KR20070061241A - Network-based robot control device, robot and robot control method - Google Patents

Abstract

A network-based robot control device, a robot, and a robot control method are provided to enable more than one robot connected to the device through the network to synchronously execute contents and minimize a load of processing content in the connected robots while executing most of the content processing in the device. An approver(210) prepares communication by assigning a basic communication parameter including an ID to the robot if the robot is connected. A content file obtainer(230) obtains a content file including a content execution subject and time. A content file interpreter(220) transmits the contents, to be executed in the content execution time, to the content execution subject by interpreting the content file. A content execution controller(240) issues a command for stopping, suspending, or restarting the contents by monitoring a content execution state. A content executer(250) includes an audio or video output part for executing the contents if the content execution subject is the robot control device.

Description

Network-based Robot Control Device, Robot and Robot Control Method}

1 is a schematic relationship between a robot control apparatus and a robot according to an embodiment of the present invention.

2 is a robot control apparatus according to an embodiment of the present invention.

3 is a robot control apparatus according to another embodiment of the present invention.

4 is a robot according to an embodiment of the present invention.

5 is a software structure inside the robot according to an embodiment of the present invention.

6 is a robot control method according to an embodiment of the present invention.

7 is a robot control method according to an embodiment of the present invention.

8 is a robot control method according to another embodiment of the present invention.

9 is a content file according to an embodiment of the present invention.

10 is a frame file according to an embodiment of the present invention.

The present invention relates to a network-based robot controller, a robot and a robot control method, and more particularly, to a network-based robot controller, a robot and a robot control method for synchronously executing various contents in one or more robots and a personal computer. It is about.

In general, the basic contents executed by the robot include audio information, still image, video, and text through the robot's speaker, image information through the display device mounted on the robot, and movement of the robot (arm, neck, leg, wheel, etc.). Robot operation information such as, there is a variety, including the output through the LCD mounted on the robot. However, the conventional content has been executed in such a manner that the basic content is continuously output from the robot for one robot.

The present invention relates to a method and apparatus for synchronously executing various content on one or more robots and computers.

Expensive multi-functional home service robot includes all functions such as image processing, autonomous driving, voice recognition, voice synthesis, motor and sensor control, and content execution inside the robot to handle high functions from simple hardware that controls motors or sensors. Since a high specification of hardware and software is required, there is a problem in that manufacturing cost and weight are increased.

In the case of a low-cost toy or educational service robot, the hardware specification inside the robot is poor, so it does not provide a high function, but provides only a simple function, and it is also difficult to add a new function or content.

Recently, various service robots using a network have appeared to compensate for these shortcomings. First, the robot is simplified by processing the high-level functions to be processed by the robot using a home server in the home.

The home server downloads a software module for a service from an external service server, and the robot requests a high function such as face recognition and autonomous driving from the home server if necessary. In this way, the cost of the robot is minimized. However, this method is aimed at only one robot, and there is a module for executing a certain content in the robot and requesting the home server if necessary.

Alternatively, you can minimize the robot's functionality and run the service on a remote supercomputer or service server. This means that each robot connects to the service server through the home gateway.

In addition, a method of creating a content using a content creation tool on a desktop computer and downloading it to a robot and executing the corresponding content inside the robot has been proposed.

However, the above-described methods are all methods for executing content in one robot through a service server located at a remote location.

SUMMARY OF THE INVENTION The present invention has been made in an effort to provide a network-based robot controller, a robot, and a robot control method for synchronously executing various contents on one or more robots and a personal computer (hereinafter, a computer).

One embodiment of the robot control apparatus for achieving the technical problem is to prepare the communication by assigning the basic parameters necessary for communication including the ID to each robot when the robot is connected to execute the content in two or more robots synchronously A content file acquiring unit for acquiring a content file having one or more contents whose content execution subject and execution time are specified, and a content file to be analyzed and transmitted to the corresponding content performing subject It has a content file analyzer.

According to an embodiment of the robot for achieving the technical problem, in order to execute the content contained in the file transmitted through the network, the robot content analysis unit and the execution sequence for analyzing the obtained content file and classifying the file according to the execution order And a content execution unit for a robot that executes the content or executes a command including stopping, pausing, or restarting the content transmitted through the network.

According to the present invention, the content developer uses the basic content, from a simple content that continuously outputs the basic content such as one robot playing music, and a complex content in which a plurality of robots perform English conversation or role play synchronously with each other. It can be developed in various ways.

The present invention consists of a robot control device for executing various contents stored in a computer and at least one robot connected to the robot control device through a network.

The robot controller loads a content file stored in the computer and classifies the content to be executed in the robot controller and the content to be executed in the robot. The contents to be executed in the robot controller are executed using resources such as a monitor and a speaker in the robot controller, and the contents to be executed in the robot are transmitted to the robot through a network.

The present invention is characterized in that when the robot controller executes the contents, the robot controller ensures that the contents are executed synchronously in a desired order and time.

As described above, according to the present invention, in an environment in which a computer and a plurality of robots are connected by a wireless network, the robot control apparatus executed in the computer is connected to the robot control apparatus as a network as well as resources such as a monitor and a speaker of the robot control apparatus. A plurality of connected robots executes the content synchronously. This overcomes the disadvantage of conventional content being executed only in one robot. In addition, the robot controller can perform a lot of content processing tasks and minimize the processing to be performed in the connected robot, thereby minimizing the manufacturing cost of the robot.

In addition, the content executed in the robot control device can be downloaded directly from various portable storage devices such as USB (USB) or the Internet, and can be directly executed in the robot control device driven on the computer without going through a complicated procedure of installing the robot.

Hereinafter, a network-based robot control apparatus, a robot, and a robot control method will be described in detail with reference to the accompanying drawings.

1 is a schematic relationship between a robot control apparatus and a robot according to an embodiment of the present invention. Referring to FIG. 1, the present invention includes a robot control apparatus 110, a robot 120, and a network 130.

That is, the present invention consists of a robot control apparatus 110 for executing various contents stored in a computer, and the robot control apparatus 110 and one or more robots 120 connected through a network 130.

The network 130 may be used in various ways, and a wireless network having a high speed and low data loss is preferable. Wireless networks available include WLAN (IEEE 802.11x), Wireless USB, Bluetooth, ZigBee, and Ultra Wide Bandwidth.

The robot controller 110 and the robot 120 should be equipped with communication equipment for communicating with each other via the network 130. For example, when the network 130 uses a wireless LAN, the robot controller 110 and the robot 120 should be equipped with a wireless LAN card. In addition, for the wireless communication between the robot controller 110 and the robot 120, there must be a wireless access point as the network 130 equipment.

The robot controller 110 may be executed on a portable notebook, laptop computer, PDA, or desktop computer in the home.

The robot controller 110 loads content stored in the computer and classifies the content to be executed in the robot controller 110 and the content to be executed in the robot 120 among the loaded contents.

The robot controller 110 executes the contents to be performed in the robot controller 110 using resources such as a monitor and a speaker in the robot controller 110, and the contents to be executed in the robot 120. Transfer to the robot 120 through the network 130 to perform.

In addition, the robot controller 110 ensures that the contents are executed in the robot controller 110 and the robot 120 synchronously in a desired order and time when the contents are executed.

In addition, the robot 120 should be equipped with basic hardware such as a speaker, a display device, and an actuator for executing content transmitted from the robot controller 110, and software for driving and controlling the hardware.

2 is a robot control apparatus according to an embodiment of the present invention. Referring to FIG. 2, the robot control apparatus 200 includes an approval unit 210, a content file acquisition unit 220, a content file analysis unit 230, a content execution control unit 240, and a content execution unit 250. do.

The approval unit 210 prepares communication by allocating basic parameters necessary for communication including IDs to each robot when the robot is connected in the robot control apparatus for synchronously executing contents in two or more robots.

The content file obtaining unit 220 obtains a content file having one or more contents whose content performing subject and execution time are specified. The subject of the content is the robot or the robot controller itself.

 The content file analyzer 230 interprets the content file and transmits the content to be performed at a specific time point to the corresponding content performing agent.

The content execution control unit 240 monitors the execution status of the content and issues a command including execution, pause, or restart of the content, if necessary.

The content execution unit 250 executes the content when the subject of the content is the robot control apparatus. The content execution unit 250 has various output units such as an image output unit and an audio output unit.

3 is a robot control apparatus according to another embodiment of the present invention. Referring to FIG. 3, the robot control apparatus includes a content execution engine 310, a computer content execution tool 320, and a content execution control tool 330.

The content execution engine 310 loads the content file and executes it.

The computer content execution tool 320 executes the content to be executed on the computer and outputs it to the screen.

The content execution control tool 330 monitors the content execution status of the content execution engine 310 and transmits a command to the content execution engine 310 when necessary.

The content execution engine 310 is composed of a communication module 311, a packet interpreter 312, a content execution controller 313, a content loader 315, a content executor 316, and a virtual robot 3317-317n.

The communication module 111 is for communicating with the connected robots, the computer content execution tool 320 and the content execution tool 330.

 The packet interpreter 312 interprets the packet received by the communication module 311 or converts the content into a transmission packet and transmits the content to the execution tool 320 for robots and computers.

The content execution controller 313 controls content execution such as start, stop, pause, and restart of content execution.

The content loader 115 loads content files 314 stored in various storage locations into a memory and delivers the content files 314 to the content execution controller 313.

The content executor 316 executes the content delivered from the content execution controller 313.

The virtual robots 3171-317n are generated for each connected robot and store information on the devices such as sensors, microphones, actuators, and speakers, and current state values of the robots.

The computer content execution tool 320 is a tool for executing the content for the computer delivered from the content execution engine 310.

The computer content execution tool 320 includes an image output module 321 for outputting still image and video content on the screen, an audio output module 322 for outputting audio information such as voice or music to a speaker, and HTML on the screen. HTML output module 323 to output.

In addition to this, there may be other types of content types such as ActiveX and modules for outputting them.

The content execution control tool 330 determines what content the content execution engine 310 is currently executing, and executes a command to stop, pause, or restart the currently executed content according to a user's request. To pass on.

4 is a robot according to an embodiment of the present invention. Referring to FIG. 4, the robot 400 includes a robot content analyzer 410, a robot content execution unit 420, and a sensor unit 430.

The robot content analysis unit 410 analyzes the acquired content file to execute the content contained in the file transmitted through the network and classifies the content file according to the execution order.

The content execution unit 420 for the robot executes the contents according to the execution order or executes a command including stopping, pausing or restarting the contents transmitted through the network.

The sensor unit 430 measures sensor information of the robot and transmits the sensor information to the user through a network.

5 is a software structure inside the robot according to an embodiment of the present invention. Referring to FIG. 5, the robot 500 includes a communication module 501, a packet processing module 502, an actuator driving module 503, a control command processing module 504, and a sensor control module 505.

The communication module 501 is for the robot 500 to communicate with the robot controller.

The packet processing module 502 analyzes the packet transmitted from the robot controller, and transmits the packet to the actuator driving module 503 if it is an actuator driving packet, and delivers the packet to the control command processing module 504 if it is a control packet. Let's do it.

The sensor control module 505 monitors sensor information inside the robot 500 and transmits it to the robot controller through the communication module 501 when a change is detected.

6 is a robot control method according to an embodiment of the present invention. Referring to FIG. 6, when robots are connected to execute contents in one or more robots synchronously, basic parameters necessary for communication including an ID are allocated to each robot to prepare for communication (S601).

A content file having one or more contents whose content performing subject and execution timing are specified is obtained (S602).

The content file is analyzed and the content to be performed at a specific time point is transmitted to the corresponding content performing entity (S603). When the main agent of content is the robot control apparatus, an image or audio for executing content is output.

The execution state of the content is monitored and, if necessary, an instruction including stopping, pausing or restarting the content is issued (S604).

7 is a robot control method according to an embodiment of the present invention. Referring to FIG. 7, the robot control apparatus is driven (S701). The robot connects to the robot control apparatus through a network (S702).

The robot controller allocates a unique ID to a robot connected to the robot controller, allocates basic parameters such as a window buffer size necessary for communication, and completes communication preparation (S703).

The robot controller loads a content file in the robot controller and loads it into a memory in the robot controller (S704).

The robot controller analyzes the loaded contents, and determines which robot among the connected robots to execute or in the robot controller (S705).

The robot controller grasps the contents to be executed at the present time. If the content is to be executed in the robot control apparatus, it is executed in the robot controller, and if it is to be executed in the robot, the corresponding content is packaged and transmitted to the robot (S706).

The robot analyzes the packet transmitted from the robot controller and executes it (S707).

The robot controller determines the end point of the content transmitted to the robots and transmits the next content when execution is finished (S701).

8 is a robot control method according to another embodiment of the present invention. Referring to FIG. 8, the robot controller 810 waits for packet reception at a predetermined private Internet address (eg, 192.168.1.100) and port number (eg, 2000).

The robot 820 connects to the robot controller 810 using a predetermined private Internet address and port, and then sends a connection request packet to the robot controller 810 together with the buffer size of the robot 820.

The robot controller 810 receiving the connection request packet 831 from the robot 820 assigns an ID to the robot 820 and sends a connection approval packet 832 to the robot 820 together with the assigned ID.

The robot 820 receiving the connection acknowledgment packet 832 again sends a connection acknowledgment packet 833 to the robot controller 810.

 The robot controller 810 receiving the connection approval confirmation packet 833 from the robot 820 generates a virtual robot object suitable for the type of the robot 820.

The robot controller 810 loads and executes preset content when all the desired robots 820 are connected.

The robot controller 810 determines the content to be executed at a specific time point, and transmits the content packet 834 to the computer content execution tool or the robot 820 in the robot controller 810.

The computer content execution tool or robot 820 in the robot control apparatus 810 receiving the content packet 834 analyzes and executes the received content packet (S835).

Some robots need to execute content after the content of another robot is finished. For example, for content where two different robots are speaking English, one robot first shows Hello, How are you? This is the case when another robot needs to speak Fine, and you?

The robot controller 810 controls the sequential (or synchronous) execution of such inter-robot content. The robot controller 810 sends a content packet to the robot 820, and then sends a content termination query packet 836 to the robot 820 to query whether all of the content packets have been executed.

The robot 820 receiving the content termination query packet 836 executes the content packet 834 received before the content termination query packet 836, and then sends the content termination confirmation packet 837 to the robot controller 810. To be sent).

The robot controller 810 receiving the content end confirmation packet 837 confirms that the content packet 834 has been executed, and then transfers the next content packet 838 to be executed next to the robot 820. .

The robot control apparatus 810 may verify the completion of execution of the content in addition to the method of using the content termination or not query packet 9936 and the content termination confirmation packet 837.

After the robot 820 receiving the content packet 834 executes the content packet 834, the robot 820 may notify the content execution engine 11 of the completion of the content packet 834.

In addition, the robot 820 continuously informs the robot controller about the number of content packets 834 that are not currently executed, among the content packets 834 received from the robot controller 810, so that the robot controller 810 can receive the contents. There is also a method for determining whether the content packet 834 is terminated using this.

9 is a content file according to an embodiment of the present invention. Referring to FIG. 9, the content file may be an XML composite content.

The content executed by the robot control device is composed of complex content consisting of a combination of basic content and basic content.

Basic content includes audio files such as Wave and MP3, still images, video files, text files, XML files describing robot movement, HTML files, etc. In combination, there is an XML file (hereinafter referred to as XML compound content) describing the flow of which basic content is executed on which robot, and a class library (hereinafter referred to as class compound content) written in a programming language by a user.

In the XML composite content, the robot controller interprets the corresponding XML and executes it using the content launcher. In the class composite content, the content execution controller loads the class into memory and creates an instance of the class. A function is called to execute the composite content.

Class composite content must implement the onStart (), onStop (), onSuspend (), and onResume () functions, and the content execution controller must be onStart () at content start, onStop () at content end, onSuspend (), at content pause, OnResume () function is called when content is restarted.

The class composite content keeps delivering content to be executed at a specific point of time to the content execution controller, which executes it.

The content executable file consists of several frames described by multiple frame tags. The frame tag represents a bundle of content to be executed simultaneously by each robot and computer content execution tool.

The exec tag below the frame tag contains the type tag indicating whether the contents should be executed in the robot or the robot controller, the ID of the robot (20-1, 20-2, 20-n) to execute the contents, and It consists of an src tag that contains the name of an XML file (hereafter a frame file) describing the basic contents.

For example, the frame with id 1 means that the robot with id dog will run the hi.xml frame file, and the computer will execute the content described in the pc_hi.xml frame file. The content execution controller executes the next frame sequentially after one frame ends.

10 is a frame file according to an embodiment of the present invention. Referring to Figure 10, the frame file is executed in the robot.

The file location of the basic content is described using tags such as action, voice, music, pic, and mpic in the scene tag of the frame file.

The content execution controller loads basic content using tag information, and sequentially sends the basic content to a robot and computer content execution tool. The content execution controller sequentially executes scenes of the frame files to be sent to each robot and computer content execution tool, starting from the smallest step number. Those with the same step number are sent to the content execution tools for robots and computers at the same time, allowing the scene to run simultaneously to control and synchronize content execution.

The content execution controller performs the next scene after one scene is completely terminated. The content execution controller uses the robot control method described in FIG. 8 to know whether the current scene has ended.

The class composite content also delivers frame information and scene information to the content execution controller, and the execution process is similar to the execution process of the content execution file described above.

The invention can also be embodied as computer readable code on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like, and may also be implemented in the form of a carrier wave (for example, transmission over the Internet). Include. The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

So far I looked at the center of the preferred embodiment for the present invention. Those skilled in the art will appreciate that the present invention can be implemented in a modified form without departing from the essential features of the present invention. Therefore, the disclosed embodiments should be considered in descriptive sense only and not for purposes of limitation. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the scope will be construed as being included in the present invention.

As described above, according to the robot control apparatus, the robot, and the robot control method according to the present invention, not only resources such as a monitor and a speaker in the robot control apparatus but also one or more robots connected to the robot control apparatus through a network synchronously execute contents. do.

The present invention overcomes the disadvantage that the content is executed only in one robot. In addition, the present invention performs most of the content processing in the robot controller and minimizes the processing to be performed in the connected robot.

The present invention can minimize the manufacturing cost of the robot. In addition, the present invention can be downloaded directly from a variety of portable storage devices such as USB (USB) or the Internet without going through a complicated procedure to install on the robot can be directly executed in the robot control device.

Claims (13)

In the robot control apparatus for synchronously executing content in two or more robots, Approving unit for preparing the communication by allocating the basic parameters necessary for communication including the ID to each robot when the robot is connected; A content file obtaining unit obtaining a content file having at least one content whose execution subject and execution time are specified; And  And a content file analyzer for analyzing the content file and transmitting the content file to be performed at a specific point in time to the content executing agent. The method of claim 1, And a content execution control unit that monitors the execution state of the content and issues a command including execution, pause, or restart of the content, if necessary. The method of claim 1, The subject of performing the content is the robot or the robot controller itself. The method according to any one of claims 1 to 3, If the subject of execution of the content is the robot control device itself, the robot control apparatus further comprises a content execution unit including at least one of an image or audio output unit for executing the content. In a robot that executes content contained in a file transmitted through a network, A robot content analysis unit for analyzing the obtained content file and classifying the acquired content file according to the execution order; And And a content execution unit for a robot executing the content according to the execution order or executing a command including execution, pause, or restart of the content transmitted through the network. The method of claim 5, And a sensor unit for measuring sensor information of the robot and transmitting the sensor information to the user through the network. In the robot control method for synchronously executing content in two or more robots, (a) when the robots are connected, allocating basic parameters for communication including IDs to each robot to prepare for communication; (b) acquiring a content file having one or more contents in which a subject and an execution time of the contents are specified; And  (c) analyzing the content file and transmitting the content to be performed at a specific time point to the corresponding content performing entity. The method of claim 7, wherein (d) monitoring the execution state of the content, and if necessary, providing a command including execution, pause, or restart of the content. The method of claim 7, wherein The subject of performing the content is the robot or the robot control apparatus itself. The method according to any one of claims 7 to 9, If the subject of execution of the content is the robot control apparatus, the robot control method further comprising a content execution step including at least one of an image or audio output unit for executing the content. In the robot control method of the robot for executing the contents contained in the file transmitted through the network, (a) analyzing the obtained content file and classifying the acquired content file according to the execution order; And (b) executing the contents according to the execution order or executing a command including execution, pause, or restart of the contents transmitted through the network. The method of claim 11, and (c) measuring sensor information of the robot and transmitting the measured sensor information to a user through the network. A computer-readable recording medium having recorded thereon a program for executing the method according to any one of claims 7 to 12.

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