JP2012131025A - System and method for relaying robot plug-in - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system and a method which enables remote execution of function call, symbol reference, and an event and a timer through interaction with a framework engine between robot plug-ins, by defining a protocol relative to the interaction between the two robot plug-ins under a distributed environment so that the robot plug-in framework engine relays the communication between the two robot plug-ins.SOLUTION: In the system and method for relaying robot plug-ins, the protocol relative to the interaction between the two robot plug-ins under the distributed environment is defined, and the robot plug-in framework engine relays the communication between the two robot plug-ins. Remote execution of function call, symbol reference, and the event and timer through the interaction with the framework engine between the robot plug-ins is thereby enabled, and compatibility between the robot plug-ins can be secured.

Description

  The present invention relates to a robot plug-in relay method, and more particularly, to define a protocol for interaction between two robot plug-ins in a distributed environment, and to provide a plug-in framework engine (frame work engine). Is implemented to relay communication between two robot plug-ins, and remote execution of events (events), timers (timers), etc. through function calls between robot plug-ins, symbol references and interaction with the framework engine The present invention relates to a robot plug-in relay system and method for remote execution of a robot plug-in that can be performed.

  Usually, the robot software plug-in means that various functions constituting the robot application are modularized into modules that can be reused and exchanged. Such a robot software plug-in cannot be executed by itself, and requires a plug-in framework engine for driving the plug-in.

  The existing plug-in framework engine for robots is equipped with local plug-ins that exist on the local node where the engine is installed, and constitutes one robot application through the interaction between the installed local plug-ins. did.

  Recently, however, a remote plug-in framework engine has been developed that can overcome the limitations of existing local plug-ins for robots and operate them in a distributed environment. As a result, the robot plug-in has escaped from the limitations of the local node where the engine is installed, and an environment has been prepared in which any node connected via the network can operate.

  Prior art related to such a robot plug-in system is disclosed in Patent Document 1 below.

Korean Published Patent No. 2011-0062480 (Publication Date: 2011.06.10)

  However, the conventional technology stipulates the interaction and functions between remote robot plug-ins through the relay of the robot plug-in framework engine, but the protocol that enables these interactions has not been established. There is a problem in ensuring compatibility in the interaction between plug-ins by using different protocols for each person.

  Therefore, the present invention has been made in view of the above circumstances, and its object is to define a protocol related to the interaction between two robot plug-ins in a distributed environment, and the robot plug-in framework engine has two robots. Remote execution of robot plug-ins that enables remote execution of events, timers, etc. through function calls between robot plug-ins, symbol reference and interaction with framework engine, realized to relay communication between plug-ins The present invention provides a robot plug-in relay system and method.

  The above-described present invention is a robot plug-in relay system that performs various functions constituting an application executed by a robot and performs the functions by communicating with other robot remote plug-ins via a communication network. And a robot plug-in framework engine connected to the robot remote plug-in via a communication network and relaying communication between the robot remote plug-ins.

  Also, the robot plug-in framework engine relays the communication between the robot remote plug-ins and transmits the call request to the other robot remote plug-in when a call to a specific function is requested from the robot remote plug-in. The result value of the function in response to the call request is received from the other robot remote plug-in and transmitted to the robot remote plug-in.

  Further, the communication between the robot remote plug-ins is performed through a text-based protocol.

  In addition, the packet transmitted or received through the protocol includes a header part and a body part.

  Further, the header part includes one or more information of protocol name, version, packet ID, data type or length.

  The body portion includes a tag portion and a data portion.

  Furthermore, the tag unit includes any one of a request, a response, and an error.

  The data portion includes data that is actually transmitted.

  Furthermore, the present invention is a robot plug-in relay method for receiving a remote execution request from one robot remote plug-in by a robot plug-in framework engine connected to a number of robot remote plug-ins via a communication network. Transmitting the execution request from the robot plug-in framework engine to a target robot remote plug-in that makes the execution request; and receiving the execution request from the target robot remote plug-in at the robot plug-in framework engine. Receiving a result value associated with execution; and transmitting the result value from the robot plug-in framework engine to the robot remote plug-in that transmitted the execution request.

  The communication between the robot remote plug-ins is performed through a text-based protocol.

  Furthermore, the packet transmitted / received through the protocol includes a header part and a body part.

  In addition, the header part includes one or more information of a protocol name, a version, a packet ID, a data type, or a length.

  Further, the body part includes a tag part and a data part.

  The tag unit may include any one of a request, a response, and an error.

  Further, the data part includes data to be actually transmitted.

  According to the present invention, in a robot plug-in relay system and method, a protocol for interaction between two robot plug-ins in a distributed environment is defined, and the robot plug-in framework engine communicates between the two robot plug-ins. Realization of relaying ensures compatibility among robot plug-ins by enabling remote execution of events, timers, etc. through function calls between robot plug-ins, symbol reference and interaction with the framework engine There is an effect that can be done.

1 is a configuration diagram of a robot plug-in relay system according to an embodiment of the present invention. It is a format diagram of a protocol packet of a robot plug-in relay system according to an embodiment of the present invention. It is a signal processing flowchart between robot remote plug-ins in the robot plug-in relay system according to the embodiment of the present invention. It is a figure which shows an example of the protocol packet transmitted / received in the process of FIG.

  Advantages and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and can be realized in various forms different from each other. However, the present embodiment makes the disclosure of the present invention complete, and the technology to which the present invention belongs. It is provided to provide full knowledge of the scope of the invention to those skilled in the art and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

  If it is determined that a specific description of a function or configuration known in the description of the embodiments of the present invention may unnecessarily obscure the gist of the present invention, a detailed description thereof will be omitted. The terms to be described later are defined in consideration of the functions in the embodiment of the present invention, and this may vary depending on the user, the intention of the operator, the custom, or the like. Therefore, the definition should be made based on the contents throughout this specification.

  The combination of each block of the attached block diagram and each step of the flowchart can be performed by a computer program instruction (execution engine), and these computer program instructions can be a general-purpose computer, a special computer, or other programmable data processing equipment. The instructions performed through a computer or other processor with programmable data processing equipment generate means for performing the functions described in each block of the block diagram or each step of the flowchart. These computer program instructions can also be stored in a computer-usable or computer-readable memory that can be directed to a computer or other programmable data processing equipment to implement a function in a particular manner. Instructions stored in possible or computer readable memory can also produce manufactured items that include instruction means for performing the functions described in each block of the block diagram or each step of the flowchart.

  The computer program instructions can also be mounted on a computer or other programmable data processing equipment, so that a series of operational steps are performed on the computer or other programmable data processing equipment and executed on the computer. Instructions that generate the processes to be performed and perform computer or other programmable data processing equipment may also provide steps for performing the functions described in each block of the block diagram and each step of the flowchart. .

  Also, each block or stage can represent a module, segment or part of code that contains one or more executable instructions for performing a specified logical function, and in multiple alternative embodiments It should be noted that the functions mentioned in a block or step can occur out of order. For example, two blocks or steps shown in succession may actually be performed substantially simultaneously, and the blocks or steps may be performed in reverse order of the appropriate functions as needed.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 shows a configuration of a robot plug-in relay system according to an embodiment of the present invention.

  Referring to FIG. 1, a robot plug-in framework engine 102 relays the interaction between the first robot remote plug-in 100, the second robot remote plug-in 104, and the robot local plug-in 106. And a function of providing an event and timer service.

  The first robot remote plug-in 100 can be installed at a location different from a computing node on which the robot plug-in framework engine 102 is installed, and the robot plug-in framework engine 102 can be connected via the Internet. It interacts with other second robot remote plug-in 104 in the remote place through the relay.

  The robot local plug-in 106 exists in the same computing node as the robot plug-in framework engine 102 and is installed by the robot plug-in framework engine 102.

  The interaction between the first robot remote plug-in 100 and the second robot remote plug-in 104 is performed through a relay of the robot plug-in framework engine 102. Various functions such as function call, symbol reference, event and timer functions between the first and second robot remote plug-ins 100 and 104 or between the first and second robot remote plug-ins 100 and 104 and the robot plug-in framework engine 102 Interaction for control takes place.

  FIG. 2 is a format diagram of a protocol packet in the robot plug-in relay system according to the embodiment of the present invention. The protocol of the present invention is a text based protocol and is based on text, so that encoding and decoding are easy.

  Referring to FIG. 2, one packet is composed of a header part and a body part. The header part is composed of a total of 24 bytes including a protocol name, version, version ID, packet ID (packet ID), data type (data type), and length (length).

  The protocol name is fixed to “RPP”, and the version is composed of a 3-byte character string such that the current version of the protocol is 2.x. The packet ID is a serial number given to the packet, and each packet generated by one plug-in must have a unique ID.

  The data type indicates the type of data in the data part of the body, has an “S” or “L” value, and indicates character string type data or list type data, respectively. The length indicates the total length of the body part.

  As seen in FIG. 2, the body is composed of a tag portion and a data portion. The tag portion is one of “request”, “reply”, and “error” character strings. “Request” is specified at the time of request, and when there is a response to this request, “reply” or “error” is used. The data part is a part describing the contents of actual requests and responses, and each will be described later. Each item in the body part is separated by a blank character.

[Table 1] below shows the body for the symbol registration (cancellation) message used when the robot plug-in framework engine 102 registers (cancels) a symbol in the first and second robot remote plug-ins 100 and 104. The structure of a part is shown. [Request] is designated as the tag, and the instruction code changes depending on whether the symbol is registered or canceled, and refers to the instruction code table in [Table 2]. In the symbol name field, specify the name of the symbol to be processed.

[Table 3] below shows the body corresponding to the object registration (cancellation) message used when the robot plug-in framework engine 102 registers (cancels) an object (object) in the first and second robot remote plug-ins 100 and 104. The structure of a part is shown. [Request] is specified as the tag, and the instruction code changes depending on whether the object is registered or released, and the instruction code table in [Table 2] is referred to. In the object name field, specify the name of the object to be processed.

[Table 4] below shows the structure of the body part for the function registration (cancellation) message used when the robot plug-in framework engine 102 registers (cancels) the function in the first and second robot remote plug-ins 100 and 104. Indicates. [Request] is specified as the tag, and the instruction code changes depending on whether the function is registered or canceled, and the instruction code table in [Table 2] is referred to. In the function name field, specify the name of the function to be processed.

  [Table 5] below describes a data part for a symbol value reference instruction used when referring to the specific symbol values of the first and second robot remote plug-ins 100 and 104. Since this command refers to the value of a specific symbol, the success or failure of this request must be answered.

Upon receiving this request, the robot plug-in framework engine 102 transmits, for example, the first robot remote plug-in 100 that has requested success or failure of the request processing. When requesting a symbol value reference instruction, it has an instruction code item and a symbol name item. The instruction code has a code corresponding to the symbol value reference instruction, and the symbol name value specifies the name of the symbol to be set. When the symbol value reference instruction is successful, the symbol value is transmitted together with the “reply” tag, and when the symbol value is failed, an error message is transmitted together with “error”

  [Table 6] below describes a data part for a symbol value change command used when a specific symbol value of the first and second robot remote plug-ins 100 and 104 is to be changed. Since the symbol change command changes the value of a specific symbol, it must respond to the success or failure of this request.

Upon receiving this request, the robot plug-in framework engine 102 transmits the request to the first robot remote plug-in 100 or the second robot remote plug-in 104 that has requested success or failure of the request processing. When a symbol value change request is made, it has a tag, an instruction code, a symbol name portion, and a symbol value portion. The instruction code has an instruction code value corresponding to the change of the symbol value, and the symbol name value specifies the name of the symbol to be set. The symbol value has a value type value, and this type can include an integer type, a real number type, a character string, an image, a sound, and a list type data.

  [Table 7] below shows a message format for an instruction used when trying to call a specific function of the first and second robot remote plug-ins 100 and 104.

When a function call is requested, the tag has “[request]”, and the instruction code corresponding to the function call is designated as the instruction code. The function name item specifies the name of the function to be called, and the parameter item specifies a parameter transmitted to the function call. At this time, the parameter is a list type and is a list of value type data. If the function call is successful, the robot plug-in framework engine 102 returns a return value together with the “[reply]” tag, and transmits an error message along with the “[error]” tag when the function call fails.

[Table 8] below shows messages used when registering an event in the robot plug-in framework engine 102. The tag item is designated as “[request]”, and the instruction code refers to the instruction code table in [Table 2]. In the event name field, specify the name of the target event to register the notification request.

  [Table 9] below shows events generated in the robot plug-in framework engine 102 or the first and second robot remote plug-ins 100 and 104, and the robot plug-in framework engine 102 or the first and second robot remote plug-ins. The message used when transmitting to 100,104 is shown.

The tag item is designated as “[request]”, and the instruction code refers to the instruction code table in [Table 2]. In the event name field, specify the name of the event that occurred.

  [Table 10] below generates an event for the first and second robot remote plug-ins 100 and 104 to perform a specific function at a constant cycle or to the robot plug-in framework engine 102 at a specific cycle. This is a message format for the command used when requesting the user.

The tag item is designated as “[request]”, and the instruction code refers to the instruction code table in [Table 2]. In the event name field, specify the name of the event that occurred. The cycle item specifies the cycle in which an event is generated, and the object name specifies the name of the object that sends this message.

  FIG. 3 is a diagram illustrating a signal processing flow for remote execution, for example, function call, between the first and second robot remote plug-ins 100 and 104 in the robot plug-in relay system according to the embodiment of the present invention. Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 and 3.

  First, an object A in the first robot remote plug-in 100 requests the robot plug-in framework engine 102 to call a specific function possessed by an object B in the second robot remote plug-in 104 (framework). Request remote execution from engine) (step S300).

  As a result, the robot plug-in framework engine 102 transmits a function call request from the first robot remote plug-in 100 to the second robot remote plug-in 104 having the corresponding function (a plug that executes the corresponding request). (A request for remote execution is transmitted to IN) (step S302).

  Then, the second robot remote plug-in 104 calls the function received from the first robot remote plug-in 100. At this time, for example, it is assumed that the sum function of the object B in the second robot remote plug-in 104 is called, and the sum function receives two integers, adds them, and returns the result. Assume a function.

  Next, the second robot remote plug-in 104 calls the corresponding sum function (step S304), calculates the function value (step S306), and then uses such a function value as a result value for the function call to the robot plug-in framework engine. (The execution result is transmitted to the framework engine) (step S308).

  As a result, the robot plug-in framework engine 102 transmits the result value received from the second robot remote plug-in 104 to the first robot remote plug-in 100 (transmits the execution result to the plug-in that transmitted the execution request. (Step S310).

  FIG. 4 is a diagram illustrating an example of a protocol packet transmitted / received in the process of FIG.

  Referring to FIG. 4, “1” in FIG. 4 indicates a structure of a function call request packet transmitted from the first robot remote plug-in to the robot plug-in framework engine, and “2” indicates a robot plug-in. FIG. 6 shows a structure of a function call request packet transmitted from the framework engine to the second robot remote plug-in. FIG.

  “3” in FIG. 4 indicates a packet structure of a result value transmitted from the second robot remote plug-in to the robot plug-in framework engine, and “4” indicates the first robot remote plug from the robot plug-in framework engine. 2 shows a packet structure of a result value transmitted to IN.

  As described above, in the robot plug-in relay system and method according to the present invention, a protocol related to the interaction between two robot plug-ins in a distributed environment is defined, and the robot plug-in framework engine communicates between the two robot plug-ins. By interfacing with robot plug-ins, it is possible to remotely execute functions, timers, etc. through function calls between robot plug-ins, symbol references, and interaction with the framework engine. It can be secured.

  On the other hand, although specific embodiments have been described in the above description of the present invention, various modifications can be made without departing from the scope of the present invention. Accordingly, the scope of the invention should be determined not by the embodiments described but by the claims.

100 first robot remote plug-in 102 robot plug-in framework engine 104 second robot remote plug-in 106 robot local plug-in

Claims (15)

A robot plug-in relay system,
A robot remote plug-in that performs various functions constituting an application executed by the robot, communicates with other robot remote plug-ins via a communication network, and transmits / receives data for performing the functions;
A robot plug-in relay system, comprising: a robot plug-in framework engine that is connected to the robot remote plug-in via a communication network and relays mutual communication between the robot remote plug-ins. The robot plug-in framework engine is
The communication request between the robot remote plug-in is relayed to transmit the call request to the other robot remote plug-in when a call to a specific function is requested from the robot remote plug-in. The robot plug-in relay system according to claim 1, wherein the result value of the function in response to a call request is transmitted and transmitted to the robot remote plug-in.   The robot plug-in relay system according to claim 1, wherein the communication between the robot remote plug-ins is performed through a text-based protocol.   The robot plug-in relay system according to claim 3, wherein the packet transmitted or received through the protocol includes a header part and a body part. The header part is
The robot plug-in relay system according to claim 4, comprising one or more information of protocol name, version, packet ID, data type, or length.   The robot plug-in relay system according to claim 4, wherein the body part includes a tag part and a data part.   The robot plug-in relay system according to claim 6, wherein the tag unit includes any one of a request, a response, and an error.   The robot plug-in relay system according to claim 6, wherein the data part includes data that is actually transmitted. Robot plug-in relay method,
Receiving a remote execution request from one robot remote plug-in at a robot plug-in framework engine connected to a number of robot remote plug-ins via a communication network;
Transmitting the execution request from the robot plug-in framework engine to a target robot remote plug-in that makes the execution request;
Receiving a result value associated with execution of the execution request from the target robot remote plug-in at the robot plug-in framework engine;
Transmitting the result value from the robot plug-in framework engine to the robot remote plug-in that transmitted the execution request.   The robot plug-in relay method according to claim 9, wherein the communication between the robot remote plug-ins is performed through a text-based protocol.   The robot plug-in relay method according to claim 10, wherein the packet transmitted / received through the protocol includes a header part and a body part. The header part is
The robot plug-in relay method according to claim 11, comprising one or more information of a protocol name, a version, a packet ID, a data type, or a length.   The robot plug-in relay method according to claim 11, wherein the body part includes a tag part and a data part.   The robot plug-in relay method according to claim 13, wherein the tag unit includes any one of a request, a response, and an error.   The robot plug-in relay method according to claim 13, wherein the data part includes data to be actually transmitted.

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