KR20170078895A - Intelligent robot control PCI cards and control method using thereof - Google Patents

Abstract

The present invention relates to an intelligent robot control PCI card for constructing a control algorithm DB for controlling various intelligent robots, extracting control algorithms matched to the mounted intelligent robots, and selectively operating various intelligent robots, and an intelligent robot And a control method. A control method of an intelligent robot according to the present invention comprises the steps of extracting a control algorithm matching a connected intelligent robot among control algorithm DBs stored in a PCI card when a PCI card is connected to the intelligent robot, And controlling the intelligent robot through the interface.

Description

TECHNICAL FIELD [0001] The present invention relates to a PCI card for intelligent robot control and a control method of the intelligent robot using the PCI card.

The present invention relates to a PCI card for intelligent robot control, more particularly, to construct a control algorithm DB for controlling various intelligent robots and to selectively operate various intelligent robots by extracting control algorithms matched to the mounted intelligent robots And a control method of an intelligent robot using the PCI card.

Controllers for controlling intelligent robots can be divided into PC based and embedded based systems.

The PC-based controller refers to a software-based controller that has been implemented as a hardware or firmware-based controller implemented in a conventional DSP or ASIC, and then transferred to a PC by programming the software.

The main reason for the application of the PC system to the robot controller structure is that as the complexity of the production line increases, the need for the robot controller to perform various other tasks simultaneously while driving the robot has increased.

Such a PC-based controller can be classified into a form including a real-time operating system such as Windows RTX and a controller having a general Windows operating system.

Compared to a controller that includes a real-time kernel such as Windows RTX, the general Windows operating system does not include a real-time kernel, so it is insufficient for robot control and is equipped with a separate PCI card to ensure real-time kernel .

PCI is a data bus standard standard that was issued by Intel Corporation to address the problem of the overload of the CPU and the lack of the data bus specification that was confirmed in the 64-bit PC in the case of ISA, EISA, MCA, and VESA buses, to be. The PCI bus is 64-bit oriented, so it is easy to adopt the Pentium PC, etc., and the CPU and the bus are operated independently, so that the processing speed is fast, the slot size is small, and the compatibility is superior to the VESA bus.

However, if a motion control or servo control algorithm or the like is installed in the PCI card to operate the robot, various intelligent robots must be provided with PCI cards equipped with control algorithms suitable for the respective robots, There has been a problem that a card must be used.

Accordingly, if a PCI card having a control algorithm for each robot is installed, there is a problem in that various robots can not be integrally controlled due to compatibility problems in an environment such as a factory operated by various robots, respectively.

Korean Patent Publication No. 2010-0078921 (Jul. 2010)

Accordingly, an object of the present invention is to provide an intelligent robot control PCI card for selectively operating a variety of intelligent robots using one PCI card in driving an intelligent robot in a window operating system, and a control method of an intelligent robot using the same There is.

It is another object of the present invention to provide an intelligent robot control PCI card capable of integrally controlling a plurality of robots in an environment such as a factory operated by various robots, and a control method of an intelligent robot using the same.

The control method of an intelligent robot according to the present invention includes the steps of extracting a control algorithm matched to the connected intelligent robot among a control algorithm DB stored in the PCI card when the PCI card is connected to the intelligent robot, And controlling the intelligent robot through the extracted control algorithm.

In the control method of an intelligent robot according to the present invention, in the extracting step, the control algorithm includes a kinematics, an inverse kinematics, a motion control algorithm or a synchronization algorithm.

The control method of an intelligent robot according to the present invention may further comprise the steps of: receiving parameter information about the intelligent robot from the intelligent robot to which the PCI card is connected, between the extracting step and the controlling step; And performing calibration for the control algorithm through the parameter information inputted by the controller.

In the method of controlling an intelligent robot according to the present invention, the parameter is unique information of the intelligent robot including the length of the intelligent robot or the rotation angle of the intelligent robot.

In the method of controlling an intelligent robot according to the present invention, in the extracting step, the PCI card extracts parameter information of the intelligent robot together with the control algorithm.

In the method of controlling an intelligent robot according to the present invention, the PCI card carries out calibration for the control algorithm through the parameter information between the extracting step and the controlling step.

A PCI card for controlling an intelligent robot according to the present invention includes a connection unit connected to an intelligent robot for performing data exchange, a storage unit for storing a control algorithm DB for controlling at least one intelligent robot including the intelligent robot, Extracts a control algorithm matching the connected intelligent robot among the stored control algorithm DBs, and controls the intelligent robot through the extracted control algorithm.

In the PCI card for intelligent robot control according to the present invention, the controller receives parameters of the intelligent robot from the intelligent robot, and performs calibration of the control algorithm using the received parameter information.

A control method of an intelligent robot according to the present invention is characterized in that when a PCI card is connected to an intelligent robot, a control algorithm matching a connected intelligent robot among the control algorithm DB stored in the PCI card is extracted, So that various intelligent robots can be selectively operated by using one PCI card.

According to another aspect of the present invention, there is provided a control method for an intelligent robot, comprising: receiving parameter information for an intelligent robot from an intelligent robot, performing calibration for the control algorithm through input parameter information, It is possible to enhance the compatibility of the various intelligent robots in order to selectively operate the various intelligent robots using one PCI card.

1 is a block diagram showing a configuration of an intelligent robot integrated control system according to the present invention.
2 is a block diagram showing a configuration of an intelligent robot according to the present invention.
3 is a block diagram illustrating a configuration of a PCI card according to the present invention.
4 is a view illustrating an intelligent robot to which a PCI card according to the present invention is applied.
5 is a block diagram showing a configuration of an integrated control apparatus according to the present invention.
6 is an exemplary view showing a configuration of an integrated control apparatus according to the present invention.
7 is a flowchart illustrating a method of controlling the intelligent robot according to the first embodiment of the present invention.
8 is a flowchart illustrating a method of controlling an intelligent robot according to a second embodiment of the present invention.

In the following description, only parts necessary for understanding the embodiments of the present invention will be described, and the description of other parts will be omitted so as not to obscure the gist of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor is not limited to the meaning of the terms in order to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely preferred embodiments of the present invention, and are not intended to represent all of the technical ideas of the present invention, so that various equivalents And variations are possible.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a configuration of an intelligent robot integrated control system according to the present invention.

1, an intelligent robot integrated control system 300 according to the present invention includes an intelligent robot 100 and an integrated controller 200. [

The intelligent robot 100 may include a robot having various functions such as a parallel robot, a serial robot, and a gantry robot. Here, the intelligent robot 100 is not limited to a robot that performs rotational motion or linear motion, but may include various sensors or drivers. For example, the intelligent robot 100 may be an industrial high-speed communication support driver, a servo driver driver, a laser interface driver, an industrial high-speed camera driver, and an encoder driver. The sensors may include position sensors, laser sensors, and the like.

The integrated control device 200 can integrally control the plurality of intelligent robots 100-1 to 100-n. That is, the integrated control device 200 is connected to the plurality of intelligent robots 100-1 to 100-n and receives control algorithms for the intelligent robots 100-1 to 100-n, -1 to 100-n) can be integrally controlled.

The integrated control device 200 receives a combination of control algorithms for the control algorithms received from the plurality of intelligent robots 100-1 to 100-n, and the intelligent robots 100-1 to 100-n ) Can be integrally controlled to integrally control the plurality of intelligent robots 100-1 to 100-n.

Hereinafter, the intelligent robot 100 of the present invention will be described in more detail.

FIG. 2 is a block diagram showing the configuration of an intelligent robot according to the present invention, FIG. 3 is a block diagram showing the configuration of a PCI card according to the present invention, FIG. 4 is a view showing an example of an intelligent robot to which a PCI card according to the present invention is applied .

2 to 4, an intelligent robot 100 according to the present invention includes a driver 110, a PCI card 120, and an input unit 130.

The driving unit 110 is a body part of a robot that operates according to a control algorithm. For example, if the intelligent robot is a surgical robot, the driving unit 110 may be an arm that performs linear motion or rotational motion to perform surgery. The driving unit 110 may be operated by a control algorithm including a robot kinematics, a robot inverse kinematics, a motion control algorithm, and the like. The driving unit 110 may include a PCI slot to which the PCI card 120 can be connected, although not shown. The PCI slot may include a 3.3v 32bit PCI slot, a 3.3v 64bit PCI slot, a 5v 32bit PCI slot, and a 5v 64bit PCI slot.

The PCI card 120 may be connected to the driving unit 110 to control the driving unit 110. The PCI card 120 may include a connection unit 121, a storage unit 122, and a control unit 123.

The connection unit 121 is connected to the driving unit 110 to transmit and receive data. The connection unit 121 may be a jack corresponding to the PCI slot of the driving unit. The connection unit 121 may include a 3.3V 32-bit PCI card, a 5V 32-bit PCI card, a 3.3V 64-bit PCI card, a 5V 64-bit PCI card, a universal 32-bit PCI card, and a universal 64-bit PCI card.

The storage unit 122 may store an application program required for the functional operation of the PCI card 120. [ The storage unit 122 may include a program area and a data area. Here, the program area according to the invention may include a program for extracting a control algorithm, a program for performing calibration, and the like. The data area may include a control algorithm DB 122a and a parameter information DB 122b. Here, the control algorithm DB 122a may include a control algorithm for controlling the plurality of drivers. Wherein the control algorithm may comprise a kinematics, an inverse kinematics, a motion control algorithm, or a synchronization algorithm. The parameter information DB 122b may be parameter information unique to the driving unit 110 for performing calibration for the control algorithm selected by the control unit 123. [ For example, the parameter information may include the length of the driving unit 110 or the rotation angle of the driving unit 110.

The control unit 123 may be a process device that drives each configuration. The control unit 123 may include a control algorithm extraction module 123a and a calibration module 123b.

The control algorithm extraction module 123a extracts a control algorithm matching the connected drive unit 110 among the control algorithm DB 122a stored in the storage unit 122 when the connection unit 121 is connected to the drive unit 110 . That is, the control algorithm extraction module 123a requests a control algorithm for the driving unit 110 connected to the connection unit 121 by a control algorithm DB 122a storing control algorithms for controlling the various driving units 110, And may receive the control algorithm requested from the storage unit 122.

The calibration module 123b may receive the parameter information of the driving unit 110 through the input unit 130 when the control algorithm extraction module 123a receives the matching control algorithm from the storage unit 122. [ The calibration module 123b can perform calibration through the control algorithm extracted from the control algorithm extraction module 123a and the parameter information. For example, even in the case of an intelligent robot performing the same motion, inherent parameter information possessed by the intelligent robot may vary depending on the manufacturer. Accordingly, the calibration module 123b may perform the calibration so that the driving unit 110 performs a normal operation.

That is, since the calibration module 123b has a difference in kinematic information of the kinematic information wheter tool possessed by the intelligent robot according to the manufacturer, by inputting the parameter information held by the connected intelligent robot 100, By calculating the kinematic information on the tool and work reference coordinate system and incorporating it into the control algorithm, the malfunction can be minimized. Accordingly, as shown in FIG. 4, it can be used interchangeably with various intelligent robots 100 such as a serial robot, a parallel robot, or a gantry.

Hereinafter, the integrated controller 200 according to the present invention will be described in more detail.

FIG. 5 is a block diagram showing the configuration of an integrated control apparatus according to the present invention, and FIG. 6 is an exemplary view showing a configuration of an integrated control apparatus according to the present invention.

1 to 6, an integrated control device 200 according to an embodiment of the present invention includes an integrated connection unit 210, an integrated input unit 220, an integrated display unit 230, an integrated storage unit 240, (250).

The integrated connection unit 210 is a portion to which the PCI cards 120 included in each of the plurality of intelligent robots 100-1 to 100-n are respectively connected. The integrated connection unit 210 may be configured to accommodate a plurality of PCI cards 120 including a plurality of PCI slots. The PCI slot may include a 3.3v 32bit PCI slot, a 3.3v 64bit PCI slot, a 5v 32bit PCI slot, and a 5v 64bit PCI slot.

The integrated input unit 220 receives various information such as numbers and character information, sets various functions, and transmits signals to the integrated controller 250 regarding the function control of the integrated controller 100. The integrated input unit 220 may include at least one of a keypad and a touchpad for generating an input signal according to a user's touch or operation. At this time, the integrated input unit 220 may be configured in the form of a single touch panel (or a touch screen) together with the integrated display unit 230 to simultaneously perform input and display functions. The integrated input unit 220 may be any type of input device that can be developed in addition to an input device such as a keyboard, a keypad, a mouse, a joystick, and the like. The integrated input unit 220 may select a combination of control algorithms received from the PCI cards 120 of the plurality of intelligent robots 100-1 to 100-n connected to the integrated connection unit 210. [ Here, the integrated input unit 220 may also input information on the operation time and operation order of the intelligent robots 100-1 to 100-n.

The integrated display unit 230 displays information on a series of operation states, operation results, and the like that occur during the performance of the functions of the integrated control device 200. In addition, the integrated display unit 230 may display a menu of the integrated control device 200 and user data input by the user. The integrated display unit 230 may be a liquid crystal display (LCD), a thin film transistor LCD (TFT-LCD), a light emitting diode (LED), an organic light emitting diode LEDs, active matrix organic light emitting diodes (AMOLED), active matrix OLEDs, retina displays, flexible displays, and three-dimensional displays. In this case, when the integrated display unit 230 is configured as a touch screen, the integrated display unit 230 may perform some or all of the functions of the integrated input unit 220. The integrated display unit 230 may output a selection list of control algorithms received from the PCI cards 120 of the intelligent robots 100-1 to 100-n. Also, the integrated display unit 230 may output a result screen for the control algorithm selected by the integrated input unit 220.

The integrated storage unit 240 may store an application program required for the functional operation of the integrated control device 200. The integrated storage unit 240 may include a program area and a data area. Here, the program area according to the present invention may include a program for generating an integrated algorithm. The data area may be information on the generated integrated algorithm.

The integrated controller 250 may be a process device that drives each configuration. The integrated control unit 250 may include an integrated algorithm generation module 251.

When the integrated algorithm generation module 251 is connected to each of the PCI cards 120 included in the plurality of intelligent robots 100-1 to 100-n and receives a control algorithm included in each PCI card, A combination of control algorithms for a plurality of intelligent robots is received from the intelligent robots 220 and an integrated algorithm for integrally controlling the plurality of intelligent robots 100-1 to 100- ~ 100-n) can be integrally controlled. 6, when the integrated control device 200 is applied to a factory, the integrated control device 200 includes an industrial high-speed communication support driver, a servo driver driver, a laser interface driver, an industrial high-speed camera driver, And a menu for each control algorithm is output through the integrated display unit 230 to select the integrated algorithm. Thus, the user can build a desired electric field.

Accordingly, when the PCI card 120 is connected to the intelligent robot 100, the intelligent robot integrated control system 300 according to the present invention is able to control the intelligent robot 100 connected thereto among the control algorithm DB stored in the PCI card 120 It is possible to selectively operate the various intelligent robots 100 by using one PCI card 120 by extracting matched control algorithms and controlling the intelligent robot 100 through the extracted control algorithm.

The intelligent robot integrated control system 300 according to the present invention receives parameter information of the intelligent robot 100 from the intelligent robot 100 and performs calibration of the control algorithm through the input parameter information 100 By controlling the intelligent robot 100 through the control algorithm that has been calibrated, it is possible to enhance the compatibility of various intelligent robots in selectively operating the intelligent robots using one PCI card 120.

The intelligent robot integrated control system 300 according to the present invention is connected to each of the PCI cards 120 included in the plurality of intelligent robots 100 and receives a control algorithm included in each of the PCI cards 120 A combination of control algorithms for the plurality of intelligent robots 100 is received from the integrated input unit 220 and an integrated algorithm for integrally controlling the plurality of intelligent robots 100 is generated to control the plurality of intelligent robots 100 Can be integrated control.

Hereinafter, a method of controlling the intelligent robot according to the first embodiment of the present invention will be described.

7 is a flowchart illustrating a method of controlling the intelligent robot according to the first embodiment of the present invention.

7, when the PCI card is connected to the intelligent robot in step S10, the control method of the intelligent robot according to the first embodiment of the present invention determines whether or not the connected intelligent robot Matching control algorithms can be extracted.

Next, in step S20, parameter information on the intelligent robot can be inputted from the intelligent robot to which the PCI card is connected.

Next, in step S30, the PCI card can perform calibration on the control algorithm through the input parameter information.

In step S40, the intelligent robot can be controlled through the control algorithm in which the PCI card is calibrated.

Hereinafter, a method of controlling the intelligent robot according to the second embodiment of the present invention will be described.

8 is a flowchart illustrating a method of controlling an intelligent robot according to a second embodiment of the present invention.

Referring to FIG. 8, in a method of controlling an intelligent robot according to a second embodiment of the present invention, when the PCI card is connected to the intelligent robot in step S110, The matching control algorithm and the parameter information of the intelligent robot can be extracted.

That is, in the second embodiment of the present invention, parameter information can be embedded in the PCI card.

Next, in step S120, the PCI card can perform calibration of the control algorithm through the parameter information.

Next, the intelligent robot can be controlled through the control algorithm in which the calibration is performed in step S130.

It should be noted that the embodiments disclosed in the drawings are merely examples of specific examples for the purpose of understanding, and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

100: intelligent robot 110:
120: PCI card 121: connection
122: storage unit 122a: control algorithm DB
122b: parameter information DB 123:
123a: Control algorithm extraction module 123b: Calibration module
200: integrated control device 210: integrated connection
220: integrated input unit 230: integrated display unit
240: Integrated storage unit 250: Integrated control unit
251: Integrated algorithm generation module 300: Intelligent robot integrated control system

Claims (8)

Extracting a control algorithm matched with the connected intelligent robot among the control algorithm DB stored in the PCI card when the PCI card is connected to the intelligent robot;
The PCI card controlling the intelligent robot through the extracted control algorithm;
And a control unit for controlling the robot. The method according to claim 1,
In the extracting step,
Wherein the control algorithm comprises a kinematics, an inverse kinematics, a motion control algorithm or a synchronization algorithm. 3. The method of claim 2,
Between the extracting step and the controlling step,
Receiving parameter information about the intelligent robot from the intelligent robot to which the PCI card is connected;
Performing a calibration for the control algorithm through the parameter information received by the PCI card;
Further comprising the steps of: The method of claim 3,
Wherein the parameter is the unique information of the intelligent robot including the length of the intelligent robot or the rotation angle of the intelligent robot. 3. The method of claim 2,
In the extracting step,
Wherein the PCI card extracts parameter information of the intelligent robot together with the control algorithm. 6. The method of claim 5,
Between the extracting step and the controlling step,
The PCI card performing calibration for the control algorithm via the parameter information;
Further comprising the steps of: A connection unit connected to the intelligent robot for performing data exchange;
A storage unit for storing a control algorithm DB for controlling at least one intelligent robot including the intelligent robot;
A controller for extracting a control algorithm matched to the connected intelligent robot among the control algorithm DB stored in the storage unit and controlling the intelligent robot through the extracted control algorithm;
And a controller for controlling the intelligent robot. 8. The method of claim 7,
Wherein the controller receives a parameter for the intelligent robot from the intelligent robot and performs calibration for the control algorithm based on the received parameter information.

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