WO2012102442A1 - Plateforme de robot humanoïde de type à modules sur ordinateur - Google Patents

Plateforme de robot humanoïde de type à modules sur ordinateur Download PDF

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Publication number
WO2012102442A1
WO2012102442A1 PCT/KR2011/003709 KR2011003709W WO2012102442A1 WO 2012102442 A1 WO2012102442 A1 WO 2012102442A1 KR 2011003709 W KR2011003709 W KR 2011003709W WO 2012102442 A1 WO2012102442 A1 WO 2012102442A1
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WO
WIPO (PCT)
Prior art keywords
humanoid robot
main controller
controller
based modular
robot platform
Prior art date
Application number
PCT/KR2011/003709
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English (en)
Korean (ko)
Inventor
김병수
하인용
장욱
Original Assignee
(주)로보티즈
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.)
Filing date
Publication date
Application filed by (주)로보티즈 filed Critical (주)로보티즈
Publication of WO2012102442A1 publication Critical patent/WO2012102442A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units

Definitions

  • the present invention provides a humanoid robot platform that can be effectively used in the field of robot research or in the field where the robot can be used for research, or when demonstrating the robot for the purpose of education or performance. It is about.
  • a humanoid robot refers to a humanoid robot having a shape similar to a human body such as a head, a torso, an arm, and a leg, and is a robot that can best imitate human behavior.
  • this type of robot had a functional limitation to serve as a platform for a person with expertise in robots to develop a new technology.
  • the robot collapses and parts or circuits are damaged, and there is a problem that the controller must be rebooted after replacing the used battery.
  • the present invention has been made to solve the above problems in view of the above-described problems of the prior art, and its object is to use a general-purpose PC that is familiar to the user in the form of a humanoid capable of accommodating many parts of the robot function as a main controller. It can be used for research or necessary education in the field that wants to develop the time and effort to build the robot and learn how to operate it, and the humanoid robot can judge and act according to the surrounding situation without the user's manipulator operation. It is to provide a PC-based modular humanoid robot platform.
  • Another object of the present invention is to provide a PC-based modular humanoid robot platform having a sub-controller together with a main controller to maintain the entire system by the sub-controller when an operation error of the main controller occurs.
  • Another object of the present invention is to provide a PC-based modular humanoid robot platform that does not require rebooting the main controller by maintaining power supply to the main controller even when the battery of the humanoid robot is replaced.
  • the PC-based modular humanoid robot platform of the present invention for solving the above problems is one or a plurality of PCs as the main controller, a plurality of robots assigned a unique ID is controlled according to the communication protocol on the bus by the main controller Characterized in that it comprises a module.
  • PC-based modular humanoid robot platform of the present invention is characterized in that it comprises a sub-controller that performs the function of maintaining the humanoid robot system when the control ability of the main controller is insufficient or an operational error occurs.
  • PC-based modular humanoid robot platform of the present invention is characterized in that the PC is provided as a general controller to be used by a large number of users as the main controller.
  • the PC-based modular humanoid robot platform of the present invention is characterized in that the sensor unit is connected to the sub-controller for maintaining the balance of the humanoid robot.
  • the main controller and the sub-controller receive power from a power supply unit consisting of a power selection circuit, a DC power supply unit, and a battery, and the power supply unit is a power selection circuit terminal when a power supply detection signal of the DC power supply unit is input from the power selection circuit. It is configured to supply power from the DC power supply by controlling the switching to the DC power supply from the battery side.
  • PC-based modular humanoid robot platform of the present invention is characterized in that the mounting is provided so that the transfer handle that can lift the robot by hand when carrying.
  • PC-based modular humanoid robot platform of the present invention is characterized by configuring the LED to be visible from the outside.
  • PC-based modular humanoid robot platform of the present invention is to analyze the image taken by the camera, the main controller is characterized in that to control each robot module according to the image analysis results.
  • the PC-based modular humanoid robot platform of the present invention is characterized in that the main controller controls each robot module by recognizing an external sound source input to a micro and calculating the direction of the external sound source.
  • PC-based modular humanoid robot platform of the present invention is characterized in that the main controller is provided with a control port including a USB port, HDMI port, Mini SD socket to be accessible from the outside.
  • the present invention uses the human-friendly PC as a main controller in the form of a humanoid that can accommodate a large part of the robot function, and is used for research or education in the field that wants to develop the time and effort required to make a robot and learn how to operate it. Can be used.
  • a PC-based modular humanoid robot platform in which a humanoid robot can judge and act according to surrounding conditions by itself by operating a PC as a main controller.
  • the entire system of the humanoid robot is maintained by the sub-controller, thereby preventing the humanoid robot from falling and damaging parts or circuits.
  • the main controller does not need to be rebooted by maintaining the power supply to the main controller, and the power is continuously supplied by the battery even when the DC power supply is turned off. It can be maintained.
  • FIG. 1 is a perspective view showing a PC-based modular humanoid robot platform according to an embodiment of the present invention
  • FIG. 2 is a block diagram of a PC-based modular humanoid robot platform according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram illustrating a data communication structure of a PC-based modular humanoid robot platform according to an embodiment of the present invention
  • FIG. 4 is a configuration diagram of a robot module constituting a PC-based modular humanoid robot platform according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram illustrating a control structure of each robot module constituting a PC-based modular humanoid robot platform according to an embodiment of the present invention
  • FIG. 6 is a front view of a PC-based modular humanoid robot platform according to an embodiment of the present invention
  • FIG. 7 is a perspective view illustrating various coupling structures of a robot module and a connection member constituting a PC-based modular humanoid robot platform according to an embodiment of the present invention
  • FIG. 8 illustrates an arm of a PC-based modular humanoid robot platform according to an embodiment of the present invention.
  • FIG. 1 is a perspective view showing a PC-based modular humanoid robot platform according to an embodiment of the present invention
  • Figure 2 is a block diagram of a PC-based modular humanoid robot platform according to an embodiment of the present invention
  • Figure 5 It is a schematic diagram for explaining the control structure of each robot module constituting the PC-based modular humanoid robot platform according to an embodiment of the present invention.
  • the PC-based modular humanoid robot platform 100 is at least one PC (universally provided for use by a plurality of users) Personal Computer) as the main controller 110, the main controller 110 is built in the humanoid robot platform 100 has a structure for controlling the plurality of robot modules 120 through a communication bus.
  • a PC that is provided universally for use by a plurality of users may be utilized as the main controller 110.
  • the mounting 170 is detachable on both sides so that the transfer handle 171, which can lift the robot by hand, is removable. It is fixed.
  • a plurality of robot modules 120 are assigned a unique ID for each robot module 120 is controlled by packet communication on one bus, communication to control each robot module 120 through a standardized bus Protocol is supported.
  • the central processing unit 111 of the main controller 110 has an audio port 117 and a video port 116 for outputting voice, a wireless communication unit 112 for connecting a wireless network, a USB camera 118 and a sub-controller. Control ports such as a USB port 113, a MiniSD socket 114, and an HDMI port 115 for interfacing with the 130 are connected.
  • the main controller 110 is configured to input the image captured and analyzed by the USB camera 118 to the CPU 111.
  • the main controller 110 is configured such that the external sound is input to the central processing unit 111 through the voice recognition microphone 118a built in the USB camera 118.
  • the main controller 110 recognizes an external sound source input through the microphone 118a and calculates a direction of the external sound source to control each robot module 120.
  • the humanoid robot platform 100 of the present invention is provided with a sub-controller 130 to perform the maintenance function of the humanoid robot system when the control ability of the main controller 110 is insufficient or an operation error occurs.
  • the central processing unit 131 of the sub-controller 130 measures the direction and magnitude of the load applied to the USB serial port 136, each robot module 120 and the humanoid robot for the interface with the main controller 110.
  • Network unit 132 for interfacing with the pressure sensor unit 139, ADC port 133 provided in the central processing unit 131 for the interface with the direction detection microphone 161 of the headboard 160, It is connected to the interface unit 150 consisting of an LED unit 151 composed of a plurality of LEDs including an RGB LED, a button 152 related to the operation of the entire system, and a reset button 153 for resetting to the initial mode. have.
  • the sub-controller 130 includes a power detecting unit 138b for detecting a power signal of the direction detecting microphone 161 of the headboard 160, a microphone amplifying circuit 138a for amplifying a signal input from the microphone 161, and The ADC expansion port 138c is provided, and is configured to input a signal of the microphone 161 to the CPU 131 through the ADC port 133.
  • the sub-controller 130 supplies power to each robot module 120 by controlling the robot module power management unit 134, and amplifies an audio signal input from the audio port 117 of the main controller 110. It amplifies by 137 and sends it out through the speaker 139.
  • the LED unit 151 of the interface unit 150 visually displays the state of the sub-controller 130 to the outside, the abnormality of the sub-controller 130 At the time of occurrence, the buzzer output unit 154 outputs a warning sound to inform the outside of an abnormal situation.
  • the eye of the humanoid robot platform is composed of status display LEDs 162 so as to know the system status of the humanoid robot from the outside.
  • the status display LED 162 may be composed of a plurality of LED elements having red, green, and blue, and the sub-controller 130 may display the headboard 160 to indicate green in normal operation, blue in need of inspection, and red in case of abnormality.
  • the status display LED 162 is controlled by outputting a signal set to the status display LED 162.
  • Sensor units 135a and 135b for maintaining balance of the humanoid robot are connected to the sub-controller 130.
  • the sensor unit includes a balance detection sensor 135a necessary for maintaining a balanced posture, an accelerometer 135b, a pressure sensor for measuring the direction and magnitude of a load applied to the humanoid robot, other distance sensing sensors, a remote transmission / reception sensor, and a sound input / output sensor. And the like.
  • the robot module 120 is meant to encompass an actuator module or a sensor module, and a module constituting the humanoid robot platform 100 controlled by the main controller 110 or the sub-controller 130.
  • FIG. 4 is a block diagram of a robot module (actuator module) constituting a PC-based modular humanoid robot platform according to an embodiment of the present invention.
  • the actuator module is geared with the central processing unit 121, the motor 123a driven by the motor driver 123b, the drive shaft of the motor 123a, and transmits a rotational force, Mechanism unit 123 including a shaft 123d rotated by receiving power from the gearbox 123c, and a sensor unit 124 and main controller 110 for detecting a position or a speed of an actuator module.
  • the actuator network unit 122 for interfacing with the sub-controller 130 and the state display unit 125 indicating the state of the actuator module.
  • the main controller 110 and the sub controller 130 communicate using the USB port 113 and the USB serial port 136, and the sub controller 130 is the USB serial port 136.
  • the central processing unit 131 performs data processing by converting the data received from the serial protocol into a serial protocol.
  • the sub-controller 130 converts the command received from the main controller 110 into a robot module network protocol through the network unit 132 and transmits the command to each robot module 120.
  • the memory unit (not shown) of the main controller 110 stores a program for operating the humanoid robot. Since the main controller 110 and the sub-controller 130 are connected through the USB port, the sub-controller 130 and the robot module 120 is electrically connected through a network connection, the memory unit of the main controller 110 The operation command or software program stored in the network unit 132 is transmitted through the actuator network unit 122 of the robot module 120 or the sensor network unit (not shown) of the sensor module, and thus the actuator module and the sensor module. Will operate according to the operation command and program.
  • the central processing unit 111 of the main controller 110 is a signal input from the image or the microphone 118a captured by the USB camera 118, the sensor unit 135a,
  • the control value for controlling each robot module 120 is calculated in consideration of various variables such as a detection signal of 135b).
  • the sub-controller 130 manages the robot module 120, thereby preventing the humanoid robot from falling down during operation. It is possible to maintain the module 120 and the entire humanoid robot system.
  • the robot module 120 may be combined with the connection member 128 to be connected to another robot module 120 or replaced with a new robot module 120.
  • 7A to 7C are perspective views illustrating various coupling structures of a robot module (actuator module) and a connection member constituting a PC-based modular humanoid robot platform according to an embodiment of the present invention.
  • the shaft 123d of the actuator module is coupled to the horn 126 by a thread formed on its outer circumferential surface, or is fastened to the shaft 123d by passing through the fixing member 126c through the bushing 126b. Thereby combining with the horn 126.
  • a fixing piece 127a and a fixing hole 126a are formed at the edge of the housing 127 and the horn 126 of the actuator module, respectively, so that separate tapping is performed when connecting an assembly object such as another actuator module or a connecting member 128. Or by means of coupling means such as fastening with a bolt 128a to the fixing piece 127a outside the housing 127 or the fixing hole 126a of the horn 126 without hole processing. Since the horn 126 coupled to the shaft 123d in this manner serves as a coupling part with the connecting member 128, the connecting member 128 and the actuator module can be coupled at both ends of the extension line of the shaft 123d. Stable coupling is possible.
  • Reference numeral 129 is a connector for connecting the actuator module or the actuator module and the sub-controller 130.
  • Fixing hole 128b is also formed in the connecting member 128 so that it can be freely combined with other actuator modules or various components. Therefore, the actuator module itself can be replaced with another type as well as shown in FIG. 8. Various types of arms (181, 182, 183) can be easily replaced in the module.
  • the sensor unit 124 detects not only the rotational speed or the position of the motor, but also whether the overcurrent is generated, the temperature of the motor, the external load applied to the actuator module, and transmits it to the central processing unit 121, and the central processing unit ( 121 notifies the central processing unit 131 of the sub-controller 130 of the transmitted data in real time.
  • the sub-controller 130 responds to the abnormal situation by controlling the mechanism 123 when the actuator module has an abnormality to stop the operation of the motor 123a or to operate in a direction to alleviate the abnormal state. Through 125, the user can be notified of the situation, and proactive handling of various situations is possible.
  • the sensor module may be provided to have a shape similar to the actuator module.
  • Such a sensor module may be provided with an equilibrium sensing sensor, an accelerometer, and a humanoid robot required to maintain an equilibrium posture.
  • Pressure sensor unit for measuring the direction and the size of the sensor, other distance sensing sensor, remote transmission and reception sensor, sound input and output sensor may be configured.
  • Each robot module 120 is connected in a multidrop method in which a plurality of terminals are connected to one node in a physical network hosted by the main controller 110 or the sub-controller 130 to operate as slaves. Or communicates with the sub-controller 130 by sending and receiving packets.
  • Examples of the packet include a command packet transmitted from the central processing unit 111 or 131 of the main controller 110 or the sub-controller 130 to the robot module 120 and the main controller 110 or the sub-controller from the robot module 120. There is a status packet sent to the central processing unit (111,131) of 130.
  • N robot modules 120 are connected to one bus, and a control signal, that is, a command signal from the main controller 110 or the sub-controller 130, is a robot module to be controlled. Since the ID of 120 is included, only the robot module 120 having the corresponding ID is operated. The response of the robot module 120 is transmitted to the central processing units 111 and 131 of the main controller 110 or the sub-controller 130 as status signals.
  • Networks include TTL, USB, CAN, RS485 [IEEE485], RS232, and Ethernet.
  • the network is one of physical standards used in serial communication, in which a plurality of terminals are connected and operated in a bus form on one line. Therefore, transmission and reception cannot occur at the same time and all other terminals must be input while one terminal is transmitting.
  • the network communication direction that controls the robot module is set as an input, and the communication direction is set as an output only while the command packet is transmitted.
  • the network standard does not define protocols, but in order to utilize network communication standards efficiently, the protocol used must provide addressing and bus control functions for multiple terminals.
  • One of the biggest advantages of the network communication standard is that all devices can transmit and receive data on the same line.
  • ID setting of each robot module should be made so that robot module with same ID does not exist in network node.
  • Control of each robot module 120 is performed by the stored programs of the main controller 110 and the sub-controller 130, the central processing unit (111, 131) of the main controller 110 and the sub-controller 130 is a robot module (
  • the command packet of a network method suitable for the control of 120 is transmitted to the robot module 120 in a multidrop manner.
  • Control signals so that the signal transmission between the plurality of robot modules 120 and the plurality of robot modules 120 and the main controller 110 and the central processing unit (111,131) of the sub-controller 130 can be made in a simple and efficient manner Communication protocol for input / output and transmission of data signal should be supported.
  • the PC-based modular humanoid robot platform 100 of the present invention has a function of maintaining power to the main controller 110 and the sub-controller 130 when the used battery is replaced.
  • the power supply unit 140 includes a power selection circuit 143, a DC power supply unit 141, and a battery 142.
  • the battery 142 is supplied with power, and when the battery 142 is replaced, the power source selection circuit 143 uses the power of the battery 142 and the DC power supply unit 141 of the DC power supply unit 141. Select to supply power to the main controller 110 and the sub-controller 130.
  • the power supply unit 140 switches the terminal of the power supply selection circuit 143 from the battery 142 side to the DC power supply unit 141.
  • the control is configured to receive power from the DC power supply unit 141.
  • Reference numeral 144 is a cooling fan 144 that is operated by receiving power from the power supply unit 140 to cool the central processing unit.
  • the present invention can maintain the power supply to the main controller 110 and the sub-controller 130 even when the replacement battery 142 of the humanoid robot is used, it is necessary to reboot the main controller 110 and the sub-controller 130. none.
  • humanoid robot platform 110 main controller 111: central processing unit
  • HDMI port 116 Video port 117: Audio port 118: USB camera 118a: Microphone 120: Robot module
  • central processing unit 122 actuator network portion
  • mechanism 123a mechanism 123a: motor 123b: motor driver
  • sub-controller 131 central processing unit 132: network
  • ADC port 134 Robot module power management unit 135a: Balance detection sensor
  • ADC expansion port 139 pressure sensor unit 140: power supply unit 141: DC power supply unit 142: battery 143: power selection circuit 144: cooling fan 150: interface unit 151: LED unit

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Artificial Intelligence (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un robot humanoïde de type à modules sur ordinateur. Une plateforme de robot humanoïde de type à modules sur ordinateur comprend : un dispositif de commande principal utilisant un PC général ou une pluralité de PC généraux pour une pluralité d'utilisateurs en guise de dispositif de commande principal ; et une pluralité de modules de robot commandés sur un bus par le dispositif de commande principal comprenant un ID original attribué en fonction d'un protocole de communication. Par conséquent, selon la présente invention, puisqu'un PC fonctionne comme dispositif de commande principal, la plateforme de robot humanoïde de type à modules sur ordinateur, dans laquelle un robot humanoïde peut prendre des résolutions et exécuter des actions de façon autonome en fonction de la situation et de son environnement sans qu'un utilisateur n'actionne un dispositif de commande, est fournie.
PCT/KR2011/003709 2011-01-28 2011-05-19 Plateforme de robot humanoïde de type à modules sur ordinateur WO2012102442A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020110008662A KR101212474B1 (ko) 2011-01-28 2011-01-28 Ｐｃ 기반의 모듈형 휴머노이드 로봇 플랫폼
KR10-2011-0008662 2011-01-28

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WO2012102442A1 true WO2012102442A1 (fr) 2012-08-02

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Cited By (3)

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CN107745386A (zh) * 2017-10-12 2018-03-02 北京搜狗科技发展有限公司 一种眼部装置、机器人和显示方法
CN107942690A (zh) * 2017-11-28 2018-04-20 宁波高新区锦众信息科技有限公司 一种控制家电的智能系统及基于该系统的控制方法
WO2019200547A1 (fr) * 2018-04-17 2019-10-24 Abb Schweiz Ag Procédé et appareil de commande de robot

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KR101353532B1 (ko) * 2012-09-18 2014-01-20 재단법인대구경북과학기술원 모듈러 로봇, 모듈러 로봇의 결합시스템 및 결합방법
CN105881534A (zh) * 2015-01-06 2016-08-24 李书申 一种模块化人形机器人

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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CN107745386B (zh) * 2017-10-12 2024-05-28 北京搜狗科技发展有限公司 一种眼部装置、机器人和显示方法
CN107942690A (zh) * 2017-11-28 2018-04-20 宁波高新区锦众信息科技有限公司 一种控制家电的智能系统及基于该系统的控制方法
WO2019200547A1 (fr) * 2018-04-17 2019-10-24 Abb Schweiz Ag Procédé et appareil de commande de robot
US11897137B2 (en) 2018-04-17 2024-02-13 Abb Schweiz Ag Method of identifying robot model automatically and safely

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KR20120087466A (ko) 2012-08-07
KR101212474B1 (ko) 2012-12-14

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