KR102251459B1 - Intelligent robot - Google Patents

Abstract

The present invention relates to an intelligent robot, and it relates to an intelligent robot capable of performing coding in a manner desired by a user by mounting an Arduino, and capable of performing software coding education suitable for each class of elementary school, junior high school, and high school. . An intelligent robot according to an embodiment of the present invention may include a case in which an Arduino control board is mounted to drive the intelligent robot and a control system and a control system are provided. In addition, the case may include a case body, an upper case, a port frame, a front mounting plate, an Arduino cradle, an upper protective plate, and a sensor cradle. The upper case covers the upper end of the case body. In addition, the port frame may be configured to be equipped with a USB port that enables seamless connection with a computer and an external electronic device. The front mounting plate is configured to mount a sensor unit, a motor drive, and a display unit. The Arduino cradle is detachable through an assembly-type fitting method on the upper end of the case body, and is configured to mount an Arduino control board. The upper protective plate may be detachably attached to the center of the upper case, and includes a socket hole for mounting a socket portion and a display hole for mounting a display portion. In addition, the sensor cradle is configured to be detachable and attachable to the front portion of the case body and to mount a sensor unit.

Description

Intelligent robot

The present invention relates to an intelligent robot, and it relates to an intelligent robot capable of performing coding in a manner desired by a user by mounting an Arduino, and capable of performing software coding education suitable for each class of elementary school, junior high school, and high school. .

Currently, the domestic curriculum is based on the revised curriculum in 2015, and software education has been implemented as a regular subject for elementary schools in 2019 and for middle schools in 2018. In the case of elementary school students, software education is being reinforced with the basic knowledge of software included in the practical subject, and the information subject in the middle school is organized as mandatory. In the case of high school, information subjects, which were intensified elective subjects, are being converted to general elective subjects, and the appearance of revitalizing software education is seen.

Currently, the government is providing software job training to 60,000 people, 30% of all elementary school teachers, by 2018, of which 6,000 are nurturing professional manpower through in-depth training. However, there is no integrated platform for SW education using robots, and it is time to cultivate creative talents through educational robots. Furthermore, it is necessary to develop intelligent robots for coding education in order to cultivate robot software developers and activate the robot education market.

The conventional mobile intelligent robot CRX10 has been promoted in many fields of robot education, but development has been proceeded by setting specialized high school and university research institutes as major customers and customers, so the unit price is higher than that of general educational robots, and the coding software supported is also It is set to C language AVR programming, which is difficult to apply to elementary and junior high schools. Currently, software coding education based on Arduino is being actively conducted, and the CRX10 has limitations in education in that it is not based on Arduino.

Meanwhile, ARDUINO is a board composed of AVR-based microcontrollers and related development tools and environments. Arduino provides an integrated development environment (IDE) so you can easily operate the microcontroller. Conventional AVR programming has to go through a cumbersome process from coding to uploading, but Arduino can easily upload the compiled firmware through USB. In addition, it is relatively inexpensive compared to other modules and operates in a variety of OSs, and board circuit diagrams are open to facilitate modification and addition.

The Arduino board consists of Atmel's AVR microcontroller and accessories that easily connect the circuit. Currently, boards equipped with various MCUs have been released, and representatively, Arduino Uno, Arduino Mega, and Arduino Nano. Depending on the size and performance, the appropriate board can be used to perform a variety of tasks. In addition, an additional board called a shield can be installed. The shield is a board with a specific function, so you can easily control additional modules by connecting it to Arduino without making complicated circuits.

Arduino's integrated development environment consists of an editor, compiler, and upload, and manages various examples, basic libraries, and external public libraries. The open library helps you to use the module easily without complicated programming and basic knowledge. The internal module, which is the basic battle of Arduino, is the same as the basic AVR. In addition, Arduino has digital input/output, hardware serial communication, SPI communication, I2C communication, timer function (PWM), and analog input functions.

Korean Patent Registration No. 10-1183452 (announced on September 17, 2012)

Therefore, the technical problem to be achieved by the present invention is to solve the conventional shortcomings, and it is possible to perform Arduino and scratch education for each class of elementary school, junior high school and high school, and to software coding education of elementary school, junior high school and high school. The purpose is to develop educational robots at the level appropriate for each class so that they can be applied. In addition, the purpose is to reduce the cost of product development by utilizing the mold of the conventional product.

The intelligent robot according to an embodiment of the present invention for achieving such a technical problem may include a case in which an Arduino control board is mounted to drive the intelligent robot and a control system and a control system are provided. In addition, the control system may include an Arduino control board, a processor unit, a motor driving unit, a sensor unit, a power supply unit, a communication unit, a display unit, a coding input unit, and a socket unit.

The motor driving unit includes a motor drive, at least one motor and a wheel, and receives a driving signal from the processor unit to control the motor and adjust the rotational force of the wheel. In addition, the sensor unit may be installed on the front side of the intelligent robot to detect lines and obstacles, and measure a distance to the obstacle.

The power supply unit may supply power to the intelligent robot, detect charging and discharging states of the battery, and display charging state information on the display unit. The communication unit may transmit and receive signals with an external terminal. The display unit displays signals and information processed by the processor unit.

The coding input unit may input software (SW) coding information written by a user. The processor unit may control the motor driving unit, the sensor unit, the communication unit, and the display unit, and may drive the intelligent robot according to the coding input through the coding input unit.

In addition, the case may include a case body, an upper case, a port frame, a front mounting plate, an Arduino cradle, an upper protective plate, and a sensor cradle. The upper case covers the upper end of the case body. In addition, the port frame may be configured to be equipped with a USB port that enables seamless connection with a computer and an external electronic device.

The front mounting plate is configured to mount a sensor unit, a motor drive, and a display unit. The Arduino cradle is detachable through an assembly-type fitting method on the upper end of the case body, and is configured to mount an Arduino control board. The upper protective plate may be detachably attached to the center of the upper case, and includes a socket hole for mounting a socket portion and a display hole for mounting a display portion. In addition, the sensor cradle is configured to be detachable and attachable to the front portion of the case body, and to mount a sensor unit.

As described above, the intelligent robot according to the present invention is capable of performing Arduino and scratch education for each class of elementary school, junior high school, and high school, and software coding education at a level suitable for each class of elementary school, junior high school, and high school. It has the effect of revitalizing software coding education by applying it to. In addition, there is an effect of reducing the cost of product development by using the mold of the conventional product.

1 is a conceptual diagram of an intelligent robot according to an embodiment of the present invention.
2 is a block diagram of an intelligent robot according to an embodiment of the present invention.
3 is an assembly diagram of an intelligent robot according to an embodiment of the present invention.
4 is a view showing a case body according to an embodiment of the present invention.
5 is a diagram illustrating a port frame according to an embodiment of the present invention.
6 is a view showing a front mounting plate according to an embodiment of the present invention.
7 is a view showing an Arduino cradle according to an embodiment of the present invention.
8 is a view showing an upper protection plate according to an embodiment of the present invention.
9 is a view showing a sensor cradle according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and similar reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary. In addition, terms such as "...unit", "...group", and "...module" described in the specification mean a unit that processes at least one function or operation, which is implemented by hardware or software, or a combination of hardware and software. Can be.

Hereinafter, the present invention will be described in detail by describing a preferred embodiment of the present invention with reference to the accompanying drawings.

The same reference numerals shown in each drawing indicate the same members.

1 is a conceptual diagram of an intelligent robot 1 according to an embodiment of the present invention, and FIG. 2 is a configuration diagram of an intelligent robot 1 according to an embodiment of the present invention. The intelligent robot 1 according to an embodiment of the present invention includes a case 20 equipped with a control system 10 and a control system 10 equipped with an Arduino control board 110 to drive the intelligent robot 1. Can be done.

In addition, the control system 10 includes an Arduino control board 110, a processor unit 120, a motor driving unit 130, a sensor unit 140, a power supply unit 150, a communication unit 160, a display unit 170, and It may include a coding input unit 180 and a socket unit 190.

In addition, a shield board 111 is mounted on the Arduino control board 110 so that it is possible to install a module that implements additional functions. That is, a passive buzzer may be installed on the shield board 111 to output a frequency, and a musical instrument may be implemented by outputting a frequency corresponding to a musical scale. Here, it is also possible to play a touch-type piano of 12 notes, that is, 1 octave through the app of the smartphone 2.

In addition, the motor driving unit 130 may include a motor drive 131, at least one motor 132 and a wheel 133. The motor drive 131 receives a driving signal from the processor unit 120 and controls the motor 132 to adjust the rotational force of the wheel 133.

Here, it is preferable to install two motors 132. In addition, an encoder geared may be used as the motor 132, and a motor drive L298 may be used as the motor drive 131. The encoder can calculate a pulse by receiving two lines as interrupts in its own way.

The motor drive 131 controls two motors 132 to operate independently, and may include a PID control (Proportional Integral Derivation Control) so that the angular speed is constant. For example, the motor drive 131 may output a PWM corresponding to the calculated angular speed every 40 ms so that the intelligent robot 1 may have the same angular speed when proceeding straight.

The user can learn how to control the motor drive 131 through the processor unit 120 to control the speed of the intelligent robot 1 in forward rotation, reverse rotation, and speed control by PWM, and how to calculate the speed by reading the encoder. I can.

The sensor unit 140 may include an infrared sensor module 141, an infrared distance sensor module 142, and a sensor control module 143. The infrared sensor module 141 may include at least one infrared sensor installed on the front side of the case 20 to detect a line. Here, the infrared sensor module 141 according to an embodiment of the present invention may include three infrared sensors located on the front portion of the case 20.

The infrared sensor is composed of a light emitting unit and a light receiving unit to detect infrared rays reflected from an object, and the sensor control module 142 receives a signal detected by the infrared sensor module 141 to obtain a black color according to the amount of infrared rays. You can distinguish white and recognize lines.

In addition, the processor unit 120 may receive line recognition information from the sensor control module 142 and control the intelligent robot 1 to travel forward along the line based on this. That is, when the sensor control module 142 detects a line through the left infrared sensor and transmits the line recognition information to the processor unit 120, the processor unit 120 controls the intelligent robot 1 to travel to the left, When the sensor control module 142 detects a line through an infrared sensor on the right side and transmits line recognition information to the processor unit 120, the processor unit 120 may control the intelligent robot 1 to travel to the right.

In conventional sensors, sensitivity can be adjusted with resistance, but for products without resistance, sensitivity is adjusted by specifying a threshold with an analog input. However, since the sensor and the sensor are not close together, there is a problem in that the resolution for separating the line is low.

In addition, the infrared distance sensor module 142 may measure a distance to the object by using a signal reflected by projecting infrared rays. The infrared distance sensor module 142 may include at least one infrared distance sensor installed on the front side of the case 20 to detect an obstacle and measure a distance to the obstacle. Here, the infrared distance sensor module 142 according to an embodiment of the present invention may include three infrared distance sensors located on the front portion of the case 20. In addition, the infrared distance sensor may be sharp 2Y0A21. The sharp 2Y0A21 may measure the distance to the obstacle by using the voltage difference according to the detection distance.

The sensor control module 142 may receive a signal detected by the infrared distance sensor module 142 to recognize an obstacle, calculate a distance to the obstacle, and transmit the calculated distance to the processor unit 120. In addition, the processor unit 120 may receive obstacle information and distance information from the sensor control module 142 and control the intelligent robot 1 to avoid and bypass the obstacle based on this.

For example, when there is an obstacle in the front, the processor unit 120 controls the intelligent robot 1 to rotate to the left or right after reversing a predetermined distance based on the information input from the sensor control module 142 to avoid the obstacle. I can. In addition, when there is an obstacle on the left or right side of the intelligent robot 1, the processor unit 120 may control to rotate to the opposite side of the obstacle to bypass the obstacle.

The power supply unit 150 may include a battery 151 supplying power to the intelligent robot 1 and a charge/discharge control module 152. Here, the battery 151 may be a rechargeable lithium ion battery. In addition, the battery 151 may be charged using the charge/discharge control module 152. In addition, the charging/discharging control module 152 may detect charging and discharging states of the battery 151 and display charging state information on the display unit 170.

The communication unit 160 may transmit and receive signals with an external terminal. Here, the smartphone 2 may be included in the terminal. In addition, the communication unit 160 may include a BLE 4.0 (Bluetooth 4.0) module 161. That is, the intelligent robot 1 according to an embodiment of the present invention can be controlled wirelessly from a smart phone by utilizing communication between the BLE 4.0 (Bluetooth 4.0) module 161 and the smart phone 2. A command to implement a forward, backward or rotate function can be executed using the smartphone 2.

In addition, the user may display a character string on the display unit 170 and control the backlight by using serial communication between the computer or smart phone 2 and the communication unit 160. In addition, a character transmitted from the smartphone 2 may be displayed on the LCD module 171 through serial communication between the BLE 4.0 (Bluetooth 4.0) module 161 and the smartphone 2.

The display unit 170 may display signals and information processed by the processor unit 120. The display unit 170 may include an LCD module 171 that displays signals and information using an LCD. The LCD module 171 is composed of an LCD that outputs 16 columns and 2 lines, and may be mounted on the upper protection plate 250. The LCD module 171 according to an embodiment of the present invention may output a character string by adding a library implemented in a 12C communication method.

The coding input unit 180 may input software (SW) coding information written by a user. Through this, the intelligent robot 1 can write and perform coding in a manner desired by the user, and can perform software coding education suitable for each class of elementary school, junior high school, and high school. In addition, by modifying the coded code in a way that the user wants, it is possible to perform training to control the intelligent robot 1 with the user's own driving method.

The intelligent robot 1 according to the embodiment of the present invention requires the installation of the Arduino control board 110 and peripheral devices in order to implement various functions using the Arduino control board 110. Accordingly, frames may be configured for installation of the Arduino control board 110 and peripheral devices, and may be attached to and detached from the case body 200 or the upper case 210.

3 is an assembly diagram of an intelligent robot 1 according to an embodiment of the present invention. The case 20 of the intelligent robot 1 according to an embodiment of the present invention includes a case body 200, an upper case 210, a port frame 220, a front mounting plate 230, and an Arduino cradle 240. , It may include an upper protective plate 250 and a sensor holder 260. In addition, the port frame 220, the front mounting plate 230, the Arduino cradle 240, the upper protective plate 250, and the sensor cradle 260 are composed of a frame, so that the case body 200 or the top case Detachable to 210.

4 is a view showing a case body 200 according to an embodiment of the present invention, and FIG. 5 is a view showing a port frame 220 according to an embodiment of the present invention.

A D-sub type connection terminal is installed at the rear of the conventional case body 200. However, in the case of the D-sub type, it is difficult to connect seamlessly with computers and other electronic devices because the method is not widely used. Therefore, it is preferable to apply the intelligent robot 1 according to an embodiment of the present invention as a B-Type USB capable of seamless connection with computers and other electronic devices.

As shown in FIG. 4, in the case of the B-Type USB, it is difficult to apply because the shape does not match the rear of the case body 200. Accordingly, it is possible to implement a port frame 220 that is detachable to the rear of the case body 200 and capable of mounting the B-Type USB, and install the B-Type USB to the port frame 220. That is, USB may be installed in the port hole 221 of the port frame 220.

6 is a view showing a front mounting plate 230 according to an embodiment of the present invention. In the intelligent robot 1 according to the embodiment of the present invention, the motor 132 for controlling the motor 132 is disposed in the front due to the characteristic that the motor 132 is disposed in the front connection cable. The space can be used efficiently when the distance to the vehicle is considered.

In addition, it is preferable to install a display unit 170 that displays functions and texts on the top of the motor 132. Therefore, it is preferable that the front mounting plate 230 is configured to be able to mount the sensor unit 140, the motor drive 131, and the display unit 170, and to be detachably attached to the case body 200.

In the case of the motor drive 131 assembled at the lower end of the front mounting plate 230, it may protrude to the lower end and interfere with the motor 132. Therefore, when the front mounting plate 230 according to the embodiment of the present invention is mounted between the motor drive 131 and the motor 132, between the motor drive 131 and the motor 132 and the motor It is preferable to set the mounting height so that interference does not occur between the (Motor) 132 and the motor 132.

That is, when the motor 132 and the motor drive 131 are mounted in the case 20, between the motor drive 131 and the motor 132, and between the motor 132 and the motor 132 ) It is preferable to configure the height of the motor drive 131 to be mounted at a relatively high position so that interference does not occur between them.

7 is a view showing the Arduino cradle 240 according to an embodiment of the present invention. In order to place the Arduino control board 110 in the center of the case body 200, an additional frame is required. Accordingly, it is possible to implement the Arduino cradle 240 that can be attached to and detached from the case body 200 and to which the Arduino control board 110 can be mounted. Compared to modifying the mold of the case body 200 to make a fastening screw hole for arduino installation, it is more efficient in terms of time and price to mount the arduino control board 110 by manufacturing the arduino cradle 240 .

The Arduino cradle 240 according to an embodiment of the present invention creates a screw hole in the Arduino cradle 240 to securely fix the Arduino control board 110 to attach the Arduino control board 110 to the Arduino cradle ( 240) can be screwed. In addition, the arduino cradle 240 can be attached to and detached from the upper end of the case body 200 by an assembly-type fitting method.

In addition, the Arduino cradle 240 may be configured to be fixed to four pillars in the case body 200 in order to prevent flow from the case body 200. That is, the four columns corresponding to the three fixing holes 241 and one hemispherical fixing hole 242 may be fitted and fixed.

8 is a view showing the upper protective plate 250 according to an embodiment of the present invention. In the center of the conventional upper case, there is a window in a rectangular shape, and the window is made of a translucent plastic material. The upper protection plate 250 according to an embodiment of the present invention may be configured to be detachable to the position of the window.

The upper protection plate 250 may include a socket hole 251 in which the socket unit 190 is mounted and a display hole 252 in which the display unit 170 is mounted. A socket unit 190 and a display unit made of 12 pin 9 sockets to additionally connect a sensor or peripheral device desired by a user through the socket hole 251 and the display hole 252 of the upper protection plate 250 and input coding (170) can be equipped. In addition, the upper protective plate 250 is a protective plate that blocks the remaining portions except for the socket unit 190 and the display unit 170 in order to prevent contamination and damage inside when a space other than the 9 socket is installed is opened. 253).

Accordingly, the user can provide more expandability in education than the conventional one by using the socket unit 190 installed on the upper end of the case 20. That is, the socket unit 190 according to an embodiment of the present invention is composed of 8 analog input pins, 10 digital input output pins capable of PWM output, 2 interrupt digital input/output pins, and digital input/output pins for implementing additional functions. You can connect various sensors and check their functions. In addition, a power supply pin that can additionally supply power is also provided, so that various functions can be applied without the need for an additional breadboard.

The upper case 210 may include four toggle switches. The toggle switch is connected by an internal pull-up, and it is possible to select a mode with a button. The user can connect by using the input of the button as an internal pull-up to learn digital input/output.

9 is a view showing a sensor cradle 260 according to an embodiment of the present invention. In the conventional product, seven sensors are installed, which is inefficient because the number of sensors is too large. Therefore, it is desirable to install the three most efficient sensors. That is, the sensor unit 140 may be installed on the sensor holder 261.

The location of the conventional infrared sensor is installed near the motor, but the use of space is limited due to the installation of other peripheral devices. Therefore, the sensor cradle 260 according to the embodiment of the present invention is configured to be detachable to the front bumper of the case body 200, and the height is selected in consideration of the optimum measurement distance of the used infrared distance sensor module 143. It is desirable to do it.

For this reason, the intelligent robot 1 according to the embodiment of the present invention can easily induce interest because the coding result can be directly checked, and all age groups, including elementary and secondary students of low age, can easily perform coding. There is an effect that can be. In addition, there is an effect of reducing the product development period and product development cost by using a conventional mold. In addition, it is possible to attach/detach and expand functionality and usability through various frames and additional sockets, thereby increasing the range that can be used in education.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and is easily changed from the embodiments of the present invention by those of ordinary skill in the art to which the present invention pertains. Includes all changes to the extent deemed acceptable.

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1: intelligent robot 2: smartphone
10: control system 20: case
110: Arduino control board 111: Shield board
120: processor unit 130: motor drive unit
131: motor drive 132: motor
133: wheel 140: sensor unit
141: infrared sensor module 142: infrared distance sensor module
143: sensor control module 150: power supply
151: battery 152: charge/discharge control module
160: communication unit 161: BLE 4.0 module
170: display unit 171: LCD module
180: coding input unit 190: socket unit
200: case body 210: upper case
220: port frame 221: port hole
230: front mounting plate 231: screw hole
240: arduino cradle 241: fixed hole
242: hemispherical fixing hole 250: upper protection plate
251: socket hole 252: display hole
253: protection plate 260: sensor holder
261: sensor holder

Claims (7)

In the intelligent robot comprising a control system for driving the intelligent robot with an Arduino control board mounted and a case provided with the control system,
The control system
A motor driving unit including a motor drive, at least one motor and a wheel, and receiving a driving signal from a processor unit to control a motor and to adjust a rotational force of the wheel;
A sensor unit installed on the front side of the intelligent robot to detect lines and obstacles and measure a distance to the obstacle;
A power supply unit for supplying power to the intelligent robot, detecting charging and discharging states of the battery, and displaying charging state information on the display unit;
A communication unit for transmitting and receiving signals to and from an external terminal;
A display unit that displays signals and information processed by the processor unit, and displays a character string transmitted from the smart phone using serial communication between the smart phone and the communication unit;
A coding input unit for inputting software (SW) coding information written by a user;
A processor unit that controls the motor driving unit, the sensor unit, the communication unit and the display unit, and drives the intelligent robot according to the coding input through the coding input unit; And
In order to provide expandability, it includes a socket to additionally connect a sensor or peripheral device desired by the user,
The above case is
Case body;
An upper case covering an upper end of the case body;
A port frame configured to mount a USB port for seamless connection with a computer and an external electronic device;
A front mounting plate configured to mount a sensor unit, a motor drive and a display unit;
In order to securely fix the Arduino control board, it prevents the flow from the case body, and is fitted to the four pillars of the case body so that it can be attached and detached by an assembly-type fitting method on the upper end of the case body. Arduino cradle having a fixing hole and one hemispherical fixing hole;
A top protection plate having a socket hole in the center of the upper case, a socket hole in which a socket part can be mounted, and a display hole appearing by a display part mounted on the front mounting plate; And
An intelligent robot comprising a sensor cradle configured to be detachable and attachable to a front portion of the case body and to mount a sensor unit.
The method of claim 1,
The motor drive unit includes a motor drive and two motors and a wheel, and the motor drive controls the two motors to operate independently, and PID control (Proportional Integral) so that the angular speed is constant. Derivation Control), characterized in that it comprises an intelligent robot.
The method of claim 1,
The sensor unit
At least one infrared sensor installed on the front of the intelligent robot and detecting a line using infrared rays,
At least one infrared distance sensor installed on the front of the intelligent robot to project infrared rays, detect an obstacle using a reflected signal, and measure a distance to the obstacle; and
By receiving a signal sensed by the infrared sensor and distinguishing between black and white according to the amount of infrared rays, a line is recognized, a signal sensed by the infrared distance sensor is input to recognize an obstacle, and a distance to the obstacle is calculated. Intelligent robot comprising a sensor control module for transmitting to the processor unit.
delete delete delete The method of claim 1,
The upper protective plate comprises a protective plate that blocks the rest of the socket except for the socket and the display to prevent contamination and damage to the interior when a space other than the socket and the display is opened. .

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