KR20170010576A - Robot and apparatus for contolling motion of robot - Google Patents

Robot and apparatus for contolling motion of robot Download PDF

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Publication number
KR20170010576A
KR20170010576A KR1020150102367A KR20150102367A KR20170010576A KR 20170010576 A KR20170010576 A KR 20170010576A KR 1020150102367 A KR1020150102367 A KR 1020150102367A KR 20150102367 A KR20150102367 A KR 20150102367A KR 20170010576 A KR20170010576 A KR 20170010576A
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South Korea
Prior art keywords
robot
user communication
communication physical
physical factor
sensor
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KR1020150102367A
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Korean (ko)
Inventor
홍영기
서태원
여상민
박종수
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주식회사 로보테크
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Priority to KR1020150102367A priority Critical patent/KR20170010576A/en
Publication of KR20170010576A publication Critical patent/KR20170010576A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a robot having integral sensor of a carbon micro-coil and a control device for the same. The robot includes: a single carbon micro-coil (CMC) integral sensor integrally sensing two or more factors among touch, pressure, or approach corresponding to a user communication physical factor moving the robot, using a sensor; a robot actuator unit; and a robot control unit controlling driving of the robot actuator unit based on user communication physical factor in formation which the CMC integral sensor senses. The robot control unit sets and divides a sensing sensitivity range of the different CMC integral sensor by each user communication physical factor. The robot control unit sets the generation of a control signal by integrally processing different sensing information by each user communication physical factor in a control format. The root control unit recognizes the user communication physical factor based on the sensing sensitivity range in which a current sensing value which is input from the CMC integral sensor is included. The robot control unit controls the driving of the robot actuator unit in union by generating the control signal of the user communication physical factor recognized to perform a setting function corresponding to the recognized user communication physical factor. The various sensors used for communication with a user are integrated in the robot so that the control and the composition of the robot can be simplified. A same board is used regardless of a kind of the user communication physical factor which the integral sensor recognizes. So, the control is unified, and the control and communication between the robot and the user are facilitated.

Description

Technical Field [0001] The present invention relates to a robot having an integrated sensor of a carbon micro-coil (CMC)

The present invention relates to a device that can perform proximity, pressure, and touch sensing using carbon micro-coils (CMC), and can be applied to a robot to be used as a motion and safety device.

Generally, a robot is a machine having a shape and function similar to a human being, or a machine having the ability to work something on its own, and these robots are used in various fields.

In other words, by interacting with users while moving autonomously from places such as theaters, exhibition halls, subway stations, etc., it is possible to carry out information in theaters, exhibition halls, subway history information, information on surrounding area information, , Emergency structure, fire suppression, and the like, and a system thereof are disclosed.

On the other hand, a general robot generally has a screen monitor, and communication with the user is performed by using the screen monitor. That is, the user inputs a command through a screen monitor mounted on one end of the robot, and the robot communicates with the user by traveling according to the inputted command or by moving the arm. Or, by using the integrated sensing of the carbon micro-coil as compared with this method, communication with the user is performed by moving the robot according to touch, pressure, and proximity.

For example, the technology that integrates pressure, proximity, and touch sensor can inform the robot by the proximity of the robot and the pressure, Can be attached to the robot and informed by the touch sensor that the pressure, proximity, and sensitivity of each touch can be distinguished from each other.

Therefore, various sensors are required in order to facilitate communication between the robot and the user, and advanced control technology is required.

SUMMARY OF THE INVENTION The present invention has been developed in order to solve the above-mentioned problems, and an object of the present invention is to provide a robot control system and a robot control method, A robot having a sensor and a control apparatus therefor.

Another object of the present invention is to provide a carbon micro-coil (CMC) which can smoothly communicate and control between a robot and a user by unifying control by using the same board regardless of the type of sensor (e.g., CMC sensor) And a controller for controlling the robot. It is used as pressure, proximity and touch sensor, and it can be made geometric shape using carbon micro coil (CMC) material.

According to an aspect of the present invention, there is provided a robot having an integrated sensor of a carbon micro-coil (CMC)

And a robot controller for controlling driving of the robot actuator based on user communication physical factor information sensed by the sensing unit, wherein the sensing unit includes a sensing unit sensing a user interaction physical factor for moving the robot, , The sensing unit may include a single carbon micro-coil (CMC) that integrally senses at least two user communication physical factors, such as user proximity, user pressure, or user touch corresponding to the user communication physical factor, ), And the robot controller sets and distinguishes a sensing sensitivity range of the carbon micro-coil integrated sensor, which is different according to the user communication physical factor, and outputs different sensing information for each user physical factor to one control format And the control signal And recognizes a user communication physical factor based on a sensing sensitivity range to which the current sensing value input from the carbon micro-coil (CMC) integrated sensor belongs, and performs a setting function corresponding to the recognized user communication physical factor And the control unit controls the robot actuator unit to uniformly control driving of the robot actuator by generating a control signal of the recognized user communication physical factor.

Preferably, the robot controller sets a sensing sensitivity range of the user proximity to a low sensing sensitivity range having a sensing sensitivity relatively lower than that of other user communication physical factors, The sensing sensitivity range of the user touch is set to a range of high sensing sensitivity having the highest sensing sensitivity relative to the communication physical factor, (CMC) integrated sensor is set to a sensing sensitivity range, and when the current sensing value input from the CMC integrated sensor belongs to a low sensing sensitivity range, the proximity user communication physical factor A control signal of a physical factor is generated to control the driving of the robot actuator unit A control signal of the pressure user communication physical factor is generated so as to perform a setting function corresponding to a pressure user communication physical factor when a current sensing value input from the carbon micro-coil (CMC) integrated sensor belongs to a high sensing sensitivity range And controls the driving of the robot actuator unit. When the current sensed value input from the CMC integrated sensor belongs to the mid-sensing sensitivity range, the touch user communication physics controller And controls the driving of the robot actuator unit by generating a control signal of the factor.

The control of the robot actuator is controlled by generating a control signal of the proximity user communication physical factor. The robot controller may output a warning message when a person approaches, or may control driving of the robot actuator to perform a warning operation .

Preferably, the controller controls the driving of the robot actuator by generating a control signal of the pressure user communication physical factor. The robot controller may output a warning message to prevent the robot controller from climbing on the robot, Thereby controlling the driving of the negative portion.

The touch user communication physical factor is a pad having at least one functional sensor unit corresponding to the kind of robot movement. The robot control unit controls the sensor unit of the functional microcomputer (CMC) A control signal of the touch user communication physical factor is generated so as to perform a setting function corresponding to the sensor unit when the inputted current sensing value belongs to the mid sensing sensitivity range And controls the driving of the robot actuator unit.

According to another aspect of the present invention, there is provided a robot control apparatus having an integrated sensor of a carbon micro-coil (CMC)

A robot control apparatus comprising: a signal output unit electrically connected to a robot actuator unit; at least two user communication physical factors such as a user proximity, a user pressure, and a user touch corresponding to a user communication physical factor for moving the robot; A signal input unit electrically connected to a single carbon micro-coils (CMC) integrated sensor that is integrally sensed by a sensor of the sensor; And a controller for integrally controlling driving of the robot actuator based on user communication physical factor information sensed by the carbon micro-coil integration sensor and controlling the movement of the robot, Wherein the control microcomputer sets the sensing sensitivity range of the other carbon micro-coil integrated sensor and sets the sensing sensitivity range of the other carbon micro-coil integrated sensor to generate a control signal by integrally processing different sensing information for each user physical factor in one control format, CMC) recognizes a user communication physical factor based on a sensing sensitivity range to which the current sensing value input from the integrated sensor belongs, and controls the recognized user communication physical factor to perform a setting function corresponding to the recognized user communication physical factor And outputs the signal to the robot actuator And the driving of the sub-unit is controlled uniformly.

Preferably, the control unit sets the sensing sensitivity range of the user proximity to a low sensing sensitivity range having a sensing sensitivity relatively lower than that of other user communication physical factors, and sets the sensing sensitivity range of the user's pressure to other user communication The sensing sensitivity range of the user touch is set to a range of high sensing sensitivity having the highest sensing sensitivity relative to the physical factor and the sensing sensitivity range of the user touch is set to a mid sensing (CMC) integrated sensor is set to a sensitivity sensing range, and when the current sensing value inputted from the CMC integrated sensor belongs to the low sensing sensitivity range, the proximity user communication physical factor Controls the driving of the robot actuator unit by generating the control signal of the factor, When the current sensed value inputted from the CMC integrated sensor belongs to the high sensing sensitivity range, the control signal of the pressure user communication physical factor is generated so as to perform the setting function corresponding to the pressure user communication physical factor, (CMC) integration sensor, and when the current sensed value inputted from the CMC integrated sensor belongs to the mid-sensing sensitivity range, the touch user communication physical factor And controls the driving of the robot actuator unit by generating a control signal.

The control of the robot actuator is controlled by generating a control signal of the proximity user communication physical factor. The robot controller may output a warning message when a person approaches, or may control driving of the robot actuator to perform a warning operation .

Preferably, the controller controls the driving of the robot actuator by generating a control signal of the pressure user communication physical factor. The robot controller may output a warning message to prevent the robot controller from climbing on the robot, Thereby controlling the driving of the negative portion.

The touch user communication physical factor is a touch pad having at least one functional sensor unit corresponding to the type of robot movement. The control unit controls the touch sensor communication physical parameter from the CMC integrated sensor, When a sensing signal is input from any one of the sensor units and the inputted current sensing value belongs to the mid sensing sensitivity range, a control signal of the touch user communication physical factor is generated so as to perform a setting function corresponding to the corresponding sensor unit And controls the driving of the robot actuator unit.

The present invention simplifies the control and configuration of the robot by unifying various sensors used for communication with the user in the robot, and enables the robot to control the robot on the same board (for example, Board is used to unify the control and to facilitate communication and control between the robot and the user.

1 is a block diagram showing a robot having an integrated sensor of a carbon micro-coil (CMC) according to the present invention and its control device configuration
Fig. 2 is a flowchart of a robot having an integrated sensor of a carbon micro-coil (CMC) according to the present invention,

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing a robot having an integrated sensor of a carbon micro-coil (CMC) according to the present invention and its control device configuration. Fig.

As shown in FIG. 1, the robot according to the present invention includes a single carbon micro-coil (not shown) integratedly detecting at least two factors of proximity, pressure, or touch corresponding to a user communication physical factor for moving the robot, (CMC) integrated sensor 101, the robot actuator unit 103, and the carbon micro-coil integrated sensor 101 are driven by the robot actuator unit And a robot control unit 102 for controlling based on the detected user communication physical factor information to unify the control.

Carbon Micro-Coils (CMC) integrated sensor 101 is a single sensor that integrally detects at least two factors of proximity, pressure, or touch corresponding to a user communication physical factor for moving the robot, Sensing unit. That is, it is a single sensing unit that is formed by unifying the sensor type. Therefore, it is possible to simplify the control and configuration of the robot by unifying various sensors used for communication with the user in the robot. For example, it is made up of a carbon micro-coil (CMC) material type sensor. Specifically, a single carbon micro-coil (CMC) integrated sensor 101 is used to sense various kinds of user communication physical factors (proximity, touch, pressure), thereby simplifying intimate communication and control between the user and the robot. In addition, it can be manufactured in a geometric form using a carbon micro-coil (CMC) material. As an example of use, A. the CMC sensor can be mounted on a specific portion of the robot so that the user can control the movement of the robot (traveling of the robot, control of the arm) as the user approaches the mounting site. B. By attaching the CMC sensor to the robot's hand, it can be used for contact with and communication with the user. C. By attaching the CMC sensor to the outer surface of the robot, it is possible to recognize a pattern for a specific user and to play a role of a keypad.

The robot actuator unit 103 is driving means for controlling each axis of the robot (the 'robot actuator unit' belongs to the prior art, and a detailed description thereof will be omitted here).

The robot control unit 102 (e.g., DAQ (Data Acquisition) & Control Board) simplifies the control and configuration of the robot by unifying various sensors used for communication with the user in the robot, The control signals are unified by using the same board regardless of the types of the sensors, that is, the sensors are interfaced with each other, and the sensing signals of the unified sensors are integrated into one predetermined robot actuator control format Control signals are generated so as to make the control of the robot actuator unit 103 unified, thereby facilitating mutual communication and control between the robot and the user. The robot control unit 102 may be configured to utilize a main control unit of a general robot or individually according to the present invention. Specifically, the robot control unit 102 sets and distinguishes a sensing sensitivity range of the carbon micro-coil integrated sensor 101 that is different according to the user communication physical factors, (CMC) integration sensor 101, recognizes the user communication physical factor based on the sensing sensitivity range to which the current sensing value input from the carbon micro-coil (CMC) integrated sensor 101 belongs, And generates a control signal of the recognized user communication physical factor so as to perform a setting function corresponding to the recognized user communication physical factor to uniformly control the driving of the robot actuator unit. Therefore, in order to simplify the control and configuration of the robot, the sensing unit is integrated with the single carbon micro-coil integrated sensor 101 and the control is made uniform by using the same board regardless of the sensor type. Meanwhile, for example, the robot controller may set the sensing sensitivity range of the user proximity to a low sensing sensitivity range having a sensing sensitivity relatively lower than that of other user communication physical factors, and the sensing sensitivity range of the user pressure Is set to a high sensing sensitivity range having the highest sensing sensitivity relative to other user communication physical factors, and the sensing sensitivity range of the user touch is set to a mid-sensing sensitivity (mid) sensing sensitivity range. When the current sensed value input from the CMC integrated sensor 101 belongs to the low sensing sensitivity range, control of the proximity user communication physical factor to perform a setting function corresponding to the proximity user communication physical factor And controls the driving of the robot actuator unit. When the current sensed value inputted from the CMC integrated sensor 101 belongs to the high sensing sensitivity range, the control of the pressure user communication physical factor to perform the setting function corresponding to the pressure user communication physical factor And controls the driving of the robot actuator unit. Alternatively, when the current sensed value inputted from the carbon micro-coil (CMC) integrated sensor 101 belongs to the mid-sensing sensitivity range, control of the touch user communication physical factor to perform a setting function corresponding to the touch user communication physical factor And controls the driving of the robot actuator unit. In a practical example, the robot control unit 102 generates a control signal of the proximity user communication physical factor by outputting a warning message when a person is approaching or by controlling the driving of the robot actuator unit to perform a warning operation, And controls the driving. Or controls the driving of the robot actuator unit so that the robot performs one of forward, backward, or turn when the person comes close. The robot controller may generate a control signal of a pressure user communication physical factor by outputting a warning message to prevent the robot from getting on the robot or by controlling the operation of the robot actuator to perform a warning operation, And controls the driving. Alternatively, when the human gripping force is detected and the gripping force is equal to or greater than the setting gripping force, the robot controller controls the driving of the robot actuator so that the robot shakes hands with the person. Meanwhile, the touch user communication physical factor includes a touch pad having at least one function-specific sensor unit corresponding to the type of robot movement, and the robot control unit controls the robot to move from the carbon micro-coil (CMC) When a sensing signal is input from any one of the sensor units of the functional units and the inputted current sensing value belongs to the mid sensing sensitivity range, control of the corresponding touch user communication physical factor to perform a setting function corresponding to the sensor unit (For example, when the touch of a specific function key is detected, the robot arm is moved in the left, right, upper, and lower setting directions). In the structure, for example, the robot control unit 102 includes a signal output unit electrically connected to the robot actuator unit, at least two of user proximity, user pressure, or user touch corresponding to a user communication physical factor for moving the robot A signal input unit electrically connected to a single carbon micro-coil (CMC) integrated sensor 101 that integrally senses the user interaction physical factors with a single sensor, and a control unit for controlling the driving of the robot actuator unit by the carbon micro- And a control unit for controlling the movement of the robot by integrally controlling based on the user communication physical factor information sensed by the sensor 101. The control unit sets and distinguishes a sensing sensitivity range of the carbon micro-coil integrated sensor 101 that is different according to the user communication physical factors, and integrates different sensing information for the user communication physical factors into one control format And recognizes a user communication physical factor based on a sensing sensitivity range to which a current sensing value input from the carbon micro-coil (CMC) integrated sensor 101 belongs, And generates a control signal of the recognized user communication physical factor so as to perform the setting function corresponding to the parameter to uniformly control the driving of the robot actuator unit. The controller sets the sensing sensitivity range of the user proximity to a low sensing sensitivity range having a sensing sensitivity relatively lower than that of other user communication physical factors, The sensing sensitivity range of the user touch is set to a range of high sensing sensitivity having the highest sensing sensitivity relative to the factor and the sensing sensitivity range of the user touch is set to a mid sensing sensitivity having a medium sensing sensitivity Range. When the current sensed value inputted from the CMC integrated sensor 101 belongs to the low sensing sensitivity range, the control unit controls the proximity user communication physical factor to perform a setting function corresponding to the proximity user communication physical factor, And controls the driving of the robot actuator unit by generating a control signal of the factor. When the current sensed value inputted from the CMC integrated sensor 101 belongs to the high sensing sensitivity range, the control unit controls the pressure user communication physics to perform a setting function corresponding to the pressure user communication physical factor, And controls the driving of the robot actuator unit by generating a control signal of the factor. When the current sensed value input from the CMC integrated sensor 101 belongs to a mid-sensing sensitivity range, the controller may control the touch user communication physics to perform a setting function corresponding to a touch user communication physical factor, And controls the driving of the robot actuator unit by generating a control signal of the factor. The control unit controls the driving of the robot actuator unit to generate a control signal of the proximity user communication physical factor so that the control unit outputs a warning message when a person is approaching or controls driving of the robot actuator unit to perform a warning operation. In order to control the driving of the robot actuator unit by generating a control signal of the pressure user communication physical factor, a warning message is output to prevent the control unit from climbing on the robot, or the robot actuator unit And controls the driving. Wherein the touch user communication physical factor is a touch pad having at least one function-specific sensor unit corresponding to a type of robot movement, and the control unit is operable to receive from the carbon micro-coil (CMC) When a sensing signal is input from any one of the sensor units and the input sensed value belongs to the mid sensing sensitivity range, a control signal of the corresponding touch user communication physical factor is set to perform a setting function corresponding to the sensor unit And controls the driving of the robot actuator unit.

FIG. 2 is a view sequentially showing the operation of a robot and its control device having an integrated sensor of a carbon micro-coil (CMC) according to the present invention.

As shown in FIG. 2, the robot according to the present invention firstly includes a single carbon sensor that integrally detects at least two factors of proximity, pressure, or touch corresponding to a user communication physical factor for moving the robot, A carbon micro-coil (CMC) integrated sensor is constructed.

That is, it aims at simplifying the control and configuration of the robot by unifying the various sensors used for communication with the user in the robot. For this purpose, the sensing unit is integrated with the same type sensor.

For example, the sensing unit is formed by unifying the sensing unit with a carbon micro-coil (CMC) material type sensor.

And, by using a single carbon micro-coil (CMC) integrated sensor to detect various kinds of user communication physical factors (proximity, touch, pressure), it facilitates intimate communication and control of user and robot.

In addition, it is possible to make geometric shapes using carbon micro-coil (CMC) material.

As an example of use, A. the CMC sensor can be mounted on a specific portion of the robot so that the user can control the movement of the robot (traveling of the robot, control of the arm) as the user approaches the mounting site. B. By attaching CMC sensor to the robot hand, it can be used for contact with and communication with the user. C. By attaching the CMC sensor to the outer surface of the robot, it is possible to recognize a pattern for a specific user and to play a role of a keypad.

Next, the robot control unit controls the driving of the robot actuator unit based on the user's communication physical factor information sensed by the carbon micro-coil (CMC) integrated sensor to unify the control.

Specifically, the robot controller sets and distinguishes a sensing sensitivity range of the carbon micro-coil integrated sensor, which is different for each user physical factor, and integrally processes different sensing information for each user physical factor in one control format A control signal is generated so as to recognize a user communication physical factor based on a sensing sensitivity range to which the current sensing value belongs (S201 to S203) input from the carbon micro coils (CMC) integrated sensor, A control signal of the recognized user communication physical factor is generated to perform a setting function corresponding to the factor (S204), and the driving of the robot actuator unit is uniformly controlled (S205).

For example, the robot control unit sets the sensing sensitivity range of the user proximity to a low sensing sensitivity range having a sensing sensitivity relatively lower than that of other user communication physical factors (in this case, The sensing sensitivity range of the user pressure is set to a high sensing sensitivity range having the highest sensing sensitivity relative to other user communication physical factors, The sensing sensitivity range of the user's touch is set to a mid sensing sensitivity range having an intermediate sensing sensitivity as compared with other user communication physical factors.

Therefore, when the current sensing value (for example, the capacitance (C) value of the carbon micro-coil integrated sensor) inputted from the carbon micro-coil (CMC) integrated sensor belongs to the low sensing sensitivity range, A control signal of the proximity user communication physical factor is generated to control the operation of the robot actuator unit.

As a practical example, the robot control unit may generate a control signal of the proximity user communication physical factor by controlling the driving of the robot actuator unit so as to output a warning message when a person approaches, or to control the operation of the robot actuator unit do. Alternatively, when the robot approaches the robot, the robot controller controls the robot actuator to perform either forward, backward, or turn operations (for example, when the robot detects the user access communication, (turn).

When the current sensed value inputted from the CMC integrated sensor belongs to the high sensing sensitivity range, the robot control unit controls the pressure user communication physical factor to perform a setting function corresponding to the pressure user communication physical factor. And controls the driving of the robot actuator unit by generating a control signal.

For example, by outputting a warning message to prevent the robot from climbing on the robot, or by controlling the driving of the robot actuator unit to perform the warning operation, a control signal of the pressure user communication physical factor is generated to drive the robot actuator unit .

Alternatively, if the human gripping force is sensed and the gripping force is greater than the setting gripping force, the robot controls the driving of the robot actuator to shake the robot (for example, shaking the robot hand and shaking the robot).

When the current sensing value input from the CMC integrated sensor belongs to the mid-sensing sensitivity range, the robot controller may control the touch user communication physical factor to perform a setting function corresponding to the touch user communication physical factor. And controls the driving of the robot actuator unit by generating a control signal.

For example, the touch user communication physical factor may be a pad having at least one function-specific sensor unit corresponding to a type of robot movement, and the robot control unit may be configured to receive, from the carbon micro-coil (CMC) When a sensing signal is input from any one of the sensor units and the input sensed current value is in the mid sensing sensitivity range, a control signal of the corresponding touch user communication physical factor (For example, when the touch of a specific function key is detected, the robot arm is moved in the left, right, upper, and lower setting directions).

As described above, the present invention simplifies the control and configuration of the robot by unifying various sensors used for communication with the user in the robot, By using the same board, control is unified, and communication and control between the robot and the user are smoothly performed.

Description of the Related Art [0002]
101: Carbon Micro-Coils (CMC) integrated sensor
102:
103: robot actuator section

Claims (10)

In the robot,
A single carbon micro-coils (CMC) integrated sensor that integrally senses at least two factors of proximity, pressure, or touch corresponding to a user communication physical factor for moving the robot;
The robot actuator unit;
A robot controller for controlling driving of the robot actuator based on user communication physical factor information sensed by the carbon micro-coil integrated sensor;
Lt; / RTI >

The robot controller may include:
A sensing sensitivity range of the carbon micro-coil integrated sensor is set and divided according to the user communication physical factor, and the control signal is generated by integrally processing different sensing information according to the user communication physical factor in one control format And a control unit for recognizing a user communication physical factor based on a sensing sensitivity range to which the current sensing value inputted from the carbon micro-coil integration sensor belongs and performing a setting function corresponding to the recognized user communication physical factor, Generating a control signal of a physical factor to uniformly control driving of the robot actuator unit;
(CMC) with a sensor integrated with a sensor. The method according to claim 1,
The robot controller may include:
Wherein the sensing sensitivity range of the user proximity is set to a low sensing sensitivity range having a sensing sensitivity relatively lower than that of other user communication physical factors and the sensing sensitivity range of the user's pressure is relatively And a sensing sensitivity range of the user touch is set to a mid sensing sensitivity range having an intermediate sensing sensitivity as compared with other user communication physical factors, and,

When the current sensing value input from the carbon micro-coil integration sensor belongs to the low sensing sensitivity range, generates a control signal of the proximity user communication physical factor to perform a setting function corresponding to the proximity user communication physical factor, Lt; / RTI >
When the current sensed value inputted from the carbon micro-coil integrated sensor belongs to the high sensing sensitivity range, generates a control signal of the pressure user communication physical factor to perform a setting function corresponding to the pressure user communication physical factor, Lt; / RTI >
When the current sensed value input from the carbon micro-coil integrated sensor belongs to the mid-sensing sensitivity range, generates a control signal of the touch user communication physical factor to perform a setting function corresponding to the touch user communication physical factor, Lt; / RTI >
(CMC) with a sensor integrated with a sensor. 3. The method of claim 2,
Controlling the driving of the robot actuator unit by generating a control signal of the proximity user communication physical factor,
Wherein the robot control unit controls the driving of the robot actuator unit so as to output a warning message when a human being approaches or to perform a warning operation. 3. The method of claim 2,
Controlling the driving of the robot actuator unit by generating a control signal of the pressure user communication physical factor,
(EN) A robot having an integrated sensor of a carbon micro-coil (CMC), characterized in that a warning message is outputted to prevent the robot control unit from getting on the robot, or the driving of the robot actuator unit is controlled to perform a warning operation. 3. The method of claim 2,
Wherein the touch user communication physical factor comprises:
And a touch pad having at least one functional sensor unit corresponding to the type of robot movement,

The robot controller may include:
A sensing signal is input from the sensor unit of the functional sensor unit to the carbon micro-coil integrated sensor, and when the input sensed value belongs to the mid-sensing sensitivity range, a setting function corresponding to the sensor unit is performed Controlling the driving of the robot actuator unit by generating a control signal of the touch user communication physical factor;
(CMC) with a sensor integrated with a sensor. A robot control apparatus comprising:
A signal output unit electrically connected to the robot actuator unit;
A single carbon micro-coil (CMC) that integrally senses at least two user communication physical factors among a user proximity, a user pressure, and a user touch corresponding to a user communication physical factor for moving the robot, A signal input section electrically connected to the integrated sensor; And
A controller for integrally controlling driving of the robot actuator based on user communication physical factor information sensed by the carbon micro-coil integration sensor and controlling movement of the robot;
Lt; / RTI >
Wherein the control unit sets and distinguishes a sensing sensitivity range of the carbon micro-coil integrated sensor that is different according to the user communication physical factors and integrally processes different sensing information according to the user communication physical factor in one control format, To recognize the user's communication physical factor based on the sensing sensitivity range to which the current sensing value inputted from the carbon micro-coil integration sensor belongs and to perform the setting function corresponding to the recognized user communication physical factor Generating a control signal of a user communication physical factor to uniformly control driving of the robot actuator unit;
(CMC) integrated sensor, characterized by the fact that the sensor of the present invention can be used as a robot control device. The method according to claim 6,
Wherein,
Wherein the sensing sensitivity range of the user proximity is set to a low sensing sensitivity range having a sensing sensitivity relatively lower than that of other user communication physical factors and the sensing sensitivity range of the user's pressure is relatively And a sensing sensitivity range of the user touch is set to a mid sensing sensitivity range having an intermediate sensing sensitivity as compared with other user communication physical factors, and,

When the current sensing value input from the carbon micro-coil integration sensor belongs to the low sensing sensitivity range, generates a control signal of the proximity user communication physical factor to perform a setting function corresponding to the proximity user communication physical factor, Lt; / RTI >
When the current sensed value inputted from the carbon micro-coil integrated sensor belongs to the high sensing sensitivity range, generates a control signal of the pressure user communication physical factor to perform a setting function corresponding to the pressure user communication physical factor, Lt; / RTI >
When the current sensed value input from the carbon micro-coil integrated sensor belongs to the mid-sensing sensitivity range, generates a control signal of the touch user communication physical factor to perform a setting function corresponding to the touch user communication physical factor, Lt; / RTI >
(CMC) integrated sensor, characterized by the fact that the sensor of the present invention can be used as a robot control device. 8. The method of claim 7,
Controlling the driving of the robot actuator unit by generating a control signal of the proximity user communication physical factor,
Wherein the control unit controls the driving of the robot actuator unit so as to output a warning message when a person approaches, or to perform a warning operation. 8. The method of claim 7,
Controlling the driving of the robot actuator unit by generating a control signal of the pressure user communication physical factor,
Wherein the control unit controls the driving of the robot actuator unit so as to output a warning message to prevent the control unit from getting on the robot or to perform a warning operation. . 8. The method of claim 7,
Wherein the touch user communication physical factor comprises:
And a touch pad having at least one functional sensor unit corresponding to the type of robot movement,

Wherein,
A sensing signal is input from the sensor unit of the functional sensor unit to the carbon micro-coil integrated sensor, and when the input sensed value belongs to the mid-sensing sensitivity range, a setting function corresponding to the sensor unit is performed Controlling the driving of the robot actuator unit by generating a control signal of the touch user communication physical factor;
(CMC) integrated sensor, characterized by the fact that the sensor of the present invention can be used as a robot control device.
KR1020150102367A 2015-07-20 2015-07-20 Robot and apparatus for contolling motion of robot KR20170010576A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112405568A (en) * 2020-10-20 2021-02-26 同济大学 Humanoid robot falling prediction method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112405568A (en) * 2020-10-20 2021-02-26 同济大学 Humanoid robot falling prediction method

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