KR100367019B1 - A programmable convertible mini robot and control method thereof - Google Patents

Abstract

The present invention relates to a programmable transformation mini-robot and a control method thereof, each having a motor 12a to 16a in which a rotating shaft is guided outwardly, and coupled to each other using a plurality of suitable links 21 to 26. A plurality of blocks 12 to 16 that can be disassembled; A motor 11a in which a rotating shaft is guided to the outside, an input unit such as an infrared sensor 11b, and an output unit such as an LED 11c are installed to control the microcomputer, and the plurality of motors 11a to 16a according to an externally stored program are stored. A first block (11) to independently rotate and forward and execute a predetermined operation; And a teaching regulator having an input unit, a display unit, an input / output port, a microprocessor, etc. for inputting a predetermined program to the first block 11, and detachably connected via a communication port to the first block 11 ( 30), and assembling a plurality of blocks each having a motor in various forms, and by inputting the appropriate exercise mode to implement the operation can perform a function as an educational textbook along with the entertaining function. have.

Description

Programmable transformation mini-robot and its control method {A PROGRAMMABLE CONVERTIBLE MINI ROBOT AND CONTROL METHOD THEREOF}

The present invention relates to a programmable transformation mini-robot and a control method thereof, wherein as a plurality of blocks each having a motor are assembled in various forms, and an exercise mode is inputted according to the present invention, as an educational textbook with an entertaining function. The present invention relates to a programmable transformable mini robot having a function and a control method thereof.

In general, educational science textbooks are designed to learn scientific principles using static materials, but because one product covers only one principle, it is difficult to learn many things. Because it is assembled by the combination of the two because it has a structure that is not disassembled once again has the disadvantage that it is impossible to repeat the use.

In addition, in the case of general toys, the prefabricated block toys can be easily assembled and configured by the user's desired shape, and can be used repeatedly because they are easily disassembled, but since they are structured without movement, they are simple for users who prefer the latest moving toys. Easily feel the demonstration due to the appearance and the weakness of the stiffness when assembling has the disadvantage that the assembly structure is easily loosened and easily broken.

In addition, the simple motion toy that can be operated has the function that the product operates by itself, but it cannot be changed other than the shape that is already determined at the time of production. There was a problem that is difficult to match the user's various preferences.

Accordingly, the present invention is to solve the above-mentioned disadvantages and problems, as a plurality of blocks each having a motor in various forms, and by inputting the appropriate exercise mode to implement the operation function as an educational teaching material along with the entertaining function The object of the present invention is to provide a programmable transformation mini-robot and a control method thereof.

1 is a perspective view showing the appearance of a mini robot according to the present invention;

2 is a block diagram of a main functional unit for programming a mini robot according to the present invention;

3 is a flowchart showing the operation sequence of the teaching regulator according to the present invention;

4 is a flowchart for spherical driving operation of the mini-robot according to the present invention;

5 and 6 are a perspective view and a flowchart of a driving operation showing a state in which the mini-robot according to the present invention is transformed,

7 and 8 are a perspective view and a flowchart of a driving operation showing a state in which the mini-robot according to the present invention is further transformed.

<Description of the symbols for the main parts of the drawings>

11 to 16: 1st to 6th blocks 21 to 26: 1st to 6th links

30: teaching controller 40: computer device

In order to achieve this object, the present invention relates to a programmable transformation mini-robot, each having a motor 12a to 16a in which a rotating shaft is guided to the outside, and using a plurality of appropriate links 21 to 26 to each other. A plurality of blocks 12 to 16 that can be combined and disassembled; The motor 11a, the rotation shaft of which is guided to the outside, the input unit including the infrared sensor 11b, and the output unit including the LED 11c are installed so as to control the microcomputer, and the plurality of motors 11a according to an externally stored program. A first block (11) which independently performs forward and reverse rotation of &lt; RTI ID = 0.0 &gt; -16a) &lt; / RTI &gt; And a teaching controller 30 having an input unit, a display unit, an input / output port, and a microprocessor for inputting a predetermined program to the first block 11 and detachably connected to the first block 11 via a communication port. It is characterized by comprising a). Meanwhile, in the mini robot assembly in which the plurality of blocks 11 to 16 are formed in a predetermined shape by using the plurality of links 21 to 26, the mini robot assembly is independently controlled by controlling the motors of the blocks 11 to 16 independently. A method for implementing a predetermined operation, the method comprising: an initialization step (S101); Maintaining the input standby state when the connection with the mini-robot is confirmed (S102); If it is determined in the automatic mode (S103) to call the automatic start step of sequentially performing a series of operations (S104); If it is determined in the learning mode (S105) calling the robot learning step to intermittently proceed with the operation for each step (S106); If it is determined in the check mode (S107) to call the check function to proceed with the operation in any step (S108); And transmitting a command according to the steps S104, S106, and S108 to the first block 11 (S109) and causing the blocks 11 to 16 to implement a predetermined operation (S110). Characterized in that made. Preferably, in the automatic mode, the learning mode, and the check mode, the position movement is realized by controlling the motors 11a to 16a of each of the mini-robot blocks 11 to 16 in one or a plurality of manners for each operation step. It is characterized in that the driving algorithm for differently provided according to the assembled shape of the mini robot.

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

Figure 1 is a perspective view showing the appearance of a mini-robot according to the present invention, Figure 2 is a block diagram of the main function for programming the mini-robot according to the present invention.

FIG. 1 shows a case in which five blocks 11 to 15 are used as an embodiment of the present invention, and these blocks 11 to 15 are combined and dismantled to each other using a plurality of appropriate links 21 to 23. It has a possible configuration. Reference numerals 12 to 15 correspond to the body of the mini-robot, and the block 11 corresponds to the head of the mini-robot, all of which have respective motors 11a to 15a whose rotation shafts are guided to the outside. The motors 11a to 15a implement a multi-joint movement of the mini robot by using a small servomotor capable of angular control of pulse width modulation (PWM) and connecting and assembling the links 21 to 23 formed in an appropriate shape.

In this case, the first block 11 is installed to control the microcomputer in addition to the motor 11a, an input unit such as an infrared sensor 11b, an output unit such as an LED 11c, and the plurality of motors 11a according to a program stored and input from the outside. The predetermined operation is performed by independently rotating forward and reverse.

As shown in FIG. 2, the first block 11 of the present invention includes a 5-channel PWM output unit and a 2-channel signal for connecting a microprocessor and a memory to control lines of the respective motors 11a to 15a for controlling the robot. It is mounted as a module together with an electronic circuit section such as an output section, a three channel signal input section and a serial transmission interface. The microprocessor uses an 8-bit one-chip, nonvolatile EEPROM with at least 4Kbytes of memory and a scalable configuration up to 16Kbytes. The PWM generator uses a frequency of 100 Hz. The two-channel signal output unit is connected to the LED (11c) corresponding to the eyes of the mini-robot, and to drive the buzzer to alert in case of danger such as a collision. The three-channel signal input unit is for detecting an operating condition of the mini robot, and may connect a light sensor for detecting darkness, a sound sensor for detecting sound, etc. in addition to the infrared sensor 11b for detecting a collision. The serial transmission interface uses RS232.

According to the present invention, the first block 11 has an input unit for inputting a predetermined program, a display unit, an input / output port, a microprocessor and the like, and is detachably attached to the first block 11 via a communication port. The teaching regulator 30 is connected. Referring to FIG. 2, in the teaching controller 30, the key input unit may use a ten key, the display unit may use an LCD panel, and the input / output port uses the same serial transmission interface as in the first block 11. Although not shown, a selector switch for selecting an operation mode may be provided.

As shown in FIG. 2, the teaching controller 30 and the first block 11 are connected by a serial communication cable, and the commands for operating the respective motors 11a to 15a are input using the key input unit and the selection switch while watching the LCD display unit. . The information inputted and executed during the teaching is output to the LCD display, so that the user can easily determine the information. More specifically, the information displayed on the LCD display includes position data for each axis of the robot, speed data, condition input data, timer data, and output data.

On the other hand, instead of using the teaching controller 30, it is also possible to connect and teach the computer device 40 to the first block 11 by serial communication. In this case, it is preferable to use separate software for processing. Accordingly, the function of recording and storing teaching data on a computer recording medium, transmitting and executing the stored data to the first block 11, and simulating the mini robot by simultaneously displaying the operation of the mini robot as a graph on the monitor. Can also be performed.

Of course, after the teaching is completed, the mini-robot equipped with the first block 11 may proceed with the set teaching operation even when the teaching controller 30 or the computer device 40 is disconnected. To this end, although not shown, the first block 11 has a separate battery power source independent of the teaching controller 30 or the computer device 40.

3 is a flowchart showing the operation sequence of the teaching adjuster according to the present invention.

Another aspect of the present invention is to independently control the motors of the blocks 11 to 16 in the mini-robot assembly in which the plurality of blocks 11 to 16 are formed in a predetermined shape using the plurality of links 21 to 26. A method is provided for causing the minirobot assembly to implement certain operations. More specifically, Figure 3 shows the operation sequence in the teaching controller 30, which will be described step by step as follows.

When the first block 11 and the teaching controller 30 are connected and the power is turned on, the program is started. In the initializing step S101, the environment data is initialized and the communication unit is initialized. In the next step S102, it determines the connection with the mini robot and terminates the program if it is not connected, but if the connection is confirmed, transmits the mode code, collects the status information, displays the status on the LCD display, and waits for the key input. Keep it.

In step S103, if it is determined that the automatic mode is called, the process proceeds to step S104 of sequentially executing a series of operations. If it is determined in step S105, the robot learning is called to intermittently the operation for each step. Going to step S106, if it is determined in the check mode in step S107, the check function is called to go to step S108 in which the operation is performed in an arbitrary step. The three types of modes can be set using the selection switch of the teaching controller 30.

At this time, in the automatic mode, the learning mode, and the check mode, the driving algorithm for realizing the position movement by controlling the motors 11a to 16a of each of the mini-robot blocks 11 to 16 alone or in plurality for each operation step is provided. Depending on the assembled shape of each is provided differently. This will be described in detail with reference to FIGS. 4 to 8 to be described later, it is possible to operate the mini-robot in a continuous or intermittent operation, and change the operation pattern as necessary.

Finally, in step S110, the command according to steps S104, S106, and S108 is transmitted to the first block 11 (S109), and the blocks 11 to 16 implement a predetermined operation.

Figure 4 is a flowchart for spherical driving operation of the mini-robot according to the present invention.

First, the process of configuring the mini-robot as shown in FIG. 1 for the purpose of FIG. 4 will be described. In the center of the first link 21, the shaft of the motor 11a of the first block 11 corresponding to the head is connected and the first Both ends of the link 21 connect the bodies of the second block 12 and the third block 13. The second block 12 and the fourth block 14 are connected by fastening the shafts of the respective motors 12a and 14a onto the second link 22. The third block 13 and the fifth block 15 are connected in the same manner, and the third link 23 corresponding to the foot is coupled to each lower end. In consideration of the strength and durability of the mini robot product, the links 21 to 23 use stainless steel plates SUS304 and 1.0t. The coupling of the motors 11a-15a and the links 21-23 uses a screw system or a fitting system.

In FIG. 4, when the power of the mini robot is turned on and a program is started, various variables are initialized, the set driving speed is determined, and the first block 11 is rotated to the right (left in the figure) to move the center of gravity while the second block. (12) and the motors 12a and 14a of the fourth block 14 are rotated forward and backward to move the third link 23, which is the left foot, by one step. Thereafter, the first block 11 is rotated to the left to move the center of gravity while moving the third link 23, which is the right foot, by one step. Rotating the first block 11 is to maintain the balance by moving the center of gravity during walking. Thereafter, the operation is repeated or stopped depending on whether the stop signal is present.

5 and 6 are a perspective view showing a state in which the mini-robot according to the present invention is transformed and a flowchart of the driving operation is shown.

In FIG. 5, the connection of the second block 12 and the fourth block 14 and the connection of the third block 13 and the fifth block 15 are the same as those of FIG. 1, and the second links 22 on the left and right sides are It is connected to the fourth link 24 to form a body. The first block 11 is fixed in the upper direction of the fourth link 24 and the sixth block 16 is fixed in the lower direction, and then the bodies of the second blocks 12 to the fifth block 15 are respectively fixed. The third link 23 is fixed to serve as a bridge. In the body of the sixth link 26, the fifth link 25 is fixed to both sides of the lower end, that is, the links indicated by 25a and 25b in the figure. The motor 16a of the sixth link 26 is connected to the fourth link 24 to implement an operation in which the fifth links 25a and 25b alternately contact the ground during forward and reverse rotation.

In FIG. 6, when the power of the mini robot is turned on and the program is started, various variables are initialized and the set driving speed is determined. Next, the third link 23 of the third block 13 and the fifth block 15 is rotated while the motor 16a of the sixth block 16 is rotated to support the ground. Advance. Next, the third link 23 of the second block 12 and the fourth block 14 is rotated by rotating the motor 16a of the sixth block 16 in such a manner that the fifth link 25a on the other side contacts the ground. ), And the mini robot moves forward by rotating the third link 23 of the third block 13 and the fifth block 15 backward. Thereafter, the same operation is repeated in the above-described order, and the movement is stopped when a stop command is input.

7 is a perspective view showing a state in which the mini-robot according to the present invention is further transformed, wherein a plurality of links 22 to 26 are connected in series using a sixth link 26 and a body of the second block 12. The first block 11 is fixed to implement the shape of the snake. The plurality of sixth links 26 are all bent and formed into a ?? cross section and are rotatable independently by the driving force of each of the motors 12a to 16a.

In FIG. 8, when the power of the mini robot is turned on and the program is started, various variables are initialized and the set driving speed is determined. Next, when the motors of the sixth block 16, the fifth block 15, and the fourth block 14 are rotated such that the fifth block 15 ascends the highest, the sixth block 16 is pulled and the fourth block The sixth block 16 and the fifth block 15 are pulled out by rotating the motors of the fifth block 15, the fourth block 14, and the third block 13 so that 14 rises the highest. When the third block 13 rises and falls in the same manner, the second block 12 and the first block 11 move forward to complete the movement of the mini robot. At this time, the forward and backward movement of each of the blocks 11 to 16 is caused by the difference in frictional force before and after the raised portion. After the robot stop command is inputted by repeating the above operation to move like a snake.

5 to 6 are examples of the transformation of the mini-robot, and more various transformations are possible, and may be variously programmed in an operation mode. The blocks 11-16 used at this time can also increase or decrease the number suitably. For more various modifications, fastening holes for engaging with the bodies of the motors 11a to 16a or the blocks 11 to 16 may be formed at various positions on the links 21 to 26.

As described above, the present invention is capable of configuring a mini robot for assembly by assembling and coupling using bolts and nuts in various shapes, and the assembled mini robot has a function of automatically operating each joint and is input by a user. It can be moved automatically by various types of operating programs that are put in. If the power is turned on again after the power is cut off, the inputted operating program is operated without being erased and can be easily taught through the teaching controller or the computer. Even if the mini robot is disconnected from the controller or the computer, it can be operated from a separate power source.

The programmable transformation mini-robot and its control method of the present invention having the above-described configuration and operation are assembled with a plurality of blocks each having a motor in various forms, and enters an appropriate exercise mode to implement the operation together with the entertainment function. Can function as an educational textbook.

Claims (3)

A plurality of blocks 12 to 16 having respective motors 12a to 16a whose rotation shafts are guided to the outside, and which can be engaged and disassembled with each other using a plurality of suitable links 21 to 26; The motor 11a in which the rotating shaft is guided to the outside, the input unit including the infrared sensor 11b, and the output unit including the LED 11c are installed to control the microcomputer, and the plurality of motors 11a according to a program stored and input from the outside. A first block (11) which independently performs forward and reverse rotation of &lt; RTI ID = 0.0 &gt; -16a) &lt; / RTI &gt; And A teaching controller 30 having an input unit, a display unit, an input / output port, and a microprocessor for inputting a predetermined program to the first block 11 and detachably connected to the first block 11 via a communication port. Programmable transformable mini robot, characterized in that consisting of. In the mini-robot assembly in which the plurality of blocks 11 to 16 are formed in a predetermined shape by using the plurality of links 21 to 26, each block of the plurality of blocks 11 to 16 independently controls the motor. In a method for causing a minirobot assembly to implement certain operations: An initialization step S101; Maintaining the input standby state when the connection with the mini-robot is confirmed (S102); If it is determined in the automatic mode (S103) to call the automatic start step of sequentially performing a series of operations (S104); If it is determined in the learning mode (S105) calling the robot learning step to intermittently proceed with the operation for each step (S106); If it is determined in the check mode (S107) to call the check function to proceed with the operation in any step (S108); And The command according to the steps S104, S106 and S108 is transmitted to the first block 11 (S109) , and together with the plurality of blocks 11 to 16, a specific operation corresponding to the shape of the robot is performed . Control method of a programmable transformation mini robot, characterized in that it comprises a step (S110) to implement. The method of claim 2, In the automatic mode, the learning mode, and the check mode, the motors 11a to 16a of the mini-robot blocks 11 to 16 are controlled in one or a plurality of manners for each step of operation to realize positional movement. Control method of a programmable transformation mini-robot , characterized in that the algorithm is provided differently according to the assembled shape of the mini-robot .