KR20150065204A - Control system of Personal Riding Robot using mobile terminal - Google Patents

Abstract

The present invention relates to a control system of a ridable robot using a mobile terminal and, more specifically, relates to a control system of a ridable robot using a mobile terminal, wherein the moving direction of a ridable robot is controlled as the direction pointed by a mobile terminal changes.

Description

[0001] The present invention relates to a control system for a mobile robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a control system for a boarding robot using a mobile terminal, and more particularly, to a control system for a boarding robot using a mobile terminal in which a moving direction of the boarding robot is controlled in accordance with a change in a direction indicated by the mobile terminal.

Recently, the development of IT technology has greatly improved the performance of mobile terminals such as smart phones, and various sensors including acceleration sensors, gyro sensors and geomagnetic sensors have been installed, so that research and development to control robots using mobile terminals It is constantly being done.

When an application (App, App) for controlling the robot is installed in the mobile terminal when controlling the robot using the mobile terminal, it is possible to control the robot without having to manufacture a separate device.

In addition, robot control using a mobile terminal is generally implemented by receiving a control command of a user using a touch interface of a mobile terminal. That is, the user is provided to identify the direction button displayed on the screen of the mobile terminal and to specify the direction in which the robot moves by pressing a specific direction button.

On the other hand, in the case of a boarding robot provided with a footrest or a seat so that the user can ride the boarding vehicle, it is difficult to control the boarding robot because the occupant must always check the screen of the mobile terminal in order to move in a desired direction after boarding the boarding robot And the risk of collision and accidents increases.

The inventors of the present invention have attempted to control the boarding robot in a desired direction without checking the screen of the mobile terminal while the passenger is boarding the boarding robot. As a result, the technical configuration of the boarding robot control system using the mobile terminal has been developed Thereby completing the present invention.

SUMMARY OF THE INVENTION It is, therefore, an object of the present invention to provide a boarding robot control system using a mobile terminal capable of controlling the moving direction of a boarding robot while the passenger observes the front side without checking the screen of the mobile terminal.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, A boarding robot control application which is stored in the mobile terminal and calculates a direction indicated by the direction when the mobile terminal is rotated left and right by a direction angle, And a wheel. The mobile robot receives the wireless signal transmitted from the mobile terminal, and the direction of movement is controlled according to the direction angle calculated in the boarding robot control application, and the direction indicated by the mobile terminal or the direction in which the mobile terminal rotates And a boarding robot provided to move the boarding robot.

In a preferred embodiment, the boarding robot control application includes: an absolute direction control mode in which an orientation angle in a direction indicated by the mobile terminal is calculated as an absolute direction angle; And a relative direction control mode in which a change value with respect to the reference direction angle is calculated as a relative direction angle when the mobile terminal is rotated left and right after a reference direction angle that is a specific direction imprinting is set.

In a preferred embodiment, the radio signal is a communication packet consisting of a control command of 1 byte and a direction angle of 1 byte.

In a preferred embodiment, the boarding robot includes an IMU module for measuring a direction angle of the boarding robot in a direction of the boarding robot; And compares a current direction angle of the boarding robot with an absolute direction angle of the mobile terminal received from the radio signal or a relative direction angle of the mobile terminal to calculate a direction in which the boarding robot moves, And an MCU module for outputting the MCU.

In a preferred embodiment, the boarding robot includes left and right motors for driving the wheels, respectively; Left and right motor drivers respectively controlling the torques of the left and right motors according to a control signal of the MMSU module; And a secondary wheel disposed on the front or rear of the wheel.

The present invention has the following excellent effects.

According to the boarding robot control system using the mobile terminal according to the embodiment of the present invention, the direction of movement of the boarding robot is controlled according to the direction indicated by the mobile terminal in which the boarding robot control application is stored, It is possible to control the moving direction of the boarding robot without checking the screen of the terminal, thereby improving the convenience of the control of the boarding robot and reducing the risk of collision and accident.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a boarding robot control system according to an embodiment of the present invention; FIG.
2 is a view of a boarding robot according to an embodiment of the present invention;
3 is a view showing a screen of a boarding robot control application according to an embodiment of the present invention;
4 illustrates a wireless signal in accordance with an embodiment of the present invention.
5 illustrates a differential drive robot model according to an embodiment of the present invention.

Although the terms used in the present invention have been selected as general terms that are widely used at present, there are some terms selected arbitrarily by the applicant in a specific case. In this case, the meaning described or used in the detailed description part of the invention The meaning must be grasped.

Hereinafter, the technical structure of the present invention will be described in detail with reference to preferred embodiments shown in the accompanying drawings.

However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. Like reference numerals designate like elements throughout the specification.

2 is a view illustrating a boarding robot according to an embodiment of the present invention. FIG. 3 is a schematic view illustrating a boarding robot according to an embodiment of the present invention. FIG. 4 is a diagram illustrating a radio signal according to an embodiment of the present invention. FIG.

1 to 4, a boarding robot control system according to an embodiment of the present invention allows a user to move forward while watching the direction in which the user is standing on a footstool or a seat, A boarding robot control application 120, and a boarding robot 130.

The mobile terminal 110 is for controlling a boarding robot 130, which will be described later, and is preferably provided as a smart phone, allowing a user to perform various activities such as telephone conversation, internet search and game in daily life, When the user boarded the boarding robot 130 to be described later, the controller functions as a controller.

In addition, the mobile terminal 110 is provided with a Bluetooth module 132 for mounting a geomagnetic sensor and transmitting specific information and control commands to an external device. In addition, the mobile terminal 110 includes various sensor devices including an acceleration sensor and a gyro sensor And a camera device.

Here, the geomagnetic sensor provides a measured value of geomagnetism to calculate a direction angle with respect to a direction indicated by the mobile terminal 110. In addition to the geomagnetic sensor, an acceleration sensor or a gyro sensor may be used to measure and calculate the direction indicated by the mobile terminal 110 or the direction in which the mobile terminal 110 rotates.

In addition, the mobile terminal 110 may be equipped with various sensors and may be provided to control a boarding robot 130, which will be described later, by using a tablet PC capable of driving an application.

The boarding robot control application 120 functions to control the boarding robot 130, which will be described later, by the mobile terminal 110 stored in the mobile terminal 110, and measures the geomagnetism of the geomagnetism sensor Calculates the direction indicated by the mobile terminal 110, mounts it in a radio signal, and transmits the radio signal to a boarding robot 130, which will be described later. At this time, the radio signal may preferably be provided as a Bluetooth signal.

Also, the boarding robot control application 120 may be configured to allow the mobile terminal 110 to measure geomagnetism at a time interval of 100 mm / sec using the geomagnetic sensor.

When controlling the boarding robot 130 to be described later by using the boarding robot control application 120, it is possible to set the absolute direction control mode or the relative direction control mode to control the moving direction of the boarding robot 130 have. Also, the absolute direction control mode and the relative direction control mode are displayed on the screen of the mobile terminal 110 so that the user can switch.

Here, the absolute direction control mode calculates an absolute direction angle based on the geomagnetism of the earth, and causes the boarding robot, which will be described later, to move in the left or right direction according to the absolute direction angle, A directional angle of the mobile terminal 110 and a change value between the reference angle and the current direction indicated by the mobile terminal 110 are calculated as a relative direction angle so that the boarding robot 130 to be described later moves leftward or rightward .

When the boarding robot control application 120 is set to the absolute direction control mode, the boarding robot control application 120 determines whether the mobile terminal 110 is rotated in the left or right direction, Calculates the angle, and then loads the absolute direction angle on the radio signal and transmits it to the boarding robot 130, which will be described later.

When the boarding robot control application 120 is set to the relative direction control mode, the boarding robot control application 120 determines that the mobile terminal 110 has measured the first measured value measured by the geomagnetic sensor, When the mobile terminal 110 is rotated left or right after setting the angle, the second measurement value measured by the geomagnetic sensor is compared with the first measured value to calculate a relative angle which is a change value.

In addition, the boarding robot control application 120 functions to mount the relative direction angle of the mobile terminal 110 on the radio signal and transmit it to the boarding robot 130, which will be described later.

In addition, the boarding robot control application 120 loads the control command input from the user into the mobile terminal 110 by the user in addition to the direction angle, to the boarding robot 130 to be described later . Here, the communication packet mounted on the radio signal is composed of a control command of 1 byte and a direction angle of 1 byte, and the communication packet is transmitted to the boarding robot 130 to be described later at regular time intervals.

For example, the control command is provided to be a first byte in the form of '#', '$', '&', '%' % 'Means absolute direction rotation mode,' $ 'means relative direction movement mode,' & 'means relative direction rotation mode, and'! 'Means stop mode.

The boarding robot control application 120 may mount the absolute direction angle of the mobile terminal 110 or the relative direction angle of the mobile terminal 110 at the direction angle of 1 byte, And is mounted to switch the specific value.

The boarding robot 130 is equipped with a footrest or a seat for the user to ride on. The boarding robot 130 receives a radio signal transmitted from the mobile terminal 110, A Bluetooth module 132, an IMU (IMU), and a mobile terminal 110. The mobile terminal 110 is controlled to move in the direction indicated by the mobile terminal 110 or in a direction in which the mobile terminal 110 rotates, Module 133, a MCU module 134, left and right motors 135, left and right motor drivers 136, and auxiliary wheels 137.

In addition, the boarding robot 130 may be used as a single-person transportation means, and may be remotely controlled by the mobile terminal 110 in which the boarding robot control application 120 is stored even when the user is not boarding.

In addition, the boarding robot 130 may be controlled to move in real time by the mobile terminal 110 in which the boarding robot control application 120 is stored.

The wheels 131 are provided on the left and right sides of the boarding robot 130 to be driven by a differential drive system. That is, when the boarding robot 130 is moved forward or backward, when the left and right wheels 131 rotate in the same speed and direction and when the boarding robot 130 is rotated leftward or rightward, 131 rotate in different directions.

The Bluetooth module 132 is for receiving a wireless signal transmitted from the mobile terminal 110 and is preferably transmitted to the mobile terminal 110 by the boarding robot control application 120 stored in the mobile terminal 110, And to receive control commands and direction angles at regular time intervals.

The IMU module 133 is for measuring the direction in which the boarding robot 130 is viewed and transmits the measured direction of the boarding robot 130 to the MCU module 134 to be described later, So that the MCU module 134 can calculate whether to move the boarding robot 130 to the left or right direction.

The IFM module 133 may be provided to measure a direction and an attitude of the boarding robot 130 on at least three axes. The IFM module 133 preferably measures the moving inertia of the boarding robot 130 A gyro system capable of measuring the rotational inertia and a magnetic unit capable of measuring the directional angle.

The air conditioner module 133 may be provided as an Attitude Heading Reference System (AHRS) to measure the posture of the boarding robot 130 and the direction angle of the boarding robot 130. The geomagnetic sensor may be provided not only as the integrated module but also as a geomagnetic sensor for measuring the direction angle of the boarding robot 130.

The MCU module 134 is for controlling the boarding robot 130. The MCU module 134 controls the boarding robot 130 to move or stop the boarding robot 130 or to change the direction of the boarding robot 130 to the left or right. And outputs a control signal for driving at least one wheel 131 among the plurality of wheels 131.

The MCU module 134 recognizes the direction that the boarding robot 130 is currently viewing through the direction angle measured by the iMUU module 133 and detects the direction of the radio signal received from the mobile terminal 110 Calculates the direction and angle in which the boarding robot 130 moves, and outputs the calculated direction and angle as the control signal.

The MCU module 134 is connected to the left wheel 131 of the boarding robot 130 according to an absolute direction angle of the mobile terminal 110 or a relative direction angle of the mobile terminal 110 received from the radio signal, ) Or the right wheel 131 to adjust the direction angle of the boarding robot 130 and controls the boarding robot 130 to move or stop according to a specific control command mounted on the wireless signal .

The left and right motors 135 are provided to rotate the pair of wheels 131. The left and right motors 135 may be provided as BLDC motors and each motor may be connected to each wheel 131 to provide rotational force.

The left and right motors 135 are provided to be driven or stopped by left and right motor drivers 136 to be described later, and the rotational speed and the rotational direction are controlled.

The left and right motor drivers 136 are for controlling the left and right motors 135. The left and right motor drivers 136 control the torque of the left and right motors 135 and the rotational directions of the left and right motors 135, .

The left and right motor drivers 136 forward, reverse, or stop the left and right motors 135 according to control signals transmitted from the MCU module 134, Thereby making the torque of the motor 135 faster or slower.

The auxiliary wheel 137 is provided for balancing the traveling robot 130 so that the robot 130 stably travels. The auxiliary wheel 137 is disposed in front of or behind the pair of wheels 131, and the pair of wheels 131 ) Are spaced apart from each other by a predetermined distance.

In addition, the auxiliary wheel 137 may be disposed on the vertex of the triangle together with the pair of wheels 131 when viewed in a plan view.

In addition, the auxiliary wheel 137 can easily maintain stability without using a control algorithm including a complicated fuzzy algorithm or a neural network circuit algorithm to maintain the balance of the boarding robot 130.

5 is a diagram illustrating a differential drive robot model according to an embodiment of the present invention.

Referring to FIG. 5, the boarding robot control system according to an embodiment of the present invention is provided to operate on the basis of the differential driving robot model, and the MCU module of the boarding robot 130 uses the differential driving robot model The left wheel or the right wheel is driven.

The differential driving robot model includes three vectors including the current position and the azimuth angle with respect to the reference frame, and can be calculated using Equation 1 below.

[Equation 1]

Here,? _C denotes a rotation angle at which the boarding robot 130 rotates, and it can rotate in the x-axis direction or the y-axis direction with respect to the center P of the pair of wheels of the boarding robot 130 .

Also, the differential driving robot model calculates the linear velocity and angular velocity of the boarding robot 130 using the following equation (2).

&Quot; (2) "

Here, v denotes the linear velocity of the boarding robot 130 and w denotes the angular velocity of the boarding robot 130.

In addition, the linear velocity and the angular velocity of the differential driving robot model are calculated by the following equations (3) and (4).

&Quot; (3) "

&Quot; (4) "

Here, v _r and v _l are the pwm values of the right motor and the left motor, and 2d _c is the horizontal distance between a pair of wheels of the boarding robot 130.

Also, the differential driving robot model controls the speeds of the left and right motors according to the absolute direction control mode and the relative direction control mode of the boarding robot (130).

First, in the case of the absolute direction control mode, the speeds of the left and right motors are controlled by calculating the following equation (5).

&Quot; (5) "

는 탑승로봇(130)의 절대 방향각에 대한 비례제어기이며, k_p는 탑승로봇(130)의 방향에 대한 비례상수이며,

는 모바일단말에서 수신된 절대방향각을 뜻한다.Where v _l is the velocity of the left motor, v _r is the velocity of the right motor, s _m is the velocity value of the constant for advancing the boarding robot 130,

Is a proportional controller for the absolute direction angle of the boarding robot 130, k _p is a proportional constant for the direction of the boarding robot 130,

Refers to the absolute direction angle received at the mobile terminal.

In the case of the relative direction control mode, the speeds of the left and right motors are controlled by calculating the following equation (6).

&Quot; (6) "

는 탑승로봇(130)의 절대 방향각에 대한 비례제어기이며, k_p는 탑승로봇(130)의 방향에 대한 비례상수이며,

는 모바일단말에서 수신된 절대방향각을 뜻한다.Where v _l is the velocity of the left motor, v _r is the velocity of the right motor, s _m is the velocity value of the constant for advancing the boarding robot 130,

Is a proportional controller for the absolute direction angle of the boarding robot 130, k _p is a proportional constant for the direction of the boarding robot 130,

Refers to the absolute direction angle received at the mobile terminal.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, Various changes and modifications will be possible.

110: mobile terminal 120: boarding robot control application
130: Boarding robot 131: Wheel
132: Bluetooth module 133:
134: MC module 135: Left and right motor
136: Left and right motor driver 137: Auxiliary wheels

Claims (5)

A mobile terminal;
A boarding robot control application which is stored in the mobile terminal and calculates a direction indicated by the direction when the mobile terminal is rotated left and right by a direction angle, And
The mobile robot receives the wireless signal transmitted from the mobile terminal and controls the moving direction according to the calculated direction angle of the mobile robot so as to move in a direction indicated by the mobile terminal or in a direction in which the mobile terminal rotates And a boarding robot provided to the boarding robot.
The method according to claim 1,
Wherein the boarding robot control application comprises:
An absolute direction control mode in which the direction angle of the direction indicated by the mobile terminal is calculated as an absolute direction angle; And
And a relative direction control mode in which a change value with respect to the reference direction angle is calculated as a relative direction angle when the mobile terminal is rotated left and right after a reference direction angle that is a specific direction imprinting is set. Robot control system.
The method according to claim 1,
Wherein the wireless signal is a communication packet having a control command of 1 byte and a direction angle of 1 byte.
The method according to claim 1,
The boarding robot includes:
An IMU module for measuring a directional angle in a direction in which the boarding robot looks; And
And compares the current direction angle of the boarding robot with an absolute direction angle of the mobile terminal received from the radio signal or a relative direction angle of the mobile terminal to calculate a direction in which the boarding robot moves, (MCU) module for controlling the mobile robot using the mobile terminal.
5. The method of claim 4,
The boarding robot includes:
Left and right motors for respectively driving the wheels;
Left and right motor drivers respectively controlling the torques of the left and right motors according to the control signal of the MCM module; And
And a second wheel disposed on the front or rear of the wheel.

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