KR102557082B1 - Remote control method and system of atmospheric measurement and analysis equipment at unmanned environmental monitoring stations using touch robots - Google Patents

Abstract

The present invention relates to a method for remotely controlling atmospheric measurement and analysis equipment at unmanned environmental measurement stations by using articulated touching robots, and a system using the same. The system comprises: articulated touching robots (3) which are installed in front of various pieces of atmospheric measurement and analysis equipment (2) installed at a plurality of unmanned environmental measurement stations and have a touch pointer to touch or click on the touch screen of the atmospheric measurement and analysis equipment or to operate switches or buttons; monitoring cameras (4) which transmit the monitoring images of the atmospheric measurement and analysis equipment (2) to a management server in real time; controllers (5) which control the articulated touching robots (3) and the monitoring cameras (4) and processes signals; electromagnetic contactors (6) which turn on/off or reset the power of the atmospheric measurement and analysis equipment; wired and wireless communication modules (7) which are connected to the controllers (5); the management server (9) which controls the atmospheric measurement and analysis equipment (2) by remotely controlling the articulated touching robots (3) through a wired or wireless communication network (8), collects atmospheric measurement and analysis data transmitted from the atmospheric measurement and analysis equipment (2), and receives real-time monitoring images from the monitoring cameras (4); a remote monitoring unit (10) which checks the operating state of the atmospheric measurement and analysis equipment (2) by using the real-time monitoring images transmitted from the monitoring cameras (4); a remote control unit (11) which is configured in the management server (9) and resets or normally operates the atmospheric measurement and analysis equipment (2) while remotely controlling the articulated touching robots (3) of the unmanned environmental measurement stations; and the computer (12) of the management server (9). Therefore, the system can eliminate the need for administrators to move to and visit the unmanned environmental measurement stations.

Description

Remote control method and system of atmospheric measurement and analysis equipment at unmanned environmental monitoring stations using touch robots}

The present invention relates to a method and system for remotely controlling atmospheric measurement and analysis equipment of an unmanned environmental monitoring station using an articulated touching robot, and various air measurement and analysis equipment (or environmental measurement and analysis equipment) installed in an unmanned environmental monitoring station. Or touch screen, switch, button, etc. of air measurement and analysis equipment) remotely and quickly and conveniently from a remote server, or click and/or drag to re-operate or reset the air measurement and analysis equipment to normal operation. that made it possible

In general, various harmful substances in the air, such as ultrafine dust (PM2.5), fine dust (PM10), ozone ( O ₃ ), ultraviolet rays, nitrogen monoxide (NO), nitrogen dioxide (NO ₂ ), volatile organic compounds (VOCs), carbon monoxide (CO) and sulfur dioxide (SO ₂ , sulfur dioxide), etc. are measured and analyzed, and then It is transmitted to a management server (or central server) of the Korea Environment Corporation, regional environmental headquarters, Korea Meteorological Administration, etc. using a wired/wireless communication network, and the management server transmits various air pollution measurement and analysis data transmitted from a plurality of unmanned environmental monitoring stations. Collecting and managing, it is provided where requested or needed.

In the unmanned environment monitoring station, a large number of various types of air measurement and analysis equipment are installed, and a large amount of heat is generated while operating all the time, so the indoor air is harmonized to prevent the air measurement and analysis equipment from overheating, and the air measurement sensor that is sensitive to temperature and humidity Air conditioners (air conditioners, dehumidifiers, ventilators, etc.) that create optimal indoor temperature, humidity, and air are installed and operated so that they do not cause measurement errors or malfunctions.

In addition, most of the various air measurement and analysis equipment installed in the unmanned environment monitoring station are in full operation 24 hours a day, so failures, malfunctions, or shutdowns often occur. The air measurement and analysis equipment is checked for abnormalities by visiting the environmental measurement station in person, and the air measurement and analysis equipment is restarted (reset, initialized, etc.), reset, or repaired, so the air measurement and analysis equipment cannot be used during that time. There is a problem that there is a gap in measurement and analysis time that is not available, and a simple operation (restart) of resetting the standby measurement and analysis equipment or shutting off (OFF) the operating power and then resupply (ON) the power (restart) In many cases, the measurement and analysis equipment operates normally, so cost loss as well as time loss due to the visit and movement to the unmanned environmental monitoring station is also large.

Therefore, the manager can remotely turn on/off the air measurement and analysis equipment of the unmanned environment monitoring station without going directly to the unmanned environment monitoring station, remotely touch the touch screen of the air measurement and analysis equipment, or It is a convenient way to operate the switch of the analysis equipment remotely, reset (reset, initialization, etc.) to operate normally, or provide a method or means to perform the desired operation by touching the desired menu, or find an appropriate alternative If this is the case, the manager does not have to visit the unmanned environment monitoring station to take action on the situation, and the time and cost of the mobile visit can be greatly reduced. Even if it arrives at the unmanned environment monitoring station, it is highly desirable that air measurement gaps (environmental measurement gaps where environmental measurements cannot be performed) do not occur due to the time required while normalizing the air measurement and analysis equipment.

Republic of Korea Patent Registration No. 10-1171164 (Title of Invention: Touch Screen Device and Touch Screen Object Selection Control Method, 2012. 08. 06. Patent Publication) Republic of Korea Patent Registration No. 10-2379599 (Title of Invention: Additional Input Device and Method for Touch Screen Control, 2022. 03. 28. Patent Publication) Republic of Korea Patent Registration No. 10-1911680 (Title of Invention: Touch Sensing Display Device and Screen Control Method, 2018. 10. 25. Patent Publication)

The problem to be solved by the present invention is to install a remotely controlled multi-joint touching robot in an unmanned environmental monitoring station to remotely turn on / Configured to be re-operated or reset by turning it off, touching (or clicking) the touch screen of the atmospheric measurement and analysis equipment, or resetting (reset, initialization, etc.) in a quick and easy way by manipulating switches or buttons This not only eliminates the need for the manager to visit the unmanned environment monitoring station to take action, but also significantly reduces the time and cost associated with the mobile visit, and the air measurement and analysis gap during the time of moving to the unmanned environment monitoring station and taking action. It is to provide a remote control method and system for air measurement and analysis equipment at an unmanned environment monitoring station using an articulated touching robot that does not occur.

Another problem to be solved by the present invention is that even if the air measurement and analysis equipment of the unmanned environment monitoring station fails, malfunctions, or is shut down, the manager does not have to go directly to the unmanned environment monitoring station. An unmanned environment monitoring station using a multi-joint touching robot that can easily turn on/off the analysis equipment, or simply touch the touch screen of the atmospheric measurement and analysis equipment (Reset or Click, etc.), or simply operate the switch. It is to provide a remote control method and system for atmospheric measurement and analysis equipment.

The air measurement and analysis equipment remote control system of the unmanned environment monitoring station using the multi-joint touching robot of the present invention measures and analyzes various types of air installed in a plurality of unmanned environment monitoring stations scattered in various places, such as by wide area, by region, by region, by facility, etc. equipment, and an articulated touching robot installed in front of the air measurement and analysis equipment and provided with a touch pointer so as to touch or click the touch screen of the air measurement and analysis equipment and operate switches or buttons; A surveillance camera installed in front of the analysis equipment and transmitting air measurement and analysis equipment images to the management server in real time, a controller that controls and processes the articulated touching robot and surveillance camera, and air measurement and An electromagnetic contactor that turns on/off or resets the power of the analysis equipment, a wired/wireless communication module connected to the controller, and a multi-joint touching robot remotely controlled through the wired/wireless communication network to measure atmospheric air and A management server that controls the analysis equipment, collects air measurement and analysis data transmitted from the air measurement and analysis equipment, and receives real-time surveillance images from surveillance cameras, and a real-time surveillance video that is configured in the management server and transmitted from the surveillance cameras. It includes a remote monitoring unit that checks the operation status of the measurement and analysis equipment, and a remote control unit that is configured in the management server and remotely controls the multi-joint touching robot of the unmanned environmental monitoring station to reset or normally operate the air measurement and analysis equipment. .

The management server includes a computer having input/output means and a monitor.

Monitoring the air measurement and analysis equipment of the unmanned environmental monitoring station while communicating with the wired/wireless communication network, turning on/off or resetting the power of the air measurement and analysis equipment, controlling and resetting the management server It further includes an administrator's mobile terminal to monitor.

It is connected to the wired/wireless communication network and further includes a cloud in which measurement and analysis data of air measurement and analysis equipment are stored.

The multi-joint touching robot includes a fixing plate having a predetermined plane area, a fixing member fixed to one side of an upper surface of the fixing plate, a first servomotor fixed to the fixing member by a plurality of fastening members, and a drive shaft of the first servomotor. A first arm having one side fixed thereto, a drive shaft of a second servomotor fixed to the other side of the first arm, a second arm having one side fixed to the second servomotor, and a third servo fixed to the other side of the second arm. A third arm having one side fixed to the driving shaft of the motor, a third arm fixed to the third servomotor, a fourth servomotor fixed to the other side of the third arm, a rotating member fixed to the driving shaft of the fourth servomotor, and fixed to the rotating member It includes a touch pointer that becomes

The first to fourth servomotors may be AC servomotors, DC servomotors, BLDC servomotors, stepping servomotors, and the like.

The first arm has an 'H' shape in which horizontal portions of a '∩'-shaped lower bracket and a '∪'-shaped upper bracket are fastened with a plurality of fastening members, and both lower ends of the lower bracket are attached to the end of the drive shaft of the first servomotor. It is coupled and fixed to a flange that rotates interlockingly along the drive shaft with fastening members, and both upper ends of the upper bracket are coupled to the end of the drive shaft of the second servomotor and fixed to the flange that rotates interlockingly along the drive shaft with fastening members, and the second arm The horizontal part of the '∩'-shaped lower bracket and the '∪'-shaped upper bracket is 'H' shaped in which a plurality of fastening members are fastened, and both sides of the upper body of the second servomotor are fastened to the lower ends of both sides of the lower bracket as fastening members. and is coupled to the end of the driving shaft of the third servomotor at both upper ends of the upper bracket and is fixed as a fastening member to a flange that rotates interlockingly, and the third arm is a '∩'-shaped lower bracket and a '∪'-shaped upper bracket. The horizontal part of the 'H' shape is fastened with a fastening member, both sides of the lower part of the body of the third servomotor are fixed to the lower bracket with fastening members, and both sides of the lower body of the fourth servomotor are fixed to the upper bracket with fastening members. can be done with

A semicircular or curved touch portion formed at a front end of the touch pointer may be further included.

The remote control method for air measurement and analysis equipment of an unmanned environmental monitoring station using an articulated touching robot of the present invention is an air measurement and analysis equipment of an unmanned environmental monitoring station using a remote control system of an unmanned environmental monitoring station air measurement and analysis equipment using an articulated touching robot. In the remote control method of, a) after executing the application program for joint angle correction of the multi-joint touching robot installed in the controller or air measurement and analysis equipment, initializing the user interface (UI) and buttons and resetting the set values; , b) calling a video-related library to acquire and output real-time monitoring images of air measurement and analysis equipment transmitted from surveillance cameras, and c) activating the image capture function to measure air quality and The step of outputting images of the analysis equipment and the monitoring screen of the articulated touching robot, d) the step of opening the serial port of the controller so that the articulated touching robot can be remotely controlled from the management server, e) the articulated touching robot on the monitoring screen Up or down the slide bar of the remote control screen output on the computer monitor screen of the management server using the input means connected to the computer of the management server while watching and f) the joint angle of the multi-joint touching robot It includes a correction step.

The remote control method for air measurement and analysis equipment of an unmanned environmental monitoring station using an articulated touching robot of the present invention is an air measurement and analysis equipment of an unmanned environmental monitoring station using a remote control system of an unmanned environmental monitoring station air measurement and analysis equipment using an articulated touching robot. In the remote control method of, a1) executing a reset application program installed in a controller or air measurement and analysis equipment, initializing a user interface (UI) and buttons and resetting set values, and a2) monitoring Step of calling video-related library to acquire and output real-time monitoring video of air measurement and analysis equipment transmitted from the camera, and a3) activating the video capture function to monitor air measurement and analysis equipment on the computer monitor screen of the management server The step of outputting the screen as an image, a4) the step of opening the serial port of the controller to control the magnetic contactor, and a5) managing using the input means connected to the computer of the management server while watching the air measurement and analysis equipment on the monitoring screen Click the RESET button on the remote control screen displayed on the computer monitor of the server or click the equipment power off button and on button in sequence to turn off the magnetic contactor and cut off the power of the air measurement and analysis equipment, followed by the magnetic contactor is turned on (ON); and a6) re-supplying power to the air measurement and analysis equipment to operate normally.

The remote control method for air measurement and analysis equipment of an unmanned environmental monitoring station using an articulated touching robot of the present invention is an air measurement and analysis equipment of an unmanned environmental monitoring station using a remote control system of an unmanned environmental monitoring station air measurement and analysis equipment using an articulated touching robot. In the remote control method of, aa) setting the communication speed with the management server using the application program of the controller, and ab) input/output interface (I/O) for controlling the articulated touching robot and/or the magnetic contactor step of setting an output, and ac) if the control signal input transmitted from the management server and/or the mobile terminal is an angle control signal of the articulated touching robot, the first to fourth servomotors of the articulated touching robot are sent to the robot controller of the controller. The step of outputting the angle value, ad) the step of joint motion of the multi-joint touching robot, and ae) the joint motion of the multi-joint touching robot so that the touch pointer touches the target on the touch screen of the atmospheric measurement and analysis equipment to measure and analyze the atmosphere Steps to make the equipment work.

After the step ab), af) determining whether the control signal input from the management server and/or the mobile terminal is a power control signal if it is a reset signal for the air measurement and analysis equipment, and ag) if it is a reset signal for the air measurement and analysis equipment Turning off the contactor and then turning it on to restart the air measurement and analysis equipment to normalize it, and ah) Turning the air measurement and analysis equipment on or off (not the reset signal of the air measurement and analysis equipment) OFF) signal, turning on or off the magnetic contactor to turn on or off the air measurement and analysis equipment.

In the present invention, among a plurality of air measurement and analysis equipments (2) installed in unmanned environment monitoring stations (1) to (1n), when failures, malfunctions, shutdowns or resets are required due to 24-hour full operation, the administrator can use the unmanned environment The manager (person in charge) remotely controls the multi-joint touching robot (3) through the management server (9) or mobile terminal (13) from a remote location without directly visiting the measurement stations (1) to (1n) to measure and analyze the atmosphere. (2) to turn on/off/reset/reset the power, or a target displayed on the touch screen (T) of the atmospheric measurement and analysis equipment (2), such as a menu bar, a setting button , icon, selection button, radio button, ON/OFF button, reset button, slide bar, etc., can be processed immediately in real time by touching, clicking, or dragging, so that the administrator can Not only is there no need to travel to the monitoring station, but the time and cost associated with the mobile visit can be drastically reduced, and the time for the manager to move to the unmanned environment monitoring station (1) to (1n) and atmospheric measurement and analysis equipment (2) There is an effect that there is no gap in which air measurement and analysis cannot be performed during the time of taking measures.

The present invention provides remote power control of air measurement and analysis equipment (2) of unmanned environmental monitoring stations (1) to (1n), regular check of operation status of air measurement and analysis equipment (2) using monitoring camera (4), standard Time interlocking, remote inspection and remote calibration can be achieved, which has the effect of significantly reducing the amount of work, such as the time to visit unmanned environmental monitoring stations (1) to (1n) and the inspection time of air measurement and analysis equipment (2).

The present invention not only remotely inspects the air measurement and analysis equipment (2) without having to go on a long-distance business trip to the unmanned environmental monitoring stations (1) to (1n), but also can maintain stable operation by remotely and quickly and conveniently solving problems when they occur, and By reducing business trips, it has the effect of reducing travel expenses, vehicle maintenance costs, fuel costs, etc. It is also effective in preventing safety accidents by reducing the long-time driving of managers (employees). It is a very useful invention that has effects such as significantly reducing carbon emissions from vehicle operation and contributing greatly to low-carbon green growth.

1: A system configuration diagram illustrating an example of the present invention.
Figure 2: A block diagram of a control circuit shown as an example of the present invention.
Figure 3: A perspective view of the state in which the multi-joint touching robot and surveillance camera are installed in front of the air measurement and analysis equipment in the present invention.
Figure 4: Side view of Figure 3 of the present invention.
5: A configuration diagram of an articulated touching robot shown as an example of the present invention.
6: An exploded perspective view of an articulated touching robot shown as an example of the present invention.
7: A side view of an initial state (standby state) of an articulated touching robot shown as an example of the present invention.
8: A side view of a primary operating state of an articulated touching robot shown as an example of the present invention.
9: A side view of a secondary operating state of an articulated touching robot shown as an example of the present invention.
10: A side view of a tertiary operating state of an articulated touching robot shown as an example of the present invention.
11: A side view of a state in which an articulated touching robot shown as an example of the present invention touches a touch screen.
12: A front view of a part of a touch pointer of an articulated touching robot shown as an example of the present invention.
13: Circuit block diagram of the first to fourth servomotors connected to the UART terminal of the controller shown as an example of the present invention.
14: A diagram illustrating the configuration of a robot control unit shown as an example of the present invention.
Figure 15: Example of the composition of the monitoring screen and remote control screen output to the computer monitor of the management server in the present invention.
16: A flowchart of a state of correcting joint angles of an articulated touching robot shown as an example of the present invention.
17: A flow chart of a state of resetting (RESET) and turning on (ON) / off (OFF) the air measurement and analysis equipment shown as an example of the present invention.
18: A state of resetting and powering on/off of the air measurement and analysis equipment shown as an example of the present invention and touching a target on the touch screen of the air measurement and analysis equipment with the touch pointer of the multi-joint touching robot flow chart.
19: An example of screen output of air measurement and analysis equipment shown as an example of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing the embodiments of the present invention, the same components in the drawings are described with the same reference numerals as much as possible, and specific descriptions of related well-known configurations or functions are omitted so as not to obscure the subject matter of the present invention. In addition, the accompanying drawings Matters expressed in may be different from the form actually implemented in the drawings schematically for easily explaining the embodiments of the present invention.

1 is a system configuration diagram for remotely controlling air measurement and analysis equipment of an unmanned environment monitoring station of the present invention, a plurality of unmanned environment monitoring stations (1) to (1n) scattered in various places, such as by wide area, by region, by region, by facility, Various air measurement and analysis equipment (2) installed (facility) in the unmanned environment monitoring stations (1) to (1n), respectively, and air measurement and analysis equipment (2) installed in front of the air measurement and analysis equipment (2) It is installed in front of the multi-joint touching robot 3 equipped with a touch pointer so that it can touch or click the touch screen T of ) or operate a switch or button, and the air measurement and analysis equipment 2, and measure the atmosphere and A monitoring camera 4, an articulated touching robot 3, and a monitoring camera 4 that take real-time pictures of the main body and/or screen or touch screen T of the analysis equipment 2 and transmit them to the management server 9 A controller 5 that controls and processes various signals, and an electromagnetic contactor that turns on/off or resets the power of the air measurement and analysis equipment 2 under the control of the controller 5 ( 6), the wired and wireless communication module 7 connected to the controller 5, and the air measurement and analysis equipment 2 remotely controlled through the wired and wireless communication network 8, and the air transmitted from the air measurement and analysis equipment 2 The management server 9, which collects measurement and analysis data and receives the real-time monitoring image of the monitoring camera 4, and measures and analyzes the atmosphere with the real-time monitoring image transmitted from the monitoring camera 4 and configured in the management server 9 It is composed of a remote monitoring unit 10 that checks the operation status of the equipment 2 and malfunctions or abnormal operations, and the management server 9 and remotely controls the multi-joint touching robot 3, and the air measurement and analysis equipment ( 2) includes a remote control unit 11 that resets or operates normally, and a computer 12 device of the management server 9.

While communicating with the wired/wireless communication network (8), monitor the air measurement and analysis equipment (2) of the unmanned environmental monitoring stations (1) to (1n), turn on/off or reset the power, or , and further includes a manager's mobile terminal 13 that controls and monitors the management server 9.

It is connected to the wired/wireless communication module 7 and further includes a cloud 14 in which measurement and analysis data (including logger data) of the air measurement and analysis equipment 2 are stored.

Various air measurement and analysis equipments (2) installed in the unmanned environment monitoring stations (1) to (1n) include ultrafine dust (PM2.5), fine dust ( PM10), ozone (O ₃ ), ultraviolet rays, nitrogen monoxide (NO), nitrogen dioxide (NO ₂ ), volatile organic compounds (VOCs), carbon monoxide (CO), sulfur dioxide (SO ₂ , sulfur dioxide) concentration or air pollution Data obtained by measuring and analyzing the degree is transmitted in real time (or periodically) to the management server 9 and/or a specific server (not shown). An air conditioner composed of is installed to prevent overheating, and a stable operating environment is provided by creating the optimal indoor temperature, humidity, and air to prevent measurement errors or malfunctions of air measurement sensors sensitive to temperature and humidity.

An articulated touching robot remotely controlled by the management server 9 and/or the mobile terminal 13 when a reset button is configured on the touch screen T of the air measurement and analysis equipment 2 ( The atmospheric measurement and analysis equipment 2 can be initialized or re-operated by touching or clicking the reset button with the touch pointer 18 of 3) to operate normally.

In addition, the air measurement and analysis equipment (2) is turned on/off by the electromagnetic contactor (6), or configured on the front of the main body of the air measurement and analysis equipment (2) or in the area outside the touch screen (T). If an on/off switch or a reset switch is configured, the switch is operated with the touch pointer of the multi-joint touching robot (3) that is remotely controlled to measure and analyze the atmosphere (2). ) can be initialized or restarted to operate normally.

The management server 9 may be a Korea Environment Corporation management server, a local government management server, an industrial technology test center management server, a standard science research institute management server, a Korea Meteorological Administration management server, a National Institute of Environmental Research management server, a Ministry of Environment management server, and a related company management server. .

2 is a circuit block diagram for remotely controlling the air measurement and analysis equipment 2 installed in the unmanned environmental monitoring stations 1 to 1n, and a setting unit S for setting the communication state and operation state in the controller 5 ), and the multi-joint touching robot 3 that controls the air measurement and analysis equipment 2 by the remote control command of the management server 9 or the mobile terminal 13, and the air measurement and analysis equipment 2 in real time A monitoring camera 4 that transmits the captured image to the management server 9 and/or the mobile terminal 13 via the wired/wireless communication module 7 and the wired/wireless communication network 8, the setting state, operation state, data, Remote control of the multi-joint touching robot 3 transmitted from the management server 9 by transmitting and receiving necessary data while communicating with the management server 9 through the display unit D on which time is displayed on the screen and the wired/wireless communication network 8 A wired/wireless communication module 7 that receives commands and transmits images captured by the monitoring camera 4 to the management server 9 in real time, and the multi-joint touching robot 3 by remote control commands from the management server 9 A robot control unit 15 for controlling and an electromagnetic contactor 6 for normal operation by turning on/off or resetting the power of the air measurement and analysis equipment 2 are configured to be connected.

The controller 5 includes a microcomputer or central processing unit (CPU), RAM, ROM, a universal asynchronous receiver/transmitter (UART), and an input/output interface (I/O), The multi-joint touching robot 3 is controlled by receiving a remote control command transmitted from the management server 9, and the real-time monitoring video signal of the air measurement and analysis equipment 2 captured by the monitoring camera 4 is transmitted through wired and wireless communication. It is transmitted to the management server (9) through the module (7) and the wired/wireless communication network (8), and when the air measurement and analysis equipment (2) fails, malfunctions, or shuts down, the electromagnetic contactor (6) is controlled by a remote control command. The atmospheric measurement and analysis equipment (2) is re-operated or reset to operate normally, and various application programs, control programs, and IDs for each atmospheric measurement and analysis equipment (2) are stored in memory and necessary data are read out. will use

The multi-joint touching robot 3 is a variety of air measurement and analysis equipment 2 installed in the unmanned environmental monitoring stations 1 to 1n by remote control commands of the management server 9 and/or the mobile terminal 13 Touching, clicking, or dragging the touch screen (T) configured integrally with the touch screen (T) or the touch screen (T) configured in the monitor (M) of various air measurement and analysis equipment (2) with the touch pointer (18), Alternatively, the atmospheric measurement and analysis equipment 2 can be reset or operated normally by operating or switching the atmospheric measurement and analysis equipment 2 with various touch pointers 18 .

The magnetic contactor 6 (Magnetic Contactor) is an electronic relay in which contacts are opened and closed by an electronic coil like an electronic relay, and a management server 9 transmitted through a wired and wireless communication network 8 and a wired and wireless communication module 7 Or, by the remote control command of the mobile terminal 13, the controller 5 and the robot control unit 15 reset the air measurement and analysis equipment 2 in which the failure, malfunction, or shutdown (Shutdown) is supplied, or the power supplied It performs the function of normal operation by turning on/off.

The wired/wireless communication module 7 and the robot control unit 15 include communication ports and communication protocols such as RS-232, RS-232C, RS-422, RS-485, TTL, Ethernet, and GPIB (General Purpose Interface Bus). It functions to enable digital data communication between the controller 5 and the management server 9 through the wired and wireless communication network 8, and monitors the real-time monitoring image of the air measurement and analysis equipment 2 by the monitoring camera 4. It is transmitted to the management server 9 via the wired/wireless communication network 8.

The wired/wireless communication network 8 may be a packet communication network, a virtual private network (VPN), an Internet communication network, a mobile terminal base station, Ethernet communication, WiBro, WCDMA, LTE, 3G, 5G, and the like.

The universal asynchronous receiver/transmitter (UART) is hardware that converts parallel data into serial data and transmits it, and is used with communication standards such as RS-232, RS-422, RS-485, and TTL, The multi-joint touching robot 3 is controlled.

The TTL (Transistor Transistor Logic) is a logic circuit combining transistors, and in the present invention, as shown in FIG. 13, the multi-joint touching robot ( The first to fourth servomotors 22, 25, 28, and 31 constituting 3) are individually or simultaneously controlled.

The measurement and analysis data of the unmanned environment monitoring stations (1) to (1n) are processed and stored by the controller 5, and the management server 9 and/or mobile terminal 13 and/or data collection center (Environmental Corporation) Alternatively, it may be transmitted through a wired/wireless communication network 8 such as a virtual private network (VPN) that is secured by a national air pollution information management system, etc.).

The VPN is a service that creates a private network connection between devices over the Internet. Information is protected by replacing a device's real IP address with a virtual IP address, encrypting data, and routing the data to a secure network. Therefore, you can use the network safely while securing anonymity through VPN download.

The monitoring camera 4 checks whether the remotely controlled multi-joint touching robot 3 operates normally and touches the touch screen T accurately, and checks whether the air measurement and analysis equipment 2 is normally operating and the touch screen (T ) is installed in front of the air measurement and analysis equipment (2) to monitor various numbers, graphs, and measured values on the entire area of the touch screen (T) or the entire area of the touch screen (T) and the touch screen (T ), and the real-time monitoring image taken by the surveillance camera 4 is transmitted to the management server 9 via the wired/wireless communication module 7 and the wired/wireless communication network 8, and the remote monitoring unit (10) or computer (12) by configuring the screen to be output to the monitor screen, the manager can check and monitor the normal state of the air measurement and analysis equipment (2) and the operating state of the articulated touching robot (3).

The monitoring camera (4) is a speed dome camera with PTZ (Pan, Tilt, Zoom) function and capable of network control, and accurately monitors the operation status of the air measurement and analysis equipment (2) and the operation status of the monitoring camera (4). can be observed Therefore, it is possible to remotely inspect, confirm, and control situations that can only be confirmed at the sites of the unmanned environmental monitoring stations (1) to (1n). The surveillance camera 4 may be a webcam (Web Cam), a CCD camera, or a CCTV, and the operation state of the articulated touching robot 3 and the touch state and touch position of the touch pointer 18, atmospheric measurement and analysis equipment ( 2) The administrator can check or watch the operation status through the management server 9 or the mobile terminal 13.

The management server 9 stores coordinate values, which are location information of the touch screen T of the air measurement and analysis equipment 2 or surrounding targets in memory, and remotely controls and specifies the air measurement and analysis equipment 2. When target touching is required, if the corresponding coordinate value stored in the memory is read and a remote control command is transmitted, it is transmitted to the wired/wireless communication network 8, the wired/wireless communication module 7, and the controller 5, and the controller 5 measures the air and By controlling the multi-joint touching robot (3) installed in front of the analysis equipment (2), the touch pointer (18) touches, clicks, or drags the target on the touch screen (T) to execute the command commanded to be remotely controlled and take action. The measurement and analysis equipment 2 operates normally, and atmospheric measurement and analysis data are transmitted to the management server 9.

For example, if a specific air measurement and analysis equipment (2) is broken, malfunctioned, or shut down and needs to be reset, press the push-type power switch installed on the front of the main body of the air measurement and analysis equipment (2) to turn it off The atmospheric measurement and analysis equipment (2) is operating normally.

The management server 9 includes a computer 12 having an input/output interface (I/O) such as a mouse, keyboard, monitor, and printer, an interface such as USB, an operating program, an application program, and a security program.

The remote monitoring unit 10 is configured in the management server 9, and the monitoring image of the air measurement and analysis equipment 2 transmitted from the monitoring camera 4 is output to the monitor of the computer 12, and the air measurement and It is possible to check the operation status of the analysis equipment 2, malfunction or abnormal operation, and the operation status of the remotely controlled multi-joint touching robot 3.

The remote control unit 11 is configured in the management server 9 and controls the articulated touching robot 3 remotely while touching, clicking, or dragging a target to reset the air measurement and analysis equipment 2 or to normal. configured to operate.

3 is a perspective view of a state in which an articulated touching robot 3 and a monitoring camera 4 are installed in front of a touch screen T of a monitor M of an air measurement and analysis equipment 2, and FIG. 4 is a side example thereof. A fixed plate 16 having a predetermined plane area is fixed to the upper surface of the table 17 on which the road, air measurement and analysis equipment 2 is supported, and an articulated touching robot 3 is installed on the fixed plate 16 to perform articulated touching The touch pointer 18 of the robot 3 moves to the target position of the air measurement and analysis equipment 2 on the touch screen T and is configured to touch, click, or drag the target, and one side of the fixed plate 16 A surveillance camera (4) is installed on the upper part of the vertical member (19) fixed to the air measurement and analysis equipment (2) to manage the real-time image of the entire area of the touch screen (T) and the surrounding area of the touch screen (T). It is installed so that it can be transmitted to the server 9 and/or the mobile terminal 13.

5 is a perspective view of an articulated touching robot 3 shown as an example of the present invention, and FIG. 6 is an exploded perspective view of the articulated touching robot 3, the first to fourth servomotors 22, 25, 28 ) (31) and the plurality of arms (24, 27, 30) connecting the first to fourth servomotors (22, 25, 28, and 31) and the touch screen (T) are touched. 7 is a side view of the articulated touching robot 3 in its initial state (standby state), and the touch pointer 18 touches the upper surface of the fixing plate 16 located at the bottom and is supported while being supported Backlash or secular change of each driving unit and the first to fourth servomotors 22, 25, 28, and 31 due to gravity or the like are prevented, and life shortening is also prevented.

The multi-joint touching robot 3 of the present invention is fixed by a fixing member 21 fixed to the upper surface of one side of the fixing plate 16 with a fastening member 211 and a plurality of fastening members 212 to the fixing member 21. A first servomotor 22, a first arm 24 having one side fixed to the drive shaft 23 of the first servomotor 22, and a second servomotor fixed to the other side of the first arm 24 The drive shaft 26 of (25), the second arm 27 having one side fixed to the second servomotor 25, and the drive shaft of the third servomotor 28 fixed to the other side of the second arm 27 (29), a third arm 30 having one side fixed to the third servomotor 28, a fourth servomotor 31 fixed to the other side of the third arm 30, and a fourth servomotor ( 31) includes a rotation member 33 fixed to the driving shaft 32 and a touch pointer 18 fixed to the rotation member 33.

The servomotors 22, 25, 28, and 31 may be AC servomotors, DC servomotors, BLDC servomotors, stepping servomotors, and the like.

The first to fourth servomotors 22, 25, 28, and 31 may be servomotors and/or stepping servomotors, and these servomotors may be configured in combination. For example, the first to third servomotors 22, 25, and 28 may be configured as servomotors, and the fourth servomotor 31 may be configured as a stepping servomotor.

A long hole 35 formed in the pivot member 33 and having a predetermined length of the touch pointer 18 fixed by the fastening member 34 is further included. The fixed height of the touch pointer 18 can be finely adjusted using the long hole 35 .

6 is an illustrative view of an exploded state of the articulated touching robot 3 of the present invention, in which the fixing member 21 composed of a '∪'-shaped bracket on one side of the upper surface of the fixing plate 16 is a plurality of fastening members 211. It is fixed, and the lower part of the body of the first servomotor 22 is inserted into the upper protrusion formed on both sides of the fixing member 21, and then fastened by a plurality of fastening members 212, so that the first servomotor 22 is fixed to the fixing plate ( 16) is firmly fixed.

The driving shaft 23 of the first servomotor 22 and the driving shaft 26 of the second servomotor 25 are connected by the first arm 24 composed of upper and lower brackets 61 and 62 so that joint motion is achieved. is achieved

In the first arm 24, the horizontal parts of the '∩'-shaped lower bracket 61 and the '∪'-shaped upper bracket 62 are in contact with each other and then fastened with a plurality of fastening members 63 to form an 'H' shape. Consisting of, on both lower ends of the lower bracket 61, the outer surfaces of the flanges 51 and 55 coupled to both ends of the drive shaft 23 of the first servomotor 22 and interlockingly rotated along the drive shaft 23. After being in contact, each is fixed with a plurality of fastening members 52 and 56, and both upper ends of the upper bracket 62 are coupled to both ends of the drive shaft 26 of the second servomotor 25 along the drive shaft 26. After being in contact with the outer surfaces of the interlockingly rotating flanges 81 and 85, they are fixed with a plurality of fastening members 82 and 86, respectively.

Therefore, when the remote control command of the management server 9 and/or the mobile terminal 13 is transmitted to the controller 5, the drive shaft 23 of the first servo motor 22 is rotated clockwise by the robot controller 15. When rotated, the first arm 24 and the second servomotor 25 also rotate clockwise, and when the driving shaft 23 of the first servomotor 22 rotates counterclockwise, the first arm 24 and The second servomotor 25 also rotates counterclockwise, and in parallel with this, the second servomotor 25 can rotate clockwise or counterclockwise simultaneously or with a time difference by the robot controller 15 .

The upper part of the body of the second servomotor 25 and the driving shaft 29 of the third servomotor 28 are connected by the second arm 27 composed of upper and lower brackets 91 and 92 to achieve joint motion. .

The second arm 27 is connected with a plurality of fastening members 93 after the horizontal parts of the '∩'-shaped lower bracket 91 and the '∪'-shaped upper bracket 92 are in contact with each other, so that the second arm 27 has an 'H' shape. It consists of a plurality of fastening members 90, both sides of the upper body of the second servomotor 25 are fastened and fixed to both lower ends of both sides of the lower bracket 91, and to the upper ends of both sides of the upper bracket 62, the third servo It is coupled to both ends of the drive shaft 29 of the motor 28 and contacts the outer surfaces of the flanges 111 and 115 that rotate interlockingly along the drive shaft 29, and are then fixed with a plurality of fastening members 112 and 116, respectively. do.

Therefore, when the drive shaft 26 of the second servomotor 25 rotates clockwise by the robot controller 15, the second servomotor 25, the second arm 27, and the third servomotor 28 also When the drive shaft 26 of the second servomotor 25 rotates clockwise, the second servomotor 25, the second arm 27, and the third servomotor 28 also rotate counterclockwise. direction, and in parallel with this, the third servomotor 28 can be rotated clockwise or counterclockwise by the robot controller 15 simultaneously or with a time difference.

The drive shaft 29 of the third servomotor 28 and the lower part of the body of the fourth servomotor 31 are connected by the third arm 30 composed of upper and lower brackets 121 and 122 to achieve joint motion. do.

The third arm 30 is fastened with a plurality of fastening members 123 after the horizontal parts of the '∩'-shaped lower bracket 121 and the '∪'-shaped upper bracket 122 are in contact with each other, so that the 'H' shape is formed. Consisting of, both sides of the lower part of the body of the third servomotor 28 are fastened and fixed with a plurality of fastening members 124 to the protrusions protruding to the lower sides of both sides of the lower bracket 121, and the upper sides of both sides of the upper bracket 122 are fixed. The protruding part is coupled to both sides of the lower body of the fourth servomotor 31 and then fixed with a plurality of fastening members 126, respectively, so that the joint motion of the third servomotor 28 and the fourth servomotor 31 Excluded.

Therefore, when the drive shaft 29 of the third servomotor 28 rotates clockwise by the robot controller 15, the third servomotor 28, the third arm 30, and the fourth servomotor 31 also When the drive shaft 29 of the third servomotor 28 rotates counterclockwise, the third servomotor 28, the second arm 27, and the fourth servomotor 31 also rotate counterclockwise. In parallel, the Y-axis coordinate of the touch pointer 18 can be changed or moved while the fourth servomotor 31 rotates forward or backward simultaneously or with a time difference by the robot controller 15.

The driving shaft 32 of the fourth servomotor 31 is coupled to the end of the driving shaft 32 and the outer surface of the flange that rotates interlockingly along the driving shaft 32 is in contact with the fixing part 151 of the rotating member 33 Next, each of the plurality of fastening members 141 is fixed, and the fastening member 34 is inserted into the vertical long hole 35 formed in the pivoting member 33, and then the touch pointer 18 located in front of the pivoting member 33 It is fastened and fixed to the threaded hole 18b.

At the front end of the touch pointer 18, a semicircular or curved touch portion 18a made of a somewhat soft material is formed.

The shaft portions 53, 83, and 113 protruding to one side of the flanges 51, 55, 81, 85, 111, and 115 have ends of drive shafts 23, 26, and 29, respectively. Coupling holes 54, 84, and 114 are respectively formed to be coupled.

The coupling holes 54, 84, and 114 are configured to have the same shape as the driving shafts 23, 26, and 29 to rotate interlockingly. For example, when the cross-sectional shape of the driving shafts 23, 26, and 29 is rectangular or polygonal, the coupling holes 54, 84, and 114 are also configured to be forcibly coupled in a rectangular or polygonal shape so that the driving shafts 23, 26 ( 29) and the flanges 51, 55, 81, 85, 111, 115 rotate interlockingly.

The drive shafts 23, 26, 29, 32 and the coupling holes 54, 84, and 114 may be configured to rotate interlockingly by key coupling or spline coupling.

In the above, one flange 51, 81, 111 is configured to rotate in conjunction with the driving shaft 23, 26, 29, and the other flange 55, 85, 115 is configured to rotate in conjunction with the driving shaft 23, 26 Of course, multi-joint motion is achieved even if idle is coupled to the end of (29) (32) to idle.

The rotational speed, rotational angle, and rotational direction of the first servomotor 22 to the fourth servomotor 31 are directed toward the touch target on the touch pointer 18 by the robot controller 15, respectively, sequentially, or non-sequentially. It can be controlled sequentially, and can be controlled with a preset operation sequence, speed and direction, angle and torque, of course.

The middle portions of the first arm 24 to the third arm 30 are connected in an 'H' shape to form an arm having a simple and robust configuration. Distortion is prevented by a predetermined thickness and front-to-rear width, and a smart and stylish arm is provided that occupies a minimum space as well as being light and robust due to a simple configuration.

The first to fourth servomotors 22, 25, 28, and 31 are precisely servo-controlled by installing a reducer, an encoder, and a control unit inside the servomotor, and are small in size with sufficient rotational torque to ensure a narrow space. It can be easily installed without difficulty, and it can be used even in the X, Y, Z moving area or a place where the moving section is small.

The control signals of the servomotors 22, 25, 28, and 31 are controlled by the controller 5 and the robot controller 15 as PWM values in the form of pulse width modulation, and the management server 9 and/or movement It is remotely controlled by the remote control command of the terminal 13.

In order to control the first to fourth servomotors 22, 25, 28, and 31, as shown in FIG. 13, while applying HIGH (5V) to the UART enable terminal of the controller 5, TX In order to transmit a command to the terminal and, conversely, to receive the operating state signal of the first to fourth servomotors 22, 25, 28, and 31, while applying LOW (0V) to the enable terminal, the RX terminal A signal input to can be received in a polling method or an interrupt method.

In the present invention, the first to third servomotors 22, 25, and 28 move the touch pointer 18 up and down while moving up and down (Y coordinate) of the touch screen T by angle control, 4 The servomotor 31 moves the touch pointer 18 to the left and right (X coordinate) by forward rotation (G direction in FIG. 12) or reverse rotation (F direction in FIG. It is configured so that the touch pointer 18 can move to the area.

7 is a side view of the articulated touching robot 3 in an initial state, and the touch pointer 18 is configured to wait in contact with the upper surface of the fixing plate 16 located at the bottom, so that the self-weight or gravity of the articulated touching robot 3 Backlash or secular change of each drive unit and servomotor 22, 25, 28, 31 due to the like are prevented, and life shortening is also prevented.

8 to 11 are remote control commands of the management server 9 and/or the mobile terminal 13 transmitted to the controller 5 through the wired/wireless communication network 8 and the wired/wireless communication module 7, such as failure or malfunction or It illustrates the process of remote control by touching, clicking, or dragging a specific target for normal operation or resetting of the air measurement and analysis equipment (2) of the shut down unmanned environmental monitoring stations (1) to (1n). 8 is a fixed plate while the robot controller 15 rotates the second servomotor 25 clockwise (direction A) at a predetermined angle through the UART by the remote control command of the management server 9 and/or the mobile terminal 13. The touch pointer 18 in the initial state waiting for contact with the upper surface of (16) is lifted up, and in FIG. The touch pointer 18 lifted up while rotating at a predetermined angle in the counterclockwise direction (direction B) is partially advanced in the direction of a specific target on the touch screen T, and FIG. 10 is directed toward a specific target on the touch screen T. In order to aim or aim, the first servomotor 22 rotates a predetermined angle in a counterclockwise direction (C direction), and the second servomotor 25 rotates a predetermined angle in a clockwise direction (D direction) in the direction of the touch screen (T). The touch pointer 18 partially moved forward is in a state of facing or aiming at a specific target on the touch screen T, and FIG. (18) moves forward in the direction of the touch screen (T) and touches a specific target on the touch screen (T) for a predetermined period of time to complete the task according to the control command.

In the above, when the specific target is deviated to the left or right, the fourth servomotor 31 forwardly rotates at a predetermined angle (direction G in FIG. 12) or reversely rotates at a predetermined angle (direction F) so that the touch screen (T) It is controlled to face a specific target on the image.

In the multi-joint touching robot 3 that has completed the task, the first to fourth servomotors 22, 25, 28, 31 and arms 24, 27, 30 are arranged in the reverse order. As shown in FIG. 7 during joint motion, the touch pointer 18 touches the upper surface of the lower fixing plate 16 to enter an initial state and waits for the next control command to be executed.

The multi-joint touching robot 3 connects the first to fourth servomotors 22, 25, 28, and 31 with bracket arms 24, 27, and 30 having a simple and robust configuration, respectively. Since the joint motion is achieved, the target ( Various buttons or slide bars, etc.) can be touched, clicked, and/or dragged, or switches around the touch screen T can be reset and normally operated.

The multi-joint touching robot 3 has a solid and simple structure in which the first to third arms 24, 27, and 30 are connected in an 'H' shape in the middle, and are twisted by a predetermined thickness and front-back width. This is prevented, and by a simple configuration, it is light and robust, and accurate operation is implemented while occupying a minimum space, and a smart and stylish arm is provided.

In the present invention, the management server 9 and/or the mobile terminal 13 target the touch target (menu bar, setting button, icon, selection button, radio button, It has coordinate values (ON/OFF button, reset button, slide bar), and unmanned environment monitoring station (1) through remote control unit (11), wired and wireless communication network (8) and wired and wireless communication module (7). When a remote control command is transmitted to the controller 5 of ~ (1n), the controller 5 controls the first to fourth servomotors 22, 25, 28, and 31 of the articulated touching robot 3. By doing so, the touch pointer 18 moves to a specific target of the atmospheric measurement and analysis equipment 2, touches, clicks, or drags to execute a remote control command and returns, thereby achieving the intended purpose, and by touching, clicking, or dragging. The reset state, re-operation state, and normal operation state of the air measurement and analysis equipment (2) and the operation state image of the multi-joint touching robot (3) are captured in real time through the monitoring camera (4), and the wired and wireless communication module (7) and wired and wireless In the case of a communication network 8 or a webcam, it is transmitted to the management server 9 and/or the mobile terminal 13 via the wired/wireless communication network 8 and is remotely monitored so that the manager can check in real time.

The various air measurement and analysis equipments (2) installed in the unmanned environmental monitoring stations (1) to (1n) are operated 24 hours a day in full operation, so if the air measurement and analysis equipment stops operating, the application program also collects data from time to time. In most cases, if the manager moves to the unmanned environment monitoring station (1) to (1n) and turns off (OFF) and then turns on (ON) the air measurement and analysis equipment (2) that caused the problem, it operates normally. , In this case, when a reset (RESET) command is transmitted from the management server 9 and/or the mobile terminal 13 remotely to the corresponding air measurement and analysis equipment 2, the controller 5 turns off the magnetic contactor 6 ( OFF) to cut off the power supplied to the air measurement and analysis equipment 2 for a while, then turn it ON to resupply the power, and the air measurement and analysis equipment 2 reboots and operates normally.

In the present invention, the controller 5 operates the first servomotor 22 to the fourth servomotor 31 constituting the joints of the multi-joint touching robot 3 through TTL communication to measure and analyze the atmosphere (2). Atmospheric measurement and analysis equipment ( 2) remote control is achieved.

In the present invention, in order for the controller 5 to transmit control commands to the robot controller 15 and the first servomotor 22 to the fourth servomotor 31 through TTL communication, in the form of a communication protocol as shown in [Table 1] You can control it. [Table 1] below illustrates an example of transmitting an angle command value to the first servomotor 22.

start code ID value of the first servomotor angular position speed Confirm transmission 0xFF 0x01 angle value speed value checksum

The controller 5 of the present invention receives target angle values from the first servomotor 22 to the fourth servomotor 31 of the multi-joint touching robot 3 from the application program of the computer (PC) and transmits them through the UART terminal. The angle value of the servomotor is transmitted using the above protocol.

Although TTL communication was taken as an example here, remote control is possible while sufficiently communicating with RS-485 communication protocol.

In addition, in the case of transmitting the power control command value of the atmospheric measurement and analysis equipment 2, it may be exemplified as shown in [Table 2] below.

start code Power ID Power ON/OFF Confirm transmission 0xFF 0x05 ON/OFF checksum

In the present invention, the controller 5 resets or turns on/off the air measurement and analysis equipment 2, and the touch pointer 18 is moved by the joint motion of the multi-joint touching robot 3. An application program for controlling the touch of a specific target on the touch screen (T) of the air measurement and analysis equipment (2) is installed, and the application program is installed on the computer (PC) of the unmanned environmental monitoring stations (1) to (1n). An application program on a computer (PC) installed and operated may be used.

14 shows the configuration of the robot controller 15 for servo-controlling the first to fourth servomotors 22, 25, 28, and 31, and the first to fourth servomotors 22 ( 25) It is connected to and controlled by the robot controller (servo drive) 15 including a plurality of input/output ports for data transmission and reception with (28) (31).

The robot controller 15 generates switch control signals of the first to fourth servomotors 22, 25, 28, and 31, and activates a switch according to the switch control signal to perform A pulse control signal is transmitted to the first to fourth servomotors 22, 25, 28, and 31 to perform servo control.

The robot control unit 15 analyzes the feedback data including the rotation angle (stimulus) and the positional speed through the encoders of the first to fourth servomotors 22, 25, 28, and 31, and displays the results of the analysis. Accordingly, the current output to the first to fourth servomotors 22, 25, 28, and 31 is controlled, and the feedback data includes encoder signals, hall signals, and pulse data. data) may include one or more of them.

The robot controller 15 includes a servo drive, an algorithm, and a control program for controlling the first to fourth servomotors 22, 25, 28, and 31, and the first to fourth servos to be controlled. The input/output ports of the motors 22, 25, 28, and 31 may be respectively activated.

The robot controller 15 analyzes the feedback data of the connected first to fourth servomotors 22, 25, 28, and 31, and analyzes the connected first to fourth servomotors 22, 25, 28 ( 31) generates and outputs command pulses for control. That is, the robot controller 15 controls the multi-joint touching robot 3 by receiving the remote control command of the management server 9 transmitted through the wired/wireless communication network 8, the wired/wireless communication module 7, and the controller 5. will do

Since current control using feedback data between the robot controller 15 and the first to fourth servomotors 22, 25, 28, and 31 is obvious to those skilled in the art, a detailed description thereof will be omitted.

The first servomotor 22 to the third servomotor 28 of the articulated touching robot 3 are configured to operate in the vertical direction, and the fourth servomotor 31 in which the touch pointer 18 is installed is left and right. It is configured to move in a direction, and the rotation radius of the first servomotor 22 to the fourth servomotor 31 is configured to freely rotate between 0° and 360°.

The multi-joint touching robot 3 of the present invention, as illustrated in the drawings, has a touch screen T or Touching the touch screen (T) of the monitor (M) connected to various air measurement and analysis equipment (2) (including drag and a combination of drag and touch) or switching various air measurement and analysis equipment (2) It is possible to remotely operate and reset or operate the lights remotely.

Encoders (detectors) built into the first to fourth servomotors 22, 25, 28, and 31 detect the rotational angle of the servomotor, and the detected rotational angle pulse is input to the control unit and the current calculator. The motor control signal is precisely controlled by TTL communication and RS-232 or RS-485 communication with PWM value in pulse form. Main power required for operation is supplied to the first to fourth servomotors 22, 25, 28, and 31 and the control unit.

The first to fourth servomotors 22, 25, 28, and 31 are precisely servo-controlled by installing a reducer, an encoder, and a control unit inside the servomotor, and are small in size with sufficient rotational torque to ensure a narrow space. It can be easily installed without difficulty, and can be used sufficiently even in the X, Y, Z movement area or in a place where the movement section is small.

The control signals of the first to fourth servomotors 22, 25, 28, and 31 are controlled by PWM values in the form of pulse width modulation, and the first to fourth servomotors are controlled by TTL communication and RS-232 or RS-485 communication. It is controlled by controlling the clockwise or counterclockwise rotation angle and torque of the fourth servomotor 22, 25, 28, 31 and the forward rotation and reverse rotation angle and torque, and the touch pointer 18 By touching the target on the touch screen (T) of the air measurement and analysis equipment (2) for a predetermined period of time, the air measurement and analysis equipment (2) is controlled or reset and/or turned on/off (OFF). ) can be made.

15 is a screen output through the monitor of the computer 12 of the management server 9 shown as an example of the present invention. (1) ~ (1n) while real-time filming of the air measurement and analysis equipment (2) from the monitoring camera (4), the management server (9) via the controller (5), wired and wireless communication module (7) and wired and wireless communication network (8) ) is transmitted to the remote monitoring unit 10 and then output to the computer 12 monitor, the touch screen (T) monitoring image of the air measurement and analysis equipment (2), and the right screen shows the articulated touching robot (3) The air measurement and analysis equipment 2 is remotely controlled by the articulated touching robot 3 using the remote control program of the remote control unit 11 as the remote control screen Pb that can be remotely controlled.

At the top of the monitoring screen (Pa) of the air measurement and analysis equipment (2), a mode button (a1) for selecting the operation mode or state mode of the air measurement and analysis equipment (2) is displayed, and at the bottom thereof, the air measurement and A menu button (a2) for selecting menus such as B-None, Oven, B-pid, and Events of the analysis equipment (2) is displayed on the screen, and the temperature (Temp) of the air measurement and analysis equipment (2) is displayed at the bottom. The data display part (a3), which displays measurement and analysis data such as /Time/Rate, etc. in numbers, is displayed, and the measurement and analysis data of the atmospheric measurement and analysis equipment (2) is displayed as a graph at the bottom. A graph display unit (a5) is displayed on the screen, and a log-in button (a4) is displayed on the screen, and measurement and analysis data are transmitted through the wired/wireless communication network (8) to the management server (9) and/or mobile terminal (13). ) is transmitted in real time.

At the top of the right screen, which is the remote control screen (Pb) of the air measurement and analysis equipment (2), a mode button (b1) for selecting the operation mode or state mode of the air measurement and analysis equipment (2) is displayed, and the lower part thereof A menu button (b2) for selecting menus such as B-None, Oven, B-pid, and Events is displayed on the screen, and at the bottom is a login that grants control authority to the air measurement and analysis equipment (2). A button (b3) is displayed, and if the servo motor position (Motor Position) or target coordinates of the multi-joint touching robot (3) are distorted, the servo motor position or target coordinates are corrected by Up/Down. A slide bar (b4) is displayed, and an ON button (b5) that can turn on/off the power (POWER) of the air measurement and analysis equipment (2) is displayed at the bottom. An OFF button (b6) is displayed, and a reset button (b7) for initializing the air measurement and analysis equipment (2) is displayed on the right side, and these are displayed using the computer (12) mouse or keyboard. When a button is selected and clicked or the slide bar (b4) is dragged, the corresponding control command is sent to the remote controller 11, the management server 9, the wired/wireless communication network 8, and the wired/wireless communication module 7 of the controller 5. ) and the robot controller 15, while the multi-joint touching robot 3 is remotely controlled, the touch pointer 18 moves to a specific target location located at the corresponding coordinates on the touch screen T, and is touched, clicked, or dragged. The atmospheric measurement and analysis equipment (2) is remotely and quickly and easily reset, turned off, or controlled on (ON), and monitoring displayed on the left monitoring screen (Pa) by the monitoring camera (4) It is possible to control the multi-joint touching robot (3) while watching the video, or to check the control status of the multi-joint touching robot (3) and the operation status of the atmospheric measurement and analysis equipment (2) in real time. Precise control is achieved.

The login button (b3) is a button that can log in to receive remote control authority for the air measurement and analysis equipment (2).

On the other hand, in the multi-joint touching robot 3, play and backlash occur due to use and wear, and the angle of the joint is distorted and the touch position of the touch pointer 18 is also greatly deviated. As a result, angle correction of the multi-joint touching robot 3 is required.

16 is a flow chart showing a process of correcting the distorted joint angle of the articulated touching robot 3 in the present invention, and the joints of the articulated touching robot 3 installed in the controller 5 or the air measurement and analysis equipment 2 After the application program for angle correction is executed, the user interface (UI) and buttons are initialized and set values are reset (step S1).

Subsequently, in order to acquire and output real-time surveillance images of the multi-joint touching robot (3) and atmospheric measurement and analysis equipment (2) transmitted from the surveillance camera (4), the image-related library is called (step S2) and the image is captured (Capture) By activating the function (step S3), the monitoring screen of the air measurement and analysis equipment (2) and the multi-joint touching robot (3) is displayed on the monitor screen of the computer (12) of the management server (9). The image is output as (Pa) (step S4).

Subsequently, the serial port of the controller 5 is opened (step S5) so that the articulated touching robot 3 can be remotely controlled from the management server 9 (step S5), and the monitoring screen (Pa) of FIG. 15 transmitted from the monitoring camera 4 The computer ( 12) When the slide bar (b4) of the remote control screen (Pb) output to the monitor is properly raised or downed to stop (step S6), the angle correction signal is sent to the wired/wireless communication network 8 and the wired/wireless It is transmitted to the controller 5 via the communication module 7, and the controller 5 controls the first to fourth servomotors 22, 25 ( 28) (31) is controlled so that the touch pointer 18 moves to the target position and stops, so the joint angle correction of the articulated touching robot 3 is achieved (step S7), and thus the articulated touching robot 3 The touch pointer 18 is calibrated so that it can accurately touch, click, or drag a specific target on the touch screen T of the air measurement and analysis equipment 2.

On the other hand, if the atmospheric measurement and analysis equipment (2) does not operate normally due to failure, malfunction, or shutdown, reset the atmospheric measurement and analysis equipment (2) or turn it on after turning it off process is required.

17 is a flowchart showing a process of resetting or turning on/off the air measurement and analysis equipment 2 that has failed, malfunctioned, or shut down in the present invention, and the controller 5 Alternatively, after the reset (RESET) application program installed in the atmospheric measurement and analysis equipment 2 is executed, the user interface (UI) and buttons are initialized and the set values are reset (step Sa).

Subsequently, in order to obtain and output real-time monitoring images of the atmospheric measurement and analysis equipment (2) and the joint-touching robot (3) transmitted from the monitoring camera (4), the image-related library is called (Sb step) and the image capture function is performed. is activated (Sc step), and the monitoring screen of the air measurement and analysis equipment 2 is output to the monitor screen of the computer 12 of the management server 9 (Sd step).

Subsequently, the serial port of the controller 5 is opened to control the electromagnetic contactor 6 (Se step), and the air measurement and analysis equipment 2 is displayed on the monitoring screen Pa of FIG. 15 transmitted from the monitoring camera 4. The remote control screen displayed on the monitor of the computer 12 of the management server 9 or the screen of the mobile terminal 13 by using an input means such as a mouse or a keyboard connected to the computer 12 of the management server 9 while watching the If you click the RESET (b7) button of (Pb) or click the equipment power off (OFF) button and on (ON) button in sequence, the magnetic contactor (6) is turned off and the power of the air measurement and analysis equipment (2) is turned off. is blocked, and then the magnetic contactor 6 is turned on and power is re-supplied to the air measurement and analysis equipment 2 (Sf step), so the air measurement and analysis equipment 2 is reset and operates normally (Sg phase).

18 is a remote control command transmitted from the management server 9 and/or the mobile terminal 13 in the present invention, for example, the first to fourth servo motors 22, 25, and 28 of the articulated touching robot 3. A flowchart illustrating the process of receiving the angle value of ) (31) and controlling the servo motor through communication and resetting (SERET) or turning on / off (OFF) the power of the atmospheric measurement and analysis equipment (2), The controller 5 or the computer application of the atmospheric measurement and analysis equipment 2 is used to set the communication speed with the management server 9 (step S11), and the multi-joint touching robot 3 and / or electromagnetic contactor 6 ) Setting the output of the input/output interface (I/O) to control (step S12), determining whether a control signal is input from the management server 9 and/or the mobile terminal 13 (step S13), If there is no signal input, wait until the control signal is input, and if the control signal is input, determine whether or not the power control signal of the atmospheric measurement and analysis equipment (2) (step S14), if the power control signal, the atmospheric measurement and analysis equipment ( 2) Determine whether it is a reset signal (step S15), and if the air measurement and analysis equipment (2) is a reset signal, turn off the magnetic contactor (6) and then turn it on (step S16) Air measurement and analysis equipment ( 2) is restarted to normalize (step S17), and if the air measurement and analysis equipment (2) is not a reset signal and the air measurement and analysis equipment (2) is an on (ON) or off (OFF) signal (step S18), the electronic By turning on or off the contactor 6 (step S19), the air measurement and analysis equipment 2 is turned on or off (step S20).

In the steps S19 and S20, when the air measurement and analysis equipment 2 is repaired or replaced by turning off the magnetic contactor 6 when the air measurement and analysis equipment 2 needs to be repaired or replaced. The operation can be stopped (OFF) until, and the electromagnetic contactor (6) can be operated (ON) to reuse when the air measurement and analysis equipment (2) is turned off (OFF) for a while or for a long time.

On the other hand, in the step of determining whether the power control signal is present (step S14), the control signal transmitted from the management server 9 and/or the mobile terminal 13 is not the power control signal of the air measurement and analysis equipment 2. In the case of an angle control signal of the articulated touching robot 3 (step S21), the angles of the first to fourth servomotors 22, 25, 28, and 31 capable of controlling the articulated touching robot 3 The values are output to the robot controller 15 (step S22), and the robot controller 15 converts the first to fourth servomotors 22 into angle values transmitted from the management server 9 and/or the mobile terminal 13. (25) (28) (31) is controlled to move the multi-joint (step S23), and the touch pointer 18 is controlled by the multi-joint motion of the first to fourth servomotors (22) (25) (28) (31). ) advances to and touches a specific target on the touch screen T of the air measurement and analysis equipment 2 (step S25), and the air measurement and analysis equipment 2 is restarted or reset to operate normally (S26 step).

In the present invention, among a plurality of air measurement and analysis equipments (2) installed in unmanned environmental monitoring stations (1) to (1n), when a failure, malfunction, or shutdown or reset is required, the manager is responsible for unmanned environmental monitoring stations (1) to ( Without directly visiting 1n), the manager (person in charge) remotely controls the articulated touching robot (3) through the management server (9) or mobile terminal (13) from a remote location to power the atmospheric measurement and analysis equipment (2) on/off/reset/reset, or a target displayed on the touch screen (T) of the air measurement and analysis equipment (2), such as a menu bar, setting button, icon, selection button , radio button, power ON/OFF button, reset button, slide bar, etc. can be handled remotely in real time by touching, clicking, or dragging, so the manager moves to the unmanned environment monitoring station and visits Not only is there no need to do this, but the time and cost of moving visits can be significantly reduced, and the time for the manager to move to the unmanned environment monitoring station (1) to (1n) and the time to measure the air measurement and analysis equipment (2) There is an effect that there is no vacancy that cannot be measured and analyzed during air flow.

The present invention not only checks the unmanned environment monitoring stations (1) to (1n) without going on a long-distance business trip to the unmanned environmental monitoring stations (1) to (1n), but also can quickly and easily solve problems remotely when problems occur, thereby maintaining stable operation. In addition, by reducing business trips, there is an effect of reducing travel expenses, vehicle maintenance costs, fuel costs, etc., and it is effective in preventing safety accidents by reducing long-time driving by employees. In addition, it has the advantage of greatly contributing to low-carbon green growth as carbon emissions from vehicle operation are greatly reduced.

The present invention provides air measurement and analysis equipment (2) of unmanned environmental monitoring stations (1) to (1n) and remote control of multi-joint touching robot (3), air measurement and analysis equipment (2) using surveillance camera (4), and It is possible to remotely check whether the multi-joint touching robot (3) is abnormal and operate, link to standard time, remote check, and remote calibration, and visit time to unmanned environment monitoring stations (1) to (1n) and atmospheric measurement and analysis equipment ( 2) has the effect of greatly reducing the amount of work such as inspection time.

19 is an example of a screen output of one of air measurement and analysis equipment 2 shown as an example of the present invention.

The present invention described above is not limited to the present embodiment and the accompanying drawings, and various substitutions, modifications, and changes are possible within the scope without departing from the technical idea of the present invention, which is in the technical field to which the present invention belongs. It is self-evident to those skilled in the art.

(1)~(1n)--Unmanned environment monitoring station (2)-Atmospheric measurement and analysis equipment
(3)--Multi-joint touch robot (4)--Surveillance camera
(5)--controller (6)--magnetic contactor
(7)-Wireless communication module (8)-Wireless communication network
(9)--management server (10)--remote monitoring unit
(11)--remote control unit (12)--computer
(13)--mobile terminal (14)--cloud
(15)--Robot control unit (16)--Fixed plate
(17)--table (18)--touch pointer
(18a)--Touch part (19)--Vertical member
(21)--fixing member (22) (25) (28) (31)--servo motor
(23)(26)(29)(32)--drive shaft (24)(27)(30)--arm
(34) (52) (56) (63) (82) (86) (93) (112) (116) (123) (124) (211) (212)--fastening member
(51) (55) (81) (85) (111) (115) -- flange (53) (83) (113) -- shaft
(54) (84) (114) -- Coupling hole (61) (62) (91) (92) (121) (122) -- Bracket
(D)--Display (M)--Monitor
(S)--setting part (T)--touch screen
(Pa)--monitoring screen (Pb)--remote control screen
(a1)(b1)--mode button (a2)(b2)--menu button
(a3)-Data display part (a4)-Login button
(a5)--Graph display (b3)--Login button
(b4)--slide bar (b5)--equipment power ON button
(b6)--Equipment power off (OFF) button (b7)--Reset button

Claims (9)

Various atmospheric measurement and analysis equipment installed in a plurality of unmanned environment monitoring stations scattered in various places, such as wide areas, regions, regions, and facilities;
an articulated touching robot installed in front of the air measurement and analysis equipment and provided with a touch pointer so as to touch or click the touch screen of the air measurement and analysis equipment or operate switches or buttons;
A surveillance camera installed in front of the air measurement and analysis equipment and transmitting, in real time, a monitoring image captured to the entire area of the touch screen of the air measurement and analysis equipment and the surrounding area of the touch screen to a management server or a mobile terminal;
a controller for controlling the multi-joint touching robot and the monitoring camera and processing signals;
An electromagnetic contactor for turning on/off or resetting the power of air measurement and analysis equipment under the control of the controller;
a wired/wireless communication module connected to the controller;
A management server that remotely controls the multi-joint touching robot through the wired/wireless communication module and the wired/wireless communication network to control air measurement and analysis equipment and receives real-time monitoring images from surveillance cameras;
a remote monitoring unit that is configured in the management server and checks the operation status of air measurement and analysis equipment with real-time monitoring images transmitted from monitoring cameras;
a remote control unit that is configured in the management server and remotely controls the multi-joint touching robot of the unmanned environmental monitoring station and resets or normally operates air measurement and analysis equipment; including,
The articulated touching robot,
a fixed plate having a predetermined planar area;
a fixing member fixed to one side of an upper surface of the fixing plate;
A first servomotor fixed to the fixing member by a plurality of fastening members;
a first arm having one side fixed to the drive shaft of the first servomotor;
a drive shaft of a second servomotor fixed to the other side of the first arm;
a second arm having one side fixed to the second servomotor;
a drive shaft of a third servomotor fixed to the other side of the second arm;
a third arm having one end fixed to the third servomotor;
a fourth servomotor fixed to the other side of the third arm;
a rotating member fixed to the driving shaft of the fourth servomotor;
a touch pointer fixed to the rotating member;
A remote control system for air measurement and analysis equipment at an unmanned environmental monitoring station using a multi-joint touching robot including a. according to claim 1;
Monitoring the air measurement and analysis equipment of the unmanned environmental monitoring station while communicating with the wired/wireless communication network, turning on/off or resetting the power of the air measurement and analysis equipment, controlling and resetting the management server a monitoring mobile terminal;
A remote control system for air measurement and analysis equipment at an unmanned environmental monitoring station using a multi-joint touching robot further comprising a. delete According to claim 1 or claim 2:
The first arm has an 'H' shape in which the horizontal parts of the '∩'-shaped lower bracket and the '∪'-shaped upper bracket are fastened with a plurality of fastening members,
Both lower ends of the lower bracket are coupled to the end of the drive shaft of the first servomotor and fixed as fastening members to flanges that rotate interlockingly along the drive shaft.
Both upper ends of the upper bracket are coupled to the end of the drive shaft of the second servomotor and fixed to a flange that rotates interlockingly along the drive shaft as fastening members,
The second arm has an 'H' shape in which the horizontal parts of the '∩'-shaped lower bracket and the '∪'-shaped upper bracket are fastened with a plurality of fastening members,
Both upper sides of the body of the second servomotor are fixed to both lower ends of the lower bracket with fastening members,
It is coupled to the end of the drive shaft of the third servomotor at both upper ends of the upper bracket and is fixed as a fastening member to a flange that rotates interlockingly.
The third arm has an 'H' shape in which the horizontal parts of the '∩'-shaped lower bracket and the '∪'-shaped upper bracket are fastened with a fastening member,
Both sides of the lower part of the body of the third servomotor are fixed to the lower bracket with fastening members,
The upper bracket has both sides of the lower body of the fourth servomotor fixed with fastening members. According to claim 1 or claim 2:
a semicircular or curved touch portion formed at the front end of the touch pointer;
A remote control system for air measurement and analysis equipment at an unmanned environmental monitoring station using a multi-joint touching robot further comprising a. In the remote control method of the unmanned environment monitoring station air measurement and analysis equipment using the remote control system of the unmanned environment measurement station air measurement and analysis equipment using the multi-joint touching robot of claim 1;
a) executing an application program for joint angle correction of an articulated touching robot installed in a controller or atmospheric measurement and analysis equipment, then initializing a user interface (UI) and buttons and resetting set values;
b) calling an image-related library to acquire and output a real-time monitoring image of air measurement and analysis equipment transmitted from a monitoring camera;
c) activating the image capture function to output images of the air measurement and analysis equipment and the monitoring screen of the multi-joint touching robot to the computer monitor screen of the management server;
d) opening the serial port of the controller so that the articulated touching robot can be remotely controlled from the management server;
e) Up or down the slide bar of the remote control screen displayed on the computer monitor screen of the management server using an input means connected to the computer of the management server while watching the multi-joint touching robot on the monitoring screen; and
f) correcting the joint angle of the multi-joint touching robot;
Remote control method of air measurement and analysis equipment of unmanned environmental monitoring station using multi-joint touching robot including. In the remote control method of the unmanned environment monitoring station air measurement and analysis equipment using the remote control system of the unmanned environment measurement station air measurement and analysis equipment using the multi-joint touching robot of claim 1;
a1) executing a reset (RESET) application program installed in a controller or atmospheric measurement and analysis equipment, then initializing a user interface (UI) and buttons and resetting set values;
a2) calling an image-related library to acquire and output a real-time monitoring image of air measurement and analysis equipment transmitted from a monitoring camera;
a3) activating the video capture function to output the monitoring screen of the air measurement and analysis equipment to the computer monitor screen of the management server;
a4) opening the serial port of the controller to control the magnetic contactor;
a5) While viewing atmospheric measurement and analysis equipment on the monitoring screen, click the RESET button on the remote control screen displayed on the computer monitor of the management server using the input means connected to the computer of the management server, or press the power off button and turn on the equipment Clicking the buttons in turn to turn off the magnetic contactor, cut off the power of the air measurement and analysis equipment, and then turn on the magnetic contactor; and
a6) re-supplying power to the atmospheric measurement and analysis equipment to operate normally;
Remote control method of air measurement and analysis equipment of unmanned environmental monitoring station using multi-joint touching robot including. In the remote control method of the air measurement and analysis equipment of the unmanned environment measurement station using the remote control system of the air measurement and analysis equipment of the unmanned environment measurement station using the multi-joint touching robot of claim 1,
aa) setting the communication speed with the management server using the application program of the controller;
ab) setting an input/output interface (I/O) output to control the articulated touching robot and the electromagnetic contactor;
ac) if the control signal input from the management server or the mobile terminal is an angle control signal of the articulated touching robot, outputting angle values of the first to fourth servomotors of the articulated touching robot to the robot controller of the controller;
ad) joint motion of the multi-joint touching robot; and
ae) operating the air measurement and analysis equipment by touching the target on the touch screen of the air measurement and analysis equipment with the touch pointer by the joint motion of the multi-joint touching robot;
Remote control method of air measurement and analysis equipment of unmanned environmental monitoring station using multi-joint touching robot including. according to claim 8;
After step ab),
af) if the control signal input from the management server or the mobile terminal is a power control signal, determining whether it is a reset signal for atmospheric measurement and analysis equipment;
ag) if the air measurement and analysis equipment is reset signal, turning the magnetic contactor off and then on to re-operate the air measurement and analysis equipment to normalize; and
ah) If it is not the air measurement and analysis equipment reset signal but the air measurement and analysis equipment ON or OFF signal, the magnetic contactor is turned ON or OFF to turn the air measurement and analysis equipment ON. Or turning off (OFF);
Remote control method of air measurement and analysis equipment of unmanned environmental monitoring station using multi-joint touching robot including.

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