KR100674381B1 - Embodiment method of the robotic cellular phone which has an autonomous mobile function - Google Patents

Abstract

The present invention relates to a method of implementing a robotic portable communication terminal having an autonomous mobility function. The present invention provides a robotic portable communication terminal, comprising: a first step of converting various signals received from the outside or the inside to control a portable communication terminal into a movement control signal and inputting to a controller including a coordinate controller and a speed controller; The controller may determine whether the motor operates from the input signal and transmit the signal to the wheel driving motor, and the signals applied to the motor are fed back through the speed sensor and input back to the coordinate controller and the speed controller, respectively. In step 3, the coordinate controller calculates the coordinates of the current robotic portable communication terminal based on the actual speed fed back through the speed sensor, and controls the speed command of the speed controller based on the calculated coordinates. Including the fifth step of adjusting the exact navigation of the tick portable communication terminal Characterized in that where the lure.

Mobile Phone, Robot, IT, RT, Mobility, Navigation

Description

Implementation method of a robotic mobile communication terminal having autonomous mobile function {embodiment method of the robotic cellular phone which has an autonomous mobile function}

1 is a configuration schematically showing the technology of the robotic portable communication terminal

Degree,

2 is an implementation of the robotic portable communication terminal having the present invention autonomous mobility function

A block diagram showing a schematic configuration of the method,

3 is a view for explaining a two-wheel drive robot,

4 is a view for explaining a calculation formula from the instantaneous rotation center;

5 is a view showing the speed profile (Profile) of both wheels,

6 is a view for explaining the moving distance and the rotation angle.

The present invention relates to a method for implementing a robotic portable communication terminal having an autonomous movement function, and more particularly, a wheel that can be mounted on a battery of a portable communication terminal (hereinafter referred to as a "mobile phone") and autonomously determined and moved. It relates to a base (Wheel-Based Battery) design and automatic controller implementation technology.

Recently, the cellular phone has become a core technology in the field of information technology (hereinafter referred to as "IT") in Korea, and it is also in a very important position industrially and economically. However, competition with the famous foreign handset makers is intensifying in the world market, and in order for our country to have an advantage in the world market, we have to acquire new concept handset technology and implementation technology.

With the development of information technology, robot technology (hereinafter referred to as "RT") is also regarded as a promising high technology of the 21st century. Today's robots are different from the mainstream industrial robots, such as personal robots, welfare and service robots, which require various cutting-edge technologies such as soft computing, human-friendly interface, interaction technology, voice recognition, object recognition, and user intention. Currently, the field of entertainment robots, which are represented by entertainment and educational robots among personal robots, is being actively researched at home and abroad these days.

Based on RITS (RT & IT Systems), a new technology concept that can bring synergy effect by combining IT and RT, the technology of robotic cellular phone (RCP) is called He has previously applied for a patent on the concept. (Application No .: 10-2003-0070900) RITS technology combines the technologies of RT and IT, which have been developed independently, by MT (Micro Technology), making it more advanced and new. The technology of developing a conceptual system.

Based on this RITS concept, RCP combines a personal robot with an existing mobile phone and will be a new technology with the robot's personal service function and entertainment function.

As shown in FIG. 1, the RCP includes three detailed technologies of RCP-Mobility (RCP for Mobility), RCP-Emotion (RCP for Emotion), and RCP-Recognition (RCP for Recognition). RCP-Mobility refers to technology for personal service using human-friendly motion automation and walking & arm functions, and RCP-Emotion refers to emotion generation technology using intelligent algorithms and emotional induction engine and emotional model that can induce user's emotion. Says development. In addition, RCP-Recognition refers to all recognition technologies such as user and external environment recognition using various sensors and RCP's own state detection.

An object of the present invention is to have a portable communication terminal having an autonomous movement function of a robot capable of personal service.

It is an autonomous robot control technology that can provide personal services to humans such as auto charging, real time entertainment between two or more RCPs, and various user services.

In addition, various actions of the RCP can be operated in conjunction with existing wireless mobile systems such as signals and wireless messages and Internet contents transmitted from other mobile phones. Through this, RCP mobile system technology is a new concept that can develop mobile phone from simple communication function to companion robot, the future technology of robot.

In order to achieve the above object, the present invention provides a plurality of wheels configured on a portion of a rechargeable battery, a wheel drive motor for providing power for driving the plurality of wheels, and In the robotic portable communication terminal comprising a control unit for controlling the operation of the wheel drive motor, and a sensor unit for determining the speed control and the presence of obstacles,

In order to control the portable communication terminal, various signals received from the outside or the inside are converted into a movement control signal and input to a control unit including a coordinate controller and a speed controller. A second step of determining whether the motor is operating from the signal and transmitting the signal to the wheel driving motor; and the signals applied to the motor in the second step are fed back through the speed sensor and inputted back to the coordinate controller and the speed controller, respectively. In the third step and the coordinate controller in the third step, the fourth step of calculating the coordinates of the current robotic portable communication terminal based on the actual speed fed back through the speed sensor, and the coordinates calculated in the fourth step Accurate navigation of robotic portable communication terminal by controlling speed command of speed controller To a a fifth step of adjusting it is characterized in that formed.

RCP-Mobility is to provide behaviors and personal application services that can make humans feel convenient and familiar. That is, by completing the automatic control system to mount the wheels on the existing mobile phone battery and autonomously determine and move, design the wheel-based battery and implement the automatic controller for autonomous navigation. Technology. In addition, these technologies consist of a communication linkage system that can operate in conjunction with communication.

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

Wheel-Based Navigation refers to Wheel-Based Battery design and control technology for servicing humans by mounting wheels on the battery of the RCP. 2 is a block diagram showing a schematic configuration of a method of implementing a robotic portable communication terminal having an autonomous mobility function of the present invention.

Various signals received from the outside or the inside to control the portable communication terminal are converted into a movement control signal and input to the controller. The signal output by the PWM method through the PI control from the speed controller is transmitted to the micro DC motor, and the actual signals applied to the motor are fed back through the speed sensor and inputted back to the respective controllers. Coordinates Controller calculates the coordinates of the current RCP based on the actual speed fed back through the speed sensor, and controls the speed command of the speed controller based on this to adjust the exact navigation of the RCP.

Wheelbase navigation technology requires that the RCP know its location or allow the user to navigate. Therefore, a kinematic interpretation related to the movement of the RCP is needed. For description of the wheel-based battery control technology, the wheel-driven robot shown in FIG.

3, the following equation is established.

Therefore, (xy θ) ^T The relationship between and (vw) ^T can be expressed by a kinematic equation such as equation (4).

Equation (4) shows that there are two motors that can be controlled by the RCP, whereas the position and angle to be reached have three degrees of freedom. Therefore, the constraint condition occurs when controlling from the posture of the current RCP to the desired posture. Using the non-slipping condition where the velocity component in the direction perpendicular to the wheel surface at the contact surface of the floor with the wheel is 0, the following non-holonomic constraints can be obtained.

와 같이 정리될 수 있다. 이것은 RCP의 순간 진행방향은 RCP가 향하고 있는 각도θ와 같아야 한다는 의미이다. 식(5)에 나타낸 바와 같이 양 바퀴의 속도 V _L 과 V _R 은 도 4에 표시된 순간회전중심(ICR)에서 바퀴까지의 거리 R ₁ , R ₂ 와 비례한다.Where H is a unit vector perpendicular to the wheel face. The constraint is given by equation (5), which is

Can be summarized as This means that the instantaneous advancing direction of the RCP must be equal to the angle θ that the RCP is facing. As shown in equation (5), the speeds V _L and V _R of both wheels are the distance from the instantaneous rotation center (ICR) shown in FIG. 4 to the wheels R ₁ , R ₂ Is proportional to

Equation (8) shows that when RCP goes straight, R = ∞ and V _R = V _L. In addition, in order to rotate the RCP in place, it is when R = 0 and when V _R = -V _L.

Actual motor rotation has acceleration and deceleration sections as shown in FIG. 5. If both wheel motors have the same acceleration and deceleration times, the RCP proceeds in an arc. At this time, the moving distance, the turning radius, and the rotated angle can be obtained from equations (2) and (3) and (7) as follows.

The technical spirit of the present invention has been described above with reference to the accompanying drawings, but this is by way of example only and not by way of limitation. In addition, it is obvious that any person skilled in the art may make various modifications and imitations without departing from the scope of the technical idea of the present invention.

As described above, the present invention provides an autonomous navigation function in a portable communication terminal to provide a user with a battery automatic charging function based on its own judgment and a wireless communication signal such as a text message from the outside. It will provide behaviors and personal application services that can make humans feel convenient and familiar, such as navigation.

In addition, the present invention is a combination of robot technology to a mobile phone, which is a core technology in the field of information technology, which is a linkage research in which a robot is mounted on a mobile phone with a large market scale in Korea. It is expected to have a big ripple effect and form a new strategic paradigm of robot research.

Claims (6)

A plurality of wheels configured on a portion of a rechargeable battery, a wheel driving motor providing power for driving the plurality of wheels, a control unit for controlling the operation of the wheel driving motor to have an autonomous movement function; In the implementation method of the robotic portable communication terminal having an autonomous movement function composed of a sensor unit for determining the speed control and the presence of obstacles, A first step of converting various signals received from the outside or the inside to control the portable communication terminal and converting them into movement control signals and inputting them to a control unit including a coordinate controller and a speed controller; The control unit in the first step is a second step of transmitting a signal to the wheel drive motor to determine whether the motor operation from the input signal; A third step in which signals applied to the motor in the second step are fed back through the speed sensor and inputted back to the coordinate controller and the speed controller, respectively; A fourth step of calculating a coordinate of the current robotic portable communication terminal based on the actual speed fed back through the speed sensor in the coordinate controller in the third step; A method of implementing a robotic portable communication terminal having an autonomous movement function, comprising a fifth step of adjusting a precise navigation of the robotic portable communication terminal by controlling a speed command of the speed controller based on the coordinates calculated in the fourth step. . The method of claim 1, And a signal received to control the portable communication terminal in the first step includes an infrared radio signal through a remote control of a user. delete delete delete delete

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