WO2021066359A1 - Boule-robot ayant une fonction de pilotage automatique et son système de commande - Google Patents

Boule-robot ayant une fonction de pilotage automatique et son système de commande Download PDF

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Publication number
WO2021066359A1
WO2021066359A1 PCT/KR2020/012532 KR2020012532W WO2021066359A1 WO 2021066359 A1 WO2021066359 A1 WO 2021066359A1 KR 2020012532 W KR2020012532 W KR 2020012532W WO 2021066359 A1 WO2021066359 A1 WO 2021066359A1
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WO
WIPO (PCT)
Prior art keywords
robot ball
ball
robot
camera
outer case
Prior art date
Application number
PCT/KR2020/012532
Other languages
English (en)
Korean (ko)
Inventor
임성현
이성근
Original Assignee
주식회사 힉스코리아
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Application filed by 주식회사 힉스코리아 filed Critical 주식회사 힉스코리아
Publication of WO2021066359A1 publication Critical patent/WO2021066359A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
    • A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
    • A01K15/025—Toys specially adapted for animals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices

Definitions

  • the present invention relates to a robot ball having an autopilot function and a control system thereof.
  • the embodiment provides a robot ball that enables an autopilot of a robot ball to be safely played with a companion animal through detection of a companion animal through artificial intelligence mechanical learning and an action to avoid obstacles, and a control system thereof.
  • the embodiment provides a control system capable of solving the limitations of wireless charging and wireless data transmission and reception beyond simple wireless charging of a robot ball through a charging platform.
  • the embodiment includes an outer case in which at least one area is transparent in a ball shape; An inner housing positioned inside the outer case and including at least one processor, at least one memory, a wireless communication interface, a propulsion system, a battery, and a sensor; And a camera installed on the support portion of the inner housing; and a charging platform for charging the battery by docking with the robot ball and wirelessly providing power to the robot ball, wherein the propulsion system is the wireless communication interface It is configured to rotate the outer case in response to a command received through or a command stored in the memory executed by the processor, and the processor is activated to avoid obstacles in the vicinity identified through the sensor and the camera. It is possible to provide a control system for a robot ball having an autopilot function that controls the propulsion system to perform an autopilot operation of the robot ball.
  • the robot ball further includes a USB (Universal Serial Bus) port installed in the port groove provided in the support, and the control of the robot ball having an autopilot function configured to allow the camera to be detachably attached to the USB port.
  • USB Universal Serial Bus
  • the USB port may provide a robot ball control system having an autopilot function configured to move in a horizontal direction along the port groove of the support part.
  • the camera includes first and second omnidirectional cameras, each of the first and second omnidirectional cameras is installed in a USB port installed in each of the port grooves provided on one side and the other side of the support,
  • the processor detects an obstacle at a forward omnidirectional angle from the captured image from the first omnidirectional camera, detects a companion animal from the captured image from the second omnidirectional camera, and It is possible to provide a control system for a robot ball having an autopilot function that performs the autopilot operation based on a captured image.
  • the processor is based on the analysis information of the image captured by the second omnidirectional camera, the current moving speed and the moving direction of the robot ball, whether the companion animal is chasing the moving robot ball, and the companion It is possible to provide a robot ball control system having an autopilot function for estimating the speed of an animal chasing the robot ball.
  • the processor when the processor recognizes that the companion animal is chasing the robot ball at a predetermined speed or higher, the robot ball moves to a preset safety area, and the robot ball can only move within the safety area.
  • the charging platform docked with the robot ball rotates the outer case to a predetermined position, attaches and detaches the hole coupling part coupled to the control hole on the outer case, and electrically connects the connection part of the inner housing. It is possible to provide a control system for a robot ball with an autopilot function equipped with a ball control device capable of this.
  • the user can control the robot ball and check the image of the companion animal responding to it in real time, thereby enabling recognition of the companion animal without the user.
  • a companion animal Through spending time with a companion animal, we provide a device and system that relieves the companion animal's emotional anxiety.
  • the embodiment provides a device and a system capable of increasing the activity of the companion animal by providing stimulation to the companion animal by allowing the robot ball to be freely moved using a ball-shaped robot.
  • the embodiment tracks the companion animal through mechanical learning so that the image of the companion animal can be continuously observed, and the companion animal can safely play with the companion animal by performing an avoidance operation on the surrounding obstacles of the robot ball.
  • the embodiment enables large-capacity data transmission/reception, rapid charging, and programming of the robot ball through the interaction between the robot ball and the charging platform.
  • FIG. 1 shows a system in which various embodiments of the present invention can be implemented.
  • FIG. 2 is a block diagram of components constituting a robot ball according to various embodiments of the present invention.
  • 3 and 4 are various views for explaining exemplary embodiments of the robot ball as well as components that may be included in the robot ball according to the embodiment of the present invention.
  • FIG. 5 is a view showing a state in which a charging platform and a robot ball are docked on the charging platform according to various embodiments of the present disclosure.
  • FIG. 6 is a side view of a robot ball according to another embodiment of the present invention.
  • FIG 8 shows a charging platform docked with a robot ball and a ball control device on the charging platform.
  • FIG. 1 shows a system in which various embodiments of the present invention can be implemented.
  • FIG. 1 The embodiment of the system 100 shown in FIG. 1 is exemplary, and other devices may be added in addition to the devices shown in the drawings.
  • system 100 includes and is configured with a network 102.
  • Network 102 enables communication between various components in system 100.
  • network 102 may carry Internet Protocol (IP) packets, frame relay frames, or other information between network addresses.
  • IP Internet Protocol
  • Network 102 may include one or more local area networks (LANs). Others may include only medium-range communications (MANs), wide area networks (WANs), the Internet, and all or part of a global network.
  • LANs local area networks
  • Others may include only medium-range communications (MANs), wide area networks (WANs), the Internet, and all or part of a global network.
  • MANs medium-range communications
  • WANs wide area networks
  • the Internet and all or part of a global network.
  • Network 102 enables communication between at least one server 104 and various client devices 105-114.
  • Each server 104 may include any suitable computing or device capable of providing computational services to one or more client devices.
  • Each server 104 may include, for example, one or more devices and one or more memories that store indication data and one or more network interfaces that enable communication over the network 102.
  • Each of the client devices 105-114 may include any suitable computing and/or apparatus that interacts with at least one server or other computing device on the network 102.
  • the client devices 105 to 114 are, for example, a robot ball 150, a computing device 106, a mobile phone or a smart phone 108, a personal digital assistant (PDA) 110 ), a notebook 112, a tablet computer 114, a media player, a media streaming device, and other electronic devices.
  • PDA personal digital assistant
  • any other or additional client device may be used in system 100.
  • client devices 105, 108-114 pass indirectly to the network 102.
  • client devices 108-110 communicate station 116 through one or more bases, such as cellular base stations or eNodeBs.
  • client devices 105, 112-114 communicate to point 118 via one or more wireless connections, such as IEEE 802.11 wireless access points. Note that these are for convenience of explanation only, and each client device may communicate directly to network 102 or indirectly to network 102 via any suitable intermediate device or network.
  • the robot ball 105 may provide video and sensor monitoring to one or more of the other client devices 106 and 114.
  • information may be provided through the server 104.
  • this information could include streaming video, sensor data, and other devices.
  • the user can view various actions such as information and control movement of the robot ball 105 on the network 102 through a connection, a peer to peer and/or via a local area network connection.
  • system 100 may include any number of each element in any suitable arrangement.
  • computing and unmanned system configurations may be configured.
  • FIG. 2 is a block diagram of components constituting a robot ball according to various embodiments of the present invention.
  • the robot ball 200 of FIG. 2 is an example of the robot ball 105 of FIG. 1.
  • the robot ball 200 includes a connector 205, which includes at least one processor 210, a memory 230, a wireless communication interface 220, a battery 235, and a camera 225. , Connection between one or more sensors 240 and one or more outputs 245 and/or communication between them.
  • the connector 205 may be a wire of the connector, a circuit board 340, a bus, a Universal Serial Bus (USB) port 345 or other It can be of any suitable type. (Refer to Fig. 4 for circuit board and USB port)
  • USB Universal Serial Bus
  • At least one processor 210 executes instructions that can be loaded into the memory 230.
  • Processor 210 may include any suitable number of types of porcelain or other devices in any suitable arrangement. Types of the processor 210 include microprocessors, microcontrollers, digital signal processors, field programmable gate arrays, custom-made semiconductors, and various circuit elements.
  • the processor 210 may be a multipurpose CPU or a specific purpose processor.
  • the embedded software runs on the processor 210 and controls the propulsion system 215, collects data from the sensors 240, and can stream data to a cloud service or user device.
  • Memory 230 may have any structure capable of storing and facilitating retrieval of information, for example, temporary or permanent information, such as data program code and/or other suitable information.
  • Memory 230 may be random access memory or any other suitable volatile or nonvolatile storage device including, for example, read only memory, hard drive or flash memory.
  • the wireless communication interface 220 may support communication with other systems or devices.
  • wireless communication interface 220 may include a wireless transceiver that facilitates communication over network 102.
  • the wireless communication interface 220 may support communication via any suitable wireless communication method including, for example, Bluetooth, WiFi and/or cellular communication methods.
  • the processor 210, the wireless communication interface 220, and the memory 230 may be referred to as control circuits that control various aspects and operations of the robot ball 200.
  • the propulsion system 215 may provide rotational motion of the robot ball 200 in all directions.
  • the propulsion system 215 may include a plurality of wheels and at least one motor to rotate the wheels within the robot ball 200 as discussed in more detail below.
  • the propulsion system 215 is a robotic ball that uses internal rotation to create motion.
  • the battery 235 provides power to various components and may include one or more inductive charging coils.
  • the battery 235 may include or be connected to an inductive charging coil to wirelessly charge the battery.
  • Camera 225 can be any type of camera as discussed further below. In some embodiments, one or more additional cameras 225 may face in different directions. In some embodiments, the camera 225 mounted on the robot ball 200 may be an omnidirectional camera. When two cameras 225 are installed on the robot ball 200, one camera may photograph the front and the other camera photograph the rear. And each of these can be omnidirectional cameras.
  • the sensor 240 may include various sensors. For example, a microphone, an air quality sensor, a temperature sensor, a humidity sensor, and a location sensor may be included, but environmental monitoring and security sensors may be included, but are not limited thereto.
  • a motion sensor such as an accelerometer, a gyroscope, and a magnetometer, and a proximity sensor may be provided.
  • the output 245 may provide feedback control and/or visual signals to a person, companion animal, and/or object in proximity to the robot ball 200.
  • the output 245 can generate a signal to sound an alarm, display lighting or video, or wirelessly control an external object.
  • Exemplary types of outputs 245 that may be included in the robot ball 200 may be speakers, lights, laser pointers, video projectors, remote controls, displays, and the like.
  • the robot ball 200 may provide a warning through sound or light generated by the output 245.
  • the camera can project an image or video onto the projection surface to enable playback of the video or image, or to allow a video call.
  • the robot ball 200 may use a laser pointer to allow a user to remotely point at an object or to entertain a companion animal.
  • objects in the environment such as televisions, media players, thermostats, lights, curtains, etc., can be controlled via an IR or RF remote controller including one of the outputs 245 in the robot ball 200.
  • the robot ball 200 may display a message and/or at least limited graphics on a display mounted on the robot ball 200 as one of the outputs 245.
  • 3 and 4 are various views for explaining exemplary embodiments of the robot ball as well as components that may be included in the robot ball according to the embodiment of the present invention.
  • FIG. 5 is a view showing a state in which a charging platform and a robot ball are docked on the charging platform according to various embodiments of the present disclosure.
  • the robot ball 200 includes an outer case 305 providing a solid outer ball shape and an inner housing 310 accommodating the components of the robot ball 200.
  • the outer case 305 may be made of a hard and durable plastic material.
  • it may be composed of two or more detachable pieces to allow the addition or removal of components such as sensor 240 and camera 225.
  • At least some or all of the outer case 305 may be transparent to allow the camera 225 to take a picture. Therefore, the inside of the outer case 305 can be visually recognized from the outside.
  • the housing 310 may have an opening 315 in contact with the outer case 305 to provide movement of the robot ball 200 of the wheel 320 of the propulsion system 215 in the robot ball 200.
  • Wheel 320 may rotate back and forth by motor 325 of propulsion system 215.
  • the forward rotation of the wheel 320 causes the robot ball 200 to move forward through the outer case 305
  • the rear rotation causes the rearward movement to be independent or opposite of the wheel 320. It can cause rotation.
  • the robot ball 200 may pan or rotate.
  • the housing 310 may not be included in the robot ball 200 to which the subforms are exposed.
  • two motors 325 for independently controlling each wheel 320 on the left and right sides of the robot ball 200 are provided, and through the control of the wheel 320 by the two motors 325 The robot ball 200 may be moved to the left or right while moving forward or backward.
  • the housing 310 may further include one or more additional sensors, outputs, and cameras, as well as a support 330 on which the camera may be mounted.
  • the support 330 is a pivoting support, gimbal, and/or stabilization bracket that allows limited rotation of the camera 225 about the horizontal axis of the robot ball 200.
  • the position or viewing angle of the camera 225 with respect to the horizontal axis of the ball may drop or rise depending on the direction and speed. The rising or falling of the viewing angle of the robot ball 200 may be undesirable for video viewers.
  • the robot ball 200 provides at least mechanical stabilization of the camera 225 while moving to modify the motion of the camera 225
  • the robot ball 200 has one asing's sensor 240 It may include one or more gimbal or servo motors to adjust the angle and/or position of the camera 225 in cooperation with. It is possible to provide or maintain a relatively constant horizontal field of view while moving within the robot ball 200.
  • the robot ball 200 may adjust the viewing angle of the camera 225 for viewing an object located above or below the horizontal viewpoint according to a request of the user 200 or as part of an operation.
  • the robot ball 200 may use digital or software image/video stabilization to take into account camera descent, other undesirable movements of the camera 225 as well as ascent as well as the like.
  • port grooves 344 that are elongated along the side surfaces may be formed on both sides of the support part 330.
  • At least one USB port 345 may be installed in each port groove 344 on both sides of the support part 330.
  • the USB port 345 may be configured such that various devices including the camera 225 are electrically connected and fixedly coupled to the USB port 345.
  • the USB port 345 is movable along the length direction of the port groove 344, and this may be achieved by a driving force from a motor inside the support part 330.
  • the robot ball 200 may include various sensors 240, outputs 245, and cameras 225 that can be added or removed from the robot ball 200 in a modular manner through a connector.
  • the environmental monitoring sensor can be removed and replaced within the robot ball 200.
  • the user may determine the arrangement and inclusion of components included in the robot ball 200.
  • the robot ball 200 makes any combination of the above-described exemplary sensor 240, output 245, and camera 225 suitable for the intended monitoring purpose of the robot ball 200.
  • a connector 205 in the form of a USB port 345 the sensor 240, the output 245, and the camera 225 are connected to the USB port to easily electrically connect the module to the robot ball 200. It can be modular.
  • the robot ball 200 may localize or triangulate its location using an indoor tracking system based on signals received from devices at known locations within an indoor environment.
  • a device in a building may transmit a Bluetooth low energy beacon signal with location information and/or identification information of the transmitting device.
  • the robot ball 200 can identify locations for these devices based on a positioning method, including, for example, the time and/or energy of the signal received.
  • the robot ball 200 may determine a location using an indoor GPS coordinate system and use location and/or coordinate information when mapping an indoor space.
  • the memory 230 and/or the user application may use the acquired location information to generate a map of an indoor space including a passageway and an obstacle.
  • the robot ball 200 may be connected to a network such as the Internet through, for example, WiFi or a cellular connection.
  • a user can remotely manipulate the robot ball 200 and provide criteria for alerts, triggers and/or notifications related to the condition detected by the robot ball 200, for example through an online account.
  • criteria for alerts, triggers and/or notifications may be set by default.
  • the sensor 240 on the robot ball 200 detects a value that exceeds a value set for, for example, a cloud service, an alarm, a trigger or a notification provided by the server 104, a notification or text message is sent to the user. Can be sent to the device. Thereafter, the user's device may be connected to the robot ball 200 to stream real-time video and/or other sensor data.
  • the robot ball 200 may run at a predetermined speed, may have a minimum and maximum speed, and may be a durable and waterproof ball capable of absorbing a predetermined impact.
  • the robot ball 200 may be wirelessly controlled by a user through an input received, for example, by the wireless communication interface 220 to move the robot ball 200.
  • the robot ball 200 uses an input received from an accelerometer, gyroscope, and/or magnetometer sensor to apply the direction, movement speed, and direction data of the robot ball 200 in addition to environment sensor data and video streaming data. Can be transferred to.
  • the user can drive and control the robot ball 200 through an interface executed on the device.
  • the user's device may run various platforms for driving and controlling the robot ball 200, and may include an application that streams data from the robot ball 200 to the user device to the user interface.
  • This application may be connected to a web application or a mobile application robot ball 200. It may be connected to the cloud using a wireless network connection of the robot ball 200 through a cloud service.
  • the application program can also be connected to and communicated with the robot ball 200 by directly pairing with the robot ball 200 through a LAN WiFi connection or a peer-to-peer connection.
  • the application can present real-time environmental data to the user along with real-time video streaming to the user through a user interface on the user's device.
  • the user device can record all data and information.
  • the application allows the user device to manage account settings, including warnings and notifications for various conditions detected by sensors on the robot ball 200.
  • the user application may provide a virtual reality (VR) view using the view of the robot ball 200.
  • one or more devices 106 to 114 such as a user device or a client device, may be a virtual reality headset or a smart phone that can be mounted inside the VR headset.
  • the user application communicates a movement command to the robot ball 200 based on the output of one or more motion sensors (eg, accelerometer, gyroscope, magnetometer, etc.) located on the user device or VR headset.
  • the user may control the viewpoint of the camera 225 and the movement of the robot ball 200. It also provides a VR view of a remote location with the movement of the user's head.
  • web services provide backend functionality for providing web and mobile applications and embedded software. These services may be cloud-hosted via server 104, for example, and include content delivery network services along with a SQL server database on the backend for secure storage and retrieval of user data.
  • the web service provides a learning algorithm for mapping various locations and paths in an environment in which the ball 200 is arranged. For example, upon mapping, the robot ball 200 executes a routine to move to a known location in the environment for monitoring, e.g., a room, a specific location within the room, or a specific view of an object within the environment, e.g. Alternatively, automated control from the application may be provided.
  • the robot ball 200 may execute a routine or receive automated control from an application, and may perform specific functions such as periodic movement and various video scans. For example, when the battery level is low, an area or automatic return to the charging platform 600 is possible. In another example, the robot ball 200 allows machine learning. Practice obstacle avoidance automatically or when controlled by the user and avoid touching walls. In another example, the robot ball 200 can be used to annotate a video record, provide an alert when certain people are recognized, or provide a personal message or warning to a specific person, for example, via a display panel. Objects can be recognized either by or through an audible method through a speaker.
  • the user can configure an alarm. For example, if one of the sensor data exceeds a threshold or the camera detects motion over a cloud service, the web application sends a notification to the user's device to allow the user to access the real-time streaming of data or drive the robot ball 200. You can warn.
  • the robot ball 200 is programmed to provide an alert or perform a specific action upon detection of an event or sequence of events.
  • the user may be programmed to provide an alarm or perform a specific action when the robot ball 200 detects a series of events.
  • the camera 225 sees a specific person, animal, or object
  • the user sends an alarm, for example, to the user's mobile device, so that the robot ball 200 performs a certain action, plays an alarm sound, or a message. , Lights, or turn on music.
  • the user sends an alert, for example, to the user's mobile device for the robot ball 200 to perform an action, and You can create control settings such as ringing a tone, playing a message, scanning a room, or setting up a room using a video.
  • the robot ball 200 can be trained based on simulation and detection by the robot ball 200 of a triggering event or sequence of events. Thereafter, the user may flag an event, an event sequence, or an event within a threshold value of the simulated and detected event through the user application as a trigger for an action on the robot ball 200.
  • these triggered alerts or actions are on the user application for standard events, such as turning on the camera and/or performing a room video scan in response to noise detection, for example, during a period when indoors. Can be programmed in advance.
  • the cloud service also records video and audio streams along with sensor data within a secure user account, allowing users to review the records on the device.
  • the robot ball 200 may be placed on the charging platform 600 with the battery 235 facing down, automatically returned to the driving platform, or returned to the driving platform. have.
  • the charging platform 600 may wirelessly charge the battery 235 through a wireless charging coil included in the battery.
  • the user application allows the user to manipulate and receive data from the robot ball 200.
  • the user can control the movement of the robot ball 200 using the joystick on the screen of the user interface for the application, and can increase or decrease the speed by sliding in an arbitrary direction and driving the ball in that direction with additional movement. I can. For example, viewing and panning or zooming the camera through a second joystick on the screen of the user interface.
  • Applications 106-114 via one or more client devices can provide data related to the sensor, eg for temperature, humidity, air quality, etc. Applications allow the user to record data along with audio/video streams. To allow access to previously recorded data.
  • the application also includes user-configurable settings. For example, if a preset value is exceeded, the application may provide notification and/or record data.
  • FIG. 6 is a side view of a robot ball according to another embodiment of the present invention.
  • first and second omnidirectional cameras 225a and 225b may be mounted on the support part 330, respectively.
  • the first omnidirectional camera 225a may photograph an omnidirectional view of the front
  • the second omnidirectional camera 225b may photograph an omnidirectional view of the rear.
  • Images captured by the first and second omnidirectional cameras 225a and 225b may be transmitted to the user device in real time.
  • the processor 210 converts the curved image of the first and second omnidirectional cameras 225a and 225b into a plane image through image processing and transmits it to the user device so that the image of the plane is displayed on the user device. have.
  • the processor 210 can determine the obstacles in all directions based on the image captured from the first omnidirectional camera 225a, and controls the propulsion system 215 for evasive maneuvering of the robot ball 200 based on the determination information. can do.
  • the processor 210 may detect an object based on the image captured from the second omnidirectional camera 225b.
  • the object here may be an image of a companion animal that has been learned in advance.
  • the processor 210 may adjust the position of the second omnidirectional camera 225b so that the learned companion animal in the image captured by the second omnidirectional camera 225b can be continuously detected.
  • the position adjustment of the second omnidirectional camera 225b is to allow the second omnidirectional camera 225b to move horizontally within the port groove 344.
  • the USB port 345 coupled with the second omnidirectional camera 225b is moved using the driving force of the motor inside the support unit 330, the second omnidirectional camera 225b can be moved horizontally. have.
  • the embodiment performs an autopilot function in which the robot ball 200 automatically moves while continuously photographing an object learned in advance from the second omnidirectional camera 225b and avoiding obstacles in front through the first omnidirectional camera 225a. You can do it.
  • the processor 210 may determine a movement and rotation direction of the robot ball 200 in consideration of the recognized position of an obstacle and an object in front, and control the propulsion system 215 based thereon.
  • the processor 210 is based on the analysis information of the image captured by the second omnidirectional camera 225b, the current moving speed of the robot ball 200, and the robot ball 200 in which the companion animal moves based on the moving direction. ), and the speed of chasing the robot ball 200 of the companion animal can be estimated.
  • the processor 210 recognizes that the companion animal is chasing the robot ball 200 at a predetermined speed or more, the robot ball 200 moves to a preset safety area, and the robot ball 200 moves only within the safety area. To be able to control it. Therefore, the robot ball 200 must be moved within the safe area in order to prevent unexpected obstacles and collisions between the companion animal due to the motion of the companion animal chasing the robot ball 200 at or above a predetermined speed. I can.
  • FIG. 7 is a view of the outer case as viewed from the bottom.
  • FIG. 8 shows a charging platform docked with a robot ball and a ball control device on the charging platform
  • FIG. 9 shows an upper surface of the ball control device.
  • a control hole 308 may be formed in a central area of the bottom surface of the outer case 305.
  • the control hole 308 may be covered by the hole coupling part 307.
  • the hole coupling part 307 may be coupled to or removed from the control hole 308 through a screw method.
  • a recognition area 306 surrounding the control hole 308 of the outer case 305 may be formed.
  • the recognition area 306 is a circular band area surrounding the control hole 308 with a predetermined width.
  • the charging platform 600 When the charging platform 600 is docked with the robot ball 200, it may wirelessly provide power to the robot ball 200.
  • the outer case 305 is rotated by the ball control device 500 provided on the charging platform 600, and the hole coupling portion 307 on the outer case 305 is separated from the outer case 305 or the outer case ( It is a device capable of electrically connecting with the inner housing 310 inside the outer case 305 by mounting the hole coupling part 307 to the 305 and via the control hole 308.
  • the ball control device 500 may include a triangular part 501 and first to third control parts 510, 520, and 530.
  • the triangular portion 501 may include a vertical portion extending vertically from the charging platform 600 and three arm portions extending in three directions from an end of the vertical portion. The angles between the three arm portions may be the same. One end of each of the three arm parts is connected to the vertical part and they can be rotated together by rotation of the vertical part.
  • First to third control units 510, 520, and 530 may be installed at the other end of each of the three arm parts. Each of the first to third control units 510, 520, and 530 may move up and down in each of the three arm portions.
  • First and second control wheels 511 and 512 may be installed on the upper surface 501 of the first control unit 510.
  • the first and second control wheels 511 and 512 may rotate independently of each other in a direction perpendicular to each other.
  • a first detection unit 541 drawn out from one side of the first control unit 510 and a second detection unit 542 drawn out from the other side may be further installed.
  • the first and second detection units 541 and 542 may detect the recognition area 306.
  • the control device of the charging platform 600 rotates the vertical portion so that the first control unit 510 is located at the center of the bottom of the robot ball 200. . Then, the first control unit 510 rises and contacts the outer case 305. In addition, the first control wheel 511 or the second control wheel 512 rotates to close the outer case 305 so that both the first and second detection units 541 and 542 can detect the recognition area 306. Can be rotated. When the first and second sensing units 541 and 542 detect the rotation of the outer case 305, the lowering operation of the first control unit 510 is allowed.
  • control device rotates the vertical part so that the second control part 520 is located at the center of the bottom surface of the robot ball 200.
  • the hole coupling unit detachable device 521 installed on the upper surface 502 of the second control unit 520 rises upward.
  • the hole coupling unit detachable device 521 is coupled to the hole coupling unit 307.
  • the hole coupling portion detachable device 521 rotates so that the hole coupling portion 307 releases the coupling of the control hole 308. After that, the second control unit 520 descends. At this time, since the hole coupling unit detachable device 521 and the hole coupling unit 307 can be magnetically coupled to each other, the hole coupling unit 307 is separated from the outer case 305.
  • the control device rotates the vertical part so that the third control part 530 is located at the center of the bottom of the robot ball 200.
  • the connection device 531 provided on the upper surface 503 by raising the third control part 530 upward is electrically coupled to the connection part provided on the bottom surface of the inner housing 310 inside the outer case 305. Make it possible.
  • the connection part and the control hole 308 provided in the inner housing 310 are in a state of facing each other.
  • Various functions such as transmission and reception of large-capacity data between the charging platform 600 and the robot ball 200, rapid charging through wire, programming of the processor 210, etc. in the electrical connection state of the connection device 531 and the connection part of the inner housing You can do it.
  • the hole coupling portion 307 attached to the second control unit 520 may be coupled to the control hole 308 of the outer case 305.
  • the embodiments according to the present invention described above may be implemented in the form of program instructions that can be executed through various computer components and recorded in a computer-readable recording medium.
  • the computer-readable recording medium may include program instructions, data files, data structures, and the like alone or in combination.
  • the program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention or may be known and usable to those skilled in the computer software field.
  • Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magnetic-optical media such as floptical disks. medium), and a hardware device specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like.
  • Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.
  • the hardware device can be changed to one or more software modules to perform the processing according to the present invention, and vice versa.
  • connection or connection members of the lines between the components shown in the drawings exemplarily represent functional connections and/or physical or circuit connections. It may be referred to as a connection, or circuit connections.
  • essential or “important”, it may not be a necessary component for the application of the present invention.
  • the present invention can be used in the field of a movable robot capable of spending time with a companion animal.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Multimedia (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Animal Behavior & Ethology (AREA)
  • Zoology (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Signal Processing (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne, selon un mode de réalisation, un système de commande d'une boule-robot ayant une fonction de pilotage automatique, le système de commande comprenant : une boule-robot qui comprend une coque externe qui se présente sous forme de boule et dans laquelle au moins une zone de cette dernière est transparente, un boîtier interne positionné à l'intérieur de la coque externe et comprenant au moins un processeur, au moins une mémoire, une interface de communication sans fil, un système de propulsion, une batterie et un capteur, et une caméra installée dans une partie support du boîtier interne; et une plateforme de charge destinée à charger la batterie par connexion à la boule-robot pour alimenter sans fil en énergie la boule-robot, le système de propulsion étant conçu pour faire tourner la coque externe en réponse à une instruction reçue par l'intermédiaire de l'interface de communication sans fil ou d'une instruction stockée dans la mémoire exécutée par le processeur, et le processeur effectue une action de pilotage automatique de la boule-robot par commande du système de propulsion afin qu'il se déplace tout en évitant un obstacle adjacent identifié à l'aide du capteur et de la caméra.
PCT/KR2020/012532 2019-09-30 2020-09-17 Boule-robot ayant une fonction de pilotage automatique et son système de commande WO2021066359A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020190120388A KR102140322B1 (ko) 2019-09-30 2019-09-30 오토파일럿 기능을 구비한 로봇볼 및 이의 제어 시스템
KR10-2019-0120388 2019-09-30

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KR102140322B1 (ko) * 2019-09-30 2020-07-31 주식회사 힉스코리아 오토파일럿 기능을 구비한 로봇볼 및 이의 제어 시스템

Citations (5)

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Publication number Priority date Publication date Assignee Title
KR200322046Y1 (ko) * 2003-05-14 2003-08-02 (주)올텍전자 Ｕｓｂ 커넥터 수납 방식의 휴대용 ｕｓｂ 장치
JP2009176543A (ja) * 2008-01-24 2009-08-06 Hitachi Software Eng Co Ltd 両面ｕｓｂコネクタ及び両面ｕｓｂアダプタ
US20170010607A1 (en) * 2015-07-08 2017-01-12 Omar Barlas Remotely controlled robotic sensor ball
KR20180039438A (ko) * 2016-10-10 2018-04-18 엘지전자 주식회사 공항용 안내 로봇 및 그의 동작 방법
KR102140322B1 (ko) * 2019-09-30 2020-07-31 주식회사 힉스코리아 오토파일럿 기능을 구비한 로봇볼 및 이의 제어 시스템

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180055672A (ko) 2016-11-16 2018-05-25 김승규 볼 카메라 장치

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200322046Y1 (ko) * 2003-05-14 2003-08-02 (주)올텍전자 Ｕｓｂ 커넥터 수납 방식의 휴대용 ｕｓｂ 장치
JP2009176543A (ja) * 2008-01-24 2009-08-06 Hitachi Software Eng Co Ltd 両面ｕｓｂコネクタ及び両面ｕｓｂアダプタ
US20170010607A1 (en) * 2015-07-08 2017-01-12 Omar Barlas Remotely controlled robotic sensor ball
KR20180039438A (ko) * 2016-10-10 2018-04-18 엘지전자 주식회사 공항용 안내 로봇 및 그의 동작 방법
KR102140322B1 (ko) * 2019-09-30 2020-07-31 주식회사 힉스코리아 오토파일럿 기능을 구비한 로봇볼 및 이의 제어 시스템

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