KR20170099054A

KR20170099054A - Intelligent robot system for supporting labor of upper and lower body disabled person

Info

Publication number: KR20170099054A
Application number: KR1020160020927A
Authority: KR
Inventors: 한성현
Original assignee: 경남대학교 산학협력단
Priority date: 2016-02-23
Filing date: 2016-02-23
Publication date: 2017-08-31
Also published as: KR101848134B1

Abstract

The present invention relates to a portable terminal which can be operated by a voice command to help a person with upper and lower body to move and work comfortably and has a recognition function for recognizing a user, The present invention relates to an intelligent robot system for labor support of a person with upper and lower body disabilities who is provided with a frame provided with a seating section for allowing a user with upper and lower body disabilities to sit on, a moving section provided below the frame for moving the frame, A portable robot including a manipulator having a gripper for gripping a workpiece; and a wearable type wearable by the user, wherein the control unit controls each of the control signals to control the mobile robot according to a voice command of the user And a wearable controller A short range wireless communication device installed in a frame of the robot and performing short range wireless communication with the wearable controller; and a short range wireless communication device installed in a frame of the mobile type robot, and adapted to control the mobile robot in accordance with a control signal of the wearable controller mediated from the short- And a control unit for controlling the control unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an intelligent robot system,

The present invention relates to an intelligent robot system for labor support of persons with upper and lower body disabilities.

Robots can be divided into industrial robots, service robots, and special purpose robots depending on their applications.

Industrial robots are robots that assemble and inspect products on behalf of human beings in the industrial field. Service robots are robots that provide various services in human life such as cleaning, patient assistance, toys, training exercises, Robots are robots that can be used in war or extreme tasks in space, deep water, nuclear reactors, and so on.

Such a robot can be classified into a manually operated robot that is directly operated by a human, a sequence robot that performs a predetermined sequence, a playback robot that follows human behavior, a numerically controlled robot that can change programs at any time, It can be categorized as an intelligent robot with ability and judgment ability.

Among these, the intelligent robot refers to a robot that recognizes the external environment and judges the situation by itself and operates autonomously. The situation determination function is divided into the environment recognition function and the position recognition function, and the autonomous operation function can be divided into the operation control function and the autonomous movement function. Therefore, the technologies that enable these four functions are called the four major breakthrough technologies of intelligent robots.

In recent years, the paradigm of the robot industry has been shifted to intelligent robots that are human friendly and high value added services. In other words, the development of intelligent robots is expected to contribute to the reduction of the labor force which is a problem in the age of low fertility and aging and to increase the demand for services for alienation and social weak. In this respect, intelligent robot systems for the labor support of the disabled are needed among the socially weak.

Persons with disabilities are those who are severely restricted in their work life over a long period of time, including physical and mental disabilities, and have a disability that is constrained by routine activities for a variety of reasons. It is possible to divide into congenital disabilities who have disabilities from birth, and those who are disabled due to accidents or aging.

Among these disabled persons, physical disability can be divided into internal and external physical disabilities. There are persons with upper and lower hand disabilities such as arms and legs with external disturbances such as visual and auditory sense. Unlike the mental disorder, the upper and lower handicapped people are physically uncomfortable, and the intellectual ability to think and speak is the same as the normal person. However, due to the discrimination in going to school and employment, they have low education and unstable employment.

As an application and utilization of the intelligent robot, the body is inconvenient, but it is necessary to provide the intelligent ability to think and speak to support the labor force of the same disabled person as the normal person.

In order to accomplish this, it is necessary to have a function of moving and moving the user because the first lower body is difficult to move due to the difficulty of the lower body. Second, since it is difficult to precisely operate or work due to the abnormality of the upper body, Third, it requires a recognizing function to recognize the user by distinguishing it from others. Finally, since the user having the upper and lower body disorders can be isolated when the robot stops during work or on the move, Measures must be taken to facilitate the return of the position while monitoring the position at all times.

It is an object of the present invention, which is conceived from the above-described viewpoints, to provide a portable terminal which is capable of comfortably moving and working with a person with upper and lower limbs while being controlled by a voice command, The present invention also provides an intelligent robot system for supporting the upper and lower handicapped persons in labor support.

Other objects, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments with reference to the accompanying drawings.

In order to achieve the above object, the intelligent robot system for labor support of a person with upper and lower limbs according to the present invention comprises: a frame provided with a seating part for allowing a user with upper and lower body disorders to seated; And a manipulator mounted on the frame and having a gripper for gripping a workpiece, and a wearable type wearable by the user, wherein the wearable type robot is controlled by the user in response to a voice command of the user A short range wireless communication device installed in a frame of the mobile robot and performing near field wireless communication with the wearable controller; and a short range wireless communication device installed in a frame of the mobile robot, The wearable controller According to the control signal comprises a control unit for controlling the mobile robot.

In addition, the wearable controller is switched to a robot control mode when it is close to a radio wave area transmitted from the near field radio communication device, and is switched to a normal mode when it is deviated from the radio wave area.

The wearable controller performs a function unique to the watch in the normal mode and controls the mobile robot according to a voice command of the user in the robot control mode.

The wearable controller can select voice control or manual control according to a voice command input signal of the user in the robot control mode.

The voice command input signal may be a voice signal that the user calls "voice control" or "manual control " or a button press signal of a voice input button.

The wearable controller may further include a transmission antenna and a reception antenna for transmitting and receiving the short range wireless communication device, a microphone for sensing a voice command of the user, and a controller for generating respective control signals according to a voice command sensed by the microphone A control signal generator for receiving the control signal generated by the control signal generator and for transmitting control signals to the short range wireless communication device via the transmission antenna so that the controller controls the mobile robot, And a control signal transmitting unit to an Nth control signal transmitting unit.

The control signal generator may generate a first control signal to an Nth control signal according to a voice command when the voice command detected by the microphone is a first voice command to a Nth voice command, .

The first voice command to the N-th voice command may be reset according to a user's preference.

The first voice command is "power on" and the second power command is "forward", and the third voice command is "left turn" and "right turn" , And the fourth voice command is "holding" and "releasing".

Also, the first control signal transmission unit may transmit the first control signal generated for the first voice command so that the power of the mobile robot is turned on and off, and the second control signal transmission unit transmits the second voice command And the third control signal transmission unit transmits the third control signal generated for the third voice command to the mobile robot in response to the movement of the mobile robot And the fourth control signal transmission unit transmits the fourth control signal generated for the fourth voice command so that the manipulator of the mobile robot grasps or releases the workpiece, do.

The mobile robot further includes a head portion provided on an upper portion of the frame and having a human face shape. The head portion includes an eye and a nose that emit light by LEDs, and a speaker that emits sound to the outside And when the wearable controller is switched to the robot control mode with the mouth, the LED emits light from the eyes and the nose and transmits a welcome greeting through a speaker provided in the mouth.

Further, it is preferable to further include a battery installed in the frame and supplying power, and a display installed in the frame, wherein the control unit displays the remaining amount information of the battery detected on the display by sensing the remaining amount information of the battery .

Further, the information processing apparatus may further comprise a paper feed unit installed in the frame for transmitting current position information, and the control unit displays the position information received from the paper feed unit on the display.

Further, the present invention is characterized in that the above-mentioned paper discharge position is set in advance for charging the battery, and the control unit displays the predetermined charging position set on the display on the display unit.

The control unit may calculate a distance between the charging position and the current position from the position information of the web, and display the calculated distance on the display.

The control unit may calculate a return consumption amount of the battery necessary for returning from the current position to the charging position with respect to the separation distance, and display the calculated return consumption amount of the battery on the display.

The control unit may calculate a movable amount, which is a difference between the remaining amount information of the battery and the amount of return consumption, and display the calculated movable amount of the battery on the display.

Also, the controller may display a return warning signal on the display when the movable amount of the battery is less than 10% of the total amount.

The intelligent robot system for labor support of the upper and lower handicapped person according to the present invention helps the upper and lower handicapped person to move and work comfortably while the mobile robot is controlled by voice commands through the wearable controller.

In addition, there is provided a recognizing function capable of recognizing a user while transmitting / receiving a control signal between a wearable controller and a short range wireless communication device installed in the mobile robot. Since the present position and the return position are monitored by the GPS and the display and control unit, Helping you to return safely.

1 is a block diagram showing an embodiment of an intelligent robot system for labor support of a person with upper and lower limbs according to the present invention,
Fig. 2 is a front view showing an embodiment of the mobile robot in the embodiment of Fig. 1,
Figure 3 is a side view of the embodiment of Figure 2,
FIG. 4 is a side view showing an operation process of the head part in the embodiment of FIG. 3,
5 is a plan view showing one embodiment of the wearable controller in the embodiment of FIG. 1,
FIG. 6 is a block diagram showing each component of the embodiment of FIG. 5,
FIG. 7 is a block diagram showing an operation process of the wearable controller in the robot control mode in the embodiment of FIG. 1,
8 to 11 are views showing a specific robot control process for each of the first to fourth voice commands of the wearable controller in the embodiment of FIG. 7,
FIG. 12 is a view showing each piece of information displayed on the display in the embodiment of FIG. 1; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of an intelligent robot system for labor support of a person with upper and lower limbs according to the present invention will be described in detail with reference to the accompanying drawings.

The intelligent robot system for labor support of a person with upper and lower limbs according to the present invention includes a mobile robot 100, a wearable controller 200, a short range wireless communication device 300 and a control unit 400 as shown in FIGS. 1 to 12 The mobile robot 100 includes a frame 110, a moving unit 120 and a manipulator 130 and further includes a head unit 140, a battery 150, a display 160, . The wearable controller 200 includes a transmission antenna 210, a reception antenna 220, a microphone 230, a control signal generation unit 240, first to fourth control signal transmission units 251 to 254, An input button 260 and a time adjustment button 270. [

1 to 4, the mobile robot 100 includes a frame 100 in which a seating part 111 is installed so that a user with upper and lower body disturbances can seated on the frame 100, And a manipulator 130 installed on the frame 100 and equipped with a gripper 131 for gripping a workpiece.

The frame 100 is an outer appearance to which various components constituting the mobile robot 100 are attached and coupled. The frame 100 protects the inner components from the outside and has a square body shape in the drawing. However, other shapes . The frame 100 is provided with a seating portion 111 in the form of a seat so that a user having an upper and lower body discomfort that is uncomfortable can seated. That is, the user sitting on the seating portion 111 can be picked up and moved to a desired direction or place by driving the moving portion 120, which will be described later.

The moving unit 120 is installed below the frame 100 to move the frame 100. Although the moving unit 120 is shown as a wheel type in the drawing, the moving unit 120 may be a biped, a multi-legged, or a track or a crawler. In other words, any configuration may be used as long as the user who rides on the seating portion 111 of the frame 100 can be moved from one point to another point.

The manipulator 130 is provided with a gripper 131 installed on the frame 100 to grip the workpiece. The manipulator 130 has a function similar to that of a human's arm. The manipulator 130 is an apparatus capable of grasping an object, raising or lowering the object, manipulating the object such as forward and backward movement and rotation, that is, moving the workpiece spatially. Accordingly, as shown in FIGS. 2 and 3, the workpiece is gripped or gripped by the gripper 131 provided at the end, and a joint-shaped multi-degrees of freedom Is provided.

The manipulator 130 may have a manual and automatic mode according to a control method, and may select a manual and automatic mode of the manipulator 130 according to a degree of a user's fault. The operation of the manipulator 130 in conjunction with the specific configuration and function of the manipulator 130 is well known. The manipulator 130 is manually or automatically operated in accordance with a desired work environment and environment, for example, assembly, inspection, It will work well.

The characteristic configuration and algorithm of the wearable controller 200, the short range wireless communication device 300, and the control unit 400, which will be described later, enable the user with the upper and lower body disorders to ride and control the mobile robot 100, You can help them move and work.

The wearable controller 200 is a wearable type wearable by a user as shown in FIGS. 1 and 4 to 11. The wearable controller 200 controls each mobile robot 100 so as to control the mobile robot 100 according to a voice command of the user send. As shown in the figure, the wearable controller 200 may be a wrist watch worn by the user, or may be any type or kind such as an accessory such as a necklace or a bracelet, or a suit. However, for convenience of explanation, a wearable type wristwatch widely worn by all persons, both young and old, will be described as a wearable controller 200 according to the present invention.

In particular, the wearable controller 200 transmits respective control signals to control the mobile robot 100 according to a voice command of the user. User's speech recognition methods include DTW (Dynamic Time Warping) which recognizes pattern matching by distance, HMM (Hidden Markov Model) which is statistically recognizing method, NN (Neural Network) which is modeling brain structure And can be divided into a speaker dependent type applied to one person and a speaker independent type applied to various people according to a recognition method.

In the present invention, the DTW is used as a speaker recognition method in a speaker dependent type so that it can be applied only to users with upper and lower body disabilities under the working environment, and it is designed so as not to lose the flexibility required to learn a new pattern while maintaining a previously learned pattern It is desirable to apply ART2 (Adaptive Reason Theory 2) algorithm, which is used as a classifier, as a late recognition algorithm.

1, a short range wireless communication device 300 is installed in a frame 110 of the mobile robot 100 and performs short range wireless communication with the wearable controller 200. [ Wi-Fi (IEEE 802.11b / g), that is, a short-range wireless communication network may be used as a communication medium between the wearable controller 200 and the local area wireless communication apparatus 300. The short-range wireless communication network includes a LF, an XBee, a ZigBee, a BlueTooth, a Beacon, and the like. The currently supported data communication speed is 424 Kbit / s It is used in various services such as vehicle, traffic, ticket, and payment. In addition, the LF (Low Frequency) frequency is 30 to 300 kHz and the wavelength is 10 to 1 km, which is also called a km wave or a long wave. There is a feature that it can communicate far by simple device.

The location tracking between the wearable controller 200 and the local area wireless communication device 300 is a wireless positioning method. When indoor / outdoor continuous positioning is performed, the positioning technology considers the processing method of the signal received from the wireless communication infrastructure and the operation technique of the infrastructure And can be classified into various types such as a Cell-ID method, a ToA method, a Time Difference of Arrival (TDoA) method, an Angle of Arrival (AoA) method, and a fingerprint method.

1, the control unit 400 is installed in the frame 110 of the mobile robot 100, as shown in FIG. 1, with respect to the mobile robot 100, the wearable controller 200 and the short- , And controls the mobile robot (100) according to the control signal of the wearable controller (200) mediated from the short range wireless communication device (300).

1, the ROM (Read Only Memory) of the control unit 400 is a memory IC unit built in the control unit 400, and is used to drive the mobile robot 100 in manufacturing the mobile robot 100 (Random Access Memory) is permanently stored by the backup battery even if the power is cut off due to basic control and commands necessary for the operation and safety of the mobile robot 100. In addition, Memory IC unit incorporated in the controller 400. Various signals are sent to the control unit 400 while the mobile robot 100 is being driven by the controller 400. The controller 400 temporarily stores various signals transmitted to the controller 400, The temporarily stored signal will gradually disappear over time. If no electricity is supplied, all data temporarily stored will be lost.

As shown in FIGS. 4 to 6, the wearable controller 200 is switched to the robot control mode when it approaches the radio wave area transmitted from the near field radio communication device 300, and when it is separated from the radio wave area, Mode. The general mode means to perform each unique function according to the type of the wearable controller 200, and the robot control mode means to perform the function of controlling the mobile robot 100. For example, the wearable controller 200 is a wristwatch worn on the wearer's wrist, and the general mode performs a function of displaying a date, a current time, etc., which is a function unique to a watch, And controls the mobile robot 100 according to the command.

That is, the wearable controller 200 in the form of a wristwatch has a function inherent to the clock in the normal mode, and when the proximity to the radio wave area transmitted from the short range wireless communication device 300 installed in the mobile robot 100, It is possible to control the driving of various mobile robots 100 such as power on / off of the mobile robot 100 according to a voice command of the user and forward / backward movement of the mobile robot 100 .

4 to 6, the wearable controller 200 includes a first control signal transmitter 251 to a fourth control signal transmitter 254 for controlling the mobile robot 100, A receiving antenna 120 for receiving a radio wave transmitted from the short range wireless communication device 300 installed in the mobile robot 100 and a receiving unit 120 for receiving commands from the first control signal transmitting unit 251 to the fourth control signal transmitting unit 254, A transmit antenna 110 for transmitting the data to the short range wireless communication device 300 and a time adjustment button 270 for adjusting the time of the wearable controller 200. The wearable controller 200 may further include a voice input button 260, a microphone 230, and a control signal generator 240, as shown in FIGS.

The first control signal transmission unit 251 transmits a control signal for turning on and off the power of the mobile robot 1 and the second control signal transmission unit 252 transmits the control signal to the mobile robot 100, And the fourth control signal transmission unit 254 transmits the control signal to the mobile robot 100. The third control signal transmission unit 253 transmits the control signal to the mobile robot 100, A control signal for grasping or gripping the gripper 131 of the manipulator 130 may be transmitted. The wearable controller 200 may further include another N-th control signal transmitter to control other driving parts of the mobile robot 100 although not shown in the figure. The voice input button 260, the microphone 230, and the control signal generation unit 240 are controlled by the first control signal transmission unit 251 to the fourth control signal transmission unit 254, Is installed.

That is, when the user wears the wearable controller 200 and is close to the mobile robot 100, the user may try to control the respective drivers of the mobile robot 100 through manual control in a state of being converted into the robot control mode, It is preferable to have a function of selecting voice control in the robot control mode since it is possible to control each driving unit of the mobile robot 100 through the robot control mode. Therefore, the wearable controller 200 can select voice control or manual control according to the user's voice command input signal in the robot control mode. At this time, the voice command input signal may be a voice signal that the user refers to as "voice control" or "manual control " For example, in the case of a voice command input signal through a voice signal, voice control is possible in the case of a user's voice signal "voice control" by a microphone 230 described later, and when the voice signal is " It can be controlled to enter the manual control state. In addition, voice control or manual control may be selected by pressing or releasing the voice input button 260. [

More specifically, when the wearable controller 200 is switched to the robot control mode as shown in FIG. 7, when the wearer controller 200 is turned on by pressing the voice input button 260, voice control of the user is enabled. At this time, the microphone 230 senses the voice command of the user, and the control signal generator 240 generates the respective control signals according to the voice command sensed by the microphone 230. Accordingly, when the voice command sensed by the microphone 230 is the first voice command to the N-th voice command, the control signal generator 240 generates the control signal to the Nth control Signal.

For example, if the first voice command is "power on" and "power off", the second voice command is "forward" and "backward" And the fourth voice command detected by the microphone 230 when the fourth voice command is "gripped " and" released " 240 generates a first control signal to a fourth control signal corresponding to the first control signal to the fourth control signal transmission unit 251 to the fourth control signal transmission unit 254 through the transmission antenna 210, To the wireless communication device (300). Each of the control signals transmitted to the short range wireless communication device 300 is transmitted to the battery 150 and the power supply unit (not shown), the moving unit 120, the manipulator 130, And the gripper 131 are operated.

8, the first control signal transmission unit 251 transmits the first control signal generated for the first voice command to the mobile robot 100 when the power of the mobile robot 100 is turned on or off, , And the second control signal transmission unit 252 transmits the second control signal generated for the second voice command as shown in FIG. 9 so that the mobile robot 100 advances or retreats . 10, the third control signal transmission unit 253 transmits the third control signal generated for the third voice command so that the mobile robot 100 rotates or rotates later , The fourth control signal transmission unit 254 transmits the fourth control signal generated for the fourth voice command to the gripper 131 of the manipulator 130 as shown in FIG. And transmits it to release the grip.

Accordingly, when the user wears the wearable controller 200 and is close to the mobile robot 100, the robot is switched to the robot control mode. At this time, when the voice input button 260 is operated to enable voice control, When the microphone 230 recognizes the voice command as a predetermined voice command by taking the voice command that is recognized and generates the control signal corresponding to the voice command that is predetermined by the control signal generator 240, The control signal transmission units 251 to 254 transmit the respective control signals to the short range wireless communication device 300 through the transmission antenna 210. [ The control unit 400 can control the driving units of the mobile robot 100 such as the moving unit 120 and the manipulator 130 corresponding to the respective control signals.

Meanwhile, the first to Nth voice commands can be reset according to the user's preference. That is, it is possible to convert and set a voice command desired by the user for the first to N-th voice commands. For example, if the preset voice command of the second voice command is "forward" and "backward", it may be conveniently converted to another voice command "forward" and "backward" desired by the user.

1 to 4, the mobile robot 100 may further include a head unit 140 installed at an upper portion of the frame 110 and having a human face shape, The unit 140 includes an eye 141 and a nose 142 that emit light with LEDs and an mouth 143 having a speaker for transmitting sound to the outside. As shown in FIG. 4, the wearable controller 200, The LEDs emit light at the eyes 141 and the nose 142, and at the same time, welcome greetings are transmitted through the loudspeakers provided in the mouth 143. That is, when the wearable controller 200 is switched to the robot control mode, as shown in FIG. 4, when the wearable controller 200 is close to the radio wave region transmitted from the short range wireless communication device 300, 200 are close to the mobile robot 100. [0050] FIG. At this time, the LEDs emit in the eyes 141 and the nose 142 of the head 140, and a welcome greeting is transmitted from the speaker provided in the mouth 143 to recognize that the approaching user is perceived visually and audibly It is.

Since the mobile robot 100 as described above is aboard a user with an upper and lower body disabilities, the power source is not a human force but an electric motor (not shown) provided in the moving part 120, Is required. That is, the battery 150 is installed in the frame 110 to supply power as shown in FIG. In this case, when the battery 150 is discharged during the operation, it is hard to drive the moving part 120 and it is hard to return for charging. To this end, an algorithm is required that can alert and warn the user to be able to return for charging before the battery 150 is discharged during operation.

Accordingly, the intelligent robot system for labor support of the person with upper and lower limbs according to the present invention further includes a display 160 installed in the frame 110 as shown in FIGS. The display 160 is preferably installed on the armrest of the seating part 111 of the frame 110 because the user can easily recognize the operation or movement.

In this case, the controller 400 can display the remaining amount information of the battery 150 sensed by the display 160 by sensing the remaining amount information of the battery 150, as shown in FIG. Accordingly, the user can see the display 160 on which the remaining amount information of the battery 150 is displayed, and can grasp how much power is consumed. However, it is difficult to determine whether or not it is possible to return only the remaining amount information of the battery 150 to the charging position.

That is, the intelligent robot system for labor support of the person with upper and lower limbs according to the present invention further includes a gehs 170 for transmitting current position information as shown in FIG. 1, The display 160 may display the position information received from the printer 170 as well. The controller 170 sets the charging position where the battery 150 can be charged in advance and the controller 200 displays the predetermined charging position on the display 160 can do.

In this case, the control unit 400 may calculate a separation distance between the charging position and the current position from the position information of the cloth yarn 170, and display the calculated separation distance on the display 160. The control unit 400 calculates a return consumption amount of the battery 150 required for returning from the current position to the charging position with respect to the separation distance and outputs the calculated return consumption amount of the battery 150 to the display 160).

12, the control unit 400 calculates a movable amount, which is a difference value between the remaining amount information and the return consumption amount of the battery 150, and outputs the calculated movable amount of the battery 150 to the display The control unit 400 may display a warning signal on the display 160 if the amount of movement of the battery 150 is within 10% of the total amount. At this time, the return warning signal may be a voice signal transmitted from the speaker provided in the mouth 143 together with LED light of the eye 141 and the nose 142 of the head unit 140 of the mobile robot 100 .

As described above, the intelligent robot system for labor support of the person with upper and lower limbs according to the present invention helps the upper and lower disabled persons to move and work comfortably while the mobile robot 100 is controlled by voice command through the wearable controller 200 .

The wearable controller 200 is provided with a recognizing function for recognizing a user while transmitting and receiving a control signal between the wearable controller 200 and the short range wireless communication device 300 installed in the mobile robot 100, The control unit 400 monitors the current position and the return position and helps the user to return safely without being isolated.

The embodiments of the present invention described above and shown in the drawings should not be construed as limiting the technical idea of the present invention. The scope of protection of the present invention is limited only by the matters described in the claims, and those skilled in the art will be able to modify the technical idea of the present invention in various forms. Accordingly, such improvements and modifications will fall within the scope of the present invention as long as they are obvious to those skilled in the art.

100: Mobile robot
110: frame 111:
120:
130: Manipulator 131: Gripper
140: head part 141: eye
142: nose 143: mouth
150: Battery
160: Display
170:
200: Wearable controller
210: transmitting antenna 220: receiving antenna
230: microphone 240: control signal generating unit
251: first control signal transmission unit 252: second control signal transmission unit
253: third control signal transmission unit 254: fourth control signal transmission unit
260: voice input button 270: time control button
300: short range wireless communication device
400:

Claims

A manipulator provided with a frame provided with a seat portion for allowing a user with upper and lower limbs to seize, a moving portion provided at a lower portion of the frame for moving the frame, and a gripper installed at the frame to grip the workpiece A mobile robot,
A wearable type wearable by the user and transmitting respective control signals to control the mobile robot according to a voice command of the user;
A short range wireless communication device installed in a frame of the mobile robot and performing short range wireless communication with the wearable controller,
And a controller installed in a frame of the mobile robot and controlling the mobile robot according to a control signal of the wearable controller mediated from the short range wireless communication device.

The method according to claim 1,
The wearable controller,
Wherein the mobile terminal is switched to a robot control mode when it approaches a radio wave area transmitted from the short-range wireless communication device, and is switched to a normal mode when it is deviated from the radio wave area.

3. The method of claim 2,
The wearable controller,
In the normal mode, a clock-specific function is performed,
And controls the mobile robot according to a voice command of the user in the robot control mode.

The method of claim 3,
The wearable controller,
And the voice control or the manual control can be selected according to the voice command input signal of the user in the robot control mode.

5. The method of claim 4,
Wherein the voice command input signal comprises:
Characterized in that the user is a voice signal or a button press signal of a voice input button which is called "voice control" or "manual control ".

The method according to claim 1,
The wearable controller,
A transmitting antenna and a receiving antenna transmitting and receiving the short range wireless communication device,
A microphone for sensing voice commands of the user;
A control signal generator for generating respective control signals according to a voice command sensed by the microphone,
A first control signal transmitting unit for receiving control signals generated by the control signal generating unit and transmitting the control signals to the short range wireless communication device through the transmission antennas so that the control unit controls the mobile robot, And a control signal transmitting unit.

The method according to claim 6,
Wherein the control signal generator comprises:
And a control unit for generating a first control signal to an N-th control signal according to respective voice commands when the voice command detected by the microphone is a first voice command to a N-th voice command, Robot system.

8. The method of claim 7,
Wherein the first voice command to the Nth voice command can be reset according to a user's preference.

8. The method of claim 7,
Wherein the first voice command comprises:
"Power on" and "Power off"
Wherein the second voice command comprises:
"Forward" and "backward &
Wherein the third voice command comprises:
"Left turn" and "right turn"
Wherein the fourth voice command comprises:
And the " disengaged "and" disengaged ", respectively.

10. The method of claim 9,
Wherein the first control signal transmitter comprises:
Transmitting the first control signal generated for the first voice command so that the power of the mobile robot is turned on and off,
Wherein the second control signal transmitter comprises:
Transmits the second control signal generated for the second voice command so that the mobile unit of the mobile robot moves back and forth,
Wherein the third control signal transmitter comprises:
Transmits the third control signal generated for the third voice command so that the mobile unit of the mobile robot makes a left turn or a right turn,
Wherein the fourth control signal transmitter comprises:
And transmits the fourth control signal generated for the fourth voice command to the manipulator of the mobile robot to grasp or release the workpiece.

3. The method of claim 2,
The mobile robot includes:
Further comprising a head portion provided on an upper portion of the frame and having a human face shape,
Wherein:
And a mouth for emitting sound to the outside and a speaker for emitting sound to the outside. When the wearable controller is switched to the robot control mode, LEDs emit from the eyes and nose, and at the same time, The intelligent robot system for labor support of upper and lower handicapped persons.

12. The method of claim 11,
A battery installed in the frame and supplying power,
Further comprising a display mounted on the frame,
Wherein,
And displays the remaining amount information of the battery detected on the display by sensing the remaining amount information of the battery.

13. The method of claim 12,
Further comprising a geofuses installed in the frame for transmitting current position information,
Wherein,
And displays the position information received from the web site on the display.

14. The method of claim 13,
The above-
A charging position at which the battery can be charged is set in advance,
Wherein,
And displays the charging position previously set from the finger on the display of the intelligent robot system for upper and lower handicapped persons.

15. The method of claim 14,
Wherein,
Calculating a separation distance between the charging position and the current position from the position information of the finger, and displaying the calculated separation distance on the display.

16. The method of claim 15,
Wherein,
Calculating a return consumption amount of the battery necessary for returning from the current position to the charging position with respect to the separation distance, and displaying the calculated return consumption amount of the battery on the display. .

17. The method of claim 16,
Wherein,
Calculating a movable amount that is a difference value between the remaining amount information of the battery and the amount of return consumption, and displaying the calculated movable amount of the battery on the display.

18. The method of claim 17,
Wherein,
And displays a return warning signal on the display when the movable amount of the battery is within 10% of the total amount.