KR20120130420A - Programming block assembly, robot system operated by program using the same, and programming method thereof - Google Patents

Abstract

PURPOSE: A programming block assembly, a robot system driven by program using the same, and a programming method thereof are provided to compose a complex programming language into an assembled block type of real puzzle blocks or lego blocks by the unit of each command or parameter. CONSTITUTION: A robot system comprises a programming block assembly(200) and a robot(100). The programming block assembly assembles unit programming blocks corresponding to program language through hardware. The robot recognizes the overall shape of the programming block assembly, composes and stores program corresponding to the recognized programming block assembly, and is driven according to the composed program. [Reference numerals] (110) Micro-controller; (120) Power supply unit; (130) Program driving unit(Robot mechanism unit); (140) Sensor; (150) Program storage unit; (201) Function block; (202) Sensor variable block; (203) Common variable block; (AA) Robot; (BB) Program Read/Write; (CC) Program execution; (DD) Program generation; (EE, FF) Combination(RS-485 communication); (GG) Infrared sensor variables; (HH) Ultrasonic sensor variables; (II) Encoder variables; (JJ) Starting block; (KK) Program execution block; (LL) Conditional function block; (MM) Numeric variables; (NN) Character variables; (OO) ON/OFF; (PP) Programming block assembly

Description

Programming block assembly, robot system driven by program using same and programming method thereof {Programming block assembly, robot system operated by program using the same, and programming method}

The present invention relates to a programming block assembly, and more particularly, to create a program instruction capable of driving a robot by an assembly block that combines or assembles a puzzle block or a lego block. The present invention relates to a programming block assembly and a robot system driven by a program using the same.

As the industry and technology develop, not only various types of robots are proposed and made, but also variously used in all fields of society. Such robots include industrial robots for production in industrial sites and educational robots for users to understand the operation principle of the robots according to the purpose of use.

In particular, in recent years, according to the development of technology, a user can control the operation of the robot with a remote control according to a control program written using a computer. Therefore, in order for the robot to implement a specific operation, a program for controlling the robot is typically prepared in advance by using a computer, and the robot control program must be transmitted to the CPU board of the robot.

On the other hand, as a related technology, Korean Patent No. 10-746156 discloses an invention named "robot training device and robot training system using the robot training device", which will be described with reference to FIG.

1 is a block diagram of a robot training system according to the prior art.

Referring to FIG. 1, the robot training system 10 according to the related art includes a robot training apparatus 11 and a controller 12 for providing a control program to the robot training apparatus.

The robot training apparatus 11 includes a main control module 11a, a plurality of unit modules 11b to 11d, and a base member to selectively detach the main control module and the unit modules. 11b to 11d consist of at least one module selected from the sensor module 11b, the mechanism module 11c and the motor modules 11d.

The control device 12 includes a robot control program production module and a communication interface, and downloads a control program produced using the program production module to the main control module 11a of the robot training device 11. The main control module 11a of the robot training apparatus 11 having downloaded the control program controls the operations of the unit modules 11b to 11d according to the control program.

 According to the robot training system according to the related art, it is possible to directly configure the robot, and to directly write a control program thereof, thereby effectively learning the configuration and control of the robot. That is, by using the robot training system having the above-described configuration, systematically training not only the configuration of the robot, the operation of each unit module constituting the robot, and the control methods thereof, but also the preparation of a control program for various types of robots. You can.

However, in order to input the robot control program, the robot control program had to be written using a computer first. Therefore, a user who could not handle the computer skillfully, such as a child, could not write a robot control program. There was a problem that could not be transferred to.

On the other hand, as a related technology for solving the above-described problems, Korean Patent Publication No. 2010-53797 discloses the invention named "Children's educational robot device and its operation method", with reference to Figures 2a and 2b. Let's explain.

Figure 2a is a perspective view showing a children's educational robot device according to the prior art, Figure 2b is a block diagram showing the robot control program input device shown in Figure 2a.

Referring to FIG. 2A, the children's educational robot device according to the related art includes a robot control program input device 20, a robot 30, an interface 40, and an input card 50. In addition, referring to Figure 2b, in the children's educational robot apparatus according to the prior art, the robot control program input device 20 includes a reader 26, a storage unit 27, a control unit 28 and a communication unit 29. do.

The robot control program corresponding to a specific operation is transmitted from the robot control program input device 20 to the robot 30 through the interface 40. At this time, the robot 30 substantially performs a specific operation.

The robot control program input device 20 includes a sliding groove 21, a display unit 23, and a switch 25.

The robot control program input device 20 scans the input card 50 in which code information is recorded through the sliding groove 21. Here, both ends of the sliding groove 21 are formed to be open. When the input card 50 slides through both ends of the sliding groove 21 sequentially, the input card 50 may be scanned and code information may be recorded in the robot control program input device 20.

The input card 50 may include first to fifth input cards IC1 to IC5. Each of the first to fifth input cards IC1 to IC5 may have an information code corresponding to a statement to implement a specific operation of the robot 30. For example, by the statements corresponding to each of the first to fifth input cards IC1 to IC5, the robot 30 moves straight ahead, left turns, right turns, backwards, and stops.

The first to fifth input cards IC1 to IC5 may be sequentially scanned in the sliding groove 21, and may be scanned in the sliding groove 21 in various orders according to a required operation. Thus, the robot 30 can operate in various operations with a combination of input cards. Here, each of the first to fifth input cards IC1 to IC5 has a unique input card number.

When the robot control program input device 20 reads the information code of the input card 50, the display unit 23 displays whether the reading is normal or abnormal. That is, the input card number read normally and the input card number read abnormally are displayed.

The reading unit 26 of the robot control program input device 20 reads code information for a statement constituting the robot control program from the input card 50. In addition, the reading unit 26 includes a first photo interrupt 26a and a second photo interrupt 26b.

The storage unit 27 of the robot control program input device 20 serves to store a statement corresponding to the code information read by the reading unit 26. In this case, the storage unit 27 may store a statement set corresponding to the code information.

The control unit 28 of the robot control program input device 20 reads the corresponding statement stored in the storage unit 27 using the code information read by the reading unit 26. Next, the robot control program is created using the statement.

According to the children's educational robot apparatus according to the related art, even a user who does not have the ability to handle the computer can easily input the robot control program without using the computer.

However, in the case of the children's educational robot device according to the prior art, using the input card 50 having an information code in the form of a barcode to implement a specific operation of the robot 30, such input card 50 is a separate robot The control program input device 20 provides only a function of simply inputting a robot control program. That is, since the input card can only use the form provided by the manufacturer, there is a problem that the user can not utilize the actual programming language.

1) Republic of Korea Patent No. 10-0746156 (application date: December 28, 2006), the title of the invention: "Robot training device and robot training system using the robot training device" 2) Republic of Korea Patent No. 10-0897879 (Application Date: July 18, 2007), the title of the invention: "Learning game device" 3) Republic of Korea Patent No. 10-0938166 (Application Date: February 28, 2008), the name of the invention: "Lighting block, a block unit comprising the same and a method of lighting thereof" 4) Republic of Korea Patent Publication No. 2010-0053797 (published: May 24, 2010), the title of the invention: "Children's educational robot device and its operation method"

The technical problem to be solved by the present invention to solve the above-mentioned problems, by creating a complex robot programming language in the form of an assembly block of the actual puzzle block or lego block for each instruction or variable unit, the user's unplugged programming (Unplugged programming) The present invention provides a possible programming block assembly, a robot system driven by a program using the same, and a programming method thereof.

Another technical problem to be achieved by the present invention is by programming block assembly, a program using the same, which can be programmed to be more intuitive and interesting by programming each puzzle block or Lego block organically connected to each other It is to provide a robot system that is driven and a programming method thereof.

In order to solve the above problems, the present invention provides a robot system comprising: a programming block assembly configured to assemble or combine programming unit blocks corresponding to a programming language so as to have a desired program form; And a robot which recognizes the overall form of the programming block assembly, creates and stores a program in accordance with the recognized programming block assembly, and is driven according to the created program. The programming unit blocks of the programming block assembly may be connected to each other in hardware.

In the above, the programming unit blocks include a function block, a sensor variable block, and a general variable block, wherein the programming block assembly is configured by assembling or combining programming unit blocks corresponding to functions and variables of a programming language, respectively. It is done.

In the above description, the programming unit blocks are each assigned with an ID, and are preferably communicated with each other by an RS-485 serial communication method.

In the above, the robot, a microcontroller for recognizing the overall shape of the programming block assembly, and writing a program in accordance with the type of the recognized programming block assembly, a program storage unit for storing a program created by the microcontroller, a robot Preferably, the mechanism includes a program driver driven according to a program stored in the program storage.

In the above, the robot's microcontroller preferably communicates with the programming block assembly in an RS-485 serial communication manner.

According to another aspect of the present invention, a programming block assembly configured to assemble or combine a programming unit block corresponding to a programming language, wherein the programming unit block is embedded in a unit block body and the unit block body, MCU which is assigned an ID for identification, a communication module built in the unit block body and connected to the MCU and communicating with other programming unit blocks, provided in the unit block body and connected to the communication module and connected with another programming unit block. It includes a connection port to be connected in hardware.

In the above description, the programming unit block may include a light emitting diode (LED) provided in the unit block body and connected to the MCU to indicate a connection state with another programming unit block.

In the above description, the programming unit blocks are classified into a function block, a sensor variable block, or a general variable block respectively corresponding to a programming language, and the connection port is a main function for connecting with a function block of another programming unit block. It is preferable to include a port for inter-connection and a sub variable connection port for connecting with a sensor variable block or a general variable block of another programming unit block.

In the above, the communication module may be an RS-485 serial communication module.

In still another aspect of the present invention, a programming method using a programming block assembly of a robot system having a microcontroller for generating and storing a robot control program, the method comprising: a) a programming unit block to correspond to an instruction for writing the robot control program; Assembling or combining them to form a programming block assembly; b) connecting the programming block assembly to the microcontroller; c) the microcontroller performing Unplugged Programming according to the combined instructions of the programming block assembly and storing the programmed program in a program storage; A programming method using a programming block assembly is provided.

The method of claim 1, wherein between step b) and step c), b-1) the microcontroller checking the connection state of the programming block assembly; b-2) if there is a combination error in the programming block assembly, displaying an error message; Is added, and step c) is preferably performed if there is no combination error in the programming block assembly.

In the above, in the step c), the microcontroller recognizes the overall shape of the programming block assembly, and writes and stores a program according to the recognized shape of the programming block assembly.

According to the present invention, a complex robot programming language can be written in the form of an assembly block of an actual puzzle block or lego block in units of instructions or variables. Conventional programming is performed by a computer, while the present invention allows for user's own unplugged programming without a computer.

According to the present invention, each puzzle block or lego block can be programmed to be more intuitive and intriguing by programming by connecting with each other organically in hardware, and is particularly suitable for children robot programming education.

1 is a block diagram of a robot training system according to the prior art.
Figure 2a is a perspective view showing a children's educational robot device according to the prior art, Figure 2b is a block diagram showing the robot control program input device shown in Figure 2a.
3 is a block diagram of a robot system driven by a program using a programming block assembly according to an exemplary embodiment of the present invention.
4A and 4B are diagrams for explaining a concept of writing a program by a programming block assembly according to an exemplary embodiment of the present invention.
5 is a flowchart of a programming method using a programming block assembly according to an exemplary embodiment of the present invention.
6 is a block diagram of a programming unit block according to an embodiment of the present invention.
7 is a three-dimensional view for explaining a combination between programming unit blocks consisting of a programming unit block according to an embodiment of the present invention.
8 is a view for explaining a communication interface method applied to a programming block assembly according to an embodiment of the present invention.
9 is a view for explaining the RS-485 communication method applied to the programming block assembly according to an embodiment of the present invention.
10 is a diagram illustrating program input using a programming block assembly in accordance with an embodiment of the present invention.
FIG. 11 is a diagram illustrating a form and a program order after the combination of the program inputs shown in FIG. 10.
12 is a diagram illustrating a robot system driven by the program shown in FIG. 10.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise.

First, a programming block assembly according to an embodiment of the present invention is configured by assembling or combining programming unit blocks respectively corresponding to a programming language, wherein a programming instruction block combination corresponding to an instruction of a programming language is at least one programming unit block. Each programming unit block is hardware-connected to communicate with each other. In addition, the programming unit block may be a function block, a sensor variable block, or a general variable block.

The programming block assembly according to the embodiment of the present invention may be an assembly block, for example, a block toy. Here, the block toy refers to a toy that enjoys making a building, a car, a robot, etc. by assembling small blocks made of plastic. These blocks are manufactured exquisitely, and separately formed recesses and convex portions are correspondingly assembled.

3 is a configuration diagram of a robot system driven by a program using a programming block assembly according to an embodiment of the present invention, and FIGS. 4A and 4B are diagrams illustrating a program created by a programming block assembly according to an embodiment of the present invention. It is a figure for demonstrating a concept.

Referring to FIG. 3, a robot system driven by a program using a programming block assembly according to an embodiment of the present invention includes a robot 100 and a programming block assembly 200, and the robot 100 is a microcontroller. 110, the power supply unit 120, the program driver 130, the sensor 140, and the program storage unit 150 may be included, but are not limited thereto.

The programming block assembly 200 includes a plurality of programming unit blocks assembled or combined, each programming unit block corresponding to instructions of a programming language for controlling and driving a robotic system, respectively. That is, the programming unit blocks are assembled to form the programming block assembly 200 so as to have the same shape as the desired program form. In this case, the programming block assembly 200 is not a program itself, but the microcontroller 110 in the robot 100 may write a program through the programming block assembly 200.

In addition, each programming unit block may be a function block 201, a sensor variable block 202, or a general variable block 203, and a programming instruction block is formed by at least one programming unit block. That is, the programming instruction block is formed by combining at least one or more programming unit blocks, and may have a different shape.

For example, the function block 201 may be a start block corresponding to start () of a programming language, a program execution block corresponding to run (), or a condition function block such as If (), While (), or For (). The sensor variable block 202 may be an infrared sensor variable, an ultrasonic sensor variable, or an encoder variable, and the general variable block 203 may be a numeric variable, a text variable, or an on / off variable, but is not limited thereto. It doesn't happen.

The robot 100 recognizes the overall shape of the programming block assembly 200, creates and stores a program according to the recognized shape of the programming block assembly 200, and is driven according to the created program.

In detail, the microcontroller 110 of the robot 100 recognizes the overall shape of the programming block assembly 200, creates a program in accordance with the recognized shape of the programming block assembly 200, and generates a program. 150).

 For example, a microcontroller unit (MCU) is an integrated circuit device composed of an input / output device and a memory such as a read only memory (ROM) and a random access memory (RAM), in addition to operation, control, and registers. It controls the special purpose devices. In this case, the memory is a program storage unit 150 of the robot 100, stores a program created by the microcontroller 110, may be implemented in the microcontroller 110 or configured separately from the outside.

The power supply unit 120 of the robot 100 is for supplying power to the electronic device in the robot 100 and may be, for example, a battery.

The program driver 130 of the robot 100 may correspond to a robot mechanism, or may be a motor such as a DC motor, a step motor, an RC motor, or the like, and may include a bidirectional drive module, a slide module, and the like. The program driver 130 of the robot 100 is driven according to a program stored in the program storage unit 150 read by the microcontroller 110.

The sensor 140 of the robot 100 detects an operation and a state of the robot operated by the program driver 150, and includes, for example, an ultrasonic sensor, an illuminance sensor, a light source sensor, an infrared sensor, an orientation sensor, A pyroelectric sensor, a voice detection sensor, a hardness sensor, a voice recognition sensor, and the like may be selectively included, and each of these may be separately manufactured as an individual sensor, or one or a plurality of sensors may be physically produced as a single sensor module. Even if the sensors are not described here, any sensor used in the robot may be included.

The programming command block according to the embodiment of the present invention may include at least one programming unit block, and each programming unit block may include an MCU in which an ID is stored, a communication module, a connection port, and an LED.

In this case, the number of connection ports for communicating with other programming unit blocks may vary depending on whether the programming unit block is a sensor variable block, a general variable block, or a function block. For example, referring to FIGS. 4A and 4B, as identified in the IF block below the start block, the IF block is connected to a preceding block (starting block) and a connection block for connecting to a preceding block (starting block). It may have three ports for connection, including a port for connection and a port for connection with a conditional statement (infrared sensor block). In this case, the infrared sensor block may have two connection ports.

Accordingly, the microcontroller 110 recognizes the overall shape of the program block assembly 200, and the microcontroller 110 writes and stores the programming according to the recognized shape of the program block assembly 200. At this time, the overall shape of the programming block assembly is recognized through the ID of the programming unit blocks and the positional relationship therebetween, and the programming is created and stored accordingly. In this case, the microcontroller 110 may drive the program driver 130 of the robot 100 according to the stored programming.

According to a robot system driven by a program using a programming block assembly according to an embodiment of the present invention, a complex robot programming language can be written in the form of an assembly block of an actual puzzle block or lego block in units of instructions or variables. Unplugged programming is possible without In addition, the block toys of each puzzle block or lego block can be programmed to be more intuitive and intriguing by programming the hardware connected to each other organically.

5 is a flowchart illustrating a programming method using a programming block assembly according to an exemplary embodiment of the present invention.

Referring to FIG. 5, a programming method using a programming block assembly according to an exemplary embodiment of the present invention is a programming method using a programming block assembly of a robot system having a microcontroller for generating and storing a robot control program. The programming block assembly is configured by assembling or combining the programming unit blocks to correspond to the instructions for creating the robot control program (S110). Here, the programming unit blocks include a function block, a sensor variable block, and a general variable block, and each of the programming unit blocks is combined or assembled to be assigned an ID and to communicate with each other.

Next, the programming block assembly is connected to the microcontroller provided in the robot (S120). At this time, the microcontroller is preferably in serial communication with the programming block assembly in the RS-485 communication method.

Next, it is checked whether the start button provided in the robot is operated (S130).

Next, the microcontroller checks the connection state of the programming block assembly (S140).

Next, the microcontroller determines whether there is a combination error in the programming block assembly (S150), and if there is a combination error, displays the error message (S160). In this case, the error message may be displayed acoustically by the buzzer or may be lit by the LED.

Next, when there is no combination error of the programming block assembly, the microcontroller performs unplugged programming according to the combined instruction of the programming block assembly and stores the programmed program (S170). In this case, the microcontroller may recognize the overall shape of the programming block assembly, and may create and store a program in accordance with the recognized programming block assembly. In addition, the programming block assembly may be separated from the microcontroller after the program is generated by the microcontroller.

Subsequently, the robot may be driven according to the stored program (S180). That is, the robot mechanism part which is a program drive part is driven according to the program stored in the said program storage part.

6 is a block diagram of a programming unit block according to an exemplary embodiment of the present invention, and FIG. 7 is a three-dimensional view illustrating a combination between programming unit blocks including a programming unit block according to an exemplary embodiment of the present invention.

6 and 7, the programming unit block 210 according to the embodiment of the present invention is a port for connection between a unit block body 211, an LED 214, and a main function as a connection port. 212a and 212b and subvariable connection ports 213a and 213b. That is, the ports 212a and 212b for connection between the LED 214 and the main function and the ports 213a and 213b for the sub variable connection are exposed on the surface of the unit block body 211.

In addition, the MCU 215 and the RS-485 communication module 216 are built in the unit block body 211.

The programming unit block 210 according to an embodiment of the present invention is formed by selectively forming ports 212a and 212b or subvariable connection ports 213a and 213b between main functions on one side of the unit block body 211. May be combined or assembled with another programming unit block 210.

The MCU 215 stores each ID for distinguishing it from other programming unit blocks, and may be provided in each programming unit block 210. At this time, if each programming unit block 210 is well connected to each other, it is checked. The LED 214 connected to it. That is, the LED 214 may indicate a connection state with another programming unit block.

RS-485 communication module 216 is connected to the MCU 215 for communication between the respective programming unit blocks 210, the port for connection between the main function 212 or the sub-variable connection ( Communication with each programming unit block 210 is performed through 213.

The port 212 for connection between the main functions is connected to a function block of another programming instruction block, and the sub variable connection port 213 is connected to a sensor variable block or a general variable block of another programming unit block. .

In this case, the number of connection ports for communicating with other programming unit blocks may vary depending on whether the programming unit block 210 is a sensor variable block, a general variable block, or a function block.

Referring to FIG. 7, a combination of a programming unit block according to an embodiment of the present invention may be a programming unit block 210 consisting of B1 and B2, a programming unit block 210 consisting of B3, B4, and B5, and B6 and B7. The programming unit block 210 is composed of a programming unit block 210 consisting of, B8, B9, B10.

In addition, the programming unit block 210 consisting of B1 and B2 may be a programming instruction block as such as START ().

The programming unit block 210 consisting of B3, B4, and B5 constitutes one programming instruction block together with the programming unit block 210 consisting of B6 and B7, and the programming unit block 210 consisting of B8, B9, and B10. do.

Each of B6 and B7 may be one programming unit block 210 or one programming unit block 210 may be configured to combine B6 and B7.

Each of B8, B9, and B10 may be one programming unit block 210, or one programming unit block 210 may be configured to combine B8, B9, and B10.

Each programming unit block 210 is assembled or combined with each other through the above-described main function connection ports 212a and 212b or subvariable connection ports 213a and 213b. In other words, each program and variable are blocked and connected to each other according to a rule to be programmed. In this case, communication between each programming unit block 210 is distinguished by giving an ID in the RS-485 communication method. Thereafter, the robot 100 is downloaded and programmed by the microcontroller 110 in the above-described robot, and the robot 100 operates in a wired or wireless manner according to the programmed order.

On the other hand, the above-described microcontroller can exchange information with the outside through a peripheral device, and generally can be divided into two methods, parallel communication and serial communication. Generally, when exchanging information with a device in a computer, a high speed communication speed is generally required, and a parallel communication method that can process a lot of information at a time is mainly used. This is because a computer's performance can be improved by processing a large amount of information at once in a short time. A typical example of this method is the number of data bits to increase the information throughput of a microcontroller. In addition, in many cases, the application itself does not require a high communication speed. In this case, the serial communication method is frequently used when the computer communicates with the outside. The serial communication method is a method of transmitting and receiving data bits to a single bit unit externally, which is easy to implement, can be transmitted far, and can easily utilize an existing communication line. Typical examples of serial communication include modem and RS-232. However, if the serial communication is largely divided into two types, asynchronous and synchronous.

Specifically, an asynchronous communication controller is commonly called a UART (Universal Asynchronous Receiver / Transmitter). Since the signal coming out of such a UART usually has a TTL-signal level, it is weak to noise and has a limited communication distance. The interface IC that receives the TTL signal and is strong against noise and can be transmitted far away is called Line Driver / Receiver. Among them, RS-232C, RS-422, and RS-485 are representative. The characteristics of this scheme are as shown in Fig. 8, but the interface IC used in the embodiment of the present invention is preferably, but not limited to, RS-485.

8 is a diagram illustrating a communication interface method applied to a programming block assembly according to an embodiment of the present invention, and FIG. 9 is a diagram illustrating an RS-485 communication method applied to a programming block assembly according to an embodiment of the present invention. It is for the drawing.

Referring to FIG. 8, RS-485 is an extended version of RS-232 and RS-422, and refers to a protocol standard specification of serial communication supporting home networks. For example, RS-422 communication method is adopted to complement the RS-232 communication method with a low transmission speed and a short transmission distance. The RS-422 communicates by exchanging data between one master device and a slave device. On the other hand, RS-485 allows all devices to send and receive data on the same line. The RS-485 supports both half-duplex and full-duplex communication. The maximum number of drivers and receivers is 32, and the network can be networked up to 1.2km at a maximum speed of 10MBps. RS-485 is a TIA / EIA standard for multipoint communication lines. It supports connectors such as DB-9 or DB-37. RS-485 is similar to RS-422, but by using a low impedance driver and receiver, it allows more nodes per line than RS-422.

The RS-485 has electrical specifications specified by the EIA. The physical connectors and pins are not specified by the EIA. However, unshielded twisted pair (UTP) cables or shielded twisted pair (STP) cables can be used. For example, in RS-485, communication lines of Data + and Data-2 may be used.

Referring to FIG. 9, in the case of a general communication system connected by RS-485 communication, a 1: 1 communication method in which a plurality of slave communication objects are connected to one master communication object through an RS-485 communication line (A, B) It supports master-slave communication and the communication speed of each communication object can be 600, 2400 or 9600Bps depending on the product version or characteristics. In a robot system driven by a program using a programming block assembly according to an embodiment of the present invention, the master communication object is a microcontroller (MCU) provided in the robot, and the slave communication objects are microcontrollers respectively provided in the programming unit blocks. (MCU).

10 is a diagram illustrating a program input using a programming block assembly according to an embodiment of the present invention, FIG. 11 is a diagram illustrating a form and a program sequence after the combination of the program inputs shown in FIG. 10, and FIG. 12. Is a diagram illustrating a robot system driven by the program shown in FIG.

Referring to FIG. 10, it is possible to know a state immediately before combining different types of programming unit blocks, and at least one of these programming unit blocks is combined to form a programming block assembly.

Specifically, B1 and B2 blocks represent start blocks corresponding to start () of the programming language, B3 to B5 blocks represent IF function blocks corresponding to If () of the programming language, and B6 to B8 blocks represent sensor variable blocks. Among them, B9 blocks represent = (Equal) variables among general variable blocks, B10 and B11 blocks represent ON variables, and B12 to B23 blocks represent motor driving as execution statement blocks. Also, blocks B24 to B26 represent IF function blocks corresponding to If () of the programming language, blocks B27 to B29 represent infrared sensor variables among the sensor variable blocks, and block B30 represents = (Equal) variables among the general variable blocks. Blocks B31 and B32 represent numeric variable 1 among general variable blocks, and blocks B33 to B44 represent motor driving as execution statement blocks. In addition, blocks B45 and B46 represent delay function blocks among function blocks, and blocks B47 to B52 represent motor driving as execution statement blocks. Finally, blocks B53 and B54 represent program execution statements corresponding to run () of the programming language.

As shown by these B1 to B54 blocks, each programming unit block has its own ID and is manufactured in different shapes. That is, the function block, the sensor variable block, or the general variable block of each of the programming unit blocks 210 may have a different shape, and the programming unit blocks 210 may be connected to each other and programmed. In addition, these programming unit blocks are to communicate with each other in the RS-485 serial communication method described above.

Referring to FIG. 11, a program input order using a programming block assembly according to an embodiment of the present invention, first, a start block of B1 and B2 indicates a program start, and then an infrared sensor is turned on by B3 to B23 blocks. If it is set to drive the motor (S210), next, the infrared sensor is set to drive the motor after the operation of at least one time by the blocks B24 to B44 (S220). Next, the delay function blocks B45 and B46 are set to stop for 10 seconds (S230), and the motors are set to be driven by the execution statement blocks B47 to B52 (S240). Next, the program execution blocks B53 and B54 represent program execution (S250).

That is, the blocks B3 to B52 assembled between the start blocks B1 and B2 and the program execution blocks B53 and B54 represent function blocks, sensor variable blocks, or general variable blocks. It is programmed by the microcontroller. In addition, the programming block assembly 200 may be separated after the program is generated by the microcontroller 110.

Referring to FIG. 12, a robot system driven by a program according to an embodiment of the present invention may include a programming block assembly 200 illustrated in FIG. 11 in an RS-485 communication scheme with a microcontroller 110 of a robot 100. In this connection, the microcontroller 110 may generate and store a program corresponding to the programming block assembly 200, and then drive the robot mechanism 130 of the robot 100 according to the stored program. .

As a result, the robot system driven by the program according to the embodiment of the present invention, by creating a complex robot programming language in the form of an assembly block of the actual puzzle block or lego block in the unit of each instruction or variable, the user unplugged programming (Unplugged) programming becomes possible.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is shown by the following claims rather than the above description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. do.

100: robot
200: programming block assembly (instruction building block)
110: microcontroller (MCU)
120: power supply
130: program driver (robot mechanism)
140: sensor
150: program storage unit
201: function block
202: sensor variable block
203: general variable block
210: programming unit block
211: unit block body
212, 212a, 212b: ports for connection between main functions
213, 213a, 213b: port for subvariable connection
214: LED
215: MCU
216: RS-485 communication module

Claims (12)

A programming block assembly for assembling or combining programming unit blocks corresponding to the programming language so as to have a desired program form; And
A robot that recognizes the overall shape of the programming block assembly, creates and stores a program in accordance with the recognized programming block assembly, and is driven according to the created program; Including but not limited to,
And the programming unit blocks of the programming block assembly are coupled to communicate with each other in hardware. The method of claim 1,
The programming unit blocks include a function block, a sensor variable block, and a general variable block, wherein the programming block assembly is configured by assembling or combining programming unit blocks corresponding to functions and variables of a programming language, respectively. A robotic system driven by a program using an assembly. The method of claim 2,
The programming unit blocks are each assigned an ID and distinguished from each other, and are driven by a program using a programming block assembly, wherein the programming unit blocks communicate with each other through an RS-485 serial communication method. The apparatus of claim 1, wherein the robot recognizes an overall shape of the programming block assembly, and writes a program in accordance with the recognized programming block assembly, and a program storage unit to store a program created by the microcontroller. And a program driving unit driven according to a program stored in the program storage unit as a robot mechanism unit. The method of claim 4, wherein
And the microcontroller of the robot communicates with the programming block assembly in an RS-485 serial communication manner. A programming block assembly for assembling or combining a programming unit block corresponding to a programming language, wherein the programming unit block is embedded in a unit block body and the unit block body, and is assigned an ID for distinguishing from another programming unit block. MCU, a communication module embedded in the unit block body and connected to the MCU and communicating with other programming unit blocks, provided in the unit block body, connected to the communication module and connected to other programming unit blocks in hardware Programming block assembly comprising a port for. The programming block assembly of claim 6, wherein the programming unit block includes a light emitting diode (LED) provided in the unit block body and connected to the MCU to indicate a connection state with another programming unit block. . The method according to claim 6,
The programming unit blocks are divided into function blocks, sensor variable blocks, or general variable blocks respectively corresponding to a programming language.
The connection port includes a port for connection between main functions for connecting with a function block of another programming unit block and a sub variable connection port for connecting with a sensor variable block or a general variable block of another programming unit block.
Programming block assembly, characterized in that. The method according to claim 6,
And said communication module is an RS-485 serial communication module. A programming method using a programming block assembly of a robot system having a microcontroller for generating and storing a robot control program,
a) constructing a programming block assembly by assembling or combining programming unit blocks to correspond to the instructions for creating the robot control program;
b) connecting the programming block assembly to the microcontroller;
c) the microcontroller performing Unplugged Programming according to the combined instructions of the programming block assembly and storing the programmed program in a program storage;
Programming method using a programming block assembly comprising a. 11. The method of claim 10,
Between step b) and step c),
b-1) the microcontroller checking the connection state of the programming block assembly;
b-2) if there is a combination error in the programming block assembly, displaying an error message; Is added,
Step c) is performed if there is no combination error in the programming block assembly.
Programming method using a programming block assembly, characterized in that.
11. The method of claim 10,
And in step c), the microcontroller recognizes the overall shape of the programming block assembly, and writes and stores a program in accordance with the recognized programming block assembly.

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