KR101696296B1

KR101696296B1 - Jeong-Nang Block Mobile Robot and Jeong-Nang Block Drone

Info

Publication number: KR101696296B1
Application number: KR1020150075840A
Authority: KR
Inventors: 이문호
Original assignee: 전북대학교산학협력단; 이문호
Priority date: 2015-05-29
Filing date: 2015-05-29
Publication date: 2017-01-16
Also published as: KR20160141208A

Abstract

A pseudoparticle block mobile robot and a presynaptic block drones are provided. A block moving apparatus according to an embodiment of the present invention includes a driving unit for moving or rotating a block moving device, a light emitting unit arranged in a semicircular shape, and a control unit for controlling light emission of the light emitting unit and controlling movement and rotation by the driving unit. Thus, using mobile robots and drones that operate according to the presbyopia communication technique of the ancestors' wisdom, it is possible to induce fun and interest as well as educational effect.

Description

Jeong-Nang Block Mobile Robot and Jeong-Nang Block Drone}

The present invention relates to a parish or toy, and more particularly to a parish or toy in which a plurality of robots or drones operate in combination as a block.

Jeong-gang is a main gate in a traditional house in Jeju Island. It is a pillar placed between large stones or trees (Jung-suk, Jungju-mok) built in the main gate. People in this area could see the landlord's material in the shape of a semicircle. The three seminal vesicles were all over the horizon, "far away", the two were "come back at once" One that does not span means "there is a man."

Seminal vesicles are a type of communication technique in which the wisdom of ancestors is prevailing and function as an information delivery medium.

It is requested to find a way to apply the technique of the sperm which is one of the beautiful cultural heritage of ancestors to toys and dioceses.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a sphygmomanometer block mobile robot which operates by mutually combining blocks, Drones.

According to an aspect of the present invention, there is provided a block moving apparatus including: a driving unit for moving or rotating the block moving apparatus; A light emitting portion arranged in a seminal vesicle type; And a control unit for controlling light emission of the light emitting unit and controlling movement and rotation by the driving unit.

The light emitting unit may include a plurality of horizontally arranged LEDs.

In addition, the control unit may selectively emit the plurality of LEDs to guide a surface on which the other block moving apparatus can closely contact or adjoin.

When the other block moving device is to be in close contact with the other block moving device, the controller may cause the LED, which is a contact surface among the plurality of LEDs, to emit light. It is possible to emit two LEDs including an LED that indicates a surface.

In addition, the controller may not emit light for all of the plurality of LEDs when the other block moving device can not closely contact or adjoin.

The controller may cause the plurality of LEDs to emit light when the block moving device is moving or rotating.

Further, the block moving apparatus according to an embodiment of the present invention may further include a photographing unit photographing another block moving apparatus, wherein the control unit is configured to move, from the light emitting unit of the other block moving apparatus photographed through the photographing unit, It is possible to grasp the surface which is close to or close to the block moving device.

The control unit recognizes the face of the other block moving apparatus to which the block moving apparatus is directed based on the code attached to the other block moving apparatus photographed through the photographing unit, The mobile device may further include a sensor for detecting the proximity or proximity to the other block mobile device.

According to another aspect of the present invention, there is provided a block moving apparatus including a communication unit communicating with a master block moving apparatus, , The ID of the block moving device, and the information of the face of the other block moving device in which the block moving device closely contacts or is adjacent to the master block moving device.

The control unit may control the light emission of the light emitting unit according to a command received from the master block moving apparatus through the communication unit.

Further, the block moving device may be a mobile robot, a drone, or a ship.

According to another aspect of the present invention, there is provided a method of controlling a block mobile device, including moving or rotating the block mobile device; And controlling light emission of the light emitting portion arranged in the seminal vesicle type.

As described above, according to the embodiments of the present invention, it is possible to induce fun and interest, as well as educational effects, by using mobile robots and drones that operate in accordance with the presbyopia communication technique in which the ancestors are wise.

FIGS. 1 to 4 are perspective views schematically illustrating an outer appearance of a sperital bag moving robot according to an embodiment of the present invention;
5 is a table showing the meaning of the LED light emitting state,
6 is a view for explaining the difference between the close contact and the adjacent contact,
FIG. 7 is a top view showing a state in which a plurality of vesicle-block moving robots are in close contact with / adjacent to each other while forming a specific type of aggregate,
Fig. 8 is a view provided in the explanation of the process of forming the aggregate shown in Fig. 7,
FIG. 9 is an internal block diagram of a spermicide block mobile robot according to an embodiment of the present invention.
FIG. 10 is a flowchart illustrating a process of the spericide block mobile robot shown in FIG. 9,
FIG. 11 is a schematic view showing the outer appearance of a seminal fluid block drone according to another embodiment of the present invention, and FIG.
12 is a diagram provided in the description of interference alignment.

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

FIG. 1 is a perspective view schematically illustrating an outer appearance of a sperital bag moving robot according to an embodiment of the present invention. The present invention includes a head-unit 110, a body-unit 120, an arm-unit 130, and a leg-unit 140. The head-

The sphygmomanometer-based block mobile robot according to an embodiment of the present invention can be moved in all directions by bipedal walking using the leg-unit 140. If necessary, the leg-unit 140 can be replaced with a wheel, a caterpillar or the like.

The head unit 110 is provided with three ring-shaped R-LEDs 210-R, Y-LEDs 210-Y and G-LEDs 210-G horizontally arranged as a seminal vesicle type. The three LEDs 210-R, 210-Y, and 210-G are individually driven.

That is, only one of the LEDs 210-R, 210-Y, and 210-G may emit light, or only two of the three LEDs 210 -R, 210 -Y, and 210 -G may emit light It may emit light or none at all.

FIG. 1 shows a state in which all the LEDs 210-R, 210-Y, and 210-G are lit, FIG. 2 shows a state in which only the LED-R 210 -R is lit, Only the LED-R 210-R and the LED-Y 210-Y are illuminated. In FIG. 4, the LEDs 210 -R, 210 -Y, and 210- Respectively.

In addition, since the LEDs 210-R, 210-Y, and 210-G are ring-shaped, they can be observed from any direction of the FP mobile robot. That is, the light emitting states of the LEDs 210-R, 210 -Y, and 210 -G can be observed on the front, left, right, and rear surfaces of the FP mobile robot.

The Nebulae block mobile robot according to an embodiment of the present invention may be moved to and close to or adjacent to another Nebulae block mobile robot. In addition, another sphygmomanometer block mobile robot according to an embodiment of the present invention may closely contact or adjoin to another sphygmomanometer block mobile robot.

The light emitting states of the LEDs 210-R, 210-Y, and 210-G are used to guide a surface of another spermatic block-moving robot that can be closely contacted or adjoined to the spermatic block-moving robot according to an embodiment of the present invention .

Specifically, as shown in the table of FIG. 5, another RNBM can be closely contacted to the left side of the RN-TB (RN-LED) 210-R. In other words, the other spermicidal block-moving robot can bring its front surface into close contact with the left side of the RBT robot 210 that emits only the R-LED 210-R.

In addition, another slave stationary block mobile robot can be attached to the right side of the spericide block mobile robot having only the Y-LED 210-Y emitted therefrom, and another spermicidal block mobile robot having only the G-LED 210- The block mobile robot can be closely contacted.

5, another remote control mobile robot may be adjacent to the left side of the spericide block mobile robot in which only the R-LED 210-R and the Y-LED 210-Y emit light. Neighborhood refers to a state of being located slightly apart from close contact. That is, the other spermicide block mobile robot can make its front side adjoin the left side of the RBT robot 210 with only the R-LED 210-R and the Y-LED 210-Y.

6 shows the state in which the two spermatic block-moving robots are in close contact with each other while looking from above, and the two spermatic block-moving robots on the right side of FIG.

LEDs 210-G and R-LEDs 210-G are illuminated. In addition, a Ganglion-like block mobile robot can be adjacent to the right side of the SPC, The other part of the presynthesis block-moving robot may be adjacent to the rear part of the presynthesis block-moving robot.

The light emitting states of the LEDs 210-R, 210-Y, and 210-G may be changed as the other spericidal block mobile robots are closely contacted / adjoined.

For example, in the case of a normal-bag block-moving robot in which another ridge-bag-moving robot must closely contact the left side and another ridge-scanning robot must be adjacent to the right side, only the R-LED 210- Thereby inducing the mobile robot to come into close contact with its left side.

When the other spermicidal block-moving robot is brought into close contact with the left side surface, the Y-LED 210-Y and the G-LED 210-G only emit light, and the other spericide block- To be adjacent to the right side.

As shown in the table shown in FIG. 5, another slave stationary block mobile robot may not be closely contacted or adjoined to a spericide block mobile robot in which none of the LEDs 210-R, 210-Y, and 210-G emits light. This is because the spermicidal block-moving robot is in a state where the arrangement of the peripheral block-moving robot is completed.

In addition, another slave stationary block-moving robot can not be closely contacted or adjoined to the spermicidal block-moving robot in which all of the LEDs 210-R, 210-Y, and 210-G emit light. This is because the sphincter-block mobile robot is closely attached to or moved adjacent to the other sphincter-block mobile robot.

FIG. 7 is a top view showing a state in which a plurality of vagial bag moving robots move in close contact with / adjacent to each other to form a specific type of aggregate. In FIG. 7, a plurality of presynaptic block-moving robots exemplify the implementation of a puppy shape, but it goes without saying that it is also possible to implement other shapes.

As shown in FIG. 7, in order to form a special shape with a plurality of vestibule block-moving robots, one of the plurality of vestibule block-moving robots must function as a master to control the light-emitting states of the other vestibule block-moving robots.

Specifically, the master slave stationary block moving robot generates or holds a layout map for arranging the presbytery block mobile robots according to a shape commanded by the user, and when the user's command is given, it seats at the top of the leftmost line on the layout map (Fig. 8 (a)).

Next, the master rectangles block mobile robot sequentially changes the light emitting states so that the right and left side surface locomotive robots closely contact each other, thereby completing the form shown in FIG. 8 (b).

Then, the master rectus capsule block robot controls the light emitting states of the ridge-scanning robot moving in close contact with the right and left sides thereof, thereby completing the form shown in FIG. 8 (c).

Thus, the master spericide block mobile robot has another regular spericide block mobile robot attached to the right side of the other spericidal block mobile robot closely attached to its right side, and another spermatic block moving robot closely attached to its rear side, It is recognized that the block mobile robot is in close contact.

Then, the master rectangles block mobile robot controls the light emitting states of the other spermicidal block mobile robots newly adhered to each other according to the arrangement chart, so that the spericide block mobile robot is closely attached to the surroundings, To be completed.

In this way, the master nerve block mobile robot completes the shape according to the layout.

Again, this will be described in detail with reference to Fig. The body unit 120 supporting the head-unit 110 is equipped with QR codes 150-F and 150-L, and a camera 220 and a proximity sensor 260 are provided.

The QR codes 150-F and 150-L are attached to all four sides of the body-unit 120, and information about the IDs of the presynaptic block mobile robot and corresponding faces (front face, left face, right face, and rear face) It is recorded. This is for the purpose of making it possible to grasp to which side of the spericide block mobile robot other spermicidal block moving robots are in close contact with / adjacent to each other.

The camera 220 is used to grasp the light emitting states of the other presynaptic block mobile robots and to read the QR codes.

The proximity sensor 260-F is used to closely adhere to or detect proximity to another presbyopic block moving robot.

FIG. 9 is an internal block diagram of a nerve block moving robot according to an embodiment of the present invention. 9, the NBP according to the embodiment of the present invention includes LEDs 210-R, Y and G, a camera 220, a processor 230, a driving unit 240, a communication unit 250 and a proximity sensor 260.

The LEDs 210-R, Y, and G emit light individually under the control of the processor 230. The camera 220 photographs the forward part of the seminal block moving robot and transmits the photographed image to the processor 230.

The processor 230 recognizes the LED emission state of the other presynaptic block mobile robot located at the front from the image photographed by the camera 220 and recognizes the QR code.

The processor 230 controls the driving unit 240 to move the presynthesis block moving robot and communicate with the master rectus capsule moving robot through the communication unit 250. The processor 230 controls the emission of the LEDs 210-R, Y, and G by the command of the master rectus capsule moving robot.

The proximity sensor 260 is a means for sensing the distance to the frontal cortical block mobile robot located at the front side. The proximity sensor 260 detects whether the proximity sensor 260 is in close contact with the presbyopic block mobile robot located in front of the proximity sensor 260, .

FIG. 10 is a flowchart illustrating a process of the PR bag moving robot shown in FIG. 10 is a flowchart showing the operation of a non-master stationary block mobile robot. The operation of the master stationary bag-moving robot has been described with reference to FIG.

10, the processor 230 of the vestibule block mobile robot emits all of the LEDs 210-R, Y, and G to notify the peripheral vestibule block-moving robots that they are moving (S310) . The purpose of this study is to prevent the peripheral plexus block moving robots from being close to or close to themselves.

Next, the processor 230 controls the driving unit 240 to move / rotate the spermatic block moving robot, and the camera 220 grasps the light emitting states of the surrounding peripheral spericidal block moving robots in step S320.

In step S320, the processor 230 recognizes the QR code by the camera 220 and finds a presbyopia block mobile robot that requests the proximity of the presbyopia block mobile robot (S340).

The processor 230 controls the driving unit 240 while sensing with the proximity sensor 260 to closely contact / adjoin the peripheral rectus capsule -binding robot (S360).

Next, the processor 230 transmits information on its close / adjacent face to / from its neighboring regular presbytery block mobile robot and its ID to the master prescreen block mobile robot through the communication unit 250 (S370).

Meanwhile, the processor 230 controls the light emission of the LEDs 210-R, Y, and G according to the LED light emission command received from the master rectus capsule moving robot through the communication unit 250 (S380).

Up to now, a preferred embodiment of the presbyopia block mobile robot has been described in detail. The robot corresponds to an example to which the present invention is applicable.

Needless to say, the technical idea of the present invention can also be applied to the case of implementing a drones or a ship. 11 is a view showing the outer appearance of a seminal fluid block drone according to another embodiment of the present invention.

As shown in FIG. 11, LEDs functioning as color semicircles are provided on the upper part of the seminiferous block drones according to another embodiment of the present invention.

12 is a diagram provided in the description of interference alignment. It is an optimum method to make the interference signal orthogonal to a desired signal as shown in FIG. If you can not do that, the next best thing is to align the interferences with each other and keep them together. The spermatic block moving robot and the drone according to the embodiment of the present invention can perform the interference alignment using the sperm-type display device.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the present invention.

210-R, Y, G: LED
220: camera
230: Processor
240:
250:
260: proximity sensor

Claims

In the block moving device,
A driving unit for moving or rotating the block moving device;
A light emitting portion arranged in a seminal vesicle type;
And a control unit for controlling light emission of the light emitting unit and controlling movement and rotation by the driving unit,
Wherein,
And controls the light emission of the light emitting unit to guide the surface on which the other block moving apparatus can closely contact or adjoin.

The method according to claim 1,
The light-
And a plurality of horizontally arranged LEDs.

The method of claim 2,
Wherein,
And selectively emit the plurality of LEDs to guide a surface on which the other block moving device can be closely contacted or adjoined.

The method of claim 3,
Wherein,
Wherein when the other block moving device is to be in close contact with the other block moving device,
And when the other block movement device is adjacent to the other block movement device, two LEDs including an LED representing an adjacent surface among the plurality of LEDs are emitted.

The method of claim 3,
Wherein,
Wherein the plurality of LEDs do not emit light when the other block moving device can not be in close contact with or adjacent to each other.

The method of claim 2,
Wherein,
And when the block moving device is moving or rotating, causes the plurality of LEDs to emit light.

The method according to claim 1,
And a photographing unit photographing another block moving device,
Wherein,
Wherein the control unit grasps a surface that is close to or close to the other block moving apparatus from the light emitting unit of the other block moving apparatus photographed through the photographing unit.

The method of claim 7,
Wherein,
A face of the another block moving apparatus to which the block moving apparatus is directed based on a code attached to the other block moving apparatus photographed through the photographing section,
Further comprising: a sensor for sensing the proximity or proximity to the other block moving device.

The method of claim 8,
And a communication unit for communicating with the master block mobile device,
Wherein,
An ID of the other block moving apparatus included in the code attached to the other block moving apparatus, an ID of the block moving apparatus, information on the surface of the other block moving apparatus in which the block moving apparatus is closely contacted or adjacent, To the master block mobile device.

The method of claim 9,
Wherein,
And controls light emission of the light emitting unit according to a command received from the master block mobile device through the communication unit.

The method according to claim 1,
Wherein the block moving device comprises:
Wherein the robot is a mobile robot, a drone, or a ship.

A method for controlling a block mobile device,
Moving or rotating the block moving device; And
Controlling the light emission of the light emitting portion arranged in the seminal vesicle type,
Wherein the control step comprises:
And controls the light emission of the light emitting unit to guide the surface on which the other block moving apparatus can closely contact or adjoin.