KR20070025126A - Programming system for educational robot - Google Patents

Abstract

A system for inputting a program to an educational robot is provided to facilitate a process for inputting again or modifying an operation program of the educational robot in a state not carrying a large scale computer in educational sites or robot contests. A key input part(12) inputs character, numbers and symbols. A CPU(15) compiles the program inputted from a user and transfers the compiled program to a controller of the robot(30). A display part(14) displays the inputted program to a screen. A memory(16) stores a data value inputted from the key input part and a data value processed in a CPU. An interface interconnects the CPU and the robot controller to input/modify the program. A PSU(Power Supply Unit)(51) supplies power to the robot system. The key input part is formed by connecting a computer keyboard through an input terminal. The interface is formed by selecting one or combining more than two of a parallel port, a serial port, a USB(Universal Serial Bus) port, a PS/2(person system/2) port, an IrDA(Infrared Data Association) port and Bluetooth.

Description

Program input system of educational robot {Programming System for Educational Robot}

1 is a block diagram showing an embodiment of an educational robot program input system according to the present invention.

Figure 2 is a perspective view showing an embodiment of an educational robot program input system according to the present invention.

Figure 3 is a perspective view showing another embodiment of the educational robot program input system according to the present invention.

Figure 4 is a perspective view showing another embodiment of the educational robot program input system according to the present invention.

5 is a table showing an example of a program for controlling a DC motor in an embodiment of the educational robot program input system according to the present invention.

Figure 6 is a table showing an example of a program for controlling the servo motor in an embodiment of the educational robot program input system according to the present invention.

The present invention relates to an educational robot program input system, and more particularly, to an educational robot program input system that can be easily attached and detached from a control unit of an educational robot by using input / output terminals, and is easy to carry and move.

In general, the robot performs a predetermined operation according to the programmed contents for performing various tasks, and operates in response to a signal detected from the sensor unit.

And the robot is composed of a structural unit constituting the body, a sensor unit for detecting an external situation, a control unit for determining by combining the information, the power unit for moving the structure.

The robot works differently depending on how the program is written and input. Therefore, when the program is input to the robot and executed, the robot operates according to the programmed contents.

In particular, the educational robot is made so that you can directly check the operating principle and process of the robot, such as, and frequently change the program.

In order to input a new program or change an input program to a conventional robot, a large computer is connected and used. That is, a large capacity computer is connected to the robot through a cable, and then a program created by the computer is stored in the controller of the robot. For example, a computer program is used to program a control command, compile it on a computer, and then input or change a new program by inputting the compiled program to the controller of the robot through the output port of the computer.

However, in the case of an educational robot, such a programming task must be frequently performed, and thus there is a problem that connecting to a computer is very cumbersome every time a new programming is entered, modified or changed. In particular, when the robot is practiced in outdoor, laboratory, auditorium, etc., where it is difficult to carry a large computer, there is a problem that the change of the program is inevitably limited.

SUMMARY OF THE INVENTION An object of the present invention is to provide an educational robot program input system that is easy to carry and move so as to easily enter or change a program in a robot.

The educational robot program input system proposed by the present invention includes a key input unit configured to input letters, numbers, and symbols, a central processing unit for compiling a program inputted from the key input unit, and transmitting the compiled program to a controller of the robot; A display unit for outputting a program input from an input unit to a screen, a memory unit for storing data values input from the key input unit and data values processed by the central processing unit, and a control unit of the central processing unit and the robot; It includes an interface unit connected to each other to change, and a power supply unit for applying power.

Next, a preferred embodiment of the educational robot program input system according to the present invention will be described in detail with reference to the accompanying drawings.

First, according to an embodiment of the educational robot program input system according to the present invention, as shown in FIG. 1, a key input unit 12 configured to input letters, numbers, symbols, and the like is input from the key input unit 12. A central processing unit 15 for compiling and transmitting a program to the control unit 40 of the robot 30, a display unit 14 for outputting a program input from the key input unit 12, and the key input unit ( A memory unit 16 for storing data values inputted from 12 and data values processed by the central processing unit 15, and a control unit 40 of the central processing unit 15 and the robot 30; And an interface unit 18 connected to each other so as to make a change, and a power supply unit 51 for applying power.

In the above, the key input unit 12, the central processing unit 15, the display unit 14, the memory unit 16, the power supply unit 51, and the like may be assembled into one case 11.

The key input unit 12 may be formed of a plurality of keys formed in a predetermined arrangement so that letters, numbers, symbols, and the like may be input.

The key arrangement and arrangement of the key input unit 12 may be applied to a key arrangement applied to a general computer keyboard, a remote controller, an electronic dictionary, a PDA, a mobile phone, and the like, and may be implemented in various forms.

As shown in FIG. 3, the key input unit 12 forms an input terminal 17 on a part of the case 11, and connects the computer keyboard 20 to the input terminal 17 for input. It is also possible to configure to perform.

When configured using the computer keyboard 20 as described above, the built-in key input unit 12 can prevent the disadvantage of increasing the size of the case 11, the user is familiar with the computer keyboard ( 20) can be used, there is an advantage that the input can be made more easily.

As shown in FIG. 4, the main terminal 25 of the computer is connected to the main body 25 of the computer through the input terminal 17, and a program is input using the keyboard connected to the main body 25 of the computer. Can be configured to send

With the above configuration, it is possible to perform programming by using a large capacity computer, so that it is possible to input or change a more complicated control program to the control unit 40 of the robot 30.

The key input unit 12 may be incorporated in the case 11 and configured to connect the computer keyboard 20. In this case, the user can select and use the built-in key input unit 12 and the computer keyboard 20 as necessary.

The data values and programs input by the key input unit 12 are processed by the central processing unit 15 and configured to be displayed on the display unit 14.

The display unit 14 may be configured using various flat panel display devices such as LCD, PDP, FED, OLED, etc. to reduce size and increase portability.

Since the program (data value) inputted from the key input unit 12 is displayed through the display unit 14, the user can greatly reduce errors and errors that may occur during program input.

The central processing unit 15 is preferably configured to perform a compile process in a machine language so that the input program can be directly used as a control signal by the control unit 40 of the robot 30.

As described above, the program input to the central processing unit 15 and the compiled program are stored in the memory unit 16.

The program compiled in the central processing unit 15 is transmitted to the control unit 40 of the robot 30 through the interface unit 18 and input.

The interface unit 18 is configured by selecting one or more from a parallel port, a serial port, a USB port, and a PS / 2 port, alone or in combination.

In addition, it is also possible to install an IrDA (infrared ray) port or Bluetooth in the interface unit 18 so as to transmit a program to the control unit 40 of the robot 30 wirelessly.

The power supply unit 51 supplies power to the central processing unit 15 and the like, and may include a battery in the case 11. Alternatively, the power supply unit 51 may be connected to an external power source using an adapter or the like, and the robot 30 may be used. It is also possible to configure to use the power installed in).

Next, the input process of the program by the educational robot program input system according to the present invention configured as described above will be described.

In the embodiment of the present invention, the program to be created is preferably configured similarly to a Basic program that can be easily accessed by the general public or students.

In the above, the control command is preferably defined and configured in a predetermined pattern. For example, the abbreviation indicating the device is recognized as "DCM" for DC motors, "SVM" for servomotors, "LED" for LEDs, and "IR" for infrared sensors. Set with the command to do this.

Further, "G" for forward, "L" for left turn, "R" for right turn, "B" for reverse, and "S" for stop are used in combination with commands for recognizing the device. For example, if you want to move forward using a DC motor that drives wheels, set the command to "DCMG." If you want to turn left using the DC motor that drives the wheel, set the command to "DCML." use.

And when there are a plurality of the same device, it is preferable to set the device by sequentially setting the order. For example, set the command to "SVM1", "SVM2", "SVM3", and so on.

If you want to execute the same command repeatedly, use "RPT" as the start command of the loop statement, "IF" as the start command of the conditional statement, "WAIT" as the wait command, and "END". It is used as a loop statement, conditional statement, and exit command of the whole program.

The on / off of the device is set using Arabic numerals 0 and 1, and the operating time, rotation angle, rotation speed, and number of repetitions of the apparatus are configured using Arabic numerals.

When the instruction of the program is set as described above, the programming operation is very convenient, the configuration of the central processing unit 15 is made simple, miniaturization, and easy to carry.

Figure 5 shows an example of a program for controlling the driving operation of the robot 30 by controlling the DC motor using the command set as described above, Figure 6 controls the operation of the robot 30 by controlling the servo motor An example of the program is shown.

When the robot 30 is operated by inputting a program as shown in FIG. 5, the rotation speed of the DC motor is set to three stages by the first command (DCM SPD 3) to start rotation, and the second command (DCMG) is performed. Both DC motors connected to both wheels rotate forward to enable forward movement, maintain forward state for 3 seconds by the third command (WAIT 3), and both DC motors reverse to allow reverse by the fourth command (DCMB). And the reverse state is maintained for 3 seconds by the fifth command (WAIT 3), the right DC motor is stopped and the left DC motor is rotated forward, and the seventh command (WAIT 3) to enable the right turn by the sixth command (DCMR). ), And the left DC motor stops and the right DC motor rotates forward and the ninth to enable left turn by the eighth command (DCML). The robot 30 is in a process in which all DC motors are stopped in order to maintain the left turn state for 3 seconds by the command WAIT 3 and stop by the tenth command DCMS, and the program is terminated by the eleventh command END. Is performed.

In addition, when the robot is operated by inputting a program as shown in FIG. 6, the angle of the first servo motor is set to 0 (eg 0 °) by the first command (SVM1 0), and the second command (SVM2 0). In the second servo motor angle to 0 step (for example 0 °), the first servo motor and the second servo motor which made the angle to 0 step by the third command (END SVMS) stop, and the fourth command (SVM1 7 ) Make the first servo motor angle 7 steps (eg 90 °), the fifth command (SVM2 7) make the second servo motor angle 7 steps (eg 90 °), and the 6th command Both the 1st servo motor and the 2nd servo motor which made the angle in 7 stages by (END SVMS) are stopped, and the angle of the 1st servo motor is made E stage (for example 180 °) by the 7th command (SVM1 E). , Eighth command (SVM2 In E), make the angle of the second servo motor to E stage (for example, 180 °), and stop the first servo motor and the second servo motor which made the angle to E stage by the ninth command (END SVMS), and stop the tenth. In the process of terminating the program by the instruction END, the operation of the robot 30 is performed.

The program created by the educational robot program input system according to the present invention configured as described above is transmitted to the control unit 40 of the robot 30 through the interface unit 18, and after the transmission of the program is completed The connection jack 19 formed at the end of the interface unit 18 is separated from the robot 30.

The robot 30 makes a skeleton using the frame 1, and installs the controller 40 and the power supply unit 50 at a predetermined position of the skeleton.

The robot 30 is driven by a program stored in the controller 40.

The control unit 40 includes a central processing unit made of a semiconductor such as an IC chip and a storage unit made of various memories such as a ROM and a RAM, and is installed in the frame 1.

The robot 30 is configured such that the robot hands 34 and 35 can hold or place things by using the servo motors 31, 32, and 33.

The robot hands 34 and 35 are rotated with respect to the robot arm 38 by servo motors 32 and 33 which are positioned at one end of each and fixedly installed at the ends of the robot arm 38. It is installed to be possible.

In addition, the robot arm 38 is installed to be rotated by a predetermined angle with respect to the frame 1 by the servo motor 31 installed in the frame (1).

A sensor unit 60 is formed at the center of the robot hand 34 or 35 so as to check the presence or absence of an object.

The sensor unit 60 may be configured alone or in combination with a sensor such as an optical sensor, an ultrasonic sensor, an infrared sensor, a proximity sensor.

In addition, an LED lamp 36 is formed on the robot arm 36.

The LED lamp 36 is configured to repeatedly blink when the robot 30 is driven to be recognized around.

The servo motors 31, 32, 33, the sensor unit 60, the LED lamps 36, etc. installed in the robot 30 are configured to be driven by the control signals of the controller 40, respectively. .

That is, the robot 30 is configured to perform an operation by a program input by the educational robot program input system according to the present invention.

In the above, a preferred embodiment of the educational robot program input system according to the present invention has been described. However, the present invention is not limited thereto, and various modifications can be made within the scope of the claims and the detailed description of the invention and the accompanying drawings. Possible and this also belongs to the scope of the present invention.

According to the educational robot program input system according to the present invention made as described above, it is possible to simply enter or change the operation program of the robot even without carrying a large amount of computers in various educational sites or robot competitions, participants There is an advantage that can facilitate the operation such as re-type or modify the program. Therefore, there is an advantage that the progress of various education or robot competition is smoother, and the cost can be reduced by reducing the burden of facilities such as having a large-capacity computer for the organizer.

In addition, according to the educational robot program input system according to the present invention, since the input and change of the program to the educational robot can be made easily, the educational method that allows you to enter and execute various programs into the robot to directly see the difference in the robot behavior accordingly. There is an advantage that can be used actively. Furthermore, it is possible to easily practice the operation of the robot in the outdoors or the auditorium, and to train the robot in various places.

According to the educational robot program input system according to the present invention, it is possible to input a new program or change a program without removing the main board constituting the control unit from the robot, so that damage or error may occur during the detachment process of the main board. It is possible to minimize what happens.

And, according to the educational robot program input system according to the present invention, it is possible to use a computer keyboard for commercial use of the key input unit, to prevent the increase in size due to the key input unit, the user input to the keyboard familiar to the user By doing so, it is possible to perform program input work more smoothly.

Claims (5)

A key input unit configured to input letters, numbers, symbols, etc., A central processing unit which compiles the program inputted from the key input unit and transmits the compiled program to the control unit of the robot; A display unit for outputting a program input from the key input unit to a screen; A memory unit for storing data values input from the key input unit and data values processed by the central processing unit; An interface unit which connects the central processing unit and the control unit of the robot to each other to input and change a program; Educational robot program input system including a power supply for applying power. The method according to claim 1, The key input unit is an educational robot program input system formed by connecting a computer keyboard through an input terminal. The method according to claim 2, Educational robot program input system configured to assemble the central processing unit, display unit, memory unit, power supply unit in one case. The method according to claim 1, The interface unit is selected by one or more of parallel port, serial port, USB port, PS / 2 port, IrDA (infrared ray) port, Bluetooth, educational robot program input system is configured alone or in combination. The method according to claim 1, The central processor sets an abbreviation indicating a corresponding device of the robot as a command for recognizing the corresponding device, sets an abbreviation indicating a direction, repetition, condition, atmosphere, condition as a command, and rotates the speed of the device in Arabic numerals, Educational robot program input system for setting the rotation angle, operation time, and the number of repetitions.

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