KR100959498B1 - Method for operating robot had with service access controller for interfacing service clients based on network services - Google Patents

Abstract

The present invention relates to a method of driving a robot having a service control module for interworking with a network-based service module. More specifically, each service module for processing a network-based service in a robot independently supports its function. A method of driving a robot equipped with a service control module for interworking with a network-based service module for providing a corresponding network service by interworking with the service module and the robot main program by installing a service control module in the robot so as to be performed. To provide.

To this end, the present invention provides a robot driving method comprising: executing a service client for a corresponding dynamic robot service using a robot main program when the service control module is requested to start a specific dynamic robot service from a robot control server; The service control module transmitting information of the service client to the robot control server as the service client is connected with the service control module as a result of the execution; Requesting a corresponding control right from the service control module when the service client receives a control command for the dynamic robot service from the robot control server; In response to the service client receiving a control right to use the robot main program from the service control module, issuing a corresponding robot control command using the robot main program through the service control module; Canceling the connection with the service control module when the service client is requested to stop the dynamic robot service from the robot control server; Terminating execution of the service client by the service control module when the connection with the service client is terminated; And transmitting, by the service control module, the dynamic robot service performance history to the robot control server.

Robot, network based service, service module, service control module, robot main program, interworking

Description

Method for operating robot had with service access controller for interfacing service clients based on network services}

The present invention relates to a method of driving a robot having a service control module for interworking with a network-based service module. More specifically, each service module for processing a network-based service in a robot independently supports its function. A method of driving a robot having a service control module for interworking with a network-based service module for providing a corresponding network service by interworking with the service module and the robot main program by mounting a service control module in the robot so as to be performed. It is about.

Recently, with the development of intelligent robots (also known as "URC (Ubiquitous Robotic Companion robots)"), the Internet-connected robots provide users with various contents and services [hereinafter, such services are called "network-based services". Collective name]. Examples of such network-based services include robot control services, content services, and robot emotion services.

In the prior art, a corresponding service module must be mounted in each robot in order to process the network-based service as described above. In particular, such a service module performs a processing function related to the network-based service under the control of the robot main program in the robot. do.

On the other hand, the OSGi framework is used to bundle the processes related to each network-based service on the OSGi framework for efficient management and resource management of network-based services in the robot.

However, in the prior art as described above, although the OSGi framework that manages each network-based service must run smoothly in the robot, the network-based service can be processed. However, in order to implement such an OSGi framework, a high specification H / W specification is required. Therefore, it can be confirmed that there is an unreasonable use of such a technique in a robot having a normal low specification.

In addition, in the above conventional technology, the robot main program mounted by the robot manufacturer or the like is driven in the robot as a default S / W. However, such a robot main program is composed of different heterogeneous specifications for each robot, and an application corresponding to each network-based service must be determined and developed in the robot main program.

In other words, a service provider or a robot manufacturer introduces a network-based service (e.g., a communication protocol between a server and a robot and a robot inside) when a new network-based service is released and applied to a robot or an existing network-based service is updated. It is necessary to completely modify the processing process, etc., which is driven in the main program of the robot, which increases the constraints of the robot-related software and decreases the recyclability considerably.

In addition, in the prior art as described above, the service provider or the robot manufacturer, etc., all rely on the robot main program rather than the quality of the network-based services (e.g., content upgrade, new service launch, etc.), which are substantially important. It is a waste of considerable time and effort to link service modules.

In addition, in performing a network-based service in a robot, a corresponding service module in the robot frequently makes a call for using a specific hardware, resource, etc. of the robot. In the conventional technology as described above, the service module is a current state of the robot, that is, hardware Since the function call is made without knowing whether it is running or resource usage, the network-based service may not be provided smoothly due to hardware conflict or lack of resources when the function is already performed by other applications in the robot. have.

Therefore, there is a need for efficient control of the control right requested by the service module that handles various network-based services in limited robot hardware and resource usage, and a means for notifying the outside of the robot's current status to the outside. It is required.

Accordingly, the present invention has been proposed to solve the above problems and to meet the above requirements, so that each service module processing a network-based service in the robot can perform its function independently of the robot main program. The purpose of the present invention is to provide a driving method of a robot having a service control module for interworking with a network-based service module for providing a corresponding network service by interworking with the service module and the robot main program by installing a service control module in the robot. There is this.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

In the first method of the present invention for achieving the above object, in the robot driving method, the service control module is requested to start a specific dynamic robot service from the robot control server to the corresponding dynamic robot service using a robot main program. Executing a service client relating to the service; The service control module transmitting information of the service client to the robot control server as the service client is connected with the service control module as a result of the execution; Requesting a corresponding control right from the service control module when the service client receives a control command for the dynamic robot service from the robot control server; In response to the service client receiving a control right to use the robot main program from the service control module, issuing a corresponding robot control command using the robot main program through the service control module; Canceling the connection with the service control module when the service client is requested to stop the dynamic robot service from the robot control server; Terminating execution of the service client by the service control module when the connection with the service client is terminated; And transmitting, by the service control module, the dynamic robot service performance history to the robot control server.

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On the other hand, the second method of the present invention, in the robot driving method, the service control module to execute the UCC client using the robot main program in response to receiving the URL about the UCC service from the UCC providing server; Transmitting, by the service control module, the URL to the UCC client and transmitting information of the UCC client to the UCC providing server as the UCC client is connected to the service control module as a result of the execution; Requesting, by the UCC client, the control right from the UCC providing server by receiving the corresponding UCC from the UCC providing server; And a UCC execution command step of issuing a corresponding UCC execution command using the robot main program through the service control module when the UCC client receives the control right to use the robot main program from the service control module.

In addition, the second method of the present invention, the UCC client terminates the connection with the service control module in response to the request to stop the UCC service from the UCC providing server; Terminating execution of the UCC client by the service control module when the connection with the UCC client is terminated; And transmitting, by the service control module, the UCC service execution history to the UCC providing server.

On the other hand, the third method of the present invention, the robot driving method, the service control module receiving the content URL from the content providing server to execute the content player using the robot main program; As the result of the execution, when the content player is connected to the service control module, the service control module delivers the content URL to the content player and transmits the information of the content player to the content providing server; Requesting a corresponding control right from the content control server as the content player accesses the content URL and receives the corresponding content from the content providing server; And playing the contents using the robot main program through the service control module as the content player receives the control right to use the robot main program from the service control module.

On the other hand, the fourth method of the present invention, in the robot driving method, the service control module to execute the UCC client using the robot main program in response to the request to start the UI interlocking UCC service from the robot UI; As a result of the execution, connecting the UCC client to the service control module and requesting a UCC list by accessing a UCC providing server; Accessing, by the UCC client, a URL related to a corresponding UCC according to a selection of a specific UCC from the robot UI among a list of UCCs received from the UCC providing server; Requesting, by the UCC client, a corresponding control right from the UCC providing server through the URL of the accessed UCC from the UCC providing server; And a UCC execution command step of issuing a corresponding UCC execution command using the robot main program through the service control module when the UCC client receives the control right to use the robot main program from the service control module.

In addition, the fourth method of the present invention, the UCC client is terminated the connection with the service control module in response to the request to stop the UI interlocking UCC service from the robot UI via the service control module; Terminating execution of the UCC client by the service control module when the connection with the UCC client is terminated; And transmitting, by the service control module, the UI interworking UCC service execution history to the UCC providing server.

On the other hand, the fifth method of the present invention, the robot driving method, the service control module to execute the content player using the robot main program in response to the request to start the UI linked content service from the robot UI; Requesting a content list from the content player by connecting to the service control module as a result of the execution; Accessing, by the content player, a specific content URL from the robot UI from among a content list received from the content providing server; Requesting a corresponding control right from the service control module when the content player receives the corresponding content from the content providing server through the accessed content URL; And reproducing the contents using the robot main program through the service control module in response to the content player being authorized to control the use of the robot main program from the service control module.

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In the present invention as described above, each service module for processing a network-based service in the robot can perform a corresponding function independently of the robot main program, a complex process through the interworking between the service module, the service control module and the robot main program There is an effect that can efficiently provide network-based services without a process.

In addition, the present invention can handle the network-based services without difficulty even with a low-spec specifications, service providers or robot manufacturers, such as robot main program, robot hardware, etc. irrespective of the application development and service development flexibility and recyclability There is a guaranteed effect.

In addition, the present invention can effectively manage the control rights requested by the corresponding service module for processing a variety of network-based services in the limited use of hardware, resources of the robot, the effect that can notify the outside of the current status of the robot, etc. There is.

In addition, the present invention separates the processing process for the network-based service requested from the remote and the network-based service required by the local [robot itself], thereby ensuring the ease of network-based service implementation. .

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, It can be easily carried out. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram of an embodiment of a robot having a service control module for interworking with a service module according to the present invention.

As shown in FIG. 1, a robot (hereinafter, referred to as "robot") having a service control module for interworking with a service module according to the present invention may be a service server (eg; Connected to the robot control server, content providing server, UCC providing server, etc. 10, a plurality of service modules (e.g., service client, UCC client, content player, etc.) 20 and hardware (e.g., mounted on the robot) Arms, legs, face parts, LCD, LEDs, cameras, touch sensors, microphones, speakers, key buttons, voice recognizers, etc.), and hardware access to and control of the hardware 30 Hardware abstraction layer (HAL) 40, a robot main program [Robot Main Program] 50 basically installed by a manufacturer or the like in the robot, and each service module 20. ) And the robot main program (50) Includes a service control module [Robot Network Service Access Controller] (60) for performing processing relating to the network-based services via a linkage.

Each service module 20 is a network-based service provided to the robot, for example, robot control service, content service, UCC service, robot emotional service, video call service, home monitoring service, robot diagnostic service, Internet messenger service, etc. In the present invention, the service request (calling) of the robot UI [not shown], the service server 10, and the user terminal (not shown) through the service server through the interworking with the service control module 60 in the present invention. ) To perform the function.

The robot main program 50 performs operation control on the hardware 30 of the robot. In the present invention, the service control module 60 performs a network-based service processed by the service module 20 through the corresponding hardware. ) Is linked with the robot main program 50.

That is, in the prior art, in order to perform a network-based service in a robot, the robot main program and each service module must be interlocked. In particular, each service is different due to the library call between the robot main program and the communication protocol interworking method. The module must be developed in accordance with the robot main program and mounted in the robot.

In the present invention, each service module 20 for processing a network-based service in the robot by providing a service control module 60 in the robot to solve the above problems, independently of the corresponding function to the robot main program 50 To make it work.

For example, in the present invention, the internal data is transmitted and received between the service module 20 and the service control module 60 in a TCP / IP based socket communication method to perform a library interworking, a communication protocol interworking, and the like, and the robot main program 50 and the like. Internal data is transmitted / received through the TCP / IP-based socket communication method between the service control module 60 to perform library interworking, communication protocol interworking, and the like. Here, each service module 20 and the service control module 60 performs different socket communication using different ports.

In addition, in the present invention, in the specific service module 20 to control (use) the specific hardware 30 of the robot for network-based service processing, the service module 20 through the service control module 60 robot main The control is approved by the program 50. This control authorization [request / response] is applied not only to the external device of the robot but also to internal common resources (eg memory, screen, sound, etc.).

The main functions and operations of the service control module 60 proposed in the present invention are as follows.

The service control module 60 serves as a coordinator for the execution and management of each service module 20 in the robot. For example, the service module 20 may provide resources, use, etc. related to the hardware 30. In case of request, the controller acquires the control right from the robot main program 50 (accepts it) and delivers it. In addition, the execution of the service control module in the robot is processed by the robot main program 50, for example, the robot main program loads and executes the service control module according to the booting of the robot.

On the other hand, the type of each service module 20, the main functions and operations, and the corresponding network-based services that are linked to the service control module 60 proposed in the present invention are as follows.

The service control module for processing an Internet messenger service (IMS) performs session key management related to a communication protocol and robot terminal information management (eg, robot MAC information, robot serial information, robot ID, etc.).

The service control module for processing the robot emotion service performs microphone control, voice recording control, hardware control for expressing robot emotion (eg, emotion sound output, LED blink, etc.) based on voice recognition.

The service control module that handles video call service and home monitoring service includes camera control, video capture / save / output, microphone control, voice recording control, speaker control, robot motion control (e.g., leg, wheel, head, arm movement and Rotation control, etc.).

The Internet messenger service, robot emotional service, video call service and home monitoring service, robot control service, and robot diagnostic service will be collectively referred to as "dynamic robot service", and a service module for processing such a dynamic robot service will be described. Hereinafter referred to as "service client".

On the other hand, the service control module for processing the UCC service, performs the robot operation control, speaker control, multimedia playback control according to the information contained in the UCC. A service module for processing such a UCC service (aka UCC service from UCC providing server) will be collectively referred to as "UCC client".

Meanwhile, in the present invention, a user receives a specific content from a content providing server using a UI (eg, a screen UI, a key button UI, a voice UI, etc.) provided in a robot, and the service played by the content player among the service modules will be described below. UI linked content service "will be collectively referred to as" content service from robot UI ".

On the other hand, in the present invention, the user is selected and provided to the UCC server to provide a specific UCC using the UI provided in the robot, the service processed by the UCC client will be collectively referred to as "UI interlocking UCC service" [aka UCC service from Robot UI].

Next, a description will be given of an interworking procedure between a corresponding service module, a service control module, and a robot main program for each different network-based service with reference to FIGS. 2 to 5.

2 is a flow chart of an embodiment of a robot driving method for providing a dynamic robot service according to the present invention.

2 shows a dynamic robot service, for example, when a remote user connects to the robot control server 11 through a terminal 91 and starts / stops a home monitoring service for a robot in a home. The interworking procedure between the control module 60, the robot main program 50, and the service client 21, which is a corresponding service module of the dynamic robot service, is shown. This will be described in detail as follows.

First, a remote user accesses the robot control server 11 through the terminal 91 and requests a specific dynamic robot service start for a robot in the home (201).

Accordingly, the robot control server 11 requests the service control module 60 of the robot to prepare to start the corresponding dynamic robot service (202). In this case, when the robot control server 11 is requested to start a dynamic robot service from the user, it is preferable to perform a subsequent service procedure after authenticating whether the user is a valid subscriber through a subscriber DB (not shown).

Then, the service control module 60 of the robot requests the robot main program 50 to execute a service client which is a corresponding service module of the dynamic robot service (203).

Accordingly, the robot main program 50 executes the corresponding service client 21 (204), so that the service client 21 connects with the service control module 60 in a TCP / IP based socket communication method. Session start (205, 206).

Then, the service control module 60 notifies the robot start program (session start OK) to each of the robot main program 50 and the service client 21 (207, 208), and corresponds to the robot control server 11 Information on the service client 21, which is the dynamic robot service processing subject, is handed over to notify that the corresponding dynamic robot service processing is ready (service ready ACK) (209).

Accordingly, the robot control server 11 transmits a control command according to a scenario regarding the corresponding dynamic robot service to the service client 21 to start the dynamic robot service (210), thereby the service client 21 In order to perform the operation control of the hardware 30 corresponding to the control command received from the robot control server 11 and the like, request the control right from the service control module 60 (211).

Then, the service control module 60 requests and obtains the control right from the robot main program 50 (212), and grants the control right to the service client 21 (213).

Accordingly, the service client 21 receives the control right and executes the corresponding hardware operation control, that is, issues the corresponding hardware operation control command to the service control module 60 (214). Accordingly, the service control module 60 receives the service client. The hardware operation control command received from 21 is transferred to the robot main program 50 (215).

Then, the robot main program 50 controls the operation of the hardware 30 based on the hardware operation control command received from the service control module 60 (216).

On the other hand, while the dynamic robot service is performed in the robot as described above, if a remote user requests the terminal 91 to stop the dynamic robot service through the robot control server 11 (221), the robot control server 11 Requests to stop the dynamic robot service to the service client 21 that was processing the dynamic robot service (222).

Accordingly, the service client 21 ends a session previously established with the service control module 60 (session end) 223.

Then, the service control module 60 terminates the session with the robot main program 50 in accordance with the end of the session with the service client 21 (224), and the corresponding dynamic robot service to the service client 21 A process termination command is issued to terminate the service client execution (225).

Then, the service control module 60 notifies the robot main program 50 of the execution termination of the service client 21, which is the main subject of the dynamic robot service processing, 226, and informs the robot control server 11 of the corresponding dynamic robot service. It notifies that the completion of the dynamic robot service processing is completed while giving the execution details and the like (service end ACK) 227.

3 is a flow chart of an embodiment of a robot driving method for providing a UCC service according to the present invention. Meanwhile, in the present invention, a robot driving method for providing a content service, that is, a content player, a service control module, and a robot main program when a remote user requests to play a content specified by a robot in a home by accessing a content providing server. Also, a procedure for a service for accessing a content URL on a content providing server and receiving and playing the content through interworking between them is not much different from that of FIG. 3, and thus a detailed description thereof will be omitted, which can be easily understood by those skilled in the art. will be.

3 shows a UCC service server 12 when a UCC service, for example, a remote user connects to a UCC providing server 12 through a terminal 92 and starts / stops a UCC execution designated by a robot in a house. The interworking procedure between the service control module 60, the robot main program 50, and the UCC client 22, which is a corresponding service module of the UCC service, is shown. This will be described in detail as follows.

In addition, referring to the UCC service proposed by the present invention, a UCC provided to a robot at a remote location includes a specific content and a robot control command corresponding to the content, and the robot performs a multimedia playback function on the content included in the UCC. To perform the corresponding hardware control in accordance with the robot control command included in the UCC during playback. [Example of UCC service; The movement of the robot arm and leg to the dance music along with the dance music contents playback].

First, a remote user accesses the UCC providing server 12 through the terminal 92 and requests the start of the UCC service for the robot in the home (301).

Accordingly, the UCC providing server 12 sends a URL regarding the corresponding UCC service to the service control module 60 of the robot to request preparation of the UCC service (302). Here, the URL regarding the UCC service indicates a UCC file location and a robot control command location, and the robot control command is configured based on a script including robot motion information and the like. On the other hand, when the UCC providing server 12 receives a request from the user to start the UCC service, it is preferable to perform a subsequent service procedure after authenticating whether the subscriber is a valid subscriber through a subscriber DB (not shown).

Then, the service control module 60 of the robot requests the robot main program 50 to execute the UCC client which is the corresponding service module of the UCC service (303).

Accordingly, the robot main program 50 executes the corresponding UCC client 22 (304), thereby connecting the UCC client 22 with the service control module 60 in a TCP / IP based socket communication method. Session start (305, 306).

Then, the service control module 60 informs each of the robot main program 50 and the UCC client 22 of session start OK (307, 308), and the UCC client 22 to the UCC client 22. Passing the URL related to the UCC service received from (12) (309), the UCC service server 12 is ready to process the UCC service, while handing over the information of the UCC client 22, the UCC service processing subject, etc. Notify (UCC service ready ACK) (310).

Subsequently, the UCC client 22 connects to the URL related to the UCC service received from the service control module 60 (311), so that the UCC file and robot pointed to by the URL related to the UCC service is provided by the UCC providing server 12. The control command is transmitted to the UCC client 22 (312).

Then, the UCC client 22 gives the control right to the service control module 60 to perform the operation control of the hardware 30 corresponding to the reproduction of the UCC file and the robot control command received from the UCC providing server 12. Request (313).

Accordingly, the service control module 60 requests and obtains the control right from the robot main program 50 (314), and grants the control right to the UCC client 22 (315).

Accordingly, the UCC client 22 receives the control right and plays the corresponding UCC file and executes the hardware operation control, that is, plays the UCC file using the multimedia playback function, and sends the corresponding hardware operation control command to the service control module 60. In operation 316, the service control module 60 transmits the hardware operation control command received from the UCC client 22 to the robot main program 50 (317).

Then, the robot main program 50 controls the operation of the hardware 30 based on the hardware operation control command received from the service control module 60 (318).

On the other hand, while the UCC service is performed in the robot as described above, when the remote user requests the terminal 92 to stop the UCC service through the UCC providing server 12 (321), the UCC providing server 12 is The UCC client 22, which was processing the UCC service, is requested to stop the UCC service (322).

Accordingly, the UCC client 22 ends a session previously established with the service control module 60 (session end) 323.

Then, the service control module 60 terminates the session previously established with the robot main program 50 as the session with the UCC client 22 ends (324), and processes the UCC service to the UCC client 22. An end command is issued to terminate execution of the UCC client (325).

In addition, the service control module 60 notifies the robot main program 50 of the completion of execution of the UCC client 22 that is the main UCC service processing entity (326), and the UCC service server 12 performs the corresponding UCC service execution history. It notifies that the completion of the UCC service processing is completed by passing over (UCC service end ACK) 327.

4 is a flow chart of an embodiment of a robot driving method for providing a UI-linked UCC service according to the present invention. Meanwhile, in the present invention, a robot driving method for providing a UI linked content service, that is, a user on the robot side selects a content to be viewed by the robot UI and selects the corresponding content [Note; This content also does not include a robot control command] through the network for the service that receives and reproduces, because there is no significant difference from Figure 4, the detailed description thereof will be omitted, which will be easily understood by those skilled in the art.

In FIG. 4, a UCC service, for example, a UCC received from the UCC providing server 12 by selecting a specific UCC as the UCC client 22 linked to the robot UI 70 through the service control module 60 by the user of the robot side. [week; The UCC includes a specific content and a robot control command corresponding to the content content] UCC providing server 12, service control module 60, the robot for the service to watch the robot to play and take the corresponding motion; The interworking procedure between the main program 50 and the UCC client 22 which is a corresponding service module of the UCC service is shown. This will be described in detail as follows.

First, the user of the robot side requests the start of the UI interlocking UCC service using a robot UI (eg, a screen UI, a key button UI, a voice UI, etc.) 70, and the robot UI 70 is a service control module of the robot. In step 60, a UI interworking UCC service preparation request is requested (401).

Then, the service control module 60 of the robot requests the robot main program 50 to execute the UCC client, which is the corresponding service module of the UI-linked UCC service (402).

Accordingly, the robot main program 50 executes the UCC client 22 (403), and thus the UCC client 22 connects with the service control module 60 in a TCP / IP based socket communication method. The session starts (404, 405). Meanwhile, the service control module 60 notifies the robot UI 70 that the UI interworking UCC service processing preparation is completed while handing over the information of the UCC client 22, which is the UCC service processing subject, to the robot UI 70 (UI-UCC service ready ACK). 406, the robot main program 50, and the UCC client 22 are notified to each session start OK (407, 408).

Then, the UCC client 22 connects to the URL for the UCC service and requests the UCC list from the UCC providing server 12 (409). The UCC providing server 12 sends the UCC list to the UCC client 22. Transmit (410). Here, the UCC list includes a URL for each UCC, preferably each URL indicating a UCC file location and a robot control command location, and the robot control command includes a script including robot motion information. Is configured based on On the other hand, when the UCC providing server 12 receives the UCC list request from the UCC client 22, it is preferable to perform a subsequent service procedure after authenticating whether the robot is a legitimate subscriber through a subscriber DB (not shown). .

Subsequently, the UCC client 22 selects a specific UCC designated by the user received from the robot UI 70 through the service control module 60 (411), and the UCC file location and robot control command corresponding to the selected UCC. The UCC is connected to the URL indicating the location and receives the UCC from the UCC providing server 12 (412).

Thereafter, the UCC client 22 controls the service control module 60 to control the operation of the hardware 30 corresponding to the UCC file reproduction and the robot control command received from the UCC providing server 12. Request 413.

Accordingly, the service control module 60 requests and obtains the control right from the robot main program 50 (414), and grants the control right to the UCC client 22 (415).

Accordingly, the UCC client 22 receives the control right and plays the corresponding UCC file and executes the hardware operation control, that is, plays the UCC file using the multimedia playback function, and sends the corresponding hardware operation control command to the service control module 60. In operation 416, the service control module 60 transmits the hardware operation control command received from the UCC client 22 to the robot main program 50 (417).

Then, the robot main program 50 controls the operation of the hardware 30 based on the hardware operation control command received from the service control module 60 (418).

On the other hand, while the UI interlocking UCC service is performed in the robot as described above, the user of the robot side requests the UI interlocking UCC service stop using the robot UI 70, the robot UI 70 is the service control module 60 In step 421, a UI interworking UCC service stop is requested.

Accordingly, the service control module 60 requests the UCC client 22 to terminate the UI interworking UCC service processing (422), and thus the session established by the UCC client 22 with the service control module 60 is established. Session end 423.

Then, the service control module 60 terminates the session previously established with the robot main program 50 in accordance with the end of the session with the UCC client 22 (424), and terminates the execution of the UCC client 22. (425).

In addition, the service control module 60 notifies the robot main program 50 of the execution termination of the UCC client 22 which is the UI interworking UCC service processing entity (426), and terminates the UI interlocking UCC service to the robot UI 70. In step 427, the UCC providing server 12 passes the UI interworking UCC service execution history and the like to notify that the UI interworking UCC service is terminated (UI-UCC service end ACK) 428.

Next, the interworking protocol proposed by the present invention described above, for example, a service server, a service module, a robot main program, an interworking message format between each of the robot UI and the service control module, and a command list thereof will be described.

Table 1 below shows the interworking message format suggested by the present invention.

In [Table 1], the interworking message is composed of a command type (CMD) field, a data size field, and an actual data field, and contents inserted into the actual data field are subdivided according to the corresponding command type. do.

Table 2 below describes the command type code (CMD Code) used in the command type field shown in [Table 1] and the details of the corresponding command. In [Table 2] below, "Direction" represents the sender and the receiver of the command, "SS" is the service server, "U" is the robot UI, "R" is the service control module, "C" "" Represents a service module and "M" represents a robot main program, respectively.

[Table 3] below shows an XML command message used when exchanging data as an XML document between the service module and the service control module, and between the service control module and the robot main program. Here, "XMLD" means XML data actually transmitted.

The XML command message as shown in [Table 3] is used to send / receive between the service module and the service control module, between the service control module and the robot main program by including the request and response information about the robot control command in an XML document. Table 4 below shows an example of the XML document.

On the other hand, in the above-described present invention, the robot main program is mounted on the robot. In another embodiment, when the robot main program without the hardware control function of the robot is mounted, the service control module includes the robot hardware control function. The service control module may directly perform hardware control, or in another embodiment, may provide the service control module with the function of the robot main program without mounting the robot main program on the robot.

On the other hand, the method of the present invention as described above can be written in a computer program. And the code and code segments constituting the program can be easily inferred by a computer programmer in the art. In addition, the written program is stored in a computer-readable recording medium (information storage medium), and read and executed by a computer to implement the method of the present invention. The recording medium may include any type of computer readable recording medium.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited by the drawings.

1 is a configuration diagram of an embodiment of a robot having a service control module for interworking with a service module according to the present invention;

2 is a flow chart of an embodiment of a robot driving method for providing a dynamic robot service according to the present invention;

3 is a flow chart of an embodiment of a robot driving method for providing a UCC service according to the present invention;

4 is a flow chart of an embodiment of a robot driving method for providing a UI-linked UCC service according to the present invention.

* Explanation of symbols on the main parts of the drawing

10: service server

20: service module

30: hardware

50: robot main program

60: service control module

Claims (20)

delete In the robot driving method, In response to the service control module being requested to start a specific dynamic robot service from the robot control server, executing a service client related to the dynamic robot service using the robot main program; The service control module transmitting information of the service client to the robot control server as the service client is connected with the service control module as a result of the execution; Requesting a corresponding control right from the service control module when the service client receives a control command for the dynamic robot service from the robot control server; In response to the service client receiving a control right to use the robot main program from the service control module, issuing a corresponding robot control command using the robot main program through the service control module; Canceling the connection with the service control module when the service client is requested to stop the dynamic robot service from the robot control server; Terminating execution of the service client by the service control module when the connection with the service client is terminated; And Transmitting, by the service control module, the dynamic robot service performance history to the robot control server; Robot drive method comprising a. The method of claim 2, The service client and the service control module, Robot drive method characterized in that the session connection by the Internet protocol-based socket communication method. The method of claim 2, The dynamic robot service, A robot driving method comprising any one of an internet messenger service, a robot emotion service, a video call service, a home monitoring service, a robot control service, and a robot diagnostic service. In the robot driving method, Executing the UCC client using the robot main program as the service control module receives the URL for the UCC service from the UCC providing server; Transmitting, by the service control module, the URL to the UCC client and transmitting information of the UCC client to the UCC providing server as the UCC client is connected to the service control module as a result of the execution; Requesting, by the UCC client, the control right from the UCC providing server by receiving the corresponding UCC from the UCC providing server; And UCC execution command step of giving a corresponding UCC execution command using the robot main program through the service control module as the UCC client receives the control right to use the robot main program from the service control module. Robot drive method comprising a. The method of claim 5, Terminating the connection with the service control module when the UCC client receives a request to stop the UCC service from the UCC providing server; Terminating execution of the UCC client by the service control module when the connection with the UCC client is terminated; And Transmitting, by the service control module, the UCC service execution history to the UCC providing server; Robot drive method further comprising. The method according to claim 5 or 6, The URL regarding the UCC service, A robot driving method characterized by pointing to a UCC file position and a robot control command position. The method of claim 7, wherein The robot control command at the location indicated by the URL is Robot drive method characterized in that the configuration based on the script (script) containing the robot motion information. The method of claim 7, wherein The UCC execution command step, A hardware operation corresponding to a robot control command included in the UCC using the robot main program through the service control module by playing the UCC file included in the UCC according to the UCC client receiving the UCC execution control right. Robot drive method, characterized in that to give a control command. In the robot driving method, Executing the corresponding content player using the robot main program as the service control module receives the content URL from the content providing server; As the result of the execution, when the content player is connected to the service control module, the service control module delivers the content URL to the content player and transmits the information of the content player to the content providing server; Requesting a corresponding control right from the content control server as the content player accesses the content URL and receives the corresponding content from the content providing server; And Playing the content using the robot main program through the service control module when the content player receives the control right to use the robot main program from the service control module; Robot drive method comprising a. In the robot driving method, Executing the UCC client using the robot main program according to the service control module receiving a request to start UI interworking UCC service from the robot UI; As a result of the execution, connecting the UCC client to the service control module and requesting a UCC list by accessing a UCC providing server; Accessing, by the UCC client, a URL related to a corresponding UCC according to a selection of a specific UCC from the robot UI among a list of UCCs received from the UCC providing server; Requesting, by the UCC client, a corresponding control right from the UCC providing server through the URL of the accessed UCC from the UCC providing server; And UCC execution command step of giving a corresponding UCC execution command using the robot main program through the service control module as the UCC client receives the control right to use the robot main program from the service control module. Robot drive method comprising a. The method of claim 11, Terminating the connection with the service control module when the UCC client is requested to stop UI interworking UCC service from the robot UI through the service control module; Terminating execution of the UCC client by the service control module when the connection with the UCC client is terminated; And Transmitting, by the service control module, the UI interworking UCC service execution history to the UCC providing server; Robot drive method further comprising. 13. The method according to claim 11 or 12, The UCC list, And a respective URL indicating a UCC file position and a robot control command position for each UCC. The method of claim 13, The robot control command at the location indicated by the URL is Robot drive method characterized in that the configuration based on the script (script) containing the robot motion information. The method of claim 13, The UCC execution command step, As the UCC client receives the UCC execution control right, hardware operation control corresponding to the robot control command included in the UCC is reproduced by using the robot main program through the service control module by playing the UCC file included in the UCC. A robot driving method, characterized by giving a command. In the robot driving method, Executing the content player using the robot main program according to the service control module receiving a request to start UI-linked content service from the robot UI; Requesting a content list from the content player by connecting to the service control module as a result of the execution; Accessing, by the content player, a specific content URL from the robot UI from among a content list received from the content providing server; Requesting a corresponding control right from the service control module when the content player receives the corresponding content from the content providing server through the accessed content URL; And Playing the content using the robot main program through the service control module when the content player receives the control right to use the robot main program from the service control module; Robot drive method comprising a. delete delete delete delete

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