WO2020139293A1

WO2020139293A1 - Smart robot system that is programmable with a macro system

Info

Publication number: WO2020139293A1
Application number: PCT/TR2019/051197
Authority: WO
Inventors: Gökhan SİLAHTAROĞLU
Original assignee: Istanbul Medipol Universitesi
Priority date: 2018-12-27
Filing date: 2019-12-24
Publication date: 2020-07-02
Also published as: TR201820691A2

Abstract

The invention is particularly related to a smart robot system that can learn a route when the route is shown once with a macro and can apply this learned route.

Description

SMART ROBOT SYSTEM THAT IS PROGRAMMABLE WITH A MACRO

SYSTEM

TECHNICAL FIELD

The invention is related to a system which can conduct faster application and save manpower during procedures where routes change all the time which necessitate several repetitions, iterations or loops.

The invention is particularly related to a smart robot system that can learn a route when the route is shown once with a macro.

PRIOR ART

Together with the introduction of technology into our lives, robot systems have been used in several businesses where manpower was needed. Robot systems that are particularly used in the logistics sector, either is operated depending on manpower or are not fast enough, in fact, they are unsuccessful, to reach the target point.

Several applications regarding the robots that use route information have been encountered during the literature search carried out. The sensors that are used in the patent numbered US7082350, are not used for data that are to be transferred to a computer for calculating navigation that is to be taught by people but is used to find a route. The patent numbered CN106429146A, is related to a smart carrying robot that comprises a central control module, a goods appearance identification module, a goods weight detecting module, a goods rack path identification module and a carrying module. The system disclosed in the patent numbered CN106429146A, is a smart carrying robot that can determine the shape and weight of the goods and can compare the load that is to be received according to the destination to which the goods will be carried, and can operate within the route given to the robot. In conclusion, the problems that have been mentioned above and that cannot be solved within the scope of the prior art, have made it a necessity to provide a novelty in the related technical field.

BRIEF DESCRIPTION OF THE INVENTION

The present invention is related to a smart robot system that can be programmed with a macro system in order to eliminate the disadvantages mentioned above and to provide new advantages to the related technical field.

The algorithm of the robot system operates with macro system logic. The macro system is a system that is embedded in the substructure of Office programs such as Word and Excel. This system allows us to apply and repeat the command that is given, any desired number of times if a single command is given regarding procedures that necessitate repetition. Moreover, the commands provided with a macro system can be intervened by the user manually.

The primary aim of the invention is to establish a system that has route learning capabilities with macro, and which enables to deliver goods or things in areas such as houses, workplaces, warehouses, etc., in one go, or continuously in a certain cycle.

Another aim of the invention is to set forth a system that has route learning ability, and that can perform planned patrols, food and drink deliveries, transportation in hospitals or campuses for visually disabled or walking disabled people, courier service for lightweight commodity exchanges in outdoor and indoor areas that have a smooth and level ground surface.

Another aim of the invention is to develop a system that can continue operating on the same route, once the route has been taught.

Another aim of the invention is to provide a system that can convert the route into computer programming commands and can submit these commands to itself as a duty.

Another aim of the invention is to create a system that can find its way back from the route it has travelled by the ability of reverse processing the commands. Another aim of the invention is to provide a system that can return due to its reverse motion ability, which cannot be detected by people, and which can enter places that are dangerous or difficult to enter for humans.

The present invention that has been described above and can reach all of the aims that shall be understood from the detailed description below, is a macro programmable smart robot system, which saves manpower and allows a faster application with its route learning ability during procedures that require several repetitions where the routes constantly change. Accordingly, the system comprises;

• at least a body that can move forward-backward, right-left and that acts as a carrier,

• a direction and motion wheel positioned at the front and rear section of the said body which enables the movement of said body by means of its forward-backward motion and right-left rotation ability,

• side-wheel which can move forward-backward, right-left and can follow said direction and drive wheels,

• electric motor, which drives the direction and motion wheels that are positioned on the front and rear of the body in order to enable the movement of the body,

• chargeable battery which provides the required power for the said electric motor,

• a sensor mounted to the said direction and drive wheels, which shows the direction taken by the direction and drive wheels and which senses the time of forward- backward motion and measures instantaneous velocity.

• a command system which enables to drive the direction and drive wheels and sends a command to the electric motors,

• at least a computer system which comprises an algorithm that provides the commands for that enable to perform the motion of the robot, by using the data received from said sensors and which gives these commands to the robot as a duty, into which user logins can be made,

• a communication circuit that submits the information received from the sensor to the computer system and submits the information from the computer system to the command system. The present invention needs to be evaluated with the figures described below in order to better understand the embodiment and advantages of the invention together with the additional elements.

BRIEF DESCRIPTION OF THE FIGURES

Fig 1, is the schematic view of the system subject to our invention.

REFERENCE NUMBERS

1. Body

2. Direction and drive wheels

3. Side wheel

4. Electric motor

5. Battery

6. Command system

7. Sensor

8. Communication circuit

9. Algorithm

10. Computer system

DETAILED DESCRIPTION OF THE INVENTION

The novelty of the invention has been described with examples that shall not limit the scope of the invention and which have been intended to only clarify the subject matter of the invention.

Our invention is a macro programmable, smart robot system, which saves manpower and allows a faster application with its route learning ability during procedures that require several repetitions where the routes constantly change. The schematic view of the system subject to our invention has been given in Figure 1. The system according to the invention comprises; at least a body (1) that can move forward-backwards, right-left and that acts as a carrier, a direction and motion wheel (2) positioned at the front and rear section of said body (1) which enables the movement of said body (1) by means of its forward-backward motion and right- left rotation ability, side wheel (3) which can move forward-backward, right-left and can follow said direction and motion wheels (2), electric motor (4), which drives the direction and motion wheels (2) that are positioned on the front and rear of the body in order to enable the movement of the body (1), chargeable battery (5) which provides the required power for said electric motor (4), a sensor (7) mounted to said direction and drive wheels (2), which shows the direction taken by the direction and drive wheels (2) and which senses the time of forward-backward motion and measures instantaneous velocity a command system (6) which enables to drive the direction and drive wheels (2) and sends a command to the electric motors (4), at least a computer system (10) which comprises an algorithm (9) that provides the commands for that enable to perform the motion of the robot, by using the data received from said sensors (7) and which gives these commands to the robot as a duty, into which user logins can be made, a communication circuit (8) which submits the information received from the sensors (7) to the computer system (10) and submits the information from the computer system (10) to the command system (6).

According to a preferred embodiment of our invention, said body (1) is characterized to have a rhombus shape. The body (1) has two directions and drive wheels (2) at the front and rear sections. At the left and right sections of the body (1), two side wheels (3) have been provided which follow the direction and motion wheels (2). Our invention can continue operating on the same route, once the route has been taught one time. In our invention, the data taken via the sensors (7) that have been mounted on the direction and drive wheels (2), are submitted to the computer system (10) via the communication circuit (8) and the data are converted into programming commands via the algorithm (9) operating in the computer system (10). These commands produced by the computer system (10) can be sent as instructions to the direction and drive wheels (2) via the command system (6).

According to a preferred embodiment of our invention, the mentioned computer system (10) is characterized to be compatible with Windows, Linux, Mac, iOS or Android processing systems. In our invention, the sensor (7) submits wireless data via the communication circuit (8) between the command system (6) and the computer system. Our invention can use the departure route as the return route due to its ability to be able to process commands reversely. For example, when the body (1) is taken manually from one place to another for 100 metres, the information of direction, distance and velocity are recorded into the computer system (10) via the sensors (7) algorithm thereon. Thereby this route that is used is memorized by the robot system. Following this procedure, this route can be reversely processed via the algorithm, and it is enabled for the robot system to turn back to the initial destination and for the robot to repeat this travelling route any number of times desired. If the user desires, the user can add or remove commands manually from the computer system (10) in order to amend the route.

The function of the algorithm (9) of the system subject to the invention is formed of two sections. In the first section, the robot system is manually taught the route it needs to take, in the second section the robot system carries out the route it has memorized.

The operation where the robot system is manually taught the route it needs to take is as follows:

• The robot is driven manually by the user in a certain area,

• The movement direction of the robot is determined according to the angle of the direction and drive wheels (2) located at the front section of the body,

• The velocity data received from the sensors (7) are submitted to a computer system (10) to be recorded instantaneously every second via the communication circuit (8),

• The angle changes of the direction and drive wheels (2) are accepted to be direction changes and these data are recorded,

• The direction and velocity information recorded per second is sent to the command system (6) in order to be converted into commands,

• All of the procedures continue in a cycle until the robot remains motionless for a certain period of time.

The operation where the robot system carries out the taught route is as follows:

• The number of cycles is entered into the computer system (10) by the user as it is possible for the route to be cyclic,

• One of the taught routes is selected,

• It is checked if the front wheel is default or not,

• If the rear wheel has been entered as the leading wheel by the user, the rear wheel shall assume the duty of the front wheel or the front wheel may be accepted as the default wheel, • The previously learned commands are submitted to the electric motor (4) from the command system (6),

• Electric motor (4), activates the direction and motion wheels (2) in order to enable the movement of the robot through the learned route.

As our invention is a macro programmable route learning system, it has widespread usage especially in routes that are repeated. For example, if a vacuum cleaner was to be installed on the system, it can record the vacuuming route, speed, direction and vacuuming time information of the vacuum cleaner, during the first vacuuming process via the sensors (7) thereon, and it can perform the same task, repeatedly, thereby enabling the vacuum cleaner to clean the required areas for the required amount of time. Similarly, when a system having a camera is mounted to the body (1) the system can perform planned patrol duty for security purposes. The system can be used for food and drink deliveries in hotel lobbies or cocktails that can deliver food and drinks that are placed on the body (1) portion. It can be used as a transportation service in hospitals or campus areas for visually disabled or walking disabled people. It can be used to deliver products in production lines (in facilities where the departure and arrival points of product delivery constantly change) whose layout may frequently change. It can be used to move household goods in a house from one room to another. It can be used as a courier service for lightweight commodity exchanges in closed and open areas that have smooth and level ground. As can be seen from the examples given above, the invention can be used as a solution for different needs.

Claims

1. 1. A macro programmable smart robot system, which saves manpower and allows a faster application with its route learning ability during procedures that require several repetitions where the routes constantly change; characterized by comprising;

• at least a body (1) that can move forward-backward, right-left and that acts as a carrier,

• a direction and motion wheel (2) positioned at the front and rear section of said body (1) which enables the movement of said body (1) by means of its forward- backward motion and right-left rotation ability,

• side-wheel (3) which can move forward-backward, right-left and can follow said direction and motion wheels (2),

• electric motor (4), which drives the direction and motion wheels (2) that are positioned on the front and rear of the body (1) in order to enable the movement of the body (1),

• chargeable battery (5) which provides the required power for said electric motor

(4),

• a sensor (7) mounted to said direction and drive wheels (2), which shows the direction taken by the direction and drive wheels (2) and which senses the time of forward-backward motion and measures instantaneous velocity.

• a command system (6) which enables to drive the direction and drive wheels (2) and sends a command to the electric motors (4),

• at least a computer system (10) which comprises an algorithm (9) that provides the commands for that enable to perform the motion of the robot, by using the data received from said sensors (7) and which gives these commands to the robot as instructions, into which user logins can be made,

• a communication circuit (8) which submits the information received from the sensors (7) to the computer system (10) and submits the information from the computer system (10) to the command system (6).

2. A macro programmable and smart robot system according to claim 1, characterized by comprising an algorithm formed of two different functions that are; the system is taught the route to be taken manually, and the system carries out the learned route.

3. A macro programmable and smart robot system according to claim 1 and 2, characterized in that, the operation where the robot system is manually taught the route it needs to take, is as follows:

• The robot is driven manually by the user in a certain area,

• The velocity data received from the sensors (7) are submitted to a computer

system (10) to be recorded instantaneously every second via the communication circuit (8),

• The direction and velocity information recorded per second is sent to the

command system (6) in order to be converted into commands,

4. A macro programmable and smart robot system according to claim 1 and 2, characterized in that, the operation where the robot system carried out the route it has learned, is as follows:

• One of the taught routes is selected,

• It is checked if the front wheel is default or not,

• If the rear wheel has been entered as the leading wheel by the user, the rear wheel shall assume the duty of the front wheel or the front wheel may be accepted as the default wheel,

• The previously learned commands are submitted to the electric motor (4) from the command system (6),

5. A macro programmable and smart robot system according to claim 1, characterized in that said body (1) has a rhombus shape.

6. A macro programmable and smart robot system according to claim 1, characterized in that said computer system (10) is compatible with Windows/Linux/ MAC/IOS/ Android operating systems.