KR100749083B1 - Moving apparatus capable of standing up and method of controlling the same - Google Patents

Abstract

A vertical moving apparatus and a method of controlling the same are provided to travel the vertical moving apparatus in a state of standing up a body thereof. A vertical moving apparatus includes a pivotal arm portion(121) hinge-engaged to a body(101) for standing up the body in a state of supporting the body to a drive wheel(111), an erect sensor(142) for sensing a state of standing up the body, a pair of pivot sensors(141,143) for sensing pivotal degree of the body, a controller controlling the pivotal arm portion on the basis of a sense signal of the erect sensor and controlling the drive wheel on the basis of a sense signal of the pivot sensors for supporting the state of standing up the body.

Description

Mobile device capable of standing rotation and its control method {MOVING APPARATUS CAPABLE OF STANDING UP AND METHOD OF CONTROLLING THE SAME}

1 and 2 are a perspective view and a rear view showing a picture of a mobile device according to an embodiment of the present invention;

3 is a block diagram for explaining a control relationship of the mobile device of FIG.

4A to 4D are side views illustrating an operation process of the mobile device of FIG. 1;

5 is a flowchart illustrating a control method of a mobile device according to an embodiment of the present invention.

<Explanation of symbols for main parts of the drawings>

100: moving device 101: body portion

102: pedestal 111: drive wheel

112, 122: motor 113, 123: drive circuit

114: encoder 121: rotating arm part

130: control unit 131: microprocessor

132, 133, 134, 135, 136, 137: driver

138: wireless communication unit 139: microphone

1310: storage unit 141: tilt sensor

142: infrared sensor 143: angular velocity sensor

150: display window 160: A / D converter

170: power supply unit 180: DC / DC converter

200: host

The present invention relates to a moving device and a control method thereof, and more particularly, to a moving device capable of standing rotation by providing a rotating arm portion to rotate and a control method thereof.

Conventional mobile devices, such as toy vehicles, have a total of four driving wheels in the front and rear body parts, and it is common to perform forward, backward, left and right rotations, etc. by driving control of the driving wheels through wired or wireless control. .

In recent years, according to the commercialization of a toy vehicle equipped with a sensor, the toy vehicle may be provided with a function of preventing the toy vehicle from hitting an obstacle while driving or changing direction when the toy vehicle hits an obstacle.

However, up to now, a mobile device capable of standing driving, including a toy vehicle, has not been disclosed, and a mobile device controlled to maintain a standing state has not been disclosed.

In addition, although there are a large number of mobile devices such as a toy vehicle provided in the form of an assembly set as an educational material, the educational material provided to assemble the mobile device capable of standing driving as described above is not disclosed.

Accordingly, it is an object of the present invention to provide a mobile device and a control method thereof which can be controlled to enable standing driving and maintenance of standing status. In particular, the present invention is to provide a mobile device and a control method thereof that can be used not only for toys but also as teaching materials.

In order to achieve the above object, the present invention provides a moving device including a body part and a driving wheel provided in the body part, wherein the body part stands on the driving wheel by being hingedly driven by the body part. A rotatable arm portion to allow; A standing sensor unit for sensing a standing state of the body unit; A rotation sensor unit for sensing an amount of rotation of the body unit; And a controller configured to control the pivot arm based on the detection signal of the standing sensor part, and to maintain the standing state of the body part by controlling the driving wheel based on the detection signal of the rotation sensor part. It provides a mobile device.

Here, the rotation sensor unit may be provided in plural, and the control unit may generate a control signal for controlling the driving wheel in response to individual detection signals received from each rotation sensor unit. At this time, the plurality of rotation sensor unit, a plurality of angular velocity sensor for detecting the rotational angular velocity of the body portion, a plurality of tilt sensors for detecting the tilting of the body portion or a combination of the angular velocity sensor and the tilt sensor. You can also lose.

The control unit may include a wireless communication unit for transmitting and receiving information regarding the standing and running of the mobile device with the outside.

The controller may include a voice recognition unit for recognizing a command regarding standing and running of the mobile device from the outside.

In addition, the present invention in order to achieve the above object, the body is provided with a driving wheel, a rotating arm portion hinged to the body portion is driven, a standing sensor unit and the body for sensing the standing state of the body portion In the control method of the moving device including a rotation sensor unit for detecting the amount of rotation of the negative portion, the body is supported by the drive wheel until the body is supported by the driving arm to the standing state detected by the standing sensor unit Making a step; Controlling the driving wheel according to the amount of rotation of the body portion detected by the rotation sensor unit provides a control method of a moving device comprising the step of maintaining the standing state of the body portion.

Here, the rotation sensor unit may be provided in plural and the step of maintaining the standing state of the body unit may control the driving wheels corresponding to the rotation amounts of the body units individually sensed through the respective rotation sensor units. In this case, the rotation sensor unit includes an angular velocity sensor and an inclination sensor, and the amount of rotation of the body portion is calculated from the rotational angular velocity of the body portion detected from the angular velocity sensor and the rotational tilt of the body portion detected from the tilt sensor. It may be.

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

1 and 2 are a perspective view and a bottom view showing a mobile device 100 according to an embodiment of the present invention, Figure 3 is a block diagram showing a control relationship of the mobile device 100.

The moving device 100 according to the embodiment of the present invention, as shown in Figures 1 to 3, the control unit 130 mounted on the body portion 101, the body portion 101 is provided with a driving wheel 111. ) And various sensor units 141, 142, 143, and pivoting arm portions 121 hinged to both sides of the body portion 101.

The driving wheel 111 is provided to be rotatable by the motor 112 only in the longitudinal rear end portion of the body portion 101, and correspondingly, a pair of pedestals 102 are provided at the front end portion of the body portion 101. ) Is provided. Here, the pedestal 102 is provided assuming that the moving device 100 is operated only in a standing state supported by only the driving wheel 111 as described below. Therefore, the pedestal 102 may be replaced with a driving or non-driven wheel (not shown) in order to allow the mobile device 100 to operate even in a normal state in which the mobile device 100 does not stand.

The driving of the driving wheel 111 is performed by the motor 112 and the driving circuit 113, and the driving circuit 113 is controlled by the microprocessor 131.

Rotating arm portion 121 is provided in a plurality of rotatable portions on the left and right sides of the body portion 101, it is driven by the motor 122 and the drive circuit 123. Here too, the drive circuit 123 is controlled by the microprocessor 131.

As shown in FIGS. 4A to 4D, the rotation arm part 121 is responsible for a function of allowing the body part 101 to stand and rotate about the driving wheel 111 while rotating. As shown in FIG. 4B, after the rotation arm 121 starts to rotate and the arm end contacts the ground, the arm end contacts the ground 1 and remains stationary, while the body portion 101 is stopped. ) Rotates in the opposite direction and stands in a state supported by the driving wheel 111.

As described later, when it is determined that the standing of the body 101 is completed through the standing sensor unit 142, the control unit 130 rotates the pivot arm 121 back to its original position (see FIG. 4D). .

On the other hand, in the present embodiment, the rotation arm portion 121 has been described as having a plurality of rod-shaped in the above, but is not limited to the number or shape if it is to perform the standing rotation of the body portion (101).

The sensor units 141, 142, and 143 may include an upstanding sensor unit 142 for detecting a standing state of the body unit 101, and a rotation sensor unit 141 for detecting an amount of rotation of the body unit 101. 143).

The standing sensor unit 142 is for determining whether or not the control unit 130 completes the standing rotation of the body unit 101 by the driving of the rotating arm unit 121. In this embodiment, infrared rays for measuring distance are used. An IR sensor 142 is used.

As shown in FIG. 1, the infrared sensor 142 is positioned at the rear of the body portion 101 and provided to detect a distance to the ground during the standing rotation of the body portion 101. That is, the infrared sensor 142 starts to operate at the start of the standing rotation of the body portion 101, and measures the distance to the ground in the process of standing up the body portion 101. If the distance from the ground coincides with the predetermined distance d through the infrared sensor 142 while the rotating arm unit 121 is being driven (in the case of FIG. 4C), the rotating arm unit Stop and reposition (121) to prevent further rotation of the body portion (101). Here, the predetermined distance (d) is preferably set to the distance between the ground and the infrared sensor 142 when the mobile device 100 maintains the standing state perpendicular to the ground.

The infrared sensor 142 used in this embodiment is an example of a sensor for distance measurement, which may be replaced by another distance measuring sensor such as an ultrasonic sensor.

The rotation sensor units 141 and 143 may be configured such that the controller 130 rotates when the body unit 101 rotates around the driving wheel 111 by its own weight or an external force in a state in which the body unit 101 is fully standing. The rotation of the driving wheel 111 forward and reverse by sensing the amount of rotation is provided to maintain the balance during the standing of the body portion 101.

The body portion 101 standing up in the state supported by the rotating arm portion 121 is only supported by the driving wheel 111 when the rotating arm portion 121 rotates back (see FIG. 4D). If left unattended, it can easily fall back and forth. Accordingly, the rotation sensor unit 141 and 143 refer to the forward and reverse directions of the driving wheel 111 by feeding back a signal sensing the amount of rotation of the body unit 101 to the control unit 130 when the body unit 101 stands up. Through the rotation control to maintain the balance in the standing body portion 101 state.

Such a tilting sensor unit includes a tilt sensor for detecting the tilt of the body unit 101 in the standing state so that the controller 130 can measure the amount of rotation of the body unit 101. ), The angular velocity sensor (gyroscope, 143) for detecting the angular velocity during rotation of the standing body portion 101 to allow the controller 130 to measure the amount of rotation of the body portion 101. .

For example, when the infrared sensor 142 is used as the standing sensor unit and the angular velocity sensor 143 is used as the rotation sensor unit, the values output from the infrared sensor 142 and the angular velocity sensor 143 are analog signals. In order to recognize the processor 131, the analog signal is first converted into a digital signal through the A / D converter 160. The A / D converter 160 used in the present embodiment is a 10-bit A / D converter and transmits a current sensing signal to the microprocessor 131 at a rate of 100,000 times per second. Therefore, the value of the state in which the body portion 101 stands up and is completely centered is 1/2 of 10 bits, that is, 1024/2 = 512. However, this is a theoretical value and, in practical experiments, does not exactly match the value of 512 and gives a certain amount of offset programmatically.

Accordingly, when it becomes larger at a value of about 512, that is, when the standing body portion 101 is about to fall forward, the microprocessor 131 transfers the motor drive driver 136 to drive the motor 112. More of the PWM signal in the forward direction, if the body portion 101 is to fall backward, more of the PWM signal in the backward direction. Of course, when the body portion 101 tries to fall slightly from the standing state (that is, when the slope is small) and when it tries to fall a lot (that is, when the slope is large), the PWM signal should be different. The calculation of the PWM signal value is based on the PID algorithm and the sliding algorithm.

The rotation sensor unit may be provided in two or more in consideration of the response characteristics of the sensor used. As a result, each rotation sensor unit may not only function to complement each other, but also increase the reaction speed of the controller 130 according to the rotation of the body unit 101 to maintain the standing balance of the body unit 101 more precisely. have.

In the mobile device 100 according to the present embodiment, the rotation sensor unit includes one tilt sensor 141 and one angular velocity sensor 143. However, when a plurality of rotation sensor units are provided, they are not limited to being provided with different sensors as in the present embodiment, and may be provided as a plurality of tilt sensors 141 or a plurality of angular velocity sensors 143.

The controller 130 receives the detection signal for each sensor 141, 143 and generates a respective control signal at that time to control the rotation of the driving wheel 111. Due to the rotational control of the driving wheel 111, the body 101 is always repeated to return to the original standing position, but in appearance it can be seen to always stand up and remain stopped. Here, the original standing position of the body portion 101 refers to a state in which the distance between the infrared sensor 142 and the ground 1 is maintained at a predetermined distance d, as mentioned above ( 4d).

As illustrated in FIG. 3, the controller 130 may include drivers 132, 133, for receiving detection signals of the sensor units 141, 142, and 143 as well as the microprocessor 131 which is a central processing unit. 134, a driver 135 and 136 for driving the pivot arm 121 and the driving wheel 111, and a driver 137 connected to the encoder 114 for rotation control of the driving wheel 111. In addition, the controller 130 includes a wireless communication unit 138 for wireless communication with the outside. The control unit 130 receives the wireless command from the external host 200 by the wireless communication unit 138 to control the movement of the mobile device 100 (forward / backward, left / right rotation, etc.), standing movement, and the like. . At this time, the movement of the moving device 100 may be performed in a state in which the body portion 101 stands up as described above, or may be performed in a state in which the body portion 101 is lowered to its original position. Even when the moving device 100 is operated while the body portion 101 is standing, the maintenance of the balance of the body portion 101 is continued, but in appearance, only the movement of the moving device 100 is performed. It can be seen as.

When the mobile device 100 moves in the standing state of the body portion 101, the body portion 101 is positioned at a predetermined angle from the upright position (that is, when the sensing distance through the infrared sensor 142 is d) or It is provided to be inclined rearward, and thus the control process (that is, the process of controlling the sensing distance through the infrared sensor 142 to be d) to maintain the standing state of the mobile device 100 is performed even while the mobile device 100 is running. Is done.

In addition, the controller 130 includes a voice recognition unit (not shown) and a microphone 139 to recognize the voice command, thereby recognizing the user's voice and controlling the operation of the mobile apparatus 100.

An operation program of the controller 130 is stored in the storage unit 1310 having a ROM and a RAM.

The mobile device 100 is provided with a display window 150 which is controlled by the control unit 130 and displays the control and operation status of the mobile device 100. A for converting the detection signal of the sensors 141, 142, and 143 is provided. The / D converter 160 is provided.

The mobile device 100 includes a power supply unit 170 for driving the controller 130, the sensors 141, 142, 143, and the motors 112, 122 in the form of a rechargeable battery, and the power supply unit 170. The DC / DC converter 180 is further provided to convert the power of the supply to supply a stable power.

5 is a flowchart illustrating a control method of the mobile apparatus 100 having the components as described above. As shown in the figure, the control method of the moving device 100 is largely divided into a standing step (S110), a standing state maintaining step (S120) and a falling step (S130) of the body portion 101.

First, when the controller 130 receives a standing command through the host 200 or the microphone 139 (S111), the body portion 101 is driven to the driving wheel 111 by driving the pivoting arm 121. To stand in a supported state (S112). At the same time, the controller 130 detects the distance to the ground through the infrared sensor 142 and checks whether the detected distance reaches the predetermined distance d (S113). When the sensing distance reaches the predetermined distance d, the controller 130 controls the pivot arm 121 to return to the original position (S114).

Next, in order to maintain the standing body portion 101 in the standing state, the controller 130 detects the amount of rotation of the body portion 101 through the tilt sensor 141 and the angular velocity sensor 143 (S121). ). The controller 130 rotates the driving wheel 111 reversely from the detected amount of rotation of the body portion 101 to maintain the standing state of the body portion 101 (S122). The controller 130 confirms that the body portion 101 is returned to the standing state from the distance detection of the infrared sensor 142 (S123), and thereafter, until a descending command of the body portion 101 is received from the user (S124). In the case of NO) to maintain the standing state of the body portion 101 to detect the amount of rotation of the body portion 101 (S121), drive wheel rotation control (S122), the body portion 101 through the infrared sensor 142 ) Repeat the standing state detection (S123).

Of course, at the same time performing this process, when there is a driving command of the mobile device 100 from the user, the controller 130 rotates the driving wheel 111 in the state in which the body portion 101 is standing as described above. It is also possible to perform the operation of the mobile device 100 by.

On the other hand, when the control unit 130 receives the lower body 101 command from the user (that is, in the case of YES in S124) to drive and return control the rotating arm unit 121 (S130), Figure 4a to Figure The lower portion of the body portion 101 is made in the reverse order of 4d.

As described above, according to the mobile device and the control method thereof according to the present invention, the rotation arm for standing movement of the body portion, the standing sensor portion for determining the standing state of the body portion, and the rotation sensor for maintaining the standing state of the body portion By the control of the device through the unit, the driving of the mobile device is maintained, the standing state is maintained, and the driving in the standing state is possible. In addition, the mobile device and the control method thereof according to the present invention can be utilized not only for toys, but also as educational materials for robot production.

Claims (8)

In the moving device 100 including a body portion 101 and a drive wheel 111 provided in the body portion 101, A rotation arm part 121 hinged to the body part 101 to drive the body part 101 to stand in a state supported by the driving wheel 111; A standing sensor unit 142 for detecting a standing state of the body unit 101; Rotating sensor parts (141, 143) for detecting the amount of rotation of the body portion 101; And The body is controlled by controlling the rotating arm unit 121 based on the detection signal of the standing sensor unit 142, and controlling the driving wheel 111 based on the detection signals of the rotation sensor units 141 and 143. The mobile device further comprises a control unit (130) for maintaining the standing state of the unit (101). The method of claim 1, The rotation sensor unit 141, 143 is provided in plurality The control unit 130 generates a control signal for controlling the drive wheel 111 in response to the respective detection signal received from each of the rotation sensor unit (141, 143). The method of claim 2, The plurality of rotation sensor units 141 and 143, A plurality of angular velocity sensors 143 for detecting the rotational angular velocity of the body portion 101, a plurality of inclination sensors 141 for detecting the rotational tilt of the body portion 101 or the angular velocity sensor 143 and the Moving device, characterized in that consisting of a combination of the tilt sensor (141). The method of claim 1, The control unit (130) is characterized in that it comprises a wireless communication unit (138) for transmitting and receiving information about the standing and running of the mobile device (100) with the outside. The method of claim 1, The control unit (130) comprises a voice recognition unit for receiving a command regarding the standing and running of the mobile device (100) from the outside. Body portion 101 provided with a driving wheel 111, the rotation arm portion 121 is hingedly coupled to the body portion 101 and a standing sensor for sensing the standing state of the body portion 101 In the control method of the mobile device 100 including a rotating unit 141, 143 for detecting the rotating amount of the portion 142 and the body portion 101, Driving the pivoting arm part 121 to stand in a state in which the body part 101 is supported by the driving wheel 111 until a standing state is detected by the standing sensor part 142; And maintaining the standing state of the body portion 101 by controlling the driving wheel 111 according to the amount of rotation of the body portion 101 detected through the rotation sensor portions 141 and 143. Control method of a mobile device, characterized in that. The method of claim 6, The rotation sensor unit 141, 143 is provided in plurality Maintaining the standing state of the body portion 101, the driving wheel 111 in response to the amount of rotation of the body portion 101 respectively detected through each of the rotation sensor unit (141, 143) Control method of a mobile device, characterized in that for controlling. The method of claim 7, wherein The rotation sensor unit 141, 143 includes an angular velocity sensor 143 and an inclination sensor 141, The amount of rotation of the body portion 101 is based on the rotational angular velocity of the body portion 101 detected from the angular velocity sensor 143 and the rotational tilt of the body portion 101 detected from the tilt sensor 141. Control method of a mobile device, characterized in that calculated.

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