KR100805640B1 - Method for controlling of robot using mobile device - Google Patents

Abstract

A robot control method using a mobile terminal is provided to control a robot by accessing an interface of a WAP(Wireless Application Protocol) server of the robot by using the mobile terminal, thereby easily accessing the interface for robot control through the mobile terminal without searching a fixed type terminal such as a personal computer. A robot control method using a mobile terminal(S100) comprises the following steps of: accessing a WAP(Wireless Application Protocol) server interface of a robot including a WAP server through a mobile communication server(S120) by using the mobile terminal supporting the WAP-wherein, the mobile communication server has a WAP proxy function for converting information transmitted from the mobile terminal into an Internet standard protocol and converting information transmitted from the robot into a WAP protocol(S100); selecting a control command in the WAP server interface of the robot through the mobile terminal(S130); enabling the robot to perform a work according to the control command(S140); and transmitting the work result, performed by the robot, to the mobile terminal through the mobile communication server.

Description

Method for controlling of robot using mobile device

1 is a block diagram illustrating a communication path of a home network system including a mobile terminal and a robot according to an embodiment of the present invention.

2 is a flowchart illustrating a communication process between a mobile terminal and a robot according to an embodiment of the present invention.

3 is a block diagram schematically illustrating a configuration of a mobile terminal and an interface of a robot according to an exemplary embodiment of the present invention.

4A and 4B are exemplary views illustrating a state of controlling a robot and a home machine in a mobile terminal.

5 is a flowchart illustrating a control method in a WAP server interface of a robot according to an exemplary embodiment of the present invention.

<Description of Symbols for Main Parts of Drawings>

100: mobile terminal

120: mobile communication server

130: communication network

200: home network

210: home gateway

220: robot

230: housekeeper

The present invention relates to a method for controlling a robot using a mobile device, and more particularly, a robot including a WAP server as a mobile terminal supporting a WAP (Wireless Application Protocol) at a distance. A control method of a robot using a mobile terminal for controlling.

A robot is a machine that walks and talks in a human-like form or a machine that automatically performs a task or operation. It can be broadly divided into a controlled, automatic, and autonomous type.

A controlled robot refers to a teleoperator system that can control functions corresponding to a human hand or foot from a distance, and is used for work in dangerous environments such as space, the sea floor, and high or low temperatures. The automatic robot is an industrial robot that is widely used in the industry at present, and is used for a task that must be repeatedly performed without error. An autonomous robot is a robot that can recognize the current state of itself and the state of the environment and act autonomously according to commands.

Recently, we are pursuing human-oriented robots that provide various types of services such as housework support, education and entertainment while interacting with humans based on IT technologies such as artificial intelligence. , Entertainment and home service robots are becoming widespread.

In particular, network-based systems such as URC (Ubiquitous Robotic Companion), which controls service robots with intelligence and interactivity through the Ubiquitous network and makes use of the services provided by robots anytime, anywhere by interacting between robots Robots are appearing.

In a network-based robot, a user can control a robot by accessing a network robot service server using a mobile phone, a mobile terminal such as a PDA (Personal Digital Assistant), and an online device such as a non-portable PC at a long distance. The network robot service server registers a number of robots and provides the user with an interface for controlling the robot, retrieves the information of the robot according to the user's request, transmits the information to the user, and transmits the control command of the robot to the robot. To control.

However, in some cases, a non-portable online device may be difficult to use. In addition, there is a limit to adapting the control interface of the robot provided by the network robot service server to all the various user environments.

It is an object of the present invention to provide a control method of a robot using a mobile terminal that remotely controls a robot including a WAP server as a mobile terminal supporting WAP (Wireless Application Protocol).

According to an aspect of the present invention, there is provided a method of controlling a robot using a mobile terminal, the robot including a WAP server through a mobile communication server having a WAP proxy function as the mobile terminal supporting WAP (Wireless Application Protocol). Accessing a WAP server interface, selecting a control command from the WAP server interface of the robot, performing a task according to the control command by the robot, and a work result performed by the robot through the mobile communication server; Transmitting to the mobile terminal.

The step of performing the operation according to the control command by the robot may transmit a control command to a premature communicator capable of communicating with the robot and receive an operation state of the premise machine.

The step of the robot performing the operation according to the control command may be the movement of the robot, the detection of video and audio.

Movement and detection of the robot may be either an automatic mode performed according to a preset operation flow or a manual mode performed by a user directly operating the mobile robot.

The mobile communication server may convert information transmitted from the mobile terminal into an Internet standard protocol and convert information transmitted from the robot into a WAP protocol.

The mobile communication server may convert content transmitted from the mobile terminal into a hypertext markup language (HTML), and convert content transmitted from the robot into a wireless markup language (WML).

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

1 is a block diagram illustrating a communication path of a home network system including a mobile terminal and a robot according to an embodiment of the present invention.

Referring to FIG. 1, the mobile terminal 100 connects to the mobile communication server 120 through the base station 110, and the mobile communication server 120 exchanges information through the home network 200 and the communication network 130. do. The home network 200 includes a robot 220 and a home machine 230 that interoperate with the home gateway 210.

The mobile terminal 100 has uniqueness with an international mobile terminal identification number assigned to uniquely identify each other. The mobile terminal 100 may be a mobile phone, a personal digital assistant (PDA), or the like, capable of bidirectional communication with the base station 110 through a communication method such as CDMA, GSM, IMT2000, or the like. The mobile terminal 100 preferably supports a wireless application protocol (WAP) to enable internet access.

The mobile communication server 120 checks the identification number of the mobile terminal 100 and relays the information to the communication network 130. The WAP protocol of the information received from the mobile terminal 100 is an Internet standard protocol (TCP / IP). , A protocol conversion function for converting an Internet standard protocol of information received from the communication network 130 into a WAP protocol, and a content received from the mobile terminal 100 in HTML (hypertext markup language). A WAP proxy 121 that includes a content filter function that converts the content to the communication network 130 and converts the content received from the communication network 130 into a wireless markup language (WML) and transmits the content to the mobile terminal 100. do.

The communication network 130 may be a TCP / IP-based Internet, a local area network (LAN), a metropolitan area network (MAN), or the like.

The home gateway 210 performs functions such as media conversion, address translation, authentication and filtering when different networks are connected. The home gateway 210 operates the robot 220 and the home machine 230 in the communication network 130 and the home network 200. Relay. The home gateway 210 provides telemetry gateways that provide remote metering to measure the energy consumption of homes at remote locations, basic connectivity with subscriber networks, Internet sharing, and network address translation. And Broadband Access Gateway, including security features such as firewalls and protocol conversions.

The indoor unit 230 is to be controlled and monitored by the home gateway 210 or the robot 220, and includes a home appliance such as a refrigerator, an information device such as a computer, and a home automation device such as an electric blind. . The home machine 230 has a wired / wireless communication module that provides a communication function with the home gateway 210 or the robot 220.

Transmission media of the robot 220 and the home machine 230 are IEEE 802.11 series wireless LANs using 2.4 GHz or 5 GHz bands, ZigBee and Bluetooth having low transmission rates. ), Etc.

The robot 220 may be a home intelligent robot for housekeeping, education, entertainment, and the like. The robot 220 receives a control command from the mobile terminal 100 through the mobile communication server 120, transmits a control command of the home machine 230 in association with the home machine 230, and the home machine 230. It can receive the state information of. In addition, the robot 220 includes a moving function, a location tracking function, an image and a voice detection function, and the like.

Meanwhile, the robot 220 may include a WAP server 221 to build a site for controlling the robot 220, and may provide a WAP server interface for controlling the robot 220 to the mobile terminal 100. Can be. That is, the mobile terminal 100 is a WAP client of the WAP server 221 provided by the robot 220, and the mobile communication server 120 is a WAP server of the mobile terminal 100 and the robot 220 ( It becomes a gateway relaying 221.

Hereinafter, a communication process between the mobile terminal 100 as a WAP client, the mobile communication server 120 as a WAP gateway, the robot 220 as the WAP server 221, and the home appliance 230 interoperating with the robot 220 will be described. .

2 is a flowchart illustrating a communication process between a mobile terminal and a robot according to an embodiment of the present invention.

Referring to FIG. 2, when a user requests interface information of a robot to the mobile terminal 100, command information is transmitted to the mobile communication server 120 in a WAP protocol format (S10).

The mobile communication server 120 converts the command information received from the mobile terminal 100 into a format of Internet standard protocol (TCP / IP) (S20) and transmits it to the robot 220 (S30).

The robot 220 transmits the interface information of the site of the robot built in the WAP server 221 provided therein to the mobile communication server 120 in the form of an Internet standard protocol (S40), and the operation of the home machine 230. Alternatively, the control information may be transmitted to the home machine 230 for checking the state (S31), the state information may be received from the home machine 230 (S32), and transmitted together with the interface information of the robot 220.

The mobile communication server 120 converts the content of the interface information of the robot 220 received from the robot 220 into WML (Wireless Markup Language) (S50), and converts the Internet standard protocol into the WAP protocol (S60).

The mobile communication server 120 transmits the interface information of the robot 220 in which the content filter and the protocol conversion are performed to the mobile terminal 100 (S70).

In this way, the user can access the site of the robot 220 built in the WAP server 211 of the robot 220 via the mobile terminal 100 as the WAP client through the mobile communication server 120 as the WAP gateway. .

Hereinafter, the interaction between the interface of the mobile terminal 100 and the robot 220 will be described.

3 is a block diagram schematically illustrating a configuration of a mobile terminal and an interface of a robot according to an exemplary embodiment of the present invention.

Referring to FIG. 3, the mobile terminal 100 includes an input unit 320 such as a keypad or a touch pad, an image display device 331 such as an LCD liquid crystal, and an audio display device 332 such as a speaker. And a remote control unit 310 including a radio wave oscillator and a control module.

The WAP server interface 400 of the robot 220 controls the robot control page 410 for controlling the operation and state of the robot 220 itself, and the home controller control page for controlling the home machine 230 in cooperation with the robot 220. 420. The robot control page 410 detects the video and audio information by using the movement control 411 for checking the position and the direction of the robot 220 to control the position movement and the camera and the voice module mounted on the robot 220. Detection control 412. The home control page 420 includes device controls 421-1 and 421-n that control each device according to a unique number of the home machine 230 that the robot 220 can control. Of course, the control page according to a special function provided by the robot 220 may be provided in addition to the site of the robot 220 that is built on the WAP server 221 of the robot 220.

The user may check the WAP server interface 400 of the robot 220 through the display unit 330 of the mobile terminal 100, and may select the control command of the WAP server interface 400 as the input unit 320. The control command selected by the user controls the functions of the robot control page 410 and the housekeeping control page 420 of the WAP server interface 400 through the remote control unit 310. That is, the user may select the home machine 230 to be controlled on the home control page 420 and adjust the operation and state of the corresponding home device 230, and the robot control page 410 may control the operation of the robot 220. You can control the movement and operation of the camera.

4A and 4B are exemplary views illustrating a state of controlling a robot and a home machine in a mobile terminal. 4A illustrates a movement and detection control screen of a robot in a mobile terminal, and FIG. 4B illustrates a control screen of a home machine in a mobile terminal.

Referring to FIG. 4A, an image transmitted from a camera mounted on a robot 220 is displayed on a display device of the mobile terminal 100, and a voice transmitted from a voice module including a microphone mounted on the robot 220 is displayed on a speaker. Can be expressed.

The user may enable the robot 220 to operate automatically according to a preset command flow of the robot 220, and the user may directly manipulate the movement and detection functions of the robot 220. .

When the user directly manipulates the robot 220, the robot 220 may be moved by the direction keys a, b, c, and d provided in the mobile terminal 100. That is, the forward movement with the a key, the backward movement with the c key, the clockwise rotation with the b key, and the counterclockwise rotation with the d key can be controlled. In addition, the camera can move up, down to 8, right to 6, left to 4 with the numeric key 2.

When the robot 220 is automatically operated according to the command floor set in advance, the control command list may be selected by using a menu button, and the control command of the home appliance 230 may be selected. May be provided similarly.

Referring to FIG. 4B, when the user selects the housekeeping control page 420 on the WAP server interface 400 of the robot 220, a list of the housekeeping machines 230 appears on the display device of the mobile terminal 100. The user may select the home machine 230 to control.

If the selector 230 is selected, a list of states and controllable commands of the keeper 230 is displayed, and the user may select the control command to control the keeper 230.

By selecting the control command of the home machine 230, the home machine 230 operates according to the command, and transmits the result to the mobile terminal 100 through the WAP server 221 of the robot 220.

5 is a flowchart illustrating a control method of a WAP server interface of a robot according to an exemplary embodiment of the present invention.

Referring to FIG. 5, a user may request the WAP server interface 400 of the robot 220 from the mobile communication server 120 to the mobile terminal 100, and the robot 220 of the user's mobile terminal 100. By providing the WAP server interface 400 to the mobile terminal 100 by checking the same authentication number as the identification number of the user, the user can access the WAP server interface 400 of the robot 220 (S100).

The user may check and select a work list such as the movement of the robot 220 or the control of the home machine 230 that is linked with the robot 220 in the WAP server interface 400 (S110).

When the user selects a task list, the user can select whether to perform the task in the automatic mode in which the task is performed according to a preset command floor or in the manual mode in which the user directly manipulates the workflow. There is (S120).

When the user selects the automatic mode, the designated work command may be selected from the subcommand menu of the work list (S130), and the robot 220 performs the work according to the floor of the preset work command and reports the work result ( S140). For example, if the operation command of 'check the security window lock' is selected, if the security window does not have a home automation function, the robot 220 checks its own location and searches the location of the target security window on the map of the home, After moving to a location, the state of the security window is captured by the camera and shown to the user.

When the user selects the manual mode, a screen for operating the robot 220 is provided to the mobile terminal 100. The user may move the position of the robot 220 and perform necessary tasks while watching the image photographed by the robot 220 to the mobile terminal 100 (S150).

When the work of the robot 220 is terminated in the manual mode or the automatic mode, the user selects whether the work is completed in the command menu (S160). The user may terminate communication with the robot 220, and if another task is required, the user may select and perform another task from the upper task list selection menu (S160).

As mentioned above, preferred embodiments of the present invention have been described in detail, but those skilled in the art to which the present invention pertains should understand the present invention without departing from the spirit and scope of the present invention as defined in the appended claims. It will be appreciated that various modifications or changes can be made. Accordingly, modifications to future embodiments of the present invention will not depart from the technology of the present invention.

By controlling the robot by accessing the interface of the robot's WAP server with the mobile terminal, the mobile terminal can easily access the interface for controlling the robot without having to find a fixed terminal such as a PC. In addition, the robot includes a WAP server to provide a WAP server interface, thereby providing a robot control interface that can adapt to various user environments.

Claims (6)

In the robot control method that can be controlled by connecting to the robot of the home network with a mobile terminal, WAP through a mobile communication server having a WAP proxy function for converting information transmitted from the mobile terminal to the Internet standard protocol to the mobile terminal that supports WAP (Wireless Application Protocol) and converting information transmitted from the robot to the WAP protocol. Accessing a WAP server interface of the robot including a server; Selecting a control command from the WAP server interface of the robot to the mobile terminal; The robot performing a task according to the control command; And And transmitting the work result performed by the robot to the mobile terminal through the mobile communication server. The method of claim 1, wherein the performing of the operation according to the control command by the robot comprises transmitting a control command to an indoor device capable of communicating with the robot and receiving an operating state of the indoor device. . The method of claim 1, wherein the robot performing a task according to the control command comprises movement of the robot, detection of images, and audio. The method of claim 3, wherein the movement and detection of the robot is performed in either an automatic mode performed according to a preset operation flow or a manual mode in which a user directly operates the mobile robot. How to control the robot. The robot of claim 1, wherein the mobile communication server converts the content transmitted from the mobile terminal into a hypertext markup language (HTML) and converts the content transmitted from the robot into a wireless markup language (WML). Control method. delete

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