KR20180094300A - A Robot Of Docking A Different Robot - Google Patents

A Robot Of Docking A Different Robot Download PDF

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Publication number
KR20180094300A
KR20180094300A KR1020170020441A KR20170020441A KR20180094300A KR 20180094300 A KR20180094300 A KR 20180094300A KR 1020170020441 A KR1020170020441 A KR 1020170020441A KR 20170020441 A KR20170020441 A KR 20170020441A KR 20180094300 A KR20180094300 A KR 20180094300A
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KR
South Korea
Prior art keywords
robot
docking
unit
information
terminal
Prior art date
Application number
KR1020170020441A
Other languages
Korean (ko)
Inventor
이상순
윤영규
Original Assignee
한국기술교육대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 한국기술교육대학교 산학협력단 filed Critical 한국기술교육대학교 산학협력단
Priority to KR1020170020441A priority Critical patent/KR20180094300A/en
Publication of KR20180094300A publication Critical patent/KR20180094300A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025Means for supplying energy to the end effector
    • B25J19/0045Contactless power transmission, e.g. by magnetic induction
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed

Abstract

Disclosed is a second robot for docking a first robot. The second robot comprises: a wireless communication unit for communicating with the first robot, a first terminal, and at least one second terminal; a docking unit for docking the undocked first robot based on laser light; and a control unit for controlling the first robot so that the first robot performs an operation, and when a docking command is input, controlling the bottom end of the first robot to be spaced apart from the ground by a predetermined distance. When information on the operation is received from the first terminal, the control unit may share information on the received operation to at least the second terminals through the wireless communication unit. Thus, user convenience can be improved.

Description

A Robot Of Docking A Different Robot

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot for docking a heterogeneous robot, and more particularly to a robot for docking a heterogeneous robot performing a cleaning operation.

It is predicted that the 21st century will be the era of robots, and robots of various kinds and functions are already developed all over the world, and some of them are already put into our real life like cleaning robots or personal secretary robots.

Generally, the robot cleaner can automatically clean the battery while moving on the basis of the set movement information or the movement information collected by the sensor, using the charged battery as a power source.

In addition, personal assistant robots share various schedules of users using robots, provide voice services, and provide a scientifically superior solution to specific problems.

According to the conventional personal assistant service, for example, information such as a contact or personal calendar can be provided in response to a voice command of a user, and based on search contents on the web, answers to user questions such as weather, Can be provided as speech. Also, based on the user's search habits, information that they deem desired may be delivered to the user in advance through the personal assistant service. In this case, the user's command or the answer to the question can be made based on the usage information of the robot owner.

However, it would be good if the cleaning robot and the personal secretary robot having all the advantages described above were integrally implemented.

On the other hand, the above information is only presented as background information to help understand the present invention. No determination has been made as to whether any of the above content is applicable as prior art to the present invention, nor is any claim made.

Registered Patent Publication No. 10-1330734 (Registered on November 11, 2013)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an embodiment of the present invention proposes a robot for docking a different kind of robot.

In addition, an embodiment of the present invention proposes an integrated robot in which different types of robots are integrally implemented.

Further, an embodiment of the present invention proposes a second robot having a wireless charging module for charging a first robot.

Further, an embodiment of the present invention proposes a second robot for docking the bottom surface of the first robot so as not to touch the ground surface.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

A second robot for docking a first robot related to an embodiment of the present invention for realizing the above-mentioned problem includes a wireless communication unit for communicating with the first robot, the first terminal and the at least one second terminal; A docking unit for docking the undocked first robot based on laser light; And a controller for controlling the first robot to perform an operation of the first robot and controlling the bottom of the first robot to be spaced apart from the ground by a predetermined distance when a docking command is input, When information on the job is received from the first terminal, information on the received job can be shared with the at least second terminals through the wireless communication unit.

According to various embodiments of the present invention, the following effects can be obtained.

First, since all the advantages of the heterogeneous robots are utilized, user convenience can be improved.

Second, since the second robot having the wireless charging module for charging the first robot is provided, user convenience can be improved.

Third, since the second robot is docked so that the bottom surface of the first robot does not touch the ground, contamination of the first robot can be prevented, and robot management can be facilitated.

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

1 shows a second robot performing communication with a first robot according to an embodiment.
Fig. 2 shows a second robot carrying the first robot shown in Fig.
3 shows a docking method of the first robot and the second robot according to the embodiment.
4 shows a relative block diagram of a second robot communicating with an external entity and an external entity.

The following detailed description, which refers to the accompanying drawings, will serve to provide a comprehensive understanding of the various embodiments of the present disclosure, which are defined by the claims and the equivalents of the claims. The following detailed description includes various specific details for the sake of understanding, but will be considered as exemplary only. Accordingly, those skilled in the art will recognize that various changes and modifications of the various embodiments described herein may be made without departing from the scope and spirit of this disclosure. Furthermore, the descriptions of well-known functions and constructions may be omitted for clarity and conciseness.

The terms and words used in the following detailed description and in the claims are not intended to be limited to the literal sense, but merely to enable a clear and consistent understanding of the disclosure by the inventor. Thus, it will be apparent to those skilled in the art that the following detailed description of various embodiments of the disclosure is provided for illustrative purposes only, and that the present disclosure, as defined by the appended claims and equivalents of the claims, It should be clear that this is not provided for the sake of clarity.

1 shows a second robot performing communication with a first robot according to an embodiment.

Referring to FIG. 1, the first robot 100 may perform communication with the second robot 200. Hereinafter, the first robot 100 may be a robot for cleaning the ground 10, and the second robot 200 may be a personal assistant robot (helper robot) docking the first robot 100 and communicating with the user, The embodiment is not limited to the robot.

The first robot 100 can clean impurities such as dust from under the bed or into a narrow space. The first robot 100 can be driven by manual operation of the user and can be automatically driven at a scheduled time. In addition, the first robot 100 may be easily moved with a rolling wheel.

The second robot 200 may be operated to receive and respond to a voice command of the user to act as a personal secretary. The second robot 200 can provide the user with various output methods (e.g., voice), such as schedule information, weather information, indoor environment information, and the like, and is connected to a network such as the Internet, .

The second robot 200 also includes wheels 280-1 and 280-2, and can freely move back and forth and right and left.

The second robot 200 can drive the first robot 100. [ The second robot 200 may directly communicate with the first robot 100 and may communicate via a specific entity such as the second robot 200 and the first robot 100 via Wi-Fi communication.

Fig. 2 shows a second robot 200 carrying the first robot 100 shown in Fig. 3 shows a docking method of the first robot and the second robot according to the embodiment.

According to FIG. 2, the second robot 200 can carry the first robot 100. The second robot 200 may have a tray 270 capable of carrying the first robot 100 automatically or manually when the first robot 100 is disposed within a predetermined distance.

When the first robot 100 is placed on the upper surface of the tray 270 and the first robot 100 is placed on the ground surface 10 to carry the first robot 100, can do. This ascending operation can be driven automatically, but the embodiment is not limited to this.

The second robot 200 can communicate with the first terminal 300 while communicating with the first robot 100. The first terminal 300 may be located at the user side controlling the second robot by the terminal 300 controlling the second robot, but the embodiment is not necessarily limited to this.

On the other hand, the second robot 200 can transmit power to the first robot 100. That is, the second robot 200 can charge the battery of the first robot 100.

The tray 270 of the second robot 200 may include a charging unit 250 of a second robot 200 to be described later. The charging unit 250 may include both a wired charging method and a wireless charging method. When the charger 250 supports wireless charging, the battery of the first robot 100 can be charged using a magnetic induction method, an electromagnetic resonance method, or a power transmission method using a short wavelength radio frequency.

In particular, the second robot 200 can improve the efficiency of power transmission by arranging the coil center in the center of the coil provided in the first robot 100 by a magnetic induction method.

3, the second robot 200 can communicate with at least one Wi-Fi access point (AP) to search for the location of the second robot 200 and the location of the first robot 100. [ The second robot 200 can roughly determine the position of the second robot 200 based on the communication information including the signal strength with the fixed WiFi AP. The number of APs is not limited to two.

In this specification, WiFi communication is exemplified, but this is merely an embodiment and is not limited to Bluetooth (R), beacon, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB) The position of the second robot 200 can be grasped by using at least one of Near Field Communication, Near Field Communication, Wi-Fi Direct and Wireless USB (Universal Serial Bus) technology.

Also, the second robot 200 can grasp the position and the copper line information of the second robot 200 by using various sensors as described above.

The control unit 270 measures the time that the laser beam transmitted to the first robot 100 is reflected by the first robot 100 and arrives at the second robot 270, as described above, and measures the distance to the first robot 100 can do.

The second robot 200 and the first robot 200 can move relative to each other for docking.

The second robot 200 may protrude the tray 270 including the charging unit 250 to be described later when the second robot 200 reaches a predetermined distance from the first robot 100. [ The tray 250 can be moved upward and downward so that the first robot 100 can be easily mounted on the second robot 200 and charged.

The operation of the first robot 100 and the second robot 200 has been described with reference to FIGS. 1 to 3. Hereinafter, detailed configurations of the second robot 200 will be described with reference to FIG.

4 illustrates a relative block diagram of an external entity (e.g., first robot 100, first terminal 300, at least one second terminal 400) and a second robot 200 communicating with the external entity . The second robot 200 includes an input unit 210, a wireless communication unit 220, a sensing unit 230, a memory 240, a charging unit 250, an output unit 260, and a control unit 270.

First, the input unit 210 includes a camera or an image input unit for inputting a video signal, a microphone for inputting an audio signal, or an audio input unit, a user input unit for receiving information from a user (for example, a touch key ), A mechanical key, etc.). The voice data or image data collected by the input unit 210 may be analyzed and processed by a user's control command.

The wireless communication unit 220 is provided between the second robot 200 and the wireless communication system, between the second robot 200 and the first robot 100, between the second robot 200 and the first terminal 300, 2 robot 200 and at least one second terminal 400-1, 400-2. In addition, the wireless communication unit 120 may include one or more modules that connect the second robot 200 to one or more networks.

The wireless communication unit 120 may include at least one of a broadcast receiving module, a mobile communication module, a wireless Internet module, a short distance communication module, and a location information module.

The sensing unit 130 senses at least one of information in the second robot 200, surrounding environment information surrounding the second robot 200, and user information, and generates a corresponding sensing signal. The control unit 160 may control the driving or operation of the second robot 200 or may perform data processing, function, or operation related to the application program installed in the second robot 200 based on the sensing signal. The concrete sensors are not described here.

The sensing unit 130 can grasp the position and the motion of the second robot 200 and the first robot 100. Specifically, it is possible to determine the moving speed and direction change of the second robot 200 by using an acceleration sensor, a gravity sensor, a gyroscope sensor or the like.

The sensing unit 130 may include an LRF (Lager Range Finder) sensor to measure spatial data. In particular, the sensing unit 130 may include a laser emitting unit (reference numeral 290 in FIG. The sensing unit 130 may be configured to sense the laser beam emitted from the first robot 100 and the second robot 100 based on the time of flight of the laser beam reflected from the first robot 100, Can be measured.

In addition, the sensing unit 130 may emit visible light to the first robot 100 through the laser emitting unit 290. Various information may be carried on the visible light and transmitted to the first robot 100. The information may include information for performing docking with the first robot 100, information about the first robot 100, information about the driving time, driving frequency, and driving location of the first robot 100.

Also, the second robot 100 may collect the indoor position data through the SLAM (Simultaneous Localization and Map-Building) method and store the indoor position data in the memory 240.

The memory 240 may store a plurality of application programs (application programs or applications) driven by the second robot 200, data for operation of the second robot 200, and commands. At least some of these applications may be downloaded from an external server via wireless communication. At least a part of these application programs may be stored in the second robot 200 from the time of shipment for the basic functions of the second robot 200 (for example, a moving function, a docking function, a sensing function, a scheduling function, Lt; / RTI > The application program may be stored in the memory 240 and may be installed on the second robot 200 and may be driven by the controller 270 to perform the operation (or function) of the second robot 200 have.

The charging unit 250 is configured to wirelessly charge the first robot 100 when the first robot 100 is docked, and a magnetic induction system, a frequency resonance system, or the like can be applied, but the embodiment is not limited thereto. The charging unit 250 may be disposed inside the tray 270 described above.

The charging unit 250 can charge the battery of the first robot 100 even when the first robot 100 is undocked. At this time, a frequency resonance method, a method using a short wavelength radio frequency, or the like can be used, but the embodiment is not limited to this.

The output unit 260 displays (outputs) information processed by the second robot 200. For example, the output unit 260 may display execution screen information of an application program driven by the second robot 200, UI (User Interface) and GUI (Graphic User Interface) information corresponding to the execution screen information have.

The output unit 260 may include a sound output unit, a motion output unit, and the like in addition to the display, but the embodiments are not limited thereto.

The controller 270 is a controller that controls the components as a whole. The control unit 270 may control the first robot 100 so that the first robot 100 performs the cleaning operation.

In addition, the controller 270 can receive a docking command through a user operation, receive a docking command at a predetermined time, and receive the docking command from the first terminal 300.

The control unit 270 controls the charging unit 250 included in the tray 270 so that the bottom of the first robot 100 and the bottom surface of the first robot 100 are spaced apart from each other by a predetermined distance, can do. The tray 270 is hidden inside the second robot 200 and can be automatically protruded when it is separated from the first robot 100. However, the method of protruding the tray 270 is not limited to the above example.

The control unit 270 receives from the first terminal 300 the operation schedule of the first robot 100, the unique information of the first robot 100, the driving frequency information of the first robot 100, And may share the information with various entities (for example, at least one second terminal 400-1 and 400-2) through the wireless communication unit 220. [0050]

If one of the family members reserves the driving of the first robot 300 at a specific time by the first terminal 300, the second robot 200 transmits the reservation information to the terminal 400-1 , 400-2. In this case, the first robot 100 can be used economically by adjusting the number of driving times and the time of the first robot, and unnecessary cleaning frequency can be reduced.

The controller 270 monitors the charging capacity of the first robot 100 in real time and charges the first robot 100 by charging the first robot 100 when the first robot 100 needs to be charged, Can be wirelessly charged in an undocked state.

Meanwhile, the controller 270 may move or rotate to dock the first robot 100 when the first robot 100 is undocked. Accordingly, the second robot 200 can be moved together without moving only the first robot 100, thereby enabling quick docking.

The first robot 100 shown in FIG. 4 includes a wireless communication unit 110, a charging unit 120, a sensing unit 130, and a controller 140. The parts of the second robot 200 that overlap with those of the wireless communication unit 220, the charging unit 250, the sensing unit 230, and the control unit 270 will be omitted.

The wireless communication unit 110 may communicate with the second robot 200, the first terminal 300 and the second terminals 400-1 and 400-2. In addition, the controller 140 of the first robot 100 is a module for controlling the overall operation of the first robot 100.

The first terminal 300 is a terminal capable of controlling the second robot 200 and the first robot 100 and transmits a control command from the first terminal 300 to the second robot 200 or the first robot 100 ) And can perform the corresponding operation.

The second terminals 400-1 and 400-2 can also control the second robot 200 and the first robot 100 and can control both the first terminal 300 and the second robot 200, 1 information about the operation schedule of the robot 100, information on the number of times of driving, and the like.

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). In addition, the computer may include a controller 160 of the terminal. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

Claims (6)

  1. A second robot for docking a first robot,
    A wireless communication unit for communicating with the first robot, the first terminal and the at least one second terminal;
    A docking unit for docking the undocked first robot based on laser light; And
    And a control unit for controlling the first robot to perform the operation of the first robot and controlling the bottom end of the first robot to be spaced apart from the ground by a predetermined distance when a docking command is input,
    Wherein,
    And when information on the job is received from the first terminal, information about the received job is shared with the at least second terminals via the wireless communication unit.
  2. The method according to claim 1,
    Further comprising a tray charging unit for carrying the first robot,
    Wherein,
    And transmits power to the first robot through the tray charging unit when the coil center of the tray charging unit and the charging coil center of the first robot are arranged side by side in a predetermined range.
  3. 3. The method of claim 2,
    Wherein,
    And a second robot for docking the first robot, wherein the second robot hides the tray charging unit inside the second robot when the distance from the first robot exceeds a predetermined distance.
  4. The method according to claim 1,
    Wherein,
    Wherein the first robot monitors the charging capacity of the first robot in real time and performs wireless charging with the first robot in an undocked state when the first robot requires charging.
  5. The method according to claim 1,
    And a second robot that moves or rotates for docking with the first robot when the first robot is undocked.
  6. The method according to claim 1,
    Further comprising at least one emitter for emitting visible light,
    Wherein,
    And provides information to the first robot to perform docking with the first robot in a visible light emitted by the at least one emitter.
KR1020170020441A 2017-02-15 2017-02-15 A Robot Of Docking A Different Robot KR20180094300A (en)

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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101330734B1 (en) 2007-08-24 2013-11-20 삼성전자주식회사 Robot cleaner system having robot cleaner and docking station

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101330734B1 (en) 2007-08-24 2013-11-20 삼성전자주식회사 Robot cleaner system having robot cleaner and docking station

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