KR102306778B1 - Module typed robot-elevator interface device - Google Patents

Abstract

The present invention relates to a modular robot-elevator interface device. According to one embodiment of the present invention, provided is a robot-interconnected elevator input interface device mounted in an input button part or a call button part of an elevator. According to the present invention, the modular robot-elevator interface device is formed by the combination of an input device module and a blank module. The input device module includes: a button operation part including an actuator placed in an upper part of the input button part provided in the elevator, wherein the actuator is placed to be matched with a part right above each button of the input button part; a control part formed in an upper part of the button operation part and electrically connected with the actuator, wherein the control part includes a wireless communication part for communication with the robot; and a touch screen provided in an upper part of the control part and electrically connected with the control part. The control part, when receiving floor information or a call command from the robot through the wireless communication part, operates the actuator to press a button of the input button part or the call button part provided in the elevator.

Description

Modular Robot—Elevator Interface Device {MODULE TYPED ROBOT-ELEVATOR INTERFACE DEVICE}

The present invention relates to a modular robot-elevator interface device, and more specifically, to a modular robot-elevator interface device employing a modular assembly structure so that both a person and a robot using an elevator can move between floors using an elevator. it's about

In recent years, development of service robots that perform errand services, cleaning services, guidance services, and the like to humans, has been actively carried out. Meanwhile, in order for robots to perform services in large buildings, movement between floors is essential.

In general, in order to board an elevator, it is necessary to press the call button at the elevator boarding entrance, and then, when the elevator arrives and the door is opened, it is necessary to board the elevator and press the button for the floor you want to go to.

As such, in most current elevators, in order to board the elevator or to move between floors, it is necessary to transmit interfloor movement information to a controller that controls the movement of the elevator by applying a physical force to a button provided inside or outside the elevator.

However, in the case of the robot, in order to physically operate the button provided in the current elevator, the robot not only requires a visual recognition function for button recognition and a mechanical configuration that can press the button, but also requires precise robot control. Not easy to apply

Therefore, in order to link the robot and the elevator, the control/monitoring panel module interworking method and the server interworking method using wireless communication connection can be used.

In the control/monitoring module interlocking method, separate wireless communication modules must be installed at the positions required for elevator control or monitoring, must be approved for special inspection of the elevator safety inspection, and if there is an error in the communication module, directly to the control/monitoring panel Because it is interlocked, it is difficult for users inside the elevator to respond to abnormal operation situations, and it takes extra time and a lot of money and time for facility construction.

Unlike the control/monitoring module interlocking method, the server interlocking method does not require wireless communication facility construction in a separate elevator control/monitoring panel, but is applicable only to new elevators with an elevator management server, and this method also has an abnormality in the server or communication. In this case, it is difficult for the users inside the elevator to respond, and a separate period of time, a lot of money, and time are required for the development process to link the elevator server and the robot management server.

Republic of Korea Patent Publication 10-2010-0080278 (published on July 8, 2010)

The present invention is an invention devised based on the above-mentioned problems, and it is inexpensive because no additional equipment is installed in the elevator control/monitoring panel, and is configured so that the user inside the elevator can easily remove the attached device in the abnormal operation situation of the elevator It aims at a modular robot-elevator interface device in which safety advantages can be obtained in case of emergency.

In order to solve the above problems, according to an aspect of the present invention, a modular robot mounted on an elevator call button unit and an input button unit of an elevator - an elevator interface device is provided. The modular robot-elevator interface device according to the present invention is formed by combining an input device module and a blank module, wherein the input device module includes an actuator disposed on an input button part or a call button part provided in an elevator button operation including an actuator part, wherein the actuator is disposed to mate directly above each button of the input button part; a control unit formed above the button operation unit and electrically connected to the actuator, wherein the control unit includes a wireless communication unit for communicating with the robot; and a touch screen provided on the control unit and electrically connected to the control unit, wherein the control unit drives the actuator upon receiving a call command or floor information from the robot through the wireless communication unit to press the input button unit or the call button unit provided in the elevator It works.

In addition, in the above-described aspect, the input device module and the blank module include a module housing having a rectangular or square shape, and module coupling portions for coupling between modules are formed on four sidewalls of the module housing.

In addition, in the above aspect, it is a linear actuator of the actuator, and at least a portion of the actuator is provided with a photo sensor for detecting light generated when the button of the elevator is pressed.

In addition, in the above-described aspect, the tip portion of the actuator is provided with a tip portion that is in direct contact with the button of the elevator when the actuator is driven, and the tip portion is formed of soft silicone or soft rubber.

Also in the above-described aspect, the control unit is configured to stop driving of the actuator and return the actuator to an initial position when light is sensed from the photosensor.

In addition, in the above-described aspect, the actuator includes a motor, a rod connected to the motor, and a tip portion connected to the rod, the motor is accommodated in a housing surrounding the motor, and the lower surface of the motor housing is a power supply to which power required for driving the motor is supplied terminal part; a control terminal unit to which an actuator driving signal from the control unit is supplied; and a sensor terminal for receiving a photodetection signal from the photo sensor, wherein the power terminal, the control terminal, and the sensor terminal are electrically connected to the control unit.

According to the present invention, it is inexpensive because no additional equipment is installed in the elevator control/monitoring panel, and it is configured so that the user inside the elevator can easily remove the attached device in the abnormal operation situation of the elevator. It is possible to provide a robot-linked elevator input interface device of an attachable type.

1 is an explanatory diagram for explaining the concept of an interface device according to the present invention;
Figure 2 is an explanatory view for explaining the process of mounting the interface device according to the present invention the input button unit and the elevator call button unit provided in the elevator;
3 is a cross-sectional view showing the structure of an internal cross-section after the interface device according to the present invention is mounted on an input button unit provided in an elevator;
4 is an exploded perspective view of an input device module of an interface device according to the present invention and a view exemplarily showing a coupling method;
Fig. 5 is a diagram showing the structure of an actuator of an interface device according to the present invention;
6 is a view showing an internal structure of a control unit of an interface device according to the present invention;
7 is a view exemplarily showing a touch screen of an interface device according to the present invention;
8 is a diagram showing another control structure of an interface device according to the present invention.

Advantages and features of the present invention, and methods for achieving them, will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms.

In the present specification, the present embodiment is provided to complete the disclosure of the present invention, and to fully inform those of ordinary skill in the art to which the present invention pertains to the scope of the present invention. And the invention is only defined by the scope of the claims. Accordingly, in some embodiments, well-known components, well-known operations, and well-known techniques have not been specifically described in order to avoid obscuring the present invention.

Like reference numerals refer to like elements throughout. In addition, the terms used (mentioned) herein are for the purpose of describing the embodiments and are not intended to limit the present invention. As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. In addition, elements and operations referred to as 'include (or include)' do not exclude the presence or addition of one or more other elements and operations.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. Also, terms defined in commonly used dictionary are not to be interpreted ideally or excessively unless defined.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. 1 is an explanatory diagram for explaining the overall concept of the present invention.

As shown in FIG. 1 , the present invention provides an interface device 10 that enables a robot and a person to move between floors using an elevator between a robot 20 and an elevator 30 .

As shown in FIG. 1 , the robot 20a and the user (or person) 20b can drive the elevator to the floor to be moved through the interface device 10 .

In the case of the robot 20a, an elevator call and a desired floor can be input using wireless communication provided to the interface device 10, and in the case of the user 20b, using physical means provided in the interface device 10 It is configured so that the desired floor can be entered.

The interface device 10 converts the moving floor information received from the robot 20a through wireless communication into a physical input and transmits it to the elevator control panel 30, and transfers the moving floor information received physically from the user 20b to the elevator control panel (30) is configured to pass.

In the case of the user 20b, since the elevator can be used by physically 'touching' the touch screen of the interface device 10 as in the prior art, it is possible to move the elevator to a desired floor without any additional operation.

In addition, the interface device 10 is not provided with additional equipment in the internal control panel of the elevator, but is detachably provided on the input button provided in the elevator, so the robot-elevator interlocking does not require excessive installation costs and the installation time is also short. this is obtained

FIG. 2 is a diagram showing an example of the interface device 10 according to the present invention, and FIG. 3 is a cross-sectional view of the interface device 10 shown in FIG. 2 .

First, as shown in FIG. 2, the interface device 10 according to the present invention is manufactured according to the input button part 31 (elevator floor button or elevator call button) provided in the elevator. In the embodiment shown in (A) of FIG. 2, an example of the interface device 10 provided to the input button unit 31 having an arrangement of 1 (horizontal) × 3 (vertical) is shown, and the present invention is not limited thereto No, it may be provided in the call button unit 31 having an arrangement of 1 (horizontal) × 2 (vertical) as shown in (B) of FIG. 2 .

2 and 3, the interface device 10 may be fixed on the input button unit 31 by a fixing means such as a screw or may be attached with various types of fixing/attaching means such as an attachment type using a magnet. have. An appropriate fixing hole 102 for screw insertion may be provided outside the periphery of the interface device 10 when it is fixed by a fixing means such as a screw 101 .

Referring to FIG. 3 , the interface device 10 is composed of a plurality of input device modules 100 as shown in FIG. 3 , and each of the input device modules 100 is an upper portion of an input button unit 31 provided in an elevator. The button operation unit 130 is provided with an actuator; a control unit 120 formed on the button operation unit 130; and a touch screen unit 110 provided on the control unit 120 , in turn.

2 and 3 , the interface device 10 includes an input device module 100 and a blank module 105 . The blank module 105 is provided to form a gap between the input device module 100 and the input device module 100 so that the input device module 100 can be located directly above the button provided in the elevator.

The blank module 105 may be provided in various sizes, and after the input device module 100 and the blank module 105 of the interface device 10 are coupled to each other, the casing module 109 is mounted as shown in FIG. 1 . It is firmly fixed through the casing module 109 can be fixed on the input button portion of the elevator.

In this structure, when the user presses the layer screen 112 provided in the form of a graphic interface to the touch screen unit 110 of each input device module 100, the control unit 120 receives a signal from the touch screen 110 and the control unit ( 130) drives the actuator 133, and as the actuator 133 physically presses the input button unit 31, information about moving between floors of the elevator may be input to the control panel of the elevator.

4 (A) is an exploded perspective view of the input device module 100, and FIG. 4 (B) is a diagram illustrating coupling between modules by way of example. As shown in Fig. 4, the input device module 100 includes a button operation unit 130 in which an actuator is provided on top of the input button unit 31 provided in the elevator; a control unit 120 formed on the button operation unit 130; and a touch screen unit 110 provided on the control unit 120 in turn, and the module connection housing 128 surrounds the control unit 120 and the button operation unit 130 at the upper portion of the touch screen unit 110 . is formed to The module connection housing 128 may have a square structure or a rectangular structure having four sidewalls as shown, and a module coupling part 129 for coupling with other modules is formed on each sidewall.

The input device module 100 has module coupling parts 129 formed on all four sides, and the blank module 105 also has module coupling parts 129 on all four sides in the same way as the input device module 100 . Since it is formed, the combination of the input device module 100 and the input device module 100 as shown in FIG. 4B; the combination of the input device module 100 and the blank module 105; and a combination of the blank module 105 and the blank module 105 is possible.

In addition, an electrical connection terminal for supplying power and/or communication connection is provided in the module coupling unit 129 installed in the input device module 100 and the blank module 105 so that the input device module 100 is connected to the blank module ( Even if it is connected to another input device module 100 through 105), it may be configured to stably supply power and perform communication between input device modules.

5 is a view showing the configuration of the actuator 133 arranged in the module connection housing (128). 5, the actuator 133 includes a motor 1331, a rod 1333 connected to the motor 1331; and a tip portion 1335 connected to the end of the rod. The motor 1331 is accommodated in a casing 1332 surrounding the motor, and a photosensor 1337 is provided on the upper surface of the casing 1332 (ie, the casing surface on which the tip portion 1335 is formed).

Since the tip portion 1335 is in direct contact with the elevator button when the actuator 133 is driven, the tip portion is made of soft or soft silicone or rubber to prevent damage to the elevator button.

The photosensor 1337 functions to detect light generated from the button when the tip portion 1335 of the interface device 10 presses the button of the elevator. When light is detected from the elevator button of light, the control unit 120 can determine that the button of the elevator is accurately pressed using this.

Referring back to FIG. 5 , a power terminal part 1334 , a control terminal part 1336 , and a sensor terminal part 1338 for driving the motor are provided on the lower surface of the casing 1332 of the motor. All of these terminal units are connected to the control unit 120 or the control circuit board 120, and the control unit 120 transmits a motor driving signal through the control terminal unit 1336 to drive the motor to push the tip unit 1335 to the pressing position. and moves the tip portion 1335 to the standby position in response to the photodetection signal detected from the sensor terminal 1338 .

Next, the control unit 120 will be described. 6 is a diagram schematically illustrating an internal configuration of the control unit 120 . As shown in FIG. 6 , the control unit 120 includes a communication unit 121 for receiving floor information from the robot 20a through wireless communication; a sensor signal receiving unit 122 for receiving a light receiving signal from the photosensor 1337 installed in the button operating unit 130; a touch signal receiving unit 123 for receiving coordinate value information from the touch screen 110 ; a driving control unit 125 for driving the actuator 133 corresponding to the floor information input from the communication unit 121 or floor information corresponding to the coordinate value information input from the touch signal receiving unit 123; and a power supply unit 124 for supplying power to the control unit 120 and components connected to the control unit 120 . Although it is described that the power supply unit 124 is provided for convenience of description, it is obvious that the power supply unit 124 may be implemented as a power receiver receiving power from an external power source.

The communication unit 121 is configured to receive elevator floor information from the robot by performing wireless communication. The communication unit 121 may be a communication module for performing wireless communication with the robot, but is not limited thereto, but may be a low-power Bluetooth communication module. The low-power Bluetooth communication module may be defined as a device that communicates information with a Bluetooth communication module of an external robot. However, the present invention is not limited thereto, and wireless Internet interfaces such as WLAN (Wireless LAN) and WiFi (Wireless Fidelity) Direct and RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra Wideband), It may include a short-range communication interface such as ZigBee NFC (Near Field Communication), WiHD, and WiGig.

The sensor signal receiving unit 122 is configured to receive a light receiving signal from the photosensor 1337 installed in the button operating unit 130 as described above. The received light reception signal may act as a trigger signal for stopping the actuator being driven by the driving control unit 125 and returning it to an original position.

The touch signal receiving unit 123 is configured to receive an input signal from the touch screen 110 . When an input signal from the touch screen 110 is received, the driving control unit 125 drives the actuator 133 .

7 is a view showing an example of a touch panel or touch screen 110 used in the interface device 10 according to the present invention. 7, the touch screen 110 includes a background screen unit 111; a layer screen unit 112 disposed in the background screen unit 111; It is composed of a layer display unit 114 disposed in the center of the layer screen unit 112, and the boundary portion of the layer screen unit 112 is line-treated to clearly distinguish the background screen from the floor screen.

Although not shown, the display of the touch screen transmits the pressed coordinates to the touch signal receiver 123 of the control unit 120 when the layer screen unit 112 of the touch screen is pressed, and at the same time changes the color of the layer screen unit 112 . make it For example, in the display of the touch screen, when the layer screen unit 112 of the touch screen is not pressed, the layer screen unit 112 is displayed in yellow, but when the layer screen unit 112 is pressed, the layer screen unit 112 is displayed. ) can be displayed in red.

This can give the same visual effect as if the floor button of the elevator is pressed, the light inside the floor button is turned on to inform the occupants that the floor button is pressed.

In addition, the display of the touch screen changes the color of the layer screen unit 112 when the layer screen unit 112 of the touch screen is pressed once, but is configured to display in the original color when the layer screen unit 112 is pressed once again in a state in which the color is changed. .

This can give the same visual effect as if the floor button of the elevator is pressed and pressed once again while the light is on, the light is turned off to inform that the selected floor button is cancelled.

According to the present invention as described above, it is cost-effective because no additional equipment is installed in the elevator control/monitoring panel and is configured so that the user inside the elevator can easily remove the attached interface device when an abnormal operation situation of the elevator occurs. It is possible to provide a modular robot-elevator interface device in which advantages can be obtained.

However, the present invention is not limited thereto, and various changes and modifications may be made thereto. 8 shows a modified example using the integrated control unit 900 differently from the above-described embodiment. In the above-described embodiment, the robot 20a is configured to connect to the communication unit 121 provided in each input device module 100 to perform floor movement of the elevator. Meanwhile, in the modified example shown in FIG. 8 , the interface device 10 may further include an integrated control unit 900 .

Here, the integrated control unit 900 includes a main power supply unit 910; main communication unit 290; driving command unit 930; and a module identification table 940 . Each of the input device modules 100 is connected to the main communication unit 920 of the integrated control unit 900 , and is also configured to receive power through the main power supply unit 910 .

In this configuration, the robot 20a communicates with the main communication unit 920 to transmit moving floor information to the main communication unit 920 , and the driving command unit 930 of the integrated control unit 900 is based on the moving floor information. to search the module identification table 940 .

In the module identification table 940, layer information is stored together with the identifier of each input device module. Accordingly, the driving command unit 930 may designate an identifier of the input device module based on the received layer information and transmit a driving command to the input device module having the corresponding identifier.

The input device module receiving the driving command operates the actuator to press the elevator input button, so that the floor movement is successful.

The device described above may be implemented as a hardware component, a software component, and/or the device described above may be implemented as a hardware component, a software component, and/or a combination of a hardware component and a software component. For example, devices and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA). , a Programmable Logic Unit (PLU), a microprocessor, or any other device capable of executing and responding to commands, may be implemented using one or more general purpose computers or special purpose computers. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For convenience of understanding, the processing device is sometimes described as being used, but one of ordinary skill in the art will recognize that the processing device includes a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that can include For example, the processing device may include a plurality of processors or one processor and one controller. Other Processing Configurations are also possible, such as a Parallel Processor.

The software may include a computer program, code, command, or a combination of one or more thereof, and configure the processing device to operate as desired or process it independently or in combination (Collectively) You can command the device. The software and/or data may be any type of machine, component, physical device, virtual equipment, computer storage medium or device to be interpreted by or provide instructions or data to the processing device. It can be embodied in (Embody). The software may be distributed over networked computer systems, and stored or executed in a distributed manner. Software and data may be stored in one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magnetic media such as floppy disks. - Includes Magneto-Optical Media, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, Flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.

As described above, although the embodiments have been described with reference to the limited embodiments and drawings, various modifications and variations are possible from the above description by those skilled in the art. For example, the described techniques are performed in a different order than the described method, and/or the described components of the system, structure, apparatus, circuit, etc. are combined or combined in a different form than the described method, or other components Or substituted or substituted by equivalents may achieve an appropriate result.

Therefore, other implementations, other embodiments, and equivalents to the claims should be construed as falling within the scope of the following claims.

10: interface device 30: elevator control panel
31: input button unit 110: touch screen
100: input device module 105: blank module
120: control unit 130: button operation unit
133: actuator 121: communication unit
122: sensor signal receiver 123: touch signal receiver
124: power unit 125: drive control unit
1331: motor 1332: motor housing
1333: rod 1337: photosensor
1335: tip part

Claims (7)

In the modular robot-elevator interface device mounted on the input button part or the elevator call button part of the elevator,
The modular robot-elevator interface device is formed by combining an input device module and a blank module,
The input device module includes: a button operation unit including an actuator disposed above an input button unit or a call button unit provided in the elevator, wherein the actuator is disposed to mate directly above each button of the input button unit;
a control unit formed above the button operation unit and electrically connected to the actuator, wherein the control unit includes a wireless communication unit for communicating with the robot; and
and a touch screen provided on the control unit and electrically connected to the control unit,
The control unit operates to press the button of the input button unit or the call button unit provided in the elevator by driving the actuator when receiving the floor information or call command from the robot through the wireless communication unit,
The input device module and the blank module include a module housing having a rectangular or square shape, and module coupling parts for coupling between modules are formed on four sidewalls of the module housing.
Modular Robot—Elevator Interface Device.
delete According to claim 1,
characterized in that it is a linear actuator of the actuator
Modular Robot—Elevator Interface Device.
According to claim 1,
At least a portion of the actuator is characterized in that a photo sensor for detecting light generated when the button of the elevator is pressed is installed
Modular Robot—Elevator Interface Device.
According to claim 1,
The tip portion of the actuator is provided with a tip portion that makes direct contact with the button of the elevator when the actuator is driven, and the tip portion is formed of soft silicone or soft rubber.
Modular Robot—Elevator Interface Device.
5. The method of claim 4,
The control unit stops the driving of the actuator when light is sensed from the photo sensor and returns the actuator to the initial position
Modular Robot—Elevator Interface Device.
7. The method of claim 6,
The actuator includes a motor, a rod connected to the motor, and a tip portion connected to the rod,
The motor is housed in a housing surrounding the motor, the lower surface of the motor housing is a power terminal to which power required to drive the motor is supplied; a control terminal unit to which an actuator driving signal from the control unit is supplied; and a sensor terminal for receiving a photodetection signal from the photosensor,
The power terminal part, the control terminal part and the sensor terminal part, characterized in that electrically connected to the control unit
Modular Robot—Elevator Interface Device.

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