KR101769867B1 - System and method for driving robot using user terminal - Google Patents

Abstract

The present invention relates to a robot driving system using a user terminal and a method thereof, and more particularly, it relates to a robot control system that generates a parameter value for a behavior of a robot as a behavior block, designates a use range of a behavior block for each user terminal according to a user experience value level, An action server for adding a behavior block according to whether the robot performs an optional function or not; A user terminal connected to the operation server through a dedicated application (App), combining action blocks generated through the operation server and transmitting the combined action blocks to a robot; And a robot driven according to combined action block information transmitted through the user terminal; Wherein the operation server sets a parameter value for the robot behavior in steps according to the user experience value level, and generates an action block as an icon.

Description

TECHNICAL FIELD [0001] The present invention relates to a robot driving system using a user terminal,

The present invention relates to a robot driving system using a user terminal and a method thereof. More particularly, the present invention relates to a robot driving system using a user terminal and various intuitive action blocks that can be applied to an autonomous mobile robot, To a system for driving an autonomous mobile robot and a method thereof.

Regarding the conventional mobile robot driving technology, there are a large number of registered and disclosed in addition to Korean Laid-Open Patent No. 10-2014-0040094 (hereinafter referred to as 'prior art').

The above prior art document is a telepresence robot as shown in Fig. 1, which comprises an upper portion; A lower portion rotatably coupled to the upper portion; A drive system configured to move the remote-acting robot in accordance with a drive command; A control system in communication with a drive system, the control system being configured to generate a drive command to cause the drive system to move the remote event robot; And a rotating system configured to rotate the robot in a second traveling direction from a first traveling direction by independently rotating the upper and lower portions, wherein the rotating system is configured to move the upper portion of the robot toward the second traveling direction Rotate; Detecting that the upper portion of the robot has reached a panning limit of the upper portion of the robot with respect to the lower portion of the robot; Starting to rotate the lower portion of the robot toward the second travel direction at the panning limit of the upper portion of the robot; Detecting that the top of the robot has reached a second travel direction; The robot is rotated in the second traveling direction by continuously rotating the lower portion of the robot toward the second traveling direction while simultaneously rotating the upper portion of the robot in the opposite direction so that the upper portion of the robot is maintained in the second traveling direction .

Recently, civil, military, and educational robots have been actively developed.

The existing LEGO NXT products are equipped with sensors and motors in the control unit to enhance scalability, but they are priced high. In addition, domestic Robotiz's olloid products have developed self-developed servo motors, and the quality of the equipment is good, but the price is similar to that of LEGO.

These conventional products are mostly expensive, and as shown in FIG. 2, the operation setting is input to the robot through a programming method requiring expert knowledge. As a result, the control algorithm can not be set and used personally, And it is very difficult for ordinary people or students who do not have specialized knowledge to handle it.

Therefore, it is possible to create a motion block having a more intuitive form of a parameter of a behavior mode that the robot can move, and to download and combine the generated motion block using a user terminal to directly use the parameter in an autonomous mobile robot There is a demand for a technology that can easily set the behavior of the robot with a few touches or clicks on the device at a low cost.

Korean Patent Publication No. 10-2014-0040094.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide an apparatus and method for generating a behavior block for a robot, And the like.

A second technical object of the present invention is to provide a method and apparatus for generating a behavior block for a robot in the form of an icon and providing the action block in the form of an app applicable to a user mobile terminal such as a smart phone, have.

According to a third aspect of the present invention, there is provided a robot control method for wirelessly transmitting behavior block information combined through a user terminal to a robot, so that the robot can be easily driven in various forms of behavior based on combined motion block information, And an extension kit to which a camera, a sensor, a robot arm, a wheel, and the like can be attached, thereby performing a variety of optional functions for cooperative travel, support travel, and outdoor travel .

A fourth technical object of the present invention is to provide a wireless communication system and a wireless communication method capable of exchanging position and operation state information between robots using wireless communication such as Bluetooth and Wi-Fi, And detecting the presence or absence of contact between the robots, thereby realizing the operation pattern of the robot according to the user's intention without a great obstacle.

According to an aspect of the present invention, there is provided a robot driving system using a user terminal, the robot driving system comprising: An operation server for adding a behavior block according to a new level or an optional function of the robot; A user terminal connected to the operation server through a dedicated application (App), combining action blocks generated through the operation server and transmitting the combined action blocks to a robot; And a robot driven according to combined action block information transmitted through the user terminal; Wherein the operation server sets a parameter value for the robot behavior in steps according to the user experience value level, and generates an action block as an icon.

Also, the operation server may classify steps according to the level of the user experience value, and may include a parameter for at least one of robot behavior among a moving direction, a speed, a turn, a back turn, A behavior block generation unit for generating a behavior block by setting a value and making it an icon; A storage unit storing behavior blocks generated through the behavior block generation unit including a basic operation of the robot; The use range of the behavior block according to the level of the user experience value is discriminated and the experiential level according to whether or not the robot is traveling according to the user block and the experiential level according to the combination of the behavior blocks is identified, A usage scope specification unit for specifying a scope; And an additional unit that can add a new level according to the user experience value level and add a behavior block according to a new level or a behavior block according to whether an optional function of the robot is performed or not; And a control unit.

The adder may further include a behavior block for performing a function of the option module when receiving the option module information for the robot from the user terminal.

The user terminal may further include a behavior block combining unit for downloading and combining the behavior blocks generated through the operation server; And receiving and verifying position and operation state information from the robot using at least one communication method among Bluetooth, Bluetooth, and Wi-Fi, and verifying the combined action block information through the action block combination unit An interface unit for transmitting to the robot; And a control unit.

Also, the robot may be configured such that an extension kit can be coupled to the robot so that a module can be installed for performing an optional function, and a plurality of holes are formed on each surface of the robot. An interface for receiving combined action block information from the user terminal; And a driving unit for driving the robot based on the combined action block information received from the user terminal. And a control unit.

The robot may further include an operation state information acquisition unit that acquires position and operation state information using a sensor that senses motion; An obstacle and a contact sensing unit for sensing an obstacle using at least one sensor among a camera, an infrared sensor and an ultrasonic sensor, and detecting whether or not the robot is in contact with another robot using an NFC or an RFID tag; A communication unit for transmitting and receiving position and operation status information with another robot using at least one communication method among Bluetooth, Wi-Fi, and Wi-Fi; And a control unit.

In addition, the interface transmits information on the position and operation state of the robot to the user terminal, and transmits information on whether or not an obstacle is detected and whether or not the robot is in contact with another robot.

The user experience value level is a level of experience with at least one of the direct control, independent autonomous driving, cooperative driving, and assisted driving using the user terminal for the robot.

According to another aspect of the present invention, there is provided a method for driving a robot using a user terminal, the method comprising the steps of: (a) (b) The operating server sets parameter values for at least one of robot actions among a moving direction, a speed, a turn, a back turn, and an obstacle detection distance for each step, Generating a motion block; (c) identifying the experience level according to whether or not the robot is traveling according to the combination of the action blocks and the experiential level according to the combination of the action blocks, and designating the use range of the action block for each user terminal according to the level; (d) determining whether or not optional server information for the robot is received from the user terminal; (e) when the option module information is received as a result of the step (d), the operation server adds a behavior block for performing a function of the option module; (f) downloading and combining the action blocks generated by the user terminal through the operation server; (g) transmitting, by the user terminal, the combined action block information to the robot; (h) determining whether the robot has received position and operation state information from the other robot; And (i) driving the robot on the basis of the combined action block information received from the user terminal, when position and operation state information is not received from the other robot as a result of the determining in the step (h); .

And (j) if position and operation state information is received from the other robot as a result of the determination in step (h), the robot notifies position and operation state information of the other robot, Sensing and detecting presence or absence of contact with other robots; And a control unit.

In the step (h), the robot may communicate with another robot in at least one of Bluetooth, Wi-Fi, and the like.

The user experience value level is a level of experience with at least one of the direct control, independent autonomous driving, cooperative driving, and assisted driving using the user terminal for the robot.

The present invention provides a method of generating a behavior block for a robot in an intuitive form and selecting and combining the behavior block, thereby implementing a behavior method of the user's individual robot, downloading and combining the generated behavior block using a user terminal And drives the autonomous mobile robot.

According to the present invention, unlike the conventional method in which a control algorithm can not be set and used by inputting an operation setting to a robot through a programming method requiring expert knowledge, a user directly moves the robot, There is an effect that more various operation patterns can be set.

In addition, according to the present invention, it is possible to generate a behavior block for a robot in the form of an icon and to provide it in the form of an app applicable to a mobile terminal such as a smart phone, thereby increasing the scalability of use.

According to another aspect of the present invention, there is also provided an effect that the robot can be easily operated in various forms of behavior based on the combined action block information by wirelessly transmitting the action block information combined through the user terminal to the robot.

According to the present invention, the robot body is combined with an expansion kit to which an optional module for performing optional functions such as a robot arm, an extension wheel, an LED, a camera, an infrared sensor and an ultrasonic sensor, Thereby making it possible to perform optional functions for various missions such as cooperative driving, support driving, and outdoor driving.

In addition, according to the present invention, it is possible to exchange position and operation state information between robots using wireless communication such as Bluetooth, Wi-Fi, etc., and each robot can receive peripheral obstacles through various sensors Sensing the presence or absence of contact between the robots, and thus it is possible to implement the operation pattern of the robot according to the user's intention without a great obstacle.

1 is a block diagram of a technique for setting an operation of a conventional autonomous mobile robot.
FIG. 2 is an example showing a conventional method of inputting an operation setting to a robot through a programming method; FIG.
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot driving system using a user terminal.
FIG. 4 illustrates an example of a behavior block generated by creating a user experience level level and an icon separated into a basic step, a standard step, and an application step according to the present invention.
5 is a diagram illustrating an example in which a behavior block generation unit according to the present invention is a developer terminal or a behavior block generation unit is uploaded with a behavior block generated through a developer terminal.
6 is a diagram illustrating an example of direct control, independent autonomous driving, cooperative driving, and assisted driving using a user terminal for explaining experience levels according to the present invention.
FIG. 7 illustrates an example of combining a behavior block combination by a behavior block of a user terminal according to the present invention. FIG.
8 is an external view of a robot having a cubic shape according to the present invention.
9 is an exemplary view showing a state in which the extension wheel and its driving module according to the present invention are mounted.
10 is an overall flowchart of a method of driving a robot using a user terminal according to the present invention.

Specific features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings. It is to be noted that the detailed description of known functions and constructions related to the present invention is omitted when it is determined that the gist of the present invention may be unnecessarily blurred.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings.

The robot driving system using the user terminal according to the present invention will be described with reference to FIGS. 3 to 9. FIG.

FIG. 3 is a block diagram conceptually showing a robot driving system S using a user terminal according to the present invention. As shown in FIG. 3, the robot 100 includes an operation server 100, a user terminal 200, and a robot 300 .

The operation server 100 generates a parameter value for various actions of the robot 300 as a behavior block, designates a use range of a behavior block for each user terminal 200 according to a user experience value level, 3, the behavior block generation unit 110, the storage unit 120, the use range designation unit 130 (FIG. 3) And an adder 140. [0033]

4, the action block generator 110 classifies the steps according to the level of the user experience value in the basic step, the standard step, and the application step, And various parameter values for the robot behavior such as the moving direction (angle), speed, turn, back turn, and obstacle detection distance are set variously and iconized as an action block.

For example, in the basic step, a motion block is generated as an iconized block at a speed of '30 m / s', 'turn' and 'back turn' And 'turn with obstacles' (turn).

5 (a), the action block generation unit 110 may be a separate developer terminal, and the behavior block generation unit 110 may generate the action block 10 through the developer terminal 10 as shown in FIG. 5 (b) Or a method for uploading the action block. For reference, the developer terminal 10 is a computer device including a personal computer, a smart phone, a tablet PC, and the like, which can be connected to various webs.

The storage unit 120 stores the action blocks generated through the action block generation unit 110 including the basic operation of the robot 300.

The use range designation unit 130 classifies the use range of the behavior block according to the user experience level and confirms the experiential level according to whether or not the robot is traveling and the experience of each user terminal 200 according to the combination of the action blocks, And a usage range of a behavior block for each user terminal 200 according to the usage range.

Here, the user experience value level is a level of the user experiential value, as shown in FIG. 6, in which the direct control (FIG. 6A), the independent autonomous travel (FIG. 6B), the cooperative running The use range designation unit 130 may be included in the basic stage when the level belongs to the basic stage as the experiential level for the support driving (Fig. 6 (c) To be available.

The adding unit 140 may add a new level according to the user experience level and add a behavior block according to a new level or an action block according to whether the robot 300 performs an optional function.

More specifically, when receiving the option module information for the robot 300 from the user terminal 200, the adding unit 140 may add a behavior block for performing the function of the option module.

That is, an optional module for performing optional functions such as a robot arm, an extension wheel, an LED, a camera, an infrared sensor, an ultrasonic sensor, an NFC, and an RFID tag may be applied to the robot 300. For example, In the case where a camera, an infrared sensor, an ultrasonic sensor, or the like capable of identifying an obstacle is applied, the adding unit 140 receives the corresponding option module information for the robot 300 from the user terminal 200, You can add action blocks.

The user terminal 200 accesses the operation server 100 through a dedicated application and performs a function of combining the action blocks generated through the operation server 100 and transmitting the combined action blocks to the robot 300 And includes a behavior block combination unit 210 and an interface unit 220 as shown in FIG.

Specifically, the action block combining unit 210 downloads and combines a plurality of action blocks generated through the operation server 100 as shown in FIG.

The interface unit 220 receives and confirms the position and operation state information of the robot 300 from the robot 300 and transmits the combined action block information to the robot 300 through the action block combining unit 210. In addition, the interface unit 220 may transmit a basic drive control signal to the robot 300.

In the present embodiment, the communication method between the user terminal 200 and the robot 300 is set to a wireless communication method such as Bluetooth, Wi-Fi, etc., but the present invention is not limited thereto.

8, the robot 300 is driven in accordance with the information detected through the sensor and the combined action block information transmitted through the user terminal 200, as shown in Fig. 3 An operation state information acquisition unit 320, an obstacle and contact detection unit 330, an interface unit 340, a communication unit (not shown) 350, and a driving unit 360.

Specifically, the body unit 310 may be coupled with an expansion kit such that a module for performing optional functions such as a robot arm, an extension wheel, an LED, a camera, an infrared sensor, an ultrasonic sensor, an NFC, For this, a plurality of holes may be formed on each surface.

As an example, a configuration in which an extension wheel and an expansion module for the extension wheel are fitted so as to be suitable for outdoor driving is as shown in FIG.

The operation state information acquisition unit 320 acquires position and operation state information using an acceleration sensor, a gyro sensor, a magnetic sensor, or the like.

The obstacle and contact sensing unit 330 senses an obstacle by using a camera, an infrared sensor, an ultrasonic sensor, or the like, and detects whether or not the robot is in contact with the other robot using an NFC or an RFID tag.

The interface unit 340 transmits the position and operation state information of the robot 300 acquired through the operation state information acquisition unit 320 to the user terminal 200 and receives the combined action block information from the user terminal 200 do. In addition, the interface unit 340 may transmit information including whether the obstacle sensed by the obstacle and the contact sensing unit 330 and whether or not an obstacle is detected and information on whether or not an obstacle is in contact with another robot.

The communication unit 350 transmits and receives position and operation state information to / from another robot using wireless communication such as Bluetooth, Wi-Fi, or the like.

The driving unit 360 is connected to both ends of the lower portion of the body 310 and is connected to a wheel motor for driving and receives information sensed through the operation state information acquisition unit 320 and the obstacle and the contact sensing unit 330, The robot 300 is driven based on the position and operation state information of the other robot received through the robot 200 and the combined action block information received from the user terminal 200.

Hereinafter, a robot driving method using a user terminal using the above-described system will be described with reference to FIG.

FIG. 10 is a flowchart illustrating a method of driving a robot using a user terminal according to the present invention. As shown in FIG. 10, the behavior block generation unit 110 of the operation server 100 includes a basic step, a standard step, (S10), and the robot behavior such as the moving direction (angle), the speed, the turn, the back turn, and the obstacle detection distance is divided into steps according to the user experience level by the application step (S20), and an icon is generated as a whole to generate a motion block (S30).

Then, the use range designation unit 130 checks the experiential level according to experience and experience of robot driving according to the combination of the action blocks (S40) (S50).

Also, the adding unit 140 determines whether optional module information for the robot 300 is received from the user terminal 200 (S60).

If it is determined in operation S60 that the option module information is received, the adding unit 140 adds a behavior block for performing the function of the option module (S70).

The action block combining unit 210 of the user terminal 200 downloads and combines a plurality of action blocks generated through the operation server 100 in operation S80. The interface unit 220 includes a behavior block combining unit 210 ) To the robot 300 (S90). At this time, the interface unit 220 may receive and check the position and operation state information of the robot 300 before transmitting the combined action block information.

The interface unit 340 of the robot 300 receives the combined action block information from the user terminal 200 in step S100 and the communication unit 350 of the robot 300 transmits the action block information in the form of Bluetooth, Fi or the like to determine whether position and operation state information has not been received from another robot (S110).

If it is determined in operation S110 that the position and operation state information is not received from the other robot, the driving unit 360 drives the robot 300 based on the combined motion block information in operation S120.

If it is determined in operation S110 that the position and operation state information is received from another robot, the communication unit 350 transmits the received position and operation state information of the other robot to the driver 360 (S130) The controller 360 further reflects the position and operation state information of the other robot and information sensed by the operation state information acquisition unit 320 and the obstacle and the contact sensing unit 330 to drive the robot 300 (S140) .

If it is determined in operation S60 that the option module information is not received, the adding unit 140 proceeds to operation S80.

As described above, the robot driving system and the method using the user terminal according to the present invention can generate and select behavior blocks for robots in an intuitive manner, Method, and drives the autonomous mobile robot by downloading and combining the generated motion block using the user terminal.

In other words, it is possible to implement the behavior of individual user's robots, thereby improving user's creativity, problem solving ability, understanding of robot and control system, and enhancing interest and understanding of robot I have.

While the present invention has been particularly shown and described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It will be appreciated by those skilled in the art that numerous changes and modifications may be made without departing from the invention. Accordingly, all such appropriate modifications and changes, and equivalents thereof, should be regarded as within the scope of the present invention.

100: Operation server 200: User terminal
300: robot 110: action block generating unit
120: storage unit 130: use range designation unit
140: adder 210: action block combination part
220: interface unit 310:
320: Operation state information acquisition unit 330: Obstacle and contact detection unit
340: interface unit 350: communication unit
360: driver 10: developer terminal

Claims (12)

A parameter value for a robot's action is generated as a motion block, a range of use of a motion block for each user terminal is specified according to a user experience level, and a motion block according to a new level or an optional function of the robot is added An operational server;
A user terminal connected to the operation server through a dedicated application (App), combining action blocks generated through the operation server and transmitting the combined action blocks to a robot; And
A robot driven according to combined action block information transmitted through the user terminal; ≪ / RTI >
The operating server,
A parameter value is set for at least one of robot behavior among a moving direction, a speed, a turn, a back turn, and an obstacle detection distance for each step, a behavior block generation unit for generating a behavior block by converting the icon into an icon;
A storage unit storing behavior blocks generated through the behavior block generation unit including a basic operation of the robot;
The use range of the behavior block according to the level of the user experience value is discriminated and the experiential level according to whether or not the robot is traveling according to the user block and the experiential level according to the combination of the behavior blocks is identified, A usage scope specification unit for specifying a scope; And
And an additional unit that can add a new level according to the user experience value level and add a behavior block according to a new level or a behavior block according to whether an optional function of the robot is performed,
Wherein a parameter value for the robot behavior is set in a stepwise manner according to the user experience value level, and an icon is created as a behavior block.
delete The method according to claim 1,
[0030]
And a behavior block for performing a function of the option module is added when the option module information for the robot is received from the user terminal.
The method according to claim 1,
The user terminal comprises:
A behavior block combining unit for downloading and combining the behavior blocks generated through the operation server; And
And receives and confirms position and operation state information from the robot using at least one communication method among Bluetooth, Bluetooth, and Wi-Fi, and transmits the combined action block information through the action block combination unit to the robot To an interface; And a controller for controlling the robot.
The method according to claim 1,
The robot includes:
A body portion having a shape in which an extension kit can be coupled so that a module for performing an optional function can be attached, and a plurality of holes are formed on each surface;
An interface for receiving combined action block information from the user terminal; And
A driving unit for driving the robot based on the combined action block information received from the user terminal; And a controller for controlling the robot.
6. The method according to claim 1 or 5,
The robot includes:
An operation state information acquisition unit that acquires position and operation state information using a sensor that senses motion;
An obstacle and a contact sensing unit for sensing an obstacle using at least one sensor among a camera, an infrared sensor and an ultrasonic sensor, and detecting whether or not the robot is in contact with another robot using an NFC or an RFID tag; And
A communication unit that transmits and receives position and operation state information with another robot using at least one of Bluetooth, Wi-Fi, and the like; And a controller for controlling the robot.
6. The method of claim 5,
The interface unit includes:
Wherein the controller transmits the position and operation state information of the robot to the user terminal, and transmits information on whether or not an obstacle is detected and whether or not the robot is in contact with another robot.
The method according to claim 1,
The user experience value level is set to &
Wherein the robot is a level of experience with at least one of the direct control, the independent autonomous driving, the cooperative driving, and the supporting driving using the user terminal for the robot.
(a) the operating server classifying steps according to a user experience level;
(b) The operating server sets parameter values for at least one of robot actions among a moving direction, a speed, a turn, a back turn, and an obstacle detection distance for each step, Generating a motion block;
(c) identifying the experience level according to whether or not the robot is traveling according to the combination of the action blocks and the experiential level according to the combination of the action blocks, and designating the use range of the action block for each user terminal according to the level;
(d) determining whether or not optional server information for the robot is received from the user terminal;
(e) when the option module information is received as a result of the step (d), the operation server adds a behavior block for performing a function of the option module;
(f) downloading and combining the action blocks generated by the user terminal through the operation server;
(g) transmitting, by the user terminal, the combined action block information to the robot;
(h) determining whether the robot has received position and operation state information from the other robot; And
(i) driving the robot based on the combined action block information received from the user terminal, when the position and operation state information is not received from the other robot as a result of the determining in the step (h); Wherein the robot is a robot.
10. The method of claim 9,
(j) if the position and operation state information is received from the other robot as a result of the determination in step (h), the robot notifies the position and operation state information of the other robot, the position and operation state information of the robot, And information on presence or absence of contact with other robots, and further driving the robot by reflecting at least one or more pieces of information; Wherein the robot is a robot.
10. The method of claim 9,
In the step (h)
Wherein the robot communicates with another robot in at least one of Bluetooth, Wi-Fi, and the like.
10. The method of claim 9,
The user experience value level is set to &
Wherein the level of experience is at least one level of experience with at least one of direct control, independent autonomous driving, cooperative driving, and assisted driving using the user terminal with respect to the robot.

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