Classifications

• • 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
  • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
  • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F9/00—Arrangements for program control, e.g. control units
  • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
  • G06F9/44—Arrangements for executing specific programs
  • G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines

Definitions

• the present invention relates to an intelligent robot controlling simulation system capable of simulating manufacturing and driving of a robot, and more particularly, to an intelligent robot controlling simulation system capable of generating a simulation robot and simulation environments by using three-dimensional (3D) graphic tools and libraries, generating a driving program for operating the simulation robot, and simulating the simulation robot based on the driving program.
• 3D three-dimensional
• the robots may include industrial robots, personal robots, military robots, medical robots, and the like.
• an intelligent robot is constructed with essential components such as a control part, a mechanism part, a sensor part, and the like. Although it is increasingly necessary to easily learn and teach complex techniques for various essential components, in practice, teaching environments are not suitably supported.
• the inventor suggests an environment for teaching concepts of robots and a method of controlling the robots in which robots and virtual environments are generated through a three-dimensional (3D) graphic, and the robot is simulated by controlling the generated robot.
• 3D three-dimensional
• the present invention provides an intel Iigent robot controlling simulation system capable of simulating manufacturing and driving of a robot.
• the present invention also provides an intelligent robot controlling simulation system capable of generating a robot, a virtual environment, and a driving program for driving the robot and simulating an operation of the robot in the virtual environment based on the generated driving program.
• an intelligent robot controlling simulation system capable of generating a virtual robot and a virtual environment in which the virtual robot is to be driven in a graphic and simulating the generated virtual robot in the virtual environment
• the intelligent robot controlling simulation system comprising: a simulation robot generation module generating a simulation robot by using a graphic tool , allocating a unique identification information to the generated simulation robot, and storing the unique identification information; a simulation environment generation module generating a simulation environment that is to be a virtual environment in which the simulation robot is to be driven by using the graphic tool, allocating unique identification information to the generated simulation environment, and storing the unique identification information; and a robot simulation module including a robot program generation unit for preparing a driving program for driving the simulation robot, loading the stored simulation robot and the simulation environment, and simulating an operation of the simulation robot as a three-dimensional (3D) graphic in the simulation environment based on the driving program prepared by a user by using the robot program generation unit.
• 3D three-dimensional
• the simulation robot generation module may include: a robot component database storing various libraries on components constituting a robot; a robot generation unit capable of generating the simulation robot by using the libraries stored in the robot component database; and a user interface unit .
• the user interface unit may include: a robot component selection window providing a list of robot components and a list of libraries on robot components that are read from the robot component database; a robot component preview displaying an image file of a library of a robot component selected on the robot component selection window; a robot component attribute window displaying information on attributes of the library of the robot component selected on the robot component selection window; and a robot generation window combining robot components selected on the robot component selection window with one another and displaying the combination result.
• the robot generation unit may generate the robot components selected by the user through the user interface unit and display the generated simulation robot on the robot generation window.
• the simulation robot generation module may provide a graphic tool capable of generating libraries on robot components, and the libraries generated by using the graphic tool may be stored together with libraries that are previously stored in the robot component database.
• the simulation robot generation module may further include a robot simulation unit , and the robot simulation unit may simulate a basic operation of the generated simulation robot and determine whether the robot normal Iy operates by checking attributes of components constituting the robot.
• the simulation environment generation module may include an environment object database storing and managing libraries on at least one basic environment and libraries on at least one object that is applicable to the at least one basic environment, an environment generation unit capable of generating a simulation environment by using libraries stored in the environment object database, a user interface unit, and an environment storage unit.
• the user interface unit may include: a basic environment selection window providing a list of libraries of basic environments stored in the environment object database; an object selection window providing a list of libraries of objects stored in the environment object database! and an environment generation window combining basic environments and objects which are respectively selected through the basic environment selection window and the object selection window and displays the combination result.
• the environment generation unit may generate a simulation environment by combining basic environments and objects which are selected by the user through the user interface unit and display the generated simulation environment on the environment generation window.
• the robot simulation module may include ⁇ an environment selection unit providing a virtual environment on a screen by reading the simulation environment generated by the simulation environment generation module; a robot selection unit reading the simulation robot generated by the simulation robot generation module and disposing the simulation robot in the virtual environment; and a program simulation unit simulating the simulation robot by executing the driving program generated through the robot program generation unit .
• the user interface unit may include: a main window displaying the simulation environment and the simulation robot and displaying a state in which the simulation robot is simulated; and an attribute information window providing information on attributes of components and objects of the simulation environment and the simulation robot, which are displayed on the main window.
• a user can easily and directly generate a simulation environment in addition to a simulation robot.
• the user can prepare various driving programs for the simulation robot generated by the user and directly simulate the simulation robot.
• FIG. l isa block diagram illustrating an entire structure of an intelligent robot controlling simulation system according to an exemplary embodiment of the present invention.
• FIG.2 is a schematic block diagram illustrating a structure of a simulation robot generation module of the intelligent robot controlling simulation system.
• FIG.3 i 1 lustrates an example of a window i 1 lustrating a user interface unit of the simulation robot generation module.
• FIG.4 illustrates an example of a window in which a component for arms is selected and an item is selected from a list on the component by using a simulation robot generation module according to an exemplary embodiment of the present invention.
• FIG.5 is a flowchart of an operation of a robot generation unit according to an exemplary embodiment of the present invention.
• FIG.6 is a schematic block diagram i 1 lustrating a structure of a simulation environment generation module of the intelligent robot controlling simulation system according to the embodiment of the present invention.
• FIG.7 illustrates an example of a window i 1 lustrating a user interface unit of the simulation environment generation module.
• FIG. 8 is a flowchart of an operation of an environment generation unit according to an exemplary embodiment of the present invention.
• FIGS.9 to 12 illustrate examples of windows illustrating a user interface unit for generating simulation environments by using a simulation environment generation module according to an exemplary embodiment of the present invention.
• FIG. 13 is a schematic block diagram illustrating a structure of a robot simulation module of the intelligent robot controlling simulation system according to the embodiment .
• FIG. 14 illustrates an example of a window illustrating a user interface unit of the robot simulation module.
• FIGS.15 and 16 illustrate examples of windows illustrating a state in which simulation environments and a simulation robot are loaded by using an environment selection unit and a robot selection unit of a robot simulation module according to an exemplary embodiment of the present invention.
• FIGS.17 and 18 illustrate examples of windows illustrating a procedure in which a robot program generation unit of a robot simulation module according to an exemplary embodiment of the present invention generates a driving program based on a graphic language tool or a text language tool.
• FIG. 19 illustrates an example of a window in which a program simulation unit according to an exemplary embodiment of the present invention executes a driving program generated by a user so as to simulate an operation of a simulation robot .
• FIG.20 is a flowchart of an operation of a robot simulation module of the intelligent robot controlling simulation system according to the embodiment. [Best Mode]
• FIG. l isa block diagram illustrating an entire structure of an intelligent robot controlling simulation system 10 according to an exemplary embodiment of the present invention.
• the intelligent robot controlling simulation system 10 includes a simulation robot generationmodule 20, a simulation environment generation module 30, and a robot simulation module 40.
• Each of the modules constituting the intelligent robot controlling simulation system 10 is constructed with a program and executed by a computer and etc.
• the simulation robot generation module 20 and the simulation environment generation module 30 enable a user to directly generate a simulation robot and simulation environments through a convenient graphic user interface (GUI).
• GUI graphic user interface
• the robot simulation module 40 enables an operation of the simulation robot generated by the simulation robot generation module 20 to be simulated in the simulation environments generated by the simulation environment generation module 30.
• Simulation Robot Generation Module According to First Embodiment First, a structure and an operation of the simulation robot generationmodule 20 of the aforementioned intelligent robot control simulation system 10 will be described in detail .
• FIG.2 is a schematic block diagram illustrating the structure of the simulation robot generation module 20.
• the simulation robot generation module 20 includes a robot generation unit 200, a user interface unit 210, a robot component database 220, a robot storage unit 230, and a robot simulation unit 240.
• the robot component database 220 includes various libraries on components of a robot.
• the robot component database 220 includes various types of libraries on components of the robot, for example, a head, a body, arms, legs, and the like.
• Each library stores and manages an image file of the components, information on a size, weight, a position, a texture, a combination with other components (a degree of combination), and attributes of the components.
• the robot storage unit 230 allocates a predetermined unique name or unique identification number to a simulation robot 290 that is completely generated by the robot generation unit 200 and stores the unique name or unique identification number.
• the robot simulation unit 240 verifies whether the simulation robot normally operates by using attributes of the components constituting the simulation robot that is completely generated by the robot generation unit 200 and simulates basic operations (for example, a walking function, a sensing function, and etc) in a state where there is no simulation environment or in predetermined basic simulation environments.
• basic operations for example, a walking function, a sensing function, and etc
• FIG.3 illustrates an example of a window illustrating the user interface unit 210.
• the user interface unit 210 includes a robot component selection window 211, a sub-list selection unit 212, a robot component preview 213, a robot generation window 215, a robot component attribute window 217, a sensor list window 219, and a function toolbar 214.
• Components constituting a robot are enumerated on the robot component selection window 211.
• lists of libraries corresponding to the component which is stored in the robot component database 220 are read, and the read lists are displayed on the sub-list selection unit 212.
• FIG.4 illustrates an example of a window in which a component(b) for arms is selected and in which attribute information is checked by selecting a component(a) for a head.
• the sensor list window 219 displays various types of sensor lists.
• a sensor selected by a user may be mounted on a predetermined position in the robot on the robot generation window by using the drag-and-drop method.
• information on the predetermined sensor is displayed on the sensor list window 219.
• FIG.3 an example of a state where the sensor list window is selected and displayed is illustrated.
• One of sensors that are displayed on the sensor list window may be clicked or may be located at a desired position on the robot generation window by using the drag-and-drop method.
• the robot component attribute window 217 is displayed at a predetermined region in a screen. Information on attributes of the selected component is displayed on the robot component attribute window 217.
• components and sensors which are respectively selected on the robot component selection window and the sub-list selection window or sensor list window are combined with one another and displayed on the robot generation window.
• FIG.5 is a flowchart of an operation of the robot generation unit according to an exemplary embodiment of the present invention.
• an item for a body is selected on the robot component selection window 211 so as to select a body among the robot components (operation 500), selects a desired library of a body from a list displayed on the sub-list selection window 212, and moves the selected library to the robot generation window by using the drag-and-drop method (operation 510).
• the robot component attribute window 217 is displayed by clicking the body displayed on the robot generation window, and the attributes of the body may be changed into desired attributes and stored. Alternatively, the attributes of the body may be used without a change.
• the other parts except the body among the robot components are sequentially selected, and an item is selected from a list displayed through the sub-list selection window (operation 520), and the selected item is moved to a suitable position on the robot generation window in which the body is displayed by using the drag-and-drop method (operation 530) .
• Other sensors may be selected and moved to suitable positions on the robot generation window. The aforementioned procedures are repeatedly performed with respect to all the robot components, and the components and the sensors are combined with one another so as to complete generation of the robot (operation 540).
• a unique name or unique identification number is allocated to the generated simulation robot and stored in the robot storage unit (operation 550).
• the simulation robot generation module provides a three-dimensional (3D) graphic generation module capable of directly generating robot components so as to enable a user to directly generate components of a robot by using the 3D graphic generation module without using libraries.
• 3D three-dimensional
• the robot components directly generated by the user by using the 3D graphic generation module are stored in a robot component database together with libraries and used together with the libraries, when generating the simulation robot .
• the simulation robot generation module enables the user to directly develop and design simulation robots.
• the structure of the simulation robot generation module according to the second embodiment of the present invention is the same as the structure of the first embodiment except the 3D graphic generation module, the description on the same structure will be omitted.
• FIG.6 is a schematic block diagram illustrating a structure of the simulation environment generation module 30.
• the simulation environment generation module 30 includes an environment generation unit 300, a user interface unit 310, an environment object database 320, and an environment storage unit 330.
• the environment object database 320 includes various libraries on basic environments and various libraries on objects that can be applied to environments.
• the basic environments include a virtual space such as an office, a room, and a street in which the simulation robot moves or operates.
• the objects that can be applied to the environments indicate virtual objects such as a desk, a chair, a tree, and the like which are to be arbitrarily disposed at the virtual space.
• the environment database 320 includes libraries on the basic environments and libraries on objects. Each of the libraries includes an image file and information on attributes.
• the environment storage unit 330 allocates a predetermined unique name or unique identification number to the simulation environment 390 that is completely generated through the environment generation unit 300 and stores the unique name or unique identification number.
• FIG.7 illustrates an example of a window illustrating the user interface unit 310 of the simulation environment generation module 30.
• the user interface unit 310 includes a basic environment selection window 311, an object selection window 312, an object preview 313, a sensor list window 314, an environment generation window 315, a function toolbar 316, and an object attribute window 317.
• Lists of basic environments are provided on a screen by enumerating the lists of the basic environments on the basic environment selection window 311. When one of the basic environments is selected, the selected basic environment is displayed on the environment generation window 315, lists of objects stored in the environment database 320 are read, and the read lists are displayed on the object selection window 312.
• a side image and a top image of the selected object are respectively displayed on an object side view window 318 and an object top view window 319.
• the object attribute window 317 displays information on attributes of the object selected through the object selection window 312.
• the object that is finally selected through the object selection window 312 is moved to a desired position on the environment generation window 315 by using the drag-and-drop method.
• the information on attributes of the object, a side view, and a top view of the object are respectively displayed on the object attribute window 317, the object side view window 318, and the object top view window 319.
• FIG.8 is a flowchart of an operation of the environment generation unit 300 according to an exemplary embodiment of the present invention.
• a basic environment is firstly selected (operation 800), a position at which the selected basic environment is to be disposed is selected, and the basic environment is disposed at the selection position (operation 810).
• Objects to constitute the basic environment are selected (operation 820), positions at which the selected objects are to be disposed are selected, and the objects are disposed at the selected positions (operation 830).
• the procedure of selecting objects and setting positions of the selected objects may be repeatedly performed.
• FIGS.9 to 12 illustrate examples of windows illustrating a user interface unit for generating simulation environments by using a simulation environment generation module according to an exemplary embodiment of the present invention.
• FIG.9 illustrates an example of a window illustrating a state in which an object is displayed in an object side view window and an object top view window, when the object selected on an object preview window or object selection window is moved by using the drag-and-drop method.
• FIG. 10 illustrates an example of a window illustrating a state in which a structure of a house is changed by forming a wall on the environment generation window by using a mouse.
• the simulation screen generation module may directly add an object that constitutes the basic environment or may change the basic environment itself.
• FIG. 11 illustrates an example of a window illustrating a state in which objects such as a desk, a chair, and drawers are disposed in the basic environment. Positions of the objects may be changed in the left, right, upward, and downward directions.
• FIG.12 illustrates a window illustrating a state in which a predetermined sensor is disposed at a position desired by a user.
• FIG.13 is a schematic block diagram illustrating an inner structure of the robot simulation module 40.
• the robot simulation module 40 includes a user interface unit 400, an environment selection unit 410, a robot selection unit 420, a robot program generation unit 430, a program simulation unit 440.
• FIG.14 illustrates an example of a window illustrating the user interface unit.
• the user interface unit 400 includes a main window 401, an object information window 403, an attribute information window 405, a sensor attribute window 407, and a function toolbar 409.
• a simulation environment and a simulation robot which are respectively selected by the environment selection unit 410 and the robot selection unit 420 are displayed on the main window 401.
• Information on objects that constitute the simulation environment is displayed on the object information window 403.
• Information on attributes of objects or components which constitute the simulation environment or simulation robot is displayed on the attribute information window 405.
• Information on attributes of sensors is displayed on the sensor attribute window 407.
• FIG.15 illustrates an example of a window illustrating a state in which a predetermined simulation environment is loaded on the main window by the environment selection unit 410.
• FIG. 16 illustrates an example of a window illustrating a state in which a predetermined simulation robot is loaded on the main window by the robot selection unit 420.
• the robot program generation unit 430 provides a program generation environment on a screen.
• the user prepares a driving program for operating the simulation robot.
• the program generation environment may provide a text-based language tool such as C or C++ or a graphic-based language tool.
• the program generation environment may provide both the text-based language tool and the graphic-based language tool and enable the user to select one of them.
• a unique identification number or unique name is allocated to the driving program and stored in the program storage unit.
• FIG. 17 illustrates an example of a window i llustrating a procedure of generating a driving program based on a graphic language tool.
• FIG. 18 illustrates an example of a window illustrating a procedure of generating a driving program based on a text language tool.
• the program simulation unit 440 simulates an operation of the simulation robot in the simulation environment on the main window by executing the driving program generated by the robot program generation unit 430.
• FIG.19 illustrates an example of a window in which the program simulation unit 440 executes the driving program generated by the user so as to simulate the operation of the simulation robot .
• FIG.20 is a flowchart of an operation of the aforementioned robot simulation module.
• a simulation environment is firstly selected and imported (operation 900), and a simulation robot is selected and imported (operation 910).
• the simulation robot is disposed at any position in the simulation environment (operation 920).
• a language for preparing a driving program for driving the simulation robot is selected (operation 930), and the driving program is prepared by using the selected language tool (operation 940).
• operation 942 an operation of the simulation robot is simulated by executing the driving program (operation 950).
• a system according to an embodiment of the present invention will be widely used to teach manufacturing and controlling of a robot.

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• Physics & Mathematics (AREA)
• General Engineering & Computer Science (AREA)
• General Physics & Mathematics (AREA)
• Robotics (AREA)
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• Manipulator (AREA)

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• 2006
  • 2006-12-26 KR KR1020060133546A patent/KR100738052B1/ko active IP Right Grant
• 2007
  • 2007-12-14 WO PCT/KR2007/006537 patent/WO2008078890A1/en active Application Filing

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