KR20030092762A - Frame robot and a device for programming a control program thereof with icons - Google Patents

Abstract

PURPOSE: A prefabricated robot and an icon type control program apparatus for controlling the same are provided to improve the creative and the logical thought as well as to understand the structural operation of the robot. CONSTITUTION: A prefabricated robot includes a plurality of frame, a motor, a sensor(302) and a control unit(304). The plurality of frame are capable of being assembled and disassembled and consist of each part of the robot at the assembled state. The motor drives the frames so as to move relatively at the assembled state. The sensor(302) mounted on the frames senses the obstacles of the outside. And, the control unit(304) transmits the control signal for the motor to the motor in response to the input from outside and/or a predetermined control program and sends the control signal for the motor based on the sense signal from the sensor(302).

Description

Prefabricated robot and icon-based control program writing device for controlling it {FRAME ROBOT AND A DEVICE FOR PROGRAMMING A CONTROL PROGRAM THEREOF WITH ICONS}

The present invention relates to a prefabricated robot and a control program generating apparatus thereof, and more particularly, to create a prefabricated robot capable of assembling a configuration by a user himself and a control program to more easily create a control program capable of controlling the same. Relates to a device.

In general, the educational robot kit used is an assembly form of the robot frame irrespective of the user's intention, so it is assembled only in such a manner and operates with a predetermined program.

Therefore, it is difficult to grasp the principle of the operation and structure of the robot with a conventional educational robot kit, it was not possible to exhibit the creativity that can be variable assembly. Therefore, there was a disadvantage that it is not suitable for the basic purpose of robot education. In addition, in the case of educational equipment that is close to toys, there are many robots that cannot be operated or controlled by a program, but only assembly based on simple assembly such as wired and wireless cars.

In particular, in the program for controlling the robot, most of them are controlled only by a predetermined program included in the kit, or most of them are operated only by an input such as a remote controller. Most of the methods by a predetermined program are stored in the storage device in the main module of the robot KIT to be assembled. Alternatively, when stored in a diskette or CD, there is a method of indirectly storing the data using a computer port using a computer or the like. In this way, the user can not control the robot in the way desired.

In addition, the method of controlling the robot using a remote controller or the like directly controls the robot using a wired or wireless remote controller. In this case, there is no need for a program to control the robot, and the manufacture of the robot can be simplified accordingly, but the educational effect is inferior to that of the program type robot.

In addition, in the case of controlling the robot by creating a robot control program, the robot may be controlled by using a program according to the robot kit or by a user directly writing a program code and storing it through an interface unit of the robot. When a user writes a program himself, a person who is not familiar with the program has a difficulty in writing a program. In particular, a young student who uses the robot kit of the present invention may not be able to write a program.

Therefore, it is not possible to use only the program accompanying the kit or to execute a control operation desired by the user, thereby reducing the effectiveness of the training.

Therefore, the present invention was invented in view of the problems of the conventional educational robot KIT, and it is possible to make a robot structure that can be changed and deformed, and to make a robot in a manner desired by the creator of the robot KIT using an icon-based program or an existing one. It is possible to transform or create new ones, and to create a program that the learner wants and input it to the robot so that the robot can be operated by proper control, so that the robot can understand the structural understanding of the robot's motion along with the creation of creativity and To improve logic, we provide a prefab robot.

In addition, in the creation of a control program, in order to solve the problem of using a predetermined control program, which is a conventional method, or to write a program code by hand, the creator can operate the robot in a way he or she wants, and the control It is possible to provide a device that makes it easy to write a program so that people who are not familiar with the program can easily write control programs using icons.

1 is a plan view of an iron frame that is a component forming a structure of a prefabricated robot according to the present invention;

2 is a perspective view of a plastic resin frame that is a component forming a structure of a prefabricated robot according to the present invention;

3a to 3c is a schematic diagram of the configuration for each control module according to an embodiment of the prefabricated robot according to the present invention,

4a and 4b is a complete picture of the assembled robot according to an embodiment of the present invention and a simplified configuration diagram thereof;

5 is an operation flowchart of a robot according to an embodiment of the assembled robot control program generating apparatus according to the present invention, and

6 is a diagram illustrating an example of creating a control program according to an embodiment of the assembled robot control program creating apparatus according to the present invention.

* Explanation of symbols for the main parts of the drawings

301: control signal output unit 302: sensor signal input unit

303: external interface 304: main controller

305: operation unit 306: storage unit

308: power input unit 311: control signal input unit

312: servo motor drive signal output unit 313: first module control unit

321: control signal input unit 322: second module control unit

323: Servo motor drive signal output unit 324: DC motor drive signal output unit

61: sensor icon 62: light icon

63: DC motor icon 64: servo motor icon

65: standby icon 66: repeat start icon

67: Repeat End Icon 68: Stop Icon

69: Start Icon

The prefabricated robot according to the present invention for achieving the object for the production of the creative robot is mutually assembled and disassembled, a plurality of frames constituting each part of the robot in the assembled state; A motor for driving the frames to move relative to each other in an assembled state; A sensor mounted on the frame to detect an external obstacle; And a control unit which transmits a control signal for the motor to the motor according to an external input and / or a predetermined control program, and transmits a control signal for the motor to the motor based on a detection signal from the sensor. It is characterized by including.

The robot kit according to the present invention may further include a transmitter for transmitting a control signal for the motor to the controller.

Therefore, the present invention enables the user to assemble the robot of the desired form by himself, thereby improving creativity and logic.

In addition, in order to achieve the above object that anyone can easily create a program for controlling the robot, the robot control program generating apparatus according to the present invention, a plurality of instructions for controlling the operation of the robot, and a plurality of corresponding to the instructions A command storage unit for storing an icon of the; A display unit which displays the icon on a menu screen; An input unit for inputting a user's selection command for the icon displayed on the display unit; A program creation unit for creating a control program for controlling the robot to perform an operation corresponding to the combined command by combining the commands corresponding to the series of selection commands inputted through the input unit; And a program storage unit for storing the control program created by the program creation unit.

In order to transfer the control program to the robot after creating the control program, the robot and the data may be connected to each other, and may include an interface part for transmitting the control program stored in the program storage unit to the robot.

In the robot control program creating apparatus, icons for creating a control program include: a motor icon corresponding to a control command for the operation of the motor; A sensor icon corresponding to a control command regarding an operation of a sensor for detecting an external obstacle; A lighting icon corresponding to a control command regarding a lighting state of the light emitting device; A standby icon for setting a delay time of starting operation of at least one of the motor, the sensor, and the light emitting device; A repetition icon for setting a repetition number for at least one operation of the motor, the sensor, and the light emitting device; And a time period setting icon for setting a time period of at least one operation of the motor, the sensor, and the light emitting device. The command program corresponding thereto is created by the setting of the icon including the above.

In addition, each of the icons has a sub-icon corresponding to the detailed command to control the control object by the corresponding command.

Therefore, if a control program is created using the robot control program generating apparatus according to the present invention, even those unfamiliar with the program can easily create a control program that can operate the robot in order.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

The present invention assembles the joints of the robot through an iron frame or a plastic frame, and moves the joints or wheels of the robot with a DC motor or a servo motor. Since the robot is not produced only by a predetermined method, the creator can demonstrate the creativity of creating a new form of the robot. In the assembly of the structure of the robot, it is manufactured by using fixing means such as bolts and nuts, and a frame made of steel or plastic, and includes a power supply means, an input such as a remote controller, or a signal input means by a sensor.

1, there is shown an example of an iron frame 10, which is a component forming the structure of a robot according to the present invention. Frame 10 is formed with a plurality of holes (11) for fitting the bolt and nut to be assembled to the required length according to the size required for assembly.

2 illustrates a plastic frame 20, 22 that may be used instead of or in combination with the steel frame 10, which is a component that forms the structure of the robot. The plastic frame has a multi-functional block portion 20 and a cut-type frame portion 22, wherein the multi-functional block portion 20 is formed with a hole 21 that can be coupled using a screw or the like, Protrusions 25 and grooves 24 are created so that they can be connected or connected with other block portions using unevenness. The cut-out frame portion 22 has a cutting groove 26 to easily cut the frame to a suitable size, and has a hole 23 that can be fixed with a bolt nut or connected to the protrusion 25 of the block portion 20. Has been created.

3A to 3C, the contents of each schematic configuration of the educational robot will be described. In the main control module illustrated in FIG. 3A, the main controller 304, the power input unit 308, the external interface 303, the storage unit 306, the sensor signal input unit 302, the operation unit 305, and the control signal output unit ( 301), which looks at this in detail, allows the power input unit to supply power to the entire body of the robot by a power source such as a battery.

The external interface is a part that is connected to a computer and inputs a program for controlling the robot from the program input unit provided in the robot kit. The sensor signal input unit 302 detects the position of an object through an infrared sensor mounted on the main body, and transmits the signal to the main controller 304, and the operation unit 305 operates a direct robot by a wired or wireless remote controller. The control signal is applied and input to the main controller 304. In addition, the main controller 304 selects the operation of the robot through the input of the control program and the program and the sensor input from the computer, and outputs the control signal through the control signal output unit 301 to an output device such as a motor or a hydraulic device. . In addition, the storage unit 306 is included in the same CPU as the main controller 304 in the present embodiment, and stores the robot control program input through the external interface 303.

Motor control module includes servo motor control module which controls only servo motor and general purpose motor control module which controls servo motor and DC motor at the same time. These two motor control modules can be connected to the main control module either alone or simultaneously, depending on the type and number of motors.

In the servo motor control module illustrated in FIG. 3B, when the control signal for driving the motor is output from the main control module to the servo motor control module as a part for controlling the servo motor, the servo motor control module receives the input signal from the control signal input unit 311 of the motor control module. This is transmitted to the first module control unit 313. When the controller 313 processes the output through the servo motor driving signal output unit 312 to the motor driving device, the controller 313 controls an operation such as moving the motor at a desired angle for a desired time.

Similarly, in the general-purpose motor control module of FIG. 3C, control signals of the DC motor and the servo motor are input from the main module to the main control unit 322 of the motor control module through the control signal input unit 321, which is then input to the DC motor or the servo motor. The motor is controlled through the motor driving signal output units 323 and 324 to control the motor.

In the embodiment of the present invention, the servo motor control module can control up to three servo motors, and the general-purpose motor control module can control two DC motors and one servo motor. Therefore, in the case of a four-legged robot, three servo motors are used to lift one side of the body with one servo motor and move the legs to the other two, or each leg using four servo motors. Can be moved. One example of such a robot is shown in Figure 4a. If more than 4 servo motors are needed, more than 2 servo motor control modules can be connected to the main control module.

Hereinafter, an example of robot assembly according to the present invention and a programming method for its operation will be described.

A diagram schematically illustrated for each frame of the assembling robot is illustrated in FIG. 4B. The main frame and the motor of the example assembly robot of FIG. 4A are shown here, and the operation may be set for this part at the time of programming.

The assembling robot of this embodiment is a robot which performs walking operation using three servomotors, and listens to a beep by a microphone sensor and performs two walking motions per one beep. The operation flowchart of the robot is shown in FIG. 5. For example, if a signal is input to the microphone sensor by clapping, etc., when frame 4 is supported on the ground by a servo motor in the center, the legs on the frame 5 are lifted from the floor. At this time, the frames 6 and 8 rotate in the forward direction, and the frames 7 and 9 rotate in the rear direction so that the legs on the frame 6 and 8 side move forward and the servo motor 3 reverses. When activated, the servo motors 1 and 2 are also operated in reverse, so that the left and right legs as a whole are walking step by step.

Hereinafter, a robot control program generating apparatus will be described with reference to FIG. 6.

Another feature of the present invention is to create and download a control program of the robot to the main body, and when the operation sequence is arranged only by setting the icon set by the icon, not by the method of directly coding the program language, it is appropriate to control when downloading the program. The method is automatically coded and input into a program. According to an exemplary program of the present invention, a condition (or sensor) 61, a light 62, a DC motor 63, a servo motor 64, a standby 65, a repeat start 66, a repeat end 67, Icons such as stop 68, start 69, and the like.

The lighting icon sets the control command regarding the lighting state of the light emitting element, the standby icon sets the delay time of starting the operation for the motor, the sensor, the light emitting element, and the like, and the repeating icon repeats the operation of the motor, the sensor, the light emitting element, and the like. Set the interval and the number of times. In addition, the section icon for setting the stop and start sets the time period of the operation of the motor, the sensor and the light emitting device.

The condition icon includes a sub icon for selecting an input part such as a sensor and a sub icon for setting under what condition. The lighting icon has a sub icon for selecting a light emitting element and a sub icon for setting the lighting time. The motor icon has a sub icon which can set the motor selection, speed, direction, time, angle, and the like. In addition, the standby icon is provided with a sub icon that can set the waiting time.

The method of creating a control program of the icon method includes a case in which there is a condition and a method of creating an operation program without a condition, but the condition icon 61 is not set when it is possible to operate without input of a sensor or a switch.

For example, when programming to move for a few seconds in a predetermined direction without inputting a sensor, the operation sequence is set by using icons such as DC motor 63, servo motor 64, and standby 65 without input of a condition. Just do it. If the robot moves in accordance with the input of the sensor, such as the microphone beep, as in the above embodiment, the condition is set.

When the condition icon is selected, an icon for the condition is created next to the program icon 60 on the computer screen. At this time, several conditions can be set at the same time, and operation of the robot or the like can be set under each condition. The lighting icon 62 can set the operation of light emitting elements such as LEDs. When the lighting icon is selected, the lighting setting icon is positioned next to or below the program setting icon 60 in order of selection, and the LED and time to be turned on can be selected.

The standby icon 65 is an icon set so that the operation can be stopped for a predetermined time determined when the motor or the like is operated. In other words, this icon is used when waiting for 0.5 seconds after moving the servo motor at a certain angle. If the DC motor icon 63 is selected, a setting icon is created on the screen, and the motor to be operated and the direction speed can be set through the icon. In the case of a servo motor, the direction and angle may be set. In the case of the repeating start and end icons 66 and 67, the icon can be selected when the specific operation is operated several times, and the operation is repeated a predetermined number of times according to the setting of the icons between the start and the end.

Looking at the control program creation example for operating the quadrilateral walking robot described above, in this case, the input sensor is a microphone sensor. Therefore, two condition icons are set to select one input signal, one if there is no input, and one has an input. If there is no signal input, do not set any motion input to keep the robot in the stopped state, and if there is signal input, set the movements of the frames in order. Therefore, the servo motor icon is selected first, the servo motor No. 3 is selected, and the angle is set in the forward direction to the second stage (in this case, the traveling direction may be reversed depending on the mounting direction of the servo motor).

Then select the servo motor icon again, and set the servo motor number 1 forward in the second gear, select the next servo motor icon again, and set the servo motor number 2 in the reverse direction. In this case, because the output terminals of Servo 1, Servo 2, and Servo 3 are different, these three motors can move simultaneously. Therefore, after the operation of the third servo motor, it is necessary to give a rest period. Then wait another 0.1 seconds and set the reverse again. That is, the servo motor No. 3 is set in the reverse direction, waits for 0.1 second, the servo motor No. 1 is set in the reverse direction, and the servo motor No. 2 is set in the forward direction. A screen in which a program is created for this embodiment is shown in FIG. In this embodiment, when creating a control program that can walk twice at the time of one signal input, the icon setting may be set twice as illustrated above, but the same operation may be repeated several times (in this case, twice) using a repeating icon. May be set.

The program thus created is automatically coded upon download to the robot body and input to the CPU. In this way, the robot control program can be easily created by dragging and setting icons without writing a control program. In addition, since the shape and control method of the robot are not determined, the producer himself can create and program the robot's shape and control operation.

Therefore, due to the educational assembly joint robot of the present invention and an icon-based program control method for controlling the same, a robot structure is manufactured by using a plastic frame that can be changed and deformed and a metal frame as a structural reinforcement, and a manufacturer of the robot KIT. You can create robots in any way you want, modify existing ones, or create new ones. In addition, in the creation of a control program, if the motion of the robot is set by setting a predetermined icon using a program made of an icon rather than a method of directly inputting a code, the program is coded by the program of the present invention and programmed into the main CPU of the robot. This input makes it easy to write a control program using icons even for those who are not familiar with the program.

In the above, the preferred embodiment of the present invention has been shown and described, but the present invention is not limited to the specific preferred embodiment described above, the technical field to which the invention belongs without departing from the spirit of the invention claimed in the claims. Anyone of ordinary skill in the art that various modifications can be made, as well as such changes are within the scope of the claims.

Claims (6)

A plurality of frames which are mutually assembled and disassembled and constituting each part of the robot in the assembled state; A motor for driving relative movement in the assembled state of the frames; A sensor mounted on the frame to detect an external obstacle; And And a control unit for transmitting a control signal for the motor to the motor according to an input from outside and / or a predetermined control program, and for transmitting the control signal for the motor to the motor based on a detection signal from the sensor. Prefabricated robot, characterized in that. The method of claim 1, And a transmitter for transmitting a control signal for the motor to the controller. A command storage unit for storing a plurality of commands for controlling the operation of the robot and a plurality of icons corresponding to the commands; A display unit which displays the icon on a menu screen; An input unit for inputting a user's selection command for the icon displayed on the display unit; A program creation unit for creating a control program for controlling the robot to perform an operation corresponding to the combined command by combining the commands corresponding to the series of selection commands inputted through the input unit; And And a program storage unit for storing the control program created by the program creation unit. The method of claim 3, wherein And an interface for transmitting data to the robot, the interface for transmitting the control program stored in the program storage to the robot. The method of claim 3, wherein The icons, A motor icon corresponding to a control command for the operation of the motor; A sensor icon corresponding to a control command regarding an operation of a sensor for detecting an external obstacle; A lighting icon corresponding to a control command regarding a lighting state of the light emitting device; A standby icon for setting a delay time of starting operation of at least one of the motor, the sensor, and the light emitting device; A repetition icon for setting a repetition number of operations of at least one of the motor, the sensor, and the light emitting device; And A time period setting icon for setting a time period of at least one operation of the motor, the sensor, and the light emitting element; At least any one of the icon-based robot control program creation apparatus characterized in that it comprises. The method according to any one of claims 3 to 5, And each of the icons includes sub-icons corresponding to sub-commands for controlling a control target by the corresponding command.