KR20160009419A - Educational robot capable of multi-sensing function - Google Patents

Abstract

The present invention provides an educational robot with a multi-sensing function, capable of performing a predetermined operation by changing a mode by including various sensors. According to an embodiment of the present invention, the educational robot with the multi-sensing function comprises: a sensor unit arranged on a printed circuit board; a driving unit driving a wheel; and a control unit transmitting and receiving a control signal, and a sensing signal by being connected to the sensor unit and the driving unit. The sensor unit comprises: an infrared sensor, a contact sensor, and a sound sensor. The sensor unit, the driving unit, and the control unit are arranged on a base plate, and the printed circuit board and an outer cover are integrally formed on the base plate. The control unit controls the driving unit to perform a predetermined motion in accordance with a mode of activating one or more among the infrared sensor, the contact sensor, and the sound sensor.

Description

{EDUCATIONAL ROBOT CAPABLE OF MULTI-SENSING FUNCTION WITH MULTI-SENSING FUNCTION}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a parabolic robot having multiple sensing functions, and more particularly, to a parabolic robot provided with various sensors to perform specific operations by mode switching.

In recent years, various types of teaching robots have been used in schools. Such diocesan robots are mainly composed of a prefabricated robot, and the user can construct a desired type of robot by assembling various motors, actuators, coupling structures, sensors, and various other devices.

However, since the conventional parabolic robot has a limited sensing type, it is difficult to perform various operation functions desired by the user. In addition, in order to change the operation function, an additional assembly process such as changing a control line by installing a separate sensor was required in most cases.

Therefore, there is a demand for a parabolic robot having a multi-sensing function of a level desired by a user without additional additional assembly.

On the other hand, as described above, conventional parabolic robots are mainly composed of a prefabricated robot, and various types of blocks or plates have been used for the prefabricated robots. A block or a plate is used as a body of a parody robot or a frame for attaching various devices. Such a block or a plate can be assembled to realize a robot having various shapes and functions.

However, when assembling a block or a plate with each other by using a screw or by using soldering or an adhesive, it is not easy to assemble the block and the plate, and additional tools are required for assembling the block or the plate. There is a problem that decomposition is difficult.

Therefore, a structure in which a user can assemble and disassemble easily is also required in the parabolic robot.

Korean Patent Publication No. 10-2013-0057625

SUMMARY OF THE INVENTION [0006] In order to solve the above problems, a technical object of the present invention is to provide a parabolic robot having a multi-sensing function of a desired level without additional assembly. Still another object of the present invention is to provide a parabolic robot having a structure that is easy to assemble and disassemble by a user.

According to an aspect of the present invention, there is provided a dioretic robot having a multiple sensing function, including: a sensor unit provided on a printed circuit board; a driving unit driving the wheel; And a control unit for transmitting and receiving a sensing signal and a control signal, wherein the sensor unit includes an infrared sensor, a touch sensor, and an acoustic sensor located on the printed circuit board, and the sensor unit, And the control circuit board and the outer cover may be integrally formed on the base plate, and the controller may perform a predetermined operation according to a mode of activating at least one of the infrared sensor, the contact sensor, and the acoustic sensor And controls the driving unit.

According to an embodiment of the present invention, the wheels are provided outside the side wall plates provided on both sides of the base plate, and the diameter of the wheels is larger than the width of the side wall plate, have.

In one embodiment of the present invention, the base plate or the side wall plate is provided with a plurality of engagement holes arranged in a matrix, and the engagement holes can be coupled through the engagement holes.

In one embodiment of the present invention, the control unit may further include a communication module for electrically connecting the control unit to an external device.

In one embodiment of the present invention, a mode changeover switch for changing the mode may be provided on the upper surface of the PCB.

In one embodiment of the present invention, the infrared sensor may include a light emitting unit disposed on a lower surface of the printed circuit board, and first and second light receiving units provided on left and right sides of the light emitting unit, respectively.

In one embodiment of the present invention, the contact sensor may be a pair of spring contact sensors provided on left and right sides of the upper surface of the printed circuit board.

In an embodiment of the present invention, the acoustic sensor may be a condenser microphone type acoustic sensor provided at the center of the upper surface of the printed circuit board.

In one embodiment of the present invention, the coupling member may be configured to detachably couple the outer member to the base plate or the sidewall plate using an elastic force.

According to the present invention, it is possible to provide a parabolic robot having a multi-sensing function of a desired level by a user without additional additional assembly. In addition, the present invention can provide a parabolic robot having a structure that is easy to assemble and disassemble by a user.

It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram schematically showing functional units of a parabolic robot according to an embodiment of the present invention.
2 is a perspective view of a parochial robot according to an embodiment of the present invention.
FIG. 3 is a perspective view showing a state in which the outer cover is removed from the dioptric robot of FIG. 2. FIG.
Fig. 4 is an enlarged view showing a sensor part in the dioptric robot of Fig. 2;
5 is an enlarged view showing an infrared sensor portion in the dioptric robot of Fig.
6 is a circuit block diagram of an infrared sensor of a paraplegic robot according to an embodiment of the present invention.
7 is a circuit diagram of a touch sensor of a parabolic robot according to an embodiment of the present invention.
8 is a circuit diagram of an acoustic sensor of a parabolic robot according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the accompanying drawings. 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 order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "indirectly connected" . Also, when an element is referred to as "comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise.

The present invention relates to a parabolic robot having a multiple sensing function. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a perspective view of a parabolic-type robot according to an embodiment of the present invention; Fig. 3 is a perspective view of the parabolic-type robot shown in Fig. 2; Fig. FIG. 4 is an enlarged view showing a portion of the sensor unit in the parabolic robot of FIG. 2, and FIG. 5 is an enlarged view of the infrared sensor unit of the parabolic robot of FIG.

1, the dioptric robot 1 has a multiple sensing function and includes a controller 100, an infrared sensor 110, a touch sensor 120, a sound sensor 130, a driver 140, And may include a wheel 70.

Here, the infrared sensor 110, the touch sensor 120, and the acoustic sensor 130 are collectively referred to as a sensor portion, and various sensors other than the upper sensor may be additionally provided in the sensor portion. For example, a sensor having various types and functions such as an acceleration sensor, a magnetic sensor, a temperature sensor, a humidity sensor, a motion sensor, a piezoelectric sensor, and the like may be provided in the sensor unit as an input unit required for performing a complex command desired by a user.

On the other hand, the sensor unit is provided on the printed circuit board. That is, the sensor unit includes an infrared sensor 110, a contact sensor 120, and an acoustic sensor 130 located on the upper surface or lower surface of the printed circuit board, and the detailed configuration thereof will be described later with reference to FIG. .

The driving unit 140 drives the wheel 70 and may be, for example, a servo motor, but there is no particular limitation on the form and the type.

The controller 100 is electrically connected to the sensor units 110 and 120 and the driving unit 140 to transmit and receive a sensing signal and a control signal. The control unit 100 controls the driving unit 140 to perform a predetermined operation according to a mode of activating at least one of the infrared sensor 110, the touch sensor 120, and the acoustic sensor 130. In this case, And the details thereof will be described later.

2 to 5 are photographs showing an embodiment of a parody robot actually implemented according to the present invention. 2, the body of the parochial robot 1 is composed of a base plate 10, a side wall plate 20, and an outer cover 30.

First, the sensor unit 110, the driving unit 140, and the controller 100 may be provided on the base plate 10. As shown, the base plate 10 may have a wide flat structure, and various components may be coupled to the base plate 10.

On the other hand, a printed circuit board 40 and an outer cover 30, which will be described later, may be integrally formed on the base plate 10. The structure of the base plate 10 enables the casing to be integrated. That is, various component elements or separate plates, including the printed circuit board 40, can be coupled to the base plate 10 at predetermined positions, thereby simplifying the structure, facilitating assembly, (Price drop).

On both sides of the base plate 10, side wall plates 20 are provided. The side wall plate 20 may also be formed in a wide plate-like structure like the base plate 10. The outer side of the side wall plate 20 may be provided with a wheel 70 connected to the driving unit 140.

Here, the diameter of the wheel 70 may be greater than the width of the side wall plate 20, that is, the length of the side wall plate 20 in the vertical direction. By adopting such a configuration, the wheel 70 is further projected above and below the side wall plate 20 forming the side portion of the body of the diocletian robot 1, so that even when the diagonal robot 1 is changed in the vertical position, do.

120 and 130 when it is difficult to arrange the various sensors, that is, the infrared sensor 110, the contact sensor 120, and the acoustic sensor 130 on only one side of the printed circuit board 40, Are appropriately dispersed on the upper and lower surfaces of the printed circuit board 40. Even in this case, it is possible to ensure proper operation of the sensor. Details thereof will be described later.

A plurality of coupling holes H may be arranged in a matrix form in the base plate 10 or the side wall plate 20 described above. That is, the coupling holes H may be formed in the base plate 10 or the side wall plate 20 through a plurality of rows and columns, and the coupling holes 60 may be coupled through the coupling holes H .

Here, the coupling member 60 can detachably couple the outer member to the base plate 10 or the side wall plate 20 by using an elastic force. The outer member may be, for example, a speaker, a camera, a light emitting portion, an antenna, a decorative member, and the like, but is not limited to such a unit, which can perform various functions (including decoration function) desired by a user.

The coupling member 60 may be formed in a socket or a rivet shape for coupling the outer member to the coupling hole H using, for example, an elastic force.

On the other hand, the base plate 10 and the side wall plate 20 are made of resin or metal, and can be formed into various structures. The coupling holes H formed in the base plate 10 and the side wall plate 20 may be provided with a plurality of through holes having different diameters.

The outer cover 30 covers the base plate 10 and the side wall plate 20 to protect the parts housed therein. The outer cover 30 may be provided with a plurality of coupling holes H in the same manner as the base plate 10 or the side wall plate 20. It is also possible that the outer cover is provided with an opening for allowing the user to directly operate the mode changeover switch 101 or the power switch 102, which will be described later.

On the other hand, a printed circuit board 40 on which various component elements can be mounted may be provided on the base plate 10.

3, the printed circuit board 40 is mounted on the base plate 10 by bolts 91 or other coupling members via a plurality of tubular spacers 90 provided at both ends of one side of the base plate 10, As shown in FIG. In addition, a square spacer 90 may be provided between the central end of the printed circuit board 40 and the base plate 10. [

2, the printed circuit board 40 can be received in the outer cover 30, and the front side opening according to the spacing structure of the printed circuit board 40 and the base plate 10 can be received by the front side cover 50).

3, a servomotor 80 and a battery B may be provided on the base plate 10. The servomotor 80 and the battery B may be configured to include the driving unit 140 of FIG. Element.

Although not shown, a communication module electrically connected to the controller 100 may be additionally provided on the printed circuit board 40. By using such a communication module, the parochial robot 1 can be connected to an external device such as a computer, a smart phone, or a robot-dedicated controller by a wired or wireless communication method. By providing the communication module, the user can modify or add (upload) the control program of the diocletian robot 1. It is also possible to control the diocletian robot 1 using an external device.

4 and 5, the structure of the sensor unit will be described in detail with reference to the circuit diagrams of Figs. 6 to 8. Fig. Fig. 6 is a circuit diagram of an infrared sensor of a parabolic robot according to an embodiment of the present invention. Fig. 7 is a circuit diagram of a touch sensor of a parabolic robot according to an embodiment of the present invention. Fig. 2 is a circuit diagram of an acoustic sensor of a paraplegic robot according to an embodiment of the present invention.

4, a mode changeover switch 101, a power switch 102, a touch sensor 120, and an acoustic sensor 130 may be provided on the upper surface of the printed circuit board 40, For reference, the infrared sensor 110 may be provided on the lower surface of the printed circuit board 40.

The mode changeover switch 101 is a switch for setting an operation mode of activating the sensor unit, that is, activating at least one of the infrared sensor 110, the contact sensor 120, and the sound sensor 130. For example, when the user presses the mode changeover switch 101 once, the infrared sensor 110 is activated to perform robot operation such as motion sensing and line tracing. For example, when the user presses the mode changeover switch 101 continuously If the user touches the mode changeover switch 101 three times in succession within a predetermined time, the sound sensor (for example, 130 may be activated and an operation may be performed in which the robot moves a predetermined distance or rotates by a predetermined angle in response to an external sound of a predetermined size or larger (for example, an applause sound). It is of course possible that two or more sensors are simultaneously activated according to the setting of the mode changeover switch 101. [

The power switch 102 is a switch for controlling the power on and off.

5, the infrared sensor 110 includes a light emitting portion 111 disposed on the lower surface of the printed circuit board 40 and a first light receiving portion 112 and a second light receiving portion 112 provided on the left and right sides of the light emitting portion 111, (113).

That is, the infrared sensor 110 according to an embodiment of the present invention can detect the object in the left and right direction using one infrared ray emitting unit 111 and two infrared ray receiving units 112 and 113, Can be saved.

When an external object is sensed within a predetermined distance toward the emission direction of the light emitting portion 111, light reflected by the external object flows into the first light receiving portion 112 or the second light receiving portion 113, It is possible to know whether or not. In addition, it is possible to grasp the order of the reflected light introduced into the first light receiving portion 112 and the second light receiving portion 113, thereby detecting that the external object is moving from left to right or vice versa.

Accordingly, motion detection and line tracing are enabled using the infrared ray sensor 110. For example, when the dioptric robot 1 is positioned in the vertical direction as shown in FIG. 3 and the function of the infrared sensor 110 is activated, the infrared sensor 110 can detect the object in the lower direction, (For example, a line formed in a different color from the peripheral portion) provided on the bottom surface on which the robot 1 moves, and the parabolic robot 1 can move along the guide line (line tracing).

On the other hand, if the parabolic robot 1 is positioned so as to have a vertical direction opposite to that of FIG. 3, the infrared sensor 110 can detect an object in the upper direction of the parabolic robot 1, When the hand moves from left to right on the upper side of the diagonal robot 1, the diagonal robot 1 can move from the left side to the right side or rotate to the right side. On the other hand, The parabolic robot 1 can move from the right side to the left side or rotate to the left side (motion detection).

In order to realize both of the motion detection and line tracing functions, the shape and size of the wheel 70 and the side wall plate 20 can be adjusted so as to be able to be driven by changing the vertical position of the parabolic robot 1 as described above.

6 is a circuit configuration diagram of the above-described infrared sensor 110, in which IR_FIRE denotes a light emitting section, IR_LEFT and IR_RIGHT denote two light receiving sections, and VDD denotes a power supply terminal, respectively. The circuit is configured to generate a sensing signal by sensing light reflected from an external object from IR_FIRE and IR_LEFT and IR_RIGHT.

4, the touch sensor 120 may be a pair of spring-type contact detection sensors provided on left and right sides of the upper surface of the printed circuit board 40, respectively. That is, the touch sensor 120 may be a contact detection sensor using a spring having a good elastic restoring force. The touch sensor 120 senses left and right obstacles along the moving direction of the diocletian robot 1 using the contact detection sensor.

For example, when the function of the contact sensor 120 is activated, the dioptric robot 1 moves in a certain direction, and if a touch of the obstacle is detected in the contact sensor 120 located on the left side, If the touch sensor 120 on the right side detects a touch of an obstacle, it rotates to the left by a predetermined angle to avoid the obstacle, and then continues to move. If a touch of an obstacle is simultaneously detected on a pair of contact sensors 120 located on the left and right sides, the diagonal robot 1 may be turned 180 degrees to avoid the obstacle.

7 is a circuit configuration diagram of the touch sensor 120. When a spring in contact with an external object (obstacle) touches VDD, a sensing signal is generated. For example, in this circuit diagram, TP1 is connected to TP3 Or when TP2 touches TP4, a sensing signal for recognizing an external object is generated.

Referring again to FIG. 4, the acoustic sensor 130 may be a condenser microphone type acoustic sensor provided at the center of the upper surface of the printed circuit board 40.

When the function of the sound sensor 130 is activated, the robot may move or rotate in response to an external sound of a predetermined size or more. For example, if the user makes one right turn, You can set the action to go straight forward by tapping the applause three times.

8 is a circuit diagram of the acoustic sensor 130. When sound is input to the condenser microphone MIC, the input value is amplified and then output as a digital sensing signal SIG_MIC.

As described above, the parabolic robot according to the embodiment of the present invention has a multi-sensing function of a level desired by a user without additional additional assembly, and has a structure that is easy to assemble and disassemble by a user.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics 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 defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

1: Parabolic robot 100:
110: Infrared sensor 120: Contact sensor
130: acoustic sensor 140:
10: base plate 20: side wall plate
30: outer cover 40: printed circuit board
50: front side cover 60:
70: Wheel 80: Servo motor

Claims (9)

As a parabolic robot having multiple sensing functions,
And a control unit connected to the sensor unit and the driving unit to transmit and receive a sensing signal and a control signal,
Wherein the sensor unit includes an infrared sensor, a touch sensor, and an acoustic sensor located on the printed circuit board,
The sensor unit, the driving unit, and the control unit may be provided on the base plate, and the printed circuit board and the outer cover may be integrally formed on the base plate,
Wherein the control unit controls the driving unit to perform a predetermined operation according to a mode of activating at least one of the infrared sensor, the contact sensor, and the acoustic sensor.
The method according to claim 1,
Wherein the wheels are provided outside the side wall plates provided on both sides of the base plate and the diameter of the wheels is larger than the width of the side wall plate so that the robot can be driven even when the position of the parabolic robot is changed.
3. The method of claim 2,
Wherein the base plate or the side wall plate is provided with a plurality of engagement holes arranged in a matrix, and the engagement holes are coupled through the engagement holes.
The method according to claim 1,
Further comprising a communication module for electrically connecting the control unit to an external device.
The method according to claim 1,
And a mode changeover switch for switching the mode is provided on an upper surface of the printed circuit board.
The method according to claim 1,
Wherein the infrared sensor includes a light emitting portion disposed on a lower surface of the printed circuit board, and a first light receiving portion and a second light receiving portion provided on left and right sides of the light emitting portion, respectively.
The method according to claim 1,
Wherein the touch sensor is a pair of spring contact detection sensors provided on left and right sides of the upper surface of the printed circuit board.
The method according to claim 1,
Wherein the acoustic sensor is a condenser microphone type acoustic sensor provided at the center of the upper surface of the printed circuit board.
The method of claim 3,
Wherein the coupling member detachably couples the outer member to the base plate or the side wall plate using an elastic force.

Images