KR20080107937A - Robot system mounting removable censor module - Google Patents

Abstract

A robot system mounting a removable censor module is provided to attach and detach various sorts of sensors on the intended location and assemble a robot having a function and a structure which a user wants by changing the operation of the robot according to the function of sensors. A robot system mounting a removable censor module comprises a sensor, a sensor module having a combining means on the surface of the robot in which the sensor is equipped and a control part changing the robot program according to the intended operation and the function of the sensor. The sensor module comprises a sensor box having one more openings through which a sensing part of the sensor is exposed; a hole, and a combining part to be attached and detached to/from the hole, having the same shape and size as the hole, formed on the surface.

Description

Robot system with removable sensor module {ROBOT SYSTEM MOUNTING REMOVABLE CENSOR MODULE}

1 is an enlarged view of a robot equipped with a sensor module and a part equipped with a sensor module.

Figure 2 is a flowchart showing a process of changing the operation of the robot in accordance with the function of the sensor mounted on the sensor coupling.

3 is a plan view of an interface board receiving information from a sensor.

4 is a plan view of a board showing ports capable of using RS232 communication;

5 is a diagram schematically illustrating a process of communicating between a sensor and a motor and a user.

6 is a diagram illustrating a configuration of a sensor module.

7 shows a sensor module in a coupled state.

8 shows several types of sensors.

* Explanation of symbols for main parts of the drawings

1: upper case of sensor module 2: lower case of sensor module

3: case tilt of the sensor module 4: opening of the sensor module

5: cover 6: groove of the case tilt

7: groove of the case tilt support

The present invention is an invention of a removable sensor module that can use a variety of sensors and a robot system that the user can freely detach the sensor module, the operation can be changed accordingly.

The robot industry is attracting attention as a future-oriented industry along with IT, BT, and NT, and its size is increasing rapidly every year. In addition, unlike the industrial robots of the past, the present robot is characterized by intimate approach into human culture and life. Accordingly, there is a growing demand for robots and encouraging them to foster the robot industry. However, it is difficult for the general public to easily access robotics, which requires a lot of engineering knowledge.

The educational robot combines the academic and play areas so that the general public can easily access the robots. The robots create and use the robots by themselves, which naturally induces interest and affinity for the robots through play. Therefore, in addition to simply performing the desired function, the educational robot is important to make the connection between play and education organically by continuously inducing interest of the user and stimulating creativity.

In the case of the conventional educational robot product, the user can simply operate in a state where the structure is already completed, or the assembly method is limited even when the user assembles the robot, and the user only assembles according to a predetermined manual. In particular, in the case of the existing sensor module is not compatible with the sensor other than the first intended sensor, it is not possible to combine other types of sensors, the position of the robot body that can combine the sensor module is limited. In addition, the robot system is not able to recognize the information by the different sensor when the first sensor and the different sensor is combined can not expect a variety of operations according to the various sensors.

Therefore, there is a need for a robot system capable of combining sensor modules compatible with different sensors and sensors of various types and numbers at any position of the robot body, and capable of operating the robot according to the function of the combined sensors. .

According to a first aspect of the present invention, there is provided a robot system in which a sensor is mounted, the sensor, a sensor module having the coupling unit mounted therein and detachable from a surface of the robot, and a program of the robot according to the function of the mounted sensor. And a changing means for changing to a program corresponding to the robot, wherein the robot operates according to the program changed by the changing means.

The sensor module has a sensor box that mounts the sensor and a coupling that allows the sensor box to be coupled to the robot surface. The coupling part may be arbitrarily adjusted to expose the sensing part of the sensor mounted on the sensor box so that the sensor box is rotatable. In addition, the coupling portion is formed with a hole having the same shape and size as the holes formed on the surface of the robot, for example, it is possible to fix the sensor module to the robot surface using a coupling means such as bolts and nuts. Therefore, the user can attach or detach the sensor module at a desired position of the robot.

The robot system has a large number of general-purpose input / output and communication ports, so that even if different sensors are attached, they can be processed separately. The user can attach the desired sensor to the sensor module and change the robot program to match the mounted sensor and the desired operation.

In addition, the second aspect of the present invention is a removable sensor module that can use a variety of sensors, the sensor box having one or more openings that can be mounted inside the sensor, the sensing unit of the sensor exposed to the outside and The sensor module is characterized in that the hole is formed and has a coupling portion to be detachably coupled to the hole formed on the robot surface in the same shape and size as the hole.

In this case, for example, a CDS, TILT, COLOR, IR, U-SONIC, PHOTO sensor, or the like may be used. The size of the sensor and the size, position, and number of the sensing unit are different. The sensor box of the present invention has one or more openings for exposing the sensing unit of the sensor to the outside, and the shape and size of the openings are different to provide various types of sensors. I can attach it.

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

1 discloses a state in which a detachable sensor module is coupled to a robot. The sensor module can be equipped with various types of sensors such as CDS, TILT, COLOR, IR, U-SONIC, PHOTO sensor, and has the same hole as the hole formed on the surface of the robot. It can be combined stably using.

2 is a flowchart showing an operation structure of a system change according to a sensor change. The user can mount a desired sensor on the sensor module and mount the sensor module at a desired position of the robot. When a new sensor is installed, the robot's program is changed to correspond to the mounted sensor and the user's desired operation, and the robot operates according to the changed program.

Information input to the sensor is transmitted through a control module (not shown) which is a DSP module. At this point, the DSP itself has pods available for each sensor, so the sensor will only work when connected to the correct port. In the embodiment, three ports are used for the IR sensor, three ports for the ultrasonic sensor, and three ports for the PSD (one-dimensional) sensor. Accordingly, the configuration of changing the program according to the change of the sensor may enable or disable the desired sensor through the configuration in which the user selects an OS-based sensor method from an external transmitter (HMP, PC, etc.).

3 is a diagram illustrating an interface board receiving information of a sensor. Analog values received through the sensor are converted to digital values by the DSP inside the control module (not shown). Accordingly, the information converted into digital values is transmitted to the user's PC or HMP through the communication port, so that the user can check the information input through the sensor.

4 discloses an RS232 communication port which is a communication port of the embodiment. 5 schematically illustrates a method of performing communication between a user and a driving unit and a sensor unit of a robot. The information input from the sensor is converted into digital information through the DSP module, which is a control module, which is transmitted to the user's control means, PC, HMP, etc. via the RS232 communication port. On the other hand, the information input by the user through the control means is transmitted to the DSP module through the RS232 communication port, which is transmitted to the motor of the drive unit to control the operation of the drive unit.

6 is a perspective view showing a sensor module as a second embodiment of the present invention. The sensor module consists of an upper case 1, a lower case 2 and a case tilt 3. Three openings 4 are formed on the front surface of the upper case 1, and two circular openings of the same size are formed on both sides, and an oval opening is formed at the center. Since there are several openings and the shapes thereof are different, the sensing part of the sensor can be exposed to the outside even when various kinds of sensors are mounted. The unused opening can be shut off from the outside using the cover 5. 8, various types of sensors are disclosed. For example, in the case of an ultrasonic sensor, a sensing unit is exposed through circular openings formed at both sides, and in the case of an IR sensor, the sensing unit is exposed through a central oval opening.

7 illustrates a state in which the sensor module is coupled. The upper case 1 and the lower case 2 of the sensor module are coupled while containing the sensor therein. The coupled sensor case forms a protrusion on the side and can be coupled to the groove 6 formed in the case tilt 3. The degree of engagement of the sensor case and the case tilt 3 can be coupled to such an extent that it can be fixed while being rotatable about the longitudinal axis of the sensor case. Therefore, the exposure direction of the sensing unit can be adjusted.

Grooves 7 are formed in the supporting portion of the case tilt 3. The groove 7 has the same size and shape as the grooves formed on the surface of the robot. Therefore, the user can fix the sensor module to any position of the robot by using a bolt penetrating both grooves and a nut fixing the same.

Thus, the user can mount various sensors on the sensor module and couple them to the desired parts of the robot. In addition, the sensor can be separated by simply loosening the bolts, so after completing a robot, it can be dismantled again to create a robot with new functions and structures.

The above examples are merely illustrative for describing the present invention in detail, and the present invention is not limited to these examples. Additions, omissions, substitutions, and other modifications can be made without departing from the spirit of the invention. The present invention is not limited by the above description, but only by the scope of the appended claims.

The user can easily attach and detach various sensors to the user's desired position, and since the operation of the robot is changed according to the function of the sensor mounted by the user, the user can easily assemble the robot having the desired function and structure.

Claims (3)

In a robot system equipped with a sensor, sensor; A sensor module mounted inside the sensor and having a coupling means detachable from a surface of the robot; And It is provided with a change means for changing the program of the robot according to the function and the desired operation of the mounted sensor, A robot system, characterized in that the robot operates in accordance with the program changed by the changing means. In the sensor module, A sensor box mounted inside the sensor, the sensor box having one or more openings to expose the sensing unit of the sensor to the outside; And A sensor module, characterized in that it has a coupling portion formed to form a hole and detachably coupled to the hole formed on the surface of the robot in the same shape and size as the hole. The method of claim 2, And the at least one opening has a different shape and size.

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