KR20230039415A - System for remotely controlling robot and method for controlling the same - Google Patents

Abstract

Provided in the present invention are a robot remote control system and a control method thereof, which may efficiently update the inner software of a robot and minimize the computation of the robot. To this end, provided in the present invention is the robot remote control system, which comprises: a plurality of robots; a control server which is spaced apart from the plurality of robots at a remote distance to control the plurality of robots; and an edge server which relays the communication between the plurality of robots and the control server. The edge server is characterized by comprising an integrated management engine provided to convert a first message in a first type received from the plurality of robots into a first message of a second type to transmit the same to the control server, and convert a second message of the second type received from the control server into a second message of the first type to transmit the same to the plurality of robots.

Description

Robot remote control system and control method therefor {SYSTEM FOR REMOTELY CONTROLLING ROBOT AND METHOD FOR CONTROLLING THE SAME}

The present invention relates to a system for remotely controlling a plurality of robots located at a long distance and a control method therefor.

Robots have been developed for industrial use and have been in charge of a part of factory automation. In recent years, the field of application of robots has been further expanded, and medical robots, space robots, etc. have been developed, and household robots that can be used at home are also being made. Some of these robots can run on their own.

Internal software of such a robot needs to be updated periodically or non-periodically for reasons such as a change in the surrounding activity environment, a change in the communication environment, and a change in the system of the control server.

Also, at least in order to pursue low power consumption, it is necessary to minimize the amount of calculation in the robot itself.

Recently, many studies are being conducted on a method for efficiently updating the internal software of the robot and a method for minimizing the amount of operation of the robot itself.

An object of the present invention is to provide a robot remote control system and a control method therefor to efficiently update the internal software of the robot and to minimize the amount of operation of the robot itself.

In order to achieve the above object, the present invention provides a plurality of robots, a control server remotely separated from the plurality of robots and controlling the plurality of robots, and an edge for relaying communication between the plurality of robots and the control server. and a server, wherein the edge server converts a first message of a first type received from the plurality of robots into a first message of a second type, transmits the message to the control server, and receives the first message from the control server. It provides a robot remote control system comprising an integrated management engine for converting a second message of the second type into a second message of the first type and transmitting the message to the plurality of robots.

The first type may be a ROS type based on ROS (Robot Operation System) communication, and the second type may be a socket type based on socket communication.

The integrated management engine includes a ROS communication module managing the ROS communication, a socket communication module managing the socket communication, a database storing information of the plurality of robots, and a first message of the ROS type of the socket type. It may include a core module for converting a first message and converting a second message of the socket type into a second message of the ROS type.

When converting the second message of the socket type into the second message of the ROS type, the core module may include an identifier of a robot to receive the second message in the second message of the second type.

Among the plurality of robots, a specific robot and the edge server may be connected through different networks.

In this case, the edge server may further include an edge bridge engine for converting the second message of the ROS type into a second message of the socket type and transmitting the converted message to the specific robot.

In addition, the specific robot may include a robot bridge engine for converting the second message of the socket type into the second message of the ROS type.

The robot bridge engine may convert the first message of the ROS type generated in the specific robot into the first message of the socket type and transmit it to the robot bridge engine.

The edge bridge engine may convert the first message of the socket type into the first message of the ROS type and transmit it to the integrated management engine.

In addition, in order to achieve the above object, the present invention provides an edge server receiving a first message of a first type from a plurality of robots, wherein the edge server sends a first message of a first type to a first message of a second type. converting into a message and transmitting it to the control server, the edge server receiving a second message of the second type from the control server, and the edge server converting the second message of the first type into the plurality of robots It provides a robot remote control method comprising the step of transmitting to them.

Referring to the robot remote control system according to the present invention and the effects of the robot for implementing it are as follows.

According to at least one of the embodiments of the present invention, there is an advantage in that the amount of operation of the robot itself can be reduced to a minimum while efficiently updating the internal software of the robot.

1 is a block diagram showing components constituting a robot according to an embodiment of the present invention.
2 is a block diagram of engines in a robot according to an embodiment of the present invention.
3 illustrates a situation in which a plurality of robots communicate with a control server according to an embodiment of the present invention.
4 illustrates a situation in which a plurality of robots communicate with a control server according to another embodiment of the present invention.
5 is an internal block diagram of an integrated management engine according to an embodiment of the present invention.
6 illustrates a situation in which a plurality of robots communicate with a control server according to another embodiment of the present invention.
7 is an operation flowchart of a bridge engine according to an embodiment of the present invention.
FIG. 8 is a block diagram illustrating communication between the first robot of FIG. 6 and an edge server.

Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same or similar components are given the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module", "unit", "engine", and "node" for components used in the following description are given or used interchangeably in consideration of only the ease of writing the specification, meaning that they are distinguished from each other in themselves. or does not have a role. In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes included in the spirit and technical scope of the present invention , it should be understood to include equivalents or substitutes.

Of course, the following examples of the present invention are only intended to embody the present invention and are not intended to limit or limit the scope of the present invention. What can be easily inferred by an expert in the technical field to which the present invention pertains from the detailed description and embodiments of the present invention is interpreted as belonging to the scope of the present invention.

The above detailed description should not be construed as limiting in all respects, but should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

Referring to Figure 1, the components constituting the robot according to an embodiment of the present invention will be described. 1 is a block diagram showing components constituting a robot according to an embodiment of the present invention.

The robot 1000 includes a sensing module 100 for sensing a moving object or a fixed object placed outside, a map storage unit 200 for storing various types of maps, a moving unit 300 for controlling the movement of the robot, and a robot A functional unit 400 that performs a predetermined function of, a communication unit 500 that transmits and receives information about a map or moving object, a fixed object, or an externally changing situation with another robot or server, and each of these components The control unit 900 may be used to control.

Although the configuration of the robot is hierarchically configured in FIG. 1, this logically represents the components of the robot. In the case of physical configuration, this may be different. That is, a plurality of logical elements may be included in one physical element, or a plurality of physical elements may implement one logical element.

The sensing module 100 senses external objects such as obstacles and provides the sensed information to the control unit 900 . In one embodiment, the sensing module 100 is a Lidar that calculates the material and distance of external objects such as walls, glass, and metallic doors from the current position of the robot as the intensity of the signal and the reflected time (velocity). A sensing unit 110 may be included. Also, the sensing module 100 may include a temperature sensing unit 120 that calculates temperature information of objects disposed within a predetermined distance from the robot 1000 . One embodiment of the temperature sensing unit 120 includes an infrared sensor that senses the temperature of an object disposed within a certain distance from the robot 1000, in particular, the body temperature of people. When the temperature sensing unit 120 is configured with an infrared array sensor, the temperature of an object can be sensed without contact. When an infrared sensor or an infrared array sensor configures the temperature sensing unit 120, it can provide important information for determining whether a moving object is a person.

In addition, the sensing module 100 may further include a depth sensing unit 130 and a vision sensing unit 140 that calculate depth information between the robot and an external object, in addition to the above-described sensing units.

The depth sensing unit 130 may include a depth camera. The depth sensing unit 130 can determine the distance between the robot and an external object. In particular, by combining with the lidar sensing unit 110, the sensing accuracy of the distance between the external object and the robot can be increased.

The vision sensing unit 140 may include a camera. The vision sensing unit 140 may capture images of objects around the robot. In particular, the robot may identify whether an external object is a moving object by distinguishing an image in which there is not much change, such as a fixed object, and an image in which a moving object is disposed.

In addition, a plurality of auxiliary sensing units 145 including a thermal sensing unit and an ultrasonic sensing unit may be disposed. These auxiliary sensing units provide auxiliary sensing information necessary for generating a map or sensing an external object. In addition, these auxiliary sensing units also provide information by sensing an object disposed outside while the robot is driving.

[0032] The sensing data analyzer 150 analyzes information sensed by a plurality of sensing units and transmits it to the control unit 900. For example, when an object disposed outside is sensed by a plurality of sensing units, each sensing unit may provide information about the characteristics and distance of the corresponding object. The sensing data analysis unit 150 may combine and calculate these values and deliver them to the controller 900 .

The map storage unit 200 stores information on objects arranged in a space in which the robot moves. The map storage unit 200 may include a fixed map 210 that stores information on fixed objects that do not change or are fixedly disposed among objects disposed in the entire space in which the robot moves. One fixed map 210 may be necessarily included according to space. Since the fixed map 210 is arranged with only objects with the lowest variation in the space, when the robot moves in the space, more objects than the objects indicated by the map 210 can be sensed.

The fixed map 210 essentially stores positional information of fixed objects, and may additionally include characteristics of fixed objects, such as material information, color information, or other height information. These additional information makes it easier for the robot to check when changes occur in fixed objects.

In addition, the robot can sense the surroundings in the process of moving to create a temporary map 220 and compare it with the fixed map 210 for the entire space previously stored. As a result of the comparison, the robot can confirm its current location.

The moving unit 300 is a means for moving the robot 1000 like a wheel, and moves the robot 1000 under the control of the controller 900. At this time, the control unit 900 may check the current location of the robot 1000 in the area stored in the map storage unit 200 and provide a movement signal to the moving unit 300 . The control unit 900 may generate a route in real time or during a movement process using various pieces of information stored in the map storage unit 200 .

The moving unit 300 may include a mileage calculation unit 310 and a mileage correction unit 320 . The travel distance calculation unit 310 may provide information on the distance the moving unit 300 has moved. As an embodiment, an accumulated distance traveled by the robot 1000 starting from a specific point may be provided. Alternatively, the cumulative distance traveled in a straight line after the robot 1000 rotates at a specific point may be provided. Alternatively, an accumulated distance that the robot 1000 has moved from a specific time may be provided.

In addition, according to an embodiment of the present invention, the mileage calculation unit 310 may provide information on a moving distance within a certain unit as well as an accumulated distance. The mileage calculation unit 310 may calculate the distance in various ways according to the characteristics of the moving unit 300. When the moving unit 300 is a wheel, the mileage may be calculated by counting the number of revolutions of the wheel.

The travel distance correction unit 320 is the distance calculated by the travel distance calculator 310 when the distance calculated by the travel distance calculator 310 is different from the distance information calculated by the sensing module 100 of the actual robot 1000. Correct information. In addition, when an error is accumulated and generated in the mileage calculator 310, the control unit 900 or the moving unit 300 may be notified to change the mileage calculation logic of the mileage calculator 310.

The function unit 400 means to provide specialized functions of the robot. For example, in the case of a cleaning robot, the function unit 400 includes components necessary for cleaning. In the case of a guidance robot, the function unit 400 includes components necessary for guidance. In the case of a security robot, the functional unit 400 includes components required for security. The functional unit 400 may include various components according to functions provided by the robot, but the present invention is not limited thereto.

The control unit 900 of the robot 1000 may create or update a map of the map storage unit 200 . In addition, the control unit 900 can control the driving of the robot 1000 by identifying object information provided by the sensing module 100 and classifying whether the object is a moving object or a fixed object during the driving process.

In summary, when the sensing module 100 senses an object disposed outside, the control unit 900 of the robot 1000 identifies a moving object among the sensed objects based on the characteristic information of the sensed object, and identifies the moving object. Except for this, the current position of the robot may be set based on information sensed by the sensing module as a fixed object.

Hereinafter, with reference to FIG. 2, a robot according to an embodiment of the present invention will be described from a software point of view. 2 is a block diagram of engines in a robot according to an embodiment of the present invention.

The robot 1000 includes a device engine 1110, a navigation engine 1120, a manipulation engine 1130, a system engine 1140, and management It may include, but is not limited to, a management engine 1150.

The device engine 1110 includes the sensing module 100, the map storage unit 200, the moving unit 300, the function unit 400, and the communication unit 500 used in the robot 1000. You can manage the hardware state related to the etc.

The navigation engine 1120 is related to the map storage unit 200 and the moving unit 300, and may be in charge of functions necessary for the robot 1000 to move. That is, the navigation engine 1120 may play a role of moving and/or rotating the robot 1000 while managing maps and coordinate information for driving the robot 1000 .

The manipulation engine 1130 may manage joints provided in the arms and legs of the robot 1000 .

The system engine 1140 may manage power and battery information of the robot.

The management engine 1150 transmits a message to the control server while communicating with the control server, and when a command is received from the control server, the management engine 1150 transmits the received command to the engine so that the robot 1000 can execute the received command. It can play a role in transmitting to the field.

When the robot 1000 has its own display (not shown) or can be connected to an external display, the robot 1000 displays a user interface app for displaying the operation status of the robot 1000 on the display ( User Interface App) 1200 may be provided.

The robot 1000 may operate based on an operating system called ROS (Robot Operating System). The ROS is an open-source meta operating system for robots, and implements hardware abstraction, low-level device control, and frequently used functions provided by general operating systems, and can provide message transmission between processes and package management functions. In the ROS, a message may be transmitted through DDS (Data Distribution Service) communication. The DDS communication operates based on User Datagram Protocol (UDP)/TCP, and it is a peer-to-peer communication method and does not have a separate master. Therefore, the DDS communication in the ROS is possible only within the same network. Hereinafter, communication based on the ROS will be referred to as "ROS communication", and a message according to the ROS communication will be referred to as a "ROS message".

Hereinafter, referring to FIG. 3, communication between a plurality of robots and a control server according to an embodiment of the present invention will be described. 3 illustrates a situation in which a plurality of robots communicate with a control server according to an embodiment of the present invention.

In FIG. 3, it is illustrated that two robots 1000-1 and 1000-2 communicate with the control server 2000. Of course, there could be more robots than this. Each of the two robots 1000-1 and 1000-2 is according to the robot 1000 described above. In the present specification, modifiers such as "first" and "second" are used to distinguish the two robots 1000-1 and 1000-2 from each other, so that the first robot 1000-1 and the second robot ( 1000-2). And, when it is necessary to distinguish components and/or engines in the first robot 1000-1 from components and/or engines in the second robot 1000-2, "first We will use modifiers such as " and "second" to distinguish them from each other. For example, the first management module 1150-1 is within the first robot 1000-1, and the second management module 1150-2 is within the second robot 1000-2.

As shown in FIG. 3, the first robot 1000-1 communicates with the control server 2000 through the first management module 1150-1, and the second robot 1000-2 communicates with the second management module ( 1150-2) may communicate with the control server 2000. The control server 2000 may be a server remotely separated from the first robot 1000-1 and the second robot 1000-2, or a cloud server.

Communication here may be communication using a socket. "Socket" refers to a link created so that two programs can perform TCP/IP communication through a network, which consists of IP (Internet Protocol), an Internet protocol of packet communication, and TCP (Transfer Control Protocol), a transmission control protocol. It can mean the terminal of. That is, the control server 2000 can control the operation of the first robot 1000-1 and the second robot 1000-2 through TCP/IP-based socket communication.

For example, the control server 2000 may transmit a message for commanding movement to the first robot 1000-1 and/or the second robot 1000-2 through the socket communication. Hereinafter, a message transmitted through the socket communication will be referred to as a “socket message”. In the case of socket messages, since they are based on TCP/IP, receiver and sender information must be included.

The corresponding robot 1000 receives the socket message through the management module 1150, converts the socket message into the ROS message, and transmits the converted ROS message to internal related engines so that the command is It can be made to be performed on the robot.

Conversely, when the corresponding robot 1000 needs to send predetermined data to the control server 2000, the management module 1150 converts the ROS message to the data into the socket message and sends the data through the socket communication. It can be transmitted to the control server (2000).

As such, since the management module 1150 exchanges communication with the control server 2000, they are closely coupled to each other. Therefore, if there is a modification for reasons such as a function being added or a communication protocol being updated on the control server 2000, there may be a case where the management module 1150 also needs to be modified accordingly. In this case, all management modules 100 for each robot need to be individually modified.

In addition, since the management module 1150 and the control server 2000 are closely related to each other, the front-end of the control server 2000 (eg, the control server 2000) There are cases in which the management module 1150 needs to be modified accordingly even when updating a website to be accessed). Therefore, there may be many constraints in updating the front-end.

Hereinafter, another embodiment in which the plurality of robots communicate with the control server in another way to solve the inconvenience will be described with reference to FIG. 4 . 4 illustrates a situation in which a plurality of robots communicate with a control server according to another embodiment of the present invention.

4 illustrates that the first robot 1000-1 and the second robot 1000-2 communicate with the control server 2000 through an edge server 3000. In addition, FIG. 4 illustrates that the first robot 1000-1, the second robot 1000-2, and the edge server 3000 communicate within the same network. Here, communicating within the same network may mean that the first robot 1000-1, the second robot 1000-2, and the edge server 3000 communicate with each other by accessing, for example, the same Wi-Fi router or access point. there is.

Since the edge server 3000 serves to relay communication between the first robot 1000-1 and/or the second robot 1000-2 and the control server 2000, a kind of relay server (relay server) ) or a gateway server. The edge server 3000 is referred to as an “edge” because it can be located on the edge side physically close to edge devices such as the first robot 1000-1 and/or the second robots 1000-2. has been named

Since the first robot 1000-1, the second robot 1000-2, and the control server 2000 have been described above, hereinafter, the description will focus on parts different from those described above.

When it is possible for the first robot 1000-1, the second robot 1000-2, and the edge server 3000 to communicate within the same network, the first robot 1000-1 through the edge server 3000 ) and the second robot 1000-2 communicate with the control server 2000, the first management engine 1150-1 in each of the first robot 1000-1 and the second robot 1000-2 and the second management engine 1150-2 may be omitted. Instead, a unified management engine 3150 replacing the roles of the first management engine 1150-1 and the second management engine 1150-2 may be provided in the edge server 3000. . The unified management engine 3150 may also be referred to as an edge based management engine (EBME) because it is provided on the edge side.

Meanwhile, the control server 2000 may provide a front-end 2030 for a user to access the control server 2000 .

Hereinafter, the integrated management engine 3150 will be described in more detail with reference to FIG. 5 . 5 is an internal block diagram of an integrated management engine according to an embodiment of the present invention.

The integrated management engine 3150 may include a ROS communication module 3151, a socket communication module 3153, a database 3155, and a core module 3157.

The ROS communication module 3151, as a module in charge of the ROS communication, transmits the ROS message received from the robot 1000 to the core module 3157, while the ROS received from the core module 3157 A message may be transmitted to the robot 1000.

The socket communication module 3153, as a module in charge of the socket communication, transmits the socket message received from the control server 2000 to the core module 3157, while receiving from the core module 3157 A ROS message may be transmitted to the control server 2000.

The database 3155 may store various types of information on the first robot 1000-1 and the second robot 1000-2.

The core module 3157 converts the ROS message received from the ROS communication module 3151 into a socket message and transmits it to the socket communication module 3153, and conversely, the ROS message received from the control server 2000 A socket message may be converted into a ROS message and transmitted to the ROS communication module 3151. In addition, the core module 3157 may access the database 3155 and refer to various types of information on the first robot 1000-1 and the second robot 1000-2.

4 again, when the first robot 1000-1, the second robot 1000-2, and the edge server 3000 communicate within the same network, the first robot 1000-1 and Communication between the second robot 1000-2 and the control server 2000 through the edge server 3000 will be described in more detail.

The server 2000 transmits, for example, a socket message containing a movement command for moving the first robot 1000-1 among the first robot 1000-1 and the second robot 1000-2 through the socket communication. It can be transmitted to the edge server 3000.

Then, the edge server 3000 may convert the received socket message into the ROS message. At this time, the edge server 3000 may include the identifier of the first robot in the ROS message by referring to the database 3155 considering that the socket message is for the first robot.

And, the edge server 3000 may transmit the ROS message within the network through the ROS communication.

Then, all ROS-based devices in the network including the first robot 1000-1 and the second robot 1000-2 can receive the ROS message.

Among all the ROS-based devices, the first robot 1000-1 can recognize that the ROS message is for itself by checking the identifier in the ROS message and execute the movement command in the ROS message.

On the other hand, when the first robot 1000-1 needs to send predetermined data to the control server 2000, the first robot 1000-1 may generate an ROS message including the predetermined data. At this time, the first robot 1000-1 may include the identifier of the control server 2000 or the edge server 3000 in the ROS message considering that the ROS message is for the control server 2000. .

Also, the first robot 1000-1 may transmit the ROS message within the network through the ROS communication.

Then, all ROS-based devices in the network including the second robot 1000-2 and the edge server can receive the ROS message.

Among all the ROS-based devices, the edge server 3000 can recognize that the ROS message is for itself and convert it into a socket message by checking the identifier in the ROS message.

Then, the edge server 3000 may transmit the converted socket message to the control server 2000 through the socket communication.

The control server 2000 may provide information about the data included in the socket message to the user through the front-end 2030 as needed.

In the above, it has been described that the first robot 1000-1 and the control server 2000 communicate with each other through the edge server 3000. Of course, this can also be applied to the communication between the second robot 1000-2 and the control server 2000 through the edge server 3000 as it is.

As described in FIG. 4, when the first robot 1000-1 and the second robot 1000-2 communicate with the control server 2000 through the edge server 3000, there are the following advantages can

First, a plurality of robots according to the present invention need not have a management module, respectively. Therefore, even if there is a modification due to a reason such as a function being added or a communication protocol being updated on the control server side, there is no need to individually modify the plurality of robots accordingly. Instead, only the integrated management module of the edge server 3000 needs to be modified accordingly. Thus, maintenance and management of the robot can be made more convenient.

Second, as described above, since the robot of the present invention does not need to have the management module individually, the amount of calculations that the existing management module was in charge of can be reduced from the standpoint of the individual robot. This can not only help to reduce the power consumption of the robot, but also has the advantage of saving the robot's computational resources so that they can be used for other computational processing.

Thirdly, the edge server 3000 can take over functions previously handled by the control server 2000 . For example, the edge server 3000 includes the database 3155 including information about the first robot and the second robot, so that the database 3155 previously performed by the control server 2000 The referenced function may be performed by the edge server 3000. Therefore, the correlation between the integrated management engine 3150 and the control server 2000 in the edge server 3000 can be lowered, and the control server 000 can freely operate independently of the integrated management engine 3150. There is an advantage that the front-end 2030 of can be modified or updated.

Fourth, since ROS communication is possible between ROS-based devices in the same network, there is an advantage that communication speed can be higher than that of conventional socket communication.

In the above, when the first robot 1000-1, the second robot 1000-2, and the edge server 3000 communicate within the same network, the first robot 1000-1 and the second robot 1000 -2) has described communication with the control server 2000 through the edge server 3000. However, at least one of the first robot 1000-1, the second robot 1000-2, and the edge server 3000 may communicate through another network. In this case, communication between the first robot 1000-1 and the second robot 1000-2 with the control server 2000 through the edge server 3000 will be further described with reference to FIG. 6 . 6 illustrates a situation in which a plurality of robots communicate with a control server according to another embodiment of the present invention.

6 illustrates that the first robot 1000-1 and the second robot 1000-2 communicate with the control server 2000 through the edge server 3000. Since the first robot 1000-1, the second robot 1000-2, the control server 2000, and the edge server 3000 have been described above, the following will focus on other parts from those described above. Let me explain.

6 illustrates that the first robot 1000-1, the second robot 1000-2, and the edge server 3000 all communicate through different networks. Here, communicating within a different network means that the first robot 1000-1, the second robot 1000-2, and the edge server 3000 communicate with each other by accessing, for example, different Wi-Fi routers or access points. can 6 illustrates that the first robot 1000-1, the second robot 1000-2, and the edge server 3000 are connected to different first networks, second networks, and third networks, respectively. has been

In this case, each of the first robot 1000-1, the second robot 1000-2, and the edge server 3000 may require bridge engines 1160-1, 1160-2, and 3160. there is. Hereinafter, for convenience of description, the bridge engines provided in the first robot 1000-1, the second robot 1000-2, and the edge server 3000, respectively, are referred to as the first bridge engine 1160-1, It will be referred to as a second bridge engine 1160-2 and an edge bridge engine 3160.

Hereinafter, with further reference to FIG. 7 , the bridge engine will be described in more detail. 7 is an operation flowchart of a bridge engine according to an embodiment of the present invention.

The first bridge engine 1160-1, the second bridge engine 1160-2, and the edge bridge engine 3160 perform substantially the same operation. Accordingly, the operation of the bridge engine will be described taking communication between the first bridge engine 1160-1 belonging to the first network and the edge bridge engine 3160 belonging to the third network as an example. This is for convenience of description, and communication between the first bridge engine 1160-1 and the second bridge engine 1160-2, and also between the second bridge engine 1160-2 and the edge bridge engine 3160. Of course, it can be applied as it is.

First, the first bridge engine 1160-1 belonging to the first network may subscribe to the ROS message published through the ROS communication within the first network [S71].

The first bridge engine 1160-1 may convert the ROS message into a socket message [S72].

Next, the first bridge engine 1160-1 may transmit the socket message to the edge bridge engine 3160 belonging to the third network through socket communication [S73].

The edge bridge engine 3160 may receive the socket message through the socket communication [S74].

And, the edge bridge engine 3160 may convert the socket message into a ROS message again [S75].

Then, the edge bridge engine 3160 may post the ROS message within the third network through the ROS communication [S76].

In this way, the first bridge engine 1160-1 and the edge bridge engine 3160 perform the same operation as if the first robot 1000-1 and the edge server 3000 belonging to different networks were in the same network. It plays a role of supporting ROS communication.

Therefore, as shown in FIG. 4, the communication mechanism for the ROS communication between the first robot 1000-1, the second robot 1000-2, and the edge server 3000 within the same network is shown in FIG. As shown, even if the first robot 1000-1, the second robot 1000-2, and the edge server 3000 belong to different networks, the first bridge engine 1160-1 and the second bridge engine (1160-2), and the edge bridge engine 3160, it can be applied as it is.

Hereinafter, with further reference to FIG. 8 , communication between the first bridge engine 1160-1 belonging to the first network and the edge bridge engine 3160 belonging to the third network will be described in more detail. FIG. 8 is a block diagram illustrating communication between the first robot of FIG. 6 and an edge server.

Communication between the first bridge engine 1160-1 belonging to the first network described in FIG. 8 and the edge bridge engine 3160 belonging to the third network is performed by the first bridge engine 1160-1 and the second Of course, it can also be applied to communication between the bridge engines 1160-2 and communication between the second bridge engine 1160-2 and the edge bridge engine 3160.

First, an engine in the first robot 1000-1 may post a ROS message through the ROS communication within the first network [S81].

Accordingly, the first bridge engine 1160-1 of the first robot 1000-1 may subscribe to the ROS message through the ROS communication [S81]. And, the first bridge engine 1160-1 of the first robot 1000-1 may convert the ROS message into a socket message [S82].

Then, the first bridge engine 1160-1 of the first robot 1000-1 may transmit the socket message to the edge bridge engine 3160 through the socket communication [S83].

Then, the edge bridge engine 3160 may receive the socket message and convert it into a ROS message [S84].

Then, the edge bridge engine 3160 may post the ROS message through the ROS communication within the third network [S85].

Accordingly, the integrated management engine (EBME) 3150 may subscribe to the ROS message through the ROS communication [S85]. In addition, the integrated management engine (EBME) 3150 may convert the ROS message into a socket message [S86].

Then, the integrated management engine (EBME) 3150 may transmit the socket message to the control server through the socket communication [S87].

Meanwhile, the integrated management engine (EBME) 3150 may receive a socket message from the control server through the socket communication [S91]. And, the integrated management engine (EBME) 3150 may convert the socket message into a ROS message [S92].

Then, the integrated management engine (EBME) 3150 may post the ROS message through the ROS communication within the third network [S93].

Then, the edge bridge engine 3160 can subscribe to the ROS message through the ROS communication [S93]. And, the edge bridge engine 3160 may convert the ROS message into a socket message [S94].

Then, the edge bridge engine 3160 may transmit the socket message to the first bridge engine 1160-1 of the first robot 1000-1 through the socket communication [S95].

Then, the first bridge engine 1160-1 of the first robot 1000-1 may receive the socket message and convert it into a ROS message [S96].

Then, the first bridge engine 1160-1 of the first robot 1000-1 may post a ROS message through the ROS communication within the first network [S97].

Then, one engine in the first robot 1000-1 can subscribe to the ROS message through the ROS communication within the first network [S97].

In the above, for the case where the first robot 1000-1, the second robot 1000-2, and the edge server 3000 are connected to different first networks, second networks, and third networks, respectively explained. However, when the first robot 1000-1, the second robot 1000-2, and the edge server 3000 communicate based on mobile communication (eg, 5G communication), the first network, the second Similar to the case of connecting to the second network and the third network, the first bridge engine 1160-1, the second bridge engine 1160-2, and the edge bridge engine 3160 are required. This is because mobile communication is based on socket communication.

Meanwhile, there may be cases in which the first robot 1000-1 and the second robot 1000-2 are connected to the first network and the edge server 3000 is connected to the third network. In this case, since ROS communication is possible between the first robot 1000-1 and the second robot 1000-2, only one of the first bridge engine 1160-1 and the second bridge engine 1160-2 is sufficient. do. That is, the present invention can be implemented with only one bridge engine per network.

On the other hand, in the above, the first management engine 1150-1 of the first robot 1000-1 and the second management engine 1150-2 of the second robot 1000-2 of the edge server 3000 What is implemented as the integrated management engine 3150 has been described. However, the present invention is not limited thereto. Other engines of the first robot 1000-1 and the second robot 1000-2 may be implemented as integrated engines in the edge server 3000. For example, the first navigation engine 1120-1 and the second navigation engine 1120-2 of the second robot 1000-2 may be implemented as an integrated navigation engine (not shown) in the edge server 3000. may be

The above-described present invention can be implemented as computer readable code on a medium on which a program is recorded. The computer-readable medium includes all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. , and also includes those implemented in the form of a carrier wave (eg, transmission over the Internet). Accordingly, the above detailed description should not be construed as limiting in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

1000: robot 100: sensing module
200: map storage unit 300: moving unit
400: functional unit 500: communication unit
1110: device engine 1120: navigation engine
1130: Manipulation engine 1140: System engine
1150: management engine 2000: control server
3000: Edge Server 3150: Integrated Management Engine

Claims (10)

a plurality of robots;
a control server remotely spaced from the plurality of robots and controlling the plurality of robots; and
Including an edge server for relaying communication between the plurality of robots and the control server,
The edge server,
The first message of the first type received from the plurality of robots is converted into a first message of the second type and transmitted to the control server, and the second message of the second type received from the control server is converted into a first message of the first type. A robot remote control system characterized in that it comprises an integrated management engine for converting the second message of and transmitting it to the plurality of robots. According to claim 1,
The first type is a ROS type based on ROS (Robot Operation System) communication,
The second type is a robot remote control system, characterized in that the socket type based on socket communication. The method of claim 2, wherein the integrated management engine,
a ROS communication module in charge of the ROS communication;
a socket communication module managing the socket communication;
a database for storing information of the plurality of robots; and
and a core module for converting the first message of the ROS type into the first message of the socket type and converting the second message of the socket type into the second message of the ROS type. system. The method of claim 3, wherein the core module,
When converting the second message of the socket type into the second message of the ROS type, the robot remote control system, characterized in that, to include the identifier of the robot to receive the second message in the second message of the second type. According to claim 4,
A robot remote control system, characterized in that a specific robot and the edge server among the plurality of robots are connected through different networks. The method of claim 5, wherein the edge server,
The robot remote control system further comprising an edge bridge engine for converting the second message of the ROS type into a second message of the socket type and transmitting the second message to the specific robot. The method of claim 6, wherein the specific robot,
and a robot bridge engine for converting the second message of the socket type into the second message of the ROS type. The method of claim 7, wherein the robot bridge engine,
The robot remote control system, characterized in that for converting the first message of the ROS type generated in the specific robot into the first message of the socket type and transmitting it to the robot bridge engine. The method of claim 8, wherein the edge bridge engine,
The robot remote control system characterized in that the first message of the socket type is converted into the first message of the ROS type and transmitted to the integrated management engine. Receiving, by an edge server, a first message of a first type from a plurality of robots;
converting, by the edge server, a first message of a first type into a first message of a second type and transmitting the converted message to a control server;
receiving, by the edge server, a second message of a second type from the control server; and
The robot remote control method comprising the; step of converting the second message of the first type into a second message of the edge server and transmitting the message to the plurality of robots.

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