KR102097164B1 - Assist device for programmable motion blocks - Google Patents

Abstract

The present invention relates to a device for supporting a programmable motion block, and according to the present invention, it operates according to motion data or, when an external force is applied, saves motion data and works with a motion block that can be reproduced to block ID and group information. And it is possible to automatically set the operation data, such as beginners and toddlers can effectively learn.

Description

Assist device for programmable motion blocks

The present invention relates to a support device for a programmable motion block, and more specifically, to a technique for guiding assembly or operation in the form of a booklet, and simultaneously transmitting motion data for the guide to the motion block to demonstrate. It is about.

A robot is a machine that automatically handles or works on a given task by its own ability in a comprehensive sense. The size, shape, and operation method of the robot are very diverse, and the use area for military, industrial, and toy applications is also expanding.

Typically, existing robots perform operations in response to a user inputting an operation command or a pre-programmed command. However, the user's will cannot be reflected when operating according to the programmed command. Therefore, a user without program knowledge cannot set the operation.

To this end, the inventor of the present invention assembled a plurality of module blocks such as patent application No. 10-2017-0126489 (filed on September 28, 2017. 'Modular robot programmable by hand', hereinafter referred to as 'prior patent') After that, when a user causes an operation by applying an external force, a technique has been proposed in which the operation can be stored and reproduced. Therefore, the user only needs to generate a motion by hand as he wants to operate after assembling the block, so the motion data is stored as it is, so an motion program is possible even without expert programming knowledge.

However, in the case of a young infant, even if the module blocks according to the prior patent are prepared, there is a possibility of not knowing how to assemble them and how to operate them. For this, it is desirable to distribute the guidebook together when the product is released.

However, even if you look at a booklet-shaped guide, the process of grouping for interlocking operation of multiple blocks or setting unique IDs of individual blocks may be difficult. In addition, even if a specific type of robot is completed through a tutorial, it may not be able to operate properly. For example, there may be an optimal stride or center movement process for walking a walking robot normally. However, if a motion is input by hand with reference only to a tutorial, it may not be able to properly input a smooth stride or center movement process.

The present invention has been devised to solve the problems of the prior art as described above, block ID, group in conjunction with a motion block that can operate according to motion data or store and replay motion data when external force is applied. The aim is to provide a support device that can automatically set information and operation data.

Apparatus for supporting a programmable motion block according to the present invention for achieving the above object is a bookcase assembly and operation method is printed; Bookshelf recognition means for recognizing the opened pages of the bookshelf; Storage means for storing data sets for each bookshelf; Control means for extracting a data set corresponding to a page recognized through the bookshelf recognition means; And communication means for transmitting the data set extracted from the control means to the motion block side.

Here, the data set may include one or more of a block ID for identifying each block, group information for grouping a plurality of blocks, and operation data for controlling the operation of each block.

In addition, the control means may match the data set received from the motion block through the communication means to the recognized bookshelf and store it in the storage means.

The apparatus for supporting a programmable motion block according to the present invention is capable of transmitting motion data linked to the description to the motion block side in addition to a description in the form of a picture or a guide, even if the user does not perform a manual operation smoothly. The initial demonstration can be visually confirmed through the operation data downloaded from the device. Therefore, even beginners and young children can smoothly assemble toys and robots using motion blocks and play motion.

In addition, since user-driven motion data can be uploaded to a support device, other users may use more advanced motion data in the future, so that the manual can be updated by the learner.

1 is a perspective view for explaining a robot that has been assembled using a support device for a programmable motion block and a motion block interworked therewith according to an embodiment of the present invention.
Figure 2 is a block diagram of the support device and motion block shown in Figure 1;
3 and 4 are flow charts for explaining the operation of the support device and the motion block shown in Figures 1 and 2;

Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings, but some configurations irrelevant to the subject matter of the invention will be omitted or compressed, but the omitted configuration is not necessarily a configuration not necessary in the present invention. It can be used in combination by those of ordinary skill in the art.

1 is a perspective view for explaining a robot that has been assembled by using a support device for a programmable motion block and a motion block interworked therewith according to an embodiment of the present invention, and FIG. 2 is a support device and motion shown in FIG. It is a block diagram of a block. 1 and 2, the apparatus 10 for supporting a programmable motion block according to an embodiment of the present invention includes a bookshelf 11 and a main body 12.

In the bookcase 11, a guide picture or a phrase such as a robot assembly method or an operation method is printed, and may be composed of a plurality of pages that can be opened.

The main body 12 is provided to recognize the opened page of the bookshelf 11 and provide motion data for the page to the motion block 20 side. The main body 12 includes a bookcase recognition means 13, a control means 14, a storage means 15, a communication means 16, a key input means 17, a screen output means 18 and a voice output means (19) ).

The bookcase recognition means 13 is provided to recognize the opened pages of the bookcase 11. As the page recognition method of the bookshelf recognition means 13, a physical method of recognizing a specific part of the bookshelf 11, a scan method of recognizing a specific mark printed on the bookshelf 11, a method using short-range wireless communication, etc. This can be applied in various ways.

The control means 14 extracts a data set corresponding to the page recognized through the bookshelf recognition means 13 from the storage means 15, and extracts the data set according to a user command through the communication means 16 in a motion block It is provided for transmission processing to the (20) side. In addition, the control means 14 may match the data set received from the motion block 20 through the communication means 16 to the currently recognized bookshelf 11 information and store it in the storage means 15. In addition, the control means 14 received a data set from an external terminal (computer, smartphone, tablet PC, etc.) connected through the communication means 16, or received from the motion block 20 and stored in the storage means 15 The data set may be transmitted to an external terminal.

The storage means 15 is provided to store a data set for operating the motion block 20. A plurality of sets of data sets stored in the storage means 15 are matched to each page information of the bookshelf 11. In addition, the data set stored in the storage means 15 is a block ID for identifying each motion block 20, group information for grouping a plurality of motion blocks 20, and controlling the operation of each motion block 20 It may include one or more of the operation data.

The communication means 16 is provided to connect the communication channel with the motion block 20 or an external terminal and to transmit and receive data. The communication means 16 is connected by a short-range wireless communication method such as Bluetooth, RFID, Zigbee, and the like to transmit and receive data, or is provided with a separate connector (not shown) and connected to the motion block 20 or an external terminal by wire. It is also possible to transmit and receive. For example, if a connector coupled to the coupler 22 of the motion block 20 is provided outside the main body 12, and the coupler 22 of the motion block 20 also has an electrical connection function, the motion block 20 The communication channel may be connected by wire by inserting the coupler 22 into the connector of the main body 12.

The key input means 17 is provided to receive a user command.

The screen output means 18 is provided for screen output of a guide for the setting process of the data set. The screen output means 18 may be implemented in a normal display form, or may be simply provided with a plurality of LEDs. When a plurality of LEDs are provided, the first LED may emit blue when the block 1 is set, and the third LED may emit red when the block 3 is released.

The voice output means 19 is provided for outputting voice information such as announcements for a data set setting process.

The detailed operation process of the support device 10 will be described again after the description of the motion block 20.

The motion block 20 is a block that is connected to other motion blocks 20 or manual blocks 40 to complete a specific type of robot or toy, but a specific operation is performed according to the application of built-in data or external force. In addition, the motion block 20 measures the physical value generated during the operation process and outputs a sensing value for recording, and converts and stores the history of the sensing value for recording into motion data, so that later stored motion data is output and specified. The operation can be reproduced as it is.

The motion block 20 includes a block body 21, a coupler 22, a command input unit 23, a display lamp 24, an output unit 25, a recording sensor 26, a converter 27, a control unit 28 ), A memory 29 and a communication unit 30.

The block body 21 is provided to form the appearance of the motion block 20 and to mount other components. In addition, a coupler 22 is provided at least one point outside the block body 21. The coupler 22 is provided to be coupled with a neighboring motion block 20 or a passive block 40 or a sensor block (not shown). The shape of the coupler 22 is very diverse and the electrical connection function is also implemented according to the implementation, so that the physical-electrical connection between the neighboring motion block 20 or the sensor block through the coupler 22 can be made together. In addition, a command input unit 23 for receiving a user's command is exposed outside the main body 12.

The display lamp 24 is provided to notify the state change of the motion block 20 by emitting light of a specific color.

The output unit 25 is a configuration in which the physical operation of the motion block 20 is output. For example, the output unit 25 may be a motor that rotates a wheel or a joint, a heater that generates heat, a speaker that generates sound, or a lamp that irradiates light.

When the output unit 25 operates, the recording sensor 26 is provided to measure physical information generated according to an operation, that is, a physical value and output a sensing value for recording accordingly.

For example, when the output unit 25 is a motor that operates a wheel or a joint, the recording sensor 26 may be an encoder sensor, and accordingly, the recording sensor 26 measures the number of revolutions of the motor and accordingly the sensing value for recording. Can output

As another example, when the output unit 25 is a heater that generates heat, the recording sensor 26 may be a temperature sensor, and accordingly, the recording sensor 26 measures the temperature of heat generated by the heater, and records accordingly You can output the sensing value. In addition, when the output unit 25 is a speaker or a lamp, the recording sensor 26 may be a sound pressure sensor or an illuminance sensor, and may output sensing values for recording of volume or illuminance, respectively.

In this embodiment, it is assumed that the output unit 25 is a motor that generates rotational power, and accordingly, the recording sensor 26 will be described as an example of an encoder sensor.

The converter 27 is provided to convert the history of recording sensing values measured by the recording sensor 26 (referring to changes in recording sensing values measured in real time) into motion data. That is, the sensing value for recording measured and output by the recording sensor 26 may be analog information such as a voltage value or a resistance value. However, the sensing value for recording itself cannot be used as a signal for controlling the output unit 25 later. For this purpose, the converter 27 digitally converts the sensing value, which is analog information such as a voltage value or a resistance value, to the output unit ( 25) is converted into operational data such as pulse values that can be controlled.

The control unit 28 stores the operation data for the history of recording sensing values measured by the recording sensor 26 and converted by the converter 27 in the memory 29, or whether the control signal stored in the memory 29 is output. It is prepared to control. In addition, the control unit 28 sets a block ID according to a user command or according to a data set received from the support device 10, or processes grouping and ungrouping with other motion blocks 20 or sensor modules. In addition, the control unit 28 transmits the operation data stored in the memory 29 to the support device 10 through the communication unit 30 by the user applying an external force so that the output unit 25 is operated and measured by the recording sensor 26. Process it.

The memory 29 stores the operation data for the history of recording sensing values output from the recording sensor 26 and converted by the converter 27, or receives the data set received from the support device 10 through the communication unit 30. It is prepared for storage. Here, in the memory 29, operation data to be operated according to various starting standards are separately stored, and for this purpose, operation data stored in the memory 29 is stored in accordance with an operation record number. Here, the operation record number may be generated by the control unit 28 or may be received from another neighboring motion block 20 or a sensor block. In addition, the operation data stored in the memory 29 may be matched and stored together with the operation reference number and start reference information when necessary.

The communication unit 30 is provided to connect a communication channel with a neighboring motion block 20, a support device 10, or a sensor block in connection with the control unit 28 and transmit and receive information. Depending on the implementation, the communication unit 30 may transmit / receive a signal with a neighboring motion block 20 or a support device 10 using a short-range wireless communication method such as Bluetooth, RFID, Zigbee, etc., and the coupler 22 has an electrical connection function. Up to or even if each module is connected by cable, information can be transmitted and received in a wired manner. In addition, the communication unit 30 may support only transmission and reception of information between blocks grouped in advance using group information.

Hereinafter, an operation process of a support device for a programmable motion block according to an embodiment of the present invention will be described with reference to FIGS. 3 and 4.

First, FIG. 3 relates to a process of transmitting and setting a data set stored in the support device 10 to the motion block 20. To assemble a specific toy or robot, the user opens a specific page on the bookshelf 11 of the support device 10. On this page, there are pictures or guides to assemble and operate a specific toy or robot. When a specific page is opened, the control means 14 recognizes which page is opened through the bookshelf recognition means 13 (S305).

Thereafter, the control means 14 extracts the data set for the corresponding page stored in the storage means 15 and matches the page information <S310>, and sets it through the screen output means 18 or the audio output means 19 Guide <S315>. For example, the control means 14 may guide, through the screen output means 18 or the voice output means 19, 'press the setting button after inserting the motion block 20 into the main body 12'.

When the user inserts the coupler 22 of the specific motion block 20 into the connector (not shown) provided in the main body 12 according to the setting guide, the communication means 16 of the support device 10 and the motion block 20 The communication unit 30 connects the communication channel <S320>. Thereafter, the control means 14 may re-display the announcement 'Please press the set button', and accordingly, when the user presses the set button through the key input means 17 provided in the main body 12, <S325> , The control means 14 transmits the data set extracted from the storage means 15 to the motion block 20 side through the communication means 16, and receives the data set from the communication unit 30 of the motion block 20 The setting is completed by the control unit 28 storing it in the memory 29 <S330>.

Accordingly, the block ID, group information, and operation data corresponding to the page unfolded on the support device 10 are set in the motion block 20 inserted in the main body 12.

If there are a plurality of motion blocks 20 to be used when assembling the printed toy or robot on the page, the above process is repeated. At this time, the block IDs set in the plurality of motion blocks 20 are set differently, but the group information is set identically because they are applied to the same toy or robot. Of course, since each motion block 20 may have different motions, motion data is set differently for each block ID.

On the other hand, when the main body 12 and the motion block 20 perform short-range wireless communication, the control means 14 may press the button of the 'motion block 20' through the screen output means 18 or the voice output means 19. 'Press for 2 seconds' can be output <S315>, and the user presses the button for 2 seconds through the command input unit 23 of the motion block 20, so that the communication means 16 of the support device 10 And the communication unit 30 of the motion block 20 wirelessly connects the communication channel <S320>, then presses the set button of the key input means 17 of the main body 12, and <S325>, wirelessly blocks the motion block The dataset is transferred to and stored in the memory 29 <S330>.

After completing the assembly and data setting process for the plurality of motion blocks 20 and the manual block 40 by repeating the above-described process, the user performs a demonstration command through the command input unit 23 provided in the motion block 20. When is input, each motion block 20 performs an operation according to the operation data stored in the memory 29.

For example, in the case of a walking robot, motions such as forward, backward, and side walking may be demonstrated. Of course, the motion block 20 applied in the present invention digitally records the sensing value history for recording after the recording sensor 26 recognizes the operation of the output unit 25 when the user applies an external force to perform the operation. It is a product that can convert and store the operation data in the memory 29 and reproduce it as it is through the start command of the command input unit 23.

However, in the case of infants and young children, the initial demonstration may not be performed properly. For normal walking, for example, the robots must walk with an 8 cm stride length, but in the case of an inexperienced person, an initial motion input may be performed so that a 3 cm stride is achieved, and thus, the completed robot may not operate properly.

Therefore, as described above, if the support device 10 and the motion block 20 connect a communication channel, and the motion data for the robot is transmitted and stored in the motion block 20, the robot supports the device 10 It is possible to initially demonstrate the desired operation according to the operation data received from. Therefore, it is possible to visually check how the user operates normally, and then, if the user applies the external force directly to operate the robot, more efficient learning can be achieved.

4, the user directly assembled the motion block 20 and the manual block 40 to complete the toy or robot, and when specific motion data was stored by applying external force, the corresponding motion data is uploaded to the support device 10. It is a flow chart to explain the process.

First, the user completes a toy or a robot by assembling one or more motion blocks 20 and a manual block 40, and manually performs a grouping operation between the assembled motion blocks 20 <S405>. The grouping method may be performed, for example, by simultaneously pressing buttons provided on the respective motion blocks 20. Of course, the grouping operation and the block ID setting operation may be performed by connecting each motion block 20 with the support device 10 and a communication channel in the manner described above.

Thereafter, the user operates the robot by hand so that the motion block 20 operates <S410>. For example, in the case of a walking robot, it can be moved by hand to walk backwards or forwards. When the toy or the robot operates according to the user's manual operation, the output unit 25 of the motion block 20 is operated, and the recording sensor 26 outputs a sensing value for recording <S415>. Thereafter, the converter 27 digitally converts the history of sensing values for recording output from the recording sensor 26 and converts it into motion data <S420>, and the controller 28 stores the converted motion data in the memory 29 < S425>.

Thereafter, an upload menu is set through the key input means 17 of the support device 10, and according to the guidance of the screen output means 18 or the audio output means 19, between the support device 10 and the motion block 20 After the communication channel is connected, when a user command input of the key input means 17 of the support device 10 or the command input unit 23 of the motion block 20 is performed, the operation data stored in the memory 29 is supported by the support device ( 10), the control means 14 stores the operation data in the storage means 15. At this time, the control means 14 matches and stores the corresponding operation data with the page information recognized by the bookshelf recognition means 13.

In addition, the data transmitted from the motion block 20 to the support device 10 may be a data set that further includes block ID or group information as well as motion data.

The data set stored in the support device 10 may be transmitted to the motion block 20 when assembling a toy or robot guided on a corresponding page later, and used as data showing an initial demonstration.

For example, in the support device 10, an initial dataset was constructed to allow the robot to walk with an 8cm step stride, but as a result of the user's direct operation, it was confirmed that normal walking is possible even with a step length of 10cm step. If the motion data is to be stored in the support device 10, when another user completes the robot of the page and sets the data set in the motion block 20 for the initial demonstration, a step stride is performed at intervals of 10 cm.

Meanwhile, as described above, the motion blocks 20 may be operated in response to a specific sensor value in connection with sensor blocks. Therefore, the data set transmitted from the support device 10 to the motion block 20 or the data set transmitted from the motion block 20 to the support device 10 further includes motion data as well as sensor data that is the basis of motion. It may include.

As described in detail above, the support device 10 of the programmable motion block according to the embodiment of the present invention transmits motion data linked to the description to the motion block 20 in addition to the description in the form of a picture or a guide. Since the user can not perform the manual operation smoothly, the initial demonstration can be visually confirmed through the operation data downloaded from the support device 10. Therefore, even beginners and toddlers can smoothly assemble a toy or robot using the motion block 20 and reproduce motions.

In addition, since user-driven motion data can be uploaded to the support device 10, other users may use more advanced motion data in the future, so that the manual can be updated by the learner.

The above-described preferred embodiments of the present invention are disclosed for the purpose of illustration, and those skilled in the art having ordinary knowledge of the present invention will be able to make various modifications, changes and additions within the spirit and scope of the present invention. And additions should be considered to fall within the scope of the claims of the present invention.

10: Support device
11: bookshelf
12: main body
13: bookshelf recognition means
14: control means
15: storage means
16: Communication means
17: key input means
18: screen output means
19: audio output means
20: motion block
21: block body
22: coupler
23: command input unit
24: indicator lamp
25: output unit
26: recording sensor
27: converter
28: control unit
29: memory
30: communication unit
40: manual block

Claims (3)

Bookshelf with assembly and operation method printed;
Bookshelf recognition means for recognizing the opened pages of the bookshelf;
Storage means for storing data sets for each bookshelf;
Control means for extracting a data set corresponding to a page recognized through the bookshelf recognition means; And
Includes; communication means for transmitting the data set extracted from the control means to the motion block side,
The data set includes a block ID for identifying each motion block, group information for grouping a plurality of motion blocks, and motion data for controlling the motion of each motion block, so that only information between grouped motion blocks can be transmitted and received. Programmable motion block support device, characterized in that.
delete According to claim 1,
The control means is a device for supporting a programmable motion block, characterized in that the data set received from the motion block through the communication means is matched to the recognized bookshelf and stored in the storage means.

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