KR100306438B1 - Robot test method for robot football game - Google Patents

Abstract

The present invention relates to a test method of a robot, the robot test method for testing the presence or absence of a robot using a computer, comprising: initially executing a test program; Setting a serial port and a communication speed of the computer according to a user's key input; Setting a team of robots by the user; Automatically setting the speed of the robot on the menu of the monitor when the speed is selected; Transmitting the set configuration information to a robot by making a PWM signal; Receiving the transmitted PWM signal and driving the motor of the robot accordingly; Observing the operation of the robot operated according to the PWM control signal; Determining whether the robot is normally operated according to the PWM control signal; If the robot is normally operated, asking whether the test program is to be terminated again; When the end signal of the test program is input, the process of terminating the test program is performed so that the user can easily check whether there is an abnormal operation of the robot.

Description

Robot test method for robot football game}

The present invention relates to a robot test method, and in particular, when a user sets a serial port, a team of a robot, and a speed of a robot while a test program is executed by a computer, each PWM control signal according to the setting is sent to the robot and accordingly The test drive of the robot allows the robot to check for abnormalities in its operation.

Recently, soccer robot systems have been developed that can play a soccer game by remotely controlling the robot. Most of the existing soccer robots use a motor having an encoder as a motor used for driving. Ie microcontroller or DSP in a robot

The encoder values of the motor were read from the board and used to control the motor.

In the soccer robot system, vision information can be used to know the position or angle of the robot, and the host computer calculates the data to be transmitted from the robot control program. When this data is transmitted to the robot by wireless communication, the robot receives the data sent from the host computer and controls the motor. Since the motor has an encoder, a closed loop for control is formed in the robot and the encoder signal is used as the feedback signal.

By using vision information and encoder signals from the motors in the robots, the robots could be controlled more accurately.

However, since most of the motors with encoders are expensive and foreign-produced, there is a problem that the unit price increases. Currently, a football robot system for controlling a robot using only vision information without an encoder has been developed.

However, in the related art, when the above-described soccer robot system is completed, a software test method for checking whether the robot works properly is not developed. Therefore, the user should check the hardware whenever trouble occurs. There was discomfort.

In order to solve the above problems, when the user sets the serial port, the team of the robot and the speed of the robot in the state where the test program is executed by the computer, each PWM control signal according to the setting is sent to the robot. Accordingly, the object of the present invention is to provide a robot test method that enables the robot to test drive and check the robot for abnormal operation.

As a technical idea for achieving the object of the present invention, in the robot test method for testing the operating state of the robot using a computer,

Running a test program initially to check whether there is an abnormality of the robot; setting a serial port and a communication speed of the computer; Setting a team of robots when they are selected; Automatically setting a speed of the robot on a menu; transmitting the robot to a robot by setting the predetermined setting information in a predetermined signal form; Observing the operation of the robot operated according to the transmitted control information; Determining whether the robot is normally operated according to the control information; If the robot is normally operated, asking whether the test program is to be terminated again; When the end signal of the test program is input, an invention including a process of terminating the test program is presented.

1 is a reference diagram showing an example of setting the ID and the team of the robot according to the present invention.

2 is a table showing an example of setting the ID of the robot according to the present invention.

3 is a reference diagram illustrating a dip switch setting in the case of team A.

4 is a reference diagram illustrating a dip switch setting in the case of Team B.

5 is a reference diagram illustrating a case of testing a robot using a serial cable.

6 is a reference diagram illustrating jumper settings of a robot.

7 is a reference diagram illustrating a screen of a robot test program.

8 is a reference diagram illustrating an example of a robot test using an infrared module.

9 is a reference diagram showing a screen of a robot test program using an infrared module.

10 is a flowchart illustrating a process of the robot test method according to the present invention.

<Explanation of Signs of Major Parts of Drawings>

1: Dip Switch 2: Robot Test Pin

3: receiver

Hereinafter, with reference to the accompanying drawings for the configuration and operation of the embodiment of the present invention will be described in detail.

As shown in Figure 10, in the robot test method for testing the operating state of the robot using a computer,

A step of initially executing a test program for checking whether the robot is abnormal (step 100);

Setting a serial port and a communication speed of the computer according to a user's key input (step 101);

Setting a team of robots by the user (step 102);

Automatically setting the speed of the robot on the monitor menu (step 103);

Making the set setting information as a PWM signal and transmitting it to the robot (step 104);

Receiving the transmitted PWM signal and driving the motor of the robot accordingly (step 105);

Observing the operation of the robot operated according to the PWM control signal (step 106);

Determining whether the robot is normally operated according to the PWM control signal (step 107);

If the robot is normally operated, asking whether the test program ends again (step 108);

When the end signal of the test program is input, the process of terminating the test program (step 109) is performed.

In addition, the robot test method is a method of transmitting a PWM control signal to the left and right motors of the robot using a serial cable from a computer, and a PWM control signal to the left and right motors of the robot using an infrared module from a computer. There is a way.

In addition, the speed selection menu of the robot consists of the letters l, m, h, r, s, the lower speed in the forward direction when the letter l of the keyboard is selected by the user, the middle speed in the forward direction, the letter h if the letter m is selected When selected, the robot's motor will run at full speed in the forward direction.

Referring to the processing of the present invention having the configuration as described above is as follows.

To test if the soccer robot is working, first set up the team and ID of the robot. 1 shows an example of setting a real robot team and ID, and the front side of the figure is the front direction of the robot.

In the upper left part of FIG. 1, there are four dip switches, in which a number 1 is used to select a team of robots, and a number 3 and a number 4 are used to set an ID of the robot. And number 2 is not used for the setting.

Also, if No. 1 of the dip switch is upward, it is ON and connected to ground, which indicates team A. The ID of the robot is set as shown in the table of FIG.

In the case of team B, the ID of the robot is set as shown in the table of FIG. However, to set team B, set number 1 of the dip switch to OFF (down). In the case of team A and team B, the setting of the dip switch is shown in FIGS. 3 and 4.

After setting the team and ID of the robot in the same manner as in FIGS. 3 and 4, the robot may be tested. There are two ways to test a robot, one using a serial cable and one using infrared communication. First, the method of testing the robot using a serial cable is as follows.

For the test using the serial cable, the jumper of the robot must be set to the computer side, which is shown in FIG. 5.

If you unzip the file from the provided CD, there is a program called Oly-test in the Robot-test directory. This is a test program that transmits PWM control signals from the computer to the left and right motors of the robot using a serial cable.

When the test program is executed (step 100), the screen shown in Fig. 7 is displayed on the computer monitor. In addition, to test the robot using a serial cable, the jumper (Jumper) of the robot must be set as shown in FIG. 6.

The jumper is a part used to select one of two types, male is 3 pin and female is 2 pin. The male chooses whether to test the robot using a serial cable or an infrared communication with a two-pin female fixed to the robot's board. The front of the robot is where the dip switch is located, and the back of the robot is where the serial cable is connected.

In addition, there are two jumpers in the upper right corner. Jumper 1 (JP 1) sets whether the robot receives the data wirelessly or not. The jumper 2 sets whether the robot receives the data wirelessly. Is to set the destination.

Except when using an RF module, jumper 1 is set not to use an inverter. This is illustrated in FIG. 6.

When you run the program, the user should see the screen displayed on the monitor and use the keyboard or mouse to perform the following settings.

First, a screen will be displayed asking if you want to use 1 or 2 to test the robot from the computer's serial port. A screen is then displayed asking which team the robot is set to.

At this time, the same PWM signal is sent to all robots regardless of the ID of the robot, so the ID of the robot does not have to be worried about.

When the test program asks which port to use on the computer's serial port. For the robot test, enter the serial port number to which the serial cable is connected.

In FIG. 7, the user selects COM 1. The baud rate is programmed to automatically set to 19200.

The user then selects a team of test robots.

In this case, the user may enter a lowercase a when the dip switch of the robot is team A, and a lowercase b when the team B is a team.

This is the part to initialize to use the robot test program and the next part to test the actual robot.

Here, the user can select the speed of the robot by operating the keyboard while looking at the robot speed selection menu on the monitor. At this time, when the user presses the keyboard l, the robot transmits the low speed (forward) and the PWM value corresponding to the highest speed when the keyboard h is pressed. When the keyboard n is pressed, the PWM value corresponding to the maximum speed in the reverse direction is transmitted to the robot (step 104).

In addition, the keyboard r allows the user to enter the PWM values for the right and left wheels. At this time, the value range is 0 to 255 decimal.

Considering the deadzone, the robot's wheels will not move around the 127 value. The letter s transmits a value of 127 to the right and left motors of the robot, so the robot does not move.

On the other hand, when the robot receives a PWM value set by the user from the computer, the robot drives the motor according to the value (step 105).

Subsequently, the computer observes the operation of the robot as follows (step 106).

In other words, if the user presses the letter h on the keyboard in the robot test program and both motors do not rotate, check whether the robot is powered on and verify that the serial cable is properly connected.

If that doesn't work, check whether your computer's serial port is working.

If only one of the two motors does not rotate, check whether the motor is abnormal. Turn off the robot and try to rotate the wheel that does not move by hand. If one motor does not move, check the gear part of the motor, remove the dust and try again. If that doesn't work, disconnect the motor cable and connect the power directly to the motor to check for motor failure.

If you press the letter h on the keyboard and the wheel does not spin quickly, the battery connected to the robot is in bad condition, so use the newly charged battery.

If the robot doesn't work after checking as above, the robot's team, ID setting, and communication setting are checked.

After checking whether the robot has been operated normally (step 107), when the check is completed, the program is queried (step 108). If the user presses the letter x on the keyboard, the test program is terminated. (Step 109)

The following is an example of testing the robot for abnormality using an infrared (IR) module.

In order to test the robot using the infrared module, jumper 2 of the robot must be changed in the direction of radio communication (RF) as shown in FIG. 8. This has already been described in detail with reference to FIG. 5.

As shown in Figure 8, there are four jumpers here,

Used to set the (Braud rate).

The experimental system usually uses a baud rate of 19200bps, so jumper 3 should have a female jumper. The remaining 1,2,4 do not connect female jumpers.

In addition, the jumper in the infrared module determines whether or not to connect a specific pin.

After unpacking the compressed file from the provided CD, there is a program called test1 in the IR-test directory. This program is a test program that transmits PWM control signals to the robot's left and right motors using an infrared module in a computer.

First, when this test program is executed (step 100), a screen as shown in Fig. 9 appears.

That is, the monitor screen asks the user which port to use on the computer's serial port. To do this, the user enters the serial port number to which the serial cable is connected (step 101).

As shown in FIG. 8, when the user selects COM1, the baud rate is automatically set to 19200. Next, the user selects a team of test robots while looking at the monitor screen. That is, the user inputs a lowercase a when the dip switch of the robot is team A and a lowercase b when it is team B (step 102).

This is the part to initialize to use the robot test program, and then the part to test the actual robot.

That is, the speed of the robot is set according to the user's keyboard input, where the keyboard l is the low speed (forward), the keyboard m is the middle speed (forward), and the keyboard h is the PWM value corresponding to the maximum speed. Will be delivered. In addition, the keyboard n transmits the PWM value corresponding to the maximum speed in the reverse direction (steps 103 and 104).

In addition, if the keyboard r is selected, the user can input the PWM value of the left and right wheels of the robot. At this time, the value range is 0 to 255 decimal.

Also, considering the dead zone, the robot's wheels will not move around the 127 value.

The keyboard letter s transmits a value of 127 to the robot's left and right motors, so the robot does not move. To exit this test program, press the letter x.

This test program is the same as the program to test the robot using the serial cable.

Meanwhile, a repeater is used to test robots using an infrared module. The repeater includes a microcontroller called 89C51, which sends Oxaa after each robot's PWM data when sending data from the computer to the repeater.

According to the user's setting, when the PWM control information is transmitted to the robot and the robot operates, the computer observes the robot's operation again (step 106).

In other words, if the robot does not operate in the test using the infrared module, check whether the jumper 2 is set correctly. This investigation refers to checking whether the jumper of the robot is set to the wireless communication side as shown in FIGS. 6 and 8. And it checks whether the repeater's power is turned on by the repeater's LED and checks whether the repeater's input voltage is 9V or more.

Otherwise, the robot can be examined as described in the test using a serial cable, and the following process is the same as the robot test process using a serial cable.

As can be seen from the above description, the present invention provides a robot test method for testing the operation state of a robot using a computer,

A step of initially executing a test program for checking whether the robot is abnormal (step 100); Setting a serial port and a communication speed of the computer (step 101); Setting a team of robots (step 102); Automatically setting the speed of the robot on the menu (step 103);

Converting the setting information of the automatic setting process into a PWM signal and transmitting the same to the robot (step 104); Receiving the transmitted PWM signal and driving the motor of the robot accordingly (step 105); Observing the operation of the robot operated according to the PWM control signal (step 106); Determining whether the robot is normally operated according to the PWM control signal (step 107); If the robot is normally operated, asking whether the test program ends again (step 108); When the end signal of the test program is input, the process of terminating the test program (step 109) is performed so that the user can easily check whether there is an abnormal operation of the robot.

Claims (4)

In the robot test method for testing the confirmation of the abnormality of the robot using a computer, Initially executing a test program; Setting a serial port and a communication speed of the computer according to a user's key input; Setting a team of robots by the user; Automatically setting the speed of the robot on the monitor menu when the speed is selected; Transmitting the set setting information in a predetermined signal form to a robot; Observing the operation of the robot operated according to the transmitted control information; Determining whether the robot is normally operated according to the control information; If the robot is normally operated, asking whether the test program is to be terminated again; And a step of terminating the test program when an end signal of the test program is input. The robot test method of claim 1, wherein the robot test method transmits a PWM control signal to left and right motors of the robot using a serial cable from a computer. The robot test method of claim 1, wherein the robot test method transmits a PWM control signal to left and right motors of the robot using an infrared module in a computer. The method of claim 1, wherein the speed selection menu of the robot consists of alphabets l, m, h, r, and s. , If the letter h is selected, the robot test method characterized in that the motor of the robot operates at the maximum speed in the forward direction