KR100836739B1 - Apparatus and method for mapping logical-physical connection of robot device - Google Patents

Abstract

The present invention relates to an apparatus and method for mapping a robot device logical-physical connection, comprising: a robot device connection technology store storing information on a robot device connection description, an analysis unit for interpreting a command for a robot; And a mapping unit for mapping the interpreted command and information on the robot device connection technology to generate a control command corresponding to the robot hardware configuration. According to the present invention, the main board and the control board developers can simultaneously develop through the development of a method called a robot device connection technology in an embedded robot system, and a logical robot connection technology, a physical robot connection technology, a logical-physical connection technology, and a robot connection Technical interpretation rules ensure that even if a change in the physical connection of the robotic system occurs, the application remains unchanged.

Embedded robot, control board

Description

APPARATUS AND METHOD FOR MAPPING LOGICAL-PHYSICAL CONNECTION OF ROBOT DEVICE

The present invention relates to a robot device logical-physical connection mapping device and method for generating a control command by mapping a command input to the robot to correspond to the robot hardware configuration.

When there are many main boards for developing applications used in robots, and many control boards to which actuators and sensors (hereafter, devices or devices) are connected, the control board provides values read from the sensors to the main board. do. The main board develops a higher level application program and sends control commands from the sensors and actuators to the control board. In the robot system development environment that controls these sensors and actuators, the main board and control board developers develop simultaneously through the development of a method called robot device connection technology, and even when the connection location of the device connected to the control board changes, In board applications, you need a way to make very little change.

However, since the method of the present invention is not provided in the related art, there is a problem in that a program that is dependent on the physical hardware configuration of the robot is created and the application program is changed when a change in the physical connection of the robot occurs.

Accordingly, the present invention is to solve the above problems, an object of the present invention is to develop a robot device connection technology in the embedded robot system through the development of the main board and the control board developers can proceed with the development of the robot logical logical It is to provide an apparatus and method for mapping physical connections.

Another object of the present invention, through the logical robot connection technology, physical robot connection technology, logical-physical connection technology and robot connection technology interpretation rules, robot device logical to ensure that there is no change in the application even if the physical connection of the system changes It is to provide an apparatus and method for mapping physical connections.

In order to achieve the above object, the present invention provides a robot device connection technology storage that stores information about the robot device connection technology; An analysis unit for interpreting a command to the robot; And a mapping unit which maps the interpreted command and information on the robot device connection technology to generate a control command corresponding to the robot hardware configuration.

In addition, it is preferable that the analysis unit and the mapping unit can be separated independently from each other.

According to another embodiment of the present invention, (a) relates to a logical-physical connection technology that provides mapping information between a robot's logical robot connection technology and a robot's physical robot connection technology to a robot device connection description repository. Information about the robot device connection technology, including information about the robot device connection analysis rule written to generate a robot control command using the logical robot connection technology, the physical robot connection technology, and the logical-physical connection technology information. Becoming; (b) updating information on the robot device connection technology when the connection of the robot device is changed; (c) interpreting a command for the robot to be input; And (d) mapping the interpreted command and the information about the logical-physical connection technology and the information about the robot device connection analysis rule based on the updated information about the robot device connection technology to the robot hardware configuration. Generating a corresponding control command, the method comprising: mapping a robotic device logical-physical connection.

The effects of the mapping device and method of the robot device logical-physical connection according to the present invention described above are as follows.

First, the main board and control board developers can develop at the same time through the development of a method called robot device connection technology in the embedded robot system.

Second, through logical robot connection technology, physical robot connection technology, logical-physical connection technology, and robot connection technology interpretation rules, even if the physical connection of the robot system changes, the application recognizes that there is no change and operates.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention that can specifically realize the above object will be described.

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

In this embodiment, the robot has a plurality of boards therein. Specifically, the board includes a main board 100 having a system performance enough to perform a complex high-level application program, and control boards that can handle simple tasks such as control of actuators or input of sensor values. 200, 300). The main board or control board has processing devices 110, 210, 310, memory 120, 220, 320, interface modules 130, 230, 330, etc. like other general systems, and other systems and devices through the interface module. Connect with the Here, the main board is connected to the control board through the interface module, the control board communicates with the main board through the interface module or the sensor 410 and the actuators (420, 430, 440, the motor is a kind of actuator). do.

2 is a view schematically showing an embodiment of a robot according to the present invention. (A) and (b) of FIG. 2 are the same robots that seem to be configured differently in terms of hardware between the internal board and the devices. Here, the robot consists of two eyes, two eyelids, two ears, a nose and a torso (neck and lower part) in appearance. In this configuration, the robot has a sensor 410 attached to the body, two eyelids are controlled by one motor 440, both ears are controlled through two motors (420, 430).

In FIG. 2A, the sensor 1 410 and the motor 1 420 are connected to the control board 1 200, and the motor 2 430 and the motor 3 440 are connected to the control board 2 300. It is connected. In addition, motor 1 controls the right ear, motor 2 controls the left ear, and motor 3 controls both eyelids at the same time. Consider a case in which the system configured as shown in FIG. 2A has to be changed to the configuration shown in FIG. 2B due to cable connection between the board and the device or other hardware problems.

If the command to be processed in the application 121 is 'move the left ear', if the program is dependent on the robot hardware configuration as in the conventional method, initially for the configuration a of FIG. Move motor 2 connected to 1 ', which would have been programmed to depend on the robot hardware. If the configuration is changed as shown in b of FIG. 2, the program should be changed to 'move the motor 1 connected to the control board 1.' That is, the program needs to be modified.

However, the present invention does not change the program even in the above case, the detailed method is as described below.

3 is a view schematically showing the physical and logical connection state of the robot shown in FIG. In the present invention, the concept of a robot device connection technology (ROBOT DEVICE CONNECTION DESCRIPTION) is used as shown in FIG. Robot device connection technology 500 is comprised of logical robot connection technology 510, physical robot connection technology 520, 530, and logical-physical connection technology 540, 545. Logical robot connection technology is a technical method that indicates how robots are logically connected. Referring to FIG. 3 as an example, the robot includes an eyebrow, a temperature sensor, and an ear, and the eyebrow consists of a left eyebrow and a right eyebrow, and an ear consists of a left ear and a right ear. For the convenience of explanation, the parts which are not actually controlled such as eyes and neck are excluded.

Physical robot connection technology represents how robots are constructed and connected to each other in hardware. Referring to FIG. 2 as an example of FIG. 2, the robot is controlled from the main board, and the control board 1 and the control board 2 are connected to the main board, and the sensor 1 and the motor 1 are connected to the control board 1, and the control is performed. Board 2 has motor 2 and motor 3 connected to it.

Logical-physical connection technology represents how logical robot connection technology and physical robot connection technology are mapped to each other. Taking 540 of FIG. 3 as an example, motor 1 is mapped to the right ear and motor 2 is mapped to the left ear. Logical-physical connection technologies are logically identical, but if they change physically, the changes are recorded in the logical-physical connection technology, and the change is tracked through the mapping of the logical-physical connection technology in spite of actual hardware configuration changes. By doing so, it can be interpreted as if there is no change.

As mentioned above, the mapping of the logical, physical and logical-physical configurations of the robot can be described. 3 is only one embodiment of a logical robot connection technology, a physical robot connection technology, a logical-physical connection technology of the present invention, and only some of them are shown for convenience of description. In addition, although the type of connection corresponding to the arrow in the figure has been simply described, it can be represented in various forms.

Even if the hardware connection is changed from the configuration (a) to the configuration (b) of FIG. 2 by the above-described method, there is no change in the logical robot connection technology (510 of FIG. 3). However, there is a change in hardware. For example, 520 of FIG. 3 shows (a) of FIG. 3 and 530 of FIG. 3 shows (b) of FIG. In this case, by providing a logical-physical connection technology method such as 540 and 545 (providing a method for tracking the change of the logical-physical connection), the application may not be changed. In other words, if there is a change in the hardware configuration, it is only necessary to execute the application again after modifying the physical robot connection configuration and the logical-physical connection configuration.

4 and 5 are views illustrating one embodiment of a connection representation of the robot shown in FIG. That is, FIG. 4 is a representation of the connection of FIG. 3 (a) by logical expression method (logical robot connection technology: 511, physical robot connection technology: 541, logical-physical connection technology: 521), and FIG. (b) The connection is represented by logical representation (logical robot connection technology: 512, physical robot connection technology: 542, logical-physical connection technology: 531). For example, as follows.

As a logical connection technology, isa (left ear, logicalEndEntity) means the left ear is logicalEndEntity. And, as a physical connection technology, isa (motor 3, physicalEndEntity) means that motor 3 is physicalEndEntity. Here, connectedTo (motor 3, control board 1) means that motor 3 is connected to control board 1. Also, as a logical-physical connection technique, correspondingTo (left eyebrow, motor 3) means that the left eyebrow corresponds to motor 3.

When such information is provided as described above, even if the hardware configuration of the robot is changed, an application program does not modify the program as follows.

First, when there is a change in hardware connection, the physical robot connection technology and the logical-physical connection technology among the robot device connection technology are modified and stored in the robot device connection technology storage 124. In the present invention, a robot device connection analysis rule as shown in FIG. 6 is created without programming a command to process this when a command is input, depending on the robot hardware. 6 is a view showing an embodiment of a device connection rule of the command processing method of the robot according to the present invention. 6 illustrates an embodiment in which the device connection rule is in the form of a logical rule, but this is not limited to the form of a logical rule. It may be written in a script and may include only the meanings shown in FIG. 6 by any other method.

In the present invention, when a command such as a sensor value reading, a motor value control, or the like is input, the robot device connection technique illustrated in FIGS. 4 and 5 and the robot device connection analysis rule illustrated in FIG. 6 are performed through various methods to derive the results. Do what you have done. This process is illustrated in FIG. 7 an embodiment. That is, when a command comes in, the analysis unit 121 interprets the command and transmits the command to the mapping unit 122, and the mapping unit uses the information stored in the robot device connection technology store 124 to control corresponding to the robot hardware configuration. When a command is generated and outputted, robot control corresponding to the control command is performed.

An example is described as follows. In the case of the robot device connection technology of FIG. 4 and the robot device connection analysis rule of FIG. 6, when the command (move, left ear), which means 'move the left ear', is entered, the analysis unit executes this command. It takes as input and passes it to the mapping unit. The mapping unit may know that the left ear corresponds to the motor 2 of the control board 1 through the information of the physical robot connection technology, the logical robot connection technology, and the logical physical connection technology as shown in FIGS. 4 and 5 in the robot device connection technology store. Call_func (move (control board 1, motor 2)) is derived through device connection analysis rule, and the function is executed.

When the hardware connection configuration is changed, for example, when there is a robot device connection technology of FIG. 5 and a robot device connection analysis rule of FIG. 6, call_func (move (control board 1, motor 1)) is mapped to the same input. Derived as a negative result, the function is executed. Therefore, the application program does not execute the robot hardware-dependent program for various hardware configuration situations. Instead, the application program only needs to execute the resulting function by writing the above analysis rule. Therefore, even if the hardware connection configuration changes, the application program may not be changed.

8 is a flowchart illustrating a mapping method of a robot device logical-physical connection according to the present invention.

As shown in FIG. 8, the mapping method of the robot device logical-physical connection of the present invention is largely based on a process of initially creating, storing, and performing necessary information according to the robot configuration at that time, and changing the configuration of the robot. If it is a procedure to carry out.

First, logical robot connection technology (511 in FIG. 5), physical robot connection technology (541 in FIG. 5), logical-physical connection technology (521 in FIG. 5) and robot connection technology interpretation rules (FIG. 7) that are suitable for the configuration of the robot. Write (S1). Subsequently, the created information is stored in the robot device connection technology storage 124 of FIG. 7 (S2).

On the other hand, if there is a change in the configuration of the robot in such a situation (S3), a logical robot connection technology (512 in Fig. 6), physical robot connection technology (542 in Fig. 6) that needs to be modified in response to changes in the robot configuration. , Logical-physical connection technology (531 in FIG. 6) and robot connection technology interpretation rule information is modified. Subsequently, the modified information is stored and updated in the robot device connection technology storage 124 of FIG. 7 (S4).

In this state, the command wait state for the robot is maintained (S5), and when a command for the robot is input (for example, “command (move, left ear)”), the interpreter determines that the command is the correct command format. It is determined whether or not (S6), and if the correct command format is passed to the mapping unit (S7). If it is not in the correct command format, the process returns to step S5.

Subsequently, the mapping unit inputs four pieces of information prepared in the preparation step, and generates a control command such as call_func (move (control board 1, motor 2)), which is an example of the present invention (S8). The control command generated thereby is performed to control the robot drive (S9). At this time, when the update of the robot device connection technology store 124 is made, the mapping unit receives the updated four pieces of information and generates a control command such as call_func (move (control board 1, motor 1)) (S8). .

9 is a flowchart illustrating a process of outputting information mapped to the robot device connection technology store of FIG. 8.

There may be various methods for outputting information mapped to the robot device connection technology repository. However, the present embodiment describes a method for outputting information using an inference engine.

For example, if a control command such as command (move, left ear) is generated,

The command (command (move, left ear)) transmitted from the analysis unit is loaded into the inference engine (S81).

Along with this, four pieces of information stored in the robot device connection technology store (assuming that the information of FIGS. 5 and 7 are loaded) are loaded into the inference engine (S82).

Subsequently, the inference function of the inference engine operates (if the if condition of FIG. 7 is satisfied, the then part is derived as a new fact).

The following new facts are derived from the first rule if ... then of FIG.

has (robot, left ear)

(If the robot has ears, the ears have left ears, the ears are logicalEntity, and the left ears are logicalEndEntity, the robot has left ears.)

The second rule (if ... then) of Figure 7 leads to the following new facts. (Note: the explanations next to // below show how the input command and the facts derived from c-1 apply to the second rule.)

if command (move, $ lee) // the command is command (move, left ear),

and isa ($ lee, logicalEndEntity) // left ear is logicalEndEntity,

                                // this is described in Figure 5

and has (robot, $ lee) // robot has left ear,

and correspondsTo ($ lee, $ pee) // left ear corresponds to motor1,

                              // described in line 3 of Figure 5,521

and isa ($ pee, physicalEndEntity) // motor 1 is physicalEndEntity,

                                // described in line 2 of 541 of FIG.

and connectedTo ($ pee, $ pe) // Motor 1 is connected to Control Board 1,

                           // described in line 3 below 541 of FIG.

and isa ($ pe, physicalEntity) // if control board 1 is a physicalEntity

                            // described in line 5 of 541 of FIG.

then call_func (move ($ pe, $ lee)) // call_func (move (control board 1, motor 2))

In this way, the fact that call_func (move (control board 1, motor 2)) is derived (S83 to S84).

This generates a control command for moving the motor 2 connected to the control board 1 (S85).

According to the present invention, the application program developer and the control program developer can proceed with the development if only the standardized message transmission protocol is defined between the two. At this time, the only problem is the connection configuration of the hardware, which is not a problem by the method described above, according to the present invention can be developed by the application program developer and the control program developer at the same time increases the efficiency, Changes have the advantage that the application does not change, reducing development costs.

The present invention is not limited to the above-described embodiments, and such modifications are included in the scope of the present invention even if modifications are possible by those skilled in the art to which the present invention pertains.

1 is a block diagram showing the configuration of an embodiment of a robot according to the present invention,

2 is a view schematically showing an embodiment of a robot according to the present invention,

3 is a view schematically showing the physical and logical connection state of the robot shown in FIG.

4 and 5 are views showing one embodiment of the connection representation of the robot shown in FIG.

6 is a view showing an embodiment of a device connection rule of the command processing method of the robot according to the present invention,

7 is a view showing an embodiment of a system configuration form according to the present invention,

8 is a flowchart illustrating a mapping method of a robot device logical-physical connection according to the present invention;

9 is a flowchart illustrating a process of outputting information mapped to the robot device connection technology store of FIG. 8.

<Explanation of symbols for the main parts of the drawings>

100: main board 200, 300: control board

110: processing unit 120: memory

130: interface module 410: sensor

420: Actuator

Claims (8)

A robot device connection description store that stores information about a robot device connection description; An analysis unit for interpreting a command to the robot; And And a mapping unit for mapping the interpreted command and information on the robot device connection technology to generate a control command corresponding to a robot hardware configuration. The method of claim 1, wherein the robotic device connection technology store, Information about a logical robot connection technology, which describes the logical configuration and connection status of the robot; Information about a physical robot connection technology describing the physical configuration and connection status of the robot; Information about a logical-physical connection technology providing mapping information between the logical robot connection technology and the physical robot connection technology; And Mapping of the robot device logical-physical connection comprising information on a robot device connection interpretation rule written to generate a robot control command using the logical robot connection technology, physical robot connection technology, and logical-physical connection technology information. Device. The apparatus of claim 1, wherein the robot device connection technology store, the analysis unit, and the mapping unit are mounted on a main board capable of executing an application program. The apparatus of claim 3, wherein the main board is connected to a plurality of control boards connected to a peripheral device including an actuator or a sensor to perform input / output signal processing. (a) information about a logical-physical connection technology providing mapping information between a robot's logical robot connection technology and a robot's physical robot connection technology, and the logical robot connection technology and physical Storing information about the robot device connection technology including information about a robot device connection analysis rule written to generate a robot control command using the robot connection technology and the logical-physical connection technology information; (b) updating information on the robot device connection technology when the connection of the robot device is changed; (c) interpreting a command for the robot to be input; And (d) based on the updated information on the robot device connection technology, mapping the interpreted command and the information on the logical-physical connection technology and the robot device connection analysis rule to map the robot hardware configuration. Generating a corresponding control command. The method of claim 5, wherein step (d) (d-1) loading the command in the mapping unit; (d-2) loading information on the robot device connection technology into the mapping unit; (d-3) analyzing a logical robot connection technology according to a robot device connection analysis rule of information on the robot device connection technology; (d-4) deriving a physical robot connection technology using the logical-physical connection technology information; And (d-5) generating a control command corresponding to the physical robot connection technology. The robotic device connection technology store of claim 5, wherein: Information about a logical robot connection technology, which describes the logical configuration and connection status of the robot; And Information about the physical robot connection technology, which describes the physical configuration and connection status of the robot The robot device logical-physical connection mapping method further comprises. The robotic device according to claim 5, wherein, according to the control command, a signal collected from a sensor connected to the robot is obtained, or a driving signal for controlling an actuator connected to the robot is transmitted. How physical connections are mapped.

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