KR20020061186A - A study system for the control, design and application of robot - Google Patents

Abstract

The present invention relates to a learning system for controlling, designing, and utilizing a robot. The present invention relates to a robot and its applications for all learners ranging from beginners to middle and high school students and college students who learn computers using computer-based educational tools. It is constructed and assembled to make it easy to learn the principles and applications of science.

The control means is Visual Basic means, which is an ActiveX control tool that can be used in conjunction with icon means, C language means, and Visual Basic (VB) .The learner assembles and connects the robot and then uses the program to control the robot. It's the principle of moving and applying the algorithm you think.

Even beginners who don't know computers can easily access by using the GUI (Graphic User Interface) -based programmed icon means, and the C language means for middle and high school students. The robot can be controlled based on the visual basic means, and the visual basic means can control the robot using the visual basic that is already used commercially.

Description

A study system for the control, design and application of robot}

The present invention relates to a learning system for controlling, designing, and utilizing a robot, and more particularly, to easily understand and repair the use and operation of a robot, to acquire logical knowledge, and to easily learn and use the structure of a basic robot game. It is about a science textbook.

In terms of controlling robots in learning using robots and computers, the main function is sequence control, which controls tasks sequentially according to a predetermined order. It was based on a ladder.

In the early stage of sequence control, ladder-based controllers were constructed using relays, and PLC programming was developed for them.

This conventional ladder method has disadvantages in many respects in view of the convenience of serial processing of a method that relies on parallel processing of sequential control.

For example, it is difficult to program the process automation, it is difficult to understand the written program, and the complexity may be caused in dealing with the signal interference phenomenon in which the ON / OFF signals operate simultaneously.

In addition, in terms of software, the conventional form of learning equipment does not show a great approach to the form of learning through the use of robots and computers.

Although the form of controlling the robot itself is generalized, the robot has not been the foundation for confirming the result of the algorithm application.

In the reality that the learning environment utilizing the equipment and the pursuit of interest is required, the present invention has been made to solve the inevitable necessity and the above-mentioned problems, the PLC user is easy to learn, the programming process is simple, the program created The purpose is to provide a learning system for robot control, design, and utilization that can provide a PLC with a flow chart method that is easy to read and correct errors.

The present invention provides a GUI-based icon means by a flow chart method, a C language-based C language means, and a visual basic means that can be used in conjunction with Visual Basic as a robot control means. It is a system that moves a robot using program means and applies the algorithm that it thinks.

1 is a schematic diagram schematically illustrating a process of controlling a robot with the present invention based on a computer.

Figure 2a is a diagram showing a process in which the algorithm is delivered to the robot by the icon means in accordance with the present invention to operate.

2B and 2C illustrate an icon appearing in the step of programming by applying an algorithm to an input and output port according to the present invention.

FIG. 3 is a view showing an initial screen of an operation yard for registering, inserting, and deleting functions supported for efficient data management and programming according to the present invention.

4A is an example flowchart for explaining a programming example of the present invention.

4B is an example view applied to the present invention based on the flowchart of FIG. 4A.

5 is an initial screen of icon means which is the core of the present invention.

Figure 6 is a block diagram of a device embedded in the robot in the present invention.

<Description of the symbols for the main parts of the drawings>

1: control means 1a: icon means

1b: C language means 1c: Visual basic means

2a: touch sensor 2b: light sensor

2c: temperature sensor 2d: standby time

2e: Sound 2f: Stop

2g: reverse direction 2h: forward direction

2i: Lamp 3a: Registration

3b: Insert 3c: Delete

5a: Menu 5b: Icon

5c: Work area 5d: I / O icon

5e: Movement Field 6: Computer

7: robot 41: central processing unit

42: input icon 43: output icon

44 display 45 program RAM

46: EPROM47: communication module

49: switch input icon 50: external expansion port

Hereinafter, the present invention will be described with reference to FIGS. 1 to 6.

1 is a schematic diagram illustrating the overall configuration of the present invention.

The application of the learner's algorithm based on the computer 6 goes through a process of transmitting and operating to the robot 7.

At this time, there is a control means 1 that can control the robot 7 in three ways, namely, icon means 1a, C language means 1b, and visual basic means 1c.

The icon means (1a) is the most essential part of the present invention is described in Figures 2a to 2c, the flow chart method (easy to access even for beginners who do not know the computer 6) GUI (Graphic User Interface) based program.

The C language means 1b is for intermediate users to control the robot 7 based on the C language.

The visual basic means 1c controls the robot 7 by using a visual basic that is commercially available for an advanced person.

Access through the C language means 1b and the visual basic means 1c provides a simple function, enables a program, and the instructions provided are divided into general instructions, variable related instructions, sensor control, flow control, and the like.

First, the icon means 1a will be described.

2A shows the execution procedure of the icon means program.

First, a port is connected (S2a), and the input / output icon is clicked (selected) in FIGS. 2B and 2C (S2b), and an input / output icon is inserted into the work area 5c of FIG.

The work area 5c basically has a start and end icon, and an input / output icon is inserted between start and end.

The input icon 42 of FIG. 2B is composed of a touch sensor 2a, a light sensor 2b, and a temperature sensor 2c depending on the port, and a standby time 2d and various input sounding functions 2e. To provide.

The output icon 43 of Fig. 2C is composed of forward, reverse, forward 2h, reverse 2g, stop 2f, and ramp 2i having a power of 1-8.

The learner's application of the algorithm consists of a combination of the input icon 42 and the output icon 43 described above.

When the program is completed, the task is transferred to the robot 7, which is largely subjected to three steps.

The program number is selected (set) (S2c), and the transfer preparation (S2d) and the transfer (S2e) to actually move the job.

The principle of inserting an input / output icon between the start and end buttons in the icon means 1a is to modify the algorithm already in progress. Problems, etc. This is solved by giving an index to the input and output icons.

The algorithm of the insertion line and the deletion line provided in the present invention is as follows.

First, in the first code, if the insertion line, the index of the current working step button is

FunBtn (j) .NoGoto = FunBtn (j) .NoGoto + 1

DisplayCombo j, 0

Else

ComboYesNo j

End if

Next j

If you insert a node in the middle,

MoveFunBtns 1, StepCur

InitFunBtn (Index + 1)

LoadAll 2, StepCur, Index + 1

For j = 1 To MaxStep

If FunBtn (j) .FunBtnIndex> 12 And FunBtn (j) .FunBtnIndex <22 Then

DisplayGotoLine j, FunBtn (j) .NoGoto-1

End if

Next j

If it is a correction line, the copied function button is deleted and the deletion line is moved to the end button.

MaxStep = MaxStep-1

DeleteFunBtn i + 1

InitFunBtn (Index + 1)

LoadAll 3, i + 1, Index + 1

LineColorDisplay MaxStep, InsertFunLine

At this time, if the selection of a simple icon does not have a big problem, but when selecting a large number of icons in the work area (5c), the automatic movement of the scroll should be made for the user's convenience, the implementation of automatic movement is the principle of the second code.

The second code first moves in the start, start line, and end X axis directions,

PicStart.Left = PicStart.Left-HPreValue

PicEnd.Left = PicEnd.Left-HPreValue

Various icons move in the X-axis direction.

For i = 1 To MaxStep

FunLine (i) .X1 = FunLine (i) .X1-HPreValue

FunLine (i) .X2 = FunLine (i) .X2-HPreValue

LineArrow1 (i) .X1 = LineArrow1 (i) .X1-HPreValue

LineArrow1 (i) .X2 = LineArrow1 (i) .X2-HPreValue

LineArrow2 (i) .X1 = LineArrow2 (i) .X1-HPreValue

LineArrow2 (i) .X2 = LineArrow2 (i) .X2-HPreValue

PicFunBtn (i) .Left = PicFunBtn (i) .Left-HPreValue

Next i

Next, each input icon 42 and output icon 43, i.e., a plurality of touch sensors 2a, light sensors 2b, temperature sensors 2c, standby time 2d, beep 2e and stop ( 2f), the reverse direction (2g), the forward direction (2h), and when the attribute icon of the lamp (2i) should be moved.

The input and output icons 42 and 43 have attributes.

The operation of associating this attribute with each icon is the same as in the third code.

In the third code, for example, the forward 2h and the reverse 2g movements have the property of power, which recognizes the degree of power in the forward 2h movement.

frmPower.Visible = False

optPower (Index) .Value = False

Replacing a picture with a corresponding function icon and a picture with a corresponding function property icon are as follows.

PicAttribute (StepCur) .Picture = imgListAttribute.ListImages (Index + 1) .Picture

FunBtn (StepCur) .AttributeIndex = Index + 1

In the case of the waiting time 2d and the beeping 2e, the attributes can be connected in the same way.

After associating the property, perform the following actions with the property icon click event.

In case of reverse A, reverse B, reverse C, forward A, forward B, forward C,

frmPower.Left = PicAttribute (Index) .Left

frmPower.Top = PicAttribute (Index) .Top

frmPower.Visible = True

If it's standby time,

frmWait.Left = PicAttribute (Index) .Left

frmWait.Top = PicAttribute (Index) .Top

frmWait.Visible = True

If it's sounding,

frmSound.Left = PicAttribute (Index) .Left

frmSound.Top = PicAttribute (Index) .Top

frmSound.Visible = True

3 is a comprehensive view of the operating field 5e which is provided independently.

The operation field 5e has a switch input icon 49 which is three menus of registration (3a), insertion (3b) and deletion (3c), and also has a storage function of the operation field 5e itself.

It is possible to register a specific part of the work area 5c in the operation field 5e, delete the registered contents, and insert it into the work area 5c to help the learner understand the input / output concept. , Can give convenience.

The fourth code registers (3a), inserts (3b), and deletes (3c) the operation field 5e. The algorithm for registering the operation field 5e constructs a new module with input values, and a list box. Output the value built into.

newBlockTag.FunBtnCnt = Cnt

Mid (newBlockTag.FunBtnCode, 1) = BlockCode

listName.AddItem newBlockTag.FunBtnName

The record details are then stored in a static array.

ReDim ArrayTemp (1 To listName.ListCount) As BlockTag

For iIndex = 1 To UBound (Array4BlockTag)

ArrayTemp (iIndex) = Array4BlockTag (iIndex)

Next iIndex

ArrayTemp (listName.ListCount) = newBlockTag

ReDim Array4BlockTag (1 To listName.ListCount) As BlockTag

For iIndex = 1 To UBound (Array4BlockTag)

Array4BlockTag (iIndex) = ArrayTemp (iIndex)

Next iIndex

The algorithm to insert 3b into the operation field 5e notifies by message when there is no operation to insert.

If listName.ListCount = -1 Or listName.ListCount = 0 Then

MsgBox "There is no action to insert."

The registration of the operation to insert follows the following algorithm.

For j = 1 To TempBlockTag.FunBtnCnt

MyPos = InStr (StartPos, TempBlockTag.FunBtnCode, "", 1)

Index = Mid (TempBlockTag.FunBtnCode, StartPos, MyPos-StartPos)

unBtnTemp.FunBtnIndex = Mid (TempBlockTag.FunBtnCode, StartPos, MyPos-StartPos)

StartPos = MyPos + 1

MyPos = InStr (StartPos, TempBlockTag.FunBtnCode, "", 1)

FunBtnTemp.AttributeIndex = Mid (TempBlockTag.FunBtnCode, StartPos, MyPos-StartPos)

StartPos = MyPos + 1

MyPos = InStr (StartPos, TempBlockTag.FunBtnCode, "", 1)

FunBtnTemp.Src1 = Mid (TempBlockTag.FunBtnCode, StartPos, MyPos -StartPos)

StartPos = MyPos + 1

MyPos = InStr (StartPos, TempBlockTag.FunBtnCode, "", 1)

FunBtnTemp.YesGoto = Mid (TempBlockTag.FunBtnCode, StartPos, MyPos-StartPos)

StartPos = MyPos + 1

MyPos = InStr (StartPos, TempBlockTag.FunBtnCode, "", 1)

FunBtnTemp.NoGoto = Mid (TempBlockTag.FunBtnCode, StartPos, MyPos-StartPos)

FunBtnTemp.NoGoto = FunBtnTemp.NoGoto + j

If FunBtnTemp.NoGoto <1 Then

FunBtnTemp.NoGoto = 1

ElseIf FunBtnTemp.NoGoto> = MaxStep Then

FunBtnTemp.NoGoto = MaxStep + 2

End if

StartPos = MyPos + 1

f_Insert = True

optFunItem_DblClick FunBtnTemp.FunBtnIndex-1

Next j

In the operation field 5e, the algorithm of deletion 3c checks first when there is no item to delete.

If listName.ListIndex = -1 Then

MsgBox "No items are selected."

Deleting an item requires two steps to delete it.

First, delete the corresponding item in the dynamic array as follows:

ReDim ArrayTemp (1 To iTotalIndex) As BlockTag

iIndex2 = 1

For iIndex = 1 To iTotalIndex

If iIndex <> (listName.ListIndex + 1) Then

ArrayTemp (iIndex2) = Array4BlockTag (iIndex)

iIndex2 = iIndex2 + 1

End if

Next iIndex

ReDim Array4BlockTag (1 To iIndex2) As BlockTag

For iIndex = 1 To iIndex2

Array4BlockTag (iIndex) = ArrayTemp (iIndex)

Next iIndex

Then, delete the selected item in the list box.

listName.RemoveItem (listName.ListIndex)

4B is a result of applying the flowchart of FIG. 4A as a schematic example of the present invention.

After moving the A motor forward with the force of 3 (S10) and resting for 2 seconds (S12) and then stopping (S14), and moving the B motor forward with the force of 3 (S16) and then resting for 2 seconds ( S18) to stop (S20).

If the touch sensor 2a 1 is pressed or checked (S22), if it is pressed, the above steps (S10-S20) are repeated, otherwise it is checked whether the size of the light sensor 2b 2 is smaller than or equal to 10 (S24).

If the intensity of light is within the range, the process returns to step S16 of advancing the B motor, otherwise the operation ends after the lamp 2i is turned on (S26).

5 shows an initial screen of the icon means 1a, in which a menu 5a which is an area which controls all functions of the screen, an icon 5b which is an area where the menu 5a is visualized, and the result of the actual work can be checked. The work area 5c is composed of an input / output icon 5d, which is an icon-based area on which work is based, and an operation yard 5e, which is an area for controlling and controlling work data.

The menu 5a is largely divided into four parts: file, view, transfer, and help.

The icon 5b is a region in which GUI characteristics are alive, so that the user can easily become familiar with the iconized data and matches the items in the basic menu.

In the work area 5c, an icon representing the start and the end is presented as an initial value, and an input / output icon 5d is brought to the work area 5c therebetween.

The registration 3a in the operation yard 5e stores the portion selected in the work area 5c in the operation yard 5e.

Insertion 3b adds the work stored in the operation field 5e to the desired portion of the work area 5c.

The deletion 3c removes the contents stored in the operation yard 5e from the operation yard 5e.

6 is a block diagram of the central processing unit 41 embedded in the robot 7 and its peripheral devices.

In the input icon 42, a sensor and a power signal are processed together using a two-wire type, which is a method using two-wire lines which is convenient for learning.

This method is used to prevent the destruction of equipment by the polarity of power when connecting the power of the sensor, and to simplify the circuit and simplify the line.

Among the sensors constituting the input icon 42, the touch sensor 2a determines whether the robot 7 has clicked on the touch sensor 2a.

The illuminance in the light sensor 2b is given arbitrarily by the user and forms a condition through comparison of the given illuminance values.

The temperature at the temperature sensor 2c is given to the user arbitrarily and reads the given temperature value.

In Sound Making (2e), the sound is selected by setting various types of sounds.

In addition, various sensors for detecting humidity, distance to an object, etc. may be attached to the robot 7 and registered and controlled by software.

The output icon 43 does not merely control the ON / OFF function, but various controls can be experimented with a multi-step current control function, a reverse power supply function, and a power switching function in the forward direction.

The communication module 47 simplifies the line by wirelessly injecting the program without wired injection and can control the robot 7 remotely.

The program RAM 45 may inject a program from the computer 6 to upgrade a new program to execute the latest version, and the program may be easily modified and upgraded.

The switch input icon 49 is the registration 3a, the insertion 3b, and the deletion 3c of the operation field 5e.

EPROM (46, Eraseable Programmable Read-Only Memory) is a PROM that erases and reuses the contents stored in the memory. When intense UV light is emitted through a glass window attached to the surface of the memory chip, the contents of the ROM are deleted.

The central processing unit 41 contains logic circuits for processing instructions of the program.

Reference numeral 44 is a display and 50 is an external expansion port.

The visual basic means 1c provides an ActiveX control to control the robot 7 for the visual basic user.

Through this control, various application programs can be made and the robot 7 control with more functions can be made.

In particular, the state of the robot 7 or the movement of the robot 7 can be variously output on the screen using a basic program.

The member function of the visual basic means 1c is a general command of a condition and processing instruction of a command, a sensor control command of an input and a judgment processing command of a sensor, and other commands of a communication setting and a sound command.

The C language means 1b can use this means as a basic course for understanding a programmer or computer language that wants to study the C language.

The C-language means 1b is similar to the C-language and can be easily linked to later learning of the complete C-language.

The member functions provided by the C language means 1b include general instructions of task management instructions, motor related instructions of ON / OFF and direction of the motor, equation related instructions of mathematical and logical operation instructions, and sensor number. Sensor control instructions for setting the sensor type, flow control instructions for instruction conditions and processing instructions, and other instructions for communication settings and sound instructions.

As described above, according to the present invention, a PLC user can easily learn, a programming process can be simple, reading and error correction of a created program can be provided, and a PLC of a flowchart type can be provided.

Claims (7)

A robot control means consisting of a GUI-based icon means by a flowchart method, a C language-based C language means, and a visual basic means that can be used in conjunction with Visual Basic; A computer for wirelessly injecting and upgrading the program of the control means into a program RAM embedded in the robot; A robot controlled by applying the program of the injected control means, Learning system for robot control, design and utilization, including. The method according to claim 1, wherein the input icon controlled by an external input in the icon means, Many touch sensors that are turned on and off with and without robot clicks, A number of light sensors that provide illumination at user's discretion and form conditions through comparison of given illumination values A number of temperature sensors, the temperature of which is given by the user at random and which forms a condition by comparison of the given temperature values, Sounding by selecting various sounds by setting various types of sounds, The waiting time to rest for any given time, Learning system for robot control, design and utilization characterized in that. The output icon according to claim 1, wherein the output icon capable of observing a result instructed by the robot in the icon means is: A stop for stopping a plurality of motors attached to the robot, The reverse direction of pushing a large number of motors by power size, Forward direction for pushing a number of motors forward by power size, In the lamp which turns on / off many lamps, Learning system for robot control, design and utilization characterized in that. The initial screen of the icon means, Menus, which are areas that control all the functions of the screen, An icon that is an area visualizing the menu, Work area where you can check the results of actual work, I / O icons, the icon-based area on which work is based, It is an operation yard, an area that controls and regulates work data. Learning system for robot control, design and utilization characterized in that. The method according to claim 4, In the operation field, Registration to memorize the selected part of the work area in the operation field, Insertion to add the memorized work to the desired part of the work area, Delete to remove the contents stored in the motion yard, Learning system for robot control, design and utilization characterized in that. The learning system for robot control, design and utilization according to claim 4, wherein an icon representing a start and an end is presented as an initial value, and an input / output icon is brought to the work area. The learning system for robot control, design and utilization according to claim 2, wherein the sensor of the input icon is a two-wire system for processing a sensor signal and a power signal together.