CN101095104A

CN101095104A - A terminal data format and a communication control system and method using the terminal data format

Info

Publication number: CN101095104A
Application number: CNA2005800454037A
Authority: CN
Inventors: 朴宰奭; 沈贤植; 金惠正; 姜宝贤
Original assignee: Samsung Electronics Co Ltd
Current assignee: Samsung Electronics Co Ltd
Priority date: 2004-12-30
Filing date: 2005-12-27
Publication date: 2007-12-26
Anticipated expiration: 2025-12-27
Also published as: KR100902662B1; KR20060079092A; JP2008529324A; CN101095104B

Abstract

A terminal data format capable of efficiently controlling various network-based robots in a ubiquitous robotic companion (URC)-based infrastructure, a communication control system using the terminal data format, and a method thereof are provided. The data format includes a Protocol Discriminator field including information on a protocol identifier (ID) in order to permit interfacing between a robot, a server, and a client; a Session ID field for identifying a currently connected session; a Profile ID field for identifying a profile performed by any one of the robot, the server, and the client; an MSG Type field including information on types of messages transceived between the robot, the server, and the client; and a Payload field for performing a service for a corresponding function according to data defined in the MSG Type field and the profile information included in the Profile ID field.

Description

The communication control system and the method for terminal data format and this terminal data format of use

Technical field

The present invention relates generally to a kind of terminal data format, use the communication control system and the method thereof of this terminal data format, particularly, the present invention relates to a kind ofly can in architecture, control various based on network robots effectively and make based on the useful terminal data format of the exploitation of service extension, the communication control system that uses this terminal data format and method thereof based on URC (the ubiquitous partner of robot).

Background technology

Usually, robot is equipped with various sensors, but and by coming working procedure based on recognition instruction (as voice or write instruction) and can carry out the task that the user orders.Thereby according to the task of distributing to robot, robot develops into humanoid robot gradually, such as clean robot, doll robot etc.And each robot has developed into the degree that can carry out multiple function simultaneously.

In addition, such robot has developed into by communicating by letter with the people various services is provided.For this communication, many tissues and research institution have proposed by using the Internet, open network to set up robot interface's method and architecture.Recently the architecture of (proxy-mediated) man-machine interface (HRI) of a kind of indirect agency of suggestion comprise by the Internet, utilize indirect agency man-machine interface user interface agency (IA) and embed the communication of acting on behalf of between (EA).

The network that Fig. 1 illustrates in the architecture of traditional indirect agency man-machine interface connects.With reference to Fig. 1, proxy agent (proxy agent) has reduced the resource number percent that is used for communication load interface related task, IA and EA calculating.And proxy agent dynamically produces or cancels link between IA and EA and flow data (upstream data) in the asynchronous transmission.

In Fig. 1, use RoboML, described RoboML is the SGML that is used for robot, i.e. XML of Xiu Gaiing.XML is owing to applicability, convenience and compatible agent communication and the information representation of being used to, wherein applicability is embodied in XML and can be expressed with coding by known language, convenience is embodied in the user can easily handle or operate XML, and compatibility is embodied in XML and can be used for application program in other platform.

The agent communication language comprises AOP (towards agency's programming), Telescript, KQML (knowledge query operating language), FIPA (meeting of intelligent physical agency fund) or the like, wherein, utilize described AOP, the agency can be programmed communicating and to develop, and described Telescript is defined in the environment of the affairs between the software application on the network.

Robot language comprises TCA (task control architecture), PRS (process inference system), GOLOG etc., other control of wherein said TCA combined task level with communicate by letter, and between processor, transmit message to realize concurrency.Described PRS is based on the principle of process reasoning expert system, and described GOLOG is based on the behavior language of logic, and it is developed the navigation of moving, operation, perception and mutual etc. programmed.

Therefore, the robot language of programming can be passed on user command so that remote control robot by the host-host protocol of interface by using.Can define any robot construction and behavior by framework, described robot can be used for by using the existing communication agreement to carry out the robot data communication.

Yet, because the self-defined host-host protocol that is used for robot of manufacturer of robot, so be difficult to this protocol application in other robot.As a result, may between robot and server, carry out interworking hardly.

And the existing host-host protocol that is used for robot can not be applied to multiple robot uniformly.Therefore, described host-host protocol demonstrates low versatility and owing to lacks the compatible low exploitation possibility that causes.

Summary of the invention

Technical matters

Therefore, an object of the present invention is to provide the communication protocol between robot, URC server and Terminal Server Client so that can provide service intelligence, initiatively and that be suitable for state to the user by architecture, and provide and to utilize such communication protocol communication control system and the method for control robot smoothly based on URC based on the various robots of URC.

Another object of the present invention provides a kind of communication control system and method, and wherein, ISP's (or Terminal Server Client) utilizes described communication protocol in the remote location control robot, has improved the dirigibility in the exploitation service thus.

Technical scheme

According to an aspect of the present invention, provide a kind of data layout, be used for transmitting data between terminal and server, described data layout comprises: agreement identification marker field is used to allow the interface between described terminal and described server to connect; The session id field is used to be provided with ID to identify described terminal; The data direction field is used to be arranged on the direction of transmitting data between described terminal and the described server; Data type field is used for defining typically at least one of format and content of described data; The service ID field, being used for determining whether using will be by the messenger service of at least one execution of described terminal and described server, and is used to be provided with ID and describedly determines to identify; And the service load field, being used for being arranged on data that described data type field defines and the available service of in described service ID field, determining, assignment messages is so that described terminal and described server can use this service.

According to a further aspect in the invention, provide a kind of communication control system that uses the data layout of terminal.Described communication control system comprises: terminal is used for carrying out according to the service load content of described data layout at least a service of video, audio frequency and motion; And server, be used to discern user command by terminal sending and receive described data layout to terminal, and control is carried out service to utilize described data layout from terminal according to respective protocol.

Still according to a further aspect in the invention, a kind of method of utilizing respective protocol transmission terminal data layout between at least one terminal and server is provided, described method comprises step: according to proof procedure, utilize the checking of described terminal data format affirmation between described terminal and server; After checking, utilize described data layout to come assign sessions ID so that identify each of described at least one terminal; To the corresponding terminal input user's voice order that is assigned with described session id; Send the service load message of described data layout with speech data to described server; With analyze described service load message so that the described service ID of callback; Send described result as the service load message of described grouping according to described service ID to described server with the corresponding terminal of executable operations.

Still according to a further aspect in the invention, a kind of data layout that is used for terminal is provided, wherein said data layout is received and dispatched between robot, server and client side so that control described robot, described data layout comprises: agreement identification marker field comprises about the information of protocol identifier so that allow the interface between described robot, described server and described client to connect; The session id field comprises the unique information (ID) of the session that is used to identify current connection; The summary id field comprises the information that is used for identifying by the summary of any one execution of described robot, described server and described client; The MSG type field comprises the information about the type of the message of receiving and dispatching between described robot, described server and described client; And the service load field, comprise the message that is used for according to carry out the service of corresponding function at data that the MSG type field defines and the summary info that in described summary id field, comprises.

Still according to a further aspect in the invention, provide a kind of communication control system, comprising: robot is used for carrying out at least one that video, audio frequency and motion are served according to the service load content of the previous data layout that is provided with; Server is used to discern the order by the user of robot, according to the data layout of respective protocol transmitting-receiving about robot, and utilizes described data layout to control carrying out service; And client, be used at remote location by Long-distance Control and the supervision of server execution the service of robot.

Still according to a further aspect in the invention, provide a kind of in communication control system, use at least one remote client to bring in and be controlled to the method for lacking a robot, described communication control system has client, robot, and the server that interface is provided between described client and described robot, described method comprises step: described Terminal Server Client is provided to the connection of described server so that carry out the service of Long-distance Control, and monitor described robot any one; Requests verification and about the information of the tabulation of the robot that is connected to server; Server is carried out the checking to described client, sends the list information of the robot that is connected with described server to described client; The robot list information that described client utilization sends from described server is selected the robot that will control; Send corresponding information to described server; Described server is provided with interface so that transmitting-receiving is used for the message and the monitor service of the Long-distance Control of described robot between robot of being selected by described client and described client.

Description of drawings

When thinking deeply in conjunction with the accompanying drawings, by following detailed, more fully understanding of the present invention and many attendant advantages will be conspicuous, and in described accompanying drawing, similar reference symbol refers to identical or similar unit, wherein:

Fig. 1 illustrate according to prior art, interface connects so that control the network of described robot between robot and subscriber's main station;

Fig. 2 illustrates the physical architecture according to URC agreement of the present invention, as to be used for control robot;

Fig. 3 illustrate according to the embodiment of the invention, between robot and URC server, receive and dispatch header format by the URC agreement with the grouping that is used for control robot;

Fig. 4 is the figure of diagram according to the type of message modification of message of the present invention, that basis is received and dispatched between robot and URC server;

Fig. 5 illustrates according to an embodiment of the invention, utilizes the network of the robot control system of URC agreement to connect;

Fig. 6 illustrate according to of the present invention, in robot control system, be the sequence of the message of service transmitting-receiving, wherein, when robot and client were connected to the URC server, described URC server can provide described service to described robot and described client;

Fig. 7 illustrates according to message sequence of the present invention, speech-recognition services between robot and URC server, that be used for robot in robot control method;

Fig. 8 illustrates according to message sequence of the present invention, that receive and dispatch between robot and URC server in robot control method, that be used for image recognition service and motion detection (tracking) service;

Fig. 9 illustrate according to of the present invention, in robot control method between robot and URC server the message sequence of checking that receive and dispatch, that be used for robot;

Figure 10 illustrate according to of the present invention, in robot control method between tele-robotic and server the sequence of the checking message of telemonitoring that receive and dispatch, that be used for robot;

Figure 11 illustrate according to of the present invention, in robot control method between robot and URC server the transmitting-receiving so that the type of the message of control robot;

Figure 12 illustrate according to of the present invention, in robot control method between Terminal Server Client and URC server transmitting-receiving so that the type of message by URC server controls robot on Terminal Server Client;

Figure 13 is the diagram synoptic diagram of the connection of robot control system according to an embodiment of the invention;

The form of the common header of the message that Figure 14 illustrates according to an embodiment of the invention, receives and dispatches between robot, URC server and client side;

Figure 15 illustrates according to an embodiment of the invention, the URC agreement summary architecture between robot, client and URC server;

Figure 16 illustrates according to an embodiment of the invention, in communication control system, the ACK operation when in robot, producing incident;

Figure 17 illustrate according to of the present invention, in communication control system, check the method for the connection between URC robot and URC server; With

Figure 18 illustrates according to an embodiment of the invention, received and dispatched with the sequence in the message of client remote control robot.

Embodiment

Hereinafter, describe in detail with reference to the accompanying drawings according to terminal data format of the present invention, the communication control system that uses this terminal data format and method thereof.

Fig. 2 illustrates the Physical layer architecture based on the URC agreement of TCP/IP that is used for control robot according to of the present invention.Graphic as institute in Fig. 2, based on Ethernet, the URC agreement belongs to the application layer on tcp/ip layer, network and transport layer, confirm whether server is verified and use terminal (promptly based on TCP/IP client and robot), and thereby use the service command of expectation to come Control Server so that make robot can carry out the desired operation that is identified client.Here, it doesn't matter such as other agreements of Simple Mail Transfer protocol (SMTP), domain name system (DNS) etc. and technological concept of the present invention, and thereby omit explanation to them.

Based on built-in network, be used for managing effectively and manipulation robot's URC agreement make can be in URC server and robot and interworking easily between URC server and client side or other terminal, and also can carry out various service operations simply.The URC agreement also makes can be by based on the communication between the application layer of TCP/IP, transceive data be come in the client control robot between robot and URC server and between the URC server and client side, and also can be by making the user directly carry out the service operations of robot smoothly via the robot input command.

Can by the agreement between robot and URC server and between URC server and client side coupling, interface synchronously and data transmit-receive carry out the service of user expectation smoothly.The data of being received and dispatched have the data layout that is used for carrying out the interface connection between robot and URC server and between the URC server and client side.

Though this data layout has the pre-defined rule that is used for the communication between robot, URC server and URC client, because it follows common rule of classification, so it is called as grouping in the explanation of back.

Fig. 3 illustrates the header format according to grouping of the present invention, that receive and dispatch by the URC agreement that is used for control robot between robot and URC server.More specifically, according to service load, have as Fig. 3 the grouping of graphic form be divided into the grouping that is used for video, audio frequency, VoIP, motion etc.Corresponding ports sends these groupings.Described grouping has the common header that is used for these ports.

The common header of grouping has a plurality of fields, i.e. agreement identification marker 41, protocol edition 42, session id 43, data direction 44, data type 45, service ID 46, service load length 47, reservation item 48 and service load 49.Here, service load 49 comprises the service load header of 2 bytes, and has the inside field of being made up of client type, client id, user ID, type of message and identifying code.

Agreement identification marker 41 is assigned with 2 bytes, and it is to be used for indicating first field value that message data is the message that defines in agreement.Have only when the input data have identical agreement identification marker (being the first identical field value), could after the interface connection is authorized to, handle this data.Yet, if connecting, interface is not authorized to, data are dropped, rather than it is handled.For example, the agreement identification marker has the form of 0x7E7E.

Protocol edition 42 is assigned with 2 bytes, and it represents the version of agreement.Protocol edition 42 is initially set to 0x0001 (version 1.0), and when agreement was updated, this protocol version increased by 1.

Session id 43 is assigned with 4 bytes, and is formed by the session number that is initially set to 0x00000000.After the checking of finishing the user, server is from the assign sessions ID of trend robot 43, and this session id 43 is used for respectively robot and other terminal (for example user terminal and PDA) is distinguished and sign comes.For example, there is the method for using a port or several ports.When using a port, use this port that this robot and other machines people sign are opened.Yet when using several port, these ports are used to identify each port, and this robot and other machines people are distinguished.

In the explanation, session id 43 will be described as being and use a port-mark robot below.

Data direction 44 is the fields that are assigned with a byte, the final destination of its identification data.More specifically, it is to send to the URC server from robot that data direction 44 is used for specified data, still sends to the URC server from client.Therefore, which entity transmission data data direction 44 is used to identify.For example, when 0x01 occurring in data direction 44 fields, this represents that these data send to the URC server from robot.

Data type 45, it is assigned with a byte, has dissimilar according to the format and content of data.For example, this dissimilar can comprising: expression be used for the ASR (automatic speech recognition) of the data of speech recognition, TTS (Text To Speech) that expression is used for the data of voice output, FR (face recognition)/MD (motion detection) that expression is used for the data of face recognition and motion detection, the expression data that are used to authorize Authorization (mandates), be used for data, the data that are used for PDA that robot controls, be used for the data of VoIP etc.According to the data layout of data type 45, can transmit described data from different ports.

Service ID 46, it is assigned with 2 bytes, is by the URC server-assignment so that the ID of the service conversation of sign robot and Terminal Server Client.Service ID 46 is used to determine whether to use the service load service, and this determines the result to be used for sign.Existence is according to the multiple service of the value of service ID field, and it is divided into pilotless safeguard protection service, telemonitoring service, speech-recognition services and video identification service.Service ID is initially from 0x0000, and increase by 1 when service starts then.

Service load length 47 has 2 bytes, the physical size (is unit with the byte) of the service load of indication except that header.

Keeping item 48 is the untapped extra field with 4 bytes, and it is not used as the added field item, to guarantee the QoS (service quality) of grouping in the future.

Service load 49 is to comprise the added field of the API (application programming interfaces) corresponding to each service and the part of practical video and voice data.After having defined common header, need to distinguish extraly the message that sends to port.Transmission has the service load of categorical data as definition in data type 45, described data type such as the ASR that is used for the data of speech recognition, as the TTS that is used for the data of voice output (combination), as the FR/MD that is used for the data of face recognition and motion detection, as the Authorization of the data that are used to authorize, be used for data, the data that are used for PDA that robot controls, be used for the data of VoIP etc.

Though it is not shown, but service load 49 can be divided into a plurality of message, and described a plurality of message represent as the ASR that is used for the data of speech recognition, as the TTS that is used for the data of voice output (combination), as the FR/MD that is used for the data of face recognition and motion detection, as the Authorization of the data that are used to authorize, be used for data that robot controls, be used for the data of PDA and be used for the data of VoIP.Therefore, service load 49 comprises the field that is used for client type, client id, user ID, identifying code and type of message extraly.

Client type is assigned with 1 byte, the type of expression terminal.For example, robot or remote client terminal are represented by 0x01,0x02,0x03 and 0x04 respectively.That is to say, if according to by the data receiver of data direction 44 indication to, client terminal is source or destination, then client type indication client terminal.

Client id is assigned with 4 bytes, is used for by distribute unique ID to identify client terminal to client terminal.In order to distribute this ID, combination results order, user's zone, user's ID wait and produce suitable ID.

User ID is assigned with 1 byte, and expression is by the ID of URC server identification.User ID is initially set to 000000, increases by 1 then when number of users increases.The ID that registers is assigned to the user after by the URC server authentication.Under a plurality of users' situation, except a user as the main equipment, all the other are as slave unit.

Identifying code is the field of checking number that comprises the checking message of robot, has default value when the message type field of message header part is not indicated checking message.When message was verified in the message type field indication of message header part, the user imported in advance and offers individual authentication secret, and and if only if checking just can provide service when being identified.

Type of message is assigned with 2 bytes, be used for according to whether sending data, or do not carry out connect initialization, response, synchronously, checking etc. and the process of carrying out between robot and client and URC server is distinguished.

Fig. 4 is the figure of diagram according to the modification in the type of message of receiving and dispatching between robot and URC server of the present invention.With reference to Fig. 4, when between process, distinguishing according to type of message, have request message 50, confirm response message 51, make mistakes confirm response message 52, synchronization message 53, checking message 54, certainly verify message 55, negate checking message 56, data-message 57 and conclude report message 58.

As institute's diagram among Fig. 4, request message 50 is the message that sends to this URC server when attempting connection URC server in robot.Confirm response message 51 be when robot send a request message 50 with request connect and thereby when successfully being connected with the URC server from the message of URC server to the robot transmission.Make mistakes and confirm that response message 52 is the message that sends to robot from the URC server when robot successfully is not connected with the URC server.Synchronization message 53 is to be used for checking after the connection of finishing between URC server and the robot message whether connection between URC server and robot is kept continuously.Checking message 54 be used for when receive from the URC server indication when being connected normal message (affirmation response message 52) with the network of robot to of the checking of URC server requests to robot.

Certainly verify that message 55 is the message that has sent to robot when the URC server has successfully carried out checking to robot.Negate checking message 56 and be the message that does not send to robot when the URC server during good authentication robot.Data-message 57 be in video, audio frequency, TTS, VoIP, use message, its control is with the data transmission of corresponding format when transmitting common data.Conclude report message 58 be when the user when robot sends the order that is connected that stops with URC from the disconnection message of robot to the transmission of URC server.

The service load message that service load message is divided into the service load message that is used for video, the service load message that is used for audio frequency and is used to move.The service load message field that is used for video comprises reference number of a document part, size indicating section and actual binary data division.The reference number of a document part is made of in proper order the client type of 1 byte, the client id of 4 bytes and the file generation of 3 bytes.The size indicating section is made up of 4 bytes, the size of indication actual video.Described data division is a real data.

The service load message field that is used for audio frequency has and the identical form of service load message field that is used for video.Therefore, the service load message field that is used for audio frequency comprises reference number of a document part, size indicating section and actual binary data division.The reference number of a document part is made of in proper order the client type of 1 byte, the client id of 4 bytes and the file generation of 3 bytes.The size indicating section is made up of 4 bytes, the size of indication actual speech.Described data division is a real data.

For example, have reference number of a document 0x01 (client type) 000000001 (client id) 000009 (file generation order) if be used for the service load message field of video and audio frequency, then this means the 9th time from first robot generation Voice ﹠ Video data.If the value at the data direction of header is 0x01, then indicate to send the Voice ﹠ Video data to server from the camera and the microphone of robot.If the value of data direction is 0x02, then indicate to send in the opposite direction the Voice ﹠ Video data.

The service load message field that is used to move comprises five kinds of command types according to control command type (being robot motion, robotary control, robotary report, robot error status and camera control).If command type is the robot motion, then distribute 123 bytes altogether, promptly be used for the X-axis displacement of robot 4 bytes, be used for the moving distance of y-axis shift of robot 4 bytes, be used for robot position angle 2 bytes and be used for 2 bytes of camera angle.Distance and angle are unit with millimeter and degree respectively.

If command type is robotary control, then distribute 56 bytes altogether, promptly indicate whether 4 bytes of 1 byte that robotary is reported and the cycle that is used to report.

If command type is the robotary report, then distribute 156 bytes altogether, promptly be used for and 12 bytes of use about the relevant information of the current location of the robot of robot motion's information, be used for 2 bytes of the information relevant with the current state of robot, and 1 byte that indicates whether execution.Here, current state is that pilotless safeguard protection is provided with in state, robot motion's state, monitored state, robot abnormality, identity validation state and the alarm condition.

If command type is the robot error status, then distributes 3 bytes altogether, and have the whether unusual result of definite this robot of robot oneself.This result provides with " non-fault ", " robot motion's cell failure ", " because obstacle causes limitation of movement " and the message of " battery deficiency ".

If command type is camera control, then distribute 23 bytes altogether, promptly be used for 1 byte that begins to wait 1 byte of relevant coomand mode and be used for video Data Transmission with video Data Transmission.

To the robot control system of the above-mentioned data layout of use according to the present invention be described below.

Fig. 5 illustrates the network connection of use according to the robot control system of data layout of the present invention.As institute's diagram among Fig. 5, robot control system comprises client 10, URC server 20 and robot 30.Client 10 and URC server 20, URC server 20 and robot 30 are connected to each other by the network (for example Ethernet) based on TCP/IP, send and receive grouping to carry out the operation according to voice recognition data, image recognition data and the control data that is used to move.

When the user transmits the control grouping by network so that during via client 10 manipulation robots 30, URC server 20 is resolved institute and is received the service load of dividing into groups.When user's order was voice or keyboard commands, URC server 20 control robot 30 were to carry out the service corresponding to described order.

Thereafter, robot 30 finishes this service, and provides grouping corresponding to this service to URC server 20.URC server 20 is resolved the service that receives from robot 30 and is finished grouping, and provides results messages corresponding to described parsing by network to the client 10 of request service.

Therefore, client 10 shows that the results messages that receives from URC server 20 is so that make that the user can execution monitoring.

When the user with voice during to robot 30 input service commands, robot 30 converts the voice input signal of user's input to the TCP/IP grouping, and the TCP/IP that will the change URC server 20 that divides into groups to send to.URC server 20 is resolved from the voice data of the grouping of robot 30 receptions, and identification is by user's requested service.The packet switched that URC server 20 will have a voice data becomes to be used for the grouping of motion control commands, and the grouping that will change sends to robot 30 by network.Robot 30 carries out the corresponding service of service load with the grouping that receives from URC server 20.When robot 30 when URC server 20 sends response to this service, URC server 20 sends the result who responds with institute and is generated as packets of voice, and this packets of voice is sent to robot 30.Therefore, the user can be by confirming the result from the speech message of robot 30 outputs.

The process of service that Fig. 6 diagram URC server can provide to robot and client and the basic messae that transmitting-receiving is used to serve when robot and client are connected to the URC server in robot control system according to the present invention.Once more, grouping comprises a plurality of different fields, i.e. agreement identification marker 41, protocol edition 42, session id 43, data direction 44, data type 45, service ID 46, service load length 47, reservation item 48 and service load 49.Especially, service load 49 fields have inside field: client type, client id, user ID, identifying code and type of message.

As shown in Figure 6, robot 30 and client 10 both only when they are authorized on URC server 20, just can carry out by the user requested service.At first, the data that are provided for verifying at the identifying code in the middle of the inside field of service load of grouping and type of message, and carry out checking according to each of code and message and handle.

More specifically, verifier people 30 not at first, thereby it sends the connection request message that is used to verify to URC server 20.The message that sends to URC server 20 from robot 30 has the checking number, and it is an identifying code by default setting.And the type of message of service load has request message so that attempt interconnection, and for other fields except that request message the data that connect according to initial is set.

The type of message that receives the URC server 20 of connection request message efficiency confirmed load is a request message, and sends response messages (affirmation response message) to robot 30, and it is successful that its indication connects.When connection was unsuccessful, URC server 20 sent the grouping with the affirmation response message of makeing mistakes to robot 30.When the type of message indication synchronization message of the service load of institute's messaging, between URC server 20 and robot 30, carry out network continuously and connect.

URC server 20 determines that network is normal, and sends the affirmation response message to robot 30.The robot 30 that receives the confirmation response message identifies that to connect be successful, and sends the checking message to URC server 20, and it is by type of message indication checking request of the service load of received message.

Thereafter, URC server 20 is carried out checking to robot 30 according to the checking request of robot 30.When being proved to be successful, URC server 20 sends the sure checking message that indication is proved to be successful to robot 30.The message that is sent comprises the information about the checking number of robot 30, and thereby to robot 30 dispense validation numbers.If the checking of robot 30 is owing to the fault that inside or external factor cause finishes, then URC server 20 sends the negative checking message of indication authentication faileds to robot 30.

Therefore, confirming checking between URC server 20 and robot 30 whether after the success, can divide into groups to carry out the service for video, audio frequency, motion etc. of user expectation by between URC server 20 and robot 30, receiving and dispatching services request arbitrarily.

The above-mentioned proof procedure of the proof procedure of client 10 and robot 30 is identical.Therefore, the proof procedure of client 10 is no longer described.And, suppose the checking of finishing client 10 by the process identical with the proof procedure of robot 30.

When the proof procedure finished robot 30 and client 10, URC server 20 is to session id field distribution ID, so that distinguishing between at least one client 10 and the URC server 20 and between URC server 20 and at least one robot 30, and send grouping to robot 30 and client 10 then.Corresponding robot 30 and client 10 be by utilizing the session id that is distributed by URC server 20, sends request with expectation service request information or the control request message that is used for control robot 30 to URC server 20.URC server 20 is carried out corresponding service according to the service request information that is received, or comes control robot 30 according to the control request message that is received.

More specifically, robot 30 sends the grouping of the respective audio data that comprise the user's voice order to URC server 20.URC server 20 is resolved the voice command of the grouping that receives, and extracts the respective service ID corresponding to voice command from database (DB), and distributes corresponding service ID to robot 30.That is to say,, send service ID to robot 30 corresponding to the session id of grouping.

Be assigned with the service (be in pilotless safeguard protection, telemonitoring, speech recognition, video identification and motion control one) of corresponding machine people 30 execution of service ID, send the grouping of the appointment operational mode of these corresponding with service simultaneously to URC server 20 corresponding to service ID.Robot 30 sends the grouping of execution result to URC server 20.Service ID can be set up can be by a plurality of other services of robot 30 execution.

For example, the function of service ID is as follows.

After the checking that stops terminal (robot and client); pass through the specific service (for example pilotless safeguard protection) of robot 30 with voice request as the user; URC server 20 is identified as specific service by resolving with the voice data that is received and calls out, and whether definite robot 30 has the authority of this service of use.As a result, when corresponding machine people 30 was given the authority of using respective service, URC server 20 was to the called 30 assign sessions ID of robot.The robot 30 that is assigned with service ID uses the service ID of being distributed when this service of use.

When using the service ID of being distributed, robot 30 sends grouping so that request arbitrarily during service to URC server 20, URC server 20 is resolved from the service ID of the header portion of the grouping of robot 30 transmissions, driving is used to carry out the application program of respective service, and carries out corresponding service.

Because client 10 is not the mobile object that resembles robot 30, so it is assigned with the service ID corresponding to the service that is used for telemonitoring.Thereafter, client 10 is by sending the mode of operation, monitoring picture, voice data etc. that receive robot 30 at the grouping of service ID, and execution monitoring.

More specifically, client 10 monitors the state of robot 30 etc. simply, rather than communicates by letter with control robot 30 by URC server 20 with robot 30.In this case, URC server 20 also obtains corresponding information by the packet communication with robot 30 so that provide information about the state of robot 30 (monitor message that for example, comprises image information about robotary, voice messaging etc.) to client 10.

In order to obtain aforesaid service corresponding to service ID, the embodiment of the service load message of transmitting-receiving grouping is classified into embodiment, embodiment, the embodiment of checking of image recognition, the embodiment of motion control, embodiment of control client terminal or the like of speech recognition between URC server 20 and robot 30.Be described in detail in the message flow that is used for described service between URC server 20 and the client 30 with reference to the accompanying drawings.

Fig. 7 illustrates message sequence in robot control method according to the present invention, the speech-recognition services that is used for robot between robot and URC server (such as ASR (automatic speech recognition) and TTS (Text To Speech)).Graphic as institute among Fig. 7, at step S101, robot 30 sends message ASR_SVC_RECG_WLST so that the voice command of identification user input to URC server 20.ASR_SVC_RECG_WLST message comprises the word lists of user speech, and this is that voice command recognition is required.At step S102, the message ASR_SVC_RECG_FLST that URC server 20 sends comprising the file name of speech recognition vocabulary table to robot 30 according to the ASR_SVC_RECG_WLST message that receives from robot 30.At step S103, robot 30 sends the message ASR_SVC_RECG_PROC that comprises voice recognition data to URC server 20, then at step S104, URC server 20 is analyzed the described voice recognition data that receives from robot 30, and sends to robot 30 and to comprise the vocabulary that identified and the message ASR_SVC_RECG_PROC_RESULT of tone (score) information.

At step S105, robot 30 uses message TTS_SVC_TEXT_BUFF request URC server 20 synthesis texts, and at step S106, URC server 20 sends message TTS_SVC_TEXT_BUFF_RESULT according to the result of synthesis text to robot 30.

At step S107, robot 30 sends TTS_SVC_TEXT_FILE to URC server 20, so that ask to have the text of designated file name according to the synthetic results messages of the text that receives from URC server 20.

At step S108,20 transmissions of URC server comprise that the message TTS_SVC_TEXT_FILE_RESULT of the voice document that synthesizes according to the TTS_SVC_TEXT_FILE message of robot 30 is to URC server 20, and at step S109, robot 30 utilizes phonetic synthesis to send to the text of URC server 20 by using message TTS_SVC_TEXT_STREAM request.

Therefore, at step S110, URC server 20 uses the voice data and the ID that utilize text synthesize of message TTS_SVC_TEXT_STREAM_RESULT to the 30 distribution of machine people of robot, 30 requests.

At step S111, robot 30 utilizes message TTS_SVC_NAME_BUFF request URC server 20 synthetic individuals' title, and at step S112, URC server 20 sends the data of the individual title of being synthesized to robot 30 by service load message TTS_SVC_NAME_BUFF_RESULT.

That Fig. 8 illustrates is in robot control method according to the present invention, that receive and dispatch between robot and URC server, be used for the sequence of the message of image recognition service and motion detection (tracking) service.With reference to Fig. 8, at step S201, robot 30 utilizes message HCI_VISION_InitServer to send its session id (being the ID of robot) to URC server 20.At step S202, URC server 20 is by utilizing message (HCI_VISION_InitServer_RESULT message), the information that sends about following definite result to robot 30 according to the HCI_VISION_InitServer message of the ID of robot that receives from robot 30: determine whether whether the service that provides about utilizing corresponding machine people ID is possible authority.At step S203, robot 30 sends the information that whether can come registered user's face according to the user ID of being registered before the facial registration mode about carrying out by utilizing message HCI_VISION_FRCONF to URC server 20.

At step S204, the face-image of URC server 20 by utilizing message HCI_VISION_FRCONF_PROC in the time can registering face, will register according to the user ID of robot 30 to robot 30 requests.At step S205, robot 30 utilizes message HCI_VISION_FRMODE, is sent as the face-image that picks up according to the face recognition of URC server 20 requests to URC server 20, and to the described face-image of URC server 20 registrations.At step S206, URC server 20 sends message HCI_VISION_FR_PROC to robot 30, and the notice face-image is registered.

At step S207, robot 30 sends the actual face data that are used for image recognition by using message HCI_VISION_FI_MODE to URC server 20.At step S208, URC server 20 sends to robot 30 and comprises about whether being identified the message HCI_VISION_FI_PROC of facial information by the face data that receives from robot 30.

At step S209; when utilizing message HCI_VISION_SV_MODE, robot 30 sends the video data that is used for pilotless safeguard protection to URC server 20; at step S210; URC server 20 is analyzed the video data that is used for pilotless safeguard protection that sends from robot 30, and sends message HCI_VISION_SV_PROC according to the analysis result for pilotless safeguard protection to robot 30.Therefore, finish corresponding service.

Fig. 9 illustrate in robot control method according to the present invention, between robot and URC server the sequence of the message of checking that receive and dispatch, that be used for robot, and Figure 10 illustrates the sequence of the checking message that is used for the telemonitoring robot in robot control method according to the present invention, that receive and dispatch between tele-robotic and server.Graphic as Fig. 9 and 10, when sending the initialization connection requests, send the data that are used to verify, and checking is divided into two classes, promptly be used for the checking of robot 30 and be used for the checking of client 10.

With reference to Fig. 9, for the checking of robot 30, at step S301, robot 30 sends the message AUTH_INITIATE of the information that comprises that checking is required to URC server 20.

At step S302, URC server 20 is analyzed the required information of checking that is sent from robot 30, sends the message AUTH_RESULT that comprises the information (promptly verifying object information) about analysis result, and carries out checking and carry out other services then.

With reference to Figure 10, checking for client 10, at step S401, client 10 is sent in the required information of checking when main URC server 20 sends the initialization connection requests by using message AUTH_INITIATE, and at step S402, main URC server 20 is according to the checking request of client 10, sends to client 10 to comprise about the information of the tabulation that can connect robot 30 with about the message AUTH_ROBOT_LIST of the information of the current state of each robot 30.

At step S403, client 10 sends message AUTH_SELECTED_ROBOT so that carry out the checking of the robot of being selected by the user 30 from several robots 30 to main URC server 20.At step S404, main URC server 20 sends the message AUTH_ROBOT_LOCATION that comprises about the corresponding information of other URC server 21 to client 10, so that the URC server 21 that the location is connected by user-selected robot 30.This processing is used to obtain the information of the URC server 21 that connects about the robot 30 that will control, but it can be omitted.

At step S405, client 10 sends message AUTH_BYE so that stop and being connected of main URC server 20 to main URC server 20, can stop thus and being connected of main URC server 20.At step S406, client 10 sends as the message AUTH_RE_INITIATE that verifies request message so that URC server 21 that the robot 30 that visit is selected by the user is connected and the service that obtains expecting to URC server 21.Therefore, at step S407, URC server 21 sends the message AUTH_RESULT that comprises about checking result's information to client 10, finishes checking thus, so that proceed to the process of back.

Figure 11 illustrate in robot control method according to the present invention, between robot and URC server transmitting-receiving with the type of the message of control robot.With reference to Figure 11, the message that sends to URC server 20 from robot 30 can comprise: Robot_Movement message is used to send the request to the motion control of robot 30; Robot_Report Frequency message is used to determine cycle of inspection machine people 30 state; Robot Status Report message is used to report the information about the current state of robot 30; Robot Error Status message is used to check the information about the error condition of robot 30.

The message that sends to robot 30 from URC server 20 can comprise: Camera Control message is used for the motion of the camera of control robot 30; Status_Info Report message is used for the state to 30 notice robots 30 of robot or URC server 20; With Close_Info Report message, be used to notify the reason that terminates in the connection between robot 30 and the URC server 20.Other message that send to URC server 20 from robot 30 can comprise: DB_Update message is used to upgrade the data of URC server 20; Robot_Attri Update message is used to upgrade the attribute DB of robot, and it sends to URC server 20 from robot 30; User Info message is used to send user ID and password; With Authorization message, be used for verifier people 30.

Figure 12 illustrate in robot control method according to the present invention, between Terminal Server Client and the URC server transmitting-receiving so that come the type of the message of control robot by the URC server at Terminal Server Client.With reference to Figure 12, URC server 20 sends Map_Version_Req message, and it is used for to the information of client 10 requests about the mapping version.

In response to the request from URC server 20, client 10 sends its oneself mapping version information by Map_Version_Resp message to URC server 20.In this case, URC server 20 is its own mapping version information and by the mapping version information of Map_Version_Resp message from client 10 receptions relatively, analyze comparative result, and pass through the information that Client_For_Image message sends about the matching result that shines upon version to client 10.And when the mapping version did not match, URC server 20 sent this mapping version information by Client_For_Image message to client 10.

URC server 20 at first passes through the state of Client_For_Robot_Status message informing client 10 robots.And, client 10 sends Client_Sampling_Freq to URC server 20, Client_For_Image, Client_For_Button_Control, Client_Map_Control and Client_For_Robot_Camera_Control message, when the control robot camera sends and request when stopping to server, issue to serve in the situation that receives the video data of information about how long from URC server 20 to 20 requests of URC server and state each message.

As mentioned above, the present invention proposes and be used to be adapted at interworking smoothly between robot, server and the user terminal (client), thereby make that robot and client can be smoothly and utilize server to monitor terminal data format by the desired service of robot easily.

And the present invention is suitable for having message format special-purpose in service so that realize this service.Yet this message format has following shortcoming: should set up or increase described message format so that launch described service at every turn.And the message format that is increased is not suitable for realizing other applied service, therefore, can not reuse the message format that is increased.

And graphic as institute among Fig. 3, this message format has the service ID field, and therefore, robot, URC server and the client that obtains this service are assigned with this service ID and utilize the service ID of being distributed to realize this service according to specific service.So, in order to obtain specific service, need different message formats for each service.

And, among superincumbent the present invention, be not provided for carrying out synchronous mechanism to carrying out service.If to carrying out the incorrect synchronously of service, then begin and the time point that stops serving may become inaccurate.That is to say, may provide service at the URC server side, and therefore, may cause the maloperation of robot in the incorrect time.

And, the mechanism that overcomes the abnormality that may take place between robot and URC server is not provided.More specifically, when having stopped the connection of robot under the unsure state of networking, the URC server may not detect such state, thereby identifies robot and be connected to network continuously.Therefore, the user can not identify the non-steady state of network, and the URC server can not take correct step, and for example, the output error messages is carried out forced termination etc.

So, the various details alternate embodiments, it is intended to solve problem aforesaid, that occur in the present invention.

Figure 13 schematically illustrates the connection of robot control system according to another embodiment of the present invention.Graphic as Figure 13 institute, a plurality of robots 200 are connected to URC server 100 by network, and at remote location, a plurality of clients 300 are connected to URC server 100 by network.Robot 200 obtains voice command or status information (such as the image from user or outside input), and sends the information that is obtained to URC server 100.

URC server 100 handle from robot 200 send voice command or image information with the intention of determining the user so that URC service intelligence and that be suitable for state is provided.

For the URC service, except the service that transmits such as information, can also utilize movability to provide tangible service to the user.

And Terminal Server Client 300 can utilize the recognition function of each robot 200 and movability that multiple service is provided at remote location.These services are provided by URC server 100, and provide the ISP of remote location, thereby can create multiple business model in the URC architecture.

The multiple service that provides in the URC architecture can be provided in the robot 200 that follows the URC standard.Many robots 200 of interworking can provide the market that can make the ISP obtain income in the URC architecture.

URC robot 200 with Terminal Server Client 300 messagings so that communicate by letter with URC server 100.This message has the form that uses in the communication protocol between URC robot 200 or Terminal Server Client 300 and URC server 100.

Figure 14 illustrates the form of the common header of the message of receiving and dispatching according to an embodiment of the invention between robot, URC server and client side.With reference to Figure 14, the URC agreement is used and is utilized the message of TCP/IP to communicate by letter, and wherein the unit of message is called URC message.For communication efficiency, the framing of URC message is handled the message arrangement that adopts binary format.According to use, URC message is divided into four types, i.e. URC request, URC response, URC heartbeat (heartbeat) and URC incident.All four kinds of type of messages have the common header form.The type and the meaning of the data in the header fields of URC common header message are as shown in table 1 below.

Field	Type	Describe
Field	Type	Describe	Distinctive mark	Short (short)	URC protocol identifier (for example 0x7e7e)
Version	Byte	The URC agreement of work at present	Distinctive mark	Short (short)	URC protocol identifier (for example 0x7e7e)

		Version (for example 0x02)
		Version (for example 0x02)	Session id	Integer	The ID of the session of current connection
Summary ID	Short (short)	The ID (functional identity) of the summary under the message	Session id	Integer	The ID of the session of current connection
Summary ID	Short (short)		Keep		The field (2 bytes) that keeps
Type of message	Byte	The type of message	Keep		The field (2 bytes) that keeps
Type of message	Byte	The type of message	Message-length	Unsigned int	The length of the message except that the size of common header

According to its function and use, the message that defines in the URC agreement is classified into multiple summary (profile).These summaries that provide in the URC agreement as shown in figure 15.

Figure 15 illustrates according to an embodiment of the invention, the URC agreement summary architecture between robot, client and URC server.With reference to Figure 15, the summary of URC server 100 provides and realizes the multiple function (such as voice/image recognition, phonetic synthesis etc.) that the intelligence service is required and make the interface that client 300 can remote control robot.Therefore, for example, URC server summary can comprise checking summary, remote interface summary, event summary, speech recognition summary, image recognition summary and motion detection summary.

URC public machine people summary as shown in figure 14 provides the general-purpose interface that is used for control robot 200.The URC service can provide the tangible service that utilizes robot to the user based on the function that provides in URC public machine people summary.Therefore, for example, URC public machine people summary can comprise mobile summary, navigation summary, EPD (end point detection) summary, sound summary, motion summary and expression summary.

URC public machine people summary is meant following function: for the URC robot that will be provided service by the URC architecture, robot development person must realize described function.The robot that realizes URC public machine people summary can be provided identical service, and irrelevant with their type and performance.

Thereafter, with the URC communication protocol operation mechanism of describing in the present invention between robot, URC server and client side.

URC communication protocol operation mechanism can comprise that URC message becomes frame mechanism, URC message coding mechanism, URC authentication mechanism, the ACK of URC robot (affirmation) and HB (heartbeat) mechanism.

Become in the frame mechanism in URC message, the URC agreement is used and is communicated by letter about the message of TCP, and wherein, message elements is called as URC message.For communication efficiency, the framing of URC message is adopted the message arrangement of binary format, and many information that comprise are represented with the data layout of UDR (expression of URC protocol data) in URC message.

In URC message coding mechanism, utilize " little-endian " form URC message of encoding, and its Korean coding uses " KSC-5601 ".

In the URC authentication mechanism, can insert each the URC robot and the URC client of URC architecture and pass through the proof procedure of identification user and robot 200, and authorize their own necessary rights.The ROBOT ID of pre-registration sign URC robot 200, and URC client 300 verifies they oneself by carrying out based on user ID and password.

In being called the ACK of URC robot of event notice and affirmation, when the incident that takes place in the URC environment such as voice command and motion, URC robot 200 must notify this information to URC server 100 asynchronously.Use such asynchronous event, URC server 100 perception users' intention and state, and produce the sufficient service that is suitable for this intention and state then.

And, since the most of functions that provide by URC robot 200 need to a certain degree from the beginning of function, so URC server 100 must be confirmed so that make that the function of URC robot can be synchronous with other functions by the beginning and the end of work with the form of incident to the work consuming time that finishes.URC server 100 by ACK carry out to realize service required synchronously.

In Figure 16, illustrate the ACK of URC robot operation.As shown in figure 16, because each function of URC robot 200 can be defined by each parts, each parts is carried out its operation in state machine (for example composition of URC robot 200 as shown in figure 16), and should be in the corresponding event of the time point of conversion to URC server 100 notices at the state of URC robot 200.

That is to say that because the function of each URC robot 200 can be defined by each parts, each parts of URC robot are carried out its operation in state machine, and must be in the time point notice corresponding event of conversion at state.

In the URC agreement, the state of each parts of URC robot 200 is divided into two classes, i.e. " IDLE (free time) " and " ACTIVE (activation) ".When each state exchange when another state, URC server 10 should notified " START (beginning) ", the incident of " END (end) " or " STOP (stopping) ".Therefore, URC server 100 can easily detect the current running status of robot according to the event message that sends from URC robot 200.

In URC HB mechanism, basically, URC robot 200 is driven and is connected to simultaneously URC server 100.URC robot 200 keeps connection to stop to drive up to them.Therefore, disconnect, importantly detect abnormality rapidly and take correct step for the connection that causes by the unusual network environment when carrying out service.Between URC server 100 and URC robot 200, whether keep normal network to connect in order to continue to monitor, the URC protocol definition HB (heartbeat) agreement between URC server 100 and URC robot 200, manage the abnormality that causes by such network environment thus.Correspondingly, diagram detects URC robot 200 in unusual network environment and the connection between the URC server 100 in Figure 17.

Figure 17 illustrates the method for the connection of inspection between URC robot and URC server.As shown in figure 17, URC server 100 periodically (for example with the N interval of second) send heartbeat request message to URC robot 200.Each URC robot 200 sends the heartbeat response message according to the heartbeat request message that sends from URC server 100 to URC server 100.Therefore, URC server 100 can be checked with the network of URC robot 200 and be connected.

Although sent heartbeat request message, URC server 100 does not receive the heartbeat response message in the section at the fixed time.In this case, URC server 100 determines that network connects unusually.Yet when receiving the heartbeat response message, URC server 100 is determined normal with being connected of URC robot 200 in section at the fixed time.Therefore, when definite network connects when unusual, URC server 100 is attempted to reconnect with URC robot 200, controls URC robot 200 thus constantly.

The method of using aforesaid mechanism and URC protocol message, pass through URC server controls robot on Terminal Server Client is described with reference to Figure 18.

Figure 18 illustrates according to an embodiment of the invention, is received and dispatched the sequence with the message of remote control robot on client.With reference to Figure 18, URC robot 200 begins to be connected to URC server 100, and sends voice command or status information (such as the present image information of its acquisition) to URC server 100.URC robot 200 receives control command from URC server 100, and carries out specified action in the URC agreement.

Terminal Server Client 300 is connected to URC server 100 on remote location, select its URC robot 200 that wishes control, and obtains essential information from URC robot 200, perhaps controls URC robot 200 according to its logic of wishing the service of realization.

Under the situation of Long-distance Control and monitor service, Terminal Server Client 300 sends the request that sends image information and status information to URC robot 200, thereby it can check the image and the state of URC robot 200.And Terminal Server Client 300 can be controlled URC robot 200.For example, Terminal Server Client 300 can move URC robot 200 at remote location by the robot control command, perhaps produces the sound from URC robot 200.

Be described in the operating process of client control or supervision robot with reference to Figure 18 order.With reference to Figure 18, at step S501, long-range URC client 300 sends the URC_CLIENT_LOGIN message so that Long-distance Control URC robot 200 or monitor service to URC robot 200 is provided to URC server 100, and is connected to URC server 100.URC client 300 obtains checking from URC server 100.The proof procedure of client has been described in front, therefore will no longer be described in greater detail.

At step S502, after finishing checking, URC client 300 sends the URC_GET_ROBOT_LIST message to URC server 100, so that request is about the information of the tabulation of the URC robot 200 that is connected to URC server 100.At step S503, URC server 100 sends the URC_ROBOT_LIST message that comprises the robot list information that URC client 300 is asked to URC client 300.

At step S504, URC client 300 is distributed the robot that will control according to the robot list information that sends from URC server 100, and sends URC_ALLOCATE_ROBOT message so that request distributes about robot and the information of corresponding machine people's rights of using to URC server 100.

At step S505 and S506, when URC server 100 is authorized the subscriber authorisation of controlling for robot, URC client 300 sends SUBSCRIBE_EVENT_CHANNEL (VISION to corresponding robot 200, SYSTEM, ROBOT, STATUS) message is so that subscribe each events corresponding channel, is used to control or state and image information that telemonitoring corresponding machine people 200 is required so that it can monitor.URC server 100 is as the interface to the corresponding message corresponding machine people 200 who is distributed by URC client 300, that send from URC client 300.

And, at step S507 and S508, after it had been scheduled to event channel of expectation, URC client 300 sent OPEN_VISION message and OPEN_STATUS_MONITOR message so that to corresponding robot 200 solicited statuss and image information by URC server 100 to corresponding machine people 200.

To S512, according to the request of URC client 300, URC robot 200 sends EVENT_NOTIFICATION (VISION, STATUS) message of the information and the status information that comprise the image that it picks up periodically to URC client 300 at step S509.

At step S513, URC client 300 sends MOVE_ROBOT (FORWARD) message to robot 200 and comes moving of control robot 200 so that use from the image and the status information of robot 200 transmissions.

At step S514 and S515, the corresponding sports that URC robot 200 carries out by 300 requests of URC client.In this case, URC robot 200 sends beginning and the end that EVENT_NOTIFICATION (MOVE_START) and EVENT_NOTIFICATION (MOVE_END) message are moved with notice correctly to URC client 300, so that URC client 300 is inspection machine people 200 motion state easily, thereby realize service synchronization.

Utilize said method, URC client 300 can be utilized from the image and the status information of robot 200 transmissions and come Long-distance Control URC robot 200 in real time.

Thereafter, at step S516, if end of service, promptly when the Long-distance Control that stops on URC client 300 robot 200, then URC client 300 sends the URC_RELEASE_ROBOT message so that discharge distribution to the robot 200 of Long-distance Control to URC server 100.And at step S517, URC client 300 sends URC_CLIENT_LOGOUT message so that be terminated to the connection of URC server 100 to URC server 100.Correspondingly, stop all services.

As mentioned above, in the present invention, special-purpose message format is improved to the agreement of public type of summarization, and therefore, the ISP can carry out the exploitation of service-oriented logic by utilizing protocol layer.Therefore, common interface and architecture are provided, and do not increase new information, thereby can increase more service easily.And, by utilize these summaries can remote location provide can the configuration service logic interface, thereby the supplier can easily add service.

And, synchronous for service execution is provided, the message primitive Request (request) that provides and the format of Response (response) have been provided, and have increased Event (incident) message.More specifically, utilize the relevant event message of service just in all robots, carrying out to send clear and definite replying, so that reduce wrong generation, and configuration service logic more easily.

And, increase URC HB message, and the therefore abnormality of inspection machine people or server, thereby can take the step that causes thus.This makes and can check state between user and robot server in more efficient mode.

Based on network robot follows the agreement that proposes in the present invention, thereby by the multiple function that provides in the URC architecture is provided, can provide service intelligence and that be suitable for environment to the user.

And the URC client can utilize the sensing function of robot and movability that multiple service is provided.This makes can provide service separately by the URC server with the ISP of remote location, so that can create multiple business model in the URC architecture.

As a result, the various services that provide in the URC architecture can be provided in the robot that follows the URC agreement.A plurality of robots of interworking can provide the market that the ISP is produced income in the URC architecture, thereby can help carrying out the intelligent robot service.

The present invention proposes of as above setting forth a kind ofly be used to make in smoothly interworking between robot, server and the subscription client, guarantee effectively thus or even the compatibility between multiple robot and client to promote the data layout of widely used agreement.

And, in order to provide, increase event message to carrying out the synchronous of service.Use the relevant event message of service just in all robots, carrying out to send clear and definite affirmation, so that reduce wrong generation, and configuration service logic more easily.

And, the mechanism that overcomes contingent abnormality between URC robot and URC server is provided.More specifically, increase URC HB message, and thereby the abnormality of inspection machine people or server, thereby can easily take corresponding steps.This makes and can check state between user and robot server in more effective mode.

And based on network robot follows the agreement that proposes in the present invention, thereby by the multiple function that provides in the URC architecture is provided, can provide service intelligence and that be suitable for environment to the user.

Though described the present invention with reference to one exemplary embodiment of the present invention, but those skilled in the art are to be understood that: under situation about not breaking away from by the defined scope of the present invention of following claim, can carry out various modifications in the form and details.

Claims

1, a kind of data layout is used for transmitting data between terminal and server, and described data layout comprises:

Agreement identification marker field is used to allow the interface between described terminal and described server to connect;

The session identification id field is used to be provided with ID to identify described terminal;

The data direction field is used to be arranged on the direction of transmitting data between described terminal and the described server;

Data type field is used for defining typically at least one of format and content of described data;

The service ID field, being used for determining whether using will be by the messenger service of at least one execution of described terminal and described server, and is used to be provided with ID and describedly determines to identify; And

The service load field is used for being arranged on data that described data type field defines and the available service of determining in described service ID field, assignment messages is so that described terminal and described server can use this service.

2, data layout as claimed in claim 1, the message of wherein said service load field is divided into the message that is used for video, is used for the message of audio frequency and the message that is used to move, the described message that is used for video has reference number of a document, size and video data with the message that is used for audio frequency, and the described message that is used to move has the command type of robot motion, robotary control, robotary report, robot error status and camera control according to the control forms that is used for controlled motion.

3, data layout as claimed in claim 2, wherein:

Described document number is formed in proper order by client type, client id and file generation;

Described robot motion is the message that is used for controlled motion, and has the position angle of the X-axis move distance of described terminal and Y-axis move distance, described terminal and be used to control mobile camera angle;

The control of described robotary has the status report of described terminal and reporting period so that confirm the current state of described terminal in real time;

The report of described robotary is the message of the service result of the described terminal of indication, and it has the message that information is finished in motion state, monitored state, abnormality, recognition and verification state, alarm condition, described location information of terminals and action according to the status information such as unmanned alarm set state of robot motion's state, described terminal;

Described robot error status is to indicate the service condition of described terminal to determine whether the message of at least one terminal abnormal; With

Described camera control is the message relevant with video transmission.

4, data layout as claimed in claim 2, wherein said service load field also comprises:

Client-type field;

The client id field;

The user ID field;

The identifying code field; With

Message type field,

Be provided for recognizing voice the ASR data, be used to export voice the TTS data, be used to identify face and detect FR/MD data, the verification msg that is used to verify, exercise data and the VoIP data of motion, wherein ASR is the english abbreviation of automatic speech recognition, the english abbreviation that TTS is Text To Speech, the english abbreviation that FR is face recognition, the english abbreviation that MD is motion detection.

5, data layout as claimed in claim 4, wherein:

Described client-type field is replenished the directivity information of described data direction field, and the kind of the indication terminal corresponding with the directivity information of described data direction field;

The setting of described client id field is corresponding to the ID of at least one terminal and be used to identify the terminal corresponding with the directivity information of described data direction field;

Described user ID field is provided with described server by utilizing, and it discerns the ID of at least one terminal, and described ID has the message corresponding to a plurality of users that register; With

Described identifying code field provides each checking number of described at least one terminal.

6, data layout as claimed in claim 4, wherein said message type field be provided between described terminal and described server connection initialization, response, synchronously, the processing of checking and data transmission and

Wherein the message of transmitting between described terminal and server comprises that the message that is used for first message groups is to connect described terminal to described server; Second message groups is used for verifying between described terminal and described server; The successional message that is used for described first and second message groups; The service load message that will between terminal of being verified and server, transmit; And termination messages.

7, data layout as claimed in claim 6, wherein said first message groups comprises:

Request message;

Confirm response message; With

The affirmation response message of makeing mistakes,

Described second message groups comprises:

Checking message;

Certainly verify message; With

Negate checking message, being used for successional message is synchronization message,

Wherein service load message is data-message, and described terminal message is a conclude report message.

8, data layout as claimed in claim 1, wherein said terminal comprise at least one at least one robot and at least one client terminal.

9, data layout as claimed in claim 1 also comprises protocol version field, is used to indicate the update mode of described data layout.

10, a kind of communication control system, it utilizes private data format based on wired with radio communication, and described system comprises:

Terminal is used for carrying out according to the service load content of described private data format at least a service of video, audio frequency and motion; With

Server is used to discern user command by terminal sending and receive private data format from terminal to terminal according to respective protocol, and control carries out service to utilize described data layout,

Wherein, described private data format comprises: agreement identification marker field is used to allow the interface between described terminal and described server to connect; The session identification id field is used to be provided with ID to identify described terminal; The data direction field is used to be arranged on the direction of transmitting data between described terminal and the described server; Data type field is used for defining at least one of format and content of described data; The service ID field, being used for determining whether using will be by the messenger service of at least one execution of described terminal and described server, and is used to be provided with ID and describedly determines to identify; And the service load field, be used for being arranged on data that described data type field defines and the available service of in described service ID field, determining, and assignment messages is so that described terminal and described server can use this service.

11, communication control system as claimed in claim 10, wherein said terminal comprise at least one at least one robot and at least one client terminal.

12, communication control system as claimed in claim 11, wherein said at least one robot will be processed into data layout to be operated by oneself from user's voice message, provide described data layout to server, and carry out corresponding service message with to the described result of user notification and

Described client terminal becomes described data layout so that control described robot with user's desired service Message Processing, send described data layout to described server, and the service result that receives described robot from described server is with to the described result of described user notification.

13, communication control system as claimed in claim 12; wherein said message is service load message; it comprises: be used to verify message, video identification message, the speech recognition message of number and process and the control messages that is used to move, and provide pilotless safeguard protection and telemonitoring service to the user.

14, a kind of based on wired and radio communication, utilize the method for respective protocol transmission terminal data layout between at least one terminal and server, described method comprises step:

According to proof procedure, utilize the checking of described terminal data format affirmation between described terminal and server;

After checking, utilize described terminal data format branch to be used in to identify each session identification ID of described at least one terminal;

To the corresponding terminal input user's voice order that is assigned with described session id;

Send the service load message of described terminal data format with speech data to described server;

Analyze described service load message so that the described service ID of callback; With

The corresponding terminal of executable operations sends described result as the service load message of described grouping according to described service ID to described server.

15, method as claimed in claim 14 is wherein corresponding to the pilotless safeguard protection of the service execution of described service ID, telemonitoring, speech recognition, video identification and motion control.

16, method as claimed in claim 14, wherein said proof procedure comprises step:

Described terminal attempts to visit described server by request message, the affirmation response message of the order execution type of message corresponding with the inside field of the service load message of described data layout and the affirmation response message of makeing mistakes; With

After connecting, carry out the checking message of type of message, verify message and negate checking message and ask the dispense validation number certainly according to the checking of described terminal by order.

17, method as claimed in claim 16, wherein when described terminal comprised a plurality of terminal, the step of described dispense validation number also comprised step:

Receive the tabulation of described a plurality of terminals; With

Utilize and select message to send the checking request message to the corresponding terminal of expectation.

18, method as claimed in claim 14, wherein said terminal is formed by at least one robot and at least one client terminal at least one.

19, a kind of data layout that is used for terminal, wherein said data layout is received and dispatched so that control described robot between robot, server and client side, and described data layout comprises:

Agreement identification marker field comprises about the information of protocol identifier ID so that allow the interface between described robot, described server and described client to connect;

The session id field comprises unique id information of the session that is used to identify current connection;

The summary id field comprises the information that is used for identifying by the summary of any one execution of described robot, described server and described client;

The MSG type field comprises the information about the type of the message of receiving and dispatching between described robot, described server and described client; And

The service load field comprises the message that is used for according to carry out the service of corresponding function at data that the MSG type field defines and the summary info that comprises in described summary id field.

20, data layout as claimed in claim 19, the summary of wherein said server comprise at least one in following:

The checking summary is used to verify described robot and described client;

The Long-distance Control summary is used to provide the interface that makes that described client can the described robot of Long-distance Control;

Event summary is used for making at least one of described server and described client can control the incident of described robot;

The speech recognition summary is used to discern the voice from the voice command of described robot reception;

The phonetic synthesis summary is used for synthetic speech recognition data and text data;

The image recognition summary is used to discern the image information that sends from described robot; With

The motion detection summary is used to detect the motion of described robot.

21, data layout as claimed in claim 19, the summary of wherein said robot comprise at least one in following:

Be used for the mobile summary that the robot location moves;

The navigation summary;

The speech detection summary of voice command;

The sound summary of output data to the phonetic synthesis that provides from described server is provided;

Be used to control the motion summary of the motion of described robot; With

The expression summary is used to carry out the expression expressive function of robot.

22, data layout as claimed in claim 21, wherein, the summary of described robot also comprises: incident provides summary, when being used for motion state when each parts of motion control message that receives robot from of described server and client side and described robot and being among the conversion, an information that provides about the movement conversion incident in described server and client side.

23, data layout as claimed in claim 22, wherein, described movement conversion incident is divided into IDLE and ACTIVE state with the motion state of each parts of described robot, and when one in the described robotary division START and END incident when another is changed, wherein IDLE and ACTIVE state promptly are meant free time and state of activation, and START and END incident promptly are meant beginning and End Event.

24, data layout as claimed in claim 20, the summary of wherein said server also comprise and are used for sending heartbeat request message periodically so that the heartbeat request summary of detection machine people's network connection state.

25, data layout as claimed in claim 21, the summary of wherein said robot also comprise according to the heartbeat request message that sends from the server cycle and to server transmission heartbeat response message so that the heartbeat of detection machine people's network connection state response summary.

26, a kind of communication control system comprises:

Robot is used for carrying out at least one that video, audio frequency and motion are served according to the service load content of the previous data layout that is provided with;

Server is used to discern the order by the user of robot, according to the data layout of respective protocol transmitting-receiving about robot, and utilizes described data layout to carry out service; With

Client is used at remote location by Long-distance Control and the supervision of server execution to the service of robot.

27, communication control system as claimed in claim 26, wherein, receive the control messages that is used for being controlled at each parts that robot comprises when being in the conversion, the information that provides about movement conversion incident of described robot in described server and client side when one from described server and client side with the motion state that drives corresponding component and described corresponding component.

28, communication control system as claimed in claim 27, wherein, described movement conversion event information is divided into IDLE and ACTIVE state with the motion state of each parts of described robot, and when one in described state information that when another is changed, comprises about START and END incident, wherein IDLE and ACTIVE state promptly are meant free time and state of activation, and START and END incident promptly are meant beginning and End Event.

29, communication control system as claimed in claim 26, wherein said server sends heartbeat request message periodically so that detection machine people's network connection state, and according to whether receiving the network connection state that the heartbeat response message comes the detection machine people from robot.

30, communication control system as claimed in claim 29, wherein said robot sends the heartbeat response message according to the heartbeat request message that sends from the server cycle to server.

31, communication control system as claimed in claim 26, wherein said server is carried out the checking of client so that make that described client can the described robot of Long-distance Control, provide information to client, and when described client is distributed the robot that will control, be provided at the interface between described robot and the described client about the tabulation of the robot that is connected with described server.

32, communication control system as claimed in claim 26, wherein the described data layout that sets in advance between robot, server and client side comprises:

The session id field comprises the unique information of the session that is used to identify current connection;

The summary id field comprises the information that is used for identifying other summaries of carrying out by the summary of any one execution of described robot, described server and described client and by other devices;

33, communication control system as claimed in claim 32, the summary of wherein said server comprise at least one in following:

The checking summary is used to carry out the checking of described robot and described client;

Event summary is used for making the incident that can control described robot of described server and described client;

The motion detection summary is used to detect the motion of described robot.

34, communication control system as claimed in claim 32, the summary of wherein said robot comprise at least one in following:

The motion summary that is used for robot location's motion;

The navigation summary;

The speech detection summary that is used for voice command;

Be used to control the motion summary of the motion of described robot; With

35, a kind of in communication control system, use at least one remote client to bring in and be controlled to the method for lacking a robot, described communication control system has described at least one Terminal Server Client, described at least one robot, and the server that interface is provided between described at least one Terminal Server Client and described at least one robot, described method comprises step:

Described at least one Terminal Server Client is provided to the connection of described server so that carry out the service of Long-distance Control;

Any one of described at least one robot of supervision;

Requests verification and about the list information of at least one robot of being connected to server;

Server is carried out the checking to described at least one Terminal Server Client, sends the list information of at least one robot that is connected with described server to described at least one Terminal Server Client;

The robot list information that described at least one Terminal Server Client utilization sends from described server is selected at least one robot that will control;

Send corresponding information to described server;

Described server is provided with interface so that receive and dispatch the message of described robot Long-distance Control between described at least one Terminal Server Client and the robot by described at least one Terminal Server Client selection; With

Monitor service.

36, method as claimed in claim 35, wherein when between at least one robot of being selected by described at least one client and described at least one Terminal Server Client interface being set, described method also comprises step:

Described at least one Terminal Server Client is subscribed the multiple service channel that is used for by the server controls robot;

Described at least one Terminal Server Client after predetermined channel, by described server to the robot request about the information of the image that picks up by described robot with about the information of the state of robot;

Send control messages according to any function of coming control robot from the image information and the status information of described robot cycle transmission;

Described robot is according to carrying out corresponding function by described server from the control messages that described at least one Terminal Server Client sends;

Send the information of the incident of putting about the start time point of corresponding function and concluding time to described client by described server;

When finishing robot Long-distance Control and monitor service, described at least one Terminal Server Client to described server send be used to ask to stop with the message that is connected of described robot and

Withdraw from and being connected of described robot.

37, method as claimed in claim 36 also comprises step:

Server sends heartbeat request message so that check the network connection state of described robot to robot periodically;

According to the heartbeat request message that sends from described server, described robot sends the heartbeat response message; And

To the information of described server notification about network connection state.