KR20160087168A - System and method for control robot based cloud knowledge sharing - Google Patents

Abstract

The present invention provides a cloud knowledge sharing based robot control system and a control method thereof capable of providing a cloud integrated interface, collecting and integrally managing a measured value, knowledge, and information of robot units; and making each element form an intelligence to share the knowledge and to cooperate with each other. The present invention relates to the cloud knowledge sharing based robot control system and the control method thereof and, more specifically, relates to a cloud knowledge sharing based robot control system comprising: a plurality of robot units including a sensing unit to measure a specific value and an actuating unit operated based on a control signal; and a cloud server to register and access each of the robot units to store the measured value measured in the sensing unit of the robot units, to renew and store the measured value, and to transmit the measured value corresponding to a specific information request to a first robot if a specific information request of the specific first robot is generated.

Description

[0001] The present invention relates to a robot control system and a control method based on cloud knowledge sharing,

The present invention relates to a cloud knowledge sharing based robot control system and a control method.

Conventionally, the robot industry mainly uses industrial robots. Recently, robots that perform various functions are increasing due to development of robot technology and public interest in using robots. However, robots have different robot characteristics such as an arm with arms, a leg or a wheel, and a monitor without a robot, and the operating system used by each robot and the hardware characteristics of each robot are different.

In particular, robots can operate on a variety of operating systems including ROS, OPRoS, OpenRTM, and OROCOS, such as selective use of various I / O boards, the use of more than one processor board, Linux, Windows, real-time operating system and embedded Linux on the processor board .

Accordingly, applications and robot contents that are required for each robot, and can be driven, have to be different from each other depending on the processor board, the operating system, the middleware, or the robot characteristics.

In addition, even if an application and robot contents for various robots are developed, it is required to verify (or test) whether the application and the robot contents are directly downloaded to the robot, and it takes a lot of time and cost for stable operation of the robot and setting the operation environment.

For robots that require multiple processor boards and heterogeneous operating systems, it is very difficult for both application and robotic content developers to purchase these robotic systems. Therefore, there is a need for a method that can more easily develop and verify application and robot contents using virtual machines and heterogeneous operating systems provided by existing cloud systems.

That is, there is a need for a method for providing an optimum development and verification environment for developing an application and a robot content for a target robot, and for utilizing and providing an optimal application and robot content for the target robot.

Korean Patent No. 10-1342827 Korean Patent No. 10-0988597 US Published Patent US2013-0166621 US registered patent US8639644

According to an aspect of the present invention, there is provided a cloud integration interface, which collects measurement values, knowledge, and information of robot units, In addition, it provides a cloud knowledge sharing based robot control system and control method in which each element that implements intelligence can share and collaborate knowledge.

According to an embodiment of the present invention, it is possible to implement an intelligent robot in which behavior of a robot unit changes when knowledge or a situation on a cloud server changes, and the robot unit can share knowledge on a cloud server as a knowledge provider And a plurality of other robotic units can act in parallel with the same information, thereby providing a cloud knowledge sharing robot control system and a control method.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. It can be understood.

A first object of the present invention is to provide a robot control system including a plurality of robot units each having a sensing part for measuring a specific value and an actuating part driven on the basis of a control signal; And stores and updates measurement values measured by the sensing units of the plurality of robot units, and when there is a specific information request of a specific first robot, And a cloud server for transmitting the stored measured values corresponding to the first knowledge to the first robot.

Each of the plurality of robot units may be connected to the cloud server to register a specific ID, and each of the plurality of robot units is connected asynchronously to the cloud server.

The cloud server may request a measurement value corresponding to the specific information request to at least one other second robot connected to the cloud server when the first robot requests the specific information. can do.

In addition, the cloud server may receive a measurement value corresponding to the specific information request and transmit the measured value to the first robot.

The cloud server receives the measurement value corresponding to the specific information request, updates the existing information, and transmits a control signal for controlling the first robot to the first robot based on the specific information request . ≪ / RTI >

In addition, the cloud server may store the specific information request, the measurement value corresponding to the specific information request, and the control signal.

A second object of the present invention is to provide a robot control method based on a cloud server for registering and connecting each of a plurality of robot units and storing and updating measured values measured by a sensing unit of a plurality of robot units, A first step of asynchronously contacting each of the plurality of robot units to a cloud server; A second step of the specific first robot registering a specific information request to the cloud server; And a third step of the cloud server transmitting a measurement value corresponding to the specific information request to the first robot.

Further, in the first step, each of the plurality of robot units accesses the cloud server and registers a specific ID.

After the second step, the cloud server further includes a step of requesting at least one other second robot connected to the cloud server a measurement value corresponding to the specific information request, and in the third step, And the cloud server receives the measurement value corresponding to the specific information request and transmits the measurement value to the first robot.

In the third step, the cloud server receives the measurement value corresponding to the specific information request, updates the existing information, and transmits a control signal for controlling the first robot on the basis of the specific information request, 1 robot.

If the specific information request is the location information of the second robot, in the second step, the cloud server requests and transmits location information to the second robot connected to the cloud server, and in the third step, And the cloud server transmits location information of the second robot to the first robot.

In the third step, the cloud server may transmit a control signal that the first robot can move by avoiding the second robot based on the position information of the second robot .

In the third step, the cloud server transmits a control signal, which can be moved after the first robot is spaced apart from the second robot by a specific interval, based on the position information of the second robot. can do.

If the specific information request is the obstacle information, the cloud server requests the second robot connected to the cloud server to measure the presence or absence of the obstacle in the second step, and in the third step, And the server transmits to the first robot a measured value of the presence or absence of an obstacle transmitted from the second robot.

In the third step, the cloud server transmits a control signal, which can be moved by avoiding the obstacle, based on the measured value of the presence or absence of an obstacle of the second robot .

In addition, when the specific information request is information of at least one second robot approaching the first robot, in the second step, the cloud server transmits, to the second robot, To the first robot, information about the second robot, and in the third step, the cloud server transmits information about the second robot approaching the first robot to the first robot .

In the third step, the cloud server transmits a control signal for controlling at least one of the first robot and the second robot to perform a specific action based on the information of the second robot. can do.

A third object of the present invention can be achieved in a recording medium on which a program readable by a computer is recorded, in which a program for executing the control method according to the second object mentioned above is recorded.

According to an embodiment of the present invention, a cloud integration interface can be provided, and the measurement values, knowledge and information of the robot units can be collected and integratedly managed, and each element for implementing intelligence can share knowledge and collaborate .

According to an embodiment of the present invention, it is possible to implement an intelligent robot in which behavior of a robot unit changes when knowledge or a situation on a cloud server changes, and the robot unit can share knowledge on a cloud server as a knowledge provider And many other robotic units can act in parallel with the same information.

It should be understood, however, that the effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art to which the present invention belongs It will be possible.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate preferred embodiments of the invention and, together with the description, serve to further the understanding of the technical idea of the invention, It should not be construed as limited.
1 is a configuration diagram of a cloud knowledge sharing robot control system according to an embodiment of the present invention;
FIG. 2A is a flowchart of a cloud knowledge sharing robot control method according to an embodiment of the present invention;
FIG. 2B is a block diagram illustrating a signal flow between a first robot and a cloud server according to an embodiment of the present invention; FIG.
FIG. 3A is a flowchart of a cloud knowledge sharing robot control method according to another embodiment of the present invention;
FIG. 3B is a block diagram illustrating a signal flow between a first robot, a cloud server, and a second robot according to another embodiment of the present invention;
FIG. 4A is a schematic diagram showing a movement path of a first robot when specific request information for moving away from another robot according to the first embodiment of the present invention is registered; FIG.
FIG. 4B is a flowchart of a cloud knowledge sharing robot control method according to the first embodiment of the present invention; FIG.
FIG. 4C is a block diagram illustrating a signal flow between a first robot, a cloud server, and a second robot according to the first embodiment of the present invention;
FIG. 5A is a schematic view showing a movement path of the first robot when the first robot according to the second embodiment of the present invention registers specific request information for following the second robot; FIG.
FIG. 5B is a flowchart of a cloud knowledge sharing robot control method according to a second embodiment of the present invention; FIG.
FIG. 5C is a block diagram illustrating a signal flow between a first robot, a cloud server, and a second robot according to the second embodiment of the present invention;
FIG. 6A is a schematic diagram illustrating a movement path of a first robot when specific request information for moving away from another robot and an obstacle according to the third embodiment of the present invention is registered; FIG.
FIG. 6B is a flowchart of a cloud knowledge sharing robot control method according to a third embodiment of the present invention; FIG.
6C is a block diagram illustrating a signal flow between a first robot, a cloud server, and a second robot according to the third embodiment of the present invention;
FIG. 7A is a schematic diagram showing messages of a first robot and a second robot when specific request information for sending a specific message is registered to another approaching robot according to the fourth embodiment of the present invention; FIG.
FIG. 7B is a flowchart of a cloud knowledge sharing robot control method according to a fourth embodiment of the present invention;
FIG. 7C is a block diagram illustrating a signal flow between a first robot, a cloud server, and a second robot according to a fourth embodiment of the present invention;
FIG. 8A is a schematic diagram illustrating a movement path of a first robot when specific request information to be requested to receive an obstacle collision risk warning according to the fifth embodiment of the present invention is registered; FIG.
FIG. 8B is a flowchart of a cloud knowledge sharing robot control method according to a fifth embodiment of the present invention; FIG.
8C is a block diagram illustrating a signal flow between a first robot, a cloud server, and a second robot according to a fifth embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the detailed description of known functions and configurations incorporated herein will be omitted when it may unnecessarily obscure the subject matter of the present invention.

The same reference numerals are used for portions having similar functions and functions throughout the drawings. Throughout the specification, when a part is connected to another part, it includes not only a case where it is directly connected but also a case where the other part is indirectly connected with another part in between. In addition, the inclusion of an element does not exclude other elements, but may include other elements, unless specifically stated otherwise.

< cloud  Construction, Function and Control Method of Knowledge Sharing Based Robot Control System>

Hereinafter, the configuration and functions of a cloud knowledge sharing robot control system according to an embodiment of the present invention will be described. 1 is a block diagram of a cloud knowledge sharing robot control system according to an embodiment of the present invention.

 1, a cloud knowledge sharing robot control system according to an embodiment of the present invention includes a plurality of robot units, a user terminal 20 including a cloud server 10 and a smart phone, Can be obtained.

A cloud knowledge sharing robot control system according to an embodiment of the present invention basically handles a robot operating in a cloud environment through a user terminal 20 based on a cloud environment, Has the feature that it is possible on the cloud server 10 and not on the robot unit. Therefore, a separate configuration for storing and processing a complicated and large amount of work is unnecessary in the robot unit.

In addition, information and measurement values measured in the sensing unit 31 provided in the robot unit are shared in the cloud environment, and all the robot units connected to the cloud server 10 can use the information as knowledge.

The cloud platform applied to an embodiment of the present invention corresponds to a cloud application and provides a platform service as a cloud service.

According to an embodiment of the present invention, a user can provide a service API (Application Programming Interface) by utilizing middleware such as ROS, OPRoS, and RTM provided by a cloud platform service.

That is, when a program, a content, or an application is developed using a service API, software can be operated regardless of the kind of middleware, so that a lot of convenience can be provided. In addition, the developed content or application S / W can operate using the cloud platform service.

As a result, even though the content or application software utilizes one or more middleware, the cloud platform service makes it possible for the related middleware to operate by utilizing the virtual resources of the general cloud platform.

If the cloud service platform is not used as in the embodiment of the present invention, since the H / W must be actually configured, not only the time and cost are consumed, but also various middleware can utilize various H / .

Here, the device API is an API for controlling the actual H / W of the robot or controlling the virtual H / W of the simulation. With this device API, applications can control H / W or use simulation without changing source code, and cloud platform service can provide bridge function for data exchange between middleware.

Through the bridge function, the cloud platform service transmits data generated in the middleware state or middleware to other middleware so that the related application software operates properly. In addition, cloud platform service helps to develop embedded software by utilizing provided H / W module and virtual H / W module. This allows users to easily develop embedded applications.

In addition, cloud platform service provides development tools to easily develop application software of ROS, OPRoS, openRTM, and can provide service development tool to easily develop contents and service application software.

1, a cloud knowledge sharing robot control system according to an embodiment of the present invention includes a sensing unit 31 for measuring a specific value, an actuating unit 32 driven based on a control signal, And stores and updates the measured values measured by the sensing units 31 of the plurality of robot units and stores the measured values measured by the specific first robot 30 And a cloud server 10 for transmitting the stored measurement value and information corresponding to the specific information request to the first robot 30 when there is a specific information request of the specific information request.

The robot unit may be defined as a second robot 40 different from the first robot 30 according to the viewpoint. That is, as will be described later, a specific first robot 30 that receives a specific information request and receives information and a control signal, and a measurement value and information corresponding to the specific information request of the first robot 30 And the second robots 40 providing the second robot.

The first robot 30 and the second robot 40 may include the sensing unit 31 and the actuating unit 32. The specific shape and shape of the sensing unit 31 and the actuating unit 32 are not limited, The portions 31 may be configured differently.

The cloud server 10 according to the embodiment of the present invention provides a cloud environment and the information obtained using the sensing unit 31 of the robot unit is posted in the cloud environment as knowledge, Value, and measurement value can be updated, deleted, and queried according to the behavior of the robot programmed by the user.

Also, the first robot 30 requests the subscription of the desired knowledge (request specific information) in the cloud environment according to the rules defined in the action plan, and the specific information request is registered in the cloud environment.

When the measured values, information values, and knowledge corresponding to specific information requests registered in the cloud environment are updated, the cloud server 10 transmits the measured values, information, and knowledge to the first robot 30 as a subscriber.

In addition, according to an embodiment of the present invention, not only the user performs behavior control and programming of the personal robot unit through the user terminal 20 composed of mobile equipment such as a smart phone, Registers in the server 10, and updates the sensing information (measurement value) of the robot unit of itself as cloud information to the cloud server 10 as context information.

Further, each of the plurality of robot units can register a specific ID of the robot unit for connecting to the environment of the cloud server 10. Also, connection of each of the plurality of robot units to the cloud server 10 is performed asynchronously.

The ID registration of the robot unit for accessing the cloud environment can be performed by the user by registering the ID of the robot unit in the cloud server 10 through the user terminal 20 and by connecting the robot unit to the cloud server 10 . In addition, information of other robot units (the second robot 40) connected to the cloud environment as well as the robot unit registered by itself can be confirmed. The information of the robot unit includes ID, sensor information provided by the robot unit, measured values measured in real time by the sensing unit 31, and the like.

The user connects his / her robot unit to the cloud server 10 via his or her own user terminal 20, updates the information of his or her own robot unit, and transmits the information of another robot unit connected to the cloud server 10 In addition to verifying information, you can also program the behavior of the robot unit.

That is, the user can use the contents capable of programming the behavior of the robot unit through the user terminal 20. [ Also, in one embodiment of the present invention, programming may be performed by combining basic blocks such as a strike, and inputting variables and values.

In addition, the information generated from the robot unit existing in the cloud environment can be brought into programming and used, and the behavior of the programmed robot can be uploaded and downloaded to the cloud server 10 as one action plan.

When there is a specific information request required for the action plan by the first robot 30 corresponding to the subscriber, the cloud server 10 transmits at least one other second robot 40 connected to the cloud server 10, The user can request the measurement value and information corresponding to the specific information request.

The cloud server 10 receives the measurement value corresponding to the specific information request from the second robots 40 and transmits the received measurement value and information to the first robot 30 to provide the measured value and information to the first robot 30.

Furthermore, the cloud server 10 can transmit and generate control signals that can be operated and controlled according to the desired behavior plan of the first robot 30, in addition to transmitting measurement values corresponding to specific information requests Do. Therefore, the cloud server 10 can be configured to directly control the robot unit, serving as a brain of the robot unit, without a separate configuration for performing an arithmetic operation for control on the robot unit itself.

That is, the cloud server 10 receives the measurement value corresponding to the specific information request, updates the existing information, and transmits a control signal for controlling the first robot 30 based on the specific information request to the first robot 30 ).

The cloud server 10 stores a specific information request, a measurement value corresponding to a specific information request, and a control signal (action plan).

Hereinafter, a cloud knowledge sharing based robot control method according to an embodiment of the present invention will be described. 2A is a flowchart illustrating a method of controlling a robot based on cloud knowledge sharing according to an exemplary embodiment of the present invention. FIG. 2B is a block diagram illustrating a signal flow between the first robot 30 and the cloud server 10 according to an embodiment of the present invention.

As shown in FIG. 2A, it can be seen that a plurality of robot units are asynchronously connected (S 1) to the cloud server 10. In the embodiment of the present invention, the real time property is secured through the asynchronous messaging system through the asynchronous messaging based work request and the result return using the RabbitMQ as the middleware.

As described above, the robot unit functions as both the information subscriber and the information provider. In the case of the subscriber, the robot unit is referred to as the first robot 30, and the robot unit in the provider's position is referred to as the second robot 40 ).

The specific first robot 30 subscribes the specific information request to the cloud server 10 for a desired action plan (S2). The cloud server 10 monitors this specific information request in real time.

In step S3, the cloud server 10 notifies the first robot 30 of the measured value corresponding to the registered specific information request from the information value and the measured value of the stored robot units. As described above, the cloud server 10 may transmit a measurement value, and may transmit the control signal itself for controlling the first robot 30 in accordance with the specific information request of the first robot 30. [ 1 robot 30 to control the first robot 30 directly.

Hereinafter, a cloud knowledge sharing robot control method according to another embodiment of the present invention will be described. 3A is a flowchart illustrating a method of controlling a cloud knowledge sharing robot according to another embodiment of the present invention. 3B is a block diagram illustrating a signal flow between the first robot 30 and the cloud server 10 and the second robot 40 according to another embodiment of the present invention.

The cloud knowledge sharing based robot control method according to another embodiment of the present invention is basically the same as that described above. However, the cloud server 10 may not be able to register the specific information request of the first robot 30, 40 in that they do notify the information or measurements that meet the specific information request.

That is, a plurality of robot units are asynchronously connected to the cloud server 10 (S10), and the specific first robot 30 subscribes to the cloud server 10 with a specific information request for a desired action plan. (S20). The cloud server 10 monitors this specific information request in real time.

Then, the cloud server 10 requests the second robot 40 connected to the cloud server 10 to receive the measurement value corresponding to the specific information request of the first robot 30 (S30). Then, the second robot 40 updates the measured values corresponding to the specific information request on the cloud server 10 (S40).

In step S50, the cloud server 10 transmits information and measurement values corresponding to the specific information request updated by the second robot 40 to the first robot 30.

As described above, the cloud server 10 may transmit the measurement value to the first robot 30 and may control the first robot 30 in accordance with the specific information request of the first robot 30. [ It is also possible to directly control the first robot 30 by transmitting the control signal itself to the first robot 30. [

< Example >

Hereinafter, a concrete embodiment of the robot control method based on the above-mentioned cloud knowledge sharing based robot system will be described. The following embodiments are merely illustrative of preferred embodiments and should not be construed as limiting the scope of the present invention.

[ First Embodiment ]

The first embodiment of the robot control method based on the cloud knowledge sharing based robot system according to the present invention is to control the first robot 30 to move away from the other second robot 40. [

4A is a schematic diagram showing a movement path of the first robot 30 when specific request information for moving away from another robot according to the first embodiment of the present invention is registered. FIG. 4B is a flowchart illustrating a method of controlling a cloud knowledge sharing robot according to the first embodiment of the present invention. 4C is a block diagram showing a signal flow between the first robot 30, the cloud server 10, and the second robot 40 according to the first embodiment of the present invention.

As shown in FIG. 4A, it is found that the position information of the second robots 40 is required to avoid the second robots 40 existing in the vicinity. The position of the second robot 40 can be requested by the first robot 30 through the cloud server 10 even if there is no separate measurement means for measuring them.

Specifically, the first robot 30 accesses the cloud server 10 and registers the action plan in a situation where it needs to provide its own information to the cloud server 10 (S10-1). As described above, the connection between the first robot 30 and the second robot 40 is performed asynchronously (S20-1).

Then, the first robot 30 registers the specific information request for requesting the position information of the second robot 40 to the cloud server 10 (S30-1). Then, the cloud server 10 transmits Notify requesting location update to other second robots 40 connected to the cloud server 10 (S40-1).

The second robots 40 transmit their position information to the cloud server 10 at step S50-1 and the cloud server 10 transmits the location information of the second robot 40 to the first robot 30 40) (S60-1).

Based on the position information of the second robot 40, the first robot 30 can avoid the second robot 40 and move to the target position. The first robot 30 may generate a control signal for controlling itself based on the position information provided by the first robot 30. However, the cloud server 10 may transmit the information of the first robot 30, Based on the position information received from the first robot 30, the first robot 30 avoids the second robots 40 so as to conform to the action plan registered by the first robot 30, The first robot 30 may be controlled by directly generating the control signal.

[ Second Embodiment ]

The second embodiment of the robot control method based on the cloud knowledge sharing based robot system according to the present invention controls the first robot 30 to follow a specific second robot 40 at a specific interval.

5A is a schematic diagram showing a movement path of the first robot 30 when the first robot 30 according to the second embodiment of the present invention registers specific request information for following the second robot 40. FIG. FIG. FIG. 5B is a flowchart illustrating a method of controlling a cloud knowledge sharing robot according to a second embodiment of the present invention. 5C is a block diagram showing a signal flow between the first robot 30, the cloud server 10, and the second robot 40 according to the second embodiment of the present invention.

As shown in FIG. 5A, it can be seen that the position information of the second robot 40 is required in real time in order to move to follow the specific second robot 40 existing in the surroundings. The position of the second robot 40 can be requested by the first robot 30 through the cloud server 10 even if there is no separate measurement means for measuring them.

Specifically, the first robot 30 accesses the cloud server 10 and registers the action plan in a situation where it needs to provide its own information to the cloud server 10 (S10-2). In other words, it is possible to register the action plan to follow the specific second robot 40, and select the specific second robot 40 to which the cloud server 10 is connected. The connection between the first robot 30 and the second robot 40 is performed asynchronously as described above (S20-2).

Then, the first robot 30 registers the specific information request for requesting the position information of the second robot 40 to the cloud server 10 (S30-2). Then, the cloud server 10 transmits a Notify request to update the location information to the second robot 40 connected to the cloud server 10 (S40-2).

The second robot 40 transmits its location information to the cloud server 10 in step S50-2 and the cloud server 10 transmits the location information of the second robot 40 to the first robot 30 40) (S60-2).

Based on the positional information of the second robot 40, the first robot 30 can move following the second robot 40. The first robot 30 may generate a control signal for controlling itself based on the position information provided by the first robot 30. However, the cloud server 10 may transmit the information of the first robot 30, The first robot 30 directly generates a control signal that can be moved following the second robot 40 in accordance with the action plan registered by the first robot 30 based on the position information received from the robot 40 The first robot 30 may be controlled.

[ Third Embodiment ]

The third embodiment of the robot control method based on the cloud knowledge sharing based robot system according to the present invention is characterized in that the first robot 30 moves the position of the obstacle 1 without using its own sensing part 31 So as to control the movement so as to avoid it.

FIG. 6A is a schematic diagram showing a movement path of the first robot 30 when specific request information for moving away from another robot and the obstacle 1 according to the third embodiment of the present invention is registered. FIG. 6B is a flowchart illustrating a method of controlling a cloud knowledge sharing robot according to a third embodiment of the present invention. 6C is a block diagram showing a signal flow between the first robot 30, the cloud server 10, and the second robot 40 according to the third embodiment of the present invention.

6A, in order for the first robot 30 to move to the target position while avoiding the surrounding obstacle 1 without operating the sensing part 31 during the movement, the sensing part 31 of the second robots 40, The presence or absence of the obstacle (1) measured by the obstacle detection unit (31) and the measured value of the obstacle position information are required. The measured value of the second robot 40 can be requested through the cloud server 10 even if the first robot 30 does not operate its sensing unit 31 while the first robot 30 is moving.

Specifically, the first robot 30 accesses the cloud server 10 and registers the action plan in a situation where it needs to provide its own information to the cloud server 10 (S10-3). In other words, the action plan to avoid the obstacle (1) is registered. The connection between the first robot 30 and the second robot 40 is performed asynchronously as described above (S20-3).

Then, the first robot 30 registers the specific information request requesting the obstacle information measured by the second robot 40 in the cloud server 10 (S30-3). Then, the cloud server 10 transmits Notify requesting the second robot 40 connected to the cloud server 10 to update the obstacle information (S40-3).

The second robot 40 transmits the measurement value of the obstacle 1 measured by the second robot 40 to the cloud server 10 at step S50-3 and the cloud server 10 transmits the measured value of the obstacle 1 to the second robot 40 To the first robot 30 (step S60-3).

Based on the obstacle information measured by the second robot 40, the first robot 30 can move while avoiding the obstacle 1 without operating the sensing unit 31 while the robot is moving. The first robot 30 may generate a control signal for controlling itself based on the obstacle information provided by the first robot 30. The cloud server 10 may generate the control signal for controlling the first robot 30 and the second robot 30 The first robot 30 can be controlled by directly generating a control signal that can be moved by avoiding the obstacle 1 in accordance with the action plan registered by the first robot 30, You may.

[ Fourth Embodiment ]

The fourth embodiment of the robot control method based on the cloud knowledge sharing based robot system according to the present invention corresponds to the monitoring method of the cloud server 10 and the control method utilizing the knowledge on the cloud. Using this monitoring and knowledge on the claw, it is possible to save time rather than using the recognition information of the robot unit. As a concrete method, the fourth embodiment recognizes another second robot 40 approaching the first robot 30 and controls to send a specific message.

7A is a schematic diagram showing messages of the first robot 30 and the second robot 40 when specific request information for sending a specific message is registered to another approaching robot according to the fourth embodiment of the present invention. It is. FIG. 7B is a flowchart illustrating a method of controlling a cloud knowledge sharing robot according to a fourth embodiment of the present invention. 7C is a block diagram showing the signal flow between the first robot 30, the cloud server 10 and the second robot 40 according to the fourth embodiment of the present invention.

As shown in FIG. 7A, when the first robot 30 approaches another second robot 40 within a certain range from the first robot 30, the second robot 40 sends a greeting message to the second robot 40 .

Specifically, the first robot 30 registers an action plan in a situation where the first robot 30 accesses the cloud server 10 and provides its own information to the cloud server 10 (S10-4). That is, the first robot 30 registers an action plan for sending a greeting message to the second robot 40, which is approaching the position of the first robot 30, from the cloud server 10. As described above, the connection between the first robot 30 and the second robot 40 is performed asynchronously (S20-4).

When the second robot 40 approaches the first robot 30, the first robot 30 registers a specific information request to the cloud server 10 to receive information about the robot approaching the second robot 40 (S30-4). The cloud server 10 transmits Notify for requesting the second robot 40 to access the first robot 30 among the second robots 40 connected to the cloud server 10 to update the information of the second robot 40 .

The second robot 40 transmits its information to the cloud server 10 and the cloud server 10 transmits the information received from the second robot 40 to the first robot 30 (S40-4).

Then, the first robot 30 confirms information of the approaching second robot 40, and then requests the cloud server 10 to send a greeting message (S50-4). Then, the cloud server 10 transmits a greeting message to the second robot 40 at the request of the first robot 30 (S60-4).

[ Fifth Embodiment ]

The fifth embodiment of the robot control method based on the cloud knowledge sharing based robot system according to the present invention is similar to the fourth embodiment described above except that the monitoring of the cloud server 10 and the control method using knowledge on the cloud . When using this monitoring and knowledge in the cloud, it is possible to save time rather than using the recognition information of the robot unit. As a concrete method, the fifth embodiment receives the position of the obstacle 1 that the first robot 30 can not recognize while the first robot 30 is moving from the cloud server 10. That is, the cloud server 10 transmits to the first robot 30 the position of the obstacle 1 on the moving route that the sensing unit 31 of the first robot 30 can not recognize.

FIG. 8A is a schematic diagram illustrating a movement path of the first robot 30 when specific request information to receive an obstacle collision risk warning according to the fifth embodiment of the present invention is registered. FIG. 8B is a flowchart illustrating a method of controlling a cloud knowledge sharing robot according to a fifth embodiment of the present invention. 8C is a block diagram showing a signal flow between the first robot 30, the cloud server 10, and the second robot 40 according to the fifth embodiment of the present invention.

As shown in FIG. 8A, according to the fifth embodiment, it can be seen that the obstacle information on the moving route, which can not be measured by itself during the moving, can be provided from the cloud server 10.

Specifically, the first robot 30 accesses the cloud server 10 and registers the action plan in a situation where it needs to provide its own information to the cloud server 10 (S10-5). That is, an action plan to be moved is registered by avoiding the obstacle 1 during the movement.

The first robot 30 transmits a specific information request for receiving the location information of the obstacle 1 to the cloud server 10 when the obstacle 1 that the first robot 30 can not recognize while moving is on the movement route, (S20-5). Then, the cloud server 10 confirms the obstacle information on the path of the first robot 30 based on the information stored in the cloud server 10 according to the specific information request (S30-5).

When the obstacle 1 exists on the movement route, the cloud server 10 transmits the location information of the obstacle 1 to the first robot 30 (S40-5). Then, the first robot 30 moves on the basis of the obstacle information transmitted from the cloud server 10 by modifying the movement path. Also, the first robot 30 may generate a control signal for controlling itself based on the obstacle information provided by the first robot 30. However, when the cloud server 10 receives the information of the first robot 30, Based on the information, the first robot 30 may be controlled by directly generating a control signal that can be moved by avoiding the obstacle 1 in accordance with the action plan registered by the first robot 30. [

The present invention can also be embodied as computer-readable codes on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may be implemented in the form of a carrier wave (for example, transmission over the Internet) . In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers of the technical field to which the present invention belongs.

It should be noted that the above-described apparatus and method are not limited to the configurations and methods of the embodiments described above, but the embodiments may be modified so that all or some of the embodiments are selectively combined .

1: Obstacle
10: Cloud server
20: User terminal
30: First robot
31: sensing part
32: Actuating part
40: Second robot

Claims (18)

A robot control system comprising:
A plurality of robot units each having a sensing section for measuring a specific value and an actuating section driven on the basis of a control signal; And
Storing and updating the measurement values measured by the sensing units of the plurality of robot units and storing and updating the measured values, respectively, and when there is a specific information request of the specific first robot, And a cloud server for transmitting the stored measured values to the first robot.
The method according to claim 1,
Wherein each of the plurality of robot units accesses the cloud server to register a specific ID,
Wherein the connection of each of the plurality of robot units to the cloud server is asynchronously performed.
3. The method of claim 2,
The cloud server includes:
And if the specific information request is made by the first robot, the at least one second robot connected to the cloud server requests a measurement value corresponding to the specific information request. system.
The method of claim 3,
Wherein the cloud server receives the measurement value corresponding to the specific information request and transmits the measurement value to the first robot.
5. The method of claim 4,
The cloud server includes:
And transmits the control signal for controlling the first robot to the first robot on the basis of the specific information request based on the received information, Robot control system.
6. The method of claim 5,
Wherein the cloud server stores the specific information request, the measurement value corresponding to the specific information request, and the control signal.
A robot control method based on a cloud server for registering and connecting each of a plurality of robot units and storing and updating measured values measured by a sensing unit of a plurality of robot units,
A first step of asynchronously contacting each of the plurality of robot units to a cloud server;
A second step of the specific first robot registering a specific information request to the cloud server; And
And a third step of the cloud server transmitting a measurement value corresponding to the specific information request to the first robot.
8. The method of claim 7,
Wherein, in the first step, each of the plurality of robot units accesses the cloud server and registers a specific ID.
9. The method of claim 8,
After the second step,
Wherein the cloud server further comprises requesting at least one other second robot connected to the cloud server a measurement value corresponding to the specific information request,
Wherein the cloud server receives the measurement value corresponding to the specific information request and transmits the measurement value to the first robot in the third step.
10. The method of claim 9,
In the third step,
The cloud server receives a measurement value corresponding to the specific information request, updates existing information, and transmits a control signal for controlling the first robot to the first robot based on the specific information request. Based knowledge sharing robot control.
11. The method of claim 10,
If the specific information request is the location information of the second robot,
In the second step, the cloud server requests location information from the second robot connected to the cloud server, receives the location information,
Wherein in the third step, the cloud server transmits location information of the second robot to the first robot.
12. The method of claim 11,
In the third step,
Wherein the cloud server transmits a control signal that the first robot can move by avoiding the second robot based on the position information of the second robot.
12. The method of claim 11,
In the third step,
Wherein the cloud server transmits a control signal that allows the first robot to move after a specific interval with the second robot based on the position information of the second robot. .
11. The method of claim 10,
If the specific information request is the obstacle information,
In the second step, the cloud server requests the second robot connected to the cloud server to measure the presence or absence of the obstacle,
Wherein, in the third step, the cloud server transmits to the first robot a measured value of the presence or absence of an obstacle transmitted from the second robot.
15. The method of claim 14,
In the third step,
Wherein the cloud server transmits a control signal that the first robot can move by avoiding the obstacle based on a measurement value of the presence or absence of an obstacle of the second robot.
11. The method of claim 10,
If the specific information request is information of at least one second robot approaching the first robot,
In the second step, the cloud server requests information about the second robot from a second robot connected to the cloud server accessing the first robot,
Wherein, in the third step, the cloud server sends information about the second robot approaching the first robot to the first robot.
17. The method of claim 16,
In the third step,
Wherein the cloud server transmits a control signal for controlling at least one of the first robot and the second robot to perform a specific action based on the information of the second robot .
A recording medium on which a program readable by a computer is recorded,
A recording medium on which a program for executing the control method according to any one of claims 7 to 17 is recorded.

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