JPH04501668A - programmable robot equipment - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] programmable robot equipment The present invention relates to a programmable robot device, and particularly to a programmable robot for educational use. Regarding cutting equipment.

Traditionally, educational programmable robot devices are equipped with a computer separate from the robot. remote control. Therefore, all programming is The robot device is controlled by the computer. Ta. For this reason, if a user does not own a computer such as an 18M computer, If the robot device is not installed, there is an inconvenience that the robot device cannot be used.

The solution to this problem is the product manufactured by Hasbro International. "Bigtrak" robot created by the company, and a separate controller to control it. No computer required.

However, this robotic device can only perform a very limited number of functions; Functions were mainly limited to forward, backward, and turning left and right. Furthermore, Bigtr ak The programming capabilities of robot devices were extremely limited.

In one aspect of the present invention, the programmable robot device includes a control means and an input means. A drive that moves the housing, storage means, and robot device vertically and horizontally on a flat surface. means, each means being connected to a control means; said control means being connected to said control means; It is possible to make the bot device perform a number of functions, and the storage means described above can be One or more predetermined operating procedures can be stored, and each procedure can be one or more. The control means allows the user to define the operating procedure through input means. The control means may select the stored operating procedure. and then perform one or more functions defined by the selected operating procedure. can be done.

The programmable robot device is equipped with control means and input means, and one or Additional computers can be added by providing a means to store multiple predetermined processing steps. It just eliminates the need to control the robot device (the robot Easily and intuitively program devices to perform numerous types of functions. can be done.

Typically, a number of operating steps are predetermined by the user, and this operating step is Allowing the user to combine functions in any order and execute functions in the order selected by the user. is possible, and this order can be changed by changing the order of the operating procedures.

In a second aspect of the invention, the programmable robotic device houses a control means. Moves the robot device vertically and horizontally on a plane according to signals from the body and control means The control means is equipped with a driving means to cause the and is configured to control an auxiliary device connected to the robot device.

This aspect of the invention allows the user to add to the robotic device its basic locomotion capabilities. It can be used to perform various functions.

Preferably, the control means controls a number of auxiliary devices connected to the robotic device. It can also be configured to

One or more auxiliary devices may be built into the housing or attached externally to the housing. These auxiliary devices may include stepper motors, motors that respond to external stimuli, etc. consisting of a sensor, a sound generator, a DC motor, or a light source. Can be done.

In a preferred embodiment, the control means also perform one or more functions or predetermined functions. It also responds to repeat commands that cause the robotic device to perform a processing procedure a predetermined number of times.

Further, preferably the robot includes a cover that fits over the body. , the appearance of the robot device can be changed.

Examples of the programmable robot device according to the present invention will be explained below with reference to the attached drawings. do.

FIG. 1 shows an example of a programmable robot device.

FIG. 2 shows the keyboard of the programmable robot device shown in FIG. 1 in detail.

FIG. 3 is a block diagram of the control method.

FIG. 4 is a plan view of the robot device with the front half of the housing removed.

FIG. 5 is a sectional view of the robot device.

Figure 1 shows a programmable robot system equipped with a body 2 whose rotational motion is in the form of an ellipse. A keyboard 3 is disposed on the body. Robot device 1 is It is equipped with a microprocessor, for example Z80, and the user can control the keyboard 3. It is programmed to respond to a key when you press it. Also, robot The device 1 includes a drive mechanism (not shown in FIG. 1), which is driven by the robot device 1. The microphone moves vertically and horizontally on a flat surface such as the floor via a moving shaft or wheels attached to the back. response to signals from the processor.

A robot device 1 has a large number of boats connected to a microprocessor on a body 2. We are preparing for These boats allow you to connect auxiliary equipment to robot device 1. , can be controlled through the keyboard 3 or microprocessor. Also, the microphone It is also possible to arrange an auxiliary device inside the housing 2 that is also connected to the microprocessor. Ru. For example, a sound generator can be placed inside the body.

The robot device 1 includes, for example, two " May have eyes of 4.5.

This has the effect of giving robot device 1 a character that attracts young children. . The eyes 4 and 5 are preferably designed so that the user can change the expression of the robot device 1. It's better to be able to move. You can also add suitable accessories, e.g. suction pads. the robot device by attaching it or attaching the outer shell on the housing 1. 1 looks like a dog, 2 a buzzing bee, a fire engine, etc. It can also be decorated.

FIG. 3 shows the power supply 33. Keyboard 3. Microprocessor to which speaker 34 is connected Boat motor control section 35. showing main printed circuit board 32 with attached. right gen Motor control section 36. Boat motor and right hand motor 38, 39 and extended printing times The road board 37 is also connected to the printed circuit board 32. Stepper motor 40 and other outputs Portion 41 (ie for connection of auxiliary equipment) is connected to expansion printed circuit board 37 .

Inputs 42 from the sensors are also connected to the expansion printed circuit board 37 .

The input from the keyboard 3 sends a message to the microprocessor on the printed circuit board 32. This signal may then be stored or emitted from the speaker 34. Begins some action that causes output. Extended printed circuit board as described below Input 42 to 37, for example from a sensor, provides information about the external environment of the robotic device. and actuate an auxiliary device, i.e. turn or move in a certain direction. The microprocessor initiates a programmed response some time in advance, such as can be set.

This rotation and movement is controlled by the microprocessor by controlling the appropriate motor controller 35 or 36. This is accomplished by sending commands to the respective motors 38 or 39 through .

FIG. 4 shows the layout inside the robot device II, near the center of the housing 2 (at the bottom). A keyboard 3 is provided with a pen hole 43 leading to the surface of the robot. Device 1 follows a path or follows a certain path as programmed by the user. You can set a course that follows the pattern of There are two runs under keyboard 3. There is a battery compartment where you can put a tank battery or a rechargeable battery. tree On each side of the board 3 are gears for connecting the DC motors 35, 36 to the traction wheels 50. A case 45 is provided. The main printed circuit board 32 is attached to the housing board 51. A connector 46 is provided at the outer end for attachment and connection to a computer.

Beside this connector, there is an on/off switch protruding from the outer shell, that is, the housing 2. The switch 47 is the attachment. This device 1 is located on the opposite side of the on/off switch 47. It is stabilized by a stabilizer 4B provided on the lower surface of the plate 51.

FIG. 5 shows a control box 49 that extends the operation of the robotic device. external sensor The sensor can be connected to a robotic device through a sense input path. Also, control The roll box is equipped with four binary output units and a stepper motor.

Figure 2 shows in detail the keys of the keyboard 3 connected to the microprocessor, arrows Key 6 commands the robotic device to move forward. Arrow key 7 is robot equipped Command station 1 to move backwards. Arrow key 9 moves the robot device to the specified angle base. command it to turn. The arrow key 8 commands a rotation to the left by a specified angle.

Additionally, a wait key 2 is used to command the robot device to stand still for a predetermined period of time. 9 is the setting.

The operation procedure key 10 stores the operation procedure in the operation procedure memory of the microprocessor. Any procedure can be called by the microprocessor and programmed into the robot. It is possible to operate the target device. The repeat key 11 causes the robot device 1 to An action or series of actions can be repeated a specified number of times. to bracket key 12 This allows the user to use parentheses when programming the robot device 1. Wear. The micropro sensor was programmed using music key 13. For example, a sound generator can be activated to produce a certain sound. . Sense key 14 programs the microprocessor to respond to external stimuli. can be made to respond in certain specific ways. Switch key 15 is like a light Used to turn on and off four types of switches that can activate auxiliary devices. Mo Use the key 16 to program the microprocessor to control the step motor. can be controlled.

A GO primary key 7 is also provided. This GO primary key 7 is assigned to the robot device 1. Used to command to execute a list of commands in GO memory. These instructions are It may be loaded directly from the keyboard 3, or it may be loaded directly from the operating procedure memory or from a remote controller. may have been loaded from your computer.

In addition, a memory clear key 31 is provided, and when this is pressed, data is cleared from the GO memory. All commands are cleared, and an entry clear key 30 is provided to clear all commands. If you press a key, erase it from the microprocessor and press another appropriate key. You can now press .

Additionally, numeric keys 19-28 labeled 1-9 and 0 are provided. these numbers Character keys 19 to 28 can be used in combination with other function keys to , how far forward or backward the device 1 should be, for example, or at what angle. This will tell you whether you should turn left or right. as stated below , numeric keys 19-28 are used together with other function keys.

The robot device 1 can be operated in various ways. the easiest way inputs the command list directly into the GO memory from keyboard 3, and then presses the GO primary key The method is to press 7 to execute the command list. For example, if a user Move forward 25 units to cut device 1, turn 65 degrees to the left, retreat 57 units, turn 135 degrees to the right. Suppose we want to instruct it to do something. To command robot device 1 to move in this order, To log in, first press the arrow key 6, then press the number keys 20 and 23 in this order. The bot device 1 is instructed to move 25 units. Then press the left rotation key 8 , then press number keys 24 and 23 to instruct the robot to rotate 65 degrees. Next, press the backward key 7, then press the number keys 23 and 25 to return to the robot device. tells the user to move back 57 units, and finally presses the right turn key 9 and then presses the number key. -19, 21. Press 23 to instruct it to turn 135 degrees. once these lives If the command is entered by pressing the above key, pressing the GO main key 7 will cause the robot device 1 to i.e., the robotic device advances 25 units and moves 2.65 degrees. Turn left, move back 57 units, and turn right 13,535 degrees. Now press GO button 17 When pressed again, the robot device 1 executes the same series of commands again.

After executing all of the above series of commands, the user moves the robot device forward another 23 units. If you want to advance, just press forward key 6 and then number keys 20 and 21. That's fine. As a result, the 23 unit advance command will not be added to the already entered command list. Added. Now, if you press the GO main key, the robot device 1 will move forward by 25 units and move to 65 degrees. Turn left, move back 57 units, turn right 35 degrees, and move forward 23 units.

However, with this method of programming, the user cannot command 23 units forward. Reprogram all GO memory when inserting it somewhere between other instructions. become.

For this purpose, the user needs to use the operating procedure key 10.

First of all, the microprocessor must be programmed with operating instructions. The first series of operating steps described above can be programmed as follows: After pressing number keys 20 and 21 from the key and then pressing operation step 10, Press one number key, then press the parenthesis key 12, then press this sequence of commands. The command is entered as above and then the parentheses key ]2 is pressed again to enter the microprocessor. Notify the operator that the operating procedure has been determined.

Now, this series of operating procedures is stored in the operating procedure memory with a label of operating procedure l. has been done. To give a different label to that operating step, press a different number key 19-2. Just press 8, for example, to label action step 4, press the action step key. - After pressing IO, press number key 22 instead of number key 19.

To command the robotic device to perform its operating procedure, the user must - Press operation procedure key 10, then number key 19, then GO main key 7 Press. As a result, the operating procedure instructions are loaded into the GO memory as a GO program. Then, the robot device 1 executes the instructions in the GO program. Robot To command device 1 to first execute the step command and then move forward 23 units, The user presses the operating procedure key 10 followed by the number key 19, then presses the forward key 6 and then presses the number key 19. number keys 20 and 21, and then press the Go key 17. This allows the robot Cut device 1 moves forward 25 units, turns 65 degrees to the left, moves back 57 units, and reaches 13535 units. He is ordered to turn clockwise and move forward 23 units.

However, now the robot device is required to move forward 23 units before executing the command of the operating procedure. can also be commanded. To do this, the user must first press forward key 6. , the operation procedure is to press key 10 and number key 22, and then press key 10. Then press the number key 19 and then press the GO button 17. This will cause the robot device 1 to moves forward 23 units, moves forward another 25 units, turns 65 degrees to the right, and moves back 57 units. , is commanded to turn clockwise by 13535 degrees.

When GO main key 7 is pressed, operation step 6 is repeated 5 times and the robot device becomes a pentagon. trace the shape of To delete an operation procedure, press operation procedure key 10, then select which operation Press the number key that indicates the operating procedure, then press the parenthesis key 12 twice to indicate height 2 on. The syntax is of the form Tmn, where T is the switch key 15. m is switch key number (1 to 4).

n is 1 or 2 indicating on/off. For example, press switch key i5 , followed by number key 19, then number key 20. For example, press Configuring the device 1) Turn on switch 1, which may be connected to the device. Sui The first switch is turned on by pressing switch key i 5 and number key 19 twice. Commands to turn on and off switches that are different from each other must be Incorporate it into the recovery function J: (One gun is also possible. For example, robot device 1 can be equipped with light 1. You can define the next operating procedure for LJ-2 to command it to turn on and move forward 20 units. Ru. Press operation procedure key 10, number key 209, and parenthesis key 12. Sui Press the touch key 15, then the number keys 19 and 20, and then press the forward key (5 followed by Press the number key 20.28, then press the number key twice followed by -15. - Press 19, then press parenthesis key ~ 12. These commands are operated by operating procedure key 10. This is executed by subsequently pressing the numeric key 20 and the GO main key 7. Then, Robotic device 1 turns on switch 1 which supplies power to the light in this example. , the robotic device advances 20 units, and switch 1 is turned off.

Music key] 3 indicates that the robot device 1 is equipped with a sound generator. It can be used to generate songs. Like other functions, the robot [device 1 While executing a series of commands, the operating steps for playing the song are displayed so that the song can be played. The position of the song within these instructions may also be determined by the song within the instruction. This can be changed by changing the position of the operating procedure. Actions that include that song Procedures can also be incorporated into other operating procedures.

Similarly, using the motor key 16 1. to program the microprocessor and write “C”. The housing ζ can operate the stenputer of the attached auxiliary device, and In addition, using one sense key 14, the stimulation from the microprocessor can be commanded to respond in a determined manner.

The stepper motor syntax is of the form Mxy, where M is the motor key 1 6. X is the direction in which the stepper motor should rotate (l is the direction when looking at the motor shaft from the motor) The stepper motor rotates clockwise, and the stepper motor rotates counterclockwise. 1 or 2. y is from 1 indicating the number of steps the stepper motor takes The number is up to 999.

In this example, the motor key 16 is followed by numeric keys 20, numeric keys 19. and numbers Press key 28. This switches on power to the stepper motor, causing the motor to rotates by that step angle 10 times. To switch off the stepper motor Therefore, the X or y value is not entered after operating the motor key 16. forward After pressing key 6, press number key 19. Motor key 16. Numeric keys 20,1 9.28, then motor key 16. Left arrow key8. Press number keys 27 and 28, , This causes the Makobot device 1 to move forward by one unit, and the Sugusoba motor is turned on. , the motor advances 10 steps, power to the stepper motor is cut off, and the robot device l is turned 90' to the left.

Switched output commands and stepper mode/down commands behave like any other commands. Can be used for production procedures.

The syntax of sense key is S ITIn, where S is sense key 4. m is a number from 1 to 5, each of which is as follows, The m-1l-l bond device has a transition from Ll to HIGI (^・ (10- to high interrupts).

m = 2 days The bot device transitions from HIGH to LOW (from high to 1oi Interrupts to y).

m-3r:1 Bot device is LOW to HIGH or HIGH to 1 ．． Transition to OK (interrupt from io leg to high or from high to low) React to either.

If the state is 1.0- at the beginning of m=4m, the robot device will react, otherwise it will transition Reacts when detected.

In "" 5 If the initial state is 11 GII, the robot device will respond 1, Otherwise, it will react when transition 1 is detected; n is a number from 1 to 99 and does not indicate the sense procedure to jump to after an interrupt occurs. It is.

Example 2: Activate the sensor in response to a transition from Li to HIGH and interrupt It will "jump" when it sees, and if the interrupt is ignored, it will move forward by 10 units and turn to the right by 90 degrees. Specify this in step 5. To do this, press the sense key 14 followed by the number key 19,23. Press forward key 6, number key 19°28, then right direction key 9. numbers Press keys 27 and 28.

As a result of the interrupt, the processor returns to °GO after the specified sense procedure has been executed. i.e. jump from the main program or operating procedure to the sense procedure Return to the point where you left off and continue executing the remaining part of the program or operating procedure. .

To launch the sense procedure? ,Press Sense key 14 to enter the sense command. input, but do not enter the m and H values. No new interrupts are generated while the sensing procedure is running. It has no effect (unless it contains yet another sense command) and the main Senseki++a　Ha becomes effective only after returning to the program. Can be operated with main procedure There is no limit to the number of valid interrupts.

``Return to GO'' at the end of the sense procedure execution is the default and other options In some cases, this can be done. To program the response at the end of the sense procedure, enter The format is S[a], where S is the sense key 14 and a is a number from 1 to 3, as follows: a""Return to IGO a=2 Stop a=3 Repeat the procedure until another sense input causes an interrupt, then go to GO return.

If no S[a] command appears in the processing procedure, the default S[11 is taken. .

An example of a sensor is the response to the statement 'The wall is 1 meter away'. The answer is FALSE (LOW) when the wall is further away. One example is a proximity sensor that can be configured using a statement that indicates when a distance has been reached. Interrupted by transition from FALSE (LOW) to TRUE (HIGH) is caused. This interrupt indicates a certain action to be taken which is stored as a sense procedure. cause.

Music key 13 allows you to program sounds; The syntax for programming is of the form ab, where a represents the duration. b is a number from 1 to 13 representing pitch. Silence (pause) ) is represented by the number 14, - Examples are shown with a short low pinch sound, a body stop, and a long high pitch sound.

This is done by pressing music key 13 and then number key 19 twice. -13, followed by number key 222, then number key 19, number key 22. mid-chic Press key 13, then number key 26. Numeric keys 19. Press number key 21 done by. In the definition, 1 is C and 2 is C#, going up a chromatic scale. The duration is 21 is a sixteenth note, 2 is an eighth note, 3 is a quarter note, etc.

The tempo and octave units are set using the music key 13 followed by the parenthesis key 12. number letters, X from 1 to 5 (fastest to slowest) for tempo, and X from 1 to 3 for octave. (lowest to highest) y, then again using the parentheses key 12 to set. ten Points 1 to 5 are defined as 170.140°100 and 80.60, respectively. Ru.

Distance and rotation units can be changed in the same way as tempo and octave units. can.

During programming, each key press is checked to see if the command is valid. A positive or negative sound is generated by the child.

FIG,,? Qianbete Dong-ho Cow international search report

Claims (8)

[Claims] 1. The housing, control means, input means, storage means and robot device are arranged on a flat surface. It is a programmable robot device equipped with a driving means for moving vertically and horizontally on the robot. Each means is connected to a control means, and the control means provides a number of functions to the robot means. This allows the storage means to store each operation step one or more times. The control means can store one or more predetermined operating procedures that define the function of the The user can define the operating procedure to be stored in the storage device via means. , the control means can also select a stored operating procedure and then control it. The means is a program that executes one or more functions defined in the selected operation procedure. Logrammable robotic device. 2. As claimed in claim 1, each predetermined operating procedure can be set to repeat a specified number of times. Robotic equipment. 3. The control means and the robot device are moved vertically and horizontally on a plane in response to signals from the control means. a housing housing a drive means for moving the control means to a control hand; Controls auxiliary equipment connected to the robot device in response to commands input to the stage A programmable robotic device configured to: 4. A device according to claims 3 and 1 or 2. 5. 5. The device of claim 4, wherein the auxiliary device comprises a stepper moke. 6. Furthermore, it detects an external stimulus and activates a predetermined response procedure stored in the control means. according to any of the preceding claims, comprising a sensor capable of being activated. robotic equipment. 7. The robot device according to claim 6, wherein the sensor is an optical sensor. 8. In addition, a housing cover that can be attached to the housing to change the appearance of the robot device is also available. A robotic device according to any of the preceding claims, comprising a bar.