KR101381753B1 - Method and device for loading service application of robot based on Ubiquitous Robotic Companion(URC) environment - Google Patents

Abstract

In the intelligent service robot environment, a robot service loading method for loading a service to a robot is provided. The service loading method includes generating a service code for a service that can be implemented by a robot from one or more descriptors, generating one or more service objects based on the generated service code, and loading the generated one or more service objects into the robot. Steps.

Description

Method and device for loading service application of robot based on Ubiquitous Robotic Companion (URC) environment}

The present invention relates to a Ubiquitous Robotic Companion (URC) technology, and more particularly, to a robot service loading method and apparatus for dynamically loading a service to a plurality of intelligent robots in an intelligent service robot environment. It is about.

The present invention is derived from a study conducted as part of the IT growth engine technology development project of the Ministry of Knowledge Economy [Task management number:, Task name: RUPI-client technology development].

Recently, with the development of service robots, users can receive specific services from robots. In addition, with the introduction of the concept of URC (Ubiquitous Robotic Companion (URC)), it was able to receive services from environmental devices such as home appliances and security devices used in homes as well as robots.

In the related art, a service robot is implemented by using a programming language to create a service that can be performed by a robot or an environment device, and storing the created service in the robot or the environment device.

However, services are so variable that variability, such as creating new services or removing already stored services, causes problems for developers to program and implement.

In particular, in the related art, a developer is programming a service using C ++, and in order to mount a new service, a process of compiling and linking the service information is required by writing service information in programming code.

This is cumbersome for developers, and much time is spent developing services. In addition, when the robot or the environment device is not equipped with a compilation function, a problem occurs in performing a task of removing a programmed service later.

The problem to be solved by the present invention is to provide a robot service loading method that can increase the convenience of the service developer and the dynamic loading of the service.

Another object of the present invention is to provide a service loading device for loading a robot service.

Robot service loading method according to an embodiment of the present invention for solving the above problems, generating a service code for a service that can be implemented by the robot from one or more descriptors and at least one service object based on the generated service code Generating and loading the generated one or more service objects into the robot.

Robot service loading apparatus according to another embodiment of the present invention for solving the other problem, generates a service code for the service that can be implemented by the robot from one or more input descriptor, and based on the generated service code It includes a service manager for generating and outputting a service object and one or more service objects, and a service agent for extracting and outputting a corresponding service object from one or more service objects loaded according to a service request command input from a user.

According to the robot service loading method and the service loading device of the present invention, a developer describes an XML-based descriptor and stores it in a robot or an environment device, and then generates a service that can be implemented by the robot or the environment device by using the same. There is an effect that can provide convenience for service development.

BRIEF DESCRIPTION OF THE DRAWINGS A brief description of each drawing is provided to more fully understand the drawings recited in the description of the invention.
1 is a block diagram of a URC system capable of implementing an intelligent service robot environment according to the present invention.
FIG. 2 is a configuration diagram of one URC device among the plurality of URC devices shown in FIG. 1.
3 is a flowchart illustrating a service implementation operation using the URC system according to the present invention.
4 is a flowchart illustrating an operation of creating a service object in a URC device.
5 is a diagram illustrating an embodiment of a descriptor input from a developer.
6 is a diagram illustrating an embodiment of a service code generated from a descriptor.

In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the embodiments of the present invention, reference should be made to the accompanying drawings that illustrate embodiments of the present invention.

In the present invention, for convenience of description, an Ubiquitous Robotic Companion (URC) system that can implement a service desired by a user using various intelligent service robots or environmental devices disposed in a home or office will be described as an example.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

1 is a block diagram of a URC system capable of implementing an intelligent service robot environment according to the present invention.

Referring to FIG. 1, the URC system 10 may include a plurality of URC devices 101, 102, and 103, a communication network 300, and a URC server 200.

Each of the plurality of URC devices 101, 102, 103 may be a robot device capable of implementing intelligent services, or may be an environment device such as a home appliance or a security device.

Each of the plurality of URC devices 101, 102, and 103 may be connected to the URC server 200 through the communication network 300 or may be connected to each other through the communication network 300.

Each of the URC devices 101, 102, and 103 may control its operation according to a service request command RQ input from a user (or a service user) to provide a service to the user.

For example, a user may input a service request command (RQ) to the URC server 200, and the URC server 200 transmits a service request command (RQ) input from the user through the communication network 300 to the plurality of URC devices. It may transmit to one or more of the corresponding URC devices 101, 102, and 103 from among (101, 102, 103).

In addition, the URC devices 101, 102, and 103 that receive the service request command RQ from the URC server 200 use a user by using one or more service objects corresponding to the service request command RQ among one or more stored service objects. To provide services.

Here, the service object stored in the URC devices 101, 102, 103 may be programmed and stored by a developer (or an administrator).

At this time, when using at least two URC devices (101, 102, 103) to provide a service according to the service request command (RQ) input from the user, two or more URC devices (101, 102, 103) May be interlocked with each other through the communication network 300.

The two or more URC devices 101, 102, and 103 may implement a service using a service object corresponding to the received service request command (RQ), but may control the services to be implemented in synchronization with each other. have.

Here, the communication network 300 may be a wired / wireless communication network. In the present invention, an example of a short range wireless communication network used in an indoor space such as a home or an office will be described.

The URC server 200 may receive information about a service that each device can implement from the plurality of URC devices 101, 102, and 103, and provide the same to a user.

In addition, the URC server 200 analyzes the service request command (RQ) input from the user, and the service input from the plurality of URC devices (101, 102, 103) connected through the communication network 300 according to the analysis result An optimal URC device 101, 102, 103 capable of executing the request command RQ may be extracted.

In addition, the URC server 200 may transmit the service request command (RQ) of the user to the extracted URC device (101, 102, 103).

In addition, the URC server 200 may periodically update the information on the service of each of the plurality of URC devices (101, 102, 103) that can be changed later by the developer.

FIG. 2 is a diagram illustrating a configuration of one URC device among the plurality of URC devices shown in FIG. 1. Hereinafter, a configuration of one URC device (hereinafter, referred to as a first URC device) 101 among the plurality of URC devices 101, 102, and 103 will be described as an example, but the remaining URC devices 101, 102, and 103 are described. The configuration of may also be the same as the first URC apparatus 101.

1 and 2, the first URC device 101 may generate one or more service objects SO from a descriptor DC for a service from a developer, and store the same.

To this end, the first URC device 101 may include a service manager 110, a service agent 120, an operation controller 130, and a plurality of hardware 141, 143, and 145.

The service manager 110 may generate the service code SC and the dynamic link library DLL from the descriptor DC input from the developer, and generate the service object SO using these.

The service manager 110 may generate a service object SO by receiving a service code SC and a dynamic link library DLL from a developer according to various embodiments of the present disclosure.

The service manager 110 may include a service code generator 111 and a compiler 113.

The service code generator 111 may receive a descriptor (DC), for example, a service descriptor (DC) created based on XML (eXtensible Markup Language; XML) as shown in FIG. 5.

Here, referring to FIG. 5, the descriptor (DC) may describe information about a service that may be performed in the first URC device 101, and may include a service type (or interface) and a class name implemented therefrom. May contain properties (property values).

In addition, a plurality of service information may be described in one descriptor DC, and each descriptor DC may be described for each service.

The service code generator 111 may generate and output a service code SC based on the input descriptor DC, for example, a service code SC based on C ++ as illustrated in FIG. 6.

The compiling unit 113 may generate a dynamic link library DLL by compiling the service code SC output from the service code generating unit 111.

Here, the compiling unit 113 may receive an attribute value of the service code SC from the developer, that is, a service code property, and add the same to the service code SC and then perform a compilation operation.

The service manager 110 may generate one or more service objects SO based on the service code SC generated from the service code generator 111 and the dynamic link library DLL generated from the compiler 113. have.

The generated service object SO may be output to the service agent 120.

The service agent 120 may store the service object SO output from the service manager 110.

The service agent 120 may extract and output the corresponding service object SO from the stored service object SO based on the service request command RQ input from the user.

The service agent 120 may include a number of servants, for example, the first servant 121 to the M-th servant 125.

Here, the first servant 121 to the M th servant 125 of the service agent 120 may be generated based on the dynamic link library (DLL) generated from the service manager 110.

In addition, each of the first servant 121 to the M-th servant 125 may bind and store the service object SO output from the service manager 110.

Accordingly, the service agent 120 may extract one of the service objects SO bound to each of the first servant 121 to the M th servant 125 based on the service request command RQ input from the user. have.

The service agent 120 may output the extracted service object SO to the operation controller 130.

The operation controller 130 may include a plurality of hardware constituting the first URC device 101, for example, the first hardware 141 to the m-th hardware 145 based on the service object SO output from the service agent 120. ) Can be controlled, from which the user can implement a desired service.

For example, the operation controller 130 may generate a control signal CNT for controlling the operation of the first URC device 101 from the service object SO.

The operation controller 130 may control the operation of the first URC device 101 by outputting the generated control signal CNT to the corresponding hardware among the first hardware 141 to the m-th hardware 145.

For example, a user may enter a service request command (RQ) to be provided with a service for moving objects in a home or office.

The service agent 120 of the first URC device 101 that receives the service request command (RQ) from the URC server 200 is a service object (SO) stored in each of the first servant 121 to the M servant 125. The service object SO corresponding to the service request command RQ may be extracted and output.

The operation controller 130 may generate and output a control signal CNT based on the service object SO output from the service agent 120.

In this case, the control signal CNT is obtained by moving a hardware capable of performing an object moving service among a plurality of hardware of the first URC device 101, for example, the first URC device 101 to a point where the object is located. And it can control the operation of the hardware capable of performing the operation to move it to a predetermined position.

Accordingly, the first URC device 101 may provide a service desired by a user through hardware controlled by the control signal CNT.

3 is a flowchart illustrating a service implementation operation using the URC system according to the present invention. In the present embodiment, for convenience of description, an example in which the first URC device 101 shown in FIG. 2 implements a service in response to a service request command RQ input from a user will be described. However, services other than the first URC device 101 may be implemented using substantially the same method in the other URC devices 102 and 103.

1 to 3, a developer may describe information about a service that can be performed by the first URC device 101, that is, a descriptor DC, and input the same to the first URC device 101. .

For example, the developer may input the service descriptor DC written on the basis of XML as described above with reference to FIG. 5 to the first URC device 101.

The first URC device 101 may generate one or more service objects SO based on the input descriptor DC (S10).

For example, the service manager 110 of the first URC device 101 may generate the service code SC and the dynamic link library DLL based on the input descriptor DC. The first URC device 101 may use them to create a service object SO. The generated service object SO may be stored in the servants 121, 123, and 125 of the service agent 120.

Such a creation operation of the service object SO will be described in detail later with reference to FIG. 4.

Meanwhile, a user who wants to receive a service through the first URC device 101 inputs a service request command (RQ) for requesting a desired service among services of the first URC device 101 provided from the URC server 200. Can be (S20).

The URC server 200 transmits a service request command (RQ) input from the user to the first URC device 101, and the first URC device 101 stores the service object SO stored according to the service request command RQ. The corresponding service object SO may be extracted (S30).

For example, the service agent 120 of the first URC device 101 may select a service request command from among a service object SO bound to each of the plurality of servants 121, 123, and 125 based on the service request command RQ. A service object (SO) corresponding to RQ) may be extracted.

Subsequently, the extracted service object SO is provided to the operation control unit 130, and the operation control unit 130 generates a control signal CNT corresponding to the service object SO, so that a plurality of hardwares 141, 143, 145) can be output to each.

Each of the plurality of hardwares 141, 143, and 145 constituting the first URC device 101 may perform a service desired by a user according to the control signal CNT output from the operation controller 130 (S40). .

4 is a flowchart illustrating an operation of creating a service object in a URC device. In this embodiment, an example of generating a service object SO in the first URC device 101 shown in FIG. 2 will be described.

1, 2, and 4, a developer may input one or more descriptors DC describing a service to be developed based on XML to the first URC device 101.

The first URC device 101 may store one or more input descriptors DC in a predetermined storage space.

Here, the developer may describe a service that can be performed in the first URC device 101 as a descriptor DC, and the plurality of URC devices 101, 102, and 103 including the first URC device 101. The services that can be performed in each may be described by a bundle descriptor.

When the developer describes a service that can be performed in each of the plurality of URC devices 101, 102, and 103 as a bundle descriptor, the first URC device 101 stores the information in a service that can be performed by the developer. The service code SC may be generated by extracting only the descriptor DC in operation S110. Here, the bundle descriptor may include information about a plurality of services.

For example, the first URC device 101 searches for a stored bundle descriptor, and determines and extracts a descriptor DC that can be loaded (or mounted) in the first URC device 101 among the bundle descriptors. It may be (S120).

In addition, the service manager 110 of the first URC device 101 may generate a service code SC from the extracted descriptor DC (S130).

Subsequently, the developer may input a property (property value) of the service code SC generated by referring to the descriptor DC extracted before (S140), and the service manager 110 may input the service code (SC) into which the property is input. ) To generate a dynamic link library (DLL).

Meanwhile, the service manager 110 may initialize the service code SC in which the property is input (S150) and generate the service object SO from the initialized service code SC.

The generated service object SO may be bound to a servant generated by the service agent 120.

Here, the service agent 120 may generate the servants 121, 123, and 125 based on the dynamic link library (DLL) generated by the service manager 110. The number of generations of the dynamic link library (DLL) (or , The number of generated service codes SC).

The service agent 120 binds and stores the service object SO, and the URC server 200 provides information on the bound service object SO, that is, information on a service that can be performed by the first URC device 101. Can be sent to.

The URC server 200 may provide the service information of the transmitted first URC device 101 to the user, and receive a service request command (RQ) according to the user's selection (S160).

That is, the user selects a service he / she wants to receive from information about services that can be performed by the first URC device 101 provided by the URC server 200, and then URC a service request command (RQ) requesting the service. It can be input to the server 200.

The URC server 200 may transmit a service request command (RQ) input by the user to the first URC device 101, and the first URC device 101 stores the service object according to the transmitted service request command (RQ). (SO) can be used to implement the desired service.

On the other hand, if you want to remove a service that has been used previously can be performed simply by performing an operation to remove the descriptor (DC) stored in the first URC device 101.

Although the contents of the present invention have been described with reference to one embodiment shown in the drawings, this is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible therefrom. will be. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: URC device 110: service manager
111: service code generator 113: compiler
120: service agent 130: operation control unit
200: URC server 300: communication network

Claims (17)

Generating a service code for a service that can be implemented by the robot from one or more descriptors; And
Generating at least one service object based on the generated service code, and loading the generated at least one service object into the robot,
Generating the service code,
Receiving a bundle descriptor including a descriptor for each of the plurality of services;
Extracting a descriptor for a service that can be implemented by the robot from the bundle descriptor; And
Robot service loading method comprising the step of generating the service code from the extracted descriptor. delete The method of claim 1, wherein the loading of the one or more service objects to the robot comprises:
Adding an input property to the service code and compiling the service code to which the property is added to generate a dynamic link library; And
Generating one or more servants based on the dynamic link library, and binding and loading the one or more service objects generated based on the service code to each of the one or more servants. The method of claim 3,
The loading of the one or more service objects to the robot further includes initializing a service code to which the property is added. The method of claim 3,
And the one or more servants are generated based on the number of generations of the dynamic link library. The method of claim 3,
The one or more servants are generated based on the number of generation of the service code robot service loading method. The method according to claim 1,
And after loading the at least one service object on the robot, implementing a service to a user using the at least one service object loaded based on a service request command input from the user. The method of claim 7, wherein implementing the service,
Extracting a corresponding service object from the one or more service objects loaded according to the service request command; And
And generating a control signal based on the extracted service object, and controlling the operation of the robot according to the control signal to implement the service. The method according to claim 1,
And the one or more descriptors are described in XML-based code. The method according to claim 1,
The service code is a robot service loading method generated by C ++ based code. A service manager generating a service code for a service that can be implemented by the robot from the input one or more descriptors, and generating and outputting one or more service objects based on the generated service code; And
A service agent for loading the at least one service object and extracting and outputting a corresponding service object from the at least one service object loaded according to a service request command input from a user;
The service manager,
A service code generator for generating the service code from the one or more descriptors; And
Compiling unit for compiling the service code to generate a dynamic link library,
And the service manager generates the one or more service objects based on the service code and the dynamic link library. delete The method of claim 11,
And the compiling unit adds a property input from the outside to the service code, and compiles the service code to which the property is added to generate the dynamic link library. The method of claim 11,
The service agent generates one or more servants based on the number of generated dynamic link libraries,
The robot service loading apparatus for binding and loading the one or more service objects output from the service manager to each of the one or more servants. The method of claim 11,
The service agent generates one or more servants based on the number of generated service codes;
The robot service loading apparatus for binding and loading the one or more service objects output from the service manager to each of the one or more servants. The method of claim 11,
And the service manager generates the service code described in C ++ based code from the descriptor described in XML based code. The method of claim 11,
And a control unit for generating a control signal based on the service object output from the service agent.
And the operation controller controls an operation of each of a plurality of hardwares of the robot based on the control signal to implement a service corresponding to the service request command to a user.

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