KR20000067377A - Personal robot and control method thereof - Google Patents

Abstract

PURPOSE: A personal robot and a control method thereof are provided to give activeness to a personal computer by integrally making up a device capable of recognizing a surrounding environment and a drive device capable of smoothly performing movement and simple works. CONSTITUTION: A personal computer unit(100) and a TFT-LCD monitor perform general actions by manipulating a wireless keyboard or a mouse. A personal robot receives a user's wireless control input through a wireless signal receipt unit or an antenna(560). Further, the personal robot receives a user's voice signal through a voice recognition unit. The personal robot feeds the received control input to a main controller. When the control input visually senses surrounding objects, a vision camera unit(500) is driven. Then, an image signal is generated by taking a target object.

Description

Personal robot and control method

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a personal robot. In particular, in the structure and local area of a personal robot including an external environment recognition unit, a motion driving unit, and a robot arm integrated in a personal computer, a user can control the device using a wireless controller or remotely using the Internet The present invention relates to a structure of a personal robot that can replace an existing personal computer that can directly control movement, and a control method thereof.

Since the introduction of personal computers, their speed has increased exponentially, and the range of use of personal computers has been expanded, causing many changes in human life. In particular, personal computers have been rapidly developed in response to user needs in the central processing unit and memory capacity. Recently, with the spread of the Internet, web browsers and their applications have been developed with graphic functions.

In the form of the above personal computers, desktops and laptops are the mainstream, and in recent years, mobile personal computers (PDAs) and the like have been gradually established as mobile computers. In particular, in the case of the destop type, a lot of research has been made on the change of the shape of the method of attaching the wheel to the mounting table in consideration of the inconvenience of moving due to the large volume.

However, since the conventional personal computer is a passive computer in which a user inputs a control input directly to the computer and proceeds as desired, the personal computer has a large volume and cost for mounting the personal computer. It can only be limited.

In addition, in the future, when all home appliances are connected and controlled in a single network, the conventional personal computer has only one configuration connected to the network because it does not have a function of moving itself, and thus it is difficult to expect more actions. Do.

The present invention solves the problems of the conventional personal computer, and further proposes a new model of the future personal computer,

An object of the present invention is to provide an active personal computer by integrally configuring a personal computer with a means for recognizing and processing an external environment, and a driving means for smoothly performing movement and simple work using a moving wheel and a robot arm. It is to provide a structure of a personal robot for imparting.

Still another object of the present invention is to provide a method of controlling the personal robot, the method of using a wireless control means at a short distance, and a method of directly controlling the movement of the personal robot through an internet network at a remote location.

As a technical idea for achieving the object of the present invention, the first aspect of the present invention provides a personal computer unit having a central processing unit and a storage device, and supplies power to itself to secure the freedom of movement of the personal robot. A battery unit, a communication unit for connecting short-range and remote wireless communication, a sensor unit capable of recognizing the external environment, and a driving unit which can move by its own control ability or according to a user's motion control command. The structure of the personal robot is presented.

According to a second aspect of the present invention, there is provided a control method using a wireless control means for short-range control of the personal robot, and a remote direct method using the internet of the personal robot for direct control of the personal robot using an internet network at a remote location. A control method is presented.

1 is a schematic block diagram of an embodiment of a personal robot of the present invention.

2 is an exploded view of a personal robot structure according to one embodiment of the present invention.

3 is an assembly complete view of FIG. 2.

4 is a detailed structural diagram of a drive unit of the personal robot of the present invention.

5 is an exemplary view for explaining a direction change of the personal robot by the drive unit of the present invention.

6 is a block diagram for explaining radio control of the personal robot of the present invention.

<Explanation of symbols for the main parts of the drawings>

10: power supply unit 20,100: personal computer unit

30,200 drive unit 40 sensor unit

50: communication unit 110: TFT-LCD monitor

210,220: left and right wheels 230,240: left and right auxiliary wheels

300: robot arm 310: fixed plate

320: robot arm support 330: the first drive unit

340: second drive unit 350: robot arm

360: clamping plate 370: clamp

400: voice input and output unit 410: speaker

500: vision camera unit 510: camera body

520: camera lens 530: camera rotating part

540: rotary drive unit 550: support

560: antenna 600: first sensor unit

700: second sensor unit 710: sensor fixing unit

720: sensor 800: user

810: Internet 820: Wireless Keyboard and Wireless Mouse

830: personal robot

Hereinafter, with reference to the accompanying drawings for the embodiment of the present invention will be described in detail the configuration and operation.

1 is a schematic block diagram for explaining the configuration of an embodiment of a personal robot of the present invention.

As shown in FIG. 1, an embodiment of the present invention includes a personal computer unit 20 having a central processing unit and a storage unit, a vision camera capable of visually detecting an object, an ultrasonic sensor, and an infrared sensor. A sensor unit 40, a communication unit 50 capable of communicating with the outside by wireless or voice, a drive unit 30 which performs a movement of a place, a robot arm drive, etc. under the control of the personal computer unit 20; The structure of the personal robot is integrally formed with a power supply unit 10 for supplying power to the above components.

The personal computer unit 20 may utilize a conventional general personal computer. A user can input a control command to the personal robot A keyboard or mouse wirelessly connected to the personal computer may be added as an input means. In addition, when the output device of the personal robot is required, a small TFT-LCD monitor can be directly attached to the personal computer unit 20, and an Internet TV can be used as the output device of the personal robot.

In order to secure the maximum degree of freedom of movement of the personal robot, the power supply unit 10 avoids supplying power by wires, and it is suitable to use a rechargeable battery or the like.

The driving unit 30 drives a moving wheel and a robot arm for the movement of the personal robot, and includes a driving control unit for controlling the movement of the moving wheel by a control signal of the personal computer 20. It includes a robot arm drive control unit for controlling the movement of the robot arm.

The sensor unit 40 may include an ultrasonic sensor for detecting an obstacle to the movement of the personal robot, an infrared sensor for detecting the absolute position of the personal robot, and a vision camera for visually sensing the surrounding environment. Can be. The sensor unit 40 recognizes the surrounding situation and is used for obstacle avoidance, target recognition, and movement direction setting.

The communication unit 50 is largely represented by two functions for near field communication and long distance communication. In case of wireless communication with a personal robot and a device in a short distance, for example, if the user wants to operate the personal robot by the side of the home, the user of the personal robot may include a key input unit composed of a wired or wireless keyboard or mouse or This is performed by transmitting a control input to the communication unit 50 of the personal robot using voice.

Alternatively, a wireless LAN (LAN) function using well-known wireless RF communication is included to control a personal robot by transmitting and transmitting a control input to the communication unit 50 using an internet network at a remote location.

The personal robot of the above configuration basically receives a user's control input and performs its own movement control. The personal computer unit 20 of the personal robot that has received the user's control input performs arithmetic processing to perform a control command. When the control input is a command to move to a certain target point, the personal computer 20 applies the control signal to the drive unit 30, and the drive unit 30 sends a control signal to the wheel drive control unit. Is applied to perform the change of direction and the forward reverse of the moving wheel.

If an obstacle appears when the personal robot moves according to a control input, the sensor unit 40 detects the obstacle and transmits a detection signal to the personal computer 20 so that the control signal for correcting the movement trajectory is the driving unit 30. By applying to the drive control unit of the), the personal robot can move to the target point avoiding obstacles.

In the method of moving to a target point, the personal computer 20 stores a map and obstacle information of a place where the personal robot always resides in advance in the personal computer 20, and analyzes the information about a specific target point which the user commands. It is possible by applying a control signal to the drive unit 30 using an internal program.

On the other hand, when the user applies a command for picking up or lifting an arbitrary object using the robot arm, a control input is applied to move to the place using a map of the place where the target object is located, and the sensor unit 40 After transmitting the image information about the surrounding environment to the user's computer using a vision camera, the personal robot recognizes the control signal and drives the robot arm by adjusting the focus of the vision camera's zoom camera to the target object. Can be controlled by itself.

In addition, as an additional function of the personal robot of the present invention, it is possible to perform a security function. By adjusting the sensing distance of the sensor unit 40 by a user's operation and operating the vision camera, when a foreign object approaches the sensing area of the robot at night, it detects this and signals the personal computer unit 20. When the signal is applied, a signal may be applied to a voice output unit included in the sensor unit 40 to output an alarm sound, or the communication unit 50 may serve to notify a user or an external place of an intrusion of an outsider. have.

In addition, when the personal robot of the present invention forms a network with all home appliances in the home, the user can control the state of the home appliances in the home and its operation by controlling the personal robot at a short distance or a remote location.

2 and 3 are diagrams illustrating an example of a personal robot constructed in accordance with an embodiment of the present invention.

2 is an exploded view of an example of a personal robot of the present invention. A personal computer unit 100 including a central processing unit and a storage device therein, a driving unit 200 fixed to the lower portion of the personal computer 100 to perform the movement of the personal robot, and the personal computer unit 100. The robot arm 300 is fixed to the upper surface of the, the robot arm unit 300, the voice input and output unit 400 is fixed to the upper surface of the fixed stand, and the vision is fixed by a support on the upper side of the voice input and output unit 400 The camera unit 500, the first sensor unit located on the upper surface of the vision camera unit 500, and the second sensor unit 700 provided at a predetermined position of the personal computer 100 and the driving unit 200 are provided. It is constructed by being connected or coupled electrically and mechanically.

The personal computer unit 100 may be provided with a TFT-LCD monitor 110 on the front side as an output device of the personal robot. In addition, an Internet TV can be used as the output device of the personal robot. Internet TV and personal robots are networked by wireless LAN, so they can transmit screens to Internet TV.

Left and right wheels 210 and 220 for moving and changing the direction of the personal robot are attached to both sides as a moving means attached to the lower part of the driving unit 200, and the driving unit is opposed to the position of the wheels 210 and 220. The left and right auxiliary wheels 230 and 240 are attached to both sides at a predetermined position on the bottom of the 200. In addition, the driving unit 200 has a built-in power supply unit for supplying power to the entire personal robot. The power supply unit of the present invention uses a battery to secure the freedom of movement of the personal robot.

The robot arm unit 300 is a plate-shaped fixing plate 310 that is fixed to the upper portion of the personal computer unit 200, the robot arm support 320 for supporting the robot arm at a predetermined position of the fixing plate 310, The first driver 330 for performing the up, down, left, and right movements of the robot arm, the second driver 340 for performing the front and rear movement of the robot arm, and the predetermined length coupled to the second driver 340. The robot arm 350, the forceps fixing plate 360 and the forceps 370 coupled to the front end of the robot arm 350 is configured to include.

The voice input / output unit 400 includes a voice recognition unit capable of receiving and recognizing a voice signal transmitted from the outside and a speaker 410 capable of outputting voice.

The vision camera unit 500 is a support 550 is fixed to the upper portion of the voice input and output unit 400, the camera body 510 and the camera lens 520 is installed on the front of the camera body 510 and Is installed on the top of the support 550, the camera rotating part 530 to perform the rotation of the camera body 510, the rotation driving unit 540 and the camera body 510 to drive the camera rotating part 530. The antenna 560 is installed at a predetermined position of the.

The first sensor unit 600 is fixed to the upper surface of the camera body 510 is composed of a plurality of infrared sensors that perform a function that can determine the absolute position of the personal robot.

The second sensor unit 700 is a sensor fixing unit 710 attached to the front and both sides in a state in which the personal computer 100 and the driving unit 200 is coupled, and the sensor fixing unit 710 On the outer surface of the plurality of sensors 720 is configured to be installed continuously.

In addition, the personal computer unit 100 includes a receiving unit capable of receiving a transmission signal of a wireless keyboard or a wireless mouse.

3 is an assembly complete view of the personal robot according to the embodiment of the present invention.

Hereinafter, the operation of the personal robot of the present invention having the above configuration will be described in detail. First, the operation in the case where the personal robot of the present invention is to be controlled at a short distance as in a house will be described.

The user can use the personal robot of the present invention as a general personal computer using a wireless keyboard or a wireless mouse at a short distance. That is, the personal computer 100 and the TFT-LCD monitor 11 can be operated as a general computer by operating a wireless keyboard or a mouse.

The personal robot that receives the user's wireless control input through the wireless signal receiver or the antenna 560 or receives the user's voice signal through the voice recognition unit of the voice input / output unit 400 receives the received control input from the personal computer ( To the main controller of 100).

When the received control input is a control input for visually detecting a surrounding object, the vision camera unit 500 is driven in accordance with a procedure programmed by a control device of the personal computer unit 100 to capture an image of an object. Generate a signal. In addition, according to the user's control input visually detects the various places around the environment to generate a video signal. In addition, if a program for home safety monitoring is built-in, the user can move to various places in the home and generate a state of home appliances as an image.

The movement of the personal robot of the present invention is performed by the wheels 210 and 220 and the auxiliary wheels 230 and 240 coupled to the lower portion of the driving unit 200. The attachment position of the wheels 210 and 220 is coupled to an appropriate position along the center of gravity of the personal robot. The auxiliary wheels 230 and 240 are for securing the stability of the personal robot.

4 is an explanatory diagram of a driving part and a wheel part of the personal robot of the present invention. 4A is a plan view, FIG. 4B is a side view, and FIG. 4C is a front view.

The forward and backward movement of the personal robot is performed by rotating the left and right wheels 210 and 220 simultaneously forward or backward, and the change of direction is performed by separating the driving of the left wheel 210 and the right wheel 220 separately. Can be.

Figure 5 is an exemplary view for explaining the action of changing the direction by the drive of the wheel. 5A is an exemplary diagram when a personal robot is to be rotated in place or a direction is to be rotated by a narrow radius. When the personal robot is to be rotated in the direction of FIG. 5A, the rotation of the left wheel 210 rotates forward at a high speed, and the right wheel 220 is leftward in a direction opposite to the rotation direction of the left wheel 210. By rotating at a relatively slower speed than the rotational speed of the wheel 210, the personal robot can be rotated with a narrow radius.

5B is an exemplary view when the direction of the personal robot is to be changed to a large radius. In this case, the left wheel 210 is rotated forward and the direction of rotation of the right wheel 220 is matched with the direction of the left wheel 210, but the rotation speed is kept at a relatively low speed. You can switch.

5C is an exemplary diagram for explaining the operation of changing the direction while reversing with the personal robot having a large radius.

The operation of the robot arm 300 of the present invention is to modify the position and the movement trajectory of the robot arm using the vision camera unit 500 or the second sensor unit 700 to the target to be picked up by the control of the personal computer. The robot arm 350 acts to pick up a target using the forceps 360 while moving up, down, left, and right. The robot arm 300 may be an optional part that can be selected to be removable according to the user's wishes.

The personal robot of the present invention having the above structure can transmit a control input using an internet network.

6 is a system diagram in which the user 800 controls the personal robot 830 using the Internet 810 at a remote location or using a wireless keyboard or a wireless mouse 820 at close range.

When a remote user wants to control a personal robot using the Internet, the user accesses the Internet through a user's computer or the like and transmits a control input to the Internet, and the remote personal robot is controlled by a wireless LAN communication means. It receives the input and executes a user's control command by itself.

Therefore, it is possible to grasp and control the status of all home appliances in the home remotely by receiving video information and audio information of the personal robot transmitted through the internet network, and to remotely monitor infants and the sick, Through virtual visits, exhibitions can be visited.

As described above, the present invention integrates a sensor unit comprising a vision camera, a sensor, and the like with a personal computer, a communication unit capable of transmitting and receiving signals to and from an external communication device, a driving unit and a robot arm unit which can move a place by themselves. By constructing, it is possible to exert an active function as compared with a conventional personal computer which performs only passive functions.

In addition, by inputting a computer program for various uses in the personal computer unit of the personal robot of the present invention, the function of the personal assistant in the house, the security function, real-time monitoring and problem solving of the infant or sick and sick, house cleaning function, management of all electronic products Can be done,

In addition, it is possible to virtually visit exhibition halls, museums, etc. via the Internet, and also to perform a visitor guide function in a company.

Claims (9)

A personal computer unit having a central processing unit and a storage unit, External environment recognition means for sensing surrounding objects to obtain predetermined information; Communication means for communicating with the outside by wireless or voice, Drive means for performing a movement of a place and a change of direction under the control of the personal computer unit; Personal robot, characterized in that the power supply unit for supplying power to the first configuration requirements are integrally formed. The apparatus of claim 1, wherein the external environment recognizing means comprises: a vision camera unit installed above the personal computer to obtain visual image information; And a plurality of sensors installed at predetermined positions on the front and side surfaces of the personal robot, the sensor unit capable of sensing an obstacle around the robot. The method of claim 1, wherein the drive unit is connected to the control device of the personal computer unit, further comprising a wheel coupled to the bottom of the drive unit driven by the drive unit, and an auxiliary wheel for the stability of the personal robot Personal robot. The personal robot according to claim 1, further comprising a robot arm portion coupled to a predetermined position of the personal robot and driven by the control of the personal computer. The personal robot according to claim 1, further comprising an output device connected to the personal computer unit. The personal robot according to claim 5, wherein the output device is a TFT-LCD display device coupled to a front predetermined position of the personal robot. The personal robot according to claim 6, wherein the output device is an Internet TV connected to the personal robot by a wireless LAN. A personal computer unit having a central processing unit and a storage unit, external environmental recognition means for sensing surrounding objects to obtain predetermined information, communication means for communicating with the outside by wireless or voice, and the personal computer In the method for controlling a personal robot in which the driving means for performing the movement of the place and the change of direction under the control of the negative, and the power supply unit for supplying power to the first configuration requirements are integrally formed. Transmitting control input at a short distance using a wireless keyboard or a wireless mouse, Generating a control signal of a personal robot according to the control input in a control device of the personal computer that has received the transmitted control input, The personal robot is controlled according to the control signal. A personal computer unit having a central processing unit and a storage unit, external environmental recognition means for sensing surrounding objects to obtain predetermined information, communication means for communicating with the outside by wireless or voice, and the personal computer In the method for controlling a personal robot in which the driving means for performing the movement of the place and the change of direction under the control of the negative, and the power supply unit for supplying power to the first configuration requirements are integrally formed. Transmitting control input through the Internet using a user's control input device; Receiving, by the personal robot, the control input transmitted through the Internet by connecting to the Internet through a wireless LAN communication means; And directing the personal robot according to the received control input.