KR101007652B1 - Robot control system of driving by command composed with diagram and method thereof - Google Patents

Abstract

The present invention relates to a robot control system and a method thereof, and more specifically, a general user who is not a professional developer using a service production environment based on a robot control command expressed by a diagram form composed of a markup language. The present invention relates to a robot control system and a method for easily implementing the desired robot service and applying the same to a robot to enable control.

To this end, a robot service production means in a diagram form composed of a markup language for producing a service of a robot, a robot service installation means for installing a program created by the robot service production means on a robot, and the installed program A robot control system comprising a robot service execution means for analyzing and executing, the robot service manufacturing means comprising: a state unit which is in a state transitioned by a predetermined event and indicates a current state of the robot; And an action unit connected by a predetermined flow and instructing a specific action of the robot in a graphical user interface (GUI) manner.

 Robot Control, Intelligent Robot, XML, Markup Language, User Control, Diagram, Robot Control Program.

Description

Robot control system driven by a command made with a diagram and its method {Robot control system of driving by command composed with diagram and method

The present invention relates to a robot control system and method thereof driven by instructions fabricated in a diagram. In more detail, the present invention enables the general user to easily implement the service of the robot desired by the user and to control it by applying it to the robot, thereby efficiently adapting to the needs and environments of the diversified user, The present invention relates to a robot control system and a method driven by a command made in a diagram for wide application.

In general, services in a robot used in a home or in a specific industrial environment have a complex relationship in the sequence of events and actions of the robot, and they must be composed of hierarchical services and respond to external service calls. .

These robot services have been developed in the conventional programming language by professional robot developers, which is not enough to meet the needs of users.

In other words, the robot currently being distributed to the general user is operated by a pre-made program, and it does not take into consideration the diversity of the user's needs and the environment, and it is impossible to manufacture and change the operation command of the robot by the user. The effectiveness of robots is being reduced.

The present invention has been made in view of the above, and provides a graphical user interface (GUI) production environment in a diagram form composed of a markup language, so that a general user rather than a professional developer can easily service a robot that he / she wants. It is an object of the present invention to provide a robot control system and a method for implementing the same, and applying the same to a robot to enable control.

Analyze and execute a robot service production means in a diagram form consisting of a markup language for producing a service of a robot, a robot service installation means for installing a program created by the robot service production means on a robot, and the installed program. In the robot control system comprising a robot service execution means for performing, The robot service manufacturing means,

A state unit transitioning by a predetermined event and indicating a current state of the robot; And

An action unit connected by a predetermined flow and instructing a specific action of the robot;

It characterized in that to provide a graphical user interface (GUI) method.

In particular, the robot service manufacturing means, a combination action unit comprising at least one action unit; And at least one combination unit including at least one state unit, action unit, or combination action unit in a graphical user interface (GUI) manner.

In addition, the action unit of the robot service manufacturing means is dependent on a specific state unit, characterized in that the contents defined in the action unit is executed when the state of the robot is transferred to the specific state unit.

The robot service manufacturing means may further include a service configured to include at least one or more state units, action units, or combined action units in a graphical user interface (GUI) manner.

On the other hand, in a storage medium in which a robot control program for controlling the behavior of the robot is stored, the robot control program includes: a state unit indicating a current state of the robot, the state being transitioned by a predetermined event; And an action unit connected by a predetermined flow and instructing a specific action of the robot; by providing a graphical user interface (GUI) method, a user makes a command to perform the action of the robot in a drag and drop manner.

In particular, the robot control program, a combination action unit comprising at least one action unit; And at least one combination unit including at least one state unit, an action unit, or a combination action unit in a graphical user interface (GUI) manner.

In addition, the action unit is dependent on a specific state unit, characterized in that the contents defined in the action unit is executed when the state of the robot is transferred to the specific state unit.

The robot control program may further include a service configured to include at least one state unit, an action unit, or a combination action unit in a graphical user interface (GUI) manner.

According to the robot control system and the method as described above, since the general user can easily create a service of the robot directly desired and can be applied to the robot, not only can be efficiently adapted to the needs and environment of the diversified user, As a result, it is possible to apply a wide range of applications in the robotic industry where high growth is required in the future, and thus significant commercial and economic effects are expected.

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

As mentioned above, the present invention provides a robot service production means in a diagram form composed of a markup language for producing a service of a robot, and a robot service installation for installing a program created by the robot service production means in a robot. Means, and applied to a robot control system including a robot service execution means for analyzing and executing the installed program, will be described below the robot service manufacturing means.

Figure 1 shows the components of the diagram for the robot service production used in the robot service production means.

Service 110 is an element representing one independent robot service produced by the robot service manufacturing means, one or more combination state unit 120, state unit 130, combination action unit 140, action unit 150 It is configured to include. The service 110 may be called from another service 110, and the term "Cometome" denoted in the service 110 refers to the content of the service and indicates that the robot is to be brought to the user.

The state unit 130 represents a current state of the robot, and each state unit 130 transitions to the next state unit 130 by an event. The state unit 130 may be connected to the action unit 150, and the connected action unit 150 is performed when the state is transferred to the corresponding state unit 130.

The combined state unit 120 may include one or more state units 130, an action unit 150, or a combination action unit 140, and may include other combination state units. have.

The action unit 150 is an element for performing a specific service, and is an element capable of executing an action of a real robot in a desired state. The action unit 150 is dependent on one state unit 130 or combination state unit 120, and is performed when a state is transferred to the dependent state unit 130 or combination state unit 120.

The combined action unit 140 may include one or more action units, and may include two or more action units that are concurrently executed.

That is, the combination state unit 120 and the state unit 130 are connected to each other by an event line, and the combination action unit 140 and the action unit 150 are connected to each other in a flow line. Is connected.

 The service 110 includes a start state unit and an end state unit, starting at the start state unit and ending at the end state unit.

The general user can create a service of the robot in a GUI manner in which the unit is implemented. That is, each unit is located in a predetermined portion of the screen, and the user can arrange each unit on the screen by using a drag and drop method, and the user places each unit on an event line or a logical condition. By connecting to the flow line by the user can perform the production of the desired service.

2 to 6, a preferred embodiment of actual robot service production using the above elements will be described.

2 is an embodiment of a program for calling a 'Cometome' service, the 'Cometome' service 220 is performed when an event of a button click by the remote control in the start state unit 210 occurs. After the service is successfully performed, the service is terminated in the termination state unit 230.

The configuration of the 'Cometome' service 220 is, as shown in Figure 3, the start state unit 310, the named called (state) combination state unit 320, complete state unit 330, providing assistance MayIHelpYou combination action unit 340 and help action unit 342, head touched state unit 350, stopComeToMe combination action unit 360 and TTS execution action unit 362, End action unit 370 is configured to include.

When the name of the robot is called in the start state unit 310, the state of the robot is changed to the name call combination state unit 320. Then, when the detection by the voice sensor occurs, the state of the robot is changed to the completion state unit 330, and the service 342 defined in the assistance providing action unit 340 is executed. Alternatively, when a reaction by the user is detected at the head of the robot, the state of the robot is changed to the head touch state unit 350, and the service defined in the movement termination combination service 360 unit is executed. After the above service is executed, the end state unit 370 moves to the 'Cometome' service 220.

As shown in FIG. 4, the name call combination state unit 320 may include a start state unit 410, a SearchHuman combination action unit 420, and an action unit repeatedly executed until a specific condition is true. 430), a face detection state unit 440 in which a state is transferred when a face of the person is detected by the robot, and a person who is executed when the state of the robot is transferred to the face detection state unit (MoveToHuman). The combination action unit 450, and the head movement action unit 452, the wheel rotation action unit 454, the wheel movement action unit 456 included in the combination action unit moving to the person.

When the name call combination state unit 320 is started, the person finder combination action unit 420 is called to find a person. The robot rotates the fan and rotates the head to find the calling person through an input means such as a camera. At this time, the robot is set to rest for 3 seconds after moving once to prevent excessive operation. It also repeats until it finds the person who wants the above behavior (ie, until the condition is true).

Then, when the face of the person is detected, by calling the combination action unit 450 to move to the person, to move toward the calling person, the movement order rotates the head of the robot (452) the direction of the head of the head After adjusting to the direction (454) by operating the wheel to move in the direction of the person (456).

5 is a PanAngle (510, 512) indicating the angle that is a variable that is shared in the person search combination action unit 420 and the move to person combination service unit 450 in the name call combination state unit shown in FIG. The head rotation action unit 452 and the wheel rotation action unit 454 in the moving person combination service unit 450 are concurrently executed (520).

The above process is executed in a GUI environment similar to the addition of a unit, and the user can simply add or change a program by dragging a mouse and inputting a setting value using a keyboard. That is, by setting the unit to be executed at the same time in a group designation form using a mouse or a keyboard, the above setting is possible.

6 is a view showing a state unit or a combination state unit of the 'Cometome' service described above. Starting from the start state unit 610, the name call combination state unit 620 detects the caller's face (622), and moves until the tactile sense is detected (640) on the voice signal 630 or the head of the robot and moves to ' To execute the Cometome 'service.

7 shows a diagram program including concurrent execution. The forward movement combination action unit 710 includes the head movement action unit 712, the TTS execution (moving) action unit 714, the arm movement action unit 716, the wheel movement action unit 718, and the TTS execution (movement completion). It includes and comprises an action unit 719, wherein the head movement action unit 712, TTS execution (moving) action unit 714, arm movement action unit 716 is designated as a group by the clock icon (concurrent) Will be executed.

The program created by the robot service manufacturing means as described above is stored in the extensible generation language (XML) format. Thereafter, the robot service is installed in the target robot by the installation means, and the installation method may be both wired and wireless. The robot service execution means then interprets and executes the markup language type program to actually control the operation of the robot.

A program written by the extensibility generation language (XML) as described above has the following example.

<Example of Program>

<? xml version = "1.0" encoding = "euc-kr"?>

<defservice>

<information>

<name> cometome </ name>

<description> Come to me service </ description>

<version> 000.000.007 </ version>

<author />

</ information>

<declare>

<data>

<property> variable </ property>

<name> PanAngle </ name>

<datatype> int </ datatype>

<scope> service </ scope>

</ data>

<event>

<name> Invocation </ name>

<description> Invocation event for Cometome service </ description>

</ event>

</ declare>

<state>

<type> start </ type>

<id> 1 </ id>

<name> Start </ name>

<events>

<event>

<serviceinterface> true </ serviceinterface>

<name> Invocation </ name>

<!-ComeToMe->

<changeto> 2 </ changeto>

</ event>

</ events>

</ state>

<state>

<type> compositestateunit </ type>

<id> 2 </ id>

<name> ComeToMe </ name>

<events>

<event>

<name> HeadTouch </ name>

<type> External </ type>

<basis>

<su>

<name> TouchSignal </ name>

<arguments>

<argument>

<property> eventdata </ property>

<name> dwDeviceId </ name>

<datatype> int </ datatype>

<value> 1 </ value>

</ argument>

</ arguments>

</ su>

</ basis>

<!-HeadTouched->

<changeto> 3 </ changeto>

</ event>

<event>

<name> SonarSensorDetect </ name>

<type> External </ type>

<basis>

<su>

<name> SonarSensorSignal </ name>

</ su>

</ basis>

<!-HeadTouched->

<changeto> 3 </ changeto>

</ event>

<event>

<name> FaceDetect </ name>

<type> External </ type>

<basis>

<su>

<name> FaceDetect </ name>

<assign>

<source>

<property> eventdata </ property>

<type> int </ type>

<name> nPanAngle </ name>

</ source>

<target>

<property> variable </ property>

<type> int </ type>

<name> PanAngle </ name>

</ target>

</ assign>

</ su>

</ basis>

<!-FaceDetected->

<changeto> 5 </ changeto>

</ event>

</ events>

<do>

<su>

<name> SearchHuman </ name>

<sutype> userdefined </ sutype>

</ su>

</ do>

</ state>

<state>

<type> stateunit </ type>

<id> 3 </ id>

<name> HeadTouched </ name>

<events>

<event>

<name> SU (success) </ name>

<type> SU </ type>

<basis>

<status> success </ status>

</ basis>

<!-End->

<changeto> 6 </ changeto>

</ event>

</ events>

<do>

<su>

<name> StopComeToMe </ name>

<sutype> userdefined </ sutype>

</ su>

</ do>

</ state>

<state>

<type> stateunit </ type>

<id> 4 </ id>

<name> Complete </ name>

<events>

<event>

<name> SU (success) </ name>

<type> SU </ type>

<basis>

<status> success </ status>

</ basis>

<!-End->

<changeto> 6 </ changeto>

</ event>

</ events>

<do>

<su>

<name> MayIHelpYou </ name>

<sutype> userdefined </ sutype>

</ su>

</ do>

</ state>

<state>

<type> stateunit </ type>

<id> 5 </ id>

<parentid> 2 </ parentid>

<name> FaceDetected </ name>

<events>

<event>

<name> SU (success) </ name>

<type> SU </ type>

<basis>

<status> success </ status>

</ basis>

<!-ComeToMe->

<changeto> 2 </ changeto>

</ event>

</ events>

<do>

<su>

<name> MoveToHuman </ name>

<sutype> userdefined </ sutype>

</ su>

</ do>

</ state>

<state>

<type> end </ type>

<id> 6 </ id>

<name> End </ name>

<events />

</ state>

</ defservice>

The above example illustrates an XML standard program for performing a 'Cometome' service. Such a program is an XML specification as a result for the diagram to be generated, and the diagram generated by the program supports the production of a command for the user to control the robot as described above.

Although some embodiments of the invention have been shown and described, it will be apparent to those skilled in the art that the embodiments may be modified without departing from the spirit or spirit of the invention. . It is intended that the scope of the invention be defined by the claims appended hereto and their equivalents.

1 is a view showing the components of the diagram for manufacturing a robot service used in the present invention,

2 is a program for calling a 'Cometome' service according to an embodiment of the present invention;

3 is a view showing the configuration of a 'Cometome' service,

4 is a diagram showing the configuration of a name-call combination state unit;

5 is a view showing addition of a variable and addition of a concurrency service in the configuration of a name-call combination state unit;

6 is a view showing a state unit and a combination state unit constituting a 'Cometome' service,

7 is a diagram illustrating a configuration of a concurrent execution service.

<Description of Major Symbols in Drawing>

110: service 120: combination status unit

130: state unit 140: combination action unit

150: action unit

Claims (9)

Analyze and execute a robot service production means in a diagram form consisting of a markup language for producing a service of a robot, a robot service installation means for installing a program created by the robot service production means on a robot, and the installed program. It includes a robot service execution means for The robot service production means, A state unit transitioning by a predetermined event and indicating a current state of the robot; And an action unit connected by a predetermined flow and indicative of a specific action of the robot; The robot service production means, Combination action unit comprising at least one action unit; And Providing a combined state unit including at least one state unit, an action unit, or a combined action unit in a graphical user interface (GUI) manner, The action unit of the robot service producing means is dependent on a specific state unit, and the contents defined in the action unit are executed when the state of the robot is transferred to the specific state unit. The robot service production means, A service comprising at least one state unit, a combined state unit, an action unit, or a combined action unit; Robot control system driven by a command produced by a diagram, characterized in that to provide a graphical user interface (GUI) method. In the method of controlling a robot using the same, a diagram of a robot service manufacturing means in a form of a program composed of a markup language for producing a service of a robot for controlling a robot's behavior is stored. The robot control program, A state unit transitioning by a predetermined event and indicating a current state of the robot; And an action unit connected by a predetermined flow and instructing a specific action of the robot; by providing a graphical user interface (GUI) method, a user can create a command to perform the action of the robot in a drag and drop manner. The robot control program may include a combination action unit including at least one action unit; And providing a combined state unit including at least one state unit, an action unit, or a combined action unit in a graphical user interface (GUI) manner. The action unit is dependent on a specific state unit, and the contents defined in the action unit are executed when the state of the robot is transferred to the specific state unit, The robot control program, A service comprising at least one state unit, a combined state unit, an action unit, or a combined action unit; Provides a graphical user interface (GUI) method, wherein the robot control program is stored in an extensible generation language (XML) format and is an XML standard as a result for generating a diagram. Robot control method driven by. delete delete delete delete delete delete delete

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