WO2019013375A1

WO2019013375A1 - Robot control system employing block toy

Info

Publication number: WO2019013375A1
Application number: PCT/KR2017/007648
Authority: WO
Inventors: 박희만; 문길종; 노상균; 이성호
Original assignee: 주식회사 바른앱
Priority date: 2017-07-10
Filing date: 2017-07-17
Publication date: 2019-01-17
Also published as: KR101923557B1

Abstract

The present invention relates to a robot control system employing a block toy, the robot control system comprising: multiple unit blocks coupled to each other, each unit block comprising a database in which a preset operation command is stored, a communication module for transmitting the operation command, and a control module for transmitting the operation command stored in the database through the communication module; and a driving robot for receiving the operation commands from the unit blocks and performing operations corresponding to the received operation commands, wherein the control module selects, as a representative block, one of the unit blocks coupled to each other according to a preset selection standard, and transmits a command to control the unit blocks coupled to each other by using the communication module of the representative block. The robot control system employing a block toy according to the present invention is advantageous in that each unit block is provided with a communication module, and a communication module suitable for a preset standard is selected from the communication modules of the unit blocks coupled to each other and is used to transmit an operation command to the driving robot such that, even if one of the communication modules malfunctions, an operation command can be transmitted to the driving robot more stably.

Description

Robot control system using block toys

The present invention relates to a robot control system using a block toy, and more particularly, to a robot control system using a block toy in which a communication module is provided in each unit block, and a control command is transmitted to a driving robot And a robot control system.

Recently, the toy industry has shown a tendency to evolve into a high-tech business. Toys that provide entertainment or focus mainly on visual, tactile, and auditory attention have become smart devices while adopting advanced technologies such as touch, voice, pupil movement, and motion detection. The toy, which is a simple still life of traditional wood, metal, and plastic materials, has been transformed into a complex, dynamic, and emotional device of multidimensional integration with fusion of advanced medical technologies such as robotics, remote control, Hyundai's advanced toy industry is based on root industry ability such as casting, mold, welding, cutting, heat treatment, surface treatment, and it has IT, CT, robot industry, cultural industry, psychological and medical theory, .

Conventionally, Korean Patent Registration No. 10-1684992 discloses an assembly unit and an assembling toy including the assembly unit. Wherein the assembling unit comprises a functional unit having an identifiable element for each individual and coupled to the base block and outputting a preprogrammed command, Transmits a command output from the unit to an external controlled device to control the controlled device, receives a feedback command from the controlled device, and transmits the feedback command to the corresponding functional unit using the identifiable element .

However, since the single communication module is provided only in the base block, the assembling unit has a disadvantage in that it is difficult to transmit an operation command to the robot when the communication state of the communication module is poor or a failure occurs in the base block.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a communication apparatus and a communication method using a block toy that transmits a control command to a driving robot by using any one of communication modules And a robot control system.

According to an aspect of the present invention, there is provided a robot control system using a block toy, the robot control system comprising: a database storing a predetermined operation command; a communication module for transmitting the operation command; A plurality of unit blocks including a control module for transmitting an operation command stored in a database; and a driving robot for receiving the operation commands from the unit blocks and operating in accordance with the received operation commands, The control module selects one of the unit blocks mutually combined according to a preset selection criterion as a representative block and transmits a control command of the unit blocks mutually combined using the communication module of the representative block.

Meanwhile, the robot control system using the block toy according to the present invention includes a driving robot that operates by an operation corresponding to input operation commands, and a controller that is connected to the driving robot and selects some of the operation commands stored in the operation storage unit And an autonomic operation unit sequentially inputting an operation command selected by the driving robot to operate in accordance with the selected operation command to the driving robot, wherein the plurality of operation commands for operating the driving robot are stored data A plurality of unit blocks including a base, a communication module for transmitting the operation command, and a control module for transmitting an operation command stored in the database through the communication module; And a control unit for controlling the operation units, Wherein the control unit controls the driving robot to operate the driving robot in a predetermined success pattern when the operating commands input to the bot match with each other, and transmits the operating commands received from the unit blocks and the driving commands inputted from the autonomous operating unit And a control unit for controlling the driving robot so that the driving robot operates in a predetermined failure pattern if the operating commands are inconsistent.

It is preferable that the control module selects any of the unit blocks mutually combined according to a predetermined selection criterion as a representative block and transmits a control command of the unit blocks mutually combined using the communication module of the representative block Do.

The control module may select, as the representative block, a unit block provided with a communication module having a largest Received Signal Strength Indication (RSSI) value among the mutually coupled unit blocks.

Meanwhile, the control module of the representative block collects the operation commands stored in the database of the representative blocks and the unit blocks coupled to each other, and sequentially transmits the collected operation commands to the driving robot according to a predetermined operation standard.

Wherein the unit block includes a main body having the communication module, the data base, and the control module, a first connection terminal provided on a side surface of the main body to be electrically connected to adjacent unit blocks, And at least one second connection terminal provided on the main body at a position spaced apart from the first connection terminal so as to be electrically connected to the connection terminal.

The control module selects, as a starting block, a unit block of the unit blocks to which the first connection terminal is connected to the second connection terminal when the unit blocks are coupled to each other.

The control module selects, as the representative block, a unit block provided with a communication module having a largest Received Signal Strength Indication (RSSI) value among the mutually coupled unit blocks, When the plurality of communication modules having sensitivity are selected, it is preferable that a unit block having the communication module closest to the starting block among the communication modules having the highest received signal sensitivity is selected as the representative block.

The control module of the representative block collects operation commands stored in a database of the representative blocks and unit blocks coupled to each other, transmits an operation command stored in the database of the start block to the driving robot, And sequentially transmits the operation commands stored in the database of the blocks to the driving robot according to a predetermined operation criterion.

Wherein the main body is formed of a polygonal polyhedron having a plurality of polygonal surfaces, the first connection terminal is provided on one of the polygonal surfaces, and the main body is provided on the polygonal surface excluding the polygonal surface And a second connection terminal is provided.

The robot control system using the block toy according to the present invention includes a communication module in each unit block, selects a communication module suitable for a predetermined criterion among communication modules of mutually coupled unit blocks, and transmits an operation command to the driving robot There is an advantage that an operation command can be transmitted to the driving robot more stably even if any one of the communication modules performs an abnormal operation.

1 is a perspective view of a robot control system using a block toy according to the present invention,

FIG. 2 is a block diagram of a robot control system using the block toy of FIG. 1,

FIG. 3 is a perspective view showing still another coupling state of unit blocks of the robot control system using the block toy of the present invention. FIG.

Hereinafter, a robot control system using a block toy according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing. In the accompanying drawings, the dimensions of the structures are enlarged to illustrate the present invention in order to clarify the present invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a part or a combination thereof is described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

1 to 3 show a robot control system 10 using a block toy according to the present invention.

Referring to the drawings, a robot control system 10 using a block toy includes a plurality of unit blocks 20 for transmitting operation commands, a plurality of unit blocks 20 for receiving operation commands from the unit blocks 20, And a driving robot (30) operating in accordance with the operation commands.

The unit block 20 includes a main body 21, a first connection terminal 22 provided on a side surface of the main body 21 to be electrically connected to the adjacent unit block 20, A plurality of second connection terminals 23 provided on the main body 21 at positions spaced apart from the first connection terminals 22 so as to be electrically connected to the first connection terminals 22 of the main body 20, A communication module 25 installed in the main body 21 and storing a predetermined operation command, a communication module 25 for transmitting the operation command, and a communication module 25 connected to the database 24 And a control module (26) for transmitting an operation command stored in the control module (26).

The main body 21 is formed of a hexahedron which is a polyhedron having a plurality of polyhedrons. However, the main body 21 is preferably formed of a polyhedron such as an octahedron. On the upper surface of the main body 21, a pattern pattern corresponding to an operation command stored in the database 24 is formed.

A plurality of first connection terminals 22 are provided on the front surface of the main body 21 and protrude outward from the main body 21. The first connection terminal 22 is connected to the control module 26 and the data base 24 and a pogo pin is applied to enable data communication with the unit blocks 20 coupled to each other. In the illustrated example, the first connection terminal 22 is formed on the front surface of the main body 21, but the first connection terminal 22 may be formed on the left side or the right side of the main body 21 Or may be formed on one of the outer surfaces, i.e., the outer polygonal surfaces.

A plurality of second connection terminals 23 are provided on the rear surface, the left surface and the right surface of the main body 21, respectively. The second connection terminals 23 are provided on the polygonal surface except for the polygonal surface on which the first connection terminals 22 are provided. The first connection terminal 22 is inserted into the main body 21 from the outer side of the main body 21 to a predetermined depth. The second connection terminal 23 is connected to the control module 26 and the data base 24 and a pogo pin is applied to enable data communication with the unit blocks 20 coupled to each other.

The second connection terminal 23 is not limited to the illustrated example but may be formed on only one of the outer surfaces of the main body 21, that is, the rear surface, the left surface, and the right surface of the main body 21 have.

Although the unit blocks 20 are not shown in the drawing, the unit blocks 20 coupled to each other through the first connection terminal 22 and the second connection terminal 23 connected to each other are connected to an I2C (Inter Integrated Circuit), a UART (Universal Asynchronous Receiver / Transmitter), SPI (Serial Perpheral Interface), or the like.

The database 24 is installed in the main body 21, and one operation command is stored for each unit block 20. Forward, backward, rotation, red light blink, blue light blink, operation repeat, etc. are applied to the operation command. The database 24 further includes a connection terminal (not shown) to which the information processing device can connect so that the user can change the stored operation command using an information processing device such as a computer. At this time, it is preferable that the connection terminal is installed in the main body 21 so as to be exposed to the outside.

In addition, the database 24 stores an identification code for identifying the unit block 20 in which the database 24 is installed.

The communication module 25 is installed inside the main body 21 and transmits an operation command stored in the database 24 under the control of the control module 26. [ The communication module 25 communicates with the driving robot 30 through a wireless communication scheme such as bluetooth and measures a received signal strength indication (RSSI) value for the driving robot 30 A sensitivity detection unit is provided. The communication module 25 provides the control module 26 with the received signal sensitivity values measured through the sensitivity detection unit when the unit blocks 20 are coupled to each other.

The communication method of the communication module 25 is not limited to bluetooth but various wireless communication methods capable of communicating with the driving robot 30 may be applied.

The control module 26 is connected to the first connection terminal 22, the second connection terminal 23, the data base 24 and the communication module 25, And selects any one of the unit blocks 20 coupled with each other as a representative block.

That is, when the unit blocks 20 are coupled to each other, either the control modules 26 or the control modules 26 of the mutually coupled unit blocks 20 are connected to the communication module 25 of each unit block 20, The received signal sensitivity value of the unit block 20 is collected together with the identification code stored in the database 24 and the communication signal having the largest Received Signal Strength Indication (RSSI) And the unit block 20 provided with the module 25 is selected as the representative block.

Meanwhile, any one of the control modules 26 or the control modules 26 of the unit blocks 20 mutually coupled may be configured such that when the unit blocks 20 are coupled to each other, 1 connection terminal 22 selects a unit block 20 which is not connected to the second connection terminal 23 as a starting block and a reception signal strength (RSSI) among the mutually coupled unit blocks 20 (25) from the start block among the communication modules (25) having the largest received signal sensitivity when the number of the communication modules (25) having the largest Indication value The unit block 20 is selected as the representative block.

The control module 26 calculates the distance between the start block and the unit blocks 20 based on information on whether the first connection terminal 22 and the second connection terminal 23 are coupled. At this time, although not shown in the figure, the control module 26 may be connected to the first connection terminal 22 and the second connection terminal 22 through the first connection terminal 22 and the second connection terminal 23 of each unit block 20, It is possible to detect whether or not the second connection terminal 23 is coupled or to detect whether or not each terminal is connected to the first and

second connection terminals

22 and 23, It is possible to determine whether the first and

second connection terminals

22 and 23 are engaged or not.

On the other hand, when the selection of the representative block is completed, the control module 26 of the representative block collects the operation commands stored in the database 24 of the representative blocks and the unit blocks 20 coupled with each other together with the identification code, And sequentially transmits the operation commands to the drive robot 30 according to a predetermined operation criterion.

That is, the control module 26 of the representative block first transmits an operation command stored in the database 24 of the start block to the driving robot 30, And sequentially transmits the operation commands stored in the database 24 to the drive robot 30 according to a predetermined operation standard.

For example, as shown in FIG. 1, when the unit blocks 20 are sequentially combined along one direction with respect to the start block, the control module 26 of the representative block transmits an operation command of the start block, To the driving robot 30 in the order of short distances from the unit blocks 20. [ 3, when a plurality of unit blocks 20 are coupled to the start block, the control module 26 of the representative block transmits an operation command of the start block, Or may transmit an operation command of the unit blocks 20 to the driving robot 30 in the order arranged along the clockwise direction. At this time, the driving robot 30 operates in accordance with the received operation command in accordance with the operation command.

The driving robot 30 includes a body 31 formed in a spherical shape, a communication unit 32 installed in the body 31 for receiving an operation command transmitted from the unit blocks 20, A driving unit 33 which is provided in the main body 31 and moves the body 31 by a force to move the body 31 by operation commands received through the communication unit 32, And a lamp unit 34 installed on the body 31 to emit red light or blue light. Since the driving robot 30 is a spherical robot that is conventionally used, a detailed description thereof will be omitted. On the other hand, the driving robot 30 is not limited to this, but can be applied to any robot that can operate according to an input operation command.

The robot control system 10 using the block toy according to the present invention further includes a mode selection unit (not shown), an autonomous operation unit 35, and a control unit 36.

The mode selection unit selects either the manual mode in which the driving robot 30 is operated by the work command transmitted from the unit blocks 20 and the autonomous mode in which the driving robot 30 is operated independently from the unit blocks 20 A plurality of selection buttons are provided so that the user can select one mode. The mode selection unit may be installed on one side of the driving robot 30.

At this time, when the user arranges the unit blocks 20 and performs the robot driving learning to drive the driving robot 30 in the same manner as the arranged unit blocks 20, the user selects the manual mode through the mode selection unit, The autonomous mode can be selected through the mode selection unit when command learning is performed to see the autonomous operation of the robot 30 and to arrange the actuating commands of the driving robot 30 through the arrangement of the unit blocks 20. [

The autonomous operation unit 35 is installed in the drive robot 30 and includes an operation storage unit 37 in which a plurality of operation commands are stored. In the operation storage unit 37, the same commands as the operation commands stored in the database 24 of the unit blocks 20 are stored. The autonomic operation unit 35 selects a part of the operation commands stored in the operation storage unit 37 when the autonomic mode is selected through the mode selection unit, And sequentially inputs operation commands to the drive robot 30. [ At this time, it is preferable that the autonomic operation unit 35 randomly selects some of the operation commands stored in the operation storage unit 37.

The control unit 36 is installed inside the driving robot 30 to control the driving unit 33 of the driving robot 30. The control unit 36 controls the driving unit 30 such that the driving block 30 is operated according to the operation commands transmitted through the unit blocks 20 when the manual mode is selected through the mode selection unit, (33).

When the autonomic mode is selected through the mode selection unit, the control unit 36 controls the driving robot 30 to operate according to the operating commands transmitted from the autonomous operating unit 35, And inputs it to the driving unit 33.

At this time, the user looks at the operation of the driving robot 30 to derive the operating commands inputted to the driving robot 30, arranges the unit blocks 20 according to the derived operating commands, and combines them. When the combination of the unit blocks 20 is completed, the control module 26 selects the representative block and the start block as described above, and sequentially transmits the operation commands through the communication module 25 of the representative block. (36) receives the operation commands from the unit blocks (20) and transmits the operation commands received from the unit blocks (20) and the operation input from the autonomous operation unit (35) And controls the driving robot (30) so that the driving robot (30) operates in a predetermined success pattern if the instructions match. If the operation commands received from the unit blocks 20 and the operation commands input from the autonomous operation unit 35 to the driving robot 30 do not match, And controls the driving robot 30 so that the driving robot 30 operates.

Here, the success pattern may be a pattern in which the driving robot 30 repeatedly moves along a circular trajectory, and the failure pattern may be an operation of blinking red light. However, the success pattern and the failure pattern are not limited thereto, Anything is possible if different actions are applied respectively. The control unit 36 may use the communication unit 32 of the driving robot 30 or may have a separate communication means to receive an operation command from the unit blocks 20. [

The operation of the robot control system 10 using the block toy according to the present invention constructed as described above will be described in more detail as follows.

When the user operates the driving robot 30 according to the arrangement of the unit blocks 20, the user selects the manual mode through the mode selection unit and selects the unit blocks 20 according to the pattern to operate the driving robot 30. [ And combine them. When the combination of the unit blocks 20 is completed, either the control modules 26 or the control modules 26 selects the representative block and the start block as described above, To the drive robot (30) sequentially. The driving robot 30 sequentially performs the operations corresponding to the received operation commands.

On the other hand, when the user learns the operation of the driving robot 30 and learns to guess the operation command, the mode selection unit selects the autonomous mode. At this time, the autonomous operation unit 35 selects some of the operation commands stored in the operation storage unit 37, sequentially drives the selected operation command to operate the driving robot 30 according to the selected operation command And inputs it to the robot 30. The driving robot 30 operates according to the input operation command and the user views the operation of the driving robot 30 to infer the operation commands inputted to the driving robot 30 and outputs the unit blocks 20 are arranged and connected to each other. When the combination of the unit blocks 20 is completed, the control module 26 selects the representative block and the start block as described above, and sequentially transmits the operation commands through the communication module 25 of the representative block. The control unit 36 receives the operation commands from the unit blocks 20 and transmits the operation commands received from the unit blocks 20 and the operation commands received from the autonomous operation unit 35 to the driving robot 30, The driving robot 30 is operated so as to operate in the success pattern and the operation commands received from the unit blocks 20 and the operation commands received from the autonomous operation unit 35 from the driving robot 30 , The driving robot 30 is operated to operate in a success pattern.

The robot control system 10 using the block toy according to the present invention configured as described above is provided with a communication module 25 in each unit block 20 and a communication module 25 The operation command is transmitted to the driving robot 30. Therefore, even if any one of the communication modules 25 performs an abnormal operation, the driving robot 30 can be operated more stably, And the like.

In addition, the robot control system 10 using the block toy can learn learning about the operation of the driving robot 30 when the autonomic mode is selected through the mode selection unit, so that it is possible to learn more.

The description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features presented herein.

Claims

And a control module for transmitting an operation command stored in the database through the communication module, wherein the plurality of unit blocks include a plurality of unit blocks, ; And

And a drive robot for receiving the operation commands from the unit blocks and operating in accordance with the received operation commands,

Wherein the control module selects one of the unit blocks mutually combined according to a predetermined selection criterion as a representative block and transmits a control command of the unit blocks mutually combined using the communication module of the representative block,

Robot control system using block toys.
A driving robot that operates in accordance with input operation commands;

An autonomic operation unit connected to the driving robot for selecting a part of the operation commands stored in the operation storage unit and sequentially inputting the operation command selected by the driving robot to the driving robot according to the selected operation command;

A control module for transmitting the operation command stored in the database through the communication module; a control module for transmitting the operation command stored in the database through the communication module; A plurality of unit blocks; And

And when the operation commands received from the unit blocks coincide with the operation commands input from the autonomous operation unit to the driving robot, the driving robot receives the operation commands from the unit blocks, When the operation commands received from the unit blocks and the operation commands input from the autonomous operation unit to the drive robot do not coincide with each other, And a controller for controlling the robot,

Robot control system using block toys.
3. The method of claim 2,

Wherein the control module selects one of the unit blocks mutually combined according to a predetermined selection criterion as a representative block and transmits a control command of the unit blocks mutually combined using the communication module of the representative block,

Robot control system using block toys.
The method according to claim 1 or 3,

Wherein the control module selects, as the representative block, a unit block provided with a communication module having a largest Received Signal Strength Indication (RSSI) value among the unit blocks,

Robot control system using block toys.
The method according to claim 1 or 3,

Wherein the control module of the representative block collects the operation commands stored in the database of the representative blocks and the unit blocks coupled to each other and sequentially transmits the collected operation commands to the driving robot in accordance with a predetermined operation reference,

Robot control system using block toys.
The method according to claim 1 or 3,

The unit block

A main body in which the communication module, the database, and the control module are installed;

A first connection terminal provided on a side surface of the main body to be electrically connected to adjacent unit blocks; And

And at least one second connection terminal provided on the main body at a position spaced apart from the first connection terminal so as to be electrically connected to the first connection terminal of the adjacent unit block,

Robot control system using block toys.
The method according to claim 6,

Wherein the control module selects, as a start block, a unit block, which is not connected to the second connection terminal, of the unit blocks, when the unit blocks are mutually coupled,

Robot control system using block toys.
8. The method of claim 7,

The control module selects, as the representative block, a unit block provided with a communication module having a largest Received Signal Strength Indication (RSSI) value among the mutually coupled unit blocks, Selecting a unit block having the communication module closest to the starting block among the communication modules having the highest received signal sensitivity as the representative block when the communication module having a sensitivity is a plurality of communication modules,

Robot control system using block toys.
9. The method of claim 8,

The control module of the representative block collects operation commands stored in a database of the representative blocks and unit blocks coupled to each other, transmits an operation command stored in the database of the start block to the driving robot, And sequentially transmitting the operation commands stored in the database of the blocks to the drive robot according to a predetermined operation criterion,

Robot control system using block toys.
The method according to claim 6,

Wherein the main body is formed of a polygonal polyhedron having a plurality of polygonal surfaces, the first connection terminal is provided on one of the polygonal surfaces, and the main body is provided on the polygonal surface excluding the polygonal surface The second connection terminal is installed,

Robot control system using block toys.