ON / OFF switch.

  Reference numeral 406 denotes an LCD serving as a display unit, for example, battery remaining amount display, vertical writing mode or horizontal writing mode mode type (can be switched), typeface type (font) of characters to be written, and character size. Etc. are displayed. Note that font data needs to be stored in advance in the ROM 402 or RAM 403 in order to enable font selection. These indications are merely examples, and are not limited to these.

  Reference numeral 405 denotes an arm up / down position detector, which indicates whether the arm frame 203 is lowered and the pen 104 is in contact with the paper surface P or whether the arm frame 203 is raised and the pen 104 is separated from the paper surface P. To detect.

  The CPU 401 controls the operation of the wheel drive motor 301, the swivel drive motor 304, and the arm frame lifting / lowering motor 308 for actually driving the drawing robot 100, so that predetermined characters, sentences, figures, etc. It is drawn on paper. That is, when the drawing operation start is instructed by the operation unit 404, the CPU 401 reads out a character string or a graphic (trajectory data representing a trajectory constituting a character or a graphic) from the ROM 402 and stores it in the RAM 403. Further, the CPU 401 reads a control program from the ROM 402. Based on this control program and the character to be drawn, the starting point position and the ending point position for each trajectory of the character, the moving distance during the drawing operation, the rotation angle of the wheel, the turning angle of the arm frame provided with the pen 104, and the like are calculated. . Then, the wheel drive motor 301, the swivel drive motor 304, and the arm frame elevating motor 308 are controlled according to the numerical values obtained by the calculation, and characters and the like are actually drawn on the paper surface P. An example of numerical calculation used for operation control will be described later.

<Drawing operation flowchart>
FIG. 7 is a flowchart for explaining an outline of a series of drawing operations of the drawing robot 100.

  First, a sentence, character string, or graphic data to be drawn before the start of operation is designated or input, and a writing start command is input to the robot.

  Then, when a drawing robot is placed at an arbitrary position on the paper surface P and a drawing operation is instructed by the operation unit 404, the process of step S101 starts, and a predetermined character is entered by turning the arm frame 203 and moving the wheel. Draw the trajectory that composes.

  As described above, as the power of the drawing robot of this embodiment, two servo motors are used for controlling the horizontal axis (X axis) and the vertical axis (Y axis), and a normal stepping motor is used for raising and lowering the pen. The X axis direction is controlled by the rotation of the arm around the body, and the Y axis direction is controlled by the forward and backward movement of the robot main body by wheels, thereby realizing a more human-like drawing operation. In addition, the drawing robot transmits the arm angle and wheel angle calculated from the coordinate data of each point of each trajectory constituting the character or the like to the main controller (CPU). Whether the specified angle is reached is confirmed by the feedback information of the motor. For arm angle data and wheel angle data, after reading the coordinate data, it may be calculated in real time when it is sent to the motor, or the character data may have angle data calculated beforehand. good.

  Note that the above-described instructions or input characters or character strings and graphics to be drawn are stored in the ROM 402 or the RAM 403 in this embodiment. It may be stored in an external ROM card or the like and inserted into a slot (not shown) provided in the robot 100 when used to read a character string or the like.

  When the start point movement is completed in step S101, the process proceeds to step S102, the arm frame 203 is lowered, and the pen 104 is brought into contact with the paper surface P. Although how much the arm frame 203 is moved up and down is set in advance as a predetermined value, this value is suppressed to such an extent that the writing pressure does not become extremely high. Also, as the pen tip comes into contact with the paper surface P and the time passes, the ink may bleed onto the paper surface. Therefore, if the arm frame falls by a predetermined value, the process is controlled to immediately shift to step S103. .

  In step S103, a drawing operation for one locus is started. This line drawing operation is performed by coordinate movement. Information on the rotation angle of the arm and the wheel for each coordinate point is read from the RAM 403 and transmitted to the motors 301, 304, and 308. The data for each coordinate point is calculated in advance.

  Regarding the line drawing operation, a line drawing coordinate movement operation is executed from the start point to the end point for a certain locus (one stroke). Here, the coordinates are, for example, XY plane coordinates with the origin at the center of the character, and the character is captured as a collection of points on the XY plane. This coordinate is virtually constructed for each character.

  One locus drawn by the coordinate movement operation is various, such as a simple straight line such as a horizontal line or a vertical line, an oblique line, or a curved line. The characters and figures drawn by the drawing robot 100 according to the present invention are not squared, but aim to be smoother and more natural. For this reason, a straight line or a curved line of a character is drawn not only by the turning operation of the arm frame 203 but also by the movement of the wheels 201 and 202 due to the rotation. An example of the rotation amount of the wheel during the drawing coordinate movement operation for drawing will be described later.

  In step S104, it is determined whether or not all the drawing coordinate movements for one locus (one stroke) have been completed and drawing for one locus has been completed. If completed, the process proceeds to step S105. If not completed, the process proceeds to step S103, and the line drawing operation is continuously performed for the next coordinate point.

  In step S105, when the drawing of one locus is completed, the drawing coordinate movement operation is executed with respect to the next locus. However, the arm frame 203 is moved to move the pen 104 away from the paper surface P before moving to the start point of the next locus. The raising operation is executed, and the process proceeds to the next step S106.

  In step S106, it is determined whether the processing has been completed for all the trajectories of the character being drawn. If completed, the process proceeds to step S108, and if not completed, the process proceeds to step S107.

  In step S107, information necessary for processing the next trajectory is acquired. Specifically, the start point and end point coordinates of the next locus, the rotation angle of the wheel during the movement of the drawing coordinates of this locus, and the like. Then, the processing from step S101 to S106 is repeated.

  In step S108, it is determined whether there is a next character. If there is a next character, the process proceeds to step S109.

  In step S109, character feeding is performed. Specifically, in the case of vertical writing, the robot 100 is controlled so that the distance of one character is moved downward in the drawing by rotation of the wheel. In the case of horizontal writing, the distance movement for one character is executed in the horizontal direction on the paper. And the process from step S101 to S108 is repeated about the character again.

  If it is determined in step S108 that the processing has been completed for all characters in the character string to be written, the drawing operation itself ends.

<Specific examples of coordinate correction processing>
As described above, in the present invention, the characters and figures drawn by the drawing robot 100 are not squared, but aim to be smoother and more natural. For this reason, the coordinate correction process is performed not only by the turning operation of the arm frame 203 but also by the movement of the wheels 201 and 202 by the rotation. Here, from the first point (representing the current position of the drawing member) of the first trajectory in the stroke order of the character “a”, the second point (must be moved next because the drawn line drawn by the drawing member becomes the locus) A correction amount for correcting an error from a second point on a predetermined trajectory caused by turning the swivel arm at a predetermined swivel angle when drawing up to a point will be described. Since the lateral direction is the rotational movement of the arm, it is necessary to correct the Y coordinate as the X coordinate is further away from the origin.

  FIG. 8 is a diagram in which the character “A” is developed on the xy coordinate plane. Further, FIG. 9 shows a minute portion (from the first point S (X1, Y1) to the second point E1 (X2, Y2)) in the region A of the horizontal straight line “-” that is the first locus of the character “A”. It is a figure for demonstrating correction amount calculation to the rotation angle of an arm and a Y direction in order to perform drawing. E1 ′ (X2, Y2 ′) is a point on the arc A and is a point before the correction amount calculation corresponding to E1.

  In actual calculation in the robot, continuous data transmission processing is performed for each dot.

When X1 <X2 <0 and Y1 <Y2 First, in FIG. 9, in the drawing from the first point S (X1, Y1) to the second point E1 (X2, Y2), the arm frame 203 to be turned is turned. When the angle α1 is obtained,
Arm turning angle α1 = sin ⁻¹ (n × X1 ÷ r)
−sin ⁻¹ (n × X2 ÷ r) (1)
It becomes. Here, the turning radius of the arm frame 203 is r, and the size of one dot is n × n.

Further, since the trajectory due to the turning motion of the arm frame 203 becomes an arc A as shown in FIG. 9, the error G1 in the Y-axis direction must be corrected in order for this trajectory to be a horizontal straight line. This error G1 is converted into a rotational movement amount of the wheel 201, and the robot (tip of the pen 104) is moved in the vertical direction in consideration of the amount, thereby realizing a horizontal straight line. And when calculating | requiring rotation angle (beta) 1 of this wheel,
Wheel rotation angle β1 = {n × (Y2−Y1) − (lα2−l (α1 + α2)}
= [N × (Y2−Y1) − {r × cos (sin ⁻¹ n × X2 ÷ r)
−r × cos (sin ⁻¹ n × X1 ÷ r)}] ÷ 2πR × 360 degrees
... Formula (2)
It becomes. Here, R is the radius of the wheel 201.

  In other words, Equation (2) determines the rotation angle of the wheel for correcting the error G1 while moving the drawing robot 100 by a distance corresponding to the vertical movement amount.

  If the above operation is continued for all the trajectories, the character “A” can be drawn, and if it continues for all the characters, a predetermined input character string can be drawn.

<Effect of embodiment>
By performing the operation as described above, the drawing robot 100 according to the present embodiment does not represent characters and figures with only straight lines, unlike the drawing robot disclosed in the prior art, and is more natural. Smoother curves can be expressed, and characters and figures as if written by humans can be expressed. Therefore, there is an advantage that it is possible to provide a drawing robot with a higher level of entertainment, which is surprising and fresh for the viewer.

<Others>
In the present embodiment, the drawing operation is controlled as described above according to the preset coordinate information as the relative positional relationship with the reference position on the basis of the position where the drawing robot 100 is placed. The drawing robot 100 may be mounted with a CCD camera, and the drawing operation of the drawing robot 100 may be controlled by automatically calculating coordinates based on information obtained from the CCD camera.

  In this embodiment, predetermined characters, character strings, and graphics are drawn on the paper surface. However, the characters, character strings, and graphics captured by the CCD camera are recognized, and the recognized characters are recognized. A column or the like may be drawn. A known method can be used as the character / graphic recognition method used in this case. In this case, since the coordinates of the start point and end point of the trajectory of characters and the like are not predetermined, the coordinates are automatically calculated after the character / graphic recognition processing, and the robot arm turning angle or wheel rotation angle ( (Movement amount) is calculated. The calculation method is performed based on the above-described calculation formula.

  In the processing of the embodiment, a storage medium recording software program codes embodying each function is provided to a system or apparatus, and a computer (or CPU or MPU) of the system or apparatus is stored in the storage medium. It can also be realized by reading and executing the program code. In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the storage medium storing the program code constitutes the present invention. As a storage medium for supplying such a program code, for example, a floppy (registered trademark) disk, hard disk, optical disk, magneto-optical disk, CD-ROM, CD-R, magnetic tape, nonvolatile memory card, ROM Etc. can be used.

  Further, by executing the program code read by the computer, not only the functions of the above-described embodiments are realized, but also an OS (Operating System) running on the computer based on the instruction of the program code. Includes the case where the functions of the above-described embodiments are realized by performing part or all of the actual processing.

  Furthermore, after the program code read from the storage medium is written in the memory provided in the function expansion board inserted into the computer or the function expansion unit connected to the computer, the function is determined based on the instruction of the program code. This includes a case where a CPU or the like provided in an expansion board or function expansion unit performs part or all of the actual processing, and the functions of the above-described embodiments are realized by the processing.

It is a perspective view which shows the external appearance of an example of the conventional drawing robot. It is a figure which shows a mode that the conventional drawing robot is writing the character. It is a figure which shows the external appearance of the drawing robot by this invention. It is a figure which shows a structure when the cover of the external appearance of the drawing robot by this invention is removed. It is a figure which shows the structure of the drive system of the drawing robot by this invention. It is an operation | movement block diagram of the drawing robot by this invention. 3 is a flowchart for controlling the drawing operation of the drawing robot according to the present invention. It is the figure which expanded the character "a" drawn by drawing operation | movement of the drawing robot by this invention on the xy coordinate plane. It is a figure for demonstrating the turning angle of the arm in the drawing operation | movement of the drawing robot by this invention, and the rotation angle of a wheel.

Claims (19)

A drawing robot for drawing a character or a figure having a predetermined locus on a drawing medium ,
As pivoting about a point from the mounting position drawing member is mounted a predetermined distance, a turning arm which substantially parallel to pivot relative to the tip portion of the attached drawing member, said drawing medium,
First drive means for turning the swivel arm;
A moving means for moving the drawing robot,
Second driving means for driving the moving means;
Control means for controlling the first drive means and the second drive means ,
The control means includes
Per To draw the first coordinate point on the drawing medium to the second coordinate point, and the information about the pivot angle the pivot arm should pivot, the pivot angle the pivot arm from the first coordinate point only the acquires the information about the correction amount for correcting an error between the second coordinate point on the drawing medium caused by turning, using the information about the information and the correction amount related to said pivot angle drawing robot and controlling the first drive means and second drive means Te. Furthermore, an arm raising / lowering drive means for raising and lowering the swivel arm is provided,
The said control means contacts the front-end | tip part of the said drawing member attached to the said turning arm to the said drawing medium by controlling the said arm raising / lowering drive means in the starting point coordinate of the said predetermined locus | trajectory. Item 2. The drawing robot according to Item 1. It said control means rendering robot according to claim 2, wherein the separating the leading end portion of the drawing member from the drawing medium by controlling the arm elevation driving means at the end coordinates of the predetermined path. Said moving means is a wheel for enabling moving the drawing robot at least in longitudinal direction, said second drive means, wherein, wherein said wheel is a wheel rotational drive means Ru is rotated Item 2. The drawing robot according to Item 1. 5. The drawing robot according to claim 4, wherein the control means controls the wheel rotation driving means by converting information on the correction amount into a rotation angle of the wheel. Wherein, each time on the basis of the turning angle and the rotation angle of the wheels of the swivel arm of each coordinate point, the control starts the first driving means and the wheel rotation drive means, for predetermined time elapses 6. The drawing robot according to claim 5, wherein the process moves to processing of the next coordinate point. A drawing robot that draws characters or figures by moving on a drawing medium,
A turning arm for turning the tip of the attached drawing member substantially parallel to the drawing medium with a point away from the attachment position to which the drawing member is attached as a turning center ;
First drive means for turning the swivel arm;
A moving means for moving the drawing robot,
Second driving means for driving the moving means;
Storage means storing trajectory data representing each trajectory constituting the character or figure , which is drawn when the drawing member draws a drawn line ;
Calculated using the coordinates of the first point , which is the current position of the drawing member, and the coordinates of the second point to be moved next because the drawn line drawn by the drawing member becomes the locus, to correct the error between the and the swivel arm is information about the pivoting angle to be turning, the swivel arm is the pivot angle only said coordinates indicating the position of the drawing member second point coordinates in the case where the turning of obtains the information about the correction amount, that a control means for controlling said first drive means and said second drive means by using the information about the information and the correction amount related to said pivot angle Characteristic drawing robot. A control method for controlling a drawing robot that draws a character or figure consisting of a predetermined locus on a drawing medium ,
The drawing robot is
As pivoting about a point from the mounting position drawing member is mounted a predetermined distance, a turning arm which substantially parallel to pivot relative to the tip portion of the attached drawing member, said drawing medium,
First drive means for turning the swivel arm;
A moving means for moving the drawing robot,
Second driving means for driving the moving means,
The control method is:
Per To draw the first coordinate point on the drawing medium to the second coordinate point, and the information about the pivot angle the pivot arm should pivot, the pivot angle the pivot arm from the first coordinate point only the acquires the information about the correction amount for correcting an error between the second coordinate point on the drawing medium caused by turning, using the information about the information and the correction amount related to said pivot angle the method of drawing a robot, characterized in that it comprises a control step of controlling said first drive means and second drive means Te. The drawing robot further includes an arm raising / lowering driving means for raising and lowering the swivel arm,
The said control process makes the front-end | tip part of the said drawing member attached to the said turning arm contact the said drawing medium by controlling the said arm raising / lowering drive means in the starting point coordinate of the said predetermined locus | trajectory. Item 9. A drawing robot control method according to Item 8. The drawing robot according to claim 9 , wherein the control step separates the leading end of the drawing member from the drawing medium by controlling the arm raising / lowering driving means at an end point coordinate of the predetermined locus. Control method. 9. The moving means is a wheel for enabling the drawing robot to move at least in the front-rear direction, and the second driving means is a wheel rotation driving means for rotating the wheel. The drawing robot control method according to claim 1. 12. The drawing robot control method according to claim 11, wherein the control step converts the information about the correction amount into a rotation angle of the wheel to control the wheel rotation driving unit . Each said control step, based on said rotation angle and the rotation angle of the wheels of the swivel arm of each coordinate point, the control starts the first driving means and the wheel rotation drive means, for predetermined time elapses 13. The method for controlling a drawing robot according to claim 12, wherein the process proceeds to processing of the next coordinate point. A control program for controlling a drawing robot that draws a character or figure consisting of a predetermined locus on a drawing medium ,
The drawing robot is
As pivoting about a point from the mounting position drawing member is mounted a predetermined distance, a turning arm which substantially parallel to pivot relative to the tip portion of the attached drawing member, said drawing medium,
First drive means for turning the swivel arm;
A moving means for moving the drawing robot,
Second driving means for driving the moving means,
The control program is
Per To draw the first coordinate point on the drawing medium to the second coordinate point, and the information about the pivot angle the pivot arm to be pivoted the pivot angle the pivot arm from the first coordinate point and program code for implementing the steps of acquiring, and information about the correction amount for correcting an error between the second coordinate point on the drawing medium caused by only turning,
And program code for implementing the steps of controlling the first drive means and second drive means by using the information about the information and the correction amount for said rotation angle,
A drawing robot control program comprising: The drawing robot further includes an arm raising / lowering driving means for raising and lowering the turning arm,
Program code for implementing the control program, contact the tip portion of the drawing member which is attached to the pivot arm by controlling the arm elevation driving means in the start point position of the predetermined trajectory on the drawing medium 15. The drawing robot control program according to claim 14, further comprising: a code for causing the drawing robot to execute. 16. The drawing robot according to claim 15 , wherein the control program separates the leading end portion of the drawing member from the drawing medium by controlling the arm raising / lowering driving means at the end point coordinates of the predetermined locus. Control program. 15. The moving means is a wheel for enabling the drawing robot to move at least in the front-rear direction, and the second driving means is a wheel rotation driving means for rotating the wheel. The drawing robot control program described in 1. 18. The drawing robot control program according to claim 17, wherein the control program controls the wheel rotation driving unit by converting information on the correction amount into a rotation angle of the wheel. Each said control program, based on said rotation angle and the rotation angle of the wheels of the swivel arm of each coordinate point, the control starts the first driving means and the wheel rotation drive means, for predetermined time elapses 19. The drawing robot control program according to claim 18, wherein the program moves to the processing of the next coordinate point.

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