KR100338187B1 - Remote controller for self-controlled troweling robot - Google Patents

Abstract

The present invention relates to a remote control for a plastering robot of an autonomous control method, in a system for controlling a plastering robot to autonomously perform a predetermined task for plastering a floor during construction: a function of a plastering robot to autonomously drive and work. Analog input unit 24 and digital input unit 23 for converting a plastering robot control command, including speed control, remote start, emergency stop, operation mode selection, and direction change necessary to perform, into an analog signal or a plastering robot control signal of a digital signal. Plastering robot control command input means including; Plastering robot control signal is inputted by the plastering robot control command input means, and among the inputted plastering control signals, an analog signal is converted into a digital signal, and the plastering robot control signal and path planning data including the converted digital signal. Interface means including a wireless communication unit (29) for converting wireless data into a plastering robot and receiving plastering robot control signals and path planning data generated by the plastering robot from the plastering robot; A display unit 27 of the LCD which receives the processed plastering robot status / position data and outputs the plastering robot status and movement path for performing a plastering operation graphically; The interface means receives a robot control signal and route planning data, and processes it in a predetermined format so that it is graphically output to the display unit 27. The processed plaster state / position data is output to the output means. Characterized in that it is configured as a control means including a CPU (21) to control the input, autonomous driving and the robot having a function to work in two directions wireless communication and manual or automatic control to enhance the performance of the plastering work There is an effect of improving the reliability.

Description

Remote Control for Plastering Robot with Autonomous Control Method {REMOTE CONTROLLER FOR SELF-CONTROLLED TROWELING ROBOT}

The present invention relates to a remote control for a plastering robot of an autonomous control method, and more particularly, to wireless communication in two directions with a plastering robot having a function of autonomous driving and to control manually or automatically to improve reliability according to the performance of the plastering work. The present invention relates to a remote control for a plastering robot of an autonomous control method.

The conventional remote control for the plastering robot uses a method in which the operator controls the movement of the plastering robot in one direction. Using this type of remote control, the operator visually determines the current state of the robot and then determines the next movement of the robot based on the determination.

However, when the worker is far from the plastering robot, it is difficult to judge the state of the robot by vision. This is because the remote controller is not equipped with the program function for autonomous movement of the plastering robot, and therefore requires the supervision of the operator at all times.

If a conventional general camera is used to remotely monitor the state of the plastering robot, it requires a relatively large screen, and thus, there is a problem in that the actual application of the remote controller is impossible.

Accordingly, the present invention is to solve the above problems, the autonomous driving and autonomous control of the autonomous control method to improve the reliability of the plastering work by controlling the manual or automatic wireless communication in two directions with the plastering robot having the function to work An object of the present invention is to provide a remote control for a plastering robot.

1 is a configuration diagram showing the appearance of a remote control according to the present invention;

2 is a block diagram showing main functions of a remote controller according to the present invention;

3 is a block diagram showing an interface between a remote controller and a control target device according to the present invention;

Figure 4 is a wiring diagram showing the input and output of the field programmable gate array (FPGA) used in the remote control according to the present invention.

Explanation of symbols on the main parts of the drawings

10: remote control 21: CPU

22: memory unit 23: digital input unit

24: analog input section 26: power supply section

27: display unit 28: serial communication port unit

29: Wireless Communications Department

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 is a block diagram showing the appearance of the remote control according to the present invention, Figure 2 is a block diagram showing the main functions of the remote control according to the present invention, Figure 3 is between the remote control and the control target device according to the present invention A block diagram showing an interface of the autonomous control method of the present invention is used for the remote control 10 for the plastering robot, the speed control, remote start, emergency stop, operation mode selection required to perform the function of the autonomous driving autonomous robot Plastering robot control command input means including an analog input unit 24 and a digital input unit 23 for converting a plastering robot control command including a direction change into an analog signal or a plastering robot control signal of a digital signal; Plasma robot control signal input from the plastering robot control command input means, converts the analog signal of the input plastering robot control signal into a digital signal, and is required to perform the plastering operation with the digitalized plastering robot control signal The path planning data is wirelessly transmitted to the plastering robot, and the plastering robot status / position data indicating the operation status of the plastering robot and the movement path of the plastering robot is transmitted from the plastering robot based on the transmitted plastering control signal and the route planning data. Interface means including a receiving wireless communication unit 29; A display unit 27 of the LCD which receives the processed plastering robot status / position data and outputs the plastering robot status and movement path for performing a plastering operation graphically; In addition, the interface means receives a robot control signal and route planning data, and processes it in a predetermined format so that it is graphically output to the display unit 27. The processed plaster state / position data is displayed on the display unit. And the control means of the CPU 21 for controlling input to the 27. The interface means includes a serial communication port 28, and the route planning data is stored before the plastering robot performs the plastering work. It is transmitted from the host computer to the remote controller 10 through the serial communication port section 28.

The present invention relates to a system for controlling a plastering robot to autonomously perform a predetermined task for plastering a floor during building construction. In the system of the present invention, the remote controller 10 includes a plastering robot control command input unit, an interface unit, an output unit, a display unit, and a control unit. The plasterer corresponding thereto detects its position with a laser signal and gyroscope. It is equipped with a function for detecting its own posture.

In Figures 1 and 2, the remote control 10 of the present invention is a plasterer containing information such as speed control, remote start, emergency stop, operation mode selection, direction switching necessary for the plastering robot to perform the function of autonomous driving Various data input means are provided for inputting a robot control command.

In the remote controller 10 of the present invention, which is provided with various data input means for inputting a plastering robot control command for controlling the plastering robot, the reference numeral 11 denotes two industrial joysticks for controlling the movement direction and speed of the robot, respectively. A plaster robot control signal for selectively controlling the speed in the direction (direction A in the drawing) and the Y axis direction (direction B in the drawing) can be input.

In addition, reference numerals 12 and 13 are button switches for inputting a control robot control command to perform remote start and emergency stop, respectively, and prevent the plastering robot from malfunctioning when the operator starts up the robot. If possible, by remotely starting and stopping the plastering robot, it is possible to prevent human accidents and industrial accidents that may occur.

Numeral 14 denotes an operation mode switch that selects the operator to drive in various ways when driving the plastering robot. The manual mode, the first automatic mode (automatic A in the city), and the second automatic mode (automatic B in the city) It is a rotary operation mode switch that can select drawing input mode and reference input mode.

Reference numeral 15 is a switch for adjusting the width in the vertical direction and height in the horizontal direction, 16 is a variable resistance switch for adjusting the blade angle, 18 is an RS-232C connector (wire for serial data communication) for wired transmission Denotes an antenna for wireless transmission.

In addition, the remote controller 10 includes a switch for initiating program initialization, a switch for initiating and stopping an automatic mode, a data input means for inputting a plaster robot control command such as a power switch, and a warning lamp for displaying an error state. As described above, the plastering robot control command input means inputs the plastering robot control commands input by various switches and joysticks to the digital input unit 23 and the analog input unit 24, respectively, in order to control the plastering robot. And an analog input unit 24 and a digital input unit 23 for converting an analog signal or a digital signal into a plaster robot control signal.

The interface means of the present invention is a plastering robot input through the digital input unit 23 and the analog input unit 24 of the input means so that the plastering robot control signal input by the plastering robot control command input means can be transmitted in the external period. The control signal is converted into wireless data by the wireless communication unit 29, and the plastering status / position data transmitted from the plastering robot to wireless communication is also converted into a digital signal by the wireless communication unit 29, thereby transmitting signals between external devices. Plasma robot control signals through the digital input unit 23 and the analog input unit 24 are input to the CPU 21.

Here, the digital input unit 23 is provided with 18 channels and is divided by the plastering robot control signals and inputs for each channel. The analog input unit 24 is also provided with 4 channels and is divided by the plastering robot control signals. In addition, among the plaster robot control signals input through the digital input unit 23 and the analog input unit 24, the plaster robot control signal input to the analog input unit 24 is the analog input unit 24. A low-pass filter is provided in the filter to remove noise, and then is input to an A / D converter (not shown) built in the CPU 21 to convert all the plaster robot control signals into digital signals, and the plaster robot control signals input from the input means. The CPU 21 inputs the digital signalized plastering robot control signal to the wireless communication unit 29, and the wireless communication unit 29 inputs the digital signal. The signalized plaster robot control signal is converted into wireless data and transmitted to an external device. The display unit 27 graphically outputs the processed plaster robot status / position data to the LCD. In FIG. 2 and FIG. , The interface means for transmitting the plastering robot control signal between the remote control and the plastering robot allows data to be transmitted to the host computer and the wired line through the serial communication port 28 provided in the remote controller 10. 10) and the plastering robot control signal transmission between the plastering robot is implemented to be transmitted wirelessly with the plastering robot through the wireless communication unit 29 provided in the remote control (10).

Here, the data transmission using the wire of the host computer and the remote controller 10 uses a MAX232 (Maximum serial communication port product name) by extracting path planning data from the host computer required for the plastering robot to perform the plastering operation. The transmission schedule of the route planning data is already transmitted before the plastering robot performs the plastering operation and is stored in the memory unit 22. Here, the serial communications port is provided. Route planning data (including plaster robot control signals) transmitted through the unit 28 is transmitted by RS-232C (Recommended Standard 232 Revision C). The RS-232C is an interface used by a computer to exchange data with other serial devices such as a modem. The remote controller 10 wirelessly transmits route planning data transmitted from a host computer and a plaster robot control signal input by an operator. It transmits to the plastering robot through the communication unit 29. For this purpose, the same wireless communication module is mounted on the plastering robot. Plastering robot control signals and route planning data transmitted to the wireless communication module of the plastering robot are input to the main controller, and the main controller is operated by the operator. The controller controls various devices provided in the plastering robot so that the plastering work can proceed as set in advance, and the main controller controls the various devices so that the plastering work proceeds in a predetermined pattern by the input route planning data. The main controller shows the operation status of the plastering robot (e.g., the operation status of the motors mounted on the plastering robot, the status of the limit switch of the motors, etc.) and the movement path of the plastering robot on which the plastering operation is performed. After receiving the wireless communication unit 29 of the remote control unit 10, the interface means through the wireless communication module It transmits.

In addition, the control means according to the present invention receives output from the wireless communication unit 29, the interface means to the output means to the output state of the plastering robot status / position data indicating the operation state of the plastering robot and the movement path of the plastering robot was performed. Machine the plastering status / position data as much as possible.

Here, the CPU 21, which is a control means, uses a lot of microprocessors of Intel's i8 × 196 series (CPU product series) and motor roller's MC68HC3 ×× series (CPU product series) that are widely applied to industrial fields. The 87C196CA (CPU Product Name) is a 16-bit microprocessor with excellent performance in control, computation and communication. The system clock for driving the CPU 21 uses 20 MHz or more.

In addition, the memory unit 22 is divided into a ROM area and a RAM area, and a ROM in which a control program is mounted may use an OTPROM area built in the microprocessor. SRAM (eg IDT71256 (memory product name)) is used to ensure fast access.

At this time, the CPU 21 of the control means cannot recognize the LCD because the robotic status / position data indicating the operation status of the plastering robot and the movement path of the plastering robot performed by the plastering robot is not graphic data that can be recognized by the LCD. After processing in a predetermined format so as to output the processed plastering robot status / position data to the display unit 27, the display unit 27 outputs the input processed plastering robot status / position data on the LCD Here, the CPU 21 controls the processed plastering robot status / position data to be outputted on the LCD and stored in the memory unit. The plastering robot status / position data is also wirelessly communicated with the plastering robot. It is transmitted from the module to the remote controller 10 periodically and is always output on the LCD, so that the operator can supervise the work. In addition to the two-way wireless communication function and serial wired communication function with the computer, it is also possible to display and configure the motion planning as a graphic screen. By observing the status in real time on the LCD of the display unit 27 of the remote controller 10, if the plastering robot malfunctions in a place where it is not easy to observe the working status of the plastering robot, select the stop button to stop the work. In addition, it is easy to control the plastering robot even when the plastering operation is performed by manual operation using the remote controller 10.

Since the power supply 26 uses a battery, a low voltage can be detected using a monitoring device such as MAXIM05 (product name of the battery) of MAXIM. The display unit 27 is provided with a BACK LIGHT lighting considering night work.

Figure 4 is a wiring diagram showing the input and output of the field programmable gate array (FPGA) used in the remote control according to the present invention. Since the remote controller 10 of the present invention has more functions than the main controller of the plastering robot, a large amount of IC is used to increase the overall size and the wiring of the board is complicated. 4 is an example of a general-purpose function integrated FPGA to prevent this from being connected to allow access by the CPU 21 described above. That is, the work of the plastering robot can be performed automatically, and the operator manually Even if you want to work, you can easily work while observing the LCD provided in the remote control even in the place where the plastering robot is not observed, or arranged in a complex structure only by the operation of the remote control embedded with the FPGA wiring diagram.

The remote controller of the present invention has a function of receiving route planning data made by an external high-performance host computer and wirelessly transmitting the route plan data to the main controller of the robot. The conventional remote control is distinguished from the method of simply receiving the operator's command and transferring it to the controller of the robot. Therefore, when the environment of the workplace changes, the robot can be easily adapted to the changed environment by modifying the route planning data input from the outside.

According to the above configuration and operation according to the present invention, the autonomous control type remote control robot for autonomous control according to the present invention wirelessly communicates with the robot having the function of autonomous driving in both directions, and control manually or automatically to improve reliability according to the performance of the plastering work. It is effective.

It is apparent to those skilled in the art that the present invention is not limited to the described embodiments, and that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, such modifications or variations will have to belong to the claims of the present invention.

Claims (3)

A system for controlling a plastering robot to autonomously perform a predetermined task for plastering a floor during construction of a building: Analog to convert plastering robot control commands, such as speed control, remote start, emergency stop, operation mode selection, and direction switching, to analogue signals or to plastering robot control signals necessary to perform the function of autonomous driving by the plastering robot. A plaster robot control command input means including an input part 24 and a digital input part 23; Plasma robot control signal input from the plastering robot control command input means, converts the analog signal of the input plastering robot control signal into a digital signal, and is required to perform the plastering operation with the digitalized plastering robot control signal The path planning data is wirelessly transmitted to the plastering robot, and the plastering robot status / position data indicating the operation status of the plastering robot and the movement path of the plastering robot is transmitted from the plastering robot based on the transmitted plastering control signal and the route planning data. Interface means including a receiving wireless communication unit 29; A display unit 27 of the LCD which receives the processed plastering robot status / position data and outputs the plastering robot status and movement path for performing a plastering operation graphically; And The interface means receives the robot control signal and the route planning data and processes it in a predetermined format so that it is graphically output to the display unit 27, and the processed plaster state / position data is processed into the display unit ( 27. A remote control for a plastering robot of an autonomous control method, characterized in that it is composed of a control means of a CPU (21) for inputting to an input. delete The method of claim 1, The interface means further includes a serial communication port unit 28, wherein the route planning data is transmitted from the host computer through the serial communication port unit 28 before the plastering robot performs the plastering operation. Remote control for plastering robot of autonomous control system.